CN111903661B - Liquid nitrogen storage device - Google Patents
Liquid nitrogen storage device Download PDFInfo
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- CN111903661B CN111903661B CN201910380548.6A CN201910380548A CN111903661B CN 111903661 B CN111903661 B CN 111903661B CN 201910380548 A CN201910380548 A CN 201910380548A CN 111903661 B CN111903661 B CN 111903661B
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- liquid nitrogen
- lifting
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- low
- storage area
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- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 title claims abstract description 302
- 239000007788 liquid Substances 0.000 title claims abstract description 152
- 229910052757 nitrogen Inorganic materials 0.000 title claims abstract description 151
- 238000000034 method Methods 0.000 claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000008569 process Effects 0.000 claims abstract description 34
- 238000005057 refrigeration Methods 0.000 claims abstract description 23
- 238000007710 freezing Methods 0.000 claims description 73
- 230000008014 freezing Effects 0.000 claims description 73
- 238000009434 installation Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000003578 releasing effect Effects 0.000 claims description 3
- 230000002441 reversible effect Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 239000000523 sample Substances 0.000 description 21
- 238000012546 transfer Methods 0.000 description 16
- 238000012360 testing method Methods 0.000 description 8
- 238000000605 extraction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000009413 insulation Methods 0.000 description 4
- 230000007306 turnover Effects 0.000 description 3
- 239000012472 biological sample Substances 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 238000005138 cryopreservation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000000130 stem cell Anatomy 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000000601 blood cell Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- QJGQUHMNIGDVPM-UHFFFAOYSA-N nitrogen group Chemical group [N] QJGQUHMNIGDVPM-UHFFFAOYSA-N 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
- A01N1/00—Preservation of bodies of humans or animals, or parts thereof
- A01N1/02—Preservation of living parts
- A01N1/0236—Mechanical aspects
- A01N1/0242—Apparatuses, i.e. devices used in the process of preservation of living parts, such as pumps, refrigeration devices or any other devices featuring moving parts and/or temperature controlling components
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Dentistry (AREA)
- General Health & Medical Sciences (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
Abstract
The invention discloses a liquid nitrogen storage device, comprising: a liquid nitrogen tank provided with an access port, wherein liquid nitrogen is contained in the liquid nitrogen tank; an automatic access mechanism configured with a selection operation space for forming a first low-temperature storage area after refrigeration; the automatic access mechanism is further provided with a movable clamp for clamping and transferring the articles taken out of the liquid nitrogen tank or the articles to be stored into the liquid nitrogen tank, and for selecting the articles in the first low-temperature storage area. The article keeps the low temperature storage in the process of choosing outside the liquid nitrogen tank to reduce the influence of room temperature ambient temperature, realize accomplishing the tube choosing operation under low temperature environment in order to ensure sample activity, improve the reliability of use.
Description
Technical Field
The invention belongs to the technical field of liquid nitrogen storage, and particularly relates to liquid nitrogen storage equipment.
Background
At present, the liquid nitrogen tank is mainly used for preserving biological samples such as blood, stem cells and the like at low temperature in the field of medical equipment, and the liquid nitrogen tank generally comprises a tank body and a freezing storage frame arranged in the tank body, and a plurality of freezing storage boxes for containing the samples are arranged on the freezing storage frame. In the actual use process, when a sample is stored or taken out, the freezing box is required to be taken out from the freezing frame, and then the box cover of the freezing box is opened to carry out pipe picking operation. During the tube picking operation, the sample is exposed to room temperature, so that the temperature of the sample is increased to influence the activity of the sample. How to design a technology for completing tube picking operation under a low-temperature environment so as to ensure the activity of a sample is the technical problem to be solved by the invention.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides the liquid nitrogen storage equipment, wherein articles are stored at a low temperature in the process of selecting outside a liquid nitrogen tank, so that the influence of ambient temperature at room temperature is reduced, the tube selecting operation is completed in a low-temperature environment, the activity of a sample is ensured, and the use reliability is improved.
In order to achieve the aim of the invention, the invention is realized by adopting the following technical scheme:
the invention provides a liquid nitrogen storage device, comprising:
a liquid nitrogen tank provided with an access port, wherein liquid nitrogen is contained in the liquid nitrogen tank;
an automatic access mechanism configured with a selection operation space for forming a first low-temperature storage area after refrigeration; the automatic access mechanism is further provided with a movable clamp for clamping and transferring the articles taken out of the liquid nitrogen tank or the articles to be stored into the liquid nitrogen tank, and for selecting the articles in the first low-temperature storage area.
Further, the automatic access mechanism includes:
the mounting platform is provided with an operation port, the mounting platform is mounted on the liquid nitrogen tank, the access port is positioned in the operation port, and the selection operation space is arranged on the mounting platform.
Further, a selecting barrel is arranged on the mounting platform, and the selecting barrel forms the selecting operation space; the picking barrel is provided with a first liquid nitrogen supply pipe which is used for conveying liquid nitrogen into the picking barrel so as to form the first low-temperature storage area.
Further, the selecting operation space is a groove structure formed on the mounting platform, and a second liquid nitrogen supply pipe is arranged in the groove structure and used for conveying liquid nitrogen into the groove structure to form the first low-temperature storage area.
Further, a freezing storage rack for storing articles to be stored is arranged in the liquid nitrogen tank;
the automatic access mechanism further includes:
the lifting assembly is provided with a lifting connecting part capable of moving up and down, and the lifting connecting part is used for penetrating through the access port to be connected with the freezing storage rack and lifting the freezing storage rack out of the liquid nitrogen tank;
wherein the lifting assembly is mounted on the mounting platform.
Further, the lifting assembly includes:
the lifting module is used for driving the lifting connecting part to move up and down;
a lifting channel for forming a second low-temperature storage area after refrigeration;
wherein the lifting connection is also used for feeding the pulled-out frozen shelf into the second low-temperature storage area.
Further, the lifting assembly further comprises:
a pushing module configured with a pushing part capable of reciprocating, wherein the pushing part is used for pushing out the articles on the freezing and storing frame to the outside of the lifting channel, and the pushing part is also used for pushing out the articles on the outside to the freezing and storing frame;
wherein the pushing module is positioned at the lower part of the lifting channel.
Further, a third liquid nitrogen supply pipe is arranged on the lifting channel and used for spraying liquid nitrogen into the lifting channel to form the second low-temperature storage area.
Further, a tank cover capable of being opened and closed is arranged on the access port;
the automatic access mechanism further includes:
a switch cover assembly configured with a reversible connecting arm that connects the can cover;
the sliding assembly is provided with a sliding part capable of sliding transversely and is used for driving the lifting assembly to slide transversely and reciprocally;
the switch cover assembly is installed on the installation platform and located on one side of the operation opening, an upright support is arranged on the installation platform, and the sliding assembly is installed on the upright support.
Further, the automatic access mechanism further includes:
and the moving module is used for driving the clamp to move, and the moving module is installed on the installation platform.
Compared with the prior art, the invention has the advantages and positive effects that: through forming first low temperature storage area in the outside of liquid nitrogen container for article when the outside is selected and is handled, first low temperature storage area can treat the article of selecting the processing and carry out low temperature protection, avoids article to receive the influence of room temperature ambient temperature in selecting the in-process and intensifies too high and cause the damage, realizes selecting the whole low temperature access in-process in order to improve use reliability. Especially for samples stored with liquid nitrogen, it is more advantageous to ensure that the sample retains good activity.
Other features and advantages of the present invention will become apparent upon review of the detailed description of the invention in conjunction with the drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an embodiment of a liquid nitrogen storage device of the present invention;
FIG. 2 is a schematic diagram of the structure of the automatic access mechanism in the embodiment of the liquid nitrogen storage device of the present invention;
FIG. 3 is a schematic diagram of the structure of a clamp in an embodiment of the liquid nitrogen storage device of the present invention;
FIG. 4 is a schematic view of the structure of a lifting assembly in an embodiment of the liquid nitrogen storage device of the present invention;
FIG. 5 is a schematic diagram of the structure of a pushing module in an embodiment of the liquid nitrogen storage device of the present invention;
FIG. 6 is a cross-sectional view of a liquid nitrogen tank in an embodiment of the liquid nitrogen storage device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples.
It should be noted that, in the description of the present invention, terms such as "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 to 6, the liquid nitrogen storage device of the present embodiment includes:
a liquid nitrogen tank 1 provided with an access port 11, wherein liquid nitrogen is contained in the liquid nitrogen tank 1;
an automatic access mechanism 2 configured with a selection operation space for forming a first low-temperature storage area after cooling; the automatic access mechanism 2 is further provided with a movable gripper 21, the gripper 21 being used for gripping and transferring articles taken out of the liquid nitrogen tank 1 or articles to be stored into the liquid nitrogen tank 1, the gripper 21 being further used for picking up articles in the first cryogenic storage area.
Specifically, liquid nitrogen is added to the liquid nitrogen tank 1 to form a low-temperature refrigeration environment, and articles such as biological samples (e.g., blood and stem cells) which need to be stored at a low temperature are stored in the liquid nitrogen tank 1 through the access port 11. When the article taken out from the liquid nitrogen tank 1 or the article to be stored into the liquid nitrogen tank 1 needs to be subjected to the sorting operation, the clamp transfers the article into the sorting operation space, and the article completes the sorting operation in the first cryogenic storage area. In the selecting process, the first low-temperature storage area can carry out low-temperature protection on the articles so as to reduce the influence of the room-temperature environment on the articles. The following are illustrated: the liquid nitrogen tank 1 is provided with a rotatable storage rack 12, the storage rack 12 is provided with a removable freezing rack 13, a plurality of freezing boxes (not shown) are arranged on the freezing rack 13, a plurality of sample test tubes are arranged in each freezing box, and an article to be taken out is a certain sample test tube in one freezing box. The specific selection process is that the freezing frame 13 is pulled out from the access port 11 of the liquid nitrogen tank 1, the clamp 21 clamps the corresponding freezing box and transfers the freezing box into the selection operation space; then, the lid of the freezing box is opened by the clamp 21, and then the required sample test tube is selected by the clamp 21 to complete the selection operation.
For the automatic storing and taking mechanism 2, for the convenience of installing and fixing with the liquid nitrogen tank 1, the automatic storing and taking mechanism 2 comprises: the mounting platform 20, the mounting platform 20 is provided with an operation port (not marked), the mounting platform 20 is mounted on the liquid nitrogen tank 1, and the access port 11 is located in the operation port. Specifically, the mounting platform 20 is located above the liquid nitrogen tank 1, and the access port 11 is located in the operation port, and the clamp 21 is moved to the operation port position and takes out the article in the liquid nitrogen tank 1 via the access port 11, or stores the article into the liquid nitrogen tank 1.
Among these are various forms for choosing the concrete representation entity of the operation space, such as: the groove structure can be directly formed on the mounting platform 20, and the groove structure forms a selecting operation space, and the interior of the groove structure is subjected to refrigeration treatment before the selecting treatment so as to form a first low-temperature storage area; alternatively, the picking barrel 25 may be additionally configured, the picking barrel 25 is disposed on the mounting platform 20, and before the picking process, the interior of the picking barrel 25 is subjected to a refrigeration process to form a first low-temperature storage area, and the articles clamped by the clamp 21 are placed into the picking barrel 25 for picking.
In addition, in order to facilitate the storage and taking of the articles, a rotatable storage rack 12 is arranged in the liquid nitrogen tank 1, and a freezing storage rack 13 is placed on the storage rack 12. Specifically, the storage rack 12 is configured with a rotating shaft 121, the rotating shaft 121 is rotatably installed in the liquid nitrogen tank 1, and, for convenience in achieving automatic driving, one end portion of the rotating shaft 121 extends out of the liquid nitrogen tank 1, and an end portion of the rotating shaft 121 located outside the liquid nitrogen tank 1 can be powered by a motor 122 to achieve that the rotating shaft 121 drives the storage rack 12 to rotate in the liquid nitrogen tank 1. The storage rack 12 is further provided with a plurality of freezing racks 13 around the rotation shaft 121, and the freezing racks 13 can move up and down. When the freezing frame 13 moves to the lower part of the access port 11, the freezing frame 13 can be pulled out of the liquid nitrogen tank 1, so that the articles stored in the freezing frame 13 can be taken out, and the articles to be stored outside can be placed on the freezing frame 13.
Further, when an article to be taken out from the liquid nitrogen tank 1 or an external article is stored in the liquid nitrogen tank 1, the article to be accessed is required to be transferred, and in this process, the article is transported in a room temperature environment. In order to ensure that good low-temperature storage conditions are still obtained for the articles during the transfer process, a clamp 21 capable of refrigerating is used for clamping the articles for transfer. Specifically, before the article is clamped by the clamp 21, the third low-temperature storage area 100 is formed by performing a refrigeration process, and the article is located in the third low-temperature storage area 100 during the process of transferring the article clamped by the clamp 21, so that the article in the transferring process can still be temporarily stored in a low-temperature environment. In this way, the articles can be ensured not to be excessively heated up due to the influence of the room temperature environment in the transferring process. Wherein, for the fixture 21, a moving module 24 is generally configured, the moving module 24 is installed and fixed on the installation platform 20, and the moving module 24 can drive the fixture 21 to move so as to meet the requirement of transferring articles. The physical embodiment of the mobile module 24 may take many forms. For example: the moving module 24 may be a mechanical arm, the clamp 21 is mounted and fixed on the mounting part of the mechanical arm, and the mechanical arm drives the clamp 21 to move; or, the moving module 24 may adopt a three-dimensional moving platform, and the clamp 21 is mounted on a moving part of the three-dimensional moving platform, and the three-dimensional moving platform may drive the clamp 21 to move so as to meet the requirement of article transferring.
Further, in order to achieve the third low temperature storage area 100 is formed after the jig 21 is subjected to the cooling process. The jig 21 includes: a first clamping jaw 211, a first driving mechanism 212 and a fixed seat 213; the first clamping jaw 211 is provided with heat insulation shells 2111, and a third low-temperature storage area 100 is formed between the two heat insulation shells 2111; the first driving mechanism 212 is used for driving the two first clamping jaws 211 which are arranged oppositely to relatively move so as to complete the clamping and releasing actions; the first driving mechanism 212 is mounted on the fixing base 213. Specifically, first clamping jaw 211 is capable of relative movement under the drive of first drive mechanism 212 to effect clamping or releasing of an article. The fixing base 210 is fixedly installed on the moving module 24, so that the moving module 24 drives the fixture 21 to move. Among these, there are various forms for the concrete entity of the first driving mechanism 213, for example: an electric jaw, or a pneumatic finger, etc. In addition, to avoid the first jaw 211 transferring cold to the first drive mechanism 213, the first jaw 211 may be mounted to the first drive mechanism 213 via an insulated connection 2112, for example: the insulating connector 2112 has one end connected to the first jaw 211 by a screw, and the other end fixed to the first driving mechanism 212 by a screw.
Still further, in order to realize automatic extraction of the cryopreservation shelves 13, the automatic storing and taking mechanism 2 further includes: the lifting assembly 22, the lifting assembly 22 is configured with a lifting connecting part 221 capable of moving up and down, and the lifting connecting part 221 is used for penetrating through the access port 11 to be connected with the freezing storage rack 13 and lifting the freezing storage rack 13 out of the liquid nitrogen tank 1. Specifically, when the freezing frame 13 in the liquid nitrogen tank 1 needs to be taken out, the lifting connection part 221 in the lifting assembly 22 moves downwards, the lifting connection part 221 penetrates through the access port 11 to enter the liquid nitrogen tank 1, and the lifting connection part 221 is finally connected with the freezing frame 13. Then, the lifting assembly 22 pulls the lifting connection 221 upward to take out the freezing shelf 13 from the liquid nitrogen tank 1. The specific entity of the lifting connection portion 221 may be a hook, electromagnetic adsorption, or the like, which is not limited herein.
Preferably, in order to ensure that the extracted articles on the freezing shelf 13 can obtain a good low-temperature storage environment, the lifting assembly 22 specifically comprises: a lifting module 222 and a lifting channel 223; the lifting module 222 is used for driving the lifting connection part 221 to move up and down, and the lifting channel 223 is used for forming a second low-temperature storage area after refrigeration; the lifting connection 221 also serves to feed the pulled-out freezer rack 13 into the second cryogenic storage area. Specifically, the lifting module 222 can drive the lifting connection portion 221 to move up and down, so as to meet the requirement that the lifting connection portion 221 enters and exits the liquid nitrogen tank 1 to access the freezing frame 13, and the concrete entity of the lifting module 222 has various forms. For example: the lifting module 222 may adopt a mode of matching a chain with a chain, that is, the lifting connection part 221 is connected to one end of the chain, and the lifting connection part 221 is driven to move up and down by the chain through driving the chain to rotate; or, the lifting module 222 may adopt a mode of matching a rack with a gear, that is, the lifting connection part 221 is connected to the lower end part of the rack, and the lifting connection part 221 is driven to move up and down by the rack through driving the gear to rotate, so that the concrete entity of the lifting module 222 is not limited. Before the freezing frame 13 is taken out from the liquid nitrogen tank 1, the lifting channel 223 is subjected to refrigeration treatment to form a second low-temperature storage area in the lifting channel 223. The lifting connection part 221 directly enters the lifting channel 223 after the freezing frame 13 is pulled out, so that the freezing frame 13 separated from the liquid nitrogen tank 1 can be stored in the lifting channel 223 at low temperature, and good low-temperature storage environment of articles on the freezing frame 13 is ensured.
In order to facilitate the clamp 21 to clamp the article to be taken out from the freezing and storing frame 13, or to store the article clamped by the clamp 21 on the freezing and storing frame 13; the lifting assembly 22 further includes: the pushing module 224, the pushing module 224 is configured with a pushing part 2241 capable of moving reciprocally, the pushing part 2241 is used for pushing out the articles on the freezing shelf 13 to the outside of the lifting channel 223, and the pushing part 2241 is also used for pushing out the articles outside into the freezing shelf 13 for storage; wherein the pushing module 224 is located at a lower portion of the lifting channel 223. Specifically, during the process of taking out the articles in the freezing shelf 13 or storing the articles in the freezing shelf 13, the pushing part 2241 in the pushing module 224 pushes the articles to move so as to realize the access to the freezing shelf 13. The pushing module 224 is arranged at the lower part of the lifting channel 223, and the pushing part 2241 is positioned at one side to avoid influencing the moving frozen shelf 13 in the process of driving the frozen shelf 13 to lift through the lifting connecting part 221; after the freezing shelf 13 is moved in place, the pushing part 2241 can push out the articles on the freezing shelf 13, and similarly, the articles outside can be pushed into the freezing shelf 13 for storage. For the article pushed out by the pushing part 2241, the article can be gripped by the gripper 21 for transfer treatment; whereas for the articles to be transferred to the pushing module 224 by the gripper 21, they can be pushed into the freezer rack 13 by the pushing part 2241 for storage. Among them, there are various ways to realize the reciprocating movement of the pushing part 2241, for example: the pushing part 2241 can be driven to reciprocate by adopting an electric push rod; alternatively, the gear is matched with the rack, and the gear can be driven by the motor 2242, the pushing part 2241 is installed on the rack, and the motor 2242 drives the gear to rotate so as to drive the rack to slide, so that the pushing part 2241 can reciprocate. The pushing portion 2241 may be configured in a push plate or a push block, which is not limited herein.
In addition, in order to reduce the volatilization amount of liquid nitrogen in the liquid nitrogen tank 1, a tank cover 14 capable of being opened and closed is arranged on the access port 11 of the liquid nitrogen tank 1; and the automatic access mechanism 2 further includes: the switch cover assembly 24, the switch cover assembly 24 is provided with a reversible connecting arm 241, and the connecting arm 241 is connected to the can lid 14. When articles need to be stored and taken out, the connecting arm 241 in the switch cover assembly 24 rotates to automatically open the tank cover 14, and the lifting module 222 can extend into the liquid nitrogen tank 1 through the lifting connecting part 221 to take out the freezing storage rack 13. After the storing and taking operation is completed, the connecting arm 241 rotates reversely, so that the can lid 14 automatically closes the storing and taking opening 11. For the power source of the connection arm 241, the rotation driving mechanism 242 may be used to drive the connection arm 241 to rotate, and the representation entity of the rotation driving mechanism 242 may be a rotating motor or the like, which is not limited herein.
In order to avoid the interference between the lifting assembly 22 and the switch cover assembly 23, the automatic access mechanism 2 further includes a sliding assembly 26, where the sliding assembly 26 has a sliding portion (not shown) capable of sliding laterally, and the sliding portion is used to drive the lifting assembly 22 to slide laterally and reciprocally; the switch cover assembly 24 is mounted on the mounting platform 20 on one side of the operating port, the mounting platform 20 is provided with an upstanding support on which the slide assembly 26 is mounted. Specifically, the sliding component 26 can drive the lifting component 22 to move transversely integrally through the sliding part, in the process of opening and closing the can lid 14, the sliding component 26 drives the lifting component 22 to be far away from the operation opening, and when the can lid 14 is opened and articles are required to be stored and taken, the sliding component 26 drives the lifting component 22 to move to the upper side of the operation opening. The slide assembly 26 may be implemented by a sliding platform, a linear motor, or the like, for lateral reciprocation, without limitation.
Preferably, for more convenient selection operations by the clamp 21, the clamp 21 further comprises: a second jaw 214 and a second drive mechanism 215, the second drive mechanism 215 being for driving the two second jaws 214 to move relative to each other, the second drive mechanism 215 being mounted on the mounting 213. Specifically, after clamp 21 has placed an article into the picking operation space via first jaw 211, clamp 21 switches second jaw 214 to a work position, and second drive mechanism 215 drives second jaw 214 to move to clamp the article in the picking operation space. The following are illustrated: taking the sample test tubes stored in the freezing box as the articles to be accessed as an example, a plurality of sample test tubes are usually stored in the freezing box on the freezing rack 13 in the liquid nitrogen tank 1. When a certain sample tube needs to be taken out, the clamp 21 conveys the freezing box to the selecting operation space through the first clamping jaw 211, and at this time, a plurality of sample tubes in the freezing box are all in the first low-temperature storage area for low-temperature storage. In the selection, gripper 21 switches second jaw 214 to the working position, and the desired sample tube in the freezer is selected by second jaw 214. The above-mentioned process is a process of taking out the sample tube, and a process of storing the sample tube in the freezing box is not described herein.
While for convenience in switching between first clamping jaw 211 and second clamping jaw 214, clamp 21 further includes: the rotating module 216, the rotating module 216 is mounted on the moving module 24 and is used for driving the fixing seat 213 to rotate. Specifically, when switching between the operation of first clamping jaw 211 and second clamping jaw 214, rotation module 216 will drive fixing base 213 to rotate to drive first clamping jaw 211 and second clamping jaw 214 to rotate, so that first clamping jaw 211 or second clamping jaw 214 is set into the operation posture. The rotating module 216 may be a rotating motor or a rotating cylinder. In the case of using a multi-axis robot for the moving module 24, the rotating module 216 may be integrated at the moving end of the multi-axis robot.
The refrigeration mode may take various forms for the low-temperature storage area formed by the refrigeration mode. For example: a compressor may be used to chill the low temperature air, which is used to form a corresponding low temperature storage area. Preferably, in order to facilitate practical operation and reduce the use cost, the low-temperature storage areas may be formed by adding liquid nitrogen, and the formation method of each low-temperature storage area is described below. As for the third low-temperature storage area 100 formed by the jig 21, liquid nitrogen is filled into the inside of the thermal insulation case 2111, and the liquid nitrogen forms the third low-temperature storage area between the two thermal insulation cases 2111. For the second low-temperature storage area formed by the lift channel 223, liquid nitrogen is injected into the lift channel 223 in the same manner, and the second low-temperature storage area can be formed in the lift channel 223 by using the liquid nitrogen. For the first low temperature storage area, taking the selection barrel 25 as an example, liquid nitrogen is added into the selection barrel 25, so that the first low temperature storage area can be formed in the selection barrel 25. The liquid nitrogen is injected into the low-temperature storage area by adopting a conveying pipe. For the clamp 21, a liquid nitrogen supply pipe is provided on the heat-insulating shell 2111, and the liquid nitrogen supply pipe may be connected to a liquid nitrogen supply tank, and liquid nitrogen in the liquid nitrogen supply tank flows into the liquid nitrogen supply pipe to form a third low-temperature storage area between the two heat-insulating shells 2111. For the lift channel 223, a liquid nitrogen supply pipe is also provided on the lift channel 223, and sprays liquid nitrogen from the top of the lift channel 223 to form a second low-temperature storage area. For the pick barrel 24, a liquid nitrogen supply line is also provided on the pick barrel 24, which feeds liquid nitrogen to the bottom of the pick barrel 24 to form a first cryogenic storage area.
Based on the liquid nitrogen storage device, the low-temperature transfer is realized by adopting the following method, and the low-temperature transfer method comprises the following steps: after the clamp is subjected to refrigeration treatment to form a third low-temperature storage area in the clamp, the clamp is used for clamping the articles to be accessed for transferring treatment, and the articles are positioned in the third low-temperature storage area in the transferring process. Specifically, before the articles to be accessed are transported, the clamp is subjected to refrigeration treatment, and after the clamp is subjected to refrigeration treatment, a third low-temperature storage area is formed in the clamp. In the process of transferring the articles to be accessed, the articles are clamped by the clamp and are positioned in the third low-temperature storage area, so that the articles are protected by the low-temperature environment in the transferring process, and excessive temperature rise caused by the influence of the room-temperature environment is avoided.
In the actual use process, the low-temperature transfer method correspondingly comprises an extraction process and a storage process aiming at taking out and storing the articles, as will be described in detail below.
For the extraction procedure, the articles stored in the liquid nitrogen tank are taken out and transferred to other storage components, for example: taking out and transferring the articles in the liquid nitrogen tank to the turnover barrel as an example. The extraction process comprises the following steps: after the clamp is subjected to refrigeration treatment to form a third low-temperature storage environment, the clamp is used for clamping the article taken out of the liquid nitrogen tank and carrying out transfer treatment, and finally, the article is placed into the turnover barrel by the clamp to finish transfer operation. After the article is taken out from the liquid nitrogen tank, in the transferring process, the article obtains low-temperature protection in a third low-temperature storage environment formed by the clamp, and the adverse effect of the room-temperature environment on the article in the transferring process is reduced. And a plurality of removable storage units can be arranged in the liquid nitrogen tank, and the storage units are provided with a plurality of stations for storing articles. The liquid nitrogen tank is exemplified by a freezing frame, and a plurality of articles can be stored on the freezing frame at the same time. In the extraction step, a plurality of articles are taken out of the liquid nitrogen tank at a time. For this purpose, the extraction process further comprises: before taking out, the articles in the liquid nitrogen tank are firstly subjected to refrigeration treatment outside an access port of the liquid nitrogen tank to form a second low-temperature storage area, and specifically, referring to the embodiment of the liquid nitrogen storage device, a lifting channel is arranged above the access port of the liquid nitrogen tank, and the frozen storage frame is taken out and then enters the lifting channel for temporary storage. Before the frozen storage frame is taken out, the interior of the lifting channel is subjected to refrigeration treatment to form a second low-temperature storage area, so that the frozen storage frame enters the second low-temperature storage area to be subjected to low-temperature storage after being taken out, and a plurality of articles stored on the frozen storage frame are effectively subjected to low-temperature protection, so that the articles taken out from the liquid nitrogen tank are temporarily stored in the second low-temperature storage area. Then, the article output from the second low-temperature storage area is gripped by the gripper and subjected to a transfer process. Regarding the manner of outputting the articles in the second cryogenic storage area, reference may be made to the embodiment of the liquid nitrogen storage device in which the pushing module is used to push the articles stored on the freezing shelf out of the lifting channel, so that the clamp can clamp the pushed articles.
And storing the articles to be stored in the liquid nitrogen tank in the storage procedure. For example: the transfer container is described by taking the storage of the articles in the liquid nitrogen tank as an example. The storage procedure comprises the following steps: after the clamp is subjected to refrigeration treatment to form a third low-temperature storage environment, the clamp is used for clamping the articles to be stored and transferring the articles to the access port of the liquid nitrogen tank, and then the articles are stored in the liquid nitrogen tank. Specifically, the clamp takes the article out of the turnover barrel, and finally transfers the article to the liquid nitrogen tank and stores the article into the liquid nitrogen tank. Wherein, can directly put into the liquid nitrogen container through anchor clamps and accomplish the transportation operation with article. And under the condition that the liquid nitrogen tank adopts the similar structure storing such as cryopreservation frame, then anchor clamps can't directly deposit article in the liquid nitrogen tank, and specific storage process is as follows: before the articles are stored in the liquid nitrogen tank, refrigerating treatment is carried out on the outer side of the access port of the liquid nitrogen tank to form a second low-temperature storage area, the articles are transported to the second low-temperature storage area by the clamp for temporary storage, and then the articles in the second low-temperature storage area are placed in the liquid nitrogen tank. Specifically, referring to the embodiment of the liquid nitrogen storage device, before the freezing frame is taken out, the inside of the lifting channel is subjected to refrigeration treatment to form a second low-temperature storage area, and then the freezing frame is lifted into the second low-temperature storage area. The clamp transfers the article to the lifting channel, pushes the article to the freezing shelf for storage through the pushing module, and finally, the freezing shelf is stored back to the liquid nitrogen tank. The freezing shelf provided from the access port of the liquid nitrogen tank is temporarily stored in the second low-temperature storage area, so that good low-temperature protection of the stored articles on the freezing shelf in the second low-temperature storage area can be ensured in the storage process.
In addition, when there is an operation of sorting the stored and accessed articles outside the liquid nitrogen tank, the cryogenic transfer method further includes a sorting step. The selecting process comprises the following steps before the articles are stored in the liquid nitrogen tank or after the articles are taken out from the liquid nitrogen tank: and carrying out refrigeration treatment outside the liquid nitrogen tank to form a first low-temperature storage area, clamping a plurality of articles by using the clamp, transferring the articles into the first low-temperature storage area, selecting the required articles in the first low-temperature storage area, and then clamping the selected articles by using the clamp, and continuing transferring treatment. Specifically, in the process of selecting the articles, the articles are subjected to selecting operation in a first low-temperature storage area, and the first low-temperature storage area can perform low-temperature protection on the articles subjected to selecting treatment, so that the articles are prevented from being influenced by room temperature environment and heated too high in the selecting process. Taking a plurality of sample test tubes placed in the freezing box, taking the article taken out as a certain sample test tube in the freezing box as an example. The frozen storage frames are pulled out to be in the lifting channels, the corresponding frozen storage boxes are pushed out from the frozen storage frames through the pushing modules and moved to the outside of the lifting channels, and the clamp clamps the frozen storage boxes and conveys the frozen storage boxes into a first low-temperature storage area formed by the selection barrel. Then, the lid of the freezing box is opened by the clamp, and the selection operation of the corresponding sample test tube in the freezing box is performed. Finally, the desired sample tubes are picked out and deposited into a transfer bucket. And for the frozen storage boxes stored in the selecting barrel, the frozen storage boxes are transported back to the original place through the clamp.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A liquid nitrogen storage device, comprising:
a liquid nitrogen tank provided with an access port, wherein liquid nitrogen is contained in the liquid nitrogen tank;
an automatic access mechanism configured with a selection operation space for forming a first low-temperature storage area after refrigeration; the automatic access mechanism is further provided with a movable clamp, the clamp is used for clamping and transferring articles taken out of the liquid nitrogen tank or articles to be stored in the liquid nitrogen tank, and the clamp is also used for selecting articles in the first low-temperature storage area;
in addition, the clamp is configured to first perform a refrigeration process to form a third cryogenic storage region prior to clamping the article;
the clamp comprises a first clamping jaw, a first driving mechanism and a fixed seat; the first clamping jaw is provided with a heat-insulating shell, a third low-temperature storage area is formed between the two heat-insulating shells, and the first driving mechanism is used for driving the two oppositely arranged first clamping jaws to move relatively so as to finish clamping and releasing actions;
the clamp further comprises a second clamping jaw and a second driving mechanism, wherein the second driving mechanism is used for driving the two second clamping jaws to move relatively, and the first driving mechanism and the second driving mechanism are respectively installed on the fixing seat.
2. The liquid nitrogen storage device of claim 1, wherein said automated access mechanism comprises:
the mounting platform is provided with an operation port, the mounting platform is mounted on the liquid nitrogen tank, the access port is positioned in the operation port, and the selection operation space is arranged on the mounting platform.
3. The liquid nitrogen storage device of claim 2, wherein a pick barrel is provided on the mounting platform, the pick barrel forming the pick operating space; the picking barrel is provided with a first liquid nitrogen supply pipe which is used for conveying liquid nitrogen into the picking barrel so as to form the first low-temperature storage area.
4. The liquid nitrogen storage apparatus of claim 2, wherein said pick operation space is a groove structure formed on said mounting platform, a second liquid nitrogen supply tube being provided in said groove structure for delivering liquid nitrogen into said groove structure to form said first cryogenic storage area.
5. The liquid nitrogen storage device according to claim 2, wherein a freezing shelf for storing articles to be stored is provided in the liquid nitrogen tank;
the automatic access mechanism further includes:
the lifting assembly is provided with a lifting connecting part capable of moving up and down, and the lifting connecting part is used for penetrating through the access port to be connected with the freezing storage rack and lifting the freezing storage rack out of the liquid nitrogen tank;
wherein the lifting assembly is mounted on the mounting platform.
6. The liquid nitrogen storage apparatus of claim 5, wherein said lifting assembly comprises:
the lifting module is used for driving the lifting connecting part to move up and down;
a lifting channel for forming a second low-temperature storage area after refrigeration;
wherein the lifting connection is also used for feeding the pulled-out frozen shelf into the second low-temperature storage area.
7. The liquid nitrogen storage apparatus of claim 6, wherein said lifting assembly further comprises:
a pushing module configured with a pushing part capable of reciprocating, wherein the pushing part is used for pushing out the articles on the freezing and storing frame to the outside of the lifting channel, and the pushing part is also used for pushing out the articles on the outside to the freezing and storing frame;
wherein the pushing module is positioned at the lower part of the lifting channel.
8. The liquid nitrogen storage device of claim 6, wherein a third liquid nitrogen supply pipe is provided on the lifting channel, the third liquid nitrogen supply pipe being for spraying liquid nitrogen into the lifting channel to form the second cryogenic storage area.
9. The liquid nitrogen storage device according to claim 5, wherein a tank cover capable of being opened and closed is arranged on the access port;
the automatic access mechanism further includes:
a switch cover assembly configured with a reversible connecting arm that connects the can cover;
the sliding assembly is provided with a sliding part capable of sliding transversely and is used for driving the lifting assembly to slide transversely and reciprocally;
the switch cover assembly is installed on the installation platform and located on one side of the operation opening, an upright support is arranged on the installation platform, and the sliding assembly is installed on the upright support.
10. The liquid nitrogen storage device of claim 2, wherein said automated access mechanism further comprises:
and the moving module is used for driving the clamp to move, and the moving module is installed on the installation platform.
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| CN111907942A (en) * | 2019-05-08 | 2020-11-10 | 青岛海特生物医疗有限公司 | Liquid nitrogen storage device and using method thereof |
| CN111907943A (en) * | 2019-05-08 | 2020-11-10 | 青岛海特生物医疗有限公司 | Liquid nitrogen storage device with automatic access function |
| CN111907941A (en) * | 2019-05-08 | 2020-11-10 | 青岛海特生物医疗有限公司 | Liquid nitrogen storage system |
| CN115367319B (en) * | 2022-09-01 | 2024-06-21 | 上海原能细胞生物低温设备有限公司 | Sample library equipment for whole-course cold chain aluminum disc access |
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