Liquid nitrogen tube picking apparatus

Abstract

The utility model relates to the field of medical apparatus and instruments, and concretely relates to a liquid nitrogen tube picking device. The utility model provides a liquid nitrogen tube picking device, including the casing, control panel is located in the lateral wall of casing, the tube picking subassembly is located in the casing, at least two first storage container is located in the casing, the second storage container is located in the casing, the door body is connected in the lateral wall of casing. Relative to manual tube picking, the application reduces the error in the manual tube picking process, improves the accuracy of tube picking, and can also ensure that the tube picking work is carried out in a liquid nitrogen environment. Compared with the full-automatic liquid nitrogen sample storage system, the application is low in price, convenient to maintain, and the door body can be quickly opened after the equipment is damaged, and manual tube picking work can be started, so that the sample is not frozen and thawed for a long time, and the sample quality is not affected.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, and more specifically, to a liquid nitrogen tube picking device. Background Technology

[0002] Currently, the main storage devices used in the biobank field are ordinary ultra-low temperature freezers and ordinary liquid nitrogen tanks. The focus is on subsequent digital holographic management systems, with limited integration with digital technologies. Sample picking is primarily done manually or by the storage mechanisms of fully automated sample storage systems. There is currently no dedicated low-temperature sample picking platform to assist in handling the large volume of sample picking work, and no separate platform exists to integrate simultaneous sample picking with digital holographic management systems. Manual sample picking cannot guarantee low temperatures, especially for cell samples, which require temperatures below -130°C throughout the process. These stringent temperature requirements increase the difficulty for staff, and the manual sample picking process is prone to human error, low efficiency, and errors. Fully automated liquid nitrogen sample storage systems with automatic sample picking capabilities are expensive and cannot be widely adopted. Utility Model Content

[0003] To address the technical problems of manual tube picking being prone to human error, low efficiency, and errors, and the high cost of fully automated sample storage systems with automatic tube picking functions, which prevent their widespread adoption, one objective of this utility model is to provide a liquid nitrogen tube picking device.

[0004] To achieve the above objectives, embodiments of this utility model provide a liquid nitrogen tube-picking device, comprising: case; The control panel is located on the side wall of the housing. The tube-picking assembly is located inside the housing; At least two first storage containers are disposed within the housing; A second storage container is disposed within the shell; The door is connected to the side wall of the housing.

[0005] In the above technical solution, the tube-picking assembly includes: A robotic arm for picking up pipes and gripping plates is connected inside the housing; The gripper is connected to the lifting pipe and gripper robotic arm; The pipe-picking gripper is connected to the pipe-picking and gripping robotic arm; or The tube-picking assembly includes: A gripper arm is connected inside the housing; The gripper is connected to the gripper robotic arm; A tube-picking robotic arm is connected inside the housing; The pipe-picking gripper is connected to the pipe-picking robotic arm.

[0006] The above technical solution also includes: A QR code scanner is connected inside the housing.

[0007] The above technical solution also includes: Two support frames are disposed inside the housing, and the QR code scanner and the second storage container are respectively disposed on the two support frames.

[0008] The above technical solution also includes: A positioning element is disposed inside the housing, and a positioning groove is provided on the upper surface of the positioning element, and the first storage container is disposed inside the positioning groove.

[0009] The above technical solution also includes: A fixing member is provided inside the housing, the fixing member is located below the positioning member, and a slide rail is provided on the upper surface of the fixing member; A sliding element is fixedly connected to the lower surface of the first storage container, and the sliding element is slidably connected within the slide rail.

[0010] The above technical solution also includes: The handle is attached to the positioning element.

[0011] The above technical solution also includes: A dehumidification mechanism is installed on the housing.

[0012] Additional aspects and advantages of this invention will become apparent in the description that follows, or may be learned by practice of this invention. Attached Figure Description

[0013] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the overall structure of this utility model; Figure 3 This is a schematic diagram of the internal structure of the casing of this utility model; Figure 4 This is a schematic diagram of the positioning component, QR code scanner, and second storage container of this utility model; Figure 5 This is a schematic diagram of the fixing component, sliding component, and support frame structure of this utility model; Figure 6 This is an enlarged structural diagram of point A of this utility model; in, Figures 1 to 6 The correspondence between the reference numerals and component names in the attached drawings is as follows: 1. Housing; 2. Control panel; 3. First storage container; 4. Second storage container; 5. Door; 6. Grab plate; 7. Pipe-picking gripper; 8. QR code scanner; 9. Support frame; 10. Positioning component; 11. Positioning groove; 12. Fixing component; 13. Slide rail; 14. Sliding component; 15. Handle. Detailed Implementation

[0014] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0015] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0016] The following reference Figures 1 to 6 Description of a liquid nitrogen tube picking device according to some embodiments of the present invention.

[0017] like Figures 1 to 6 As shown, an embodiment of this utility model provides a liquid nitrogen tube picking device, including a housing 1, a control panel 2, a tube picking assembly, at least two first storage containers 3 and a second storage container 4.

[0018] Specifically, the control panel 2 is fixedly connected to the front wall of the housing 1; two doors 5 are rotatably connected to the front wall of the housing 1; a lifting tube assembly is fixedly connected inside the housing 1; two first storage containers 3 are located inside the housing 1, each corresponding to one of the two doors 5. The first storage containers can be removed from the housing 1. Each first storage container 3 includes a box and a top cover. The top cover is detachably connected to the top of the box, and a connecting block is fixedly connected to the upper surface of the top cover. The lifting tube assembly can clamp the connecting block to remove the top cover. Figure 3 As shown, the top cover of the first storage container 3 has been grasped and placed inside the second storage container 4; the second storage container 4 is located inside the housing 1 and is located behind the first storage container 3 on the left side; the QR code scanner 8 is fixedly connected inside the housing 1 and is located behind the first storage container 3 on the right side.

[0019] When sample picking is required, the operator first clicks the "Unlock" command on control panel 2, opening both doors 5 simultaneously. The operator then removes two first storage boxes from housing 1 and fills the two first storage containers 3 with liquid nitrogen or dry ice, ensuring the internal temperature of the first storage containers 3 reaches -80℃ to -150℃ to prevent sample freeze-thaw. The operator then places an empty sample box into one of the first storage containers 3, and then places the first storage container 3 containing the empty sample box back into housing 1. The sample box is then removed from the liquid nitrogen tank and placed into the other first storage container 3, and then the first storage container 3 containing the sample box is placed back into housing 1, positioned to the right of the first storage container 3 containing the sample box. After both first storage containers 3 are in their designated positions, the operator clicks the "Lock" command on control panel 2, closing both doors 5. Then, the operator clicks the "Quality Control" command on control panel 2. The sample picking assembly uses the clamping connecting block to place the top covers of the two first storage containers 3 into the second storage container 4. The sample picking assembly then picks up the sample box... The QR code scanner 8 scans the sample box for quality control, confirming that the manually retrieved sample box is correct. Then, the sample box is placed into the first storage container 3 on the left. Next, the tube-picking component picks up the empty sample box and scans it again on the QR code scanner 8 for quality control, confirming that the manually retrieved empty sample box is correct. Then, the empty sample box is placed into the first storage container 3 on the right. The operator clicks on the control panel 2 for the corresponding tube to be picked, and then clicks the "Start Tube Picking" command. The tube-picking component starts working, picking the tubes from the sample box onto the empty sample box as required. After tube picking is complete, the operator clicks on the control panel... The instruction on panel 2, "Quality Control Sub-sample Box," refers to the empty sample box before tube picking. The tube picking component picks up the sub-sample box and scans it above the 2D scanner for quality control, confirming that the picked tube is correct. After quality control is completed, click the "Unlock" instruction on control panel 2. Both doors 5 open simultaneously. The mother sample box is manually removed from the first storage container 3 on the left and placed back into the liquid nitrogen tank. The mother sample box is the sample box containing tubes before tube picking. Then, the sub-sample box is removed from the first storage container 3 on the right for experimental research.

[0020] Based on the above-described tube-picking principle, the mother sample box and the daughter sample box can be placed inside the housing 1 for tube picking. Using the tube picking component can reduce human error, which is equivalent to using a fully automated sample storage system with automatic tube picking function. The tube picking equipment of this application has a lower cost. When the fully automated sample storage system with automatic tube picking function is damaged, the tube picking work cannot be carried out. However, this application separates the sample storage device and the tube picking device. Even if the sample storage device is damaged, the sample in the storage device can be taken out in time and placed in another storage device. The tube picking work can continue. The cost of the tube picking equipment is low and multiple tube picking devices can be set. Even if one tube picking device is damaged, it will not affect the normal operation of the tube picking work.

[0021] like Figures 1 to 6 As shown, in one embodiment of this utility model, the tube-picking assembly includes: The pipe-picking and gripping robotic arm is fixedly connected inside the housing 1; The gripper 6 is rotatably connected to the pipe-picking and gripping robotic arm; The pipe-picking gripper 7 is rotatably connected to the pipe-picking and gripping plate robotic arm, and the pipe-picking gripper 7 and the gripping plate gripper 6 are fixedly connected. The tube picking assembly includes: A gripper arm is connected inside housing 1; The gripper 6 is connected to the gripper robotic arm; The pipe-picking robotic arm is connected inside housing 1; The pipe-picking gripper 7 is connected to the pipe-picking robotic arm.

[0022] Also includes: Two support frames 9 are fixedly installed inside the housing 1. The two support frames 9 are respectively located behind the two first storage containers 3. The QR code scanner 8 and the second storage container 4 are respectively located on the two support frames 9. The shape of the support frame 9 is similar to that of a normal table. The support frame 9 includes a support plate and four support legs. The four support legs are respectively fixedly connected to the four corners of the lower surface of the support plate.

[0023] Also includes: Two positioning components 10 are fixedly installed inside the housing 1. The upper surface of the positioning component 10 is provided with a positioning groove 11. The two first storage containers 3 are respectively located in the positioning grooves 11 of the two positioning components 10.

[0024] Also includes: The fixing member 12 is fixedly installed inside the housing 1. The fixing member 12 is located below the positioning member 10. The fixing member 12 includes a fixing plate and two fixing blocks. The fixing plate is fixedly installed on the housing 1. The fixing blocks are symmetrically fixedly installed on the upper surface of the fixing plate. The upper surface of the fixing blocks is provided with a slide rail 13. Two fixing members 12 are provided below each positioning member 10. Sliding member 14 is fixedly connected to the lower surface of the first storage container 3. Two sliding members 14 are provided below each first storage container 3. The sliding member 14 is slidably connected in the corresponding slide rail 13. The sliding member 14 passes under the corresponding support plate. By providing two sliding members 14 under each positioning member 10, the balance of the positioning member 10 can be ensured and the positioning member 10 can be prevented from tilting. The rear ends of the two sliding members 14 are connected by a connecting plate to ensure that the two sliding members 14 move synchronously.

[0025] Also includes: The handle 15 is fixedly connected to the front end of the positioning component 10, making it easy to manually pull out the positioning component 10.

[0026] Also includes: The dehumidification mechanism, installed on the housing 1, ensures a dry working environment during the automatic tube picking process, preventing frost buildup on the samples and facilitating tube picking, scanning, and verification. This dehumidification mechanism is a common, existing technology used in refrigerators, and its working principle will not be elaborated upon here. In addition, a refrigeration mechanism is also installed inside the housing 1 to further ensure a low-temperature environment inside the housing 1. This refrigeration mechanism is also existing technology, and its working principle will not be elaborated upon here.

[0027] When tube picking is required, the operator first clicks the "unlock" command on the control panel 2, and both doors 5 open simultaneously. Then, by pulling the handle 15 outward, the two positioning parts 10 are moved. The positioning parts 10 drive the sliding parts 14 to move along the slide rail 13, and the two positioning parts 10 extend outside the shell 1. The operator first takes out the two first storage boxes from the shell 1 and fills the two first storage containers 3 with liquid nitrogen to ensure that the internal temperature of the first storage containers 3 is between -80℃ and -150℃ to prevent the samples from freezing and thawing. Then, the operator places the empty sample box into one of the first storage containers 3, and then... The first storage container 3 containing an empty sample box is placed in the positioning slot 11 of the positioning member 10 on the right. Then, the sample box is taken out of the liquid nitrogen tank and placed into another first storage container 3. Then, the first storage container 3 containing the sample box is placed in the positioning slot 11 of the positioning member 10 on the left. After both first storage containers 3 are placed in the positioning slots 11, the positioning member 10 is pushed into the housing 1 by the handle 15. The positioning member 10 drives the sliding member 14 to move in the slide rail 13, so that the positioning member 10 returns to its initial position. Then, the "lock" command on the control panel 2 is clicked, and the two doors 5 are closed. Then click the "Quality Control" command on the control panel 2. When the tube picking assembly includes the tube picking and gripping robotic arm, gripping jaw 6 and tube picking jaw 7, the gripping jaw 6 is located below the tube picking jaw 7. The tube picking and gripping robotic arm drives the gripping jaw 6 to first pick up the top cover of the first storage container 3 and place it into the second storage container 4. Then the tube picking and gripping robotic arm continues to drive the gripping jaw 6 to pick up the sample box and scan it on the QR code scanner 8 for quality control. After confirming that the manually picked sample box is correct, the sample box is then placed into the first storage container 3 on the left. Then the tube picking and gripping robotic arm continues to drive the gripping jaw 6 to pick up the empty sample box and scan it on the QR code scanner 8 for quality control. After confirming that the manually picked empty sample box is correct, the empty sample box is then placed into the first storage container 3 on the right. Manually click on the corresponding tube to be picked on control panel 2, and then click the "Start Tube Picking" command. The end of the tube picking and gripping robotic arm rotates, causing the gripping jaw 6 and the tube picking jaw 7 to interchange positions. At this time, the tube picking jaw 7 is directly below the gripping jaw 6, and the tube picking jaw 7 starts working. The tube picking and gripping robotic arm drives the tube picking jaw 7 to pick up the tubes on the sample box and transfer the tubes on the sample box to the empty sample box as required. After the tube picking is completed, click the "Quality Control Sub-Sample Box" command on control panel 2. The sub-sample box is the empty sample box that did not contain any tubes before the tube picking. The end of the tube picking and gripping robotic arm rotates, causing the gripping jaw 6 and the tube picking jaw 7 to interchange positions again. The tube picking and gripping robotic arm drives the gripping jaw 6 to hold the sub-sample box and scan it above the QR code scanner 8 to confirm that the picked tubes are correct. After quality control is completed, click the "Unlock" command on the control panel 2. Both doors 5 will open simultaneously. Manually remove the mother sample box from the first storage container 3 on the left and put it back into the liquid nitrogen tank. The mother sample box is the sample box containing the tubes before the tubes were removed. Then, the sub-sample box is removed from the first storage container 3 on the right for experimental research.

[0028] When the pipe-picking assembly includes a gripping robotic arm, a gripping jaw 6, a pipe-picking robotic arm, and a pipe-picking jaw 7, the gripping robotic arm directly controls the movement of the gripping jaw 6, and the pipe-picking robotic arm directly controls the movement of the pipe-picking jaw 7. The gripping robotic arm and the pipe-picking robotic arm move independently. The rest of the working principles are the same as those described above, and will not be elaborated on here.

[0029] It should be noted that the pipe-picking and plate-grabbing robotic arm, the plate-grabbing robotic arm, and the pipe-picking robotic arm in the above embodiments are six-axis robotic arms. The pipe-picking and plate-grabbing robotic arm, the plate-grabbing robotic arm, the plate-grabbing gripper 6, the pipe-picking robotic arm, and the pipe-picking gripper 7 are all existing technologies, and their working principles will not be elaborated on here.

[0030] It should be noted that, in addition to using refrigerants such as liquid nitrogen or dry ice for cooling, the first storage container 2 can also be cooled by a compressor, so that the temperature in the first storage container 2 reaches -80℃ to -150℃.

[0031] This utility model has the following advantages: 1. Compared with manual tube picking, this application reduces the error in the manual tube picking process, improves the accuracy of tube picking, and can also ensure that the tube picking work is carried out at low temperature; 2. Compared with using a fully automated sample storage system for tube picking, the present application is inexpensive, and equipment failure will not affect the tube picking work.

[0032] In this utility model, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0033] In the description of this utility model, it should be understood that the terms "inner" and "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0034] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0035] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A liquid nitrogen tube-picking device, characterized in that, include: case; The control panel is located on the side wall of the housing. The tube-picking assembly is located inside the housing; At least two first storage containers are disposed within the housing; A second storage container is disposed within the shell; The door body is connected to the side wall of the housing; The tube-picking assembly includes: A robotic arm for picking up pipes and gripping plates is connected inside the housing; The gripper is connected to the lifting pipe and gripper robotic arm; The pipe-picking gripper is connected to the pipe-picking and gripping robotic arm; or The tube-picking assembly includes: A gripper arm is connected inside the housing; The gripper is connected to the gripper robotic arm; A tube-picking robotic arm is connected inside the housing; The pipe-picking gripper is connected to the pipe-picking robotic arm.

2. The liquid nitrogen tube-picking device according to claim 1, characterized in that, Also includes: A QR code scanner is connected inside the housing.

3. The liquid nitrogen tube-picking device according to claim 2, characterized in that, Also includes: Two support frames are disposed inside the housing, and the QR code scanner and the second storage container are respectively disposed on the two support frames.

4. The liquid nitrogen tube-picking device according to claim 3, characterized in that, Also includes: A positioning element is disposed inside the housing, and a positioning groove is provided on the upper surface of the positioning element, and the first storage container is disposed inside the positioning groove.

5. The liquid nitrogen tube-picking device according to claim 4, characterized in that, Also includes: A fixing member is provided inside the housing, the fixing member is located below the positioning member, and a slide rail is provided on the upper surface of the fixing member; A sliding element is fixedly connected to the lower surface of the first storage container, and the sliding element is slidably connected within the slide rail.

6. The liquid nitrogen tube-picking device according to claim 5, characterized in that, Also includes: The handle is attached to the positioning element.

7. The liquid nitrogen tube-picking device according to claim 6, characterized in that, Also includes: A dehumidification mechanism is installed on the housing.

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