Mechanical hand positioning device and ultra-low temperature refrigerator

Abstract

The utility model provides a kind of mechanical hand positioning device and ultra-low temperature refrigerator, and mechanical hand positioning device includes positioning mechanism and mechanical hand, and positioning mechanism includes driving part, rotating transmission shaft driven by driving part and multiple positioning pieces on transmission shaft, transmission shaft is sequentially spaced along first direction extension arrangement, and multiple positioning pieces are sequentially spaced along first direction, and mechanical hand can move along first direction, and the side of mechanical hand facing positioning piece is equipped with the positioning slot for being mutually matched with positioning piece. The mutual cooperation of positioning slot and positioning piece can prevent the mechanical hand from shaking, and improve the positioning accuracy of mechanical hand. Transmission shaft extends along first direction, and the position of mechanical hand changes in first direction, and still can be positioned to mechanical hand by corresponding positioning piece on positioning mechanism, and moreover, transmission shaft can rotate along its circumferential direction, suitable for mechanical hand of different height positions, and the applicability is stronger.

Description

Technical Field

[0001] This utility model belongs to the field of refrigeration technology, and more specifically, it relates to a robotic arm positioning device and an ultra-low temperature freezer. Background Technology

[0002] In the biomedical industry, ultra-low temperature freezers are used for the storage of biological samples. Ultra-low temperature freezers are currently essential basic equipment for research in the pharmaceutical and biological fields, allowing blood, stem cells, and immune cells to maintain their viability for extended periods through cryopreservation. Current technology typically involves storing samples in cryovials, which are then stored in automated freezers.

[0003] Most automated refrigerator equipment on the market currently uses suspended robotic arms to pick up and place freezer boxes. However, due to the poor rigidity of suspended robotic arms, the bottom of the robotic arm is prone to shaking and inaccurate positioning, resulting in low grasping accuracy. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide a robotic arm positioning device and an ultra-low temperature freezer to solve the technical problems of easy shaking and inaccurate positioning of suspended robotic arms in the prior art.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: to provide a robotic arm positioning device, comprising:

[0006] A positioning mechanism includes a driving member, a transmission shaft driven to rotate by the driving member, and a plurality of positioning members disposed on the transmission shaft. The transmission shaft extends along a first direction, and the plurality of positioning members are arranged at intervals along the first direction.

[0007] The robotic arm is capable of moving along the first direction, and a positioning groove is provided on the side of the robotic arm facing the positioning member for cooperating with the positioning member.

[0008] Optionally, the positioning member is inserted into the positioning groove along the second direction, wherein the first direction and the second direction are perpendicular to each other.

[0009] Optionally, on the cross-section perpendicular to the vertical direction, the cross-section of the positioning groove first increases and then decreases.

[0010] Optionally, the positioning groove is a triangular groove.

[0011] Optionally, the positioning element includes a mounting ring and a positioning rod fixedly connected to the mounting ring. The mounting ring is sleeved on the drive shaft, and the drive shaft and the mounting ring are fixed to each other in the circumferential direction of the drive shaft.

[0012] Optionally, the circumferential surface of the drive shaft includes a first drive plane, and the inner wall of the mounting ring has a second drive plane that is in close contact with the first drive plane; the mounting ring has a connecting hole that penetrates the second drive plane, and the fixing member passes through the connecting hole and abuts against the first drive plane.

[0013] Optionally, the positioning mechanism further includes a cold bridge isolation component and a connecting shaft, wherein the driving component, the connecting shaft, the cold bridge isolation component, and the transmission shaft are connected in sequence.

[0014] This utility model also provides an ultra-low temperature refrigerator, including the above-mentioned robotic arm positioning device, a cabinet, and a driving mechanism for driving the robotic arm to move along a first direction. The driving mechanism is connected to the top of the robotic arm, and the bottom of the cabinet is provided with a slide rail extending along the first direction. The bottom of the robotic arm is slidably disposed on the slide rail.

[0015] Optionally, the enclosure includes a first enclosure and a second enclosure, the second enclosure having an ultra-low temperature storage space, the robotic arm and the transmission shaft being disposed in the second enclosure, and the driving component being disposed in the first enclosure.

[0016] Optionally, the first housing has a first through hole, and the second housing has a second through hole. A first bearing is installed in the first through hole, and a second bearing is installed in the second through hole. A cold bridge isolation member is provided between the drive component and the transmission shaft. The cold bridge isolation member extends from the first housing to the second housing, and both the first bearing and the second bearing are fixed to the outer periphery of the cold bridge isolation member.

[0017] The beneficial effects of the robotic arm positioning device and ultra-low temperature freezer provided by this utility model are as follows: Compared with the prior art, the robotic arm positioning device of this utility model includes a positioning mechanism and a robotic arm. The positioning mechanism includes a driving component, a transmission shaft, and positioning components. A positioning groove is provided on the side of the robotic arm facing the positioning component. The cooperation between the positioning groove and the positioning component can prevent the robotic arm from shaking and improve the positioning accuracy of the robotic arm. The transmission shaft extends along the first direction, and multiple positioning components are also distributed sequentially along the length direction of the transmission shaft. Therefore, when the position of the robotic arm changes in the first direction, it can still be positioned by the corresponding positioning components on the positioning mechanism. Moreover, the transmission shaft can rotate in its circumferential direction, making it suitable for robotic arms at different heights and having strong applicability. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A test structure diagram of an ultra-low temperature freezer provided in an embodiment of this utility model;

[0020] Figure 2 A side view of the robotic arm provided in an embodiment of this utility model;

[0021] Figure 3 A partial perspective view of the robotic arm provided for an embodiment of this utility model;

[0022] Figure 4 A three-dimensional structural diagram of the positioning mechanism provided in the embodiment of this utility model;

[0023] Figure 5 for Figure 4 A magnified view of the middle left side;

[0024] Figure 6 for Figure 4 Partial exploded structure diagram of the middle left end;

[0025] Figure 7 The structural diagram of the drive shaft and positioning component provided in the embodiment of this utility model.

[0026] The following are the labeling elements in the figure:

[0027] 10-Positioning mechanism; 11-Drive component; 12-Transmission shaft; 121-First transmission plane; 13-Positioning component; 131-Mounting ring; 132-Positioning rod; 133-Second transmission plane; 134-Connecting hole; 14-Connecting shaft; 15-Support bearing seat; 161-First bearing; 162-Second bearing; 17-Reducer; 18-Cold bridge isolation component; 20-Manipulator; 21-Positioning groove; 22-Guide wheel; 30-First housing; 40-Second housing; 41-Ultra-low temperature storage space; 42-Slide rail. Detailed Implementation

[0028] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0029] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0030] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying 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 element 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.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0032] In the biomedical industry, ultra-low temperature freezers are used for the storage of biological samples. Ultra-low temperature freezers are currently essential basic equipment for research in the pharmaceutical and biological fields, allowing blood, stem cells, and immune cells to maintain their viability for extended periods through cryopreservation. Current technology typically involves storing samples in cryovials, which are then stored in automated freezers.

[0033] Most automated refrigerator systems on the market currently use suspended robotic arms to pick up and place freezer boxes. For example, the top of the robotic arm is connected to the drive unit, and the bottom of the robotic arm slides on the bottom of the freezer. Because suspended robotic arms have poor rigidity, especially the bottom of the robotic arm, they are prone to wobbling and inaccurate positioning, resulting in low grasping accuracy.

[0034] To alleviate or solve the above-mentioned technical problems, this utility model proposes a robotic arm positioning device and an ultra-low temperature freezer. The robotic arm positioning device includes a positioning mechanism 10 and a robotic arm 20. The positioning mechanism 10 includes a driving component 11, a transmission shaft 12, and a positioning component 13 disposed on the transmission shaft 12. The positioning component 13 cooperates with the positioning groove 21 on the robotic arm 20 to limit the robotic arm 20 and reduce the shaking of the robotic arm 20. Moreover, the position of the positioning component 13 can be adjusted by the setting of the driving component 11. Even if the position of the robotic arm 20 has a certain error, it can still cooperate with the positioning component 13. Multiple positioning components 13 are set on the transmission shaft 12, and the robotic arm 20 can also cooperate with the corresponding positioning component 13 after the position in the first direction changes.

[0035] The robotic arm positioning device provided in the embodiments of this utility model will now be described.

[0036] Please refer to the following: Figures 1 to 4 The robotic arm positioning device includes:

[0037] The positioning mechanism 10 includes a driving member 11, a transmission shaft 12 driven to rotate by the driving member 11, and a plurality of positioning members 13 disposed on the transmission shaft 12. The transmission shaft 12 extends along a first direction, and the plurality of positioning members 13 are arranged sequentially at intervals along the first direction.

[0038] The robotic arm 20 is capable of moving in a first direction. The side of the robotic arm 20 facing the positioning member 13 has a positioning groove 21 for cooperating with the positioning member 13.

[0039] The drive component 11 in the positioning mechanism 10 is a power-providing component. The drive component 11 typically outputs rotational motion to change the circumferential position of the transmission shaft 12 and the positioning component 13. The transmission shaft 12 is directly or indirectly connected to the drive component 11. When the drive component 11 is working, the transmission shaft 12 rotates, driving the positioning component 13 on the transmission shaft 12 to rotate. When the robotic arm 20 grasps the sample box at a predetermined position, the position of the robotic arm 20 may have a certain deviation. By rotating the transmission shaft 12, the position of the positioning component 13 can be changed, so that even if the position of the positioning groove 21 has a certain deviation, the positioning component 13 can still be inserted into the positioning groove 21. There are multiple positioning components 13, which are distributed sequentially at intervals along the first direction.

[0040] The robotic arm 20 is used to grasp sample boxes, which are generally stored on shelves. Adjacent shelves have aisles for the robotic arm 20 to enter and grasp. These aisles are arranged sequentially along a first direction, allowing the robotic arm 20 to move in that direction to enter each aisle. By setting multiple positioning elements 13 along the first direction, the robotic arm 20 is positioned at different locations (corresponding to different aisles) along the first direction, reducing the wobbling of the robotic arm 20.

[0041] The robotic arm positioning device in the above embodiment includes a positioning mechanism 10 and a robotic arm 20. The positioning mechanism 10 includes a drive member 11, a transmission shaft 12, and positioning members 13. The robotic arm 20 has a positioning groove 21 on the side facing the positioning member 13. The cooperation between the positioning groove 21 and the positioning member 13 can prevent the robotic arm 20 from shaking and improve the positioning accuracy of the robotic arm 20. The transmission shaft 12 extends along a first direction, and multiple positioning members 13 are also distributed sequentially along the length direction of the transmission shaft 12. Therefore, when the position of the robotic arm 20 changes in the first direction, it can still be positioned by the corresponding positioning member 13 on the positioning mechanism 10. Moreover, the transmission shaft 12 can rotate in its circumferential direction, making it suitable for robotic arms 20 at different heights and thus highly adaptable.

[0042] Please refer to some embodiments of this utility model. Figures 1 to 4 The positioning member 13 is inserted into the positioning groove 21 along the second direction, and the first and second directions are perpendicular to each other. The first and second directions can both be horizontal or nearly horizontal, that is, the insertion direction of the positioning member 13 and the positioning groove 21 is horizontal or nearly horizontal.

[0043] Both the first and second directions are horizontal. The robot arm 20 moves horizontally, and the positioning member 13 and the positioning groove 21 are also horizontally connected to each other. The drive shaft 12 is arranged horizontally, thus reducing the swaying of the robot arm 20 in the horizontal direction. In this embodiment, when the position of the robot arm 20 deviates in the vertical direction, the drive member 11 can drive the drive shaft 12 to rotate, thereby changing the position of the positioning member 13 in the vertical direction.

[0044] Please refer to some embodiments of this utility model. Figure 2 and Figure 3 In the cross-section perpendicular to the vertical direction, the cross-section of the positioning groove 21 first increases and then decreases. The cross-section perpendicular to the vertical direction is the horizontal plane; thus, it can be understood that in the vertical direction, the positioning groove 21 first increases and then decreases. When the actual position of the robot arm 20 in the vertical direction deviates from the predetermined position, the positioning element 13 can also enter the positioning groove 21, and guided by the groove wall of the positioning groove 21, the positioning element 13 gradually enters the positioning groove 21.

[0045] The cross-section of the positioning groove 21, which is parallel to the horizontal plane, first increases and then decreases, so that the positioning groove 21 has a relatively long space in the vertical direction. Even if the position of the robot arm 20 is deviated in the vertical direction, it will not affect the insertion of the positioning part 13 into the positioning groove 21, and it can also guide the positioning part 13.

[0046] In some embodiments, when in a predetermined position, the positioning member 13 is inserted at the position with the largest cross-sectional area of ​​the positioning groove 21, so that the insertion of the positioning member 13 and the positioning groove 21 is more stable.

[0047] Please refer to some embodiments of this utility model. Figure 2 and Figure 3 The positioning groove 21 is a triangular groove. Understandably, the positioning groove 21 is triangular in shape. One vertex of the triangle is formed by a recess in the side of the robot arm 20, and the other two vertices of the triangle are located on that side of the robot arm 20.

[0048] In some embodiments, the positioning groove 21 is triangular in shape in the longitudinal section, and the longitudinal section is parallel to both the second direction and the vertical direction.

[0049] Please refer to some embodiments of this utility model. Figures 4 to 7 The positioning component 13 includes a mounting ring 131 and a positioning rod 132 fixedly connected to the mounting ring 131. The mounting ring 131 is sleeved on the drive shaft 12, and the drive shaft 12 and the mounting ring 131 are fixed to each other in the circumferential direction of the drive shaft 12. The mounting ring 131 is used to connect with the drive shaft 12, and the positioning rod 132 is used to insert into the positioning groove 21. The fact that the drive shaft 12 and the mounting ring 131 are fixed to each other in the circumferential direction of the drive shaft 12 means that the drive shaft 12 and the mounting ring 131 move synchronously in the circumferential direction of the drive shaft 12. When the drive shaft 12 rotates by a certain angle, the mounting ring 131 rotates by the same angle accordingly.

[0050] The drive shaft 12 and the mounting ring 131 are fixed to each other in the circumferential direction of the drive shaft 12, so that the positioning member 13 and the drive shaft 12 can rotate synchronously, changing the placement angle of the positioning member 13. The positioning rod 132 has a rod-shaped structure, which makes it easier to insert into the positioning groove 21.

[0051] In some embodiments, the size of the top end of the positioning rod 132 is smaller than the size of its bottom end, which makes it easier for the positioning rod 132 to enter the positioning groove 21.

[0052] In some embodiments, the positioning rod 132 is a round rod, that is, the cross-section of the positioning rod 132 is circular. In other embodiments, the cross-section of the positioning rod 132 may also be elliptical, triangular, etc.

[0053] Please refer to some embodiments of this utility model. Figure 7The circumferential surface of the drive shaft 12 includes a first drive plane 121, and the inner wall of the mounting ring 131 has a second drive plane 133 that is in close contact with the drive plane. A connecting hole 134 penetrating the second drive plane 133 is provided on the mounting ring 131, and a fastener passes through the connecting hole 134 and abuts against the first drive plane 121. The first drive plane 121 on the surface of the drive shaft 12 makes its cross-section D-shaped, and the second drive plane 133 on the inner wall of the mounting ring 131 makes its inner hole D-shaped. Both the first drive plane 121 and the second drive plane 133 are planes, and they are in close contact with each other, preventing the mounting ring 131 from rotating relative to the drive shaft 12. Furthermore, the mounting ring 131 and the drive shaft 12 are connected to each other by a fastener, thus fixing the mounting ring 131 and the drive shaft 12 to each other in the axial direction of the drive shaft 12. Specifically, when the fastener is not installed, the mounting ring 131 can be moved axially relative to the drive shaft 12. When it moves to the predetermined position, the fastener passes through the connecting hole 134 and abuts against the first drive plane 121 of the drive shaft 12.

[0054] By setting the first transmission plane 121 and the second transmission plane 133, the transmission shaft 12 and the mounting ring 131 can be circumferentially fixedly connected. Moreover, the axial position of the positioning member 13 relative to the transmission shaft 12 is adjustable, which makes it easier for the positioning member 13 to match and position with the robot arm 20. After the position of the positioning member 13 is adjusted, the positioning member 13 can be axially fixed to the transmission shaft 12 by the fixing member.

[0055] In some embodiments, the fastener is a threaded component, and the connecting hole 134 is a corresponding threaded hole.

[0056] Please refer to some embodiments of this utility model. Figure 5 and Figure 6 The positioning mechanism 10 also includes a cold bridge insulator 18 and a connecting shaft 14. The drive member 11, connecting shaft 14, cold bridge insulator 18, and transmission shaft 12 are connected in sequence. When the drive member 11 is working, the connecting shaft 14, cold bridge insulator 18, and transmission shaft 12 all rotate synchronously. The cold bridge insulator 18 is used to reduce the occurrence of cold bridge phenomena. A cold bridge is a bridge for the transfer of cold energy. When the cold bridge insulator 18 is not provided, the cold energy on the transmission shaft 12 will be directly transferred to the connecting shaft 14 and the drive member 11. In this case, the transfer of cold energy between the connecting shaft 14 and the transmission shaft 12 is called a cold bridge.

[0057] By providing the cold bridge insulator 18, heat transfer from the drive shaft 12 to the drive component 11 can be reduced, thus preventing interference with the normal operation of the drive component 11. By providing the connecting shaft 14 between the cold bridge insulator 18 and the drive component 11, the distance between the drive component 11 and the drive shaft 12 can be further increased, reducing the transfer of cold energy to the drive component 11.

[0058] It should be noted that both the robotic arm 20 and the drive shaft 12 are in a low-temperature environment. The robotic arm 20 needs to grasp or release the sample box located in the low-temperature environment, so the temperature of the drive shaft 12 is low. If the cold bridge isolation component 18 is not set, the cold energy on the drive shaft 12 can be easily transmitted to the drive component 11.

[0059] In some embodiments, the cold bridge insulation element 18 is made of a material with poor thermal conductivity.

[0060] In some embodiments, the positioning mechanism 10 further includes at least two support bearing seats 15, which are used to support the connecting shaft 14 and the transmission shaft 12 respectively, so that the transmission shaft 12 and the connecting shaft 14 can rotate stably.

[0061] In some embodiments, the positioning mechanism 10 further includes a reducer 17, which is disposed between the drive member 11 and the connecting shaft 14, so that the rotation speed of the drive shaft 12 is suitable for the current application scenario.

[0062] Please see Figure 1 This utility model also provides an ultra-low temperature freezer, which includes the robotic arm positioning device in any of the above embodiments, and also includes a housing and a drive mechanism for driving the robotic arm 20 to move along a first direction. The drive mechanism is connected to the top of the robotic arm 20, and a slide rail 42 extending along the first direction is provided at the bottom of the housing. The bottom of the robotic arm 20 is slidably disposed on the slide rail 42. Ultra-low temperature can be defined as a temperature below -30 degrees Celsius. The drive mechanism provides power for the robotic arm 20 to move along the first direction. The top of the robotic arm 20 is fixed to the drive mechanism, and the bottom of the robotic arm 20 is slidably disposed on the slide rail 42. This is equivalent to the robotic arm 20 being a suspended robotic arm 20. The bottom of the robotic arm 20 is prone to wobbling, which may cause the robotic arm 20 to be inaccurately positioned when grasping sample boxes.

[0063] The ultra-low temperature freezer provided by this utility model adopts the aforementioned robotic arm positioning device. The robotic arm positioning device includes a positioning mechanism 10 and a robotic arm 20. The positioning mechanism 10 includes a driving component 11, a transmission shaft 12, and positioning components 13. A positioning groove 21 is provided on the side of the robotic arm 20 facing the positioning component 13. The cooperation between the positioning groove 21 and the positioning component 13 prevents the robotic arm 20 from shaking, improving the positioning accuracy of the robotic arm 20. The transmission shaft 12 extends along a first direction, and multiple positioning components 13 are also distributed sequentially along the length of the transmission shaft 12. Therefore, when the position of the robotic arm 20 changes in the first direction, it can still be positioned by the corresponding positioning component 13 on the positioning mechanism 10. Moreover, the transmission shaft 12 can rotate along its circumferential direction, making it suitable for robotic arms 20 at different heights, thus exhibiting strong applicability.

[0064] Please refer to some embodiments of this utility model. Figure 1 The positioning mechanism 10 is located at the bottom of the housing and can position the bottom of the robotic arm 20. It has a better positioning effect for the suspended robotic arm 20.

[0065] Please refer to some embodiments of this utility model. Figure 2 and Figure 3 The bottom of the robotic arm 20 is provided with a rotatable guide wheel 22. The guide wheel 22 abuts against the surface of the slide rail 42. When the robotic arm 20 moves in the first direction, the guide wheel 22 rolls along the surface of the slide rail 42.

[0066] Please refer to some embodiments of this utility model. Figure 1 The enclosure includes a first enclosure 30 and a second enclosure 40. The second enclosure 40 has an ultra-low temperature storage space 41. The robotic arm 20 and the drive shaft 12 are both located inside the second enclosure 40, while the drive unit 11 is located inside the first enclosure 30. The temperature of the ultra-low temperature storage space 41 is generally below -30 degrees Celsius and is used to store biological samples, etc. Therefore, the robotic arm 20, drive shaft 12, etc., inside the second enclosure 40 also need to move below -30 degrees Celsius. The temperature inside the first enclosure 30 is higher than the temperature inside the second enclosure 40. The electrically driven components (such as the drive unit 11 and drive mechanism) need to move at a relatively higher temperature, therefore the drive unit 11 is located inside the first enclosure 30.

[0067] By setting up the first enclosure 30 and the second enclosure 40, the ultra-low temperature storage space 41 and the ordinary space (which can be at low temperature or normal temperature) can be isolated from each other to prevent the drive component 11, drive mechanism and other components from being affected by the ultra-low temperature and becoming unable to work.

[0068] Please refer to some embodiments of this utility model. Figure 1 , Figure 5 and Figure 6The first housing 30 has a first through hole, and the second housing 40 has a second through hole. A first bearing 161 is installed in the first through hole, and a second bearing 162 is installed in the second through hole. A cold bridge isolation member 18 is provided between the drive member 11 and the transmission shaft 12. The cold bridge isolation member 18 extends from the first housing 30 to the second housing 40, and both the first bearing 161 and the second bearing 162 are fixed to the outer periphery of the cold bridge isolation member 18. The first through hole and the second through hole are arranged opposite each other to allow the positioning mechanism 10 to pass from the first housing 30 to the second housing 40. Part of the positioning mechanism 10 is located inside the first housing 30, and part is located inside the second housing 40. The cold bridge isolation member 18 of the positioning mechanism 10 is the transition section between the first housing 30 and the second housing 40. The fact that both the first bearing 161 and the second bearing 162 are fixed to the outer periphery of the cold bridge isolation member 18 means that the cold bridge isolation member 18 is fixedly connected to the inner ring of the first bearing 161 and the inner ring of the second bearing 162. The outer ring of the first bearing 161 is fixed in the first through hole, and the outer ring of the second bearing 162 is fixed in the second through hole.

[0069] By setting the cold bridge isolation component 18, the transfer of cold energy between the drive shaft 12 and the drive component 11 can be reduced, preventing the drive component 11 from malfunctioning due to excessively low temperature.

[0070] In some embodiments, both the first bearing 161 and the second bearing 162 are oil-free bushings.

[0071] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic arm positioning device, characterized in that, include: A positioning mechanism includes a driving member, a transmission shaft driven to rotate by the driving member, and a plurality of positioning members disposed on the transmission shaft. The transmission shaft extends along a first direction, and the plurality of positioning members are arranged at intervals along the first direction. The robotic arm is capable of moving along the first direction, and a positioning groove is provided on the side of the robotic arm facing the positioning member for cooperating with the positioning member.

2. The robotic arm positioning device as described in claim 1, characterized in that: The positioning element is inserted into the positioning groove along the second direction, and the first direction and the second direction are perpendicular to each other.

3. The robotic arm positioning device as described in claim 2, characterized in that: On the cross-section of the positioning groove perpendicular to the vertical direction, the cross-section of the positioning groove first increases and then decreases.

4. The robotic arm positioning device as described in claim 2, characterized in that: The positioning groove is a triangular groove.

5. The robotic arm positioning device as described in claim 1, characterized in that: The positioning component includes a mounting ring and a positioning rod fixedly connected to the mounting ring. The mounting ring is sleeved on the drive shaft, and the drive shaft and the mounting ring are fixed to each other in the circumferential direction of the drive shaft.

6. The robotic arm positioning device as described in claim 5, characterized in that: The circumferential surface of the drive shaft includes a first drive plane, and the inner wall of the mounting ring has a second drive plane that is in close contact with the first drive plane; the mounting ring has a connecting hole that penetrates the second drive plane, and the fastener passes through the connecting hole and abuts against the first drive plane.

7. The robotic arm positioning device according to any one of claims 1-6, characterized in that: The positioning mechanism further includes a cold bridge isolation component and a connecting shaft, and the driving component, the connecting shaft, the cold bridge isolation component and the transmission shaft are connected in sequence.

8. An ultra-low temperature freezer, characterized in that: The device includes a robotic arm positioning device, a housing, and a drive mechanism for driving the robotic arm to move along a first direction, as described in any one of claims 1-7. The drive mechanism is connected to the top of the robotic arm, and the bottom of the housing is provided with a slide rail extending along the first direction. The bottom of the robotic arm is slidably disposed on the slide rail.

9. The ultra-low temperature freezer as described in claim 8, characterized in that: The enclosure includes a first enclosure and a second enclosure. The second enclosure has an ultra-low temperature storage space. The robotic arm and the transmission shaft are both disposed in the second enclosure, and the driving component is disposed in the first enclosure.

10. The ultra-low temperature freezer as described in claim 9, characterized in that: The first housing has a first through hole, and the second housing has a second through hole. A first bearing is installed in the first through hole, and a second bearing is installed in the second through hole. A cold bridge isolation component is provided between the drive component and the transmission shaft. The cold bridge isolation component extends from the first housing to the second housing, and both the first bearing and the second bearing are fixed to the outer periphery of the cold bridge isolation component.

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