CN109230138A

CN109230138A - A kind of biological sample cooling storage integrated device and its operating method

Info

Publication number: CN109230138A
Application number: CN201811174162.1A
Authority: CN
Inventors: 瞿建国; 王建信
Original assignee: Shanghai OriginCell Biological Cryo Equipment Co Ltd
Current assignee: Shanghai OriginCell Biological Cryo Equipment Co Ltd
Priority date: 2018-10-09
Filing date: 2018-10-09
Publication date: 2019-01-18
Anticipated expiration: 2038-10-09
Also published as: CN109230138B

Abstract

A kind of biological sample cooling storage integrated device and its operating method, device include: storage cooling mechanism, including storage cabinet and cooling device；First supporting table is set to storage cooling mechanism one end；Second, third supporting table is set to storage cooling mechanism another side；Transfer tank transport mechanism is set to above first supporting table；Transferring cabin is set in the second supporting table；Grillage transport mechanism is set in the third supporting table, is used for transmission grillage or transferring box enters in transferring cabin；The mobile clamping device of three-dimensional, is set to above storage cooling mechanism, including three-dimensional moving mechanism and the first, second grabbing device, and the first grabbing device grabs grillage；Second grabbing device is to freeze suction tube device；Housing covers at outside storage cooling mechanism, and two end sides set the opening for grillage transport mechanism and the transmission of transfer tank transport mechanism；Controller, transferring box transmission mechanism, grillage transport mechanism, three-dimensional mobile clamping device are electrically connected the controller.

Description

A kind of biological sample cooling storage integrated device and its operating method

Technical field

The invention belongs to the technical field of freezing storing box cooling and storage, in particular to a kind of biological sample cooling storage one Device and its operating method.

Background technique

Currently, automatic operation has been realized in biological sample cryopreservation tube and freezing storing box access, but in the prior art freeze Pipe and freezing storing box access device are to carry out access action by liquid nitrogen cryopreservation tank.And conventional biological sample storage, it is unreal The function of existing automatic flow integral type, and do not have program cooling link, biological sample is usually required in ultra-low temperature surroundings Lower to save the activity for maintaining biological sample, storage temperature generally has -80 DEG C, -140 DEG C, -196 DEG C etc., and biological sample freezes The speed of speed plays an important role to the activity of biological sample, and conventional storage mode is directly will be in transferring box or transfer tank Freezing storing box be put into tank body, and certain gradient slow cooling movement is not implemented, easily causes biological sample greenhouse cooling too fast Damage risk caused by and.

Therefore, it is badly in need of a kind of biological sample cooling storage integrated device and its operating method in the prior art, realizes and solve The problem of cryopreservation tube cooling access integral type, not only realize the function of rapid transport freezing storing box, but also reduce freezing storing box exposure Danger in room temperature environment improves the activity for the biological sample stored in cryopreservation tube, stores and increases freezing storing box in link Gradient cooling link preferably keeps the biological sample activity in freezing storing box, reduces security risk, while solving freezing storing box Rapid transport improves working efficiency to the function of transfer tank.

Summary of the invention

It is an object of the invention to design a kind of biological sample cooling storage integrated device and its operating method, realization to freeze Pipe cooling access integral type, not only realizes the function of rapid transport freezing storing box, but also reduce freezing storing box and be exposed to room temperature environment In danger, improve the activity for the biological sample stored in cryopreservation tube, store the gradient cooling for increasing freezing storing box in link Link preferably keeps the biological sample activity in freezing storing box, reduces security risk, while solving freezing storing box rapid transport extremely The function of transfer tank improves working efficiency.

In order to achieve the above objectives, the technical scheme is that

A kind of biological sample cooling storage integrated device comprising: storage cooling mechanism, including storage cabinet and cooling dress It sets；First supporting table is set to the storage cooling mechanism one end；Second, third supporting table is set to the storage cooling Mechanism another side；Transfer tank transport mechanism is set to above first supporting table, is used for transmission the transfer for being stored in grillage Tank；Transferring cabin is set in second supporting table, for transporting grillage or transferring box；Grillage transport mechanism is set to the third In supporting table, it is used for transmission grillage or transferring box enters in transferring cabin；The mobile clamping device of three-dimensional is set to the storage cooling Above mechanism comprising three-dimensional moving mechanism and the first, second grabbing device thereon, wherein the first grabbing device grabs plate Frame；Second grabbing device is to freeze suction tube device；Housing is provide with and is fixed on the storage cooling mechanism periphery, and two end sides are set The opening transmitted for the grillage transport mechanism and transfer tank transport mechanism；Controller, the transferring box transmission mechanism, grillage pass Mechanism, three-dimensional mobile clamping device is sent to be electrically connected the controller.

Preferably, the storage cabinet is that nitrogen pipe is infused in middle setting in refrigerator structure or the storage box body.

Preferably, the transfer tank transport mechanism includes two belt pulleys, feed belt and the electricity for coupling a wherein belt pulley Machine.

Preferably, the grillage transport mechanism includes two belt pulleys, feed belt, and couples the electricity of a wherein belt pulley Machine.

Preferably, the storage cooling mechanism includes: storage cabinet, inside sets several cooling side's buckets, storage side's bucket；It is described Cooling side's bucket, storage side's bucket top surface center set opening and corresponding cover board with handles, and cooling side's bucket, storage side's bucket Side wall be double layer hollow structure, setting note nitrogen pipe in the double layer hollow structure；Several cooling devices are set in each cooling side's bucket A cooling device is set, the cooling device includes: a screw rod, it is inserted into its cooling side's bucket from the top surface of cooling side's bucket, Upper end is connected in the output shaft of a driving motor, which is set to the top surface of cooling side's bucket；Screw lower end setting In the fixed block for being located at cooling side's bucket inner wall；One lifting seat is set on the screw rod, is cooperated with wire rod thread, with Screw rod rotates oscilaltion；For holding the lifting tray of freezing storing box, one end is connected to the lifting seat.

Preferably, the three-dimensional moving mechanism includes that two X are arranged in parallel in the storage cooling mechanism to fixed link In top, the housing；Two X direction guiding rails are set to the X to fixed link lower end surface, under X direction guiding rail along its length respectively End face sets guiding groove along its length；Two X are embedded in the guiding groove of two X direction guiding rails respectively to driving screw rod； Two X are respectively arranged under the X direction guiding rail to sliding block, and the X sets the guiding groove being embedded for X direction guiding rail to upper end of slide block face, For the guiding groove inner bottom surface along the axial direction tapped X of projection one to casing, the X is arranged in the X to casing to driving screw rod It is interior, and be threadedly engaged；X is set to the X to fixed link side, connects the X to driving silk by connector to driving motor Bar drives X to driving screw rod rotation to be allowed to that the X can be driven to move to sliding block along X direction guiding rail with this；One Y-direction fixed link, two End upper surface is connected to the X on two X direction guiding rails under sliding block；One Y-direction guide rail is set to described along its length Y-direction fixed link lower end surface, Y-direction guide rail lower end surface set guiding groove along its length；One Y-direction drives screw rod, is embedded at the Y-direction In the guiding groove of guide rail；One Y-direction sliding block, is set under the Y-direction guide rail, and Y-direction upper end of slide block face sets embedding for Y-direction guide rail If guiding groove, guiding groove inner bottom surface wears along the tapped Y-direction casing of axial projection one, the Y-direction driving screw rod In the Y-direction casing, and it is threadedly engaged；Y-direction driving motor is set to Y-direction fixed link side, is connected by connector The Y-direction drives screw rod, drives Y-direction driving screw rod rotation to be allowed to that the Y-direction sliding block can be driven to move along Y-direction guide rail with this.

Preferably, first grabbing device includes the first fixed plate, and the back side is connected to the Y-direction sliding block one vertically Side, the first fixed plate lower part set through-hole；Fixed frame, U-shaped are set to the first fixed plate front lower；Lifting frame, It for the body structure of a upper and lower opening, is inserted in the fixed frame, lifting frame corresponds to the back side of fixed plate along length side To setting the first rack gear；Lifting directive slide track and lifting guide runner, the lifting are set in the middle part of lifting frame two sides along its length Guide runner top surface is connected to the inner wall of the fixed frame；The front upper of the lifting frame sets two installation through-holes；It is described One is set above lifting frame can sense the sensor of freezing storing box；First driving motor is set in first fixed plate, Output shaft end stretches out the through-hole of first fixed plate lower part, and the first driving gear is arranged, the first driving gear and the The engagement of one rack gear drives the lifting frame to move up and down with this；First driving motor and the controller are electrically connected； Crossing type lifting apparatus is set in the lifting frame；Clamping device is set under the crossing type lifting apparatus.

Preferably, the crossing type lifting apparatus includes: scissors type elevating frame, is set in the lifting frame, Both upper ends thereof is separately connected a scissor sliding shoe, which is slidedly arranged on two scissor sliding axles, and two scissor is sliding Moving axis is arranged in parallel in the lifting frame internal upper part；A positive anti-leading screw is worn in the middle part of two scissor sliding shoes；Stepper motor, Output shaft couples the forward lead screw, and the stepper motor and the controller are electrically connected.

Preferably, the crossing type lifting apparatus includes: scissors type elevating frame, is set in the lifting frame；One Cylinder is driven, is set in the lifting frame, piston rod end connects the scissors type elevating frame.

Preferably, the two sides of the positive anti-leading screw set bearing and bearing block, which is fixed in the lifting frame Wall.

Preferably, position sensor, the inner wall upper end of the lifting frame are set by the through-hole of first fixed plate lower part A depth transducer is set at mouthful, the position sensor, depth transducer are electrically connected with the controller respectively.

Preferably, the clamping device includes: clip frame, is body structure, is sheathed under the scissors type elevating frame End, clip frame lower end sets bottom plate；Two clips, are pivotally connected to the bottom plate two sides of the clip frame, and clip middle part is upward convex It rises and forms an interconnecting piece；Two movable plates, two movable plate lower ends are flexibly connected the interconnecting piece in the middle part of two clip；Magnet frame Frame is set to the bottom plate upper surface center of the clip frame；Two movable plate upper end is protruded into the magnet frame；Frame Formula electromagnet is set in the magnet frame, a dynamic iron core is set in frame-type electromagnet, which sets accommodation groove, The accommodation groove is protruded into two movable plate upper end, and wears the connection dynamic iron core by a connecting shaft；The frame-type electricity Magnet and the controller are electrically connected.

Preferably, the two sides of the scissors type elevating frame set a rolling bearing respectively up and down, corresponding, the lifting frame The guide post with groove of upper inside wall center axial setting one and rolling bearing cooperation, in clip frame inner wall top Centre is axial to set guide groove.

Preferably, the two sides outer wall center of the clip frame is vertically arranged an at least pulley, corresponding, the liter respectively Drop frame inner wall central lower is vertically arranged the guide post of one with pulley cooperation respectively.

Preferably, the one end of the stepper motor output shaft end in the crossing type lifting apparatus and the positive anti-leading screw A synchronous pulley is set respectively, and is coupled by a synchronous belt.

Preferably, the clip frame is thermal insulator, and material is PIR or PUR material.

Preferably, the two sides of the connecting shaft set baffle, corresponding, and the inner wall two sides of the magnet frame set block.

Preferably, second grabbing device includes the second fixed plate, and it is another that the back side is connected to the Y-direction sliding block vertically Side；Second Z-direction fixed link, the back side are vertically arranged on the second fixed plate lateral surface；Second Z-direction guide rail, along length Direction is set to the second Z-direction fixed link front, and the second Z-direction guide rail front sets guiding groove along its length；Second Z-direction is driven Dynamic screw rod, is embedded in the guiding groove of the second Z-direction guide rail；Second Z-direction sliding block is set under the Z-direction guide rail, described Z-direction upper end of slide block face sets the guiding groove being embedded for the second Z-direction guide rail, and the guiding groove inner bottom surface is along axial projection one with interior spiral shell The Z-direction casing of line, the second Z-direction driving screw rod is arranged in the Z-direction casing, and is threadedly engaged；Second Z-direction driving motor, It is set to the Z-direction fixed link lateral surface, output shaft couples the second Z-direction by connector and drives screw rod, drives the 2nd Z with this To driving screw rod rotation it is allowed to that the second Z-direction sliding block can be driven to move along the second Z-direction guide rail；Suction nozzle is set to the 2nd Z To sliding block lower end.

Preferably, the transferring cabin includes: fixed pedestal, is body structure, including fixed frame and left and right side thereon Plate, back plate and bottom plate；The front end of fixed pedestal and top opening, and openable front door mechanism and openable are set accordingly Cap sheathing mechanism；Two Multi-section expansion sliding rails are horizontally placed on the left and right side plate medial surface lower part of the fixed pedestal respectively； Supporting plate, two sides are connected to described two Multi-section expansion sliding rails；Driving mechanism is set to the bottom plate upper end of the fixed pedestal Face, output end are connected to the rear portion of the supporting plate by a link block.

Preferably, the openable front door mechanism includes: preceding doorframe, is set to the front opening of the fixed pedestal Place；Front door, size are matched with the fixed doorframe, and front door lower pivot connects the preceding doorframe front end face lower part；Before The medial surface of door-plate corresponds to door weather strip before the opening projection of the preceding doorframe；First electric cylinders and its upper push-rod, the first electric cylinders cylinder Body is connected to side inner wall in the fixed pedestal, and the front end of push rod is movably connected on the medial surface of the front door.

Preferably, the openable cap sheathing mechanism includes: upper cover frame, is set to the top opening of the fixed pedestal Place；Upper cover, size are matched with the opening of the upper cover frame, and upper cover lower pivot connects upper cover frame upper surface；Upper cover Medial surface corresponds to the opening projection upper cover sealing strip of the upper cover frame；Second electric cylinders and its upper push-rod, the connection of the second electric cylinders cylinder body In side inner wall in the fixed pedestal, the front end of push rod is movably connected on the medial surface of the upper cover.

Preferably, the Multi-section expansion sliding rail is three stage structure, comprising: the first sliding rail is horizontally placed on described solid Determine left plate or the right side plate medial surface lower part of pedestal；Two-way sliding slot, end face be it is I-shaped, one side is slidedly arranged on described first Sliding rail；Second sliding rail is horizontally placed on left plate or the right side plate medial surface lower part of the fixed pedestal, is slidedly arranged on described double To the other side of sliding slot；The supporting plate two sides of the bottom set connecting plate along axial direction, which connects second sliding rail.

Preferably, first sliding rail, the second sliding rail top and bottom set the ball item with ball.

Also, the driving mechanism includes: support rod, it is set to the bottom plate upper surface center of the fixed pedestal, and it is described Multi-section expansion sliding rail parallel arrangement；Chain is set on the support rod, and chain front end is connected to the support by link block Postlaminar part；Motor is set to the bottom plate upper surface of the fixed pedestal, and positioned at the rear portion side of support rod, motor output shaft connects A shaft is connect, which couples the chain；Chain apparatus for placing is set to the bottom plate upper surface of the fixed pedestal, is located at On the outside of the rear end of support rod, the chain can be contained in the chain apparatus for placing.

Preferably, the chain is unidirectional chain or anti-bending chain.

Preferably, the back plate top of the fixed pedestal sets air inlet, and the bottom plate sets out stomata.

Preferably, negative pressure ventilation box is set at the venthole under the bottom plate.

Preferably, set the limit switch of corresponding front door on the inside of the preceding doorframe of the openable front door mechanism, it is described can The limit switch of corresponding upper cover is set on the inside of the upper cover frame of open-type cap sheathing mechanism.

Preferably, temperature sensor, the temperature sensor and control are equipped in storage side's bucket and cooling side's bucket Device is electrically connected.

Preferably, the housing is equipped with a display screen, and the display screen is equipped with control button, and described in electric connection Controller.

The operating method of biological sample cooling storage integrated device of the present invention comprising following steps:

1) liquid nitrogen is filled into respectively in the storage box body of storage cooling mechanism in cooling side's bucket and storage side's bucket, storage side's bucket - 196 to -130 DEG C of set temperature between, between -196 DEG C to -80 DEG C of set temperature of cooling side's bucket；Liquid nitrogen in cooling side's bucket It volatilizees from the bottom to top, the different temperature regions of bottom-up formation temperature change of gradient from low to high in cooling side's bucket；

2) by transfer tank transport mechanism, the transfer tank of interior storage grillage (freezing storing box) is delivered to the transmitting in housing Cabin is dried, dehumidification treatments；

3) three-dimensional mobile clamping device starting, three-dimensional moving mechanism drive the first grabbing device and the second grabbing device mobile Above to transferring cabin, transferring cabin upper cover is opened, and the first grabbing device grabs the grillage in transferring cabin in transfer tank, three-dimensional moving machine First grabbing device is moved to storage cabinet again by structure, and grillage is first placed on a cooling in storage cabinet by the first grabbing device Above square bucket, then the lid grabbed on cooling side's bucket to be put is put to other cooling side's buckets, then grab again grillage put to On the lifting tray for the cooling device in cooling side's bucket put, cooling device start driving motor, make lifting tray support grillage Required temperature region is gradually dropped in cooling side's bucket, during the above-mentioned decline from high-temperature area to low-temperature region, is risen It drops pallet and stops several minutes in different temperatures region；Otherwise it is also.

Grillage if you need to pass through cooling is stored in storage side's bucket, the mobile clamping device starting of three-dimensional, three-dimensional moving mechanism The first grabbing device and the second grabbing device is driven to be moved to above grillage, grillage is first placed on a storage by the first grabbing device Above square bucket, storage side's bucket upper cover to be deposited will be grabbed, open storage side's bucket, then the first grabbing device is picked up grillage and put Enter bottom in storage side's bucket to be deposited；

Grillage if you need to pass through cooling moves into transfer tank, the mobile clamping device starting of three-dimensional, makes the first grabbing device, the Two grabbing devices are moved to above transfer tank transport mechanism, and artificial or outside robotic arm removes transfer cover body, the transmission of transfer tank Transfer tank is moved to below the first grabbing device by mechanism starting, and the first grabbing device crawl grillage is put into transfer tank, transfer Transfer tank equipped with grillage is removed housing by tank transport mechanism, is used for operator's transhipment tank, and the grillage in transfer tank is turned Move to the use of other laboratories.

When cryopreservation tube accesses, three-dimensional moving mechanism drives the first grabbing device and the second grabbing device to be moved to storage cabinet Top, the first grabbing device open cooling side's bucket or storage side's bucket, and the second grabbing device draws cryopreservation tube to grillage, immigration housing It is interior, if the cryopreservation tube in grillage only has scattered cryopreservation tube, the cryopreservation tube in multiple grillages can be carried out choosing Guan Zhiyi plate In frame, to sufficiently realize utilization rate.

It is transferred according to transfer tank, comprising the following steps:

First external transfer tank upper cover is opened and is placed in transfer tank transport mechanism, by transfer tank transport mechanism by transfer Tank is transferred in housing and stopping when close to storage side bucket side, and three-dimensional moving mechanism, which starts, moves the first, second grabbing device Above to transfer tank, the first grabbing device starts simultaneously takes out grillage from transfer tank, and mobile first grabbing device is to storing cabinet Top, the first grabbing device put aside grillage, first by be placed into the upper cover of cooling side's bucket remove, then the first crawl dress It sets the lifting tray that grillage is put into cooling side's bucket and carries out program cooling, lifting tray gradually drops in cooling side's bucket Required temperature region, during the above-mentioned decline from high-temperature area to low-temperature region, lifting tray stops in different temperatures region Several minutes are stayed, the temperature of storage biological sample is gradually decrease to suspend mode shape in cryopreservation tube on grillage, then again by grillage from drop Temperature side's bucket takes out, is stored in immigration storage side's bucket；Or grillage is placed in grillage transport mechanism, grillage is removed, is used It is used in experimenter.

Beneficial effects of the present invention:

The orderly management of cryopreservation tube cooling access integral type of the present invention, not only realizes the function of rapid transport freezing storing box, And the danger that freezing storing box is exposed in room temperature environment is reduced, the activity for the biological sample stored in cryopreservation tube is improved, is deposited The gradient cooling link for increasing freezing storing box in link is stored up, the biological sample activity in freezing storing box is preferably kept, reduces safe Hidden danger, while solving the function of freezing storing box rapid transport to transfer tank, improve working efficiency.

Detailed description of the invention

Fig. 1 is the perspective view of the embodiment of the present invention；

Fig. 2 is stereo decomposing Fig. 1 of the embodiment of the present invention；

Fig. 3 is stereo decomposing Fig. 2 of the embodiment of the present invention；

Fig. 4 is the perspective view that square tube group is stored in the embodiment of the present invention；

Fig. 5 is the stereogram exploded view that square tube group is stored in the embodiment of the present invention；

Fig. 6 is the perspective view 1 of three-dimensional mobile clamping device in the embodiment of the present invention；

Fig. 7 is the perspective view 2 of three-dimensional mobile clamping device in the embodiment of the present invention；

Fig. 8 is the stereogram exploded view of three-dimensional mobile clamping device in the embodiment of the present invention；

Fig. 9 is the perspective view of cooling device in the embodiment of the present invention；

Figure 10 is the perspective view 1 of the first grabbing device in the embodiment of the present invention；

Figure 11 is the perspective view 2 of the first grabbing device in the embodiment of the present invention；

Figure 12 is stereo decomposing Fig. 1 of the first grabbing device in the embodiment of the present invention；

Figure 13 is stereo decomposing Fig. 2 of the first grabbing device in the embodiment of the present invention；

Figure 14 is stereo decomposing Fig. 3 of the first grabbing device in the embodiment of the present invention；

Figure 15 is the perspective view 1 of crossing type lifting apparatus embodiment one in the embodiment of the present invention；

Figure 16 is the perspective view 2 of crossing type lifting apparatus embodiment one in the embodiment of the present invention；

Figure 17 is the stereogram exploded view of crossing type lifting apparatus embodiment two in the embodiment of the present invention；

Figure 18 is the perspective view 1 of transferring cabin in the embodiment of the present invention；

Figure 19 is the perspective view 2 of transferring cabin in the embodiment of the present invention；

Figure 20 is the perspective view 3 of transferring cabin in the embodiment of the present invention；

Figure 21 is the perspective view 4 of transferring cabin in the embodiment of the present invention；

Figure 22 is the stereogram exploded view of the embodiment of the present invention；

Figure 23 is the perspective view 1 of Multi-section expansion sliding rail in the embodiment of the present invention, driving mechanism；

Figure 24 is the perspective view 2 of Multi-section expansion sliding rail in the embodiment of the present invention, driving mechanism；

Figure 25 is the stereogram exploded view of Multi-section expansion sliding rail in the embodiment of the present invention, driving mechanism；

Figure 26 is the use state diagram of transferring cabin in the embodiment of the present invention.

Specific embodiment

Referring to FIG. 1 to FIG. 26, a kind of biological sample cooling storage integrated device of the invention comprising:

Store cooling mechanism 1, including storage cabinet 11 and cooling device 12；

First supporting table 2 is set to 1 one end of storage cooling mechanism；

Second, third supporting table 3,4 is set to 1 another side of storage cooling mechanism；

Transfer tank transport mechanism 5 is set to 2 top of the first supporting table, is used for transmission the transfer tank for being stored in grillage 100；

Transferring cabin 6 is set in second supporting table 3, for transporting grillage 200 or transferring box；

Grillage transport mechanism 7 is set in the third supporting table 4, is used for transmission grillage 200 or transferring box enters transferring cabin In 6；

The mobile clamping device 8 of three-dimensional is set to above the storage cooling mechanism 1 comprising three-dimensional moving mechanism 9 and its On the first, second grabbing device 15,16, wherein the first grabbing device 15 grab grillage 200；Second grabbing device 16 is to freeze Deposit suction tube device；

Housing 17 is provide with and is fixed on 1 periphery of storage cooling mechanism, and two end sides are set for the grillage transport mechanism 7 The opening transmitted with transfer tank transport mechanism 5；

Controller, the transferring box transmission mechanism 5, grillage transport mechanism 7, three-dimensional mobile 8 structure of clamping machine are electrically connected The controller.

Further, the transfer tank transport mechanism 5 includes two belt pulleys, feed belt, and a connection wherein belt pulley Motor.

Preferably, the storage cabinet 11 is that nitrogen pipe is infused in middle setting in refrigerator structure or the storage cabinet 11.

Preferably, the grillage transport mechanism 7 includes two belt pulleys, feed belt, and couples the electricity of a wherein belt pulley Machine.

Preferably, the storage cooling mechanism 1 includes:

Cabinet 11 is stored, several cooling side's buckets 111, storage side's bucket 112 are inside set；Cooling side's bucket 111, storage side's bucket 112 top surface center sets opening and corresponding cover board 1111,1121 with handles, and cooling side's bucket 111, storage side's bucket 112 side wall is double layer hollow structure, setting note nitrogen pipe 113 in the double layer hollow structure；

Several cooling devices 12, each cooling side's bucket 111 is interior to be arranged a cooling device 12, and the cooling device 12 includes:

One screw rod 121 is inserted into its cooling side's bucket 111 from the top surface of cooling side's bucket 111, and the upper end is connected in a drive The output shaft of dynamic motor 122, the driving motor 122 are set to the top surface of cooling side's bucket 111；121 lower end of screw rod is set to Positioned at a fixed block 123 of 111 inner wall of cooling side's bucket；121 top of screw rod is installed on the drop by a upper fixed seat 126 111 upper inside wall of temperature side's bucket；

One lifting seat 124 is set on the screw rod 121, is threadedly engaged with screw rod 121, rotates liter up and down with screw rod 121 Drop；

For holding the lifting tray 125 of freezing storing box, one end is connected to the lifting seat 124.

Preferably, the three-dimensional moving mechanism 9 includes,

Two X are arranged in parallel in above the storage cooling mechanism 1, in the housing 17 to fixed link 91；

Two X direction guiding rails 92 are set to the X to 91 lower end surface of fixed link, 92 lower end of X direction guiding rail along its length respectively Face sets guiding groove 921 along its length；

Two X are embedded in the guiding groove 921 of two X direction guiding rails 92 respectively to driving screw rod 93；

Two X are respectively arranged under the X direction guiding rail 92, the X is set to 922 upper surface of sliding block for guide X to sliding block 922 The guiding groove 9221 that rail 92 is embedded, 9221 inner bottom surface of the guiding groove along axial direction tapped X of projection one to casing 923, The X is arranged in the X into casing 923 to driving screw rod 93, and is threadedly engaged；

X is set to the X to 91 side of fixed link, connects the X to driving screw rod by connector to driving motor 94 93, drive X to the driving rotation of screw rod 93 to be allowed to that the X can be driven to move to sliding block 922 along X direction guiding rail 92 with this；

One Y-direction fixed link 95, both ends upper surface are connected to the X on two X direction guiding rails 92 to sliding block 922 Under；

One Y-direction guide rail 96 is set to 95 lower end surface of Y-direction fixed link along its length, and 96 lower end surface of Y-direction guide rail is along length Degree direction sets guiding groove 961；

One Y-direction drives screw rod 97, is embedded in the guiding groove 961 of the Y-direction guide rail 96；

One Y-direction sliding block 98 is set under the Y-direction guide rail 96, and 98 upper surface of Y-direction sliding block sets embedding for Y-direction guide rail 96 If guiding groove 981,981 inner bottom surface of the guiding groove drives along the tapped Y-direction casing 982 of axial projection one, the Y-direction Dynamic screw rod 9 is arranged in the Y-direction casing 982, and is threadedly engaged；

Y-direction driving motor 99 is set to 95 side of Y-direction fixed link, connects the Y-direction by connector and drives screw rod 97, drive the Y-direction driving rotation of screw rod 97 to be allowed to that the Y-direction sliding block 98 can be driven to move along Y-direction guide rail 98 with this.

Preferably, first grabbing device 15 includes,

First fixed plate 151, the back side are connected to 98 one side of Y-direction sliding block vertically, and 151 lower part of the first fixed plate is set Through-hole 1511；

Fixed frame 152, U-shaped are set to 151 front lower of the first fixed plate；

Lifting frame 153 is the body structure of a upper and lower opening, is inserted in the fixed frame 152, lifting frame The back side of 153 corresponding first fixed plates 151 sets the first rack gear 154 along its length；Along length in the middle part of 153 two sides of lifting frame Direction sets lifting directive slide track 155 and lifting guide runner 1551, which is connected to the fixation The inner wall of frame 152；The front upper of the lifting frame 153 sets two installation through-holes；The top of the lifting frame 153 sets one The sensor of freezing storing box can be sensed；

First driving motor 156 is set in first fixed plate 151, and it is solid that output shaft end stretches out described first The through-hole of 151 lower part of fixed board, and the first driving gear 157 is set, which engages with the first rack gear 154, with This drives the lifting frame 153 to move up and down；First driving motor 156 is electrically connected with the controller；

Crossing type lifting apparatus 158 is set in the lifting frame 153；

Clamping device 159 is set under the crossing type lifting apparatus 158.

Preferably, the crossing type lifting apparatus 158 includes:

Scissors type elevating frame 1581 is set in the lifting frame 153, and upper part both ends are separately connected scissor sliding Block 1582,1582 ', the two scissors sliding shoe 1582,1582 ' both ends are slidedly arranged on two scissor sliding axles 1583,1583 ', this two is cut Fork sliding axle 1583,1583 ' is arranged in parallel in 153 internal upper part of lifting frame；In two scissor sliding shoes 1582,1582 ' Portion wears a positive anti-leading screw 1584；

Stepper motor 1585, output shaft couple the forward lead screw 1584, the stepper motor 1585 and the control Device is electrically connected.

Preferably, the crossing type lifting apparatus 158 includes: scissors type elevating frame 1581, is set to the lifting frame In frame 153；One driving cylinder 1586, is set in the lifting frame 153, piston rod end connects the scissors type elevating Frame 1581.

Preferably, the two sides of the positive anti-leading screw 1584 set bearing and bearing block 1589,1589 ', the bearing block 1589, 1589 ' are fixed on 153 inner wall of lifting frame.

Preferably, position sensor 20 is set by the through-hole of 151 lower part of the first fixed plate, the lifting frame 153 A depth transducer 21 is set at inner wall upper port, the position sensor, depth transducer electrically connect with the controller respectively It connects.

Preferably, the clamping device 159 includes:

Clip frame 1591 is body structure, is sheathed on 153 lower end of scissors type elevating frame, under clip frame 1591 End sets bottom plate 1592；

Two clips 1593 are pivotally connected to 1592 two sides of bottom plate of the clip frame 1591, and 1593 middle part of clip is upwards Convex to form an interconnecting piece 15931；

Two movable plates 1594, two movable plate lower ends are flexibly connected the interconnecting piece 15931 at two clips, 1593 middle part；

Magnet frame 1595 is set to 1592 upper surface of the bottom plate center of the clip frame 1591；Two movable plate 1594 upper ends are protruded into the magnet frame 1595；

Frame-type electromagnet 1596 is set in the magnet frame 1595, and a dynamic iron is set in frame-type electromagnet 1596 Core 1597,1597 lower end of dynamic iron core set accommodation groove 1598, and the accommodation groove 1598 is protruded into two movable plates, 1594 upper end, and The connection dynamic iron core 1597 is worn by a connecting shaft 1599；The frame-type electromagnet 1596 electrically connects with the controller It connects.

Preferably, the two sides of the scissors type elevating frame 158 set a rolling bearing 22,22 ', corresponding, institute respectively up and down The guide post with groove 23 of 153 upper inside wall of lifting frame center axial setting one and the rolling bearing 22 cooperation is stated, it is described 1591 upper inside wall of clip frame center is axial to set guide groove 15911.

Preferably, the two sides outer wall center of the clip frame 1591 is vertically arranged an at least pulley 24 respectively, corresponding, The 153 inner wall central lower of lifting frame is vertically arranged the guide post 25 of one with the pulley 24 cooperation respectively.

Preferably, 1585 output shaft end of stepper motor in the crossing type lifting apparatus 158 and the positive anti-leading screw 1584 one end sets a synchronous pulley 1587,1587 ' respectively, and is coupled by a synchronous belt 1588.

Preferably, the clip frame 1591 is thermal insulator, and material is PIR or PUR material.

Preferably, the two sides of the connecting shaft 1599 set baffle 15991, corresponding, the inner wall of the magnet frame 1595 Two sides set block 15951.

Preferably, second grabbing device 16 includes,

Second fixed plate 161, the back side are connected to 98 other side of Y-direction sliding block vertically；

Second Z-direction fixed link 162, the back side are vertically arranged on 161 lateral surface of the second fixed plate；

Second Z-direction guide rail 163 is set to 162 front of the second Z-direction fixed link, the second Z-direction guide rail along its length 163 fronts set guiding groove 1631 along its length；

Second Z-direction drives screw rod 164, is embedded in the guiding groove 1631 of the second Z-direction guide rail 163；

Second Z-direction sliding block 165 is set under the second Z-direction guide rail 163, and 165 upper surface of Z-direction sliding block is set for The guiding groove 1651 that two Z-direction guide rails 163 are embedded, 1651 inner bottom surface of guiding groove is along the tapped Z-direction of axial projection one Casing 1652, the second Z-direction driving screw rod 164 is arranged in the Z-direction casing 1652, and is threadedly engaged；

Second Z-direction driving motor 166, is set to 162 lateral surface of Z-direction fixed link, and output shaft is joined by connector The second Z-direction driving screw rod 164 is connect, drives the driving rotation of screw rod 164 of the second Z-direction to be allowed to that the second Z-direction sliding block can be driven with this 165 move along the second Z-direction guide rail 163；

Suction nozzle 167 is set to 165 lower end of the second Z-direction sliding block.

Preferably, the transferring cabin 6 includes:

Fixed pedestal 61, is body structure, including fixed frame 611 and left and right side plate 612,613, back plate 614 thereon And bottom plate 615；The front end of fixed pedestal 61 and top opening, and openable front door mechanism 62 and openable are set accordingly Cap sheathing mechanism 63；

Two Multi-section expansion sliding rails 64 are horizontally placed on respectively in the left and right side plate 612,613 of the fixed pedestal 61 Side lower；

Supporting plate 65, two sides are connected to described two Multi-section expansion sliding rails 64,64 '；

Driving mechanism 66, is set to 615 upper surface of bottom plate of the fixed pedestal 61, and output end is connected by a link block It is connected to the rear portion of the supporting plate 65.

Preferably, the openable front door mechanism 62 includes:

Preceding doorframe 621 is set at the front opening of the fixed pedestal 61；

Front door 622, size are matched with the fixed doorframe 621, and 622 lower pivot of front door connects the preceding doorframe 621 front end face lower parts；The medial surface of front door 622 corresponds to door weather strip 623 before the opening projection of the preceding doorframe 621；

First electric cylinders 624 and its upper push-rod 625, the first electric cylinders cylinder body are connected to side inner wall in the fixed pedestal 61, The front end of push rod 625 is movably connected on the medial surface of the front door 622.

Preferably, the openable cap sheathing mechanism 63 includes:

Upper cover frame 631 is set to the top open part of the fixed pedestal 61；

Upper cover 632, size are matched with the opening of the upper cover frame 631, and 632 lower pivot of upper cover connects the upper cover frame 631 upper surfaces；The medial surface of upper cover 632 corresponds to the opening projection upper cover sealing strip 633 of the upper cover frame 631；

Second electric cylinders 634 and its upper push-rod 635,634 cylinder body of the second electric cylinders are connected in the fixed pedestal 61 in side Wall, the front end of push rod 635 are movably connected on the medial surface of the upper cover 632.

Preferably, the Multi-section expansion sliding rail 64 is three stage structure, comprising:

First sliding rail 641 is horizontally placed on left plate or the right side plate medial surface lower part of the fixed pedestal 61；

Two-way sliding slot 642, end face be it is I-shaped, one side is slidedly arranged on first sliding rail 641；

Second sliding rail 643, is horizontally placed on left plate or the right side plate medial surface lower part of the fixed pedestal 61, and cunning is set In the other side of the two-way sliding slot 642；

65 two sides of the bottom of supporting plate set connecting plate 651 (by taking connecting plate 651 as an example, similarly hereinafter), the connecting plate 651 along axial direction Connect second sliding rail 643.

Preferably, first sliding rail 641, the second sliding rail 643 top and bottom set the ball item 644 with ball.

Preferably, the driving mechanism 66 includes:

Support rod 661 is set to 615 upper surface of the bottom plate center of the fixed pedestal 61, sliding with the Multi-section expansion Rail 64 is arranged in parallel；

Chain 662 is set on the support rod 661, and 662 front end of chain is connected to the supporting plate by link block 666 65 rear portions；

Motor 663 is set to 615 upper surface of bottom plate of the fixed pedestal 61, positioned at the rear portion side of support rod 661, Motor 663 exports one shaft 664 of axis connection, which couples the chain 662；

Chain apparatus for placing 665 is set to 615 upper surface of bottom plate of the fixed pedestal 61, after support rod 661 End outside, the chain 662 can be contained in the chain apparatus for placing 665.

Preferably, the chain 662 is unidirectional chain or anti-bending chain.

Preferably, 614 top of back plate of the fixed pedestal 61 sets air inlet 6141, and the bottom plate 615 sets out stomata 6151。

Preferably, negative pressure ventilation box 67 is set at the venthole 6151 under the bottom plate 615.

Preferably, the limit switch of corresponding front door 622 is set on the inside of the preceding doorframe 621 of the openable front door mechanism 62 625, the inside of the upper cover frame 631 of the openable cap sheathing mechanism 63 sets the limit switch 635 of corresponding upper cover 632.

Preferably, the housing 17 is equipped with a display screen 18, and the display screen is equipped with control button, and is electrically connected The controller.

The operating method of biological sample cooling storage integrated device of the present invention, comprising the following steps:

1) biological sample is stored in cryopreservation tube, the multiple cryopreservation tubes of storage in grillage (freezing storing box), transfer tank is interior to store grillage (freezing storing box)；

2) liquid nitrogen is filled into cooling side's bucket and storage side's bucket in the storage cabinet 11 of storage cooling mechanism 1, storage side respectively Between -196 DEG C to -130 DEG C of set temperature of bucket, between -196 DEG C to -80 DEG C of set temperature of cooling side's bucket；In cooling side's bucket Liquid nitrogen volatilizees from the bottom to top, the different humidity provinces of bottom-up formation temperature change of gradient from low to high in cooling side's bucket Domain；

3) multiple cryopreservation tubes will be stored through transferring cabin 6 by grillage transport mechanism 7, the three-dimensional mobile cooperation of clamping device 8 Grillage (freezing storing box) is sent into storage 1 side's of cooling bucket of cooling mechanism or the cooling of storage side's bucket or storage cryopreservation tube as needed, or will Grillage (freezing storing box) is placed in transfer tank, is sent out by transfer tank transport mechanism 5 for testing.

Also, the operating method of biological sample cooling storage integrated device of the present invention, comprising the following steps:

2) by transfer tank transport mechanism 5, the transfer tank 100 of interior storage grillage (freezing storing box) is delivered in housing 17 Transferring cabin 6 is dried, dehumidification treatments；

3) three-dimensional mobile clamping device 8 starts, and three-dimensional moving mechanism 9 drives the first grabbing device 15 and the second grabbing device 16 are moved to 6 top of transferring cabin, and 6 upper cover of transferring cabin is opened, and the first grabbing device 15 grabs in transferring cabin 6 in transfer tank 100 First grabbing device 15 is moved to storage cabinet 11 again by grillage 200, three-dimensional moving mechanism 9, and the first grabbing device 15 is first by plate Frame 200 is placed on above cooling side's bucket in storage cabinet 11, then the lid grabbed on cooling side's bucket to be put is put to other On cooling side's bucket, grillage 200 is then grabbed again and is put to the lifting tray 125 of the cooling device 12 in cooling side's bucket to be put, Cooling device 12 starts driving motor 122, make 125 support of lifting tray grillage 200 gradually dropped in cooling side bucket it is required Temperature region, during the above-mentioned decline from high-temperature area to low-temperature region, lifting tray 125 stops in different temperatures region Several minutes；Otherwise it is also.

Grillage if you need to pass through cooling is stored in storage side's bucket, and the mobile clamping device 8 of three-dimensional starts, three-dimensional moving mechanism 9 the first grabbing devices 15 of driving and the second grabbing device 16 are moved to 200 top of grillage, and the first grabbing device 15 is first by grillage 200 are placed on above storage side's bucket, will grab storage side's bucket upper cover to be deposited, open storage side's bucket, then the first crawl Device 15 picks up grillage 200 and is put into bottom in storage side's bucket to be deposited.

Grillage if you need to pass through cooling moves into transfer tank 100, and the mobile clamping device 8 of three-dimensional starts, and fills the first crawl It sets the 15, second grabbing device 16 and is moved to 5 top of transfer tank transport mechanism, artificial or outside robotic arm removes transfer tank 100 Transfer tank 100 is moved to 15 lower section of the first grabbing device by lid, the starting of transfer tank transport mechanism 5, and the first grabbing device 15 is grabbed Grillage 200 is taken to be put into transfer tank 100, the transfer tank 100 equipped with grillage 200 is removed housing 17 by transfer tank transport mechanism 5, is used In operator's transhipment tank, the grillage in transfer tank is transferred to other laboratories and is used.

When cryopreservation tube accesses, three-dimensional moving mechanism 9 drives the first grabbing device 15 and the second grabbing device 16 to be moved to and deposit 11 top of storage tank body, the first grabbing device 15 open cooling side's bucket or storage side's bucket, and the second grabbing device 16 draws cryopreservation tube, until Grillage 200；Move into housing 17, due to the cryopreservation tube in grillage 200 only have 10 either scattered cryopreservation tube when, can will be more Cryopreservation tube in a grillage 200 choose in Guan Zhiyi grillage 200, to sufficiently realize utilization rate.

First external 100 upper cover of transfer tank is opened and is placed in transfer tank transport mechanism 5, by transfer tank transport mechanism 5 Transfer tank 100 is transferred in housing 17 and stopping when close to storage side bucket side, three-dimensional moving mechanism 9, which starts, makes first, second Grabbing device 15,16 is moved to 100 top of transfer tank, and the first grabbing device 15 starts and takes out grillage from transfer tank 100 200, mobile first grabbing device 15 to 11 top of storage cabinet, the first grabbing device 15 puts aside grillage 200, first will be to The upper cover for the cooling side's bucket being put into is removed, and then grillage 200 is put into the lifting support in cooling side's bucket by the first grabbing device 15 Disk 125 carries out program cooling, and lifting tray 125 gradually drops to required temperature region in cooling side's bucket, above-mentioned from high temperature During region to the decline of low-temperature region, lifting tray 125 stops several minutes in different temperatures region, and grillage 200 freezes The temperature for depositing storage biological sample in pipe is gradually decrease to suspend mode shape, then again takes out grillage 200 from cooling side's bucket, moves into and deposit It is stored in storage side's bucket；Or grillage 200 is placed in grillage transport mechanism 7, grillage 200 is removed, experimenter is used for It uses.

Claims

1. a kind of biological sample cooling storage integrated device characterized by comprising

Store cooling mechanism, including storage cabinet and cooling device；

First supporting table is set to the storage cooling mechanism one end；

Second, third supporting table is set to the storage cooling mechanism another side；

Transfer tank transport mechanism is set to above first supporting table, is used for transmission the transfer tank for being stored in grillage；

Transferring cabin is set in second supporting table, for transporting grillage or transferring box；

Grillage transport mechanism is set in the third supporting table, is used for transmission grillage or transferring box enters in transferring cabin；

The mobile clamping device of three-dimensional is set to the storage cooling mechanism top comprising three-dimensional moving mechanism and thereon the One, the second grabbing device, wherein the first grabbing device grabs grillage；Second grabbing device is to freeze suction tube device；

Housing is provide with and is fixed on the storage cooling mechanism periphery, and two end sides are set for the grillage transport mechanism and transfer tank The opening of transport mechanism transmission；

Controller, the transferring box transmission mechanism, grillage transport mechanism, three-dimensional mobile clamping device are electrically connected the control Device.

2. biological sample cooling storage integrated device as described in claim 1, which is characterized in that the storage cabinet is refrigerator Nitrogen pipe is infused in middle setting in structure or the storage box body.

3. biological sample cooling storage integrated device as described in claim 1, which is characterized in that the transfer tank transport mechanism Including two belt pulleys, feed belt, and couple the motor of a wherein belt pulley；The grillage transport mechanism include two belt pulleys, Feed belt, and couple the motor of a wherein belt pulley.

4. biological sample cooling storage integrated device as described in claim 1, which is characterized in that the storage cooling mechanism packet It includes:

Cabinet is stored, several cooling side's buckets, storage side's bucket are inside set；Cooling side's bucket, storage side's bucket top surface center set out Mouth and corresponding cover board with handles, and the side wall of cooling side's bucket, storage side's bucket is double layer hollow structure, the double layer hollow Setting note nitrogen pipe in structure；Temperature sensor, the temperature sensor and control are equipped in storage side's bucket and cooling side's bucket Device processed is electrically connected；

Several cooling devices, each cooling side's bucket is interior to be arranged a cooling device, and the cooling device includes:

One screw rod is inserted into its cooling side's bucket from the top surface of cooling side's bucket, and the upper end is connected in the output of a driving motor Axis, the driving motor are set to the top surface of cooling side's bucket；Screw lower end is set to one positioned at cooling side's bucket inner wall Fixed block；

One lifting seat is set on the screw rod, is cooperated with wire rod thread, rotates oscilaltion with screw rod；

For holding the lifting tray of freezing storing box, one end is connected to the lifting seat.

5. biological sample cooling storage integrated device as described in claim 1, which is characterized in that the three-dimensional moving mechanism packet It includes,

Two X are arranged in parallel in above the storage cooling mechanism, in the housing to fixed link；

Two X direction guiding rails are set to the X to fixed link lower end surface along its length respectively, and X direction guiding rail lower end surface is along length side To setting guiding groove；

Two X are embedded in the guiding groove of two X direction guiding rails respectively to driving screw rod；

Two X are respectively arranged under the X direction guiding rail, the X sets the guiding being embedded for X direction guiding rail to upper end of slide block face to sliding block Groove, guiding groove inner bottom surface along axial direction tapped X of projection one to casing, the X to drive screw rod be arranged in the X to In casing, and it is threadedly engaged；

X is set to the X to fixed link side, connects the X to driving screw rod, with this band by connector to driving motor Dynamic X to driving screw rod rotation is allowed to that the X can be driven to move to sliding block along X direction guiding rail；

One Y-direction fixed link, both ends upper surface are connected to the X on two X direction guiding rails under sliding block；

One Y-direction guide rail is set to Y-direction fixed link lower end surface along its length, and Y-direction guide rail lower end surface is set along its length leads To groove；

One Y-direction drives screw rod, is embedded in the guiding groove of the Y-direction guide rail；

One Y-direction sliding block, is set under the Y-direction guide rail, and Y-direction upper end of slide block face sets the guiding groove being embedded for Y-direction guide rail, The guiding groove inner bottom surface is arranged in the Y-direction casing along the tapped Y-direction casing of axial projection one, the Y-direction driving screw rod It is interior, and be threadedly engaged；

Y-direction driving motor is set to Y-direction fixed link side, connects the Y-direction by connector and drives screw rod, with this band Dynamic Y-direction driving screw rod rotation is allowed to that the Y-direction sliding block can be driven to move along Y-direction guide rail.

6. biological sample cooling storage integrated device as described in claim 1, which is characterized in that the first grabbing device packet It includes,

First fixed plate, the back side are connected to the Y-direction sliding block one side vertically, and the first fixed plate lower part sets through-hole；

Fixed frame, U-shaped are set to the first fixed plate front lower；

Lifting frame is the body structure of a upper and lower opening, is inserted in the fixed frame, lifting frame corresponds to fixed plate The back side set the first rack gear along its length；Lifting directive slide track is set in the middle part of lifting frame two sides along its length and lifting is led To sliding block, which is connected to the inner wall of the fixed frame；The front upper of the lifting frame sets two Installation through-hole；One is set above the lifting frame can sense the sensor of freezing storing box；

First driving motor is set in first fixed plate, and output shaft end stretches out first fixed plate lower part Through-hole, and the first driving gear is set, which engages with the first rack gear, drives the lifting frame or more with this Movement；First driving motor and the controller are electrically connected；

Position sensor is set by the through-hole of first fixed plate lower part, sets a depth at the inner wall upper port of the lifting frame Sensor, the position sensor, depth transducer are electrically connected with the controller respectively；

Crossing type lifting apparatus is set in the lifting frame；

Clamping device is set under the crossing type lifting apparatus.

7. biological sample cooling storage integrated device as claimed in claim 6, which is characterized in that the scissors type elevating dress It sets and includes:

Scissors type elevating frame is set in the lifting frame, and upper part both ends are separately connected a scissor sliding shoe, two scissor Sliding shoe both ends are slidedly arranged on two scissor sliding axles, which is arranged in parallel in the lifting frame internal upper part；Two cut A positive anti-leading screw is worn in the middle part of fork sliding shoe；The two sides of the positive anti-leading screw set bearing and bearing block, which is fixed on The lifting frame inner wall；

The one end of stepper motor, output shaft end and the positive anti-leading screw sets a synchronous pulley respectively, and synchronous by one Band connection；The stepper motor and the controller are electrically connected.

8. biological sample cooling storage integrated device as claimed in claim 6, which is characterized in that the scissors type elevating dress Setting includes: scissors type elevating frame, is set in the lifting frame；One driving cylinder, is set in the lifting frame, lives Stopper rod end connects the scissors type elevating frame.

9. biological sample as claimed in claim 6 cooling storage integrated device, which is characterized in that the clamping device includes:

Clip frame is body structure, is sheathed on scissors type elevating frame lower end, clip frame lower end sets bottom plate；

Two clips are pivotally connected to the bottom plate two sides of the clip frame, raise upward to form an interconnecting piece in the middle part of clip；

Two movable plates, two movable plate lower ends are flexibly connected the interconnecting piece in the middle part of two clip；

Magnet frame is set to the bottom plate upper surface center of the clip frame；The magnet is protruded into two movable plate upper end In frame；

Frame-type electromagnet is set in the magnet frame, a dynamic iron core is set in frame-type electromagnet, which sets Accommodation groove, the accommodation groove is protruded into two movable plate upper end, and wears the connection dynamic iron core, the company by a connecting shaft The two sides of spindle set baffle, corresponding, and the inner wall two sides of the magnet frame set block；

The two sides of the scissors type elevating frame set a rolling bearing respectively up and down, corresponding, in the lifting frame upper inside wall The guide post with groove of centre axial setting one and rolling bearing cooperation, the clip frame inner wall center upper portion, which is axially set, to be led Slot；

The two sides outer wall center of the clip frame is vertically arranged an at least pulley respectively, corresponding, the lifting frame inner wall Central lower is vertically arranged the guide post of one with pulley cooperation respectively；

The frame-type electromagnet and the controller are electrically connected.

10. biological sample cooling storage integrated device as described in claim 1, which is characterized in that second grabbing device Including,

Second fixed plate, the back side are connected to the Y-direction sliding block other side vertically；

Second Z-direction fixed link, the back side are vertically arranged on the second fixed plate lateral surface；

Second Z-direction guide rail is set to the second Z-direction fixed link front along its length, and the second Z-direction guide rail front is along length side To setting guiding groove；

Second Z-direction drives screw rod, is embedded in the guiding groove of the second Z-direction guide rail；

Second Z-direction sliding block is set under the Z-direction guide rail, and Z-direction upper end of slide block face is set leads for what the second Z-direction guide rail was embedded To groove, which wears along the tapped Z-direction casing of axial projection one, the second Z-direction driving screw rod In in the Z-direction casing, and it is threadedly engaged；

Second Z-direction driving motor, is set to the Z-direction fixed link lateral surface, and output shaft couples the second Z-direction by connector and drives Dynamic screw rod drives the driving screw rod rotation of the second Z-direction to be allowed to that the second Z-direction sliding block can be driven to move along the second Z-direction guide rail with this；

Suction nozzle is set to the second Z-direction sliding block lower end.

11. biological sample as described in claim 1 cooling storage integrated device, which is characterized in that the transferring cabin includes:

Fixed pedestal, is body structure, including fixed frame and left and right side plate, back plate and bottom plate thereon；Before fixed pedestal End and top opening, and openable front door mechanism and openable cap sheathing mechanism are set accordingly；After the fixed pedestal Plate top sets air inlet, and the bottom plate sets out stomata；Negative pressure ventilation box is set at venthole under the bottom plate；

Two Multi-section expansion sliding rails are horizontally placed on the left and right side plate medial surface lower part of the fixed pedestal respectively；

Supporting plate, two sides are connected to described two Multi-section expansion sliding rails；

Driving mechanism, comprising:

Support rod is set to the bottom plate upper surface center of the fixed pedestal, is arranged in parallel with the Multi-section expansion sliding rail；

Chain is set on the support rod, and chain front end is connected to the supporting plate rear portion by link block；The chain is single To chain or anti-bending chain；

Motor is set to the bottom plate upper surface of the fixed pedestal, positioned at the rear portion side of support rod, motor output shaft connection one Shaft, the shaft couple the chain；

Chain apparatus for placing is set to the bottom plate upper surface of the fixed pedestal, on the outside of the rear end of support rod, the chain The rear portion that output end in the chain apparatus for placing is connected to the supporting plate by a link block can be contained in；

The openable front door mechanism includes:

Preceding doorframe is set at the front opening of the fixed pedestal；

Front door, size are matched with the fixed doorframe, and front door lower pivot connects the preceding doorframe front end face lower part；Before The medial surface of door-plate corresponds to door weather strip before the opening projection of the preceding doorframe；

First electric cylinders and its upper push-rod, the first electric cylinders cylinder body are connected to side inner wall in the fixed pedestal, the front end of push rod It is movably connected on the medial surface of the front door；

The limit switch of corresponding front door is set on the inside of the preceding doorframe；

The openable cap sheathing mechanism includes:

Upper cover frame is set to the top open part of the fixed pedestal；

Upper cover, size are matched with the opening of the upper cover frame, and upper cover lower pivot connects upper cover frame upper surface；Upper cover Medial surface corresponds to the opening projection upper cover sealing strip of the upper cover frame；

Second electric cylinders and its upper push-rod, the second electric cylinders cylinder body are connected to side inner wall in the fixed pedestal, the front end of push rod It is movably connected on the medial surface of the upper cover；

The limit switch of corresponding upper cover is set on the inside of the upper cover frame；

The Multi-section expansion sliding rail is three stage structure, comprising:

First sliding rail is horizontally placed on left plate or the right side plate medial surface lower part of the fixed pedestal；

Two-way sliding slot, end face be it is I-shaped, one side is slidedly arranged on first sliding rail；

Second sliding rail is horizontally placed on left plate or the right side plate medial surface lower part of the fixed pedestal, is slidedly arranged on described double To the other side of sliding slot；

The supporting plate two sides of the bottom set connecting plate along axial direction, which connects second sliding rail；First sliding rail, second The top and bottom of sliding rail set the ball item with ball.

12. the operating method of biological sample as described in claim 1 cooling storage integrated device, characterized in that including with Lower step:

1) liquid nitrogen is filled into cooling side's bucket and storage side's bucket in the storage box body of storage cooling mechanism, the setting of storage side's bucket respectively Between -196 to -130 DEG C of temperature, between -196 DEG C to -80 DEG C of set temperature of cooling side's bucket；In cooling side's bucket liquid nitrogen by down toward Upper volatilization, the different temperature regions of bottom-up formation temperature change of gradient from low to high in cooling side's bucket；

2) grillage or jelly of multiple cryopreservation tubes will be stored through transferring cabin by grillage transport mechanism, three-dimensional mobile clamping device cooperation It deposits box and is sent into storage cooling mechanism cooling side bucket or the cooling of storage side's bucket or storage cryopreservation tube as needed, or by grillage or freeze Box is placed in transfer tank, is sent out by transfer tank transport mechanism for testing.

13. the operating method of biological sample as described in claim 12 cooling storage integrated device, characterized in that including with Lower step:

1) liquid nitrogen is filled into respectively in the storage box body of storage cooling mechanism in cooling side's bucket and storage side's bucket, storage side's bucket is set Determine between -196 to -130 DEG C of temperature, between -196 DEG C to -80 DEG C of set temperature of cooling side's bucket；Liquid nitrogen is under in cooling side's bucket Supreme volatilization, the different temperature regions of bottom-up formation temperature change of gradient from low to high in cooling side's bucket；

2) by transfer tank transport mechanism, interior storage grillage, that is, freezing storing box transfer tank is delivered to the transferring cabin in housing, into Row drying, dehumidification treatments；

3) three-dimensional mobile clamping device starting, three-dimensional moving mechanism drive the first grabbing device and the second grabbing device to be moved to biography It passs above cabin, transferring cabin upper cover is opened, and the first grabbing device grabs the grillage in transferring cabin in transfer tank, and three-dimensional moving mechanism is again First grabbing device is moved to storage cabinet, grillage is first placed on cooling side's bucket in storage cabinet by the first grabbing device Top, then the lid grabbed on cooling side's bucket to be put are put to other cooling side's buckets, are then grabbed grillage again and are put to be put On the lifting tray of cooling device in cooling side's bucket, cooling device start driving motor, make lifting tray support grillage dropping Required temperature region is gradually dropped in temperature side's bucket, during the above-mentioned decline from high-temperature area to low-temperature region, lifting support Disk stops several minutes in different temperatures region；Otherwise it is also.

14. the operating method of biological sample cooling storage integrated device as described in claim 12, characterized in that

Grillage if you need to pass through cooling is stored in storage side's bucket, the mobile clamping device starting of three-dimensional, three-dimensional moving mechanism driving First grabbing device and the second grabbing device are moved to above grillage, and grillage is first placed on storage side's bucket by the first grabbing device Top, will grab storage side's bucket upper cover to be deposited, open storage side's bucket, then the first grabbing device pick up grillage and be put into Bottom in storage side's bucket of deposit；

Grillage if you need to pass through cooling moves into transfer tank, and the mobile clamping device starting of three-dimensional grabs the first grabbing device, second Device is taken to be moved to above transfer tank transport mechanism, artificial or outside robotic arm removes transfer cover body, transfer tank transport mechanism Transfer tank is moved to below the first grabbing device by starting, and the first grabbing device crawl grillage is put into transfer tank, and transfer tank passes It send mechanism that the transfer tank equipped with grillage is removed housing, is used for operator's transhipment tank, the grillage in transfer tank is transferred to Other laboratories use.

15. the operating method of biological sample cooling storage integrated device as described in claim 12, characterized in that according to The transfer of transfer tank, comprising the following steps:

First external transfer tank upper cover is opened and is placed in transfer tank transport mechanism, is turned transfer tank by transfer tank transport mechanism Enter in housing and stopping when close to storage side bucket side, three-dimensional moving mechanism, which starts, to be made during the first, second grabbing device is moved to Turning above tank, the first grabbing device starts and takes out from transfer tank grillage, and mobile first grabbing device extremely stores above cabinet, First grabbing device puts aside grillage, first by be placed into the upper cover of cooling side's bucket remove, then the first grabbing device will Grillage is put into the lifting tray in cooling side's bucket and carries out program cooling, needed for lifting tray gradually drops in cooling side's bucket Temperature region, during the above-mentioned decline from high-temperature area to low-temperature region, if lifting tray stops in different temperatures region Dry minute, the temperature of storage biological sample is gradually decrease to suspend mode shape in cryopreservation tube on grillage, then again by grillage from cooling side Bucket takes out, is stored in immigration storage side's bucket；Or grillage is placed in grillage transport mechanism, grillage is removed, for real Test personnel's use.