CN115108218A

CN115108218A - Biological sample low temperature intelligent storage system

Info

Publication number: CN115108218A
Application number: CN202210811015.0A
Authority: CN
Inventors: 肖阳
Original assignee: Shanghai Baoneng Biotechnology Co ltd
Current assignee: Shanghai Baoneng Biotechnology Co ltd
Priority date: 2022-06-27
Filing date: 2022-07-11
Publication date: 2022-09-27
Also published as: CN218199966U; CN217837546U; CN217837545U; CN217837016U; CN217837486U; CN218199457U; CN217837014U; CN115321064A

Abstract

The invention discloses a low-temperature intelligent storage system for biological samples, which comprises: a sample storage system and a sample unit carrying circulating system. Through the mode, the biological sample low-temperature intelligent storage system disclosed by the invention can realize full-automatic operations of biological sample transfer, butt joint, storage and the like, effectively improves the working efficiency, can provide a more accurate, stable and balanced low-temperature environment, ensures the activity of a sample during storage operation, and improves the safety of the stored sample.

Description

Biological sample low temperature intelligent storage system

Technical Field

The invention relates to the technical field of low-temperature storage, in particular to a low-temperature intelligent storage system for biological samples.

Background

When storing biological samples, it is necessary to provide a low temperature environment in which the samples can be kept active, by means of liquid nitrogen or the like.

At present, operations such as loading and unloading, transferring and the like of samples are generally carried out in a manual mode, and although some automatic adjustment is carried out to realize a simple storage function, the prior art still has many problems, such as uneven temperature in sample storage equipment, poor sample storage effect, small sample storage amount of unit equipment, large liquid nitrogen consumption, easy failure in an automation process and the like.

Disclosure of Invention

The invention mainly solves the technical problem of providing a low-temperature intelligent storage system for biological samples, which has the advantages of high reliability, accurate positioning, compact structure and the like, and has wide market prospect in the application and popularization of the low-temperature sample storage system.

In order to solve the technical problems, the invention adopts a technical scheme that:

a biological specimen cryogenic smart storage system is provided, comprising: a sample storage system, a sample unit carrying circulation system,

the sample storage system: the sample storage and transfer device is used for docking an external turnover device of the equipment and accessing the sample in a low-temperature environment, so that the storage and transfer of the sample are realized;

the sample cell handling circulation system: the freezing storage rack is used for storing the carriers such as samples and sample boxes at low temperature, and carrying and lifting the freezing storage rack to realize the feeding and discharging of the freezing storage rack.

In a preferred embodiment of the present invention, the sample storage system comprises a material taking mechanism for taking and carrying sample test tubes and/or material boxes, a material holding mechanism for holding the tray and maintaining the low temperature environment of the tray, and a tray accessing mechanism for carrying the tray to the sample unit carrying circulation system or the material holding mechanism, wherein the material taking mechanism, the material holding mechanism and the tray accessing mechanism are disposed in the carrying insulation bin.

In a preferred embodiment of the invention, a transfer feeding port of the transport heat preservation cabin is connected with a docking mechanism used for conveying the transfer device filled with the biological samples to a target material taking position, and the docking mechanism comprises a docking table used for receiving the transfer device and a docking driving device used for driving the docking table to lift and/or translate to the transfer feeding port.

In a preferred embodiment of the invention, the material taking mechanism comprises a pipe picking gripper, a box taking gripper and a material taking driving mechanism for driving the pipe picking gripper and the box taking gripper to move.

In a preferred embodiment of the invention, a sealing cover opening device is movably connected to a transferring feed opening of the transporting heat-preserving bin to seal or open the transferring feed opening, and a box taking gripper is movably connected with the sealing cover opening device to synchronously open and close the transferring feed opening and the transferring device through the sealing cover opening device, wherein the sealing cover opening device comprises a cover opening cover plate, a fastening groove and a clamping block, the fastening groove allowing the box taking gripper to penetrate through is arranged on the cover opening cover plate, the clamping block movably connected with the transferring device cover is elastically arranged at the lower part of the cover opening cover plate, and the box taking gripper drives the clamping block to translate so as to synchronously clamp or loosen the cover opening cover plate and the transferring device cover.

In a preferred embodiment of the invention, the material supporting mechanism comprises a liquid nitrogen tank for storing liquid nitrogen and a material supporting frame movably connected with the carrier disc, the material supporting frame and/or the liquid nitrogen tank are arranged in a lifting manner, and the material supporting frame and the liquid nitrogen tank are matched to drive the carrier disc to be close to or far away from the liquid nitrogen tank, wherein a carrier disc groove body for placing the carrier disc and a material box groove body for placing a test tube material box to be put in or taken out of the warehouse are arranged in the liquid nitrogen tank, and the carrier disc groove body is communicated with the material box groove body so as to maintain a low-temperature environment and ensure that the bottoms of the sample box and the test tube are not frosted.

In a preferred embodiment of the present invention, the tray accessing mechanism includes an accessing link, a tray gripper for gripping the tray, a tray lifting mechanism for supporting the tray, and an accessing driving mechanism, the tray gripper is disposed on the accessing link, the tray lifting mechanism is telescopically disposed below the tray gripper, and the accessing driving mechanism drives the tray gripper and the tray lifting mechanism to perform translational and rotational movements through the accessing link.

In a preferred embodiment of the present invention, the sample unit transportation circulating system includes a liquid nitrogen tank storing liquid nitrogen, a freezing rack for placing a tray, a freezing rack discharge port for the freezing rack to pass in and out, a tray discharge port for the tray to pass in and out, a first opening and closing mechanism for opening or sealing the freezing rack discharge port, a second opening and closing mechanism for opening or sealing the tray discharge port, a storage bracket rotating mechanism, and a lifting and discharging mechanism for driving the freezing rack to move up and down, the freezing rack discharge port is disposed on the top surface of the liquid nitrogen tank, the tray discharge port is disposed on the side surface of the freezing rack discharge port, the storage bracket rotating mechanism suspends the freezing rack in the liquid nitrogen tank and drives the freezing rack to rotate in the liquid nitrogen tank, wherein the lifting and heat preservation bin is covered on the discharge port, the opening and closing mechanism, and the lifting and discharging mechanism.

In a preferred embodiment of the present invention, the storage tray rotating mechanism includes a rotation driving mechanism, a cantilever shaft, a landing frame, a partition plate, a hollow connecting groove, and a central liquid storage tank for supplying liquid nitrogen, the lower portion of the cantilever shaft is connected to the top of the landing frame to suspend the landing frame in the liquid nitrogen tank, the upper end of the cantilever shaft is connected to the rotation driving mechanism to drive the landing frame to rotate in the liquid nitrogen tank, the partition plate is arranged on the landing frame in an array manner to form a plurality of freezing spaces for placing the freezing racks, the hollow connecting groove is arranged in the central shaft of the storage tray in the landing frame, and the central liquid storage tank is arranged in the hollow connecting groove and conveys the liquid nitrogen in the central liquid storage tank to the bottom and the hollow cooling interlayer on the side of the liquid nitrogen tank to increase the storage capacity of the liquid nitrogen.

In a preferred embodiment of the present invention, the second opening and closing mechanism includes a sealing cover and a second driving mechanism for synchronously driving the sealing cover to lift and move back and forth so as to open or seal the discharge port of the carrier disc, the second driving mechanism includes a second driving fixing frame, a lifting transmission guide slot, a telescopic transmission guide slot, a transmission guide wheel, a transmission connecting rod and a power device, the lifting transmission guide slot and the telescopic transmission guide slot are disposed on the second driving fixing frame, an end of the transmission connecting rod is connected with the sealing cover, the transmission connecting rod is movably connected with the lifting transmission guide slot and the telescopic transmission guide slot through the transmission guide wheel respectively so as to lift and telescopically guide the transmission connecting rod and the sealing cover, the power device drives the transmission connecting rod to move along the guide slot so as to make the sealing cover descend and inwardly approach the discharge port of the carrier disc, or rise and move outward away from the discharge opening of the loading tray.

The invention has the beneficial effects that: not only can realize operations such as butt joint, access are transported to full-automatic biological sample, effectively improve work efficiency, can provide more accurate, stable, balanced low temperature environment moreover, guaranteed the activity of sample when transport transportation, improve the storage effect.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a schematic diagram of the overall structure of a preferred embodiment of a low-temperature intelligent storage system for biological samples according to the present invention;

FIG. 2 is a schematic diagram of a partial backside structure of a preferred embodiment of a low-temperature smart storage system for biological samples according to the present invention;

FIG. 3 is a schematic diagram of the lifting mechanism of the preferred embodiment of the low-temperature intelligent storage system for biological samples according to the present invention;

FIG. 4 is a schematic structural diagram of a first opening/closing mechanism in a preferred embodiment of the present invention;

FIG. 5 is a schematic diagram of the internal structure of a liquid nitrogen tank in a preferred embodiment of the system for cryogenic intelligent storage of biological samples according to the invention;

FIG. 6 is a schematic side sectional view of a liquid nitrogen tank in a preferred embodiment of the system for cryogenic intelligent storage of biological samples according to the present invention;

FIG. 7 is a schematic diagram of a sample storage system in accordance with a preferred embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating a second opening/closing mechanism of a preferred embodiment of a low-temperature smart storage system for biological samples according to the present invention;

FIG. 9 is a schematic diagram of a temperature partition of a preferred embodiment of a low-temperature smart storage system for biological samples according to the present invention;

FIG. 10 is a schematic structural diagram of a cover-opening sealing device in a preferred embodiment of the system for low-temperature intelligent storage of biological samples according to the present invention;

FIG. 11 is a schematic diagram of a liquid nitrogen tank in a preferred embodiment of the system for low-temperature intelligent storage of biological samples of the present invention;

FIG. 12 is a schematic diagram of a multi-stage module according to a preferred embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-12, an embodiment of the present invention includes:

a biological sample low-temperature intelligent storage system realizes full-automatic, informatization and dynamic intelligent management of sample storage, and structurally comprises: the sample storage system and the sample unit carrying circulating system are arranged in the rack.

(1) Sample storage system

The sample storage system comprises a carrying heat-insulation bin, a butt joint mechanism, a material taking mechanism, a liquid nitrogen groove 14, a material supporting mechanism and a material carrying disc storing and taking mechanism, wherein the butt joint mechanism is arranged below the carrying heat-insulation bin, the liquid nitrogen groove is arranged in the carrying heat-insulation bin, the material supporting mechanism is arranged on two sides of the liquid nitrogen groove, the material carrying disc storing and taking mechanism is arranged above the liquid nitrogen groove, and the material taking mechanism is arranged above the material supporting mechanism.

The carrying heat preservation bin comprises a platform 11 and an outer cover covering the platform. The liquid nitrogen tank is arranged on the platform, and the material supporting mechanism and/or the liquid nitrogen tank are arranged on the platform in a lifting mode so as to be matched with the liquid nitrogen tank to place the carrying disc into liquid nitrogen.

(1.1) a docking mechanism: and the external transfer device 17 is used for conveying the biological sample material box (or the sample test tube transfer box) to a target material taking position.

The docking mechanism comprises a docking table 121 for receiving and placing a turnover device and a docking driving device 122, wherein the docking driving device is arranged at the bottom of the platform and drives the docking table to move upwards to a material taking position. In addition, a butt-joint translation device can be arranged on the butt-joint table to drive the turnover device to horizontally move on the butt-joint table, so that the horizontal position of the turnover device can be adjusted. In order to further improve the accuracy of butt joint, the side face on the telescopic table can be arranged on the butt joint plate at the bottom of the platform in a sliding mode through the lifting slide rail.

Wherein, the butt joint driving device can adopt driving devices such as an air cylinder, a motor screw rod and the like.

The butt joint translation device is including driving actuating cylinder, flexible platform 123, butt joint conveyer belt 124, flexible platform is connected with the epaxial slide rail of butt joint through the slider, the butt joint conveyer belt set up in flexible bench, it drives flexible platform seesaw at butt joint bench to drive actuating cylinder to drive the butt joint conveyer belt and outwards stretch out and receive turnover device or drive turnover device and inwards retract to supreme material level. In addition, the butt joint translation device can also directly adopt a driving device such as a conveyor belt, an air cylinder and the like.

(1.2) a material taking mechanism: the box is used for transferring the material box in the turnover device to a liquid nitrogen tank, and the biological sample test tube in the material box is taken out, photographed and recognized, and then transferred to a test tube carrying disc.

The material taking mechanism comprises a turnover feeding port, a sealing cover opening device, a pipe picking gripper 131, a box taking gripper 132 and a material taking driving mechanism 133, wherein the box taking gripper 132 is used for grabbing a material box in the sealing cover opening device and the turnover device, the material taking driving mechanism drives the pipe picking gripper and the box taking gripper to perform XYZ three-axis motion, the turnover feeding port allowing the transfer device to stretch into is arranged on the platform, the sealing cover opening device is movably connected with the turnover feeding port to seal or open the turnover feeding port, and the sealing cover opening device and the turnover barrel cover are lifted up simultaneously by matching with the box taking gripper.

The tube picking gripper is responsible for picking tubes, the tubes are clamped from the carrying disc to a material box to be put in and out of the storage or the tubes in the material box are clamped to the carrying disc, and the gripper adopts a set of high-flexibility design and can grip the tubes with the diameter from phi 2mm to phi 20 mm; get the grabbing of box tongs ability compatible test tube and the grabbing of turnover bung hole lid.

Get material actuating mechanism and can independently drive respectively and choose a tub tongs and get a box tongs and move, also can utilize a set of material actuating mechanism to drive in step and choose a tub tongs and get a box tongs and move. Wherein, get material actuating mechanism and include X axle straight line module, Y axle straight line module and Z axle lift module, in order to further improve the accurate nature of motion, Y axle straight line module can with the slide rail sliding connection on the track frame.

In addition, can also set up many places vision system of shooing for to the position compensation who snatchs the test tube, let snatch work safe more effective.

The sealing uncovering device comprises an uncovering cover plate 134, a return spring 135, a fastening groove 136 and a clamping block 137, wherein the fastening groove allowing a box taking hand to pass through is formed in the uncovering cover plate, the clamping block is arranged below the uncovering cover plate relatively and is connected with the bottom of the uncovering cover plate through the return spring, and the box taking hand and the clamping block are matched to clamp or loosen the uncovering cover plate and a turnover barrel cover.

When the turnover device reaches the material taking position, the box taking gripper descends and penetrates through the fastening groove, then the box taking gripper clamps the fastening groove to fix the cover plate, meanwhile, the lower part of the box taking gripper drives the clamping block to move inwards, so that the bottom of the clamping block clamps/fastens the turnover barrel cover, then the box taking gripper rises upwards to synchronously drive the cover plate and the turnover barrel cover to be separated upwards and move to a specified storage position, so that the function of opening two covers simultaneously by one gripper is realized, the mechanical structure of the equipment is simplified, the time for opening the covers is greatly saved, and the use efficiency of the equipment is optimized; when the box taking gripper loosens the cover plate, the clamping block also moves outwards to reset under the action of the reset spring, so that the clamping block is separated from the turnover barrel cover.

The axial direction of the reset spring is transversely arranged, the inner end of the reset spring is connected with the cover plate, and the outer end of the reset spring is connected with the clamping block. In order to facilitate the movement of the clamping block, the top of the clamping block can be in sliding connection with the bottom of the cover plate through a sliding rail sliding block or a sliding groove.

(1.3) liquid nitrogen tank: the operation tray and the biological sample test tube turnover box are used for providing a low-temperature environment in the sample transfer process.

The liquid nitrogen tank comprises a tray tank body 141 and one or more material box tank bodies 142 used for placing test tube material boxes to be taken in and out of the warehouse, the tray tank body is communicated with the material box tank bodies to replenish liquid nitrogen at any time, so that the stability of the low-temperature environment in the transportation heat preservation warehouse is maintained, wherein the liquid nitrogen can be replenished through an independent channel, and can also share a liquid replenishing channel with a liquid nitrogen tank.

In addition, the rocker arm 151 can be driven to rotate by a motor shaft, and the cam 152 rotatably arranged on the rocker arm is movably connected with the guide groove 153 on the carrier disc supporting block 15 so as to drive the whole liquid nitrogen tank to perform lifting motion along the lifting slide rail.

When carrying the top that the dish moved the liquid nitrogen groove, the liquid nitrogen groove upwards lifts for the liquid nitrogen liquid level contacts the sample test tube, guarantees the sample activity in order to guarantee the low temperature environment after the sample warehouse-out, can make sample test tube bottom not frosting simultaneously, thereby can carry out the normal two-dimensional code scanning of warehouse-out, improves work efficiency.

(1.4) carrying disc access mechanism: for grasping and transporting the boat 18 to a sample cell transport circulation system or a tote mechanism.

The carrying disc storing and taking mechanism comprises a storing and taking connecting frame 161, a carrying disc gripper 162 used for gripping a carrying disc, a carrying disc lifting mechanism used for supporting the carrying disc and a storing and taking driving mechanism 163, wherein the carrying disc gripper is arranged on the storing and taking connecting frame, the carrying disc lifting mechanism is arranged below the carrying disc gripper in a telescopic mode, the storing and taking driving mechanism is connected with the storing and taking connecting frame to drive the carrying disc gripper and the carrying disc lifting mechanism to move horizontally and rotationally, the position and the angle of the carrying disc in a small space are converted, and the carrying disc on the cryopreservation frame can be conveniently gripped.

The access driving mechanism can adopt a 3-axis rotating manipulator, namely, the access driving mechanism can perform translation and rotation motion in the XYR axis direction.

The carrier disc lifting mechanism comprises a carrier disc lifting plate 164, a lifting driving motor, a lifting driving gear and a lifting driving rack, the lifting driving motor is connected with the access driving mechanism, an output shaft of the lifting driving motor is connected with the lifting driving gear, the carrier disc lifting plate is provided with the lifting driving rack meshed with the lifting driving gear, and the lifting driving motor drives the carrier disc lifting plate to move back and forth below the carrier disc tongs through the lifting driving gear and the lifting driving rack so as to bear or loosen the carrier disc.

In addition, in order to further guarantee the precision of carrier plate lifting plate motion, the carrier plate lifting plate is connected with the sliding groove on the storage and taking connecting frame in a sliding mode.

(1.5) a material supporting mechanism: used for driving the carrying disc to be close to or far away from the liquid nitrogen tank.

The material supporting mechanism is fixed or arranged on the side edge of the liquid nitrogen tank in a lifting mode, and comprises a material supporting frame 155 located above the liquid nitrogen tank. The material supporting frame can be driven to move up and down by the material supporting driving mechanism, and the material supporting driving mechanism can be driven to lift by a motor screw rod, an air cylinder and other devices.

When the carrying disc is taken out through the carrying disc storing and taking mechanism, the carrying disc is placed on the material supporting frame, the carrying disc gripper is loosened, the carrying disc lifting mechanism retreats, and the material supporting driving mechanism drives the carrying disc of the material supporting frame to descend into the liquid nitrogen tank.

(1.6) the structure of the carrying disc comprises an upper limiting supporting plate and a lower limiting supporting plate, a supporting block is arranged between the supporting plates to form a supporting frame, and grabbing positioning blocks convenient for grabbing by a carrying disc gripper are arranged on two sides of the front end of the supporting frame, so that the height space can be saved, and the storage in the limited height space is maximized (approximately twice the storage capacity of the same line); the rear end of braced frame is provided with the storage locating piece, has certain elasticity be provided with on the storage locating piece with sample unit transport circulating system in freeze the draw-in groove of depositing a swing joint, go up to be provided with in the spacing backup pad and allow the sample test tube to pass the test tube hole of placing, can closely arrange the test tube sample (the clearance only is 1 mm) according to test tube size and year dish space, the test tube location is stable and arrange high-efficient neat, saves space.

In addition, the carrying disc is of a fan-shaped structure so as to fully utilize the inner space of the circular liquid nitrogen barrel. The supporting shoe adopts aluminum alloy material, goes up the spacing backup pad and adopts stainless steel material, wholly reaches the requirement of intensity promptly and can satisfy the demand of lightweight again.

(2) Sample unit carrying circulating system

The sample unit carrying circulating system comprises a liquid nitrogen tank 21, a freezing frame discharge port 22, a carrying disc discharge port 23, a first opening and closing mechanism, a second opening and closing mechanism, a lifting heat preservation bin, a freezing frame 25, a storage bracket rotating mechanism and a lifting discharge mechanism.

The freezing frame discharge port is arranged on the top surface of the liquid nitrogen tank, the carrying disc discharge port is arranged on the side surface of the freezing frame discharge port, so that the height for grabbing the carrying disc can be reduced, and the maximization for storing the carrying disc is realized in the limited height.

Promote heat preservation storehouse set up in the top of liquid nitrogen container, promote discharge mechanism and be connected with the cooperation of freezing frame discharge gate first closing mechanism sets up on the mesa 24 in promotion heat preservation storehouse, second closing mechanism set up in carry the outside of dish discharge gate, storage bracket rotary mechanism with the liquid nitrogen container is connected to it is rotatory in the liquid nitrogen container to drive freezing frame.

(2.1) a storage tray rotating mechanism: is used for storing the freezing frame and driving the freezing frame to rotate in the liquid nitrogen tank.

The storage bracket rotating mechanism comprises a rotating driving mechanism 270, a cantilever shaft 271, a falling frame, a partition plate 273, a hollow connecting groove 274 and a central liquid storage tank 275 connected with an external liquid nitrogen input valve.

The cantilever shaft is rotatably arranged at the top of the liquid nitrogen tank through a bearing and the like, the lower part of the cantilever shaft is connected with the top of the falling frame so as to suspend the falling frame in the liquid nitrogen tank, the bottom of the falling frame is not contacted with the bottom of the liquid nitrogen tank, and the upper end of the cantilever shaft is connected with the rotary driving mechanism so as to drive the falling frame to rotate in the liquid nitrogen tank. Give up the mode that the frame top that falls and the bottom were connected with the liquid nitrogen container through the bearing is direct respectively among the prior art promptly, adopted top suspension structure, connect rotary drive mechanism and jar interior frame that falls respectively through the cantilever shaft for storage bracket rotary mechanism's key parts is located the top, in order to keep away from the low temperature storage area of liquid nitrogen container bottom, optimized key parts's external environment, effectively reduced the part fault rate, increase equipment life, and the installation is maintained simple moreover, can simplify the hardware cost.

Wherein, the central shaft of the storage disc adopts an aluminum alloy pipe with a large cross section; the rotary driving mechanism comprises a rotary driving motor and a harmonic reducer.

The frame that falls includes storage disc center pin 272 and the supporting disk 276 of locating storage disc center pin bottom periphery in the ring, be provided with on the supporting disk with freeze the support swing joint's of frame support guide way, be provided with the cavity spread groove that the opening is down in the storage disc center pin, after the pressurization the center liquid storage pot set up in the cavity spread groove, and the lower part of center liquid storage pot directly or through catheter 277 and liquid nitrogen container and/or liquid nitrogen container bottom and the cavity cooling intermediate layer 278 of side are linked together, supply or carry to liquid nitrogen container bottom and/or the cavity cooling intermediate layer in the liquid nitrogen container in the center liquid storage pot. In addition, the central liquid storage tank can also be simultaneously communicated into the liquid nitrogen tank to supplement and recover liquid nitrogen for the tank body.

Through setting up central liquid storage pot, can increase the liquid nitrogen storage capacity to the loss of liquid nitrogen in the supply liquid nitrogen container, extension liquid feeding cycle, simultaneously, because the cold volume radiation of central liquid nitrogen container makes the inside upper and lower difference in temperature of liquid nitrogen container more even, with the inside warm area of further optimizing liquid nitrogen container, make the temperature and the bottom of liquid nitrogen container top position more be close, thereby realize more balanced stable low temperature environment, optimize the sample environment, the effective storage of the sample of being convenient for.

The division board uses cantilever shaft (or storage disc center pin) to set up on the frame of falling position as the centre of a circle array to form a plurality of fan-shaped structure's that are used for placing the frame of freezing and depositing the room that freezes, adopted the storage space in the unique fan-shaped structure segmentation liquid nitrogen bucket promptly, maximize the memory space in usable effective space, improved storage efficiency by a wide margin.

(2.2) freezing and storing rack: used for positioning and storing a plurality of loading disks.

The freezing frame adopts a tower structure which can enable a plurality of carrying discs to be stacked up and down, and the cross section of the freezing frame is of a fan-shaped structure, so that the freezing frame is circularly arranged inside a circular storage tank, the inside use space of the storage tank can be efficiently utilized, and the number of storage units is increased.

The structure of freezing frame includes: body frame, top plate, bottom plate, guide pin 251, support tray, locking post (e.g., round steel, etc.).

The roof with the bottom plate set up respectively in main body frame's top surface and bottom surface, the locking post set up in the main body frame for carry storage locating piece on the dish with locking post joint, in order to lock the location carry the dish, utilize stainless steel thin layer board to separate a plurality of dish storage spaces that carry that are used for placing the dish with main body frame apart the journey, be provided with on the bottom plate with the support guide way swing joint in the storage bracket rotary mechanism support locating pin and support the tray, place the cryopreserved frame with accurate efficient, be provided with on the roof and promote discharge mechanism swing joint's direction straining structure to it can drive the cryopreserved frame up-and-down motion to promote discharge mechanism.

The guide fastening structure comprises a lifting guide device and a lifting fastening device, the lifting guide device comprises a lifting guide groove or a lifting guide pin, and the lifting fastening device comprises a lifting fastening fixture block or a lifting fastening groove with a convex-shaped cross section.

The top and the bottom can be made of aluminum alloy plates, and the laminates can be connected by bolts, integrally formed or welded in the main body frame.

(2.3) lifting and discharging mechanism: the device is used for grabbing a freezing frame in the liquid nitrogen tank and driving the freezing frame to move up and down in a discharge hole of the freezing frame, so that the carrying disc gripper grabs or deposits a carrying disc.

Promote discharge mechanism including freezing frame tongs 260, tongs mount 261, promote driving motor 262, one-level lifting module 263, second grade lifting module 264 for snatch freezing frame tongs and the drive freezing frame tongs driving motor that puts up tongs and open and shut that puts up tongs set up in on the tongs mount, one-level lifting module is fixed to be set up on promoting the mesa in heat preservation storehouse, or slides through horizontal X axle and sets up on promoting the mesa in heat preservation storehouse, and the output of one-level lifting module with second grade lifting module is connected to drive second grade lifting module up-and-down motion, the output of second grade lifting module with the tongs mount is connected to drive freezing frame tongs up-and-down motion. The gripper fixing frame can be further provided with a positioning pin 265 connected with a lifting guide groove on the freezing storage frame.

The freezing frame gripper is connected with the guide fastening structure to grip the freezing frame. The freezing frame gripper comprises a gripping clamping hook, a lifting module, a lifting clamping hook and a lifting frame gripper, wherein the gripping clamping hook is arranged on the top of the freezing frame gripper, the lifting clamping hook is arranged on the bottom of the freezing frame gripper, and the lifting clamping hook is connected with the lifting clamping hook.

In addition, the first-level lifting module and the second-level lifting module can adopt screw rod modules.

And the first-stage lifting module and the second-stage lifting module can be respectively connected with a lifting driving motor to be driven independently.

Alternatively, a motor can be used to drive the multi-stage module to move simultaneously, and the structure of the multi-stage module comprises a sliding block 266, a ball spline 267; the sliding block is connected with the second-level lifting module and the nut in the first-level lifting module respectively, so that the first-level lifting module can drive the second-level lifting module to move up and down through the sliding block. In addition, the sliding block can also be connected with the lifting slide rail through the sliding block so as to improve the lifting of accurate control.

The lower part of the spline shaft of the ball spline can be connected with a lifting drive motor 262 through a group of synchronous pulley synchronous belts to drive the spline shaft of the ball spline to rotate on the fixed frame of the one-level lifting module.

The flange outer lane of ball spline with the sliding block is connected, can rotate along with the spline shaft is rotatory, again can be connected with the lead screw in one-level lifting module and the second grade lifting module respectively through two sets of synchronizing wheel hold-in ranges along the spline mother of spline shaft gliding from top to bottom to two sets of lifting module of synchronous drive.

It is female earlier rotatory through the lead screw among a set of synchronizing wheel hold-in range drive one-level lifting module promptly (the synchronizing wheel sets up on female and the one-level lead screw 268 of spline), make one-level lifting module can drive second grade lifting module and go up and down, then the spline is female rotatory through the lead screw among another a set of synchronizing wheel hold-in range drive second grade lifting module again (the synchronizing wheel sets up on female and the second grade lead screw of spline), make second grade lifting module drive to freeze and deposit a tongs lift, just so can utilize a motor drive two-stage straight line module simultaneous movement, realize freezing and deposit a tongs and go deep into the inside function of drawing of liquid nitrogen container and freezing and deposit the frame, can save the motor setting, the compression equipment size, moreover, the steam generator is simple in structure, and the cost is reduced.

(2.4) the first opening/closing mechanism: used for sealing or opening the discharge hole of the freezing storage rack.

The first opening and closing mechanism comprises an opening cover 280 movably connected with the discharge hole of the freezing storage frame and a first driving mechanism 281 driving the opening cover to rotate up and down.

First actuating mechanism includes first drive mount, a driving motor, opening lid drive screw, opening lid link 282, first drive mount sets up on the mesa that promotes the storehouse that keeps warm, opening lid drive screw rotate connect in on the first drive mount, a driving motor is connected with opening lid drive screw to drive opening lid drive screw and rotate, the one end of opening lid link with opening lid drive screw threaded connection is connected with on the other end the opening lid. When first driving motor during operation, opening lid driving screw passes through the opening lid link and drives opening lid elevating movement in the time for opening lid bypasses opening lid driving screw and rotates, thereby makes opening lid lift rotation downwards in order to seal and freeze and deposit a frame discharge gate, or lift rotation upwards in order to open and freeze and deposit a frame discharge gate.

(2.5) a second opening/closing mechanism: used for opening or closing the discharge hole of the carrier disc.

The second opening/closing mechanism includes a sealing cap 290 and a second driving mechanism for driving the sealing cap to move up and down and back and forth, so that the sealing cap opens or seals the discharge port of the carrier disc.

The second driving mechanism comprises a second driving fixing frame 291, a second driving motor 292, a second synchronizing wheel 293, a second synchronizing belt 294, a transmission connecting frame 295, a transmission connecting rod, a transmission guide wheel (or transmission guide pin) 297, a lifting transmission guide groove 298 and a telescopic transmission guide groove 299.

The second driving fixing frame is arranged at two sides of the discharge hole of the carrying disc, one side or two sides of the second driving fixing frame is provided with a pair of second synchronous wheels which are rotationally connected through a second synchronous belt, one side or two sides of the second driving fixing frame are provided with a group of lifting transmission guide grooves and telescopic transmission guide grooves, the telescopic transmission guide groove is arranged at the inner side of the lifting transmission guide groove, the transmission connecting rod is respectively connected with the second synchronous belt and the sealing cover, and the transmission connecting rod is respectively connected with the lifting transmission guide groove and the telescopic transmission guide groove through a transmission guide wheel so as to carry out lifting and telescopic guiding, thereby driving the sealing cover to descend and move inwards to seal the discharge hole of the carrier disc or ascend and move outwards to open the discharge hole of the carrier disc, namely, the continuous action of firstly smoothing the sealing cover and then covering the sealing cover can be realized by only one structure.

The lifting transmission guide groove can be of a linear structure arranged along the vertical direction, and the telescopic transmission guide groove can be of an arc or L-shaped structure extending from the lower end to the direction close to the discharge port of the carrying disc.

The transmission connecting rod includes lift transmission portion 2961 and flexible transmission portion 2962, the one end of transmission link frame with the second hold-in range is connected, and the other end is connected with the lift transmission portion among the transmission connecting rod, and the one end of flexible transmission portion rotates with lift transmission portion to be connected, and the other end rotates with the sealing cap to be connected, lift transmission portion or be connected with lift transmission portion the tip of flexible transmission portion passes through transmission leading wheel and lift transmission guide slot sliding connection to go up and down to lead, make the sealing cap up-and-down motion, be connected with the sealing cap the tip of flexible transmission portion passes through transmission leading wheel and flexible transmission guide slot sliding connection, in order to stretch out and draw back the direction, makes the sealing cap be close to or keep away from and carry a set discharge gate.

The two sides of the sealing cover can be respectively connected with a group of second driving motors, and can also be connected with two groups of transmission devices through a synchronizing shaft 2910 so as to realize bilateral synchronization, namely, two ends of the synchronizing shaft are connected with the second synchronizing wheel through a group of synchronizing wheel synchronous belts, so that the two groups of transmission devices can be synchronously driven by only one second driving motor, the structure is simplified, and the cost is reduced.

The whole biological sample low-temperature intelligent storage system is mainly internally provided with 4 temperature partitions:

no. 1 subarea 30 is formed by a liquid nitrogen tank, and the temperature in the tank is-198 ℃;

the No. 2 subarea 31 is formed by a lifting heat-preservation bin, and is divided into a No. 1 subarea and a No. 2 subarea by an opening cover which is automatically opened when the cryopreservation frame needs to be extracted; because the lifting heat-preservation cabin is a closed space, the cold energy in the liquid nitrogen tank can be ensured to be leaked into the lifting heat-preservation cabin, and the sample in the lifting freezing storage rack is always in a low-temperature environment.

And the No. 3 sub-area 32 is formed by a conveying heat-preservation bin and a liquid nitrogen groove, the No. 2 sub-area and the No. 3 sub-area are separated by a sealing cover, a sealing cover is used for blocking the non-working period, and a liquid nitrogen frame filled with nitrogen is arranged at the bottom of the non-working period to keep a low-temperature environment.

The temperature of the zone 33 No. 4, i.e., the other zone in the rack excluding the above-mentioned 3 zones, is normal temperature.

The low-temperature intelligent storage system for the biological samples has the beneficial effects that:

1. the structural design of the traditional liquid nitrogen tank is optimized, and the cantilever shaft enables the failure rate of the liquid nitrogen tank to be lower; the inside central liquid storage pot makes the inside temperature of liquid nitrogen container more even, guarantees the activity of sample, has also increased the liquid nitrogen storage capacity simultaneously and has prolonged liquid nitrogen and change the cycle.

2. The modularized test tube carrying tray with independent sector division realizes the maximization of the utilization rate of the inner space of the circular liquid nitrogen tank, and the carrying tray design of the standard module can be matched with the automatic requirement of sample test tubes of any form and size.

3. The height of frame access & exit is deposited to ingenious design freezing, reduces design cost for sample memory space greatly increased, greatly reduced unit sample storage cost.

4. The low temperature environment of test tube in the third space has not only been guaranteed in the lift liquid nitrogen bath, prevents the sample and freeze thawing repeatedly at the access operation in-process, because of the unable discernment that frosts and cause when avoiding camera scanning bottom two-dimensional code simultaneously to the fault alarm of greatly reduced equipment.

5. The whole system is highly intelligent, can realize operations such as full-automatic biological sample transportation butt joint, access, high security, high flexibility, high efficiency.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A biological sample cryogenic intelligent storage system, comprising: a sample storage system, a sample unit carrying circulation system,

the sample cell handling circulation system: the device is used for storing the carrier provided with the sample and the sample box at low temperature, and carrying and lifting the freezing storage frame to realize the feeding and discharging of the freezing storage frame.

2. The system according to claim 1, wherein the sample storage system comprises a material taking mechanism for taking and carrying sample tubes and sample tube boxes, a material supporting mechanism for supporting the tray and maintaining the low temperature environment of the tray, and a tray accessing mechanism for carrying the tray to the sample unit carrying circulation system or the material supporting mechanism, wherein the material taking mechanism, the material supporting mechanism and the tray accessing mechanism are disposed in the carrying heat preservation cabin.

3. The system according to claim 2, wherein a docking mechanism for transferring the transfer device containing the biological sample to the target material taking position is connected to the transfer feeding port of the transportation and insulation bin, and the docking mechanism comprises a docking station for receiving the transfer device and a docking driving device for driving the docking station to ascend, descend and/or translate to the transfer feeding port.

4. The system of claim 2, wherein the material taking mechanism comprises a tube taking gripper, a box taking gripper and a material taking driving mechanism for driving the tube taking gripper and the box taking gripper to move.

5. The system for low-temperature intelligent storage of biological samples according to claim 4, wherein a sealing cover opening device is movably connected to a transferring feed opening of the heat preservation chamber to seal or open the transferring feed opening, and a box taking gripper is movably connected to the sealing cover opening device to synchronously open and close the transferring feed opening and the transferring device through the sealing cover opening device, wherein the sealing cover opening device comprises a cover opening cover plate, a fastening groove and a clamping block, the fastening groove allowing the box taking gripper to penetrate through is formed in the cover opening cover plate, the clamping block movably connected with the transferring device cover is elastically arranged at the lower part of the cover opening cover plate, and the box taking gripper drives the clamping block to translate so as to synchronously clamp or loosen the cover opening cover plate and the transferring device cover.

6. The system according to claim 2, wherein the material supporting mechanism comprises a liquid nitrogen tank for storing liquid nitrogen and a material supporting frame movably connected with the carrying tray, the material supporting frame and/or the liquid nitrogen tank are arranged in a lifting manner, and the material supporting frame and the liquid nitrogen tank are matched to drive the carrying tray to be close to or far away from the liquid nitrogen tank, wherein a carrying tray groove body for placing the carrying tray and a material box groove body for placing test tube material boxes to be put into or taken out of the warehouse are arranged in the liquid nitrogen tank, and the carrying tray groove body is communicated with the material box groove body to maintain a low-temperature environment.

7. The system of claim 2, wherein the tray access mechanism comprises an access link, a tray gripper for gripping the tray, a tray lifting mechanism for supporting the tray, and an access driving mechanism, the tray gripper is disposed on the access link, the tray lifting mechanism is telescopically disposed under the tray gripper, and the access driving mechanism drives the tray gripper and the tray lifting mechanism to perform translational and rotational movements through the access link.

8. The system of claim 1, wherein the sample unit transportation circulation system comprises a liquid nitrogen tank storing liquid nitrogen, a freezing rack for placing a carrying tray, a freezing rack discharge port for the freezing rack to enter and exit, a carrying tray discharge port for the carrying tray to enter and exit, a first opening and closing mechanism for opening or sealing the freezing rack discharge port, a second opening and closing mechanism for opening or sealing the carrying tray discharge port, a storage bracket rotating mechanism, and a lifting discharge mechanism for driving the freezing rack to move up and down, the freezing rack discharge port is arranged on the top surface of the liquid nitrogen tank, the carrying tray discharge port is arranged on the side surface of the freezing rack discharge port, the storage bracket rotating mechanism suspends the freezing rack in the liquid nitrogen tank and drives the freezing rack to rotate in the liquid nitrogen tank, and the lifting insulation bin cover is arranged on the discharge port, The opening and closing mechanism and the lifting and discharging mechanism.

9. The system of claim 8, wherein the storage unit is further configured to store the biological sample, the storage bracket rotating mechanism comprises a rotating driving mechanism, a cantilever shaft, a falling frame, a partition plate, a hollow connecting groove and a central liquid storage tank for supplying liquid nitrogen, the lower part of the cantilever shaft is connected with the top of the landing frame so as to suspend the landing frame in the liquid nitrogen tank, the upper end of the baffle plate is connected with the rotary driving mechanism to drive the falling frame to rotate in the liquid nitrogen tank, the baffle plate array is arranged on the falling frame, so as to form a plurality of freezing spaces for placing the freezing racks, a hollow connecting groove is arranged in the central shaft of the storage disc in the falling frame, the central liquid storage tank is arranged in the hollow connecting groove, and the liquid nitrogen in the central liquid storage tank is conveyed to the bottom of the liquid nitrogen tank and the hollow cooling interlayer on the side surface.

10. The system according to claim 8, wherein the second opening/closing mechanism comprises a sealing cap and a second driving mechanism for synchronously driving the sealing cap to move up and down and back and forth, so as to open or seal the discharge port of the carrying tray, the second driving mechanism comprises a second driving fixing frame, a lifting transmission guide slot, a telescopic transmission guide slot, a transmission guide wheel, a transmission connecting rod and a power device, the lifting transmission guide slot and the telescopic transmission guide slot are arranged on the second driving fixing frame, the end of the transmission connecting rod is connected with the sealing cap, the transmission connecting rod is movably connected with the lifting transmission guide slot and the telescopic transmission guide slot through the transmission guide wheel respectively, so as to lift and telescopically guide the transmission connecting rod and the sealing cap, and the power device drives the transmission connecting rod to move along the guide slot, so that the sealing cover descends and inwards approaches to the discharge hole of the sealed carrying disc or ascends and outwards departs from the discharge hole of the opened carrying disc.