CN114029918A - Biobank sample transfer device - Google Patents
Biobank sample transfer device Download PDFInfo
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- CN114029918A CN114029918A CN202111333477.8A CN202111333477A CN114029918A CN 114029918 A CN114029918 A CN 114029918A CN 202111333477 A CN202111333477 A CN 202111333477A CN 114029918 A CN114029918 A CN 114029918A
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- manipulator
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- track
- biological sample
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- 238000012546 transfer Methods 0.000 title claims abstract description 23
- 239000012472 biological sample Substances 0.000 claims abstract description 42
- 238000012545 processing Methods 0.000 claims abstract description 26
- 239000000523 sample Substances 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 239000003153 chemical reaction reagent Substances 0.000 claims abstract description 5
- 238000012360 testing method Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 5
- 238000005538 encapsulation Methods 0.000 claims 2
- 238000003032 molecular docking Methods 0.000 claims 2
- 230000007723 transport mechanism Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 5
- 230000003578 releasing effect Effects 0.000 abstract description 2
- 238000004806 packaging method and process Methods 0.000 description 7
- 210000001503 joint Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 229960005486 vaccine Drugs 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
- Manipulator (AREA)
Abstract
本发明涉及低温存储技术领域，提供生物样本库样本中转装置，设计了用于搭载机械手移动X轴轨道、Y轴轨道、Z轴轨道，使机械手根据设计需要对处理台上的生物样本进行拿取移动操作，并通过自动处理台、人工处理台，可快速高效地录入不同生物样本的信息、挑选不同的生物样本试剂，提高了生物样本库的工作效率、使用范围。机械手设计了第一机械手齿条、第二机械手齿条以及与其啮合的驱动齿轮轴传动机构，驱动齿轮轴转动过程中，带动第一机械手齿条、第二机械手齿条向相反的方向运动，只需控制驱动齿轮轴连接的驱动电机的正转、反转即可完成第一机械手手臂、第二机械手手臂的抓取与释放动作，效率大大提升。
The invention relates to the technical field of cryogenic storage, provides a sample transfer device for a biological sample bank, and is designed to carry a manipulator to move an X-axis track, a Y-axis track, and a Z-axis track, so that the manipulator can take biological samples on a processing table according to design requirements. Mobile operation, and through the automatic processing table and the manual processing table, the information of different biological samples can be quickly and efficiently entered, and different biological sample reagents can be selected, which improves the work efficiency and use range of the biological sample library. The manipulator is designed with the first manipulator rack, the second manipulator rack and the driving gear shaft transmission mechanism meshing with them. During the rotation of the driving gear shaft, the first manipulator rack and the second manipulator rack are driven to move in opposite directions, only It is necessary to control the forward rotation and reverse rotation of the driving motor connected with the driving gear shaft to complete the grasping and releasing actions of the first manipulator arm and the second manipulator arm, and the efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of low-temperature storage, in particular to a sample transfer device for a biological sample library.
Background
With the development of biomedical science, the automation degree of biological sample libraries, vaccine libraries and the like is required to be higher and higher. Biological samples are usually frozen in sample tubes, and the sample tubes are placed on a storage rack through a sample box and refrigerated in a low-temperature environment to ensure the stability of the samples and prolong the storage time.
And under the ultra-low temperature environment, the storage of biological sample needs to adopt automatic equipment of taking, among the prior art, snatchs manipulator structure complicacy, and control process is loaded down with trivial details, and action execution efficiency is poor, can not satisfy the requirement that many biological samples snatch, shift fast, and different biological samples or bacterins etc. need be stored to biological sample storehouse simultaneously, need a transfer district to carry out information entry or take to different biological samples, bacterins through the information of transfer device cooperation manual input.
Therefore, a new device for transferring samples from a biological sample library is needed to solve the above problems.
Disclosure of Invention
The present invention is directed to a sample transferring device for biological sample library, which solves the above problems.
Biological sample storehouse sample transfer device, it includes:
the transfer support frame and the X-axis track arranged on the transfer support frame;
a Y-axis track which is arranged on the X-axis track and can slide along the X-axis track;
a Z-axis track which is arranged on the Y-axis track and can slide along the Y-axis track;
a Z-axis carrying plate which is arranged on the Z-axis track and can slide along the Z-axis track;
the automatic processing table is arranged on the Y-axis track stroke;
a manipulator is arranged on the Z-axis carrying plate;
the manipulator comprises a manipulator arm for clamping the test tube box, a manipulator driving motor for driving the manipulator arm to complete clamping action, and a manipulator transmission mechanism.
The mechanical arms comprise a first mechanical arm and a second mechanical arm;
the manipulator transmission mechanism comprises a first manipulator rack, a second manipulator rack and a driving gear shaft which is arranged between the first manipulator rack and the second manipulator rack and is meshed with the first manipulator rack and the second manipulator rack;
the first manipulator arm and the second manipulator arm are respectively and fixedly connected with the first manipulator rack and the second manipulator rack;
the driving gear shaft is connected with the manipulator driving motor, and is driven by the driving motor to rotate so as to drive the first manipulator rack and the second manipulator rack to slide in opposite directions.
Furthermore, an X-axis rack is installed on the X-axis track, an X-axis motor is correspondingly installed on the Y-axis track, an X-axis gear meshed with the X-axis rack is connected to an output shaft of the X-axis motor, and the X-axis motor drives the Y-axis track to slide along the X-axis track.
Furthermore, a Z-axis track capable of sliding along the Y-axis track is mounted on the Y-axis track, a Y-axis motor is arranged on the Z-axis track, and an output shaft of the Y-axis motor is connected with a Y-axis gear; a Y-axis rack meshed with the Y-axis gear is arranged on the Y-axis track; the Y-axis motor drives the Z-axis track to slide along the Y-axis track.
Further, a Z-axis motor is mounted on the Z-axis track, and an output shaft of the Z-axis motor is connected with a Z-axis gear; a Z-axis rack meshed with the Z-axis gear is arranged on the Z-axis lapping plate; the Z-axis motor drives the Z-axis carrying plate and the manipulator to slide along the Z-axis track.
Further, first manipulator arm passes through first stopper and connects first manipulator rack, and second manipulator arm passes through the second stopper and connects the second manipulator rack, and first stopper, second stopper play limiting displacement to first manipulator arm, second manipulator arm, avoid the contact collision.
Further, a packaging shell is arranged outside the first manipulator rack and the second manipulator rack, a manipulator slide rail is arranged inside the packaging shell, the manipulator slide rail comprises a first manipulator slide rail and a second manipulator slide rail, and the first manipulator rack and the second manipulator rack are respectively connected into the first manipulator slide rail and the second manipulator slide rail through slide bars.
Further, the automatic processing bench is provided with a table board, the table board is provided with a temporary storage area for temporarily storing the biological sample kit, a butt joint area for butt joint with the carrying mechanism, and a scanning area for scanning different biological sample test tubes to record information.
Further, still be provided with artifical processing platform for carry on the biological sample and carry out artifical processing operation.
Compared with the prior art, the invention has the beneficial effects that:
firstly, an X-axis track, a Y-axis track and a Z-axis track for carrying a manipulator to move are designed, so that the manipulator can carry out taking and moving operation on biological samples on a processing table according to design requirements, and information of different biological samples can be quickly and efficiently input and different biological sample reagents can be selected through an automatic processing table and a manual processing table, so that the working efficiency and the application range of a biological sample library are improved;
secondly, the manipulator simplifies the control process through the mechanical structure design, a first manipulator rack, a second manipulator rack and a driving gear shaft transmission mechanism meshed with the first manipulator rack and the second manipulator rack are designed, the driving gear shaft drives the first manipulator rack and the second manipulator rack to move in opposite directions in the rotating process, and the grabbing and releasing actions of the first manipulator arm and the second manipulator arm can be completed only by controlling the forward rotation and the reverse rotation of a driving motor connected with the driving gear shaft;
thirdly, the manipulator is provided with a first limiting block and a second limiting block which are respectively arranged on the first manipulator arm and the second manipulator arm to play a limiting role and avoid contact collision; the packaging shell is designed, the sliding rails of the first manipulator rack and the second manipulator rack are arranged in the packaging shell, the sliding action of the first manipulator rack and the second manipulator rack is smooth, and the efficiency is greatly improved.
Drawings
FIG. 1 is a schematic view of the overall structure of a sample transfer device for a biological sample library;
FIG. 2 is a schematic structural diagram of an X-axis rail, a Y-axis rail and a Z-axis rail;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is a schematic diagram of an X-axis track, a Y-axis track, a Z-axis track, and a partial structure;
FIG. 5 is a schematic view of the structure of an automatic processing station and a manual processing station;
FIG. 6 is a schematic view of the overall structure of the robot;
FIG. 7 is a first schematic view of the internal structure of the robot;
FIG. 8 is a second schematic view of the internal structure of the robot;
FIG. 9 is a schematic view of the structure of the test tube box and the robot arm.
In the figure:
an X-axis track 1, an X-axis rack 11, an X-axis motor 12, an X-axis gear 13,
A Y-axis track 2, a Y-axis rack 22, a Y-axis motor 23, a Y-axis gear 24,
A Z-axis track 3, a Z-axis carrying plate 31, a Z-axis motor 32, a Z-axis gear 33, a Z-axis rack 34,
A transfer support frame 4, an automatic processing table 5, a table surface 51, a scanning area 52, a scanner 53, a butt-joint area 54, a temporary storage area 55, a manual processing table 6, a manipulator 7,
The robot driving mechanism comprises a robot driving motor 71, a packaging shell 72, a robot slide rail 73, a first robot slide rail 731, a second robot slide rail 732, a robot arm 74, a first robot arm 741, a second robot arm 742, a limiting block 75, a first limiting block 751, a second limiting block 752, a robot transmission mechanism 76, a first robot rack 761, a second robot rack 762 and a driving gear shaft 763.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the sample transfer device for biological sample library includes a transfer support frame 4 and an X-axis track 1 installed on the transfer support frame 4; a Y-axis track 2 which is arranged on the X-axis track 1 and can slide along the X-axis track 1; a Z-axis track 3 which is arranged on the Y-axis track 2 and can slide along the Y-axis track 2; a Z-axis carrying plate 31 mounted on the Z-axis rail 3 and slidable along the Z-axis rail 3; an automatic processing table 5 disposed on the stroke of the Y-axis rail 2; the Z-axis mounting plate 31 is provided with a robot 7.
Referring to fig. 6 to 9, a plurality of reagent tubes are loaded in the test tube box, and the grasping object of the manipulator is the test tube box, so the invention designs the sample transfer device of the biological sample library, which comprises a manipulator arm 74 for grasping the test tube box, a manipulator driving motor 71 for driving the manipulator arm 74 to complete the grasping action, and a manipulator transmission mechanism 76.
The two manipulators 74 include a first manipulator 741 and a second manipulator 742; the robot actuator 76 includes a first robot rack 761, a second robot rack 762, and a drive gear shaft 763 provided between the first robot rack 761 and the second robot rack 762 and engaged with the first robot rack 761 and the second robot rack 762.
The first and second robot arms 741 and 742 are respectively fixedly connected to the first and second robot racks 761 and 762. The drive gear shaft 763 is connected to the robot drive motor 71.
The grabbing process is as follows: the driving motor 71 drives the driving gear shaft 763 to rotate, the first manipulator rack 761 and the second manipulator rack 762 are driven to slide in opposite directions, the first manipulator arm 741 and the second manipulator arm 742 are opened, the biological sample reagent tube grasping manipulator is driven by other mechanisms to the position of the test tube box 77 to be grasped, the driving motor 71 is continuously controlled to rotate in the opposite direction, the first manipulator arm 741 and the second manipulator arm 742 clamp the test tube box 77, and the test tube box 77 is driven by other mechanisms to move to a specified position.
Manipulator 7 sets up first stopper 751, second stopper 752, and first manipulator 741 connects first manipulator rack 761 through first stopper 751, and second manipulator 742 connects second manipulator rack 762 through second stopper 752, and first stopper 751, second stopper 752 play limiting displacement to first manipulator 741, second manipulator 742, avoid contacting the collision.
The packaging shell 72 is arranged outside the first manipulator rack 761 and the second manipulator rack 762, the manipulator slide rail 73 is arranged inside the packaging shell 72, the manipulator slide rail 73 comprises a first manipulator slide rail 731 and a second manipulator slide rail 732, and the first manipulator rack 761 and the second manipulator rack 762 are respectively connected into the first manipulator slide rail 731 and the second manipulator slide rail 732 through slide bars, so that the sliding motion is smooth, and the efficiency is greatly improved.
The removal of manipulator 7 needs rely on the carrying on of X axle track 1, Y axle track 2, Z axle track 3, install X axle rack 11 on the X axle track 1, correspond on the Y axle track 2 and install X axle motor 12, the output shaft of X axle motor 12 has the X axle gear 13 with the 11 meshing of X axle rack, drives Y axle track 2 by X axle motor 12 and slides along X axle track 1.
A Z-axis track 3 capable of sliding along the Y-axis track 2 is arranged on the Y-axis track 2, a Y-axis motor 23 is arranged on the Z-axis track 3, and an output shaft of the Y-axis motor 23 is connected with a Y-axis gear 24; a Y-axis rack 22 meshed with a Y-axis gear 24 is arranged on the Y-axis track 2; the Y-axis motor 23 drives the Z-axis track 3 to slide along the Y-axis track 2.
A Z-axis motor 32 is arranged on the Z-axis track 3, and an output shaft of the Z-axis motor 32 is connected with a Z-axis gear 33; a Z-axis rack 34 meshed with the Z-axis gear 33 is arranged on the Z-axis carrying plate 31; the Z-axis motor 32 drives the Z-axis carrying plate 31 and the manipulator 7 to slide along the Z-axis track 3.
An automatic processing table 5 and a manual processing table 6 are arranged in the X-axis track 1, the Y-axis track 2 and the Z-axis track 3. The automatic processing table 5 is provided with a table-board 51, the table-board 51 is provided with a temporary storage area 55 for temporarily storing biological sample kits, a butt joint area 54 for butt joint with the carrying mechanism, a scanner 53, and a scanning area 52 for scanning different biological sample test tubes and recording information. And the manual processing table 6 is used for carrying biological samples to carry out manual processing operation.
Through the design of X axle track 1, Y axle track 2, Z axle track 3, manipulator 7 can slide along X axle track, Y axle track, Z axle track, carries the test tube box to the different positions of automatic processing platform 5 and manual processing platform 6.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111333477.8A CN114029918A (en) | 2021-11-11 | 2021-11-11 | Biobank sample transfer device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111333477.8A CN114029918A (en) | 2021-11-11 | 2021-11-11 | Biobank sample transfer device |
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| Publication Number | Publication Date |
|---|---|
| CN114029918A true CN114029918A (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111333477.8A Pending CN114029918A (en) | 2021-11-11 | 2021-11-11 | Biobank sample transfer device |
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| CN (1) | CN114029918A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116714000A (en) * | 2023-08-10 | 2023-09-08 | 博奥生物集团有限公司 | Experimental container transfer system |
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| CN216399634U (en) * | 2021-11-11 | 2022-04-29 | 青岛澳西智能科技有限公司 | Biological sample storehouse sample transfer device |
| CN221875611U (en) * | 2023-10-23 | 2024-10-22 | 深圳市爱康生物科技股份有限公司 | Blood bag sorting platform and blood dispensing system |
| CN119098940A (en) * | 2024-10-12 | 2024-12-10 | 上海博信业辉系统工程有限公司 | A truss robot for loading and unloading round bar cutting machine |
-
2021
- 2021-11-11 CN CN202111333477.8A patent/CN114029918A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472792A (en) * | 2017-09-19 | 2017-12-15 | 苏州翊讯生物科技有限公司 | Blood outlines Input System |
| CN108007046A (en) * | 2017-12-27 | 2018-05-08 | 长沙迈迪克智能科技有限公司 | Full-automatic freezer based on red blood cell refrigeration |
| CN110589332A (en) * | 2019-10-08 | 2019-12-20 | 苏州贝康医疗器械有限公司 | Automated Biobank |
| CN111298855A (en) * | 2020-02-28 | 2020-06-19 | 青岛海尔生物医疗股份有限公司 | Test tube capping device |
| CN216399634U (en) * | 2021-11-11 | 2022-04-29 | 青岛澳西智能科技有限公司 | Biological sample storehouse sample transfer device |
| CN221875611U (en) * | 2023-10-23 | 2024-10-22 | 深圳市爱康生物科技股份有限公司 | Blood bag sorting platform and blood dispensing system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116714000A (en) * | 2023-08-10 | 2023-09-08 | 博奥生物集团有限公司 | Experimental container transfer system |
| CN116714000B (en) * | 2023-08-10 | 2023-11-10 | 博奥生物集团有限公司 | Experimental container transfer system |
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