CN117002903A

CN117002903A - Single body workstation for storing biological samples

Info

Publication number: CN117002903A
Application number: CN202310736075.5A
Authority: CN
Inventors: 杨荣丽; 刘占杰; 张守兵; 范玉琪; 魏路键; 任文广
Original assignee: Qingdao Haier Biomedical Co Ltd
Current assignee: Qingdao Haier Biomedical Co Ltd
Priority date: 2023-06-20
Filing date: 2023-06-20
Publication date: 2023-11-07

Abstract

The invention belongs to the technical field of biological sample storage, and particularly provides a single workstation for storing biological samples. The storage space of the existing sample access equipment is easy to frost. The single workstation comprises a box body, two freezing frame groups, a transfer manipulator, a shell and a linear conveying device, wherein the freezing frame groups are positioned in the box body, the freezing frame groups can store freezing boxes, the transfer manipulator is positioned between the two freezing frame groups, and the transfer manipulator can be in butt joint with the freezing frame groups; the shell is arranged on the box body, a first inlet and a first outlet are arranged on the shell and are communicated with the box body through the first inlet and the first outlet, and the shell is communicated with the external environment through a second inlet and a second outlet on the box body; the linear conveying device can convey the freezing box along a straight line, so that the freezing box can pass through the first inlet and outlet to be in butt joint with the transfer manipulator and can pass through the second inlet and outlet to be in butt joint with the outside. The storage space in the box body of the single workstation is not easy to frost.

Description

Single body workstation for storing biological samples

Technical Field

The invention belongs to the technical field of biological sample storage, and particularly provides a single workstation for storing biological samples.

Background

The development of life science research and the progress of disease analysis detection and treatment and health care technologies in the clinical medical field have promoted the increasingly wide demand for biological samples, and have also put higher demands on the storage technology and equipment of biological samples, including demands on the safety, reliability and stability of stored samples, and the accuracy, efficiency and scientificity of sample access processes and procedures. Biological samples often are stored in subjects that encompass samples of biological macromolecules, cells, tissues, and organs, such as human organ tissue, whole blood, plasma, serum, biological fluids, or processed biological samples (including DNA, RNA, proteins, etc.), and the like. However, long-term storage of biological samples generally requires the use of as low a temperature as possible to reduce the biochemical reactions within the sample and to increase the stability of the various components within the sample. In order to realize long-term, stable and reliable storage and sampling of large-batch biological samples, an automatic low-temperature biological sample access device and an ultralow-temperature biological sample access device are gradually becoming main storage devices.

The existing automatic biological sample access equipment is easy to enter moisture in the box body in the process of accessing the freezing box, so that frosting phenomenon is easy to occur, and the access efficiency of the freezing box and the normal operation of the transfer equipment are affected.

Accordingly, there is a need in the art for a new solution to the above-mentioned technical problems.

Disclosure of Invention

The present invention aims to solve the above technical problems, namely, to solve the problem that the storage space of the existing sample access apparatus is prone to frosting.

The invention provides a single workstation for storing biological samples, which comprises a box body, two freezing frame groups and a transfer manipulator, wherein the freezing frame groups are positioned in the box body, the two freezing frame groups are oppositely arranged, each freezing frame group comprises a plurality of freezing frames, the freezing frames are arranged side by side along the length direction of the box body, the freezing frames can store freezing boxes, the transfer manipulator is positioned between the two freezing frame groups, and the transfer manipulator is arranged to be capable of being butted with the freezing frame groups to receive and transfer the freezing boxes; the single body workstation further comprises a shell and a linear conveying device positioned in the shell, wherein the shell is arranged on the box and positioned in the box; the shell is provided with a first inlet and a first outlet, the shell is communicated with the box body through the first inlet and the first outlet, the box body is provided with a second inlet and a second outlet, and the shell is communicated with the external environment through the second inlet and the second outlet; the linear conveying device is arranged between the first inlet and the second outlet, and is arranged to be capable of conveying the freezing box along a straight line, so that the freezing box can be received and transferred by passing through the first inlet and the second outlet to be in butt joint with the transfer manipulator and the outside.

In the above preferred technical solution of the monomer workstation for storing biological samples, the freezing shelf includes a shelf body and a plurality of storage pieces mounted on the shelf body, one side of the shelf body has an opening, the storage pieces are distributed at intervals along the height direction of the shelf body and form a plurality of storage areas, each storage area is provided with a first storage position and a second storage position for storing freezing boxes, the first storage position and the second storage position are distributed at intervals along the width direction of the box body, and the first storage position is close to the opening.

In the preferred technical scheme of the single body workstation for storing biological samples, the storage piece is horizontally arranged on the frame body, a first limiting piece and a second limiting piece are arranged on the storage piece, the first limiting piece is located at one end of the storage piece close to the opening, and the second limiting piece is located at the middle position of the storage piece and separates the first storage position from the second storage position.

In the preferred technical solution of the single-body workstation for storing biological samples, the linear conveying device comprises a first connecting piece, a first guide rail assembly, a second connecting piece, a second guide rail assembly, a driving mechanism and a box carrying piece, wherein the box carrying piece can carry a freezing box; the first connecting piece is installed on the casing, the both ends of first connecting piece are respectively towards first access and second access extends, the second connecting piece is connected with the first connecting piece through first guide rail component and can follow the length direction of first connecting piece is relative first connecting piece is removed, the both ends of second connecting piece are respectively towards first access and second access extends, first guide rail component can be when the second connecting piece is moved relative first connecting piece to the second connecting piece is guided to make the second connecting piece make the rectilinear motion, the carrier piece is connected with the second connecting piece through the second guide rail component and the carrier piece can be along the length direction of second connecting piece is relative to the second connecting piece, the second guide rail component can be when the carrier piece is moved relative to the second connecting piece the carrier piece is guided to make the carrier piece move, the second guide rail component can be installed the second connecting piece to make the second connecting piece move with the second connecting piece is in the rectilinear motion, the second connecting piece is can be relative to the second connecting piece, the second connecting piece is the rectilinear motion, the second connecting piece can be the second connecting piece is the first connecting piece is the rectilinear motion, and the carrier piece can be the second connecting piece is the rectilinear motion, and the carrier piece can be the carrier piece can move along the direction.

In the above preferred technical solution of the monomer workstation for storing biological samples, the box-carrying member comprises a box-carrying frame and a carrying plate mounted on the box-carrying frame, the top surface of the box-carrying frame and one side thereof close to the first inlet and the second outlet are provided with openings, the number of the carrying plates is two, the two carrying plates are horizontally distributed at intervals and the top surfaces of the two carrying plates jointly form a placement area, two placement positions are arranged in the placement area, and the two placement positions are distributed along the conveying direction of the linear conveying device at intervals.

In the above preferred technical solution of the single-body workstation for storing biological samples, the carrier plate is provided with a third limiting member, a fourth limiting member and a fifth limiting member, the third limiting member is located at one end of the carrier plate near the first inlet and outlet, the fourth limiting member is located at one end of the carrier plate near the second inlet and outlet, and the fifth limiting member is located at a middle position of the carrier plate and separates two placement positions.

In the preferred technical scheme of the single-body workstation for storing biological samples, the transfer manipulator comprises a horizontal moving mechanism, a first mounting piece, a lifting mechanism and a shovel disk mechanism; the horizontal moving mechanism is arranged on the box body, the first mounting piece is arranged on the horizontal moving mechanism, the lifting mechanism is arranged on the first mounting piece, and the shovel disk mechanism is arranged on the lifting mechanism; the horizontal moving mechanism is arranged to drive the first mounting piece, the lifting mechanism and the shovel disk mechanism to move along the length direction of the box body; the lifting mechanism is arranged to drive the shovel disc mechanism to move along the vertical direction; the shovel disk mechanism is arranged to be capable of rotating circumferentially and extending and retracting along the length direction thereof to receive and transfer the freezing box.

In the preferred technical scheme of the single-body workstation for storing biological samples, the shovel disk mechanism comprises a second mounting piece, a rotating mechanism, a third mounting piece, a telescopic mechanism and a shovel disk piece; the second mounting piece is connected with the lifting mechanism, the third mounting piece is connected with the second mounting piece through the rotating mechanism, and the telescopic mechanism and the shovel disc piece are mounted on the third mounting piece; the rotating mechanism is arranged to drive the third mounting piece, the telescopic mechanism and the shovel disc piece to rotate around a vertical shaft; the telescopic mechanism is arranged to drive the shovel disc part to stretch and retract relative to the third mounting part along the length direction of the third mounting part, so that the shovel disc part can receive or store the freezing box.

In the preferred technical scheme of the single workstation for storing biological samples, the shovel disk part comprises a shovel plate and a hooking structure positioned at the end part of the shovel plate, the telescopic mechanism is connected with the shovel plate, and the hooking structure can be clamped into the freezing box; when the shovel disc piece is retracted inwards, the hooking structure can hook the freezing box located at the second storage position to the first storage position, and when the shovel disc piece is extended outwards, the hooking structure can push the freezing box from the first storage position to the second storage position.

In the preferred technical scheme of the single-body workstation for storing biological samples, the hooking structure is a bump; the bumps extend vertically upward.

In the above preferred technical solution of the monomer workstation for storing biological samples, the transfer manipulator further includes a detecting member mounted at the bottom of the third mounting member, and the detecting member is capable of detecting whether an article exists in front of the third mounting member within a preset distance.

In the above preferred technical solution of the monomer workstation for storing biological samples, the monomer workstation further includes a first code scanning camera, the first code scanning camera is disposed in the housing, and the first code scanning camera can scan barcode information of the cryopreservation box conveyed by the linear conveying device; and/or, the single workstation still includes the second and sweeps a yard camera, the second sweeps a yard camera setting and is in the casing, the second sweeps a yard camera and can scan the bar code information of the freezing pipe in the freezing box that straight line conveyor carried.

In the preferred technical scheme of the single body workstation for storing biological samples, a liquid nitrogen dehumidification system is communicated in the shell through a pipeline so as to dehumidify the inner space of the shell.

Under the condition that the technical scheme is adopted, the single body workstation is provided with the shell in the box body, the shell is communicated with the box body through the first inlet and the second inlet, the shell is communicated with the external environment through the second inlet and the second outlet, and the linear conveying device is arranged in the shell to convey the freezing box; second, the casing sets up in the box, occupies the space of fractional freezing frame, no longer extra protrusion box sets up, and overall structure is little, makes things convenient for modularized management, facilitates the use.

Further, each storage area of each freezing storage rack is provided with two storage positions, the two storage positions are arranged front and back, the storage capacity of the single workstation is increased in a limited space, and the storage utilization rate is improved.

Still further, install storage spare horizontal on the support body to be equipped with first locating part and second locating part on the storage spare, such setting up mode, first locating part and second locating part cooperate, can make the cryopreservation box stably place on first storage position or second storage position, guarantee the stability that the cryopreservation box was deposited.

Still further, sharp conveyor includes first connecting piece, first guide rail assembly, second connecting piece, second guide rail assembly, actuating mechanism and carries the box spare, and such setting mode, first guide rail assembly and second guide rail assembly cooperate and make first connecting piece and second connecting piece form two-layer superimposed conveying structure, can shorten sharp conveyor's length on guaranteeing sharp conveying distance's basis to reduce the volume of monomer workstation, more facilitate the application.

Still further, carry the box piece to go up the level and set up two and place the position, make and carry box piece and the one deck storage area structure of freezing the frame to the convenience is docked with transferring the manipulator, in order to transfer the freezing box, and once only can carry two freezing boxes, conveying efficiency is high.

Still further, set up transfer manipulator as horizontal migration mechanism, first installed part, elevating system and shovel dish mechanism, horizontal migration mechanism can drive shovel dish mechanism and remove along the length direction of box, thereby make shovel dish mechanism can dock the storage area of different positions department in the horizontal direction, elevating system can drive shovel dish mechanism and remove along vertical direction, thereby make shovel dish mechanism can dock the storage area of different height, shovel dish mechanism can circumferential direction and flexible removal, thereby can change the butt joint direction through rotating, and receive and place the cryopreserved box through flexible, so as to receive and transfer the cryopreserved box better.

Still further, the shovel disk mechanism is provided with a second mounting piece, a rotating mechanism, a third mounting piece, a telescopic mechanism and a shovel disk piece, and has simple structure and convenient assembly and use; in addition, through set up the structure of getting that hooks at the tip of shovel board, the structure of getting can block into the cryopreservation box in to with the cooperation of cryopreservation box, can be with the cryopreservation box that is located on the second storage position under telescopic machanism's drive to first storage position on, and can be with the cryopreservation box from first storage position on pushing into the second storage position, so that store the cryopreservation box to the second storage position on, such setting mode can shorten the flexible length of shovel board, reduce the length of shovel dish mechanism, thereby reduce the volume of transferring the manipulator, and then reduce the volume of monomer workstation, increase the occupation ratio of monomer workstation storage area, improve storage utilization ratio.

Furthermore, the hooking structure is arranged as a protruding block extending vertically upwards, so that the structure is simple and convenient to prepare and use.

Still further, whether the place ahead through setting up the detecting element and being used for detecting the third installed part has article in predetermineeing the distance to can judge whether first storage position department has placed the cryopreservation box, so that access the cryopreservation box to the second storage position, access the cryopreservation box more accurately.

Still further, set up first scanning sign indicating number camera in the casing for scan the bar code information of freezing the case, conveniently manage the freezing case of access, conveniently fix a position and calculate the stock.

Still further, set up the second in the casing and sweep the sign indicating number camera for scan the bar code information of the interior cryopreservation pipe of cryopreservation box, conveniently manage the cryopreservation pipe, in order to count stock quantity.

Still further, make in the casing through pipeline intercommunication liquid nitrogen dehumidification system, can let in liquid nitrogen to the casing in to dehumidify the inner space of casing, so that keep dry environment in the casing, can avoid bringing into the box with external moisture when transferring the cryopreservation box, thereby avoid frosting in the box, make the storage environment in the box more stable.

Drawings

Preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

FIG. 1 is a schematic perspective view of a monomer workstation of the present invention;

FIG. 2 is a schematic perspective view of the single workstation of the present invention after concealing a portion of the enclosure;

FIG. 3 is a schematic view of the linear transport device of the present invention disposed in a housing with a portion of the housing hidden;

FIG. 4 is a schematic perspective view of a freezing shelf of the present invention;

FIG. 5 is an enlarged schematic view of the structure at D in FIG. 4;

FIG. 6 is a schematic view of the transfer robot and the case of the present invention;

FIG. 7 is an enlarged schematic view of the structure at A in FIG. 6;

FIG. 8 is an enlarged schematic view of the structure at B in FIG. 6;

fig. 9 is a front view of the transfer robot of the present invention;

FIG. 10 is an enlarged schematic view of the structure at C in FIG. 9;

FIG. 11 is a cross-sectional view taken along the direction A-A in FIG. 9;

fig. 12 is a schematic perspective view of a linear conveyor of the present invention;

fig. 13 is a structural view of the carrier of the present invention.

List of reference numerals：

1. A case; 11. a second inlet and outlet; 101. a fixed frame; 102. a thermal insulation board;

2. a freezing storage rack group; 21. a freezing storage rack; 211. a frame body; 2111. a top plate; 2112. a bottom plate; 2113. a first side plate; 2114. a second side plate; 2115. a rear back plate; 212. a storage member; 2121. a first carrier strip; 2122. a second carrier strip; 2123. a storage gap; 213. a first storage location; 214. a second storage location; 215. a first limiting member; 216. a second limiting piece;

3. a transfer robot; 31. a horizontal movement mechanism; 311. a first driving member; 312. a first drive gear; 313. a first linear rack; 314. a first guide assembly; 3141. a first linear guide rail; 3142. a first rail slider; 32. a first mounting member; 33. a lifting mechanism; 331. a fourth mount; 332. a second driving member; 333. a second drive gear; 334. a second linear rack; 335. a second guide assembly; 3351. a second linear guide rail; 3352. the first guide wheel; 3353. the second guide wheel; 336. a fifth mount; 34. a shovel disk mechanism; 341. a second mounting member; 342. a rotation mechanism; 3421. a third driving member; 3422. a drive gear; 3423. a driven gear; 343. a third mount; 344. a telescoping mechanism; 3441. a fourth driving member; 3442. a first transmission assembly; 3443. a third linear guide rail; 3444. a third rail slide; 345. a shovel disk member; 3451. a shovel plate; 3452. hooking the structure; 35. a detecting member;

4. A housing; 41. a first access port;

5. a linear conveying device; 51. a first connector; 52. a first rail assembly; 521. a fourth linear guide rail; 522. a fourth rail block; 53. a second connector; 54. a second rail assembly; 541. a fifth linear guide rail; 542. a fifth rail block; 55. a driving mechanism; 551. a fifth driving member; 552. a third drive gear; 553. a third linear rack; 554. a second transmission assembly; 5541. a first pulley; 5542. a second pulley; 5543. a transmission belt; 56. a box carrying member; 561. a box carrier; 562. a carrying plate; 563. a third limiting member; 564. a fourth limiting member; 565. a fifth limiting member;

6. a first electrically powered seal door;

7. and a second electrically powered seal door.

Detailed Description

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.

It should be noted that, in the description of the present invention, terms such as "upper," "lower," "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 should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through other members. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.

In particular, the problem of easy frosting of the storage space of the existing sample access device is based on the background art. According to the single work station, the shell is arranged in the box body, the box body is separated from the external environment by the shell, when the freezing box is transported, the first opening and the second opening are opened at different time, direct communication between the box body and the external environment is avoided, frosting in the box body caused by external moisture entering the box body is effectively avoided, the stable storage environment in the box body is kept, the normal operation of the transferring manipulator in the box body is protected, and the storage and taking efficiency of the freezing box is guaranteed.

Specifically, referring to fig. 1 to 3 together, the single body workstation for storing biological samples of the present invention includes a box body 1, a freezing storage rack set 2, a transfer robot 3, a housing 4, and a linear transport device 5.

The box body 1 is internally provided with a storage space, and the freezing storage rack group 2, the transfer manipulator 3, the shell 4 and the linear conveying device 5 are all positioned in the box body 1. Specifically, in the present embodiment, as shown in fig. 2, the case 1 includes a fixed frame 101 and an insulation board 102, both the freezing frame group 2 and the transfer robot 3 are connected to the fixed frame 101, and the insulation board 102 is disposed around the fixed frame 101 and forms a closed storage space in the fixed frame 101.

The number of the freezing storage rack groups 2 is two, the two freezing storage rack groups 2 are oppositely arranged, the freezing storage rack groups 2 comprise a plurality of freezing storage racks 21, the freezing storage racks 21 are arranged side by side along the length direction of the box body 1, and the freezing storage racks 21 can store freezing storage boxes. Only two freezing and storing frame groups 2 are arranged, and the volume of the single workstation is reduced by reducing the number of the freezing and storing frame groups 2, so that the single workstation is more convenient to use. In addition, compared with the existing high-capacity storage equipment, the storage amount of the single workstation is small, the sample risk is reduced, the cost is low, a plurality of single workstations can be conveniently combined for use, and the application scene is wide.

The transfer robot 3 is located between the two freezing shelf groups 2, and the transfer robot 3 is arranged to be able to dock with the freezing shelf groups 2 to receive and transfer the freezing boxes.

The casing 4 is installed on the box 1, the casing 4 is installed in freezing and preserving the group 2, occupy the space of partial freezing and preserving the group 2, be equipped with first import and export 41 and first electronic sealing door 6 on the casing 4, first import and export 41 can be opened and sealed to first electronic sealing door 6, casing 4 is through first import and export 41 and box 1 intercommunication, be equipped with second import and export 11 and second electronic sealing door 7 on the box 1, the second import and export 11 is offered on heated board 102, second electronic sealing door 7 can be opened and sealed second import and export 11, casing 4 is through second import and export 11 and external environment intercommunication. The casing 4 separates the inner space of the box body 1 from the external environment, and can avoid the direct communication between the box body 1 and the external environment, thereby avoiding the entry of moisture into the box body 1 and further avoiding the frosting in the box body 1.

The linear conveying device 5 is located in the shell 4, the linear conveying device 5 is located between the first inlet and outlet 41 and the second inlet and outlet 11, and the linear conveying device 5 is arranged to be capable of conveying the frozen box along a straight line, so that the frozen box can be abutted with the transfer manipulator 3 through the first inlet and outlet 41 and abutted with the outside through the second inlet and outlet 11, and the frozen box can be received and transferred. When the freezing storage box is transported, the first inlet and outlet 41 and the second inlet and outlet 11 are controlled not to be opened simultaneously, so that a stable storage environment is maintained in the box body 1.

The operation of the single workstation in the storage freezing box is as follows:

first, the second electric sealing door 7 is opened, the linear conveying device 5 extends out of the shell 4 through the second inlet and outlet 11 to receive the external frozen box, the linear conveying device 5 returns to the shell 4 with the frozen box, and the second electric sealing door 7 is closed.

Then, the first electric sealing door 6 is opened, the linear conveying device 5 stretches into the box body 1 through the first inlet and outlet 41 and is in butt joint with the transferring manipulator 3, the transferring manipulator 3 receives the frozen box on the linear conveying device 5, the linear conveying device 5 returns into the shell 4, or alternatively, the transferring manipulator 3 stretches into the shell 4 through the first inlet and outlet 41 and receives the frozen box on the linear conveying device 5, then the transferring manipulator 3 returns to the box body 1 with the frozen box, and the first electric sealing door 6 is closed.

Finally, the transfer manipulator 3 stores the received freezing storage boxes on the freezing storage rack set 2, namely, the storage of the freezing storage boxes is completed.

The operation of the single workstation in taking out the freezing box is as follows:

firstly, the transferring manipulator 3 receives the freezing storage boxes positioned on the freezing storage rack group 2;

after that, the first electric sealing door 6 is opened, the linear conveying device 5 stretches into the box body 1 through the first inlet and outlet 41, the transferring manipulator 3 places the frozen storage box on the linear conveying device 5, the linear conveying device 5 returns into the shell 4, or the transferring manipulator 3 drives the frozen storage box to enter the shell 4 through the first inlet and outlet 41 and places the frozen storage box on the linear conveying device 5, the transferring manipulator 3 returns into the box body 1, and the first electric sealing door 6 is closed.

Finally, the second electric sealing door 7 is opened, the linear conveying device 5 extends outwards and extends to the outside through the second inlet and outlet 11, the frozen box is transferred to the outside of the box body 1, the frozen box is received by a worker or an AGV, the linear conveying device 5 returns to the inside of the shell 4, and the second electric sealing door 7 is closed, so that the frozen box is taken out.

Preferably, referring to fig. 4 and 5, the freezing storage rack 21 includes a rack body 211 and a plurality of storage pieces 212 mounted on the rack body 211, one side of the rack body 211 has an opening, the plurality of storage pieces 212 are distributed at intervals along the height direction of the rack body 211 and form a plurality of storage areas, each storage area has a first storage position 213 and a second storage position 214 for storing freezing storage boxes therein, the first storage position 213 and the second storage position 214 are distributed at intervals along the width direction of the box body 1, and the first storage position 213 is disposed close to the opening.

The freezing storage rack set 2 comprises a plurality of freezing storage racks 21 side by side, each freezing storage rack 21 is provided with a plurality of layers of storage areas, each storage area is provided with two storage positions, the storage capacity is increased in a limited space, the space of the single workstation is more reasonably utilized, the occupation ratio of the storage areas is increased, and the utilization rate of the storage space is improved.

Preferably, with continued reference to fig. 5, the storage element 212 is horizontally mounted on the frame 211, and a first limiting element 215 (e.g., a protrusion or a limiting rib) and a second limiting element 216 (e.g., a protrusion or a limiting rib) are disposed on the storage element 212, where the first limiting element 215 is located at an end of the storage element 212 near the opening, and the first limiting element 215 is used for preventing the freezing box from being separated from the first storage position 213, so as to ensure that the freezing box is stably placed on the first storage position 213, and the second limiting element 216 is located at an intermediate position of the storage element 212, so as to separate the first storage position 213 from the second storage position 214, thereby preventing the freezing box from moving between the first storage position 213 and the second storage position 214, and being beneficial for keeping the freezing box stably placed. The first limiting member 215 and the second limiting member 216 cooperate to enable the freezing storage boxes located in the first storage position 213 and the second storage position 214 to be kept stable, so that the storage safety of the freezing storage boxes is ensured.

In this embodiment, referring to fig. 5, the storage element 212 includes a first supporting bar 2121 and a second supporting bar 2122, where the first supporting bar 2121 and the second supporting bar 2122 are horizontally spaced apart and have a storage gap 2123 therebetween, one end of the first supporting bar 2121 far from the second supporting bar 2122 is connected (e.g. welded or plugged) to the frame 211, and one end of the second supporting bar 2122 far from the first supporting bar 2121 is connected (e.g. welded or plugged) to the frame 211, and the top surfaces of the first supporting bar 2121 and the second supporting bar 2122 together form a storage area; the first and second brackets 2121, 2122 each have a first stop 215 at an end near the opening, and the first and second brackets 2121, 2122 each have a second stop 216 at an intermediate position.

The storage piece 212 is arranged to be the first supporting strip 2121 and the second supporting strip 2122, the structure is simple, the assembly and the use are convenient, a storage gap 2123 is formed between the first supporting strip 2121 and the second supporting strip 2122, and the transfer manipulator 3 can conveniently place the freezing box on the storage piece 212 or take the freezing box out of the storage piece 212 through the storage gap 2123.

In another embodiment, the storage member 212 includes a U-shaped supporting plate, two ends of the supporting plate are connected (e.g. welded or inserted) with the frame 211, a U-shaped opening of the supporting plate is disposed towards the opening, two supporting plates of the supporting plate have a first limiting member 215 near one end of the opening, and a second limiting member 216 is disposed in a middle position of the two supporting plates of the supporting plate.

The storage member 212 is provided as a U-shaped pallet so that the transfer robot 3 can place the freezing box on the storage member 212 or take the freezing box out of the storage member 212 through the U-shaped opening.

It should be noted that, the present invention does not limit the structure of the storage element 212, as long as the storage element 212 can form a storage area to store the freezing box, and in practical application, a person skilled in the art can set the specific structure of the storage element 212 according to the actual needs. The specific implementation of the storage element 212 in the foregoing embodiment should not be construed as limiting the scope of the present invention, and modifications and changes related to the specific structure of the storage element 212 should be limited to the scope of the present invention.

Preferably, referring next to fig. 4, the frame 211 includes a top plate 2111, a bottom plate 2112, a first side plate 2113, a second side plate 2114 and a rear plate 2115, the first side plate 2113, the second side plate 2114 and the rear plate 2115 are all vertically disposed, the first side plate 2113 and the second side plate 2114 are all connected with the rear plate 2115 and form a U-shaped structure, the top plate 2111 is connected with the first side plate 2113 and the second side plate 2114 and seals a top opening of the U-shaped structure, the bottom plate 2112 is connected with the first side plate 2113 and the second side plate 2114 and seals a bottom opening of the U-shaped structure, and two ends of the storage element 212 are respectively connected with the first side plate 2113 and the second side plate 2114.

Although the frame body 211 is provided with the top plate 2111, the bottom plate 2112, the first side plate 2113, the second side plate 2114 and the rear plate 2115 in the above preferred embodiment, this should not limit the scope of the present invention, and in practical applications, those skilled in the art may also provide the frame body 211 with other structures. For example, the frame 211 includes four support columns, a top plate 2111 and a bottom plate 2112, the top plate 2111 and the bottom plate 2112 connect the four support columns, the top plate 2111 and the bottom plate 2112 are respectively located at the top and the bottom of the support columns, the four support columns are vertically and rectangular, and two ends of the storage member 212 are respectively connected with the two support columns. Such modifications and changes in the specific structure of the frame 211 do not depart from the basic principle of the present invention, and should be limited to the scope of the present invention.

Preferably, referring next to fig. 6 to 9, the transfer robot 3 includes a horizontal movement mechanism 31, a first mount 32, a lifting mechanism 33, and a shovel disk mechanism 34.

Wherein the horizontal moving mechanism 31 is mounted on the case 1, the first mounting member 32 is mounted on the horizontal moving mechanism 31, the lifting mechanism 33 is mounted on the first mounting member 32, and the shovel disk mechanism 34 is mounted on the lifting mechanism 33; the horizontal moving mechanism 31 is arranged to drive the first mounting piece 32, the lifting mechanism 33 and the shovel disk mechanism 34 to move along the length direction of the box body 1; the lifting mechanism 33 is arranged to drive the shovel disk mechanism 34 to move in the vertical direction; the shovel disk mechanism 34 is configured to be capable of rotating circumferentially and telescoping along its length to receive and transfer the cryopreservation cassette.

When the transfer manipulator 3 is used, the horizontal moving mechanism 31 can drive the lifting mechanism 33 and the shovel disk mechanism 34 to move along the length direction of the box body 1, so that the shovel disk mechanism 34 can be abutted with storage areas at different positions of the same level of the freezing storage rack set 2, the lifting mechanism 33 can drive the shovel disk mechanism 34 to move along the vertical direction, so that the shovel disk mechanism 34 can be abutted with the storage areas at different heights of the freezing storage rack set 2, so that the freezing storage boxes can be stored in different storage positions, and the freezing storage boxes in different storage positions can be received, so that the freezing storage boxes are transferred.

Preferably, with continued reference to fig. 7, the horizontal moving mechanism 31 includes a first driving member 311 (e.g., a servo motor or a stepping motor), a first driving gear 312, a first linear rack 313 and a first guiding assembly 314, wherein the first linear rack 313 is mounted on the case 1 and extends along the length direction of the case 1, the first driving member 311 is mounted on the first mounting member 32, the first driving member 311 is connected with the first driving gear 312, the first driving gear 312 is engaged with the first linear rack 313, the first driving member 311 can drive the first driving gear 312 to rotate, thereby driving the first mounting member 32, the first driving member 311 and the first driving gear 312 to move along the length direction of the first linear rack 313, the first guiding assembly 314 is located between the first mounting member 32 and the case 1, and the first guiding assembly 314 can guide the first mounting member 32 during the movement of the first mounting member 32, so as to make the first mounting member 32 move linearly.

Although the horizontal moving mechanism 31 is configured in the above preferred embodiment such that the first driving member 311 moves the first mounting member 32 by the first driving gear 312 and the first linear rack 313 being engaged, this should not limit the scope of the present invention. In practical application, the horizontal moving mechanism 31 may be configured in a structure that a motor drives a screw rod to drive a slide block to move and cooperate with a guiding assembly to guide. Such adjustments and changes concerning the specific structure of the horizontal movement mechanism 31 do not deviate from the basic principle of the present invention, and should be limited within the scope of the present invention.

Preferably, with continued reference to fig. 7, the first guide assembly 314 includes a first linear guide 3141 and a first guide slider 3142, the first linear guide 3141 being mounted on the case 1 and extending along the length direction of the case 1, the first guide slider 3142 being connected to the first mounting member 32, the first guide slider 3142 being slidably connected to the first linear guide 3141 and being capable of sliding along the first linear guide 3141. The first guide assembly 314 is arranged to be the first linear guide 3141 and the first guide slide 3142, and the structure is simple and the assembly and the use are convenient.

Although the first guide assembly 314 is configured in a manner that the first linear guide 3141 is matched with the first guide slider 3142 in the above embodiment, this should not limit the scope of the present invention, and in practical application, the first guide assembly 314 may be configured in a manner that a guide rod and a guide ring sleeved on the guide rod are also configured. Such modifications and changes in the specific structure of the first guide assembly 314 do not depart from the basic principles of the present invention and are intended to be within the scope of the present invention.

Preferably, the number of the first guide assemblies 314 is two, and the two first guide assemblies 314 are spaced apart in the width direction of the case 1 and are located at both sides of the first mounting member 32, respectively.

The first guide assemblies 314 are arranged in two, the first installation pieces 32 are clamped by the two first guide assemblies 314, so that the two ends of the first installation pieces 32 are limited, the stability of the first installation pieces 32 can be improved when the first installation pieces 32 move, and therefore shaking of the first installation pieces 32, the lifting mechanism 33 and the shovel disk mechanism 34 in the moving process is avoided.

Preferably, referring next to fig. 8 and 11, the lifting mechanism 33 includes a fourth mounting member 331 and a second driving member 332 (e.g., a servo motor or a stepping motor) mounted on the fourth mounting member 331, a second driving gear 333, a second linear rack 334, a second guide assembly 335 and a fifth mounting member 336, the fourth mounting member 331 is connected to the first mounting member 32 and extends in a vertical direction, the second linear rack 334 is mounted on the fourth mounting member 331 and extends in a vertical direction, the second driving member 332 is mounted on the fifth mounting member 336, the second driving member 332 is connected to the second driving gear 333, the second driving gear 333 is engaged with the second linear rack 334, the second driving member 332 is capable of driving the second driving gear 333 to rotate, thereby driving the fifth mounting member 336, the second driving member 332 and the second driving gear 333 to move in a length direction of the second linear rack 334, the shovel mechanism 34 is connected to the fifth mounting member 336, the second guide assembly is located between the fourth mounting member 331 and the fifth mounting member 336, and the fifth guide assembly 335 is capable of moving the fifth mounting member 336 when the fifth driving member 335 is moved in a linear direction.

Preferably, with continued reference to fig. 8 and 11, the second guide assembly 335 includes two second linear guide rails 3351, a first guide wheel 3352 and a second guide wheel 3353, the number of the second linear guide rails 3351 is two, the two second linear guide rails 3351 are mounted on the fourth mounting member 331 at intervals and extend along the vertical direction, the first guide wheel 3352 and the second guide wheel 3353 are rotatably mounted on the fifth mounting member 336, the first guide wheel 3352 and the second guide wheel 3353 are disposed at intervals, the two second linear guide rails 3351 are located between the first guide wheel 3352 and the second guide wheel 3353, and the first guide wheel 3352 and the second guide wheel 3353 are respectively abutted with one second linear guide rail 3351 and can slide along the length direction of the second linear guide rail 3351.

The side wall of the second linear guide 3351 is provided with a limit protruding strip (not shown in the figure), the limit protruding strip extends along the length direction of the second linear guide 3351, the first guide wheel 3352 and the second guide wheel 3353 are provided with limit grooves (not shown in the figure), the limit protruding strip is located in the limit grooves, and the limit protruding strip and the limit grooves cooperate to limit the fifth mounting piece 336 to move in the thickness direction of the second linear guide 3351, so that the fifth mounting piece 336 and the shovel disc mechanism 34 are kept stable.

Although the second guide assembly 335 is configured in the manner that the second linear guide rail 3351 is matched with the first guide wheel 3352 and the second guide wheel 3353 in the above embodiment, this should not limit the scope of the present invention, and in practical application, the specific structure of the second guide assembly 335 may be configured in the manner that the guide rod and the guide ring sleeved on the guide rod are configured. Such modifications and changes in the specific structure of the second guide assembly 335 do not depart from the basic principles of the present invention and are intended to be within the scope of the present invention.

Preferably, referring next to fig. 10, the shovel disk mechanism 34 includes a second mount 341, a rotation mechanism 342, a third mount 343, a telescoping mechanism 344, and a shovel disk 345; the second mounting piece 341 is connected with the lifting mechanism 33, the third mounting piece 343 is connected with the second mounting piece 341 through the rotating mechanism 342, and the telescopic mechanism 344 and the shovel disc piece 345 are mounted on the third mounting piece 343; the rotating mechanism 342 is configured to drive the third mounting member 343, the telescopic mechanism 344 and the shovel member 345 to rotate about a vertical axis; the telescopic mechanism 344 is configured to drive the shovel member 345 to telescope relative to the third mounting member 343 along the length direction of the third mounting member 343, so that the shovel member 345 can receive or store the cryopreservation cartridge.

Through such setting mode, when shovel disk mechanism 34 is in use, rotary mechanism 342 can drive third installed part 343, telescopic machanism 344 and shovel disk spare 345 and rotate to change the butt joint direction of shovel disk spare 345, in order to change the direction that shovel disk spare 345 received and shifted the cryopreservation box, more convenient application, telescopic machanism 344 can drive shovel disk spare 345 and stretch into the bottom of cryopreservation box or be the bottom of storage position, thereby cooperate elevating system 33 to rise or descend and can hold up the cryopreservation box or place the cryopreservation box on the storage position, so as to receive the cryopreservation box and deposit the cryopreservation box.

Preferably, with continued reference to FIG. 10, the rotation mechanism 342 includes a third drive member 3421 (e.g., a servo motor or stepper motor), a drive gear 3422, a driven gear 3423, a vertical shaft (not shown), and bearings (not shown).

The third driving member 3421 is mounted on the second mounting member 341, the driven gear 3423 is fixedly connected with the third mounting member 343, the third driving member 3421 is connected with the driven gear 3423 through the driving gear 3422, a vertical rotating shaft is fixedly arranged on the driven gear 3423, the vertical rotating shaft is connected with the second mounting member 341 through a bearing and can rotate relative to the second mounting member 341, and the third driving member 3421 can drive the driven gear 3423 and the third mounting member 343 to rotate when driving the driving gear 3422 to rotate. The rotation mechanism 342 is provided with a third driving member 3421, a driving gear 3422, a driven gear 3423, a vertical rotation shaft and a bearing, and has a simple structure and is convenient to assemble and use.

Preferably, with continued reference to FIG. 10, the telescopic mechanism 344 includes a fourth drive member 3441 (e.g., a servo motor or stepper motor), a first transmission assembly 3442 (e.g., a rack and pinion second transmission assembly 554 or a rack and pinion first transmission assembly 3442), a third linear guide 3443 and a third guide slide 3444.

The fourth driving member 3441 is mounted on the third mounting member 343, the fourth driving member 3441 is connected to the third rail slider 3444 through the first transmission assembly 3442, the third linear rail 3443 is mounted on the third mounting member 343 and extends along the length direction of the third mounting member 343, the third rail slider 3444 is slidably connected to the third linear rail 3443 and is capable of sliding along the length direction of the third linear rail 3443, the shovel tray 345 is connected to the third rail slider 3444, the fourth driving member 3441 is connected to the first transmission assembly 3442 and is capable of driving the third rail slider 3444 and the shovel tray 345 to slide along the length direction of the third linear rail 3443 through the first transmission assembly 3442, so that the shovel tray 345 stretches.

The fourth driving member 3441 drives the first transmission assembly 3442 to operate, so as to drive the shovel disc 345 to move relative to the third mounting member 343, and the shovel disc 345 is linearly moved under the guiding action of the third linear guide 3443 and the third guide slide 3444, so as to realize extension and retraction.

Preferably, with continued reference to fig. 10, the shovel tray 345 includes a shovel plate 3451 and a hooking structure 3452 at an end of the shovel plate 3451, the telescopic mechanism 344 is connected to the shovel plate 3451, and the hooking structure 3452 can be snapped into the freezing box; wherein, when the shovel disk 345 is retracted inwards, the hooking structure 3452 can hook the freezing box located at the second storage position 214 to the first storage position 213, and when the shovel disk 345 is extended outwards, the hooking structure 3452 can push the freezing box from the first storage position 213 to the second storage position 214.

Through set up the structure 3452 of getting that hooks at the tip of shovel board 3451, can with the cooperation of cryopreservation box get and promote the cryopreservation box, can be with the cryopreservation box that is located on the second storage position 214 hook to first storage position 213 when using, in order to take out the cryopreservation box on the second storage position 214 and also can push the cryopreservation box on the first storage position to second storage position 214, so that realize storing the cryopreservation box to second storage position 214, the flexible length of shovel board 3451 can be shortened in the setting like this, reduce the volume of transferring manipulator 3, and then reduce the volume of monomer workstation, thereby improve the storage utilization ratio of box 1 storage area.

Preferably, the hooking structure 3452 is a bump; the bumps extend vertically upward.

The hooking structure 3452 is set to be an upward extending lug, so that the structure is simple, the freezing box can be hooked, the side wall of the freezing box can be abutted, the freezing box can be pushed forward, and the application is convenient.

Preferably, referring to fig. 10, the transfer robot 3 further includes a detecting member 35, where the detecting member 35 is mounted at the bottom of the third mounting member 343, and the detecting member 35 can detect whether an article exists in front of the third mounting member 343 within a preset distance to determine whether a freezing box is placed at the first storage position 213.

Whether the article exists in the place ahead of third installed part 343 in the preset distance is detected through setting up detection piece 35 to can judge whether first storage position 213 department has placed the cryopreservation box, conveniently judge whether can deposit the cryopreservation box on second storage position 214 and whether can take out the cryopreservation box on the second storage position 214, more conveniently carry out the access cryopreservation box.

Preferably, the detecting member 35 is a distance sensor, and is configured to detect whether an object exists within a predetermined distance by receiving a feedback signal, so as to facilitate use. The detecting member 35 is arranged obliquely upward at the time of installation so that the sent signal is emitted toward the freezing box of the first storage position 213, and the assembly difficulty is low and the accuracy is high.

Preferably, referring next to fig. 12, the linear transporter 5 includes a first connecting member 51, a first rail assembly 52, a second connecting member 53, a second rail assembly 54, a driving mechanism 55, and a box carrier 56, wherein the box carrier 56 is capable of carrying a freezing box.

Wherein the first connecting member 51 is mounted on the housing 4, two ends of the first connecting member 51 extend toward the first inlet 41 and the second inlet 11, respectively, the second connecting member 53 is connected to the first connecting member 51 by the first rail assembly 52 and is capable of moving relative to the first connecting member 51 along the length direction of the first connecting member 51, two ends of the second connecting member 53 extend toward the first inlet 41 and the second inlet 11, respectively, the first rail assembly 52 is capable of guiding the second connecting member 53 when the second connecting member 53 moves relative to the first connecting member 51, so that the second connecting member 53 moves linearly, the carrier member 56 is connected to the second connecting member 53 by the second rail assembly 54, and the carrier member 56 is capable of moving relative to the second connecting member 53 along the length direction of the second connecting member 53, the second rail assembly 54 is capable of guiding the carrier member 56 to move linearly when the carrier member 56 moves relative to the second connecting member 53, the driving mechanism 55 is mounted on the first connecting member 51, the driving mechanism 55 is capable of moving relative to the second connecting member 53, and the driving mechanism 55 is capable of moving relative to the second connecting member 53 in the same direction as the second connecting member 53.

The linear conveying device 5 comprises a first connecting piece 51, a first guide rail assembly 52, a second connecting piece 53, a second guide rail assembly 54, a driving mechanism 55 and a box carrying piece 56, wherein the driving mechanism 55 can drive the second connecting piece 53 to move relative to the first connecting piece 51 and simultaneously drive the box carrying piece 56 to move relative to the second connecting piece 53, and the moving direction of the second connecting piece 53 is the same as that of the box carrying piece 56, so that the first connecting piece 51 and the first guide rail assembly 52 form a first layer conveying structure, the second connecting piece 53 and the second guide rail assembly 54 form a second layer conveying structure, the two layers of overlapped conveying structures are matched for use, and the length of the linear conveying device 5 can be reduced under the condition of ensuring the linear conveying distance, and therefore the size of a single-body workstation is reduced, and the linear conveying device is more convenient to use.

Although the linear transport device 5 is provided in the double-layer transport structure in the above-described embodiment, this should not limit the scope of the present invention, and in practical applications, the linear transport device 5 may be provided in a single-layer transport structure. As long as the linear conveying device 5 can receive and convey the frozen storage boxes, the adjustment and the change of the specific structure of the linear conveying device 5 do not deviate from the basic principle of the present invention, and all the adjustments and the changes are limited in the protection scope of the present invention. Of course, the structure of the linear conveyor 5 described in the above embodiment is preferable, and the linear conveyor is small in size, short in length, and more convenient to use.

Preferably, with continued reference to fig. 12, the first rail assembly 52 includes a fourth linear rail 521 and a fourth rail slider 522, the fourth linear rail 521 is mounted on the first connecting member 51 and extends along the length direction of the first connecting member 51, the fourth rail slider 522 is mounted on the second connecting member 53, and the fourth rail slider 522 is slidably connected to the fourth linear rail 521 and is capable of sliding along the length direction of the fourth linear rail 521.

The first guide rail assembly 52 is provided with the fourth linear guide rail 521 and the fourth guide rail slide block 522, and has simple structure, convenient assembly and use and good guide effect.

Preferably, the fourth linear rail 521 is provided with a first limiting structure (e.g., a limiting bar), and the fourth rail slider 522 is provided with a second limiting structure (e.g., a limiting groove matched with the limiting bar), and the first limiting structure and the second limiting structure cooperate to limit the movement of the fourth rail slider 522 relative to the fourth linear rail 521 along the thickness direction and the width direction of the fourth linear rail 521.

Although the first rail assembly 52 is provided as the fourth linear rail 521 and the fourth rail slider 522 in the above embodiment, this should not limit the scope of the present invention, and in practical applications, the first rail assembly 52 may be provided as a first guide rod and a first guide ring that can be sleeved on the first guide rod and can slide along the first guide rod. Such modifications and changes in the specific structure of first rail assembly 52 do not depart from the basic principles of the present invention and are intended to be within the scope of the present invention.

Preferably, with continued reference to fig. 12, the second rail assembly 54 includes a fifth linear rail 541 and a fifth rail slider 542, the fifth linear rail 541 is mounted on the second link 53 and extends along the length of the second link 53, the fifth rail slider 542 is mounted on the carriage 56, and the fifth rail slider 542 is slidably coupled to the fifth linear rail 541 and is capable of sliding along the length of the fifth linear rail 541.

The second rail assembly 54 is provided as the fifth linear rail 541 and the fifth rail block 542, and has a simple structure, convenient assembly and use, and good guiding effect.

Preferably, the fifth linear guide 541 is provided with a third limit structure (for example, a limit bar), and the fifth guide slider 542 is provided with a fourth limit structure (for example, a limit groove matched with the limit bar), and the third limit structure and the fourth limit structure cooperate to limit the movement of the fifth guide slider 542 relative to the fifth linear guide 541 in the thickness direction and the width direction of the fifth linear guide 541.

Although the second rail assembly 54 is provided as the fifth linear rail 541 and the fifth rail slider 542 in the above-described embodiment, this should not limit the scope of the present invention, and in practical applications, the second rail assembly 54 may be provided as a second guide rod and a second guide ring that can be sleeved on the second guide rod and can slide along the second guide rod. Such modifications and changes in the specific structure of the second rail assembly 54 do not depart from the basic principles of the present invention and are intended to be within the scope of the present invention.

Preferably, with continued reference to FIG. 12, the drive mechanism 55 includes a fifth drive 551 (e.g., a servo motor or a stepper motor), a third drive gear 552, a third linear rack 553, and a second transmission assembly 554.

The fifth driving piece 551 is mounted on the first connecting piece 51, the third linear rack 553 is mounted on the second connecting piece 53 and extends along the length direction of the second connecting piece 53, the fifth driving piece 551 is connected with the third driving gear 552, the fifth driving gear is in meshed connection with the third linear rack 553, the fifth driving piece 551 can drive the third driving gear 552 to rotate, so that the third linear rack 553 and the second connecting piece 53 are driven to move relative to the first connecting piece 51, the second transmission assembly 554 is mounted on the second connecting piece 53 and connected with the carrying box 56, and when the second connecting piece 53 moves relative to the first connecting piece 51, the second transmission assembly 554 simultaneously drives the carrying box 56 to move relative to the second connecting piece 53.

The driving mechanism 55 is arranged as the fifth driving piece 551, the third driving gear 552, the third linear rack 553 and the second transmission assembly 554, the structure is simple, the assembly and the use are convenient, and the volume after the assembly is small.

Preferably, with continued reference to fig. 12, the second transmission assembly 554 includes a first pulley 5541, a second pulley 5542 and a transmission belt 5543, where the first pulley 5541 and the second pulley 5542 are rotatably mounted on the second connecting member 53 and are spaced apart along the length direction of the second connecting member 53, the first pulley 5541 and the second pulley 5542 are connected by the transmission belt 5543, the cassette 56 is connected to one side of the transmission belt 5543, the first connecting member 51 is connected to the other side of the transmission belt 5543, and the junction of the cassette 56 and the transmission belt 5543 and the junction of the first connecting member 51 and the transmission belt 5543 divide the transmission belt 5543 into two equal length portions.

The second transmission assembly 554 is arranged to comprise the first belt wheel 5541, the second belt wheel 5542 and the transmission belt 5543, and is simple in structure, convenient to assemble and use and small in volume after assembly.

It should be noted that the present invention does not limit the relative positions of the first connecting member 51, the second connecting member 53 and the carrier 56, and in practical applications, those skilled in the art may set the relative positions of the first connecting member 51, the second connecting member 53 and the carrier 56 according to actual needs. For example: the first link 51, the second link 53 and the box bearing 56 may be horizontally arranged, and the first link 51, the second link 53 and the box bearing 56 may be sequentially arranged from bottom to top; alternatively, the first connecting member 51, the second connecting member 53 and the box-carrying member 56 may be horizontally arranged, and the first connecting member 51, the second connecting member 53 and the box-carrying member 56 may be sequentially arranged from top to bottom; alternatively, the first and second connection members 51 and 53 may be disposed vertically, and the cassette 56 may be disposed horizontally; etc. Such adjustment and modification of the relative positions of the first link 51, the second link 53 and the carrier 56 are not departing from the basic principles of the present invention and should be limited within the scope of the present invention.

In a preferred embodiment, the first connector 51, the second connector 53 and the carrier 56 are all disposed horizontally, the second connector 53 being located above the first connector 51, and the carrier 56 being located above the second connector 53.

The first connecting piece 51, the second connecting piece 53 and the box carrying piece 56 are all horizontally arranged, and the first connecting piece 51, the second connecting piece 53 and the box carrying piece 56 are sequentially arranged from bottom to top, so that the frozen box can be stably conveyed when being conveyed, and the safety is high.

In another preferred embodiment, the first and second connection members 51 and 53 are each disposed vertically, the carrier 56 is disposed horizontally, and the side walls of the carrier 56 are connected to the second connection member 53 by the second rail assembly 54.

The first connecting piece 51 and the second connecting piece 53 are vertically arranged, the box carrying piece 56 is horizontally arranged, the side wall of the box carrying piece 56 is connected with the second connecting piece 53 through the second guide rail assembly 54, the bottom of the box carrying piece 56 is empty, other devices are convenient to install, for example, a code scanning device can be arranged to scan bar code information of a freezing tube in the freezing box conveyed by the box carrying piece 56.

Preferably, referring next to fig. 13, the box carrier 56 includes a box carrier 561 and a carrying plate 562 mounted on the box carrier 561, wherein the top surface of the box carrier 561 and the side thereof close to the first inlet and outlet 41 and the side thereof close to the second inlet and outlet 11 are provided with openings, the number of the carrying plates 562 is two, the two carrying plates 562 are horizontally spaced apart, and the top surfaces of the two carrying plates 562 together form a placement area, and two placement positions are provided in the placement area and are spaced apart along the conveying direction of the linear conveying device 5.

The box carrying piece 56 is arranged to be a box carrying frame 561 and a carrying plate 562, and two placing positions are arranged on a placing area formed by the carrying plate 562, so that the box carrying piece 56 is consistent with the structure of one layer of storage area of the freezing and storing frame 21, the box carrying piece is conveniently in butt joint with the transferring manipulator 3, the freezing and storing boxes are transferred, in addition, two freezing and storing boxes can be conveyed at one time, and the conveying efficiency is high.

Preferably, with continued reference to fig. 13, the carrier plate 562 is provided with a third limiting member 563 (e.g., a protrusion or a limiting rib), a fourth limiting member 564 (e.g., a protrusion or a limiting rib), and a fifth limiting member 565 (e.g., a protrusion or a limiting rib), wherein the third limiting member 563 is located at an end of the carrier plate 562 adjacent to the first access opening 41, the fourth limiting member 564 is located at an end of the carrier plate 562 adjacent to the second access opening 11, and the fifth limiting member 565 is located at a middle position of the carrier plate 562 to separate the two placement positions.

The third limiting part 563, the fourth limiting part 564 and the fifth limiting part 565 are matched for use, so that the freezing box can be limited to move in the length direction, and the freezing box can be stably placed at a placement position, so that the freezing box can be stably transferred, and the safety is high.

Preferably, the single body workstation of the invention further comprises a first code scanning camera, wherein the first code scanning camera is arranged in the shell 4 and can scan bar code information of the freezing storage box conveyed by the linear conveying device 5.

The first code scanning camera is arranged in the shell 4, bar code information of the freezing storage box can be scanned, the freezing storage box which is stored and taken out is convenient to manage, and the stock quantity is convenient to position and calculate.

Preferably, the first code scanning camera is located above the linear conveying device 5 and is obliquely arranged downwards.

Although in the above preferred embodiment, the first code scanning camera is installed above the linear conveyor 5 and is inclined downward, this should not limit the scope of the present invention, and in practical application, the first code scanning camera may be installed at other positions, as long as the first code scanning camera can smoothly scan the bar code information of the freezing box. For example, the first code scanning camera may be positioned opposite the carriage 56. The adjustment and the change of the installation position of the first code scanning camera do not deviate from the basic principle of the invention, and all the adjustment and the change are limited in the protection scope of the invention.

Preferably, the single workstation further comprises a second code scanning camera, the second code scanning camera is arranged in the shell 4, and the second code scanning camera can scan bar code information of a freezing tube in the freezing box conveyed by the linear conveying device 5.

The second code scanning camera is arranged in the shell 4, so that bar code information of the freezing and storing tube in the freezing and storing box can be scanned, the freezing and storing tube can be managed conveniently, and stock quantity can be counted conveniently.

Preferably, the second code scanning camera is vertically upwards arranged, and is located under the moving route of the box carrying piece 56, the bottom of the box carrying piece 56 is provided with a code scanning hole, and the second code scanning camera can scan bar code information of a freezing tube in the freezing box through the code scanning hole.

The code scanning holes are formed in the bottom of the box carrying piece 56, and the second code scanning camera is arranged right below the moving route of the box carrying piece 56, so that code scanning can be performed more smoothly.

Although the second code scanning camera is installed directly below the moving path of the carrier box 56 in the above preferred embodiment, this should not limit the scope of the present invention, and those skilled in the art may install the second code scanning camera at other positions in practical applications. For example, a second code scanning camera may be mounted on the bottom plate 2112 of the carrier 56, and the cryopreservation cassette is positioned above the bottom plate 2112 after being placed on the carrier 56, so that the second code scanning camera can scan barcode information of the overlying cryopreservation tube. The adjustment and the change of the installation position of the second code scanning camera do not deviate from the basic principle of the invention, and all the adjustment and the change are limited in the protection scope of the invention.

Preferably, a liquid nitrogen dehumidification system is communicated with the inside of the shell 4 through a pipeline so as to be capable of dehumidifying the inner space of the shell 4.

The liquid nitrogen dehumidification system is used for introducing liquid nitrogen into the shell 4 through a pipeline, and can dehumidify the shell 4, so that the shell 4 is kept dry, moisture can be prevented from entering the box 1 when the shell 4 is communicated with the box 1, the effect of isolating the moisture is better, and a stable storage environment is kept in the box 1. In addition, the liquid nitrogen dehumidification system dehumidifies the interior of the shell 4, and has small dehumidification volume and low cost.

Besides the structure, the invention also comprises a refrigerating system mechanism which is used for refrigerating the storage space in the box body 1 so as to keep a stable low-temperature environment in the box body 1; the refrigeration mechanism can be a liquid nitrogen refrigeration mechanism, an air cooling refrigeration mechanism or other refrigeration mechanisms.

Finally, it should be further noted that the specific structures of the first electrically-operated sealing door 6 and the second electrically-operated sealing door 7 are not limited in the present invention, and the first electrically-operated sealing door 6 and the second electrically-operated sealing door 7 may be conventional automatic sealing doors in the art, and the specific structures thereof are not described herein.

Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.

Claims

1. The single workstation for storing biological samples is characterized by comprising a box body, two freezing frame groups and a transfer manipulator, wherein the freezing frame groups are positioned in the box body, the two freezing frame groups are oppositely arranged, each freezing frame group comprises a plurality of freezing frames, the freezing frames are arranged side by side along the length direction of the box body, the freezing frames can store freezing boxes, the transfer manipulator is positioned between the two freezing frame groups, and the transfer manipulator is arranged to be capable of being in butt joint with the freezing frame groups to receive and transfer the freezing boxes;

the single body workstation further comprises a shell and a linear conveying device positioned in the shell, wherein the shell is arranged on the box and positioned in the box;

The shell is provided with a first inlet and a first outlet, the shell is communicated with the box body through the first inlet and the first outlet, the box body is provided with a second inlet and a second outlet, and the shell is communicated with the external environment through the second inlet and the second outlet;

the linear conveying device is arranged between the first inlet and the second outlet, and is arranged to be capable of conveying the freezing box along a straight line, so that the freezing box can be butted with the transferring manipulator through the first inlet and the second inlet and can be butted with the outside through the second inlet and the second outlet, and the freezing box can be received and transferred.

2. The single body workstation for storing biological samples according to claim 1, wherein the freezing shelf comprises a shelf body and a plurality of storage pieces mounted on the shelf body, one side of the shelf body is provided with an opening, the storage pieces are distributed at intervals along the height direction of the shelf body and form a plurality of layers of storage areas, each layer of storage area is internally provided with a first storage position and a second storage position for storing freezing boxes, the first storage position and the second storage position are distributed at intervals along the width direction of the box body, and the first storage position is arranged close to the opening.

3. The single body workstation for storing biological samples of claim 2 wherein the linear transport device comprises a first connector, a first rail assembly, a second connector, a second rail assembly, a drive mechanism, and a cassette carrier capable of carrying a cryopreservation cassette;

the first connecting piece is arranged on the shell, two ends of the first connecting piece extend towards the first inlet and the second outlet respectively,

the second connecting piece is connected with the first connecting piece through the first guide rail component and can move relative to the first connecting piece along the length direction of the first connecting piece, two ends of the second connecting piece extend towards the first inlet and the second outlet respectively, the first guide rail component can guide the second connecting piece to enable the second connecting piece to move linearly when the second connecting piece moves relative to the first connecting piece,

the box carrying piece is connected with the second connecting piece through the second guide rail component, the box carrying piece can move relative to the second connecting piece along the length direction of the second connecting piece, the second guide rail component can guide the box carrying piece to make the box carrying piece move in a straight line when the box carrying piece moves relative to the second connecting piece,

The driving mechanism is installed on the first connecting piece, the driving mechanism is connected with the second connecting piece and the box carrying piece, the driving mechanism can drive the second connecting piece to move relative to the first connecting piece and can simultaneously drive the box carrying piece to move relative to the second connecting piece, and the moving direction of the second connecting piece is the same as the moving direction of the box carrying piece.

4. A single body workstation for storing biological samples according to claim 3, wherein the box-carrying member comprises a box-carrying frame and carrying plates arranged on the box-carrying frame, the top surface of the box-carrying frame and one side of the box-carrying frame, which is close to the first inlet and the second outlet, are provided with openings, the number of the carrying plates is two, the two carrying plates are horizontally distributed at intervals, the top surfaces of the two carrying plates jointly form a placing area, and the placing area is internally provided with two placing positions, and the two placing positions are distributed at intervals along the conveying direction of the linear conveying device.

5. The single body workstation for storing biological samples of claim 2 or 4 wherein the transfer robot comprises a horizontal movement mechanism, a first mount, a lifting mechanism and a shovel disk mechanism;

The horizontal moving mechanism is arranged on the box body, the first mounting piece is arranged on the horizontal moving mechanism, the lifting mechanism is arranged on the first mounting piece, and the shovel disk mechanism is arranged on the lifting mechanism;

the horizontal moving mechanism is arranged to drive the first mounting piece, the lifting mechanism and the shovel disk mechanism to move along the length direction of the box body;

the lifting mechanism is arranged to drive the shovel disc mechanism to move along the vertical direction;

the shovel disk mechanism is arranged to be capable of rotating circumferentially and extending and retracting along the length direction thereof to receive and transfer the freezing box.

6. The single body workstation for storing biological samples of claim 5 wherein said shovel disk mechanism comprises a second mount, a rotation mechanism, a third mount, a telescoping mechanism, and a shovel disk member;

the second mounting piece is connected with the lifting mechanism, the third mounting piece is connected with the second mounting piece through the rotating mechanism, and the telescopic mechanism and the shovel disc piece are mounted on the third mounting piece;

the rotating mechanism is arranged to drive the third mounting piece, the telescopic mechanism and the shovel disc piece to rotate around a vertical shaft;

The telescopic mechanism is arranged to drive the shovel disc part to stretch and retract relative to the third mounting part along the length direction of the third mounting part, so that the shovel disc part can receive or store the freezing box.

7. The single body workstation for storing biological samples of claim 6, wherein the shovel disk comprises a shovel plate and a hooking structure at the end of the shovel plate, the telescopic mechanism is connected with the shovel plate, and the hooking structure can be clamped into a freezing box;

when the shovel disc piece is retracted inwards, the hooking structure can hook the freezing box located at the second storage position to the first storage position, and when the shovel disc piece is extended outwards, the hooking structure can push the freezing box from the first storage position to the second storage position.

8. The single body workstation for storing biological samples of claim 7, wherein the transfer robot further comprises a detecting member mounted at a bottom of the third mounting member, the detecting member being capable of detecting whether an article exists in front of the third mounting member within a preset distance.

9. The single body workstation for storing biological samples of claim 1, further comprising a first code scanning camera disposed within the housing, the first code scanning camera being capable of scanning barcode information of the cryopreserved cassettes conveyed by the linear conveyor; and/or the number of the groups of groups,

The single workstation still includes the second and sweeps the sign indicating number camera, the second sweeps the sign indicating number camera setting and is in the casing, the second sweeps the sign indicating number camera can scan the bar code information of the frozen storage pipe in the frozen storage box that straight line conveyor carried.

10. The single body workstation for storing biological samples of claim 1 wherein a liquid nitrogen dehumidification system is in communication with the housing through tubing to enable dehumidification of the interior space of the housing.