CN111634567B

CN111634567B - Storage system

Info

Publication number: CN111634567B
Application number: CN202010479820.9A
Authority: CN
Inventors: 石海; 赵国庆; 胡佩俊; 鲍海静; 马延港
Original assignee: Shanghai Electric Huicheng Intelligent System Co ltd
Current assignee: Shanghai Huicheng Biomedical Technology Co.,Ltd.
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2022-03-29
Anticipated expiration: 2040-05-29
Also published as: CN111634567A

Abstract

The invention discloses a storage system, which comprises: the storage area is used for storing samples, and a grabbing device is further arranged in the storage area and used for moving the samples in the storage area; the buffer area is communicated with the storage area, and the sample enters or moves out of the storage area through the buffer area; a refrigeration device is arranged in the temperature control area and used for adjusting the temperature of the storage area to a preset temperature; the control interaction area is in communication connection with the storage area, the buffer area and the temperature control area and is used for sending control signals to the storage area, the buffer area and the temperature control area so as to enable the storage system to operate; the control interaction area is also used for displaying the operation parameters of the storage system and inputting control instructions. Utilize the buffer to be linked together with the storage area to take out or put into the sample through the buffer, thereby the buffer can obstruct the air conditioning in storage area effectively and leak, and the buffer also can avoid outside steam directly to get into the storage area, and then has reduced storage system's energy consumption, has improved storage system's energy utilization.

Description

Storage system

Technical Field

The invention relates to the field of storage, in particular to a storage system.

Background

Currently, cryogenic sample library storage systems are made up of multiple conventional cryogenic refrigerators or multiple liquid nitrogen storage tanks. Cryogenic sample library storage systems typically include a cryogenic storage compartment within which the biological sample is stored. When storing biological samples, a target storage position needs to be found, a refrigerator or a liquid nitrogen tank is manually opened, the biological samples are stored in a whole box unit, and the biological samples are taken out in the whole box unit when being taken out, so that several problems exist in the operation. Firstly, the sample query is difficult and the error is easy to occur; and secondly, the tube is easily frozen when being taken out manually, and the tube picking time is long. And thirdly, when the door is opened and closed for access every time, a large amount of cold air leaks out, and external hot air enters the sample warehouse, so that the quality of the biological sample is damaged and even the biological sample is scrapped.

The low-temperature storage section is generally provided with a plurality of storage units which are vertically arranged in a strip shape, the storage units are arranged into a square matrix, and biological samples are stored in the storage units. When the sample is grabbed, the whole vertical strip-shaped storage unit is vertically lifted to the upper part of the shelf, and then the internal biological sample of the whole vertical strip-shaped storage unit is grabbed. Through the mode of the storage unit, at least a space area with the same height as the storage unit is reserved above the low-temperature storage interval, so that the storage unit can be taken out, the space is greatly wasted by the low-temperature sample library storage system, the whole low-temperature sample library storage system is huge in mechanism, and the energy consumption is high.

Disclosure of Invention

The invention aims to overcome the defects that a large amount of cold air leaks out and external hot air enters a sample warehouse when a biological sample is manually taken out of a low-temperature sample warehouse storage system in the prior art, and provides a storage system.

The invention solves the technical problems through the following technical scheme:

a storage system, characterized in that the storage system comprises:

the storage area is used for storing samples, and a grabbing device is further arranged in the storage area and used for moving the samples in the storage area;

the buffer area is communicated with the storage area, and the sample enters or moves out of the storage area through the buffer area;

the temperature control area is internally provided with refrigeration equipment, and the refrigeration equipment is used for adjusting the temperature of the storage area to a preset temperature;

the control interaction area is in communication connection with the storage area, the buffer area and the temperature control area, and is used for sending control signals to the storage area, the buffer area and the temperature control area so as to enable the storage system to operate; the control interaction area is also used for displaying the operation parameters of the storage system and inputting control instructions.

In this scheme, through adopting above structure, utilize buffer and storage area to be linked together to take out or put into the sample through the buffer, thereby the buffer can separate the air conditioning in storage area effectively and leak, and the buffer also can avoid outside steam directly to get into the storage area, and then has reduced storage system's energy consumption, has improved storage system's energy utilization. The control of the storage area is realized by controlling the interaction area, so that the storage or the extraction of the sample is realized more efficiently; the manual storage or the sample calling is avoided, so that the probability of mistakenly selecting the sample can be reduced. The control of the temperature control area is realized by controlling the interaction area, so that the management of the temperature of the storage system can be realized more efficiently, the precision and the stability of the temperature control of the storage system can be improved, and the damage of a sample due to temperature discomfort is avoided. The control command is input through controlling the interactive area, so that the control difficulty of the storage system can be reduced, and the convenience of the operation of the storage system can be improved.

Preferably, the grabbing device is used for grabbing the storage devices connected in series and splitting the storage devices into parallel connection, the grabbing device comprises a temporary storage component and a plurality of grabbing components, the grabbing components are arranged on one side of the temporary storage component in parallel, and the grabbing components and the temporary storage component can move relatively in a first direction; the grabbing component comprises a first clamping part which is used for being connected with the connecting part of the storage device; the temporary storage assembly comprises a second clamping part, and the second clamping part is used for being connected with the subsection of the storage device; the first clamping portion or the second clamping portion is movable along a second direction; the first direction is a direction in which the storage devices are connected in parallel, and the second direction is a direction in which the storage devices are connected in series.

In this scheme, through structure more than adopting, through set up the subassembly of keeping in grabbing device and snatch the subassembly, can be through this subassembly of keeping in and snatch the cooperation between the subassembly, snatch the storage device of series connection and the split is parallel connection, and then treat extracting or treating depositing of storage thing of extract product to required space when can reducing to extract or save promotes space utilization, reduces storage system's volume, reduces storage system's energy consumption.

Preferably, the storage system further comprises a thermal insulation member disposed in the storage area, the thermal insulation member is used for dividing the storage area into an inspection area and a sample area, the gripping device is disposed in the inspection area, a plurality of storage devices are disposed in the sample area, the samples are stored on the storage devices, and the gripping device can move the storage devices from the sample area to the inspection area.

In this scheme, through adopting above structure, utilize to separate the temperature piece and split into maintenance area and sample district with the storage area to can reduce the gas convection between maintenance area and the sample district, and then can satisfy the temperature demand that maintenance area and sample district are different better, realize the temperature differentiation between maintenance area and the sample district more portably, can control the temperature in sample district and maintenance area respectively better, can improve the stability of the temperature of sample.

Preferably, the heat insulation member includes a heat insulation frame and a plurality of heat insulation blocks, an outer side surface of the heat insulation frame contacts with an inner side surface of the storage region, the plurality of heat insulation blocks are arrayed inside the heat insulation frame, the heat insulation blocks and the storage device are correspondingly arranged, and the heat insulation blocks can move along with the storage device.

In this scheme, through adopting above structure, through designing thermal-insulated piece for thermal-insulated frame and thermal-insulated frame, on the premise of satisfying isolation maintenance area and sample district, solved the problem how the sample moves between maintenance area and sample district. When a certain sample needs to be taken out, the corresponding storage device is only required to be moved to the overhaul area from the sample area, the temperature insulating block moves along with the storage device, after the sample is taken out, the storage device is placed back to the sample area, at the moment, the temperature insulating block returns to the original position, and the temperature insulating block, the temperature insulating frame and other peripheral temperature insulating blocks form temperature insulating pieces, so that the overhaul area and the sample area are isolated.

Preferably, the heat insulation piece is provided with a plurality of hoisting holes, and the heat insulation piece is connected with the storage area through the hoisting holes.

In this scheme, through adopting above structure, utilize the hole for hoist installation to separate the temperature piece, simplified the installation procedure that separates the temperature piece, also can improve the steadiness that separates the temperature piece.

Preferably, the refrigeration equipment comprises first refrigeration equipment, a coil assembly of the first refrigeration equipment is arranged inside the storage area, and the refrigeration equipment adjusts the temperature of the storage area through the coil assembly.

In this scheme, through adopting above structure, utilize first refrigeration plant cooling storage area to with the temperature control in preset range in storage area, can guarantee the storage environment's of sample stability.

Preferably, the first refrigeration equipment comprises a first refrigeration unit and a second refrigeration unit, and the coil assembly of the first refrigeration unit and the coil assembly of the second refrigeration unit are both arranged inside the storage area.

In this scheme, through adopting above structure, utilize the temperature in first refrigerating unit and second refrigerating unit control storage area, both simultaneous workings can improve the speed of adjustment of the temperature in storage area effectively. In addition, the first refrigerating unit and the second refrigerating unit can work alternately, and the reliability of the refrigerating equipment can be effectively improved.

Preferably, the refrigeration equipment further comprises second refrigeration equipment, and the second refrigeration equipment is used for introducing nitrogen into the storage area.

In this scheme, through adopting above structure, utilize second refrigeration plant to let in nitrogen gas to the storage area, when storage system's first refrigeration plant stop work, the second refrigeration plant can be timely let in nitrogen gas to the storage area to can guarantee the temperature in storage area, avoid the temperature of sample to surpass and predetermine the scope, and then, second refrigeration plant can improve storage system's reliability.

Preferably, the second refrigeration equipment comprises a nitrogen tank and an exhaust pipe, the nitrogen tank is communicated with the exhaust pipe, the exhaust pipe disc is arranged in the storage area, a plurality of vent holes are formed in the exhaust pipe, and nitrogen in the exhaust pipe enters the storage area through the vent holes.

In this scheme, through adopting above structure, utilize nitrogen gas jar and blast pipe to let in the storage area with nitrogen gas, realized simply, high-efficiently the input of nitrogen gas to the storage area.

Preferably, the storage system further comprises an isolation door assembly, the isolation door assembly is arranged between the buffer area and the storage area, and the isolation door assembly can be switched between an open state and a closed state so as to enable the buffer area to be communicated with or isolated from the storage area.

In this scheme, through adopting above structure, utilize to keep apart the intercommunication or the isolation that door subassembly had realized buffer and storage area reliably. When the isolation door assembly is in the open state, the buffer area is in communication with the storage area so that the sample can move between the buffer area and the storage area. When keeping apart the door subassembly and being in closed condition, buffer and storage area are kept apart to can avoid air conditioning to flow between buffer and storage area effectively, and then can improve the leakproofness of storage area, can reduce storage system's energy consumption.

Preferably, the isolation door assembly comprises a door frame assembly, a door body and a door power member, the door frame assembly is provided with a door frame opening, the door body is arranged on the door frame assembly, and the door power member acts on the door body so as to plug or keep away from the door frame opening.

In the scheme, the communication or isolation between the buffer area and the storage area is simply and efficiently realized by adopting the structure.

Preferably, the door frame assembly includes an inner door panel and an outer door panel, and the door body is sandwiched between the inner door panel and the outer door panel.

In this scheme, through adopting above structure, with the door body setting between door inner panel and door planking, can reduce external influence to the door body, can improve the reliability that the door body removed.

Preferably, the buffer further comprises:

a code scanning warehousing area, wherein the code scanning warehousing area is used for scanning the code record of the sample;

the tube picking area is used for adjusting and selecting the preset sample;

a sample staging area for temporarily storing the sample.

In the scheme, by adopting the structure, the identification, the recording and the storage of the sample are simply and efficiently realized by utilizing the buffer area.

Preferably, the buffer area is provided with a main door on the side far away from the storage area, and the main door is used for putting in or taking out the sample.

In this scheme, through adopting above structure, utilize the main door can improve the speed that the sample was put into or was taken out effectively to reduce air conditioning and flow out from the buffer area, also can reduce steam and enter the buffer area, and then can improve storage system's efficiency.

Preferably, a side door is arranged on the side face of the buffer area, and the side door is used for placing or taking out a single sample.

In this scheme, through adopting above structure, utilize the side to take out or put into single sample, can further reduce air conditioning and flow out from the buffer area, also can further reduce steam and enter the buffer area, and then can further improve storage system's efficiency.

Preferably, the control interaction area comprises an interaction piece, the interaction piece is arranged on the side surface of the buffer area, and the interaction piece is used for displaying the operation parameters of the storage system and inputting the control instruction.

In the scheme, by adopting the structure, the visualization of the operating parameters of the storage system can be realized by utilizing the interactive piece, and the operation of the storage system can be simplified.

Preferably, the storage system further comprises a dehumidifying device for dehumidifying the storage area.

In this scheme, through adopting above structure, utilize dehumidification equipment to get rid of the moisture in the storage area, can ensure the drying in the storage area, can improve the storage environment of sample and grabbing device's operational environment.

Preferably, still be equipped with skeleton and wallboard in the storage area, the wallboard encloses to be established skeleton periphery to shape storage space, the sample, grabbing device all sets up in storage space.

In this scheme, through adopting above structure, utilize skeleton and wallboard to enclose into the storage area, can improve the stability in storage area, can simplify the structural style in storage area.

Preferably, a movable frame assembly is further arranged in the storage area, the gripping device is mounted inside the movable frame assembly, the gripping device can move from one end of the movable frame assembly to the other end of the movable frame assembly, and the movable frame assembly can move relative to the framework.

In this scheme, through adopting above structure, realized the removal of grabbing device in the storage area simply, reliably to make grabbing device can move to target sample department, and then realize taking out or the storage of target sample.

Preferably, a first power member, a first transmission member and a first traveling member are further disposed in the storage area, the first power member is connected to the movable frame assembly, the first traveling member is connected to the first power member through the first transmission member, and the movable frame assembly moves relative to the framework through the first traveling member.

In this scheme, through adopting above structure, realized moving frame subassembly simply, reliably for the removal of skeleton.

Preferably, a second power part, a second transmission part and a second traveling part are further arranged in the storage area, the second power part is connected to the gripping device, the second traveling part is connected with the second power part through the second transmission part, and the gripping device moves relative to the movable frame component through the second traveling part.

In this scheme, through adopting above structure, realized the removal of grabbing device for moving frame subassembly simply, reliably.

Preferably, the framework comprises a plurality of sectional materials, the sectional materials form a hexahedron, and the wall plate is arranged around the periphery of the hexahedron.

In the scheme, by adopting the structure, the assembling process of the framework can be simplified, and the manufacturing efficiency of the storage area can be improved

On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.

The positive progress effects of the invention are as follows:

the buffer area is communicated with the storage area, and samples are taken out or put in through the buffer area, so that the buffer area can effectively prevent cold air in the storage area from leaking out, and the buffer area can prevent external hot air from directly entering the storage area, thereby reducing the energy consumption of the storage system and improving the energy utilization rate of the storage system. The control of the storage area is realized by controlling the interaction area, so that the storage or the extraction of the sample is realized more efficiently; the manual storage or the sample calling is avoided, so that the probability of mistakenly selecting the sample can be reduced. The control of the temperature control area is realized by controlling the interaction area, so that the management of the temperature of the storage system can be realized more efficiently, the precision and the stability of the temperature control of the storage system can be improved, and the damage of a sample due to temperature discomfort is avoided. The control command is input through controlling the interactive area, so that the control difficulty of the storage system can be reduced, and the convenience of the operation of the storage system can be improved.

Drawings

Fig. 1 is a schematic perspective view of a storage system according to a preferred embodiment of the invention.

Fig. 2 is another schematic perspective view of a storage system according to a preferred embodiment of the invention.

FIG. 3 is a schematic top view of a memory system according to a preferred embodiment of the invention.

Fig. 4 is a partially sectional structural schematic view of the storage area in fig. 1.

Fig. 5 is a schematic view of the storage area of fig. 1 without the wall panels.

Fig. 6 is a schematic structural view of a thermal insulating frame of the storage region in fig. 1.

Fig. 7 is a schematic view showing a structure in which the thermal insulation block of the storage region of fig. 1 is mounted to the storage device.

FIG. 8 is a schematic view of another embodiment of a thermal block of the storage area of FIG. 1 mounted to another storage device.

Fig. 9 is a schematic structural view of the second refrigeration apparatus in fig. 1.

Fig. 10 is a schematic view of the second refrigerator of fig. 9 mounted to a storage area.

Fig. 11 is a schematic structural diagram of the buffer and the memory area in fig. 1.

FIG. 12 is a schematic view of the isolation door assembly of FIG. 11.

Fig. 13 is a schematic structural diagram of the buffer in fig. 1.

Fig. 14 is a schematic structural diagram of a gripping device according to a preferred embodiment of the invention.

Fig. 15 is an internal view of a grasping apparatus according to a preferred embodiment of the present invention.

Fig. 16 is a schematic structural diagram of a grasping element according to a preferred embodiment of the invention.

Fig. 17 is a schematic structural diagram of a temporary storage assembly according to a preferred embodiment of the invention.

Fig. 18 is a schematic structural view of a gripping device according to a preferred embodiment of the invention.

Fig. 19 is a schematic structural diagram of a gripping device according to a preferred embodiment of the invention.

Fig. 20 is a schematic structural diagram of an extracting portion according to a preferred embodiment of the invention.

Fig. 21 is a schematic structural view of a gripping device according to a preferred embodiment of the invention.

FIG. 22 is a diagram illustrating a storage device being grabbed by the grabbing device according to the preferred embodiment of the present invention.

FIG. 23 is a diagram illustrating a disassembled storage device of the grabbing device according to the preferred embodiment of the present invention.

FIG. 24 is a diagram illustrating a memory device according to a preferred embodiment of the present invention.

FIG. 25 is a diagram illustrating a memory module according to a preferred embodiment of the present invention.

FIG. 26 is a diagram illustrating a structure of a memory device according to a preferred embodiment of the invention.

Fig. 27 is a schematic view of a usage scenario of the grasping apparatus according to the preferred embodiment of the invention.

Description of reference numerals:

storage system 90

Thermal insulation member 91

Thermal insulation frame 911

Thermal insulation block 912

Lifting hole 913

Isolation door assembly 92

Door frame assembly 921

Door body 922

Door power piece 923

Door outer panel 924

Door inner panel 925

Door frame opening 926

Outer casing 93

Storage area 80

Service area 81

Sample area 82

Skeleton 83

Wall panel 84

Moving frame assembly 85

Buffer 70

Code scanning warehousing area 71

Choose area 72

Sample temporarily placing area 73

Main door 74

Side door 75

Temperature control zone 60

Refrigeration device 61

First refrigeration equipment 62

First refrigerating unit 621

Second refrigeration unit 622

Coil assembly 63

Second refrigerating device 64

Nitrogen gas tank 641

Exhaust pipe 642

Controlling the interaction zone 50

Interaction element 51

Dehumidifying device 40

Storage device 1

Storage device 10

Memory module 100

First memory module 101

Second memory module 102

Third memory module 103

First connecting portion 110

First catch 111

First through hole 1111

Second connecting part 120

Second catch 121

First spacing 131

Third connecting part 140

Extraction port 167

First guide portion 168

Gripping device 20

Grabbing component 210

First grasping assembly 2101

Second grasping assembly 2102

Third grasping assembly 2103

First clamping portion 211

Jack catch 2111

Protrusion 2112

Second drive mechanism 212

First upright 2121

Second driver 2122

Second guide part 213

Temporary storage assembly 220

Second clamping portion 221

First clamping jaw 2211

Second clamping jaw 2212

Fourth driving mechanism 2213

Second guide 2214

First drive mechanism 230

First guide rail 231

First driver 232

Extraction component 240

Extraction unit 241

External shovel plate 2411

Inner shovel plate 2412

Third guide rail 2413

Fifth driving mechanism 242

Fourth guide rail 2421

Extraction vias 243

Sixth drive mechanism 244

Sixth driver 2441

Fifth guide rail 2442

Temporary storage area 250

Temporary storage unit 251

Supporting plate 252

Detailed Description

The present invention will be more clearly and completely described below by way of examples in conjunction with the accompanying drawings, but the present invention is not limited thereto.

As shown in fig. 1 to 27, the present embodiment is a storage system 90, and the storage system 90 includes: the system comprises a storage area 80, a buffer area 70, a temperature control area 60 and a control interaction area 50, wherein the storage area 80 is used for storing samples, a gripping device 20 is further arranged in the storage area 80, and the gripping device 20 is used for moving the samples in the storage area 80; buffer 70 is in communication with storage 80, and sample is moved into or out of storage 80 through buffer 70; a refrigerating device 61 is arranged in the temperature control area 60, and the refrigerating device 61 is used for adjusting the temperature of the storage area 80 to a preset temperature; the control interaction area 50 is in communication connection with the storage area 80, the buffer area 70 and the temperature control area 60, and the control interaction area 50 is used for sending control signals to the storage area 80, the buffer area 70 and the temperature control area 60 so as to enable the storage system 90 to operate; the control interactive area 50 is also used for displaying the operating parameters of the storage system 90 and inputting control instructions. The embodiment utilizes the buffer area 70 to be communicated with the storage area 80, and takes out or puts in samples through the buffer area 70, so that the buffer area 70 can effectively prevent cold air in the storage area 80 from leaking, the buffer area 70 can also prevent external hot air from directly entering the storage area 80, the energy consumption of the storage system 90 is reduced, and the energy utilization rate of the storage system 90 is improved. The control of the storage area 80 is realized by controlling the interactive area 50, so that the storage or the taking-out of the samples can be realized more efficiently; the manual storage or the sample calling is avoided, so that the probability of mistakenly selecting the sample can be reduced. The control of the temperature control area 60 is realized by controlling the interaction area 50, so that the management of the temperature of the storage system 90 can be realized more efficiently, the accuracy and stability of the temperature control of the storage system 90 can be improved, and the damage of the sample due to the temperature discomfort can be avoided. By controlling the interactive area 50 to input a control command, the control difficulty of the storage system 90 can be reduced, and the convenience of the operation of the storage system 90 can be improved.

Fig. 1 is a schematic view of the overall structure of a storage system 90 of the present embodiment, fig. 2 does not show a part of a housing, and fig. 2 shows internal components of the storage system 90.

As an embodiment, the sample may be a biological sample, the biological sample may be stored in a test tube, the test tube may be placed on a test tube rack, and the test tube rack may be further placed in a storage box. Accordingly, samples may be stored in the storage system 90 in units of test tubes, test tube racks, and storage boxes.

As shown in fig. 1 and 2, the storage system 90 further includes a dehumidifying apparatus 40, and the dehumidifying apparatus 40 is used for dehumidifying the storage area 80. In the embodiment, moisture in the storage area 80 is removed by the dehumidifying device 40, so that the storage area 80 can be dried, and the storage environment of the sample and the working environment of the gripping device 20 can be improved.

As shown in fig. 5, a frame 83 and a wall 84 are further disposed in the storage area 80, the wall 84 surrounds the frame 83 to form a storage space, and the sample and the grasping device 20 are disposed in the storage space. In the present embodiment, the storage area 80 is defined by the framework 83 and the wall plate 84, so that the stability of the storage area 80 can be improved, and the structural form of the storage area 80 can be simplified.

In fig. 5, the frame 83 includes a plurality of sections, the plurality of sections form a hexahedron, and the wall plate 84 surrounds the periphery of the hexahedron. This embodiment can simplify the assembling process of the frame 83 and can also improve the manufacturing efficiency of the storage area 80. In other embodiments, the frame 83 may also be a cylinder, a polygon prism, a sphere, a pyramid, etc., and the wall 84 surrounds the frame 83. In one embodiment, the profile forming the framework 83 may be a standard profile or a profiled bar. Wall panel 84 may be made of an insulating material, or a combination of insulating materials, such as aerogel board, vacuum insulation board, and the like.

As shown in fig. 2, a moving frame assembly 85 is further disposed in the storage area 80, the grasping device 20 is mounted inside the moving frame assembly 85, the grasping device 20 can move from one end of the moving frame assembly 85 to the other end of the moving frame assembly 85, and the moving frame assembly 85 can move relative to the framework 83. The embodiment simply and reliably realizes the movement of the gripping device 20 in the storage area 80, so that the gripping device 20 can move to the target sample, and the target sample can be taken out or stored.

The storage area 80 is further provided with a first power member, a first transmission member and a first traveling member, the first power member is connected to the movable frame assembly 85, the first traveling member is connected to the first power member through the first transmission member, and the movable frame assembly 85 moves relative to the framework 83 through the first traveling member. The present embodiment simply and reliably realizes the movement of the moving frame assembly 85 relative to the framework 83. As an embodiment, the first power member may be a motor, the first walking member may be a wheel, and correspondingly, a channel for the wheel to roll is disposed on the framework 83, and the motor drives the wheel to rotate, so that the wheel moves on the channel, and thus, the moving frame assembly 85 moves relative to the framework 83. The first walking member may also include a gear assembly, and accordingly, a rack is provided on the frame 83, and the motor drives the gear such that the gear moves on the rack, thereby realizing the movement of the moving frame assembly 85 relative to the frame 83.

A second power member, a second transmission member and a second traveling member are further disposed in the storage area 80, the second power member is connected to the gripping device 20, the second traveling member is connected to the second power member through the second transmission member, and the gripping device 20 moves relative to the moving frame assembly 85 through the second traveling member. This embodiment simply and reliably achieves the movement of the grasping apparatus 20 relative to the moving frame assembly 85. As an embodiment, the second power member may be a motor, the second walking member may be a wheel, and correspondingly, a channel for the wheel to roll is formed on the moving frame assembly 85, and the motor drives the wheel to rotate, so that the wheel moves on the channel, and thus the movement of the grabbing device 20 relative to the moving frame assembly 85 is realized. The second runner may also include a gear assembly, and correspondingly, a rack is provided on the moving frame assembly 85, and the motor drives the gear, so that the gear moves on the rack, thereby realizing the movement of the gripping device 20 relative to the moving frame assembly 85.

As shown in fig. 2 and 3, the moving frame assembly 85 is mounted on the framework 83, and both ends of the moving frame assembly 85 respectively span the top of the framework 83. The top of skeleton 83 is equipped with the rack respectively, is equipped with motor and gear on the removal frame subassembly 85, and the motor drives the gear to the gear rolls on the rack, realizes removing the removal of frame subassembly 85. The grabbing device 20 is arranged inside the moving frame assembly 85, a rack is also arranged above the moving frame assembly 85, a motor and a gear are arranged on the grabbing device 20, and the motor drives the gear, so that the gear rolls on the rack, and the grabbing device 20 moves. In this embodiment, the moving direction of the moving frame assembly 85 relative to the framework 83 is perpendicular to the moving direction of the grasping device 20 relative to the moving frame assembly 85.

As shown in fig. 5 to 8, the storage system 90 further includes a thermal insulation member 91, the thermal insulation member 91 is disposed in the storage area 80, the thermal insulation member 91 is used for dividing the storage area 80 into an inspection area 81 and a sample area 82, the gripping device 20 is disposed in the inspection area 81, a plurality of storage devices 10 are disposed in the sample area 82, samples are stored on the storage devices 10, and the gripping device 20 can move the storage devices 10 from the sample area 82 to the inspection area 81. In the embodiment, the storage area 80 is divided into the overhaul area 81 and the sample area 82 by the thermal insulation member 91, so that the gas convection between the overhaul area 81 and the sample area 82 can be reduced, the different temperature requirements of the overhaul area 81 and the sample area 82 can be better met, the temperature distinction between the overhaul area 81 and the sample area 82 can be more simply realized, the temperatures of the sample area 82 and the overhaul area 81 can be better controlled respectively, and the stability of the temperature of the sample can be improved. In the present embodiment, the service area 81 is located above the sample area 82, and in other embodiments, the service area 81 can also be located at the side or below the sample area 82. The thermal insulation member 91 may be made of thermal insulation material, or a combination of thermal insulation materials, such as aerogel board, vacuum insulation board, etc.

The thermal insulation piece 91 comprises a thermal insulation frame 911 and a plurality of thermal insulation blocks 912, wherein the outer side surface of the thermal insulation frame 911 is in contact with the inner side surface of the storage area 80, the plurality of thermal insulation blocks 912 are arrayed inside the thermal insulation frame 911, the thermal insulation blocks 912 are arranged corresponding to the storage device 10, and the thermal insulation blocks 912 can move along with the storage device 10. Fig. 6 shows a thermal insulation frame 911, wherein the outer side of the thermal insulation frame 911 can contact with the inner side of the storage area 80, a plurality of thermal insulation blocks 912 are arrayed inside the thermal insulation frame 911, and the top of the storage device 10 is embedded inside the thermal insulation blocks 912. Fig. 7 and 8 are schematic views showing the structure of the thermal insulating block 912 mounted to the storage device 10. In the present embodiment, the temperature insulating member 91 is designed as the temperature insulating frame 911 and the temperature insulating frame 911, so that the problem of how to move the sample between the inspection area 81 and the sample area 82 is solved on the premise that the inspection area 81 and the sample area 82 are isolated. When a certain sample needs to be taken out, the corresponding storage device 10 is only required to be moved from the sample area 82 to the inspection area 81, the thermal insulation block 912 moves along with the storage device 10, after the sample is taken out, the storage device 10 is placed back to the sample area 82, at the moment, the thermal insulation block 912 returns to the original position, the thermal insulation block 912, the thermal insulation frame 911 and other peripheral thermal insulation blocks 912 form a thermal insulation piece 91, and therefore the inspection area 81 and the sample area 82 are isolated. In other embodiments, the exterior of the storage device 10 may be sleeved with a housing 93, and the housing 93 can further reduce the fluidity of the gas in the storage region 80, so as to improve the stability of the environment in which the sample is located.

The thermal insulation member 91 is provided with a plurality of lifting holes 913, and the thermal insulation member 91 is connected with the storage area 80 through the lifting holes 913. In this embodiment, the thermal insulator 91 is installed through the hoisting hole 913, so that the installation process of the thermal insulator 91 is simplified, and the stability of the thermal insulator 91 can be improved. As shown in fig. 6 and 7, the heat insulating frame 911 is provided with a plurality of lifting holes 913, and the heat insulating frame 911 can be lifted to the framework 83 by fasteners.

As shown in fig. 2-3, the refrigeration device 61 includes a first refrigeration device 62, a coil assembly 63 of the first refrigeration device 62 is disposed inside the storage area 80, and the refrigeration device 61 adjusts the temperature of the storage area 80 through the coil assembly 63. The present embodiment cools the storage area 80 using the first cooling device 62, so as to control the temperature of the storage area 80 within a preset range, and can ensure the stability of the storage environment of the sample.

The first refrigeration equipment 62 includes a first refrigeration unit 621 and a second refrigeration unit 622, and the coil assembly 63 of the first refrigeration unit 621 and the coil assembly 63 of the second refrigeration unit 622 are both disposed inside the storage area 80. In the present embodiment, the first refrigeration unit 621 and the second refrigeration unit 622 are used to control the temperature of the storage area 80, and both units work simultaneously, so that the speed of adjusting the temperature of the storage area 80 can be effectively increased. In addition, the first refrigerator group 621 and the second refrigerator group 622 may alternately operate, and the reliability of the refrigeration equipment 61 can be effectively improved. Fig. 4 shows the installation positions of the coil assembly 63 of the first refrigeration unit 621 and the coil assembly 63 of the second refrigeration unit 622, and both the coil assembly 63 of the first refrigeration unit 621 and the coil assembly 63 of the second refrigeration unit 622 are directly laid on the sample area 82, so that the temperature of the sample area 82 can be adjusted more directly and efficiently.

As shown in fig. 2-3 and 9-10, the refrigeration equipment 61 further includes a second refrigeration equipment 64, and the second refrigeration equipment 64 is used for introducing nitrogen into the storage area 80. According to the embodiment, the second refrigeration equipment 64 is used for introducing nitrogen into the storage area 80, when the first refrigeration equipment 62 of the storage system 90 stops working, the second refrigeration equipment 64 can introduce nitrogen into the storage area 80 in time, so that the temperature of the storage area 80 can be ensured, the temperature of a sample is prevented from exceeding a preset range, and the reliability of the storage system 90 can be improved by the second refrigeration equipment 64.

The second refrigeration equipment 64 includes a nitrogen tank 641 and an exhaust pipe 642, the nitrogen tank 641 is communicated with the exhaust pipe 642, the exhaust pipe 642 is spirally disposed in the storage area 80, a plurality of vent holes are disposed on the exhaust pipe 642, and nitrogen in the exhaust pipe 642 enters the storage area 80 through the vent holes. In the present embodiment, nitrogen is introduced into the storage area 80 through the nitrogen tank 641 and the exhaust pipe 642, so that the nitrogen can be simply and efficiently introduced into the storage area 80. Fig. 9 shows a form of a nitrogen tank 641 and an exhaust pipe 642, and the exhaust pipe 642 may be connected to the nitrogen tank 641 through a valve. The exhaust tube 642 of this embodiment can also be directly laid on the sample area 82. The exhaust pipe 642 may be provided around the storage device 10, or may be directly inserted into two adjacent storage devices 10. The exhaust hole of the exhaust pipe 642 may be directed toward the storage device 10 so that the temperature of the storage device 10 can be directly reduced.

As shown in fig. 10 and 11, the storage system 90 further includes an isolation door assembly 92, the isolation door assembly 92 is disposed between the buffer area 70 and the storage area 80, and the isolation door assembly 92 can be switched between an open state and a closed state to connect or isolate the buffer area 70 to or from the storage area 80. The present embodiment reliably communicates or isolates buffer zone 70 from storage zone 80 using isolation door assembly 92. When isolation door assembly 92 is in the open position, buffer zone 70 is in communication with storage zone 80 so that the sample can move between buffer zone 70 and storage zone 80. When isolation door assembly 92 is in the closed state, buffer area 70 is isolated from storage area 80, thereby effectively preventing cold air from flowing between buffer area 70 and storage area 80, further improving the sealing performance of storage area 80, preventing cold air from flowing outwards, and reducing the energy consumption of storage system 90. In one embodiment, isolation door assembly 92 may be embedded in a side wall of buffer zone 70 and may also be embedded in wall panel 84 of storage zone 80. Isolation door assembly 92 may also be provided as a relatively separate component between the side walls of buffer zone 70 and wall 84 of storage zone 80.

Keep apart door subassembly 92 including door frame subassembly 921, door body 922 and door power piece 923, door frame subassembly 921 is equipped with door frame mouth 926, and door body 922 sets up in door frame subassembly 921, and door power piece 923 acts on door body 922 to make door body 922 shutoff or keep away from door frame mouth 926. The present embodiment simply and efficiently achieves communication or isolation of the buffer area 70 and the storage area 80. The door power member 923 may be a motor assembly, a cylinder assembly, etc., and may drive the door body 922 to close or be away from the door frame opening 926.

The door frame assembly 921 includes a door inner panel 925 and a door outer panel 924, and the door body 922 is interposed between the door inner panel 925 and the door outer panel 924. In the present embodiment, the door body 922 is provided between the door inner panel 925 and the door outer panel 924, so that the influence of the outside on the door body 922 can be reduced, and the reliability of the movement of the door body 922 can be improved. In order to improve the thermal insulation performance, the door inner panel 925, the door body 922 and the door outer panel 924 can be made of thermal insulation materials.

As shown in fig. 14, the buffer 70 further includes: a code scanning warehousing area 71, a code picking area 72 and a sample temporary storage area 73, wherein the code scanning warehousing area 71 is used for scanning code records of samples; the selecting area 72 is used for selecting a preset sample; the sample temporarily placing section 73 is used to temporarily store a sample. The embodiment simply and efficiently realizes the identification, recording and storage of the samples by using the buffer area 70.

The buffer zone 70 is provided with a main door 74 on the side remote from the storage zone 80, the main door 74 being used for inserting or removing samples. The present embodiment can effectively increase the speed of sample loading or unloading by using the main door 74, thereby reducing the outflow of cold air from the buffer area 70, and reducing the inflow of hot air into the buffer area 70, thereby improving the energy efficiency of the storage system 90.

The buffer area 70 is provided with a side door 75 at a side thereof, and the side door 75 is used for putting or taking out a single sample. The present embodiment can further reduce the outflow of cold air from the buffer area 70 and the inflow of hot air into the buffer area 70 by laterally taking out or putting in a single sample, thereby further improving the energy efficiency of the storage system 90.

A pick-and-place device may also be provided within the buffer 70 for moving samples between the buffer 70 and the storage area 80. In one embodiment, the transfer device may be a robotic arm that picks up the sample to effect movement of the sample between the buffer area 70 and the storage area 80.

The control interaction area 50 comprises an interaction part 51, the interaction part 51 is arranged on the side surface of the buffer area 70, and the interaction part 51 is used for displaying the operation parameters of the storage system 90 and inputting control instructions. The embodiment can realize the visualization of the operation parameters of the storage system 90 by using the interactive element 51, and can simplify the operation of the storage system 90.

As a usage, in order to store the sample in the storage system 90, the main door 74 or the side door 75 may be opened, the sample is placed in the buffer area 70, the buffer area 70 performs code scanning recording on the sample, then the sample is moved to the storage area 80 by the taking and sending device, the gripping device 20 of the storage area 80 is moved to the upper part of the target storage device 10, then the storage device 10 is lifted, the sample is placed in the storage device 10, and finally the storage device 10 is put back to the original position, so as to store the sample.

For the sample taking, the code of the target sample may be input on the interactive element in the control interactive area 50, the control interactive area 50 sends a grabbing signal to the grabbing device 20 according to the code, the grabbing device 20 receives the grabbing signal and moves to the upper side of the target storage device 10, then the storage device 10 is lifted up, the target sample is selected, the grabbing device in the buffer area 70 takes the target sample away, and then the grabbing device 20 puts the storage device 10 back to the original position. After the target sample reaches the buffer zone 70, the operator can take the target sample from the main door 74 or the side door 75. Thereby enabling the sample to be removed.

To facilitate better control of the temperature of the storage system 90, the sample area 82, the service area 81, and the buffer area 70 may each be provided with a respective temperature sensor that may be communicatively coupled to the control interaction area 50.

Taking sample area 82 as an example, the process of temperature adjustment may be as follows: the temperature sensor located in the sample area 82 senses the temperature of the sample area 82, generates a temperature value signal, and transmits the temperature value signal to the control interaction area 50, the control interaction area 50 compares the temperature value signal with a preset temperature value, if the temperature value signal is greater than the preset temperature value, the control interaction area 50 sends a working signal to the refrigeration equipment 61, and the refrigeration equipment 61 starts to work after receiving the working signal, so that the temperature of the sample area 82 is adjusted. If an unexpected situation is encountered, such as the first refrigeration equipment 62 being inoperable, the second refrigeration equipment 64 can be turned on, i.e., the nitrogen tank 641 is turned on, so that nitrogen flows into the vent pipe 642 and into the storage area 80 through the vent hole, thereby enabling adjustment of the temperature of the storage area 80. In one embodiment, the preset temperature value of the sample area 82 may be-80 ℃ and the preset temperature values of the overhaul area 81 and the buffer area 70 may be-20 ℃. In other embodiments, the preset temperature value can be other values. The temperatures of the inspection area 81 and the buffer area 70 may be adjusted by the refrigeration equipment 61, or the cold air in the sample area 82 may be introduced into the inspection area 81 and the buffer area 70. In other embodiments, separate refrigeration units may be provided for the service area 81 and the buffer area 70.

Referring to fig. 14-27, there is shown a gripping device 20 of the storage system 90, the gripping device 20 is used for gripping the storage devices 10 connected in series and being separated into parallel connections, the gripping device 20 includes a temporary storage module 220 and a plurality of gripping modules 210, the plurality of gripping modules 210 are arranged in parallel on one side of the temporary storage module 220, and the gripping modules 210 and the temporary storage module 220 can move relatively in a first direction; the grasping assembly 210 includes a first clamping portion 211, the first clamping portion 211 is used for connecting with the connecting portion of the storage device 10; the temporary storage assembly 220 comprises a second clamping part 221, and the second clamping part 221 is used for connecting with the subsection of the storage device 10; the first clamping portion 211 or the second clamping portion 221 is movable in the second direction; the first direction is a direction in which the storage devices 10 are connected in parallel, and the second direction is a direction in which the storage devices 10 are connected in series.

This embodiment is through setting up the subassembly 220 of keeping in grabbing device 20 and snatching subassembly 210, can snatch and the split is parallel connection for storage device 10 with series connection through this subassembly 220 of keeping in and snatching the cooperation between the subassembly 210, and then treat the extraction of extract product or treat depositing of storage thing to required space when can reducing extraction or save promotes space utilization, reduces storage system 90's volume, reduces storage system 90's energy consumption.

In one embodiment, the gripping device 20 further includes a first driving mechanism 230, and the first driving mechanism 230 is connected to the gripping assembly 210 or the temporary storage assembly 220 for driving the gripping assembly 210 and the temporary storage assembly 220 to move relatively in a first direction. In this embodiment, the first driving mechanism 230 is connected to the grabbing component 210 or the temporary storage component 220, so that the grabbing component 210 and the temporary storage component 220 can move relatively, and the portion to be detached in the storage device 10 moves to the grabbing side of the corresponding grabbing component 210, thereby achieving detachment.

As a specific embodiment, the grabbing assembly 210 further comprises a second driving mechanism 212, and the second driving mechanism 212 is connected to the first clamping portion 211 and is used for driving the first clamping portion 211 to move along the second direction. As another specific embodiment, the temporary storage assembly 220 further includes a third driving mechanism, which is connected to the second clamping portion 221 and is used for driving the second clamping portion 221 to move along the second direction. The embodiment may control the first clamping portion 211 of the grabbing assembly 210 to move in the second direction, or may control the second clamping portion 221 of the temporary storage assembly 220 to move in the second direction, so that the grabbing assembly 210 can grab the entire storage device 10 or the portion to be detached in the storage device 10. Correspondingly, the first clamping portion 211 and the second clamping portion 221 may be controlled to move simultaneously, so that the two cooperate to realize the grabbing of the whole storage device 10 or the portion to be detached in the storage device 10.

A possible embodiment of the gripping device 20 according to the invention will be described below, taking as an example the gripping and splitting of the series-connected storage devices 10 as shown in fig. 24.

As shown in fig. 24, the memory device 10 includes a plurality of memory modules 100, wherein the plurality of memory modules 100 are connected in series, and any two adjacent memory modules 100 are detachably connected. One end of the memory module 100 is provided with a first connecting portion 110, the other end of the memory module 100 is provided with a second connecting portion 120, and two adjacent memory modules 100 are connected through the corresponding first connecting portion 110 and the second connecting portion 120. Specifically, the memory modules 100 are sequentially connected in series in the vertical direction as an example, and the memory device 10 includes a first memory module 101, a second memory module 102, and a third memory module 103.

As a preferred embodiment, as shown in fig. 14, the grasping apparatus 20 includes a temporary storage assembly 220 and three grasping assemblies 210, the three grasping assemblies 210 are a first grasping assembly 2101, a second grasping assembly 2102 and a third grasping assembly 2103, respectively, and the first grasping assembly 2101, the second grasping assembly 2102 and the third grasping assembly 2103 are juxtaposed at the upper end of the temporary storage assembly 220.

As a preferred embodiment, as shown in fig. 15, the first driving mechanism 230 includes a first guide rail 231 and a first driver 232, the first gripper assembly 2101, the second gripper assembly 2102 and the third gripper assembly 2103 are connected to the first guide rail 231, and the first driver 232 is a device capable of outputting a linear motion, so that the first gripper assembly 2101, the second gripper assembly 2102 and the third gripper assembly 2103 move on the first guide rail 231 relative to the temporary storage assembly 220, so that the temporary storage assembly 220 can move to the lower side of the corresponding gripper assembly 210. For example, the first driver 232 may be a linear motor, a lead screw, a rack and pinion, and the like.

As a preferred embodiment, as shown in fig. 16, the second driving mechanism 212 includes a first upright 2121 and a second driver 2122, and the grasping assembly 210 is disposed on the first upright 2121 and can move in a vertical direction along the first upright 2121 under the action of the second driver 2122. Accordingly, each grasping assembly 210 has a corresponding first upright 2121 and second driver 2122. And, the second driver 2122 is a device that can output a linear motion, such as a linear motor, a ball screw, or the like.

As another embodiment, the second clamping portion 221 may be driven to move in the vertical direction by a third driving mechanism so that the first clamping portion 211 can clamp the corresponding storage device 10.

As a preferred embodiment, as shown in fig. 16, the first clamping portion 211 includes a claw 2111, and the claw 2111 is disposed at the bottom end of the first clamping portion 211.

As shown in fig. 25, the top of the single memory module 100 has a first connecting portion 110, the bottom has a second connecting portion 120, the first connecting portion 110 includes four oppositely disposed first catches 111, and the first catches 111 extend upward from the top of the memory module 100 and then are bent inward. The second connecting portion 120 includes four second catches 121 disposed opposite to each other, and the second catches 121 extend downward from the bottom end of the memory module 100 and then bend outward.

As a specific embodiment, as shown in fig. 16, the jaws 2111 of the first clamping portion 211 may be four jaws 2111 that are opposite to each other, and the jaws 2111 extend downward from the bottom end of the first clamping portion 211 and then bend outward. Thus, the claw 2111 of the first clamping portion 211 can be engaged with the first catch 111 at the top of the memory module 100.

As a specific implementation manner, as shown in fig. 15, a protrusion 2112 is provided on the clamping surface of the claw 2111 of the first clamping portion 211, and a first through hole 1111 or a groove matched with the protrusion 2112 is provided on the clamping surface of the first clamping claw 111, so that the first clamping claw 111 is limited on the clamping claw, which is beneficial to improving the stability during the grabbing.

As a specific embodiment, as shown in fig. 17, the second clamping portion 221 includes a first clamping jaw 2211 and a second clamping jaw 2212, and the first clamping jaw 2211 and the second clamping jaw 2212 can move relatively, so that the place to be disassembled in the storage device 10 can be connected for subsequent disassembly. The temporary storage assembly 220 further comprises a fourth driving mechanism 2213, wherein the fourth driving mechanism 2213 is connected to the first clamping jaw 2211 or the second clamping jaw 2212 and is used for driving the first clamping jaw 2211 and the second clamping jaw 2212 to move relatively. The fourth driving mechanism 2213 may be a mechanism that outputs a linear motion.

As a specific embodiment, as shown in fig. 18 and 21, one end of the buffer assembly 220 is connected to the first guide rail 231 on the lower side of the gripper assembly 210, and the other end of the buffer assembly 220 may be connected to the second guide rail 2214 provided on the gripper device 20, thereby improving the stability of the buffer assembly 220 during movement.

As shown in fig. 25, the top of the memory module 100 to be detached is provided with a third connecting portion 140, the third connecting portion 140 is specifically a strip block disposed on the top of the memory module 100, and two ends of the strip block are provided with connecting holes. In practical use, the first clamping jaw 2211 and the second clamping jaw 2212 in this embodiment can be connected to the connecting holes at the two ends of the third connecting portion 140, so as to fix the storage module 100 to be disassembled, thereby facilitating the disassembly.

As shown in fig. 25, the outer surface of the memory module 100 is provided with a first guide portion 168, and the first guide portion 168 extends from one end to the other end of the memory module 100. As shown in fig. 15 and 16, the gripping device 20 further has a second guiding portion 213, and the second guiding portion 213 has a plurality of protrusions that are engaged with the first guiding portion 168 on the outer surface of the memory module 100, so as to improve the stability of the memory module 100 during movement.

The embodiment of the invention also provides a grabbing method, the grabbing method adopts the grabbing device 20, and the grabbing method comprises the following steps:

s100: controlling the first clamping part 211 of one of the clamping assemblies 210 in the clamping device 20 to move in the second direction so that the connecting part of the first clamping part 211 and the storage device 10 is connected with the storage device 10 to clamp the storage device 10;

s200: controlling the first clamping part 211 to move a first preset distance along the second direction;

s300: controlling the second clamping part 221 to clamp the storage device 10 at the divided sections;

s400: controlling the grabbing assembly 210 and the temporary storage assembly 220 to move relatively along the first direction until the second clamping part 221 moves relatively to the other grabbing assembly 210;

s500: controlling the first clamping portion 211 of the other gripper assembly 210 to move in the second direction so that the first clamping portion 211 of the other gripper assembly 210 is connected to the segment of the storage device 10;

s600: controlling the first clamping part 211 of the other grabbing component 210 to move a second preset distance along the second direction;

s700: the second clamping part 221 is controlled to clamp the segments of the storage device 10 until all the segments of the storage device 10 are gripped by the respective gripper assemblies 210 of the gripper device 20.

With the gripping device 20 as shown in fig. 14-21, the gripping method may specifically comprise the following steps:

s101: controlling the first grip portion 211 of the first grasping member 2101 to move downward in the vertical direction to grasp the first gripper 111 at the top of the first storage device 10, as shown in fig. 22;

s201: controlling the first grip portion 211 of the first grasping assembly 2101 to move upward in the vertical direction to a first preset distance such that the second grip portion 221 is at a segment of the first storage device 10 and the second storage device 10;

s301: a third connecting portion 140 for controlling the second clamping portion 221 to clamp the second storage device 10;

s401: controlling the grabbing assembly 210 to move horizontally relative to the temporary storage assembly 220 until the second clamping portion 221 moves to the lower side of the second grabbing assembly 2102;

s501: controlling the first clamping portion 211 of the second grasping assembly 2102 to move downward in a vertical direction to grasp the first gripper 111 at the top of the second storage device 10;

s601: controlling the first clamping portion 211 of the second grabbing assembly 2102 to move upward to a second preset distance in the vertical direction so that the second clamping portion 221 is located at a section of the second storage device 10 and the third storage device 10;

s701: the second clamping portion 221 is controlled to clamp the third connecting portion 140 of the second storage device 10, and so on, until all segments of the storage device 10 are gripped by the respective gripper assemblies 210 of the gripper device 20, as shown in fig. 23.

Wherein, after S301 and before S401, the method further comprises the steps of: after the second clamping portion 221 clamps the third connecting portion 140 of the second storage device 10, the first clamping portion 211 of the first grabbing assembly 2101 may be controlled to move downward by a distance, so that the protrusion on the second connecting portion at the lower end of the first storage module 101 is separated from the first through hole on the first connecting portion at the upper end of the second storage module 102 to realize detachment.

As a preferred embodiment, as shown in fig. 18 and 19, the grasping apparatus 20 further includes an extracting assembly 240, and the extracting assembly 240 includes an extracting portion 241, and the extracting portion 241 is disposed opposite to the extracting opening 167 of the storage apparatus 10, and is used for extracting the substance to be extracted from the storage apparatus 10 or storing the substance to be stored in the storage apparatus 10.

As a specific embodiment, as shown in fig. 20, the extracting unit 241 includes an outer shovel plate 2411 and an inner shovel plate 2412, and the inner shovel plate 2412 is disposed in the outer shovel plate 2411 and can extend out of the outer shovel plate 2411 into the storage device 10; an accommodating space is arranged between the outer shovel disc 2411 and the inner shovel disc 2412 and is used for accommodating substances to be extracted or stored.

In practical implementation, a corresponding driver may be disposed in the extracting portion 241 and connected to the inner shovel plate 2412 to drive the inner shovel plate 2412 to extend out or into the outer shovel plate 2411. And, the inner wall of the outer shovel disc 2411 may be relatively provided with a third guide rail 2413, so that the inner shovel disc 2412 can move on the third guide rail 2413, thereby improving the stability during extraction or storage.

In a specific embodiment, the extracting portion 241 includes a third jaw, and the third jaw has a receiving space therein, and the third jaw can extend into the storage device 10.

In the above two schemes, the extracting part 241 may be disposed by the outer shovel plate 2411 and the inner shovel plate 2412, or the extracting part 241 may be disposed by the third clamping jaw so as to extend into the storing device 10 to extract the extract or store the object to be stored. It should be noted that the extracting portion 241 may adopt the above two modes, and may adopt other modes based on the function of extracting the substance to be extracted or storing the substance to be stored, and all shall fall into the protection scope of the present invention.

In a preferred embodiment, the extracting assembly 240 further includes a fifth driving mechanism 242, and the fifth driving mechanism 242 is connected to the extracting portion 241 for driving the extracting portion 241 to move along the first direction.

In practical implementation, as shown in fig. 18 and 19, a corresponding extraction through hole 243 is opened on the frame of the grasping device 20, and the extraction part 241 can move in the horizontal direction relative to the extraction through hole 243 under the action of the fifth driving mechanism 242 so as to move to the corresponding storage module 100; and then the corresponding storage module 100 is lifted up and down to make the extraction part 241 face the corresponding storage unit. The fifth drive mechanism 242 may be an output linear motion drive such as a pulley as used in fig. 18.

The fifth driving mechanism 242 may specifically include a fifth driver and a fourth guide rail 2421, where the fourth guide rail 2421 is an elongated guide rail disposed outside the frame of the gripping device 20; the fifth driver is connected to the extracting part 241 such that the extracting part 241 moves on the fourth guide 2421.

In a preferred embodiment, the gripping device 20 further includes a temporary storage area 250, the temporary storage area 250 is disposed at one side of the gripping device 20, and a plurality of temporary storage units 251 are disposed in the temporary storage area 250 for temporarily storing the extract or the object to be stored. In the embodiment, the gripping device 20 is provided with a temporary storage area 250, and a plurality of temporary storage units 251 may be further disposed in the temporary storage area 250, so that according to the requirement of extraction or storage, for example, when a plurality of extracts to be extracted or a plurality of objects to be stored are required to be extracted, the plurality of extracts to be extracted or the plurality of objects to be stored are temporarily stored in the temporary storage area by the extraction portion 241 and then are transmitted to the outside or the storage device 10, thereby improving efficiency and saving time.

In one embodiment, as shown in fig. 18 and 21, the temporary storage area 250 is disposed at one side of the gripping device 20 along the vertical direction, and a plurality of supporting plates 252 are further disposed in the temporary storage area 250 to separate a plurality of temporary storage units 251.

As a preferred embodiment, the gripping device 20 further includes a sixth driving mechanism 244, and the sixth driving mechanism 244 is connected to the extracting portion 241 and is used for driving the extracting portion 241 to move to the corresponding temporary storage unit 251.

In specific implementation, as shown in fig. 18 and 21, the sixth driving mechanism 244 is disposed at one side of the buffer 250 and includes a sixth driver 2441 and a fifth guide 2442, and the extracting portion 241 is sleeved on the fifth guide 2442 and moves up and down in the vertical direction by the sixth driver 2441 so as to move to the corresponding buffer unit 251.

As shown in fig. 27, in actual use, the storage apparatus 1 may include a plurality of storage devices 10, and the plurality of storage devices 10 may be arranged in an array. As shown in fig. 26, the moving frame assembly 85 can move in the X-axis and Y-axis directions on the same horizontal plane, so that the gripping device 20 can be positioned on the corresponding storage device 10 to perform corresponding gripping and detaching. Through the grabbing device 20 that this embodiment provided, required space when can significantly reduce snatchs improves space utilization.

As shown in fig. 27, when the apparatus provided in the present embodiment is applied to a storage system 90, such as the storage system 90 for low-temperature samples, the space occupied by the gripping device during gripping and storage can be reduced, and the space utilization can be improved. When the system is applied to the storage system 90 for the low-temperature sample, the storage area of the low-temperature sample needs to be kept at a certain temperature, so that the space occupied by the gripping device is reduced, and the power consumption is also reduced.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims

1. A storage system, comprising:

the control interaction area is in communication connection with the storage area, the buffer area and the temperature control area, and is used for sending control signals to the storage area, the buffer area and the temperature control area so as to enable the storage system to operate; the control interaction area is also used for displaying the operation parameters of the storage system and inputting control instructions;

the grabbing device is used for grabbing the storage devices connected in series and splitting the storage devices into parallel connection, the grabbing device comprises a temporary storage component and a plurality of grabbing components, the grabbing components are arranged on one side of the temporary storage component in parallel, and the grabbing components and the temporary storage component can move relatively in a first direction;

the grabbing component comprises a first clamping part which is used for being connected with the connecting part of the storage device; the temporary storage assembly comprises a second clamping part, and the second clamping part is used for being connected with the subsection of the storage device; the first clamping portion or the second clamping portion is movable along a second direction;

the first direction is a direction in which the storage devices are connected in parallel, and the second direction is a direction in which the storage devices are connected in series.

2. The storage system of claim 1, further comprising a thermal barrier disposed within the storage area, the thermal barrier configured to divide the storage area into a service area and a sample area, the grasping device disposed within the service area, the sample area having a plurality of storage devices disposed therein, the samples stored on the storage devices, the grasping device capable of moving the storage devices from the sample area to the service area.

3. The storage system as claimed in claim 2, wherein the thermal insulation member comprises a thermal insulation frame and a plurality of thermal insulation blocks, an outer side surface of the thermal insulation frame is in contact with an inner side surface of the storage region, a plurality of thermal insulation blocks are arrayed inside the thermal insulation frame, and the thermal insulation blocks are arranged corresponding to the storage device and can move with the storage device.

4. The storage system of claim 2, wherein the thermal insulation member is provided with a plurality of lifting holes, and the thermal insulation member is connected with the storage region through the lifting holes.

5. The storage system of claim 1, wherein the refrigeration appliance comprises a first refrigeration appliance, wherein a coil assembly of the first refrigeration appliance is disposed within the storage area, and wherein the refrigeration appliance adjusts the temperature of the storage area via the coil assembly.

6. The storage system of claim 5 wherein the first refrigeration unit comprises a first refrigeration unit and a second refrigeration unit, and wherein the coil assembly of the first refrigeration unit and the coil assembly of the second refrigeration unit are both disposed within the storage area.

7. The storage system as recited in claim 5 wherein said refrigeration unit further comprises a second refrigeration unit for introducing nitrogen into said storage area.

8. The storage system according to claim 7, wherein the second refrigeration equipment comprises a nitrogen tank and an exhaust pipe, the nitrogen tank is communicated with the exhaust pipe, the exhaust pipe is coiled in the storage area, the exhaust pipe is provided with a plurality of vent holes, and nitrogen in the exhaust pipe enters the storage area through the vent holes.

9. The storage system of claim 1, further comprising an isolation door assembly disposed between the buffer zone and the storage zone, the isolation door assembly being switchable between an open state and a closed state to communicate or isolate the buffer zone from the storage zone.

10. The storage system of claim 9 wherein the isolation door assembly comprises a door frame assembly having a door frame opening, a door body disposed in the door frame assembly, and a door actuator that acts on the door body to seal or seal the door body from the door frame opening.

11. The storage system of claim 10, wherein the door frame assembly includes an inner door panel and an outer door panel, the door body being sandwiched between the inner door panel and the outer door panel.

12. The storage system of claim 1, wherein the buffer further comprises:

the tube picking area is used for adjusting and selecting the preset sample;

a sample staging area for temporarily storing the sample.

13. The storage system of claim 1, wherein the buffer area is provided with a main door on a side thereof remote from the storage area, the main door being used for taking in or out the sample.

14. The storage system according to claim 1, wherein the side of the buffer area is provided with a side door for placing or taking out a single sample.

15. The storage system of claim 1, wherein the control interaction area comprises an interaction member, the interaction member is arranged on the side surface of the buffer area, and the interaction member is used for displaying the operation parameters of the storage system and inputting the control instruction.

16. The storage system as claimed in claim 1, further comprising a dehumidification device for dehumidifying the storage area.

17. The storage system of claim 1, wherein the storage area further comprises a frame and a wall surrounding the frame to form a storage space, and the sample and the grasping device are disposed in the storage space.

18. The storage system as claimed in claim 17, wherein a moving frame assembly is further provided in the storage area, the grasping means is mounted inside the moving frame assembly, the grasping means is movable from one end of the moving frame assembly to the other end of the moving frame assembly, and the moving frame assembly is movable relative to the framework.

19. The storage system of claim 18, wherein the storage area further comprises a first power member, a first transmission member, and a first traveling member, wherein the first power member is coupled to the moving frame assembly, wherein the first traveling member is coupled to the first power member via the first transmission member, and wherein the moving frame assembly is movable relative to the frame via the first traveling member.

20. The storage system according to claim 18 wherein a second power member, a second transmission member and a second traveling member are disposed in the storage area, the second power member being connected to the gripping device, the second traveling member being connected to the second power member via the second transmission member, the gripping device being movable relative to the moving frame assembly via the second traveling member.

21. The storage system of claim 17 wherein said frame comprises a plurality of sections, said plurality of sections forming a hexahedron, said wall panel being disposed around the periphery of said hexahedron.