CN210972955U

CN210972955U - Pipe picking device

Info

Publication number: CN210972955U
Application number: CN201921576681.0U
Authority: CN
Inventors: 胡佳霖; 郑古成
Original assignee: Jidian Weike (chengdu) Medical Robot Technology Co ltd
Current assignee: Base Biotechnology (Chengdu) Co.,Ltd.
Priority date: 2019-09-19
Filing date: 2019-09-19
Publication date: 2020-07-10
Anticipated expiration: 2029-09-19

Abstract

The utility model discloses a pipe selecting device, which comprises a platform, a pipe selecting area and a pipe placing area, wherein the platform is provided with a transit area, a pipe taking area and a pipe placing area; a transfer robot A for transferring the sample cassette among the transfer area, the tube taking area and the tube placing area; choose tub mechanism, it includes test tube chuck, drive the test tube chuck is in get the district of managing and put between the district reciprocating motion's robotic arm C and set up and be in the push bench of test tube chuck below, push bench is located get the below in district. The utility model discloses a transfer manipulator A shifts the sample box in the transfer district, gets the district under control and put between the district under control, and push pipe mechanism will get the ejecting sample box of test tube in the sample box under control, and the test tube chuck will be pressed from both sides by the test tube of ejecting tight, and the rethread robotic arm C will take out the test tube put into the sample box under control to the realization is chosen the pipe action.

Description

Pipe picking device

Technical Field

The utility model belongs to the technical field of biological sample storage, concretely relates to choose tub device.

Background

Long-term storage of biological samples generally uses as low a temperature as possible to reduce biochemical reactions within the sample, improve the stability of various components within the sample, the lower the temperature, the longer the retention time of the sample. Generally, cryopreserved cells are placed in sample test tubes, the sample test tubes are placed on a storage rack through a sample box, and the storage rack is integrally placed in a refrigeration environment to realize long-term stable storage of samples.

When the biological sample is stored in the biological sample storage device, the test tube for storing the biological sample is not always filled in the whole sample box, and if the sample box which is not filled in the test tube is placed in the biological sample storage device, the storage space is inevitably wasted; furthermore, when a biological sample is taken out of the biological sample storage device, it is not always necessary to take out the test tubes in the entire sample cartridge, and if the entire sample cartridge is taken out, the test tubes are taken out, and the sample cartridge is put back into the biological sample storage device, an unused biological sample may be damaged; it is therefore necessary to develop a tube picking device for removing test tubes from a sample cartridge.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem of taking out the test tube from the sample box among the prior art, the utility model aims to provide a choose tub device. The utility model discloses a transfer manipulator A shifts the sample box in the transfer district, get the district under control and put between the district, push pipe mechanism will get the ejecting sample box of test tube in the sample box in the district under control, and the test tube chuck will be pushed out the test tube and press from both sides tightly, and the test tube that rethread robotic arm C will take out is put into the sample box of putting the district under control to realize choosing the pipe action under low temperature environment, avoid the sample in the test tube to damage, can avoid storage space's waste simultaneously.

The utility model discloses the technical scheme who adopts does:

a tube picking device comprising:

a platform having a transit zone, a tube taking zone and a tube placing zone;

a transfer robot A for transferring the sample cassette among the transfer area, the tube taking area and the tube placing area;

choose tub mechanism, it includes test tube chuck, drive the test tube chuck is in get the district of managing and put between the district reciprocating motion's robotic arm C and set up and be in the push bench of test tube chuck below, push bench is located get the below in district.

As a further alternative of the pipe picking device, the pipe picking device further comprises a buffer device arranged right below the platform.

As a further alternative of the pipe picking device, the buffer device comprises a rotating frame and a driving mechanism A for driving the rotating frame to rotate along a vertical shaft; the rotating frame is provided with a plurality of rows of unit frames distributed along the circumferential direction of the rotating frame; each column of the unit frame is sequentially provided with a plurality of placing grooves for placing the sample boxes from top to bottom.

As a further alternative of the tube picking device, the tube picking device further comprises a transfer manipulator B for transferring the sample box between the buffer device and the transfer area.

As a further alternative of the tube picking device, the transfer manipulator B comprises a pick-and-place mechanism for picking and placing the sample box and a manipulator arm B for driving the pick-and-place mechanism to transfer the sample box between the transfer area and the buffer device; the sample taking and placing mechanism comprises a supporting part, two clamping jaws A, a clamping jaw driving mechanism and a linear driving mechanism, wherein the top surface of the supporting part is provided with a guide groove, the two clamping jaws A are arranged above the guide groove, the clamping jaw driving mechanism drives the two clamping jaws A to clamp or release a sample box, and the linear driving mechanism drives the two clamping jaws A to slide along the opening direction of the guide groove.

As a further alternative of the tube picking device, the transfer manipulator a includes a gripping mechanism that grips or releases a sample cartridge, and a manipulator arm a that drives the gripping mechanism to transfer the sample cartridge between the transfer area, the tube taking area, and the tube placing area; the clamping mechanism comprises two opposite sliding parts A and a driving mechanism B for driving the two sliding parts A to slide relatively, each sliding part A is connected with a clamping arm in a sliding mode, and the sliding direction of the clamping arm is the same as that of the sliding part A; a limiting structure A is arranged between the clamping arm and the corresponding sliding part A; the opposite surfaces of the two clamping arms are provided with hook parts; the clamping mechanism further comprises an elastic element A for driving the two clamping arms to close.

As a further alternative of the tube picking device, the test tube chuck comprises two sliding parts B arranged in a relatively sliding way, two clamping jaws B arranged in a relatively sliding way, a driving mechanism C for driving the two sliding parts B to slide relatively, and an elastic element B for driving the two clamping jaws B to close; the opposite surfaces of the two clamping jaws B are provided with V-shaped grooves, the openings of the two V-shaped grooves are opposite, and the two clamping jaws B correspond to the two sliding parts B one by one; and a limiting structure B is arranged between each clamping jaw B and the corresponding sliding part B.

As a further alternative of the tube picking device, the test tube chuck further comprises an ejector rod a arranged above the clamping jaw B, a sliding part C connected with the ejector rod a in a sliding manner, a driving mechanism D driving the sliding part C to slide up and down, and a compression spring arranged between the sliding part C and the ejector rod a and driving the ejector rod a to slide down; the pipe jacking mechanism comprises a vertical ejector rod B and a driving mechanism E for driving the ejector rod B to slide up and down; the contact central point of the ejector rod B and the test tube and the contact central point of the ejector rod A and the test tube are on the same vertical line.

The utility model has the advantages that:

the utility model discloses a transfer manipulator A shifts the sample box in the transfer district, gets the district under control and put between the district under control, and push pipe mechanism will get the ejecting sample box of test tube in the sample box under control, and the test tube chuck will be pressed from both sides by the test tube of ejecting tight, and the rethread robotic arm C will take out the test tube put into the sample box under control to the realization is chosen the pipe action.

Other advantageous effects of the present invention will be described in detail in the detailed description of the invention.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings required for the description of the embodiments will be briefly introduced below, it should be understood that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of a tube picking device of the present invention;

FIG. 2 is a schematic structural diagram of a buffer device of the pipe picking device shown in FIG. 1;

FIG. 3 is a schematic structural view of a platform and a transfer robot A of the tube picking device shown in FIG. 1;

FIG. 4 is a schematic structural view of a clamping mechanism of the pipe picking device shown in FIG. 1;

FIG. 5 is a schematic structural view of a sample box clamp A of the tube picking device shown in FIG. 1;

FIG. 6 is a schematic structural view of a clamping mechanism of the tube picking device shown in FIG. 1;

FIG. 7 is a schematic structural view of a sample box clamp B of the tube picking device shown in FIG. 1;

FIG. 8 is a schematic structural view of a tube picking mechanism of the tube picking device shown in FIG. 1;

FIG. 9 is a schematic structural view of a test tube holder of the tube picking apparatus shown in FIG. 1 (the ejector rod A is omitted);

FIG. 10 is a schematic structural view of a push pipe mechanism of the pipe-picking device shown in FIG. 1;

FIG. 11 is a schematic structural view of a test tube holder of the tube picking device shown in FIG. 1 (with a clamping jaw B omitted);

fig. 12 is an exploded view of the pick and place mechanism of the tube picking device shown in fig. 1.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention. It is to be understood that the drawings are designed solely for the purposes of illustration and description and not as a definition of the limits of the invention. The connection relationships shown in the drawings are for clarity of description only and do not limit the manner of connection.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The present invention will be further described with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, the tube picking device of the present embodiment includes:

a platform 1 having a transit zone, an extraction zone and a release zone;

a transfer robot a3 that transfers the sample cassette 6 among the transfer area, the tube taking area, and the tube placing area;

choose a tub mechanism 2, it includes test tube chuck, drive test tube chuck get the district of taking the pipe and put between the district reciprocating motion's robotic arm C21 and set up the push bench in the test tube chuck below, push bench is located the below of getting the district of taking the pipe.

The transfer area is used for placing a sample box 6 from which a test tube needs to be taken out, a sample box 6 into which a test tube needs to be put, a sample box 6 from which a test tube is taken out and a sample box 6 into which a test tube is put; the tube taking area is used for placing a sample box 6 from which test tubes need to be taken out; the tube placing area is used for placing a sample box 6 which needs to be placed into a test tube. Through setting up the transfer district, make transfer sample box 6 disturb as far as possible and choose getting the pipe and putting the pipe operation of tub mechanism 2 to improve this efficiency of choosing the pipe device.

In this embodiment, as shown in fig. 3, a sample cartridge holder a11 for positioning the sample cartridge 6 is provided in each of the tube taking region and the tube placing region; a sample cartridge holder B12 for positioning the sample cartridge 6 is provided at the staging area.

As shown in fig. 5, the specimen cartridge holder a includes a holder body a111 and a clamping mechanism 13; a plurality of positioning grooves 1111 for positioning the sample box 6 are arranged in parallel on the clamp body A111; in this embodiment, 2 positioning grooves 1111 are formed; one side wall of the positioning groove 1111 has an opening 1113 for the sample cartridge 6 to enter the positioning groove 1111; and the openings of all the positioning grooves 1111 face in the same direction and all face in the positive direction of the X axis. As shown in fig. 6, the clamping mechanism 13 includes a slider a132 provided slidably, a clamping member 131 slidably connected to the slider a132, a spring a135 provided between the clamping member 131 and the slider a132, and a driving mechanism F for driving the slider a132 to slide; the clamping member 131 slides in the same direction as the slider a 132. At least one side wall of each of the positioning grooves 1111 is provided with a clamping mechanism 13. In this embodiment, each positioning groove 1111 is configured with a clamping mechanism 13, and a clamping member clearance groove 1114 configured to avoid the clamping member 131 is formed on a side wall of the clamping mechanism 13. As shown in fig. 5 and 6, to prevent the clamping member 131 from being separated from the slider a132 by the spring a135, a stopper a134 is fixed to the slider a 132; the stopper a134 is disposed at an end of the clamping member 131 facing the recess 1221. The driving mechanism F can be realized by adopting the prior art such as an air cylinder, an oil cylinder, an electric cylinder or a crank slide block mechanism; in this embodiment, as shown in fig. 6, the driving mechanism F includes a pneumatic motor a133, a gear a137 fixed to an output end of the pneumatic motor a133, and a rack a136 engaged with the gear a137 and fixedly connected to the slider a 132; the pneumatic motor a133 drives the gear a137 to rotate, so as to drive the rack a136, the slider a132 and the clamping piece 131 to slide into the positioning groove 1111 until the sample box 6 in the positioning groove 1111 abuts against the clamping piece 131, and the spring 135 is compressed, so that the sample box 6 is clamped. The sample box 6 is clamped by the clamping force provided by the spring 135, and the clamping force can be adjusted by replacing springs with different stiffness or using different numbers of springs, so that the phenomenon that the clamping force provided by the pneumatic motor A133 is too large, and the sample box 6 and even test tubes in the sample box 6 are damaged can be avoided.

As shown in fig. 7, the cartridge holder B includes a holder body B122 and a clamping mechanism 13; the clamp body B122 is provided with a groove 1221 for positioning the sample box 6; the groove bottom of the groove 1221 of the clamp body B122 arranged in the pipe taking area is provided with an avoidance hole 1222 of an avoidance pipe jacking mechanism. At least one side wall of the recess 1221 is provided with the clamping mechanism 13, and the side wall provided with the clamping mechanism 13 is provided with a clearance groove 1224 for avoiding the clamping member 131.

As shown in fig. 3, the specimen cassette holder a11 further includes a single-axis robot a112 that drives the holder body a111 to slide in the Y-axis direction; because the size of the clamp body a111 in the Y-axis direction is large, in order to avoid the slider of the single-axis robot a112 bearing a large moment, at least two sliders of the single-axis robot a112 need to be arranged, so that the size of the single-axis robot a112 must be increased, and the cost is increased, for this reason, in this embodiment, as shown in fig. 5, a follow-up structure 113 is connected between the clamp body a111 and the platform 1. The follow-up structure in this embodiment is implemented by using a linear guide rail, specifically, the guide rail of the linear guide rail is fixedly connected with the platform 1, and the slide block of the linear guide rail is fixedly connected with the fixture body a 111.

As shown in fig. 3, the cartridge gripper B12 further includes a single-axis robot B112 that drives the gripper body B122 to slide in the Y-axis direction; both single axis robot a112 and single axis robot B112 may be implemented using existing technology, such as the KK module sold by the silver companies. By providing the single-axis robot a112 and the single-axis robot B112, the movement in one direction (Y-axis direction) can be reduced in each of the transfer robot a3, the robot C21, and the ceiling-jacking mechanism, the structure is simplified, and the cost is reduced.

The transfer manipulator A3 can be realized by a mechanical arm and a clamping device fixed at the output end of the mechanical arm; specifically, the mechanical arm can be realized by adopting the prior art such as a two-axis mechanical arm, a three-axis mechanical arm, a four-axis mechanical arm, a five-axis mechanical arm, a six-axis mechanical arm and the like; clamping device can adopt prior art realization such as clamping jaw cylinder, specifically, on two fingers of clamping jaw cylinder respectively fixed one arm lock can.

As shown in fig. 1 and 3, the transfer robot A3 in the present embodiment includes a gripping mechanism 32 that grips or releases the sample cartridge 6, and a robot arm a31 that drives the gripping mechanism 32 to transfer the sample cartridge 6 between the transit section, the take-in section, and the put-in section. The robot arm a31 in the present embodiment includes a single-axis robot C311 and a single-axis robot D312 fixed to a slider of the single-axis robot C311. The gripping mechanism 32 is fixed to a slide of the single-axis robot D312. The single-shaft robot D312 drives the gripping mechanism 32 to slide vertically, i.e., in the Z-axis direction; the single-axis robot C311 drives the single-axis robot D312 to slide in the axial direction.

As shown in fig. 3 and 4, the gripping mechanism 32 includes two opposite sliders a323 and a driving mechanism B for driving the two sliders a323 to slide relatively, each slider a323 is slidably connected with a gripping arm 324, and the sliding direction of the gripping arm 324 is the same as the sliding direction of the slider a 323; a limiting structure A is arranged between the clamping arm 324 and the corresponding sliding part A323; the opposite faces of the two clamp arms 324 are provided with hook portions 3241; the gripper mechanism also includes a resilient element a that drives the two gripper arms 324 closed.

The driving mechanism B can be realized by a clamping jaw cylinder, such as a wide air claw of MH L2 series manufactured and sold by SMC, specifically, two fingers of the clamping jaw cylinder are fixedly connected with the two sliding pieces a323 respectively, or by other mechanisms, such as two linear driving pieces, specifically, output ends of the two linear driving pieces are fixedly connected with the two sliding pieces a323 respectively, the linear driving pieces can be realized by the prior art of air cylinders, oil cylinders, electric cylinders, and the like, or by a screw mechanism, specifically, a screw rod can be provided, both ends of the screw rod are respectively provided with a positive and negative screw thread, both ends of the screw rod are sleeved with a positive and negative nut, the positive and negative nut is fixedly connected with the two sliding pieces a323 respectively, in this embodiment, the driving mechanism B comprises a support 322, a pneumatic motor B2 fixed on the support 322, a gear B326 fixed on the output end of the pneumatic motor B2, and two racks B327 engaged with the gear 326, the gear B326 is arranged between the two racks B327, the two racks B323 are fixedly connected with the two sliding pieces a323, respectively.

The limiting structure a can be implemented by using the prior art, for example, by using a long hole and a pin, specifically, one of the clamping arm 324 and the sliding part a323 is provided with a long hole, the opening direction of the long hole is consistent with the sliding direction of the clamping arm 324, and the other is fixedly connected with a pin inserted in the long hole; the clamping device can also be realized by a U-shaped block and a limiting block arranged between two arms of the U-shaped block, specifically, one of the clamping arm 324 and the sliding part A323 is fixedly connected with the U-shaped block, and the other one is fixedly connected with the limiting block. In this embodiment, the limiting structure a includes a boss a3231 fixed on the sliding member a323 and a boss B3242 fixed on the clamping arm 324, and both bosses a3231 are disposed between the two bosses B3242. The limiting structure a is used to prevent the clipping arms 324 from separating from the sliding part a323, and drive the two clipping arms 324 to open simultaneously along with the two sliding parts a 323.

The elastic element a may be disposed between the drive mechanism and the clamp arm 324, between the clamp arm 324 and the slide a323, or/and between the two clamp arms 324. The elastic element A can be realized by adopting the prior art such as a cylindrical helical compression spring, a cylindrical helical extension spring, an elastic sheet or rubber. In this embodiment, the elastic element a includes at least one extension spring 325, and two ends of the extension spring 325 are respectively fixedly connected to the two clipping arms 324. In this embodiment, 3 extension springs 325 are provided.

As shown in fig. 8, the robot arm C21 includes a single-axis robot E211 and a single-axis robot F212 fixedly connected to a slider of the single-axis robot E211; the slide block of the single-shaft robot F212 is fixedly connected with the test tube chuck; the single-axis robot F212 drives the test tube chuck 22 to move vertically, and the single-axis robot E211 drives the single-axis robot F212 to slide in the X-axis direction.

The gripping mechanism 32 of the present embodiment has the grip arms 324 and the elastic element a for driving the two grip arms 324 to close on the slider a323, and has the hook portion 3241, so that the grip arms 324 can automatically adjust the gripping center according to the center of the sample box 6, thereby avoiding the problem that the sample box 6 is damaged due to the inclined arrangement of the sample box 6; meanwhile, the hook portion 3241 can prevent the sample cartridge from dropping, so that the clamping force can be reduced to avoid the problem that the excessive clamping force causes the sample cartridge 6 to be deformed or the sample test tube to be damaged.

As shown in fig. 5, the positioning groove 1111 is provided with an escape groove a1112 corresponding to the side walls of the two hook portions 3241 of the clip arm 324. As shown in fig. 7, the recess 1221 has an escape groove B1223 corresponding to the side walls of the two hook portions 3241 of the clip arm 324.

As shown in fig. 9, the test tube chuck 22 includes two slides B224 arranged to slide relatively, two jaws B221 arranged to slide relatively, a driving mechanism C223 for driving the two slides B224 to slide relatively, and an elastic member B for driving the two jaws B221 to close; the opposite surfaces of the two clamping jaws B221 are provided with V-shaped grooves 2211, the openings of the two V-shaped grooves 2211 are opposite, and the two clamping jaws B221 correspond to the two sliding pieces B224 one by one; a limiting structure B is arranged between each clamping jaw B221 and the corresponding sliding part B224. The drive mechanism C223 may be implemented with the same structure as the drive mechanism B. In this embodiment, the driving mechanism C223 includes a base 225, two pneumatic motors C2232 fixed on the base 225, two screws 2233 respectively fixed at output ends of the two pneumatic motors C2232, and two nuts 2231 respectively in threaded engagement with the two screws 2233; the two nuts 2231 are respectively fixedly connected with the two sliding pieces B224; each slider B224 is slidably connected to a base 225.

The elastic member B may be provided between the driving mechanism C223 and the jaw B221, between the jaw B221 and the slider B224, or/and between the two jaws B221. The elastic element B in this embodiment is at least one tension spring a222 disposed between two clamping jaws B221; two ends of each tension spring A222 are respectively fixed on the two clamping jaws B221.

The limiting structure B in this embodiment includes a boss C2241 fixed on the sliding member B224 and a boss D2212 fixed on the clamping jaw B221, and the two bosses C2241 are both disposed between the two bosses D2212. The limiting structure B functions to prevent the jaw B221 from disengaging from the slider B224 and to open the jaw B221 simultaneously when the driving mechanism C223 drives the slider B224 to open.

As shown in fig. 11, the test tube holder 22 further includes an ejector rod a227 disposed above the jaw B221, a slider C2210 slidably coupled to the ejector rod a227, a driving mechanism D226 for driving the slider C2210 to slide up and down, and a compression spring 208 disposed between the slider C2210 and the ejector rod a227 and driving the ejector rod a227 to slide down; as shown in fig. 10, the push bench mechanism 23 includes a vertical push rod B233 and a drive mechanism E232 that drives the push rod B233 to slide up and down; the contact center point of the ejector rod B233 and the test tube and the contact center point of the ejector rod A227 and the test tube are on a vertical line. In order to prevent the top rod A227 from being disengaged from the slider C2210, in the present embodiment, as shown in FIG. 11, a stop block B228 for preventing the top rod A227 from sliding down out of the slider C2210 is fixed on the slider C2210.

Through ejector pin A227 cooperation ejector pin B233 to make ejector pin B233 with the contact central point of test tube with the contact central point of ejector pin A227 and test tube is on a vertical line, thereby can not bear the moment of overturning by ejecting in-process at the test tube, when the test tube was by ejecting sample box 6, the test tube can not be crooked, thereby avoids the test tube to press from both sides to get the failure. When pressing from both sides the test tube, ejector pin A227 moves down to the bottom of ejector pin A227 and supports to the top of test tube, then ejector pin B233 rebound, with the test tube jack-up in the sample box, and ejector pin A227 compression spring 208 to avoid the test tube crooked at the jacking in-process, then clamping jaw A323 is closed, the outer wall of test tube is cliied to two V type grooves 2211, then ejector pin B233 and ejector pin A227 all reset to initial condition, realize pressing from both sides the clamp to the test tube.

As shown in fig. 10, the driving mechanism E232 in this embodiment includes a bracket 2323, an air motor D2322 fixed on the bracket 2323, a gear D2326 fixed on an output end of the air motor D2322, a rack D2321 engaged with the gear D2326 and fixedly connected to the ram B233, and a linear guide rail disposed between the rack D2321 and the bracket 2323.

As shown in fig. 8, the push bench mechanism 23 in this embodiment further includes a single-axis robot G231, and a slider of the single-axis robot G231 is fixedly connected to the bracket 2323 to drive the driving mechanism E232 and the push rod B233 to slide in the X-axis direction.

The test tube chuck 22 of the embodiment is provided with the V-shaped grooves 2211 on the two clamping jaws B221, and the elastic element B drives the two V-shaped grooves 2211 with opposite openings to clamp the outer wall of the test tube, so that the test tube chuck can adapt to various test tubes with different specifications and improve the universality; on the other hand, the problem that the test tube is damaged due to overlarge clamping force applied by the driving mechanism C223 can be avoided; secondly, press from both sides again after setting up ejector pin A227 cooperation ejector pin B233 and ejecting the test tube in the sample box 6 and get, can avoid the test tube to be crooked behind the ejecting sample box 6, lead to pressing from both sides to get the test tube failure.

As shown in fig. 1, the tube picking device in this embodiment further includes a buffer device 4 disposed right below the platform 1 to temporarily store empty sample cassettes 6, so that when test tubes need to be taken out from the biological sample library, the empty sample cassettes 6 are not required to be taken out each time, thereby improving efficiency.

As shown in fig. 2, the buffer device 4 in this embodiment includes a rotating frame and a driving mechanism a for driving the rotating frame to rotate along a vertical axis; the rotating frame is provided with a plurality of rows of unit frames 41 distributed along the circumferential direction; each row of the unit racks is provided with a plurality of placing grooves 411 for placing the sample boxes 6 from top to bottom in sequence. The driving mechanism a in this embodiment includes a motor 42 fixed under the platform, a gear E43 fixed at the output end of the motor 42, and a gear F44 engaged with the gear E43 and fixedly connected to the rotating frame.

As shown in fig. 1, the tube picking apparatus further includes a transfer robot B5 for transferring the sample cartridge 6 between the buffer device 4 and the transfer section. The transfer robot B5 includes a pick-and-place mechanism 52 that picks and places the sample cartridge 6, and a robot B51 that drives the pick-and-place mechanism 52 to transfer the sample cartridge 6 between the staging area and the buffer device 4. The mechanical arm B51 can be realized by adopting the prior art such as a two-axis mechanical arm, a three-axis mechanical arm, a four-axis mechanical arm, a five-axis mechanical arm, a six-axis mechanical arm and the like.

As shown in fig. 12, the pick and place mechanism 52 includes a support member 524 having a top surface provided with a guide groove 5241, two clamping jaws a521 each disposed above the guide groove 5241, a clamping jaw driving mechanism for driving the two clamping jaws a521 to clamp or release the sample cartridge, and a linear driving mechanism 527 for driving the two clamping jaws a521 to slide along the opening direction of the guide groove. The clamping jaw driving mechanism in the embodiment comprises a support 526 fixedly connected with the output end of the linear driving mechanism, two sliding parts D523 arranged on the support 526 in a relatively sliding manner, a driving device 525 for driving the two sliding parts D523 to slide, a limiting structure C arranged between the clamping jaw A521 and the corresponding sliding part D523, and an elastic element C for driving the two clamping jaws A521 to close; the sliding directions of the two sliding parts D523 and the sliding directions of the two clamping jaws a521 are both perpendicular to the sliding direction of the support 526, and the two sliding parts D523 are respectively connected with the two clamping jaws a521 in a sliding manner.

The driving device 525 in this embodiment includes two racks E5253 fixedly connected to the two sliders D523, respectively, a gear G5251 disposed between the two racks E5253 and engaged with both of the two racks E5253, and a pneumatic motor E5252 fixedly connected to the holder 526; the output end of the pneumatic motor E5252 is fixedly connected with a gear G5251.

Elastic elements C may be provided between the abutment 526 and the jaw a521, between the jaw a521 and the slider D523 or/and between the two jaws a 521. The elastic element C can be realized by the prior art such as a cylindrical helical compression spring, a cylindrical helical extension spring, an elastic sheet or rubber. The elastic element C in this embodiment is at least one tension spring B522 arranged between two clamping jaws a 521; two ends of the tension spring B522 are respectively fixedly connected with the two clamping jaws A521.

The limiting structure C can be realized by the prior art, and the limiting structure C in this embodiment includes a boss E5231 fixed on the sliding member D523 and a boss F5211 fixed on the clamping jaw a521, and both bosses E5231 are disposed between the two bosses F5211. The limiting structure C has the function of preventing the clamping jaw a521 from disengaging from the sliding part D523 and opening the clamping jaw a521 simultaneously when the driving device 525 drives the sliding part D523 to open.

The linear driving mechanism 527 in this embodiment includes a servo motor 5271 fixedly connected to the support 526, a gear H (not shown in the figure) fixedly connected to an output end of the servo motor 5271, and a rack F5272 engaged with the gear H; an installation groove is formed in the bottom of the guide groove 5241; the rack F5272 is fixed at the bottom of the mounting groove; a rolling guide rail 5273 is arranged between the support 526 and the bottom of the mounting groove; specifically, the guide rail of the rolling guide rail 5273 is fixed at the bottom of the mounting groove, and the sliding block of the rolling guide rail is fixedly connected with the support 526.

In this embodiment, the guide groove 5241 of the supporting member 524 is abutted to the opening 1113 and the placement groove 411, then the clamping jaw driving mechanism drives the two clamping jaws a521 to close, so as to clamp the sample box 6, the linear driving mechanism 527 drives the two clamping jaws a521 and the sample box 6 to move, so that the sample box 6 moves into the guide groove 5241, and the guide groove 5241 plays a role in supporting and limiting the sample box, so that the clamping force of the clamping jaw driving mechanism does not need to be increased, and the sample box 6 is prevented from being damaged.

The working principle is as follows:

taking the test tube out of the storage rack as an example, the mechanical arm B51 aligns the guide slot 5241 of the supporting part 524 with the storage rack, the linear driving mechanism drives the two clamping jaws a521 to move to both sides of the sample box 6 to be taken out, then the clamping jaw driving mechanism drives the two clamping jaws a521 to clamp the sample box 6, the linear driving mechanism drives the two clamping jaws a521 and the clamped sample box 6 to move to the position of the guide slot 5241, the mechanical arm B51 aligns the guide slot 5241 with the opening 1113 of one of the positioning grooves 1111, the linear driving mechanism drives the two clamping jaws a521 and the clamped sample box 6 into the positioning groove 1111, and then the two clamping jaws a521 are opened and reset by the linear driving mechanism; in the same manner, the transfer robot B takes an empty sample cartridge 6 from the buffer device 4 into another positioning recess 1111; then the transfer manipulator A puts the sample box 6 with the test tube into the groove 1221 of the tube taking area, and puts the empty sample box 6 into the groove 1221 of the tube placing area; then the ejector rod A227 moves downwards until the ejector rod A227 abuts against the top of the test tube and compresses the compression spring 229, then the ejector rod B233 moves upwards to jack up the test tube, then the two clamping jaws B221 are closed to clamp the jacked test tube, the mechanical arm C21 drives the test tube clamping head 22 to move to the tube placing area and align with the sample box 6 in the tube placing area, the two clamping jaws B221 are opened to place the test tube into the sample box 6 in the tube placing area, then the mechanical arm C21 moves the test tube clamping head 22 to the tube taking area again, and the operation is repeated in this way until the tube picking action is completed; the transfer robot a3 then places the sample cell 6 in the take-out area and the sample cell 6 in the put-in area into the transfer area, and the transfer robot B places the sample cell 6 in the corresponding position.

It should be noted that the tube picking device is operated in a low temperature environment to avoid the damage of the sample in the test tube.

The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.

Claims

1. A tube picking device is characterized by comprising:

a platform having a transit zone, a tube taking zone and a tube placing zone;

2. The tube picking device according to claim 1, wherein: the pipe picking device further comprises a caching device arranged right below the platform.

3. The tube picking device according to claim 2, wherein: the cache device comprises a rotating frame and a driving mechanism A for driving the rotating frame to rotate along a vertical shaft; the rotating frame is provided with a plurality of rows of unit frames distributed along the circumferential direction of the rotating frame; each column of the unit frame is sequentially provided with a plurality of placing grooves for placing the sample boxes from top to bottom.

4. The tube picking device according to claim 2 or 3, wherein: the tube picking device further comprises a transfer manipulator B for transferring the sample box between the buffer device and the transfer area.

5. The tube picking device according to claim 4, wherein: the transfer manipulator B comprises a taking and placing mechanism for taking and placing the sample box and a manipulator B for driving the taking and placing mechanism to transfer the sample box between the transfer area and the buffer device; the sample taking and placing mechanism comprises a supporting part, two clamping jaws A, a clamping jaw driving mechanism and a linear driving mechanism, wherein the top surface of the supporting part is provided with a guide groove, the two clamping jaws A are arranged above the guide groove, the clamping jaw driving mechanism drives the two clamping jaws A to clamp or release a sample box, and the linear driving mechanism drives the two clamping jaws A to slide along the opening direction of the guide groove.

6. The tube picking device according to claim 1, wherein: the transfer manipulator A comprises a clamping mechanism for clamping or releasing the sample box and a manipulator arm A for driving the clamping mechanism to transfer the sample box among the transfer area, the tube taking area and the tube placing area; the clamping mechanism comprises two opposite sliding parts A and a driving mechanism B for driving the two sliding parts A to slide relatively, each sliding part A is connected with a clamping arm in a sliding mode, and the sliding direction of the clamping arm is the same as that of the sliding part A; a limiting structure A is arranged between the clamping arm and the corresponding sliding part A; the opposite surfaces of the two clamping arms are provided with hook parts; the clamping mechanism further comprises an elastic element A for driving the two clamping arms to close.

7. The tube picking device according to claim 1, wherein: the test tube chuck comprises two sliding parts B which are arranged in a relatively sliding manner, two clamping jaws B which are arranged in a relatively sliding manner, a driving mechanism C for driving the two sliding parts B to slide relatively and an elastic element B for driving the two clamping jaws B to close; the opposite surfaces of the two clamping jaws B are provided with V-shaped grooves, the openings of the two V-shaped grooves are opposite, and the two clamping jaws B correspond to the two sliding parts B one by one; and a limiting structure B is arranged between each clamping jaw B and the corresponding sliding part B.

8. The tube picking device according to claim 7, wherein: the test tube chuck further comprises an ejector rod A arranged above the clamping jaw B, a sliding part C connected with the ejector rod A in a sliding mode, a driving mechanism D driving the sliding part C to slide up and down, and a compression spring arranged between the sliding part C and the ejector rod A and driving the ejector rod A to slide down; the pipe jacking mechanism comprises a vertical ejector rod B and a driving mechanism E for driving the ejector rod B to slide up and down; the contact central point of the ejector rod B and the test tube and the contact central point of the ejector rod A and the test tube are on the same vertical line.