CN204714097U - The automatic access machinery hand shift device of liquid nitrogen cryopreservation tank - Google Patents
The automatic access machinery hand shift device of liquid nitrogen cryopreservation tank Download PDFInfo
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- CN204714097U CN204714097U CN201520009925.2U CN201520009925U CN204714097U CN 204714097 U CN204714097 U CN 204714097U CN 201520009925 U CN201520009925 U CN 201520009925U CN 204714097 U CN204714097 U CN 204714097U
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Abstract
The utility model discloses a kind of automatic access machinery hand shift device of liquid nitrogen cryopreservation tank, liquid nitrogen cryopreservation tank comprises tank body and upper cover, is placed with freezing storing box in tank body, and the lid mouth be interlinked to the outside in the non-central location of upper cover is provided with, lid mouth is provided with cover plate; Automatic access machinery hand shift device comprises controller, the first motor ~ the 6th motor, manipulator, mechanical arm, the first pivoted arm, the second pivoted arm, load-bearing pillar and mount pad; First motor ~ the 6th motor is controlled by controller respectively, the keying of the first electric machine control cover plate, the movement of the second motor ~ the 6th electric machine control machinery hand and keying.The utility model is by adopting the control of multiple motor realization to the various operation demand of manipulator, and to the accurate positioning control of cover plate to make its cooperative mechanical hand coordinative operation, realize the precise manipulation of access freezing storing box, the automatic access operation of freezing storing box can be completed accurately and fast, efficiently and safely, be beneficial to sample safety and the Application and Development of liquid nitrogen cryopreservation filling.
Description
Technical field
The utility model relates to a kind of control setup of liquid nitrogen cryopreservation tank, particularly relates to a kind of automatic access machinery hand shift device of the liquid nitrogen cryopreservation tank for automatic access freezing storing box.
Background technology
Liquid nitrogen biological container is a kind of container based on liquid nitrogen storage, be mainly used in preserving the biological tissue such as blood, stem cell, the pallet comprising vessel (as tank body) and be placed in vessel, vessel is built with liquid nitrogen, the degree of depth of liquid nitrogen regulates according to reality is temperature required, the packaged biological tissue be placed on pallet is placed in the environment of subzero more than 100 degrees Celsius, can reach the object of long-period freshness preserving.
Liquid nitrogen cryopreservation tank is the major product type of liquid nitrogen biological container, and it comprises a tank body, is placed with freezing storing box in tank body, places the object that biological tissue etc. needs to be frozen in freezing storing box, and the liquid nitrogen in tank body provides low temperature environment for the object be frozen.For the ease of access freezing storing box, the upper end of liquid nitrogen cryopreservation tank is provided with upper cover, and the non-central location above covered is provided with cover plate, opens upper cover or cover plate as required, to realize the object of supplementary nitrogen liquid or access freezing storing box.
Along with the increase of cold-storage needs, required liquid nitrogen cryopreservation tank also does larger and larger, the access of freezing storing box becomes the thing wasted time and energy, if to uncap, rotary-tray, stretch into and coordinate bad between the links such as clamping device, also can cause the problem that a large amount of cold runs off in tank body; In addition, the extreme cold of nitrogen liquid may cause the actual bodily harm to operating personal.So, more at freezing storing box, access frequently in situation, traditional manual operations has more and more been difficult to adapt to fast and the demand of secure access freezing storing box, and the demand of it being carried out to automatic improving is more and more urgent, the technical research that the utility model carries out based on this present situation just.
Utility model content
The purpose of this utility model is just the automatic access machinery hand shift device providing a kind of liquid nitrogen cryopreservation tank for automatic access freezing storing box in order to solve the problem.
The utility model is achieved through the following technical solutions above-mentioned purpose:
A kind of automatic access machinery hand shift device of liquid nitrogen cryopreservation tank, described liquid nitrogen cryopreservation tank comprises tank body and is installed on the upper cover on described tank body, be placed with freezing storing box in described tank body, the lid mouth be interlinked to the outside in the non-central location of described upper cover is provided with, described lid mouth is provided with cover plate, described automatic access machinery hand shift device also comprises controller, first motor ~ the 6th motor, manipulator, mechanical arm, first pivoted arm, second pivoted arm, load-bearing pillar and mount pad, described first motor ~ the 6th motor is controlled by described controller respectively, described first motor be installed on described on cover and control the keying of described cover plate, vertical described load-bearing pillar be installed on described on cover, described mount pad to be installed on described load-bearing pillar and by be installed on described on described second electric machine control that covers move up and down, the first end of horizontal described first pivoted arm to be installed on described mount pad and by being installed on the described 3rd electric machine control transverse rotation on described mount pad, the first end of horizontal described second pivoted arm be installed on described first pivoted arm the second end and by the described 4th electric machine control transverse rotation of the second end of being installed on described first pivoted arm, described 5th motor is installed on the second end of described second pivoted arm, described 6th motor is installed on the upper end of vertical described mechanical arm, the upper end of described mechanical arm is installed on the second end of described second pivoted arm and is rotated around himself central axis by described 5th electric machine control, described manipulator is installed on the lower end of described mechanical arm, described mechanical arm is provided with a robotic transfer axle, described in described 6th electric machine control, robotic transfer axle moves up and down the keying realizing manipulator.
In said structure, controller adopts existing conventional controller, controls for the start and stop to each motor, hand of rotation and rotative speed; First motor ~ the 6th motor carries out man-to-man control to cover plate, mount pad, the first pivoted arm, the second pivoted arm, mechanical arm, robotic transfer axle respectively, thus realize following various function respectively: the keying of cover plate, mount pad lifting, the transverse rotation of the first pivoted arm, the transverse rotation of the second pivoted arm, the spinning of mechanical arm, the keying of manipulator, thus finally realize the lifting of manipulator, transverse rotation displacement, spinning, keying, and the keying of cover plate, meet the whole demands by manipulator access freezing storing box; Manipulator is used for capturing or unclamping freezing storing box, thus realizes the access control of freezing storing box; Mechanical arm is used for, as the drive disk assembly of manipulator and installation foundation, realizing movement and the location of manipulator; First pivoted arm and the second pivoted arm cooperatively interact, and realize the transverse rotation of mechanical arm, displacement, location requirement, can realize omnibearing horizontal position change demand; Load-bearing pillar as the load-bearing of mount pad, whole mechanical arm and control setup thereof and installation foundation, and for mount pad and on other all device fluctuating orbit is provided; Mount pad is as the load-bearing of whole mechanical arm and control setup thereof and installation foundation.
According to motor-driven principle, the transmission of each motor all adopts the gear transmission of accurate transmission, be specifically described the preferred drive mechanism of each motor below, emphasis is wherein its drive mechanism, and the mounting structure of concrete drive disk assembly as gear is installed as required in the usual way:
The rotating shaft of described first motor is connected with the centre hole of the first gear, described first gear is connected with the second gears meshing, the centre hole of described second gear is connected with one end of the first transmission shaft, described first transmission shaft is fixedly connected with driver plate, and described driver plate is fixedly connected with the upper surface of described cover plate.
Be provided with vertical screw rod in described load-bearing pillar, described screw rod is rotated around himself central axis by described second electric machine control; Described load-bearing pillar is provided with vertical lifting groove, and described screw rod is placed in described lifting groove, and described mount pad is provided with the elevator of evagination, and the center of described elevator is provided with vertical screw, and described elevator is set on described screw rod by described screw; Described load-bearing pillar is also provided with the position-limited trough of vertical inner wide and outer narrow, described mount pad is also provided with the interior narrow outer wide limiting stopper of evagination, described limiting stopper is placed in described position-limited trough.
The rotating shaft of described 3rd motor is connected with the centre hole of the 3rd gear, described 3rd gear is connected with the 4th gears meshing, the centre hole of described 4th gear is connected with one end of second driving shaft, and the other end of described second driving shaft is fixedly connected with described first pivoted arm.
The rotating shaft of described 4th motor is connected with the centre hole of the 5th gear, described 5th gear is connected with the 6th gears meshing, the centre hole of described 6th gear is connected with one end of the 3rd transmission shaft, and the other end of described 3rd transmission shaft is fixedly connected with described second pivoted arm.
The rotating shaft of described 5th motor is connected with the centre hole of the 7th gear, and described 7th gear and octadentate are taken turns and be connected with a joggle, and the centre hole of described octadentate wheel is fixedly connected with described mechanical arm.
The rotating shaft of described 6th motor is connected with the centre hole of the 9th gear, described 9th gear is connected with the tenth gears meshing, the center bore inner wall of described tenth gear is provided with screw thread, the excircle of described robotic transfer axle is provided with screw thread, and the centre hole of described tenth gear is set in outside described robotic transfer axle.
In order to realize firm crawl and the release of freezing storing box, described manipulator comprises a bottom plate be fixedly connected with described mechanical arm and a upper mobile board be rotatably connected with described mechanical arm, approximate mid-section position and the described mechanical arm of described upper mobile board are rotatably connected, the rear portion of described upper mobile board and the lower end of described robotic transfer axle are rotatably connected, and front portion and the described bottom plate of described upper mobile board form holding device.
As preferably, pallet is provided with in described tank body, described pallet is provided with frozen frame, described freezing storing box is positioned on described frozen frame, described automatic access machinery hand shift device also comprises the 7th motor, described 7th motor be installed on described on cover and control described pallet transverse rotation by the vertical center shaft being installed on described tank body center.In this structure, frozen frame moves for placing freezing storing box and driving freezing storing box to carry out position and locates, handle hole in frozen frame is used for for manipulator access freezing storing box provides operational space, and the breach on the rest area on frozen frame is equally also for manipulator access freezing storing box provides operational space.
Place the capacity of freezing storing box to improve tank body and be convenient to dilatation and precise manipulation, the structure of frozen frame is more preferably: described frozen frame is multiple-structure, every layer of described frozen frame is included in the multiple frozen region of the circumferencial direction setting centered by described center shaft, described frozen frame in each described frozen region is respectively equipped with the corresponding and handle hole that is that stretch into for manipulator in multiple and described Gai Kou position, described frozen frame around described handle hole is provided with multiple rest area for placing described freezing storing box, each described rest area is provided with breach near the position of described handle hole.
The beneficial effects of the utility model are:
The utility model is by adopting the control of multiple motor realization to the various operation demand of manipulator, and to the accurate positioning control of cover plate and frozen frame to make its cooperative mechanical hand coordinative operation, thus the precise manipulation accessing freezing storing box can be realized, and can realize that cover plate opens and closes, manipulator stretches into crawl or optimized matching between each link such as release, reduce the loss of cold in tank body as far as possible, and the automatic access operation of freezing storing box can be completed accurately and fast, efficiently and safely, the sample safety of filling with for liquid nitrogen cryopreservation and Application and Development are laid a solid foundation.
Accompanying drawing explanation
Fig. 1 is the front view of the liquid nitrogen cryopreservation tank comprising automatic access described in the utility model machinery hand shift device;
Fig. 2 is the birds-eye view of the liquid nitrogen cryopreservation tank comprising automatic access described in the utility model machinery hand shift device;
Fig. 3 is the left view of the liquid nitrogen cryopreservation tank comprising automatic access described in the utility model machinery hand shift device;
Fig. 4 is that one of structural representation cuts open in the second motor described in the utility model, load-bearing pillar, mount pad and the office of other parts that is installed on described mount pad, and in figure, visual angle is incomplete same close to Fig. 3;
Fig. 5 is that visual angle to be cutd open in structural representation two, figure relative to Fig. 4 for overlooking by the second motor described in the utility model, load-bearing pillar, mount pad and the office of other parts that is installed on described mount pad, but its dimension scale is less than Fig. 4;
Fig. 6 is the enlarged drawing of " A " in Fig. 4;
Fig. 7 is the second pivoted arm described in the utility model, structural representation cuts open in the office of the 5th motor, the 6th motor and mechanical arm, and in figure, visual angle is identical with Fig. 4, but dimension scale is greater than Fig. 4;
Fig. 8 is the enlarged drawing of " B " in Fig. 7;
Fig. 9 is that front view cuts open in the office after the liquid nitrogen cryopreservation tank comprising automatic access described in the utility model machinery hand shift device is removed load-bearing pillar and is installed on other parts on load-bearing pillar, and visual angle is identical with Fig. 1, the inner structure of major embodiment tank body;
Figure 10 is that birds-eye view cuts open in the office after the liquid nitrogen cryopreservation tank comprising automatic access described in the utility model machinery hand shift device is removed load-bearing pillar and is installed on other parts on load-bearing pillar, and visual angle is identical with Fig. 2, the inner structure of major embodiment tank body.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail:
As Fig. 1, Fig. 2, Fig. 3, shown in Fig. 9 and Figure 10, the upper cover 13 that liquid nitrogen cryopreservation tank described in the utility model comprises tank body 14 and is installed on tank body 14, automatic access machinery hand shift device described in the utility model comprises controller (because it adopts conventional controller, so not shown controller), first motor 30, second motor 23, 3rd motor 7, 4th motor 4, 5th motor 2, 6th motor 1, 7th motor 21, manipulator 16, mechanical arm 15, first pivoted arm 5, second pivoted arm 3, load-bearing pillar 9 and mount pad 8, the lid mouth 11(be interlinked to the outside in the non-central location of upper cover 13 is provided with is because mounting center axle 42 is wanted in center), lid mouth 11 is provided with cover plate 10, first motor 30, second motor 23, 3rd motor 7, 4th motor 4, 5th motor 2, 6th motor 1 and the 7th motor 21 are controlled by controller respectively, first motor 30 to be installed on upper cover 13 and to control the keying of cover plate 10, vertical load-bearing pillar 9 is installed on upper cover 13, mount pad 8 to be installed on load-bearing pillar 9 and to control to move up and down by the second motor 23 be installed on upper cover 13, the first end of the first horizontal pivoted arm 5 to be installed on mount pad 8 and to control transverse rotation by the 3rd motor 7 be installed on mount pad 8, the first end of the second horizontal pivoted arm 3 is installed on the second end of the first pivoted arm 5 and controls transverse rotation by the 4th motor 4 of the second end being installed on the first pivoted arm 5, 5th motor 2 is installed on the second end of the second pivoted arm 3, 6th motor 1 is installed on the upper end of vertical mechanical arm 15, the upper end of mechanical arm 15 is installed on the second end of the second pivoted arm 3 and controls to rotate around himself central axis by the 5th motor 2, manipulator 16 is installed on the lower end of mechanical arm 15, manipulator 16 comprises a bottom plate be fixedly connected with mechanical arm 15 18 and a upper mobile board 17 be rotatably connected with mechanical arm 15, approximate mid-section position and the mechanical arm 15 of upper mobile board 17 are rotatably connected, mechanical arm 15 is provided with a robotic transfer axle 37, the rear portion of upper mobile board 17 and the lower end of robotic transfer axle 37 are rotatably connected, front portion and the bottom plate 18 of upper mobile board 17 form holding device, 6th motor 1 controls the keying that manipulator transmission shaft 37 moves up and down to realize manipulator 16, 7th motor 21 to be installed on upper cover 13 and to control pallet 44 transverse rotation by the vertical center shaft 42 being installed on tank body 14 center, pallet 44 is provided with in tank body 14, pallet 44 is provided with the frozen frame 43 for placing freezing storing box 50 by mounting bracket 45, frozen frame 43 is multiple-structure, every layer of frozen frame 43 is included in the multiple frozen region 46 of the circumferencial direction setting centered by center shaft 42, frozen frame 43 in each frozen region 46 is respectively equipped with multiple and that for manipulator 16 stretch into handle hole 47 corresponding with lid mouth 11 position, frozen frame 43 around handle hole 47 is provided with multiple rest area for placing freezing storing box 50, and (this position is frozen box 50 and occupies, therefore do not mark in the drawings), each rest area is provided with breach 48 near the position of handle hole 47.
According to motor-driven principle, the transmission of each motor all adopts the gear transmission of accurate transmission, be specifically described the preferred drive mechanism of each motor below, emphasis is wherein its drive mechanism, and the mounting structure of concrete drive disk assembly as gear is installed as required in the usual way:
As shown in Fig. 2, Fig. 9 and Figure 10, the rotating shaft of the first motor 30 is connected with the centre hole of the first gear 41, first gear 41 and the second gear 40 are connected with a joggle, the centre hole of the second gear 42 is connected with one end of the first transmission shaft 29, first transmission shaft 29 is fixedly connected with driver plate 19, and driver plate 19 is fixedly connected with by the upper surface of connecting panel 28 with cover plate 10.
As shown in figs 1 to 6, be provided with vertical screw rod 24 in load-bearing pillar 9, screw rod 24 is controlled to rotate (this structure adopts simple conventional structure to realize, and does not carefully state at this) around himself central axis by the second motor 23; Load-bearing pillar 9 is provided with vertical lifting groove (unmarked in figure), screw rod 24 is placed in lifting groove, mount pad 8 is provided with the elevator 25 of evagination, and the center of elevator 25 is provided with vertical screw (unmarked in figure), and elevator 25 is set on screw rod 24 by screw; Load-bearing pillar 9 is also provided with the position-limited trough (unmarked in figure, to be provided with limiting stopper in it) of vertical inner wide and outer narrow, mount pad 8 is also provided with the interior narrow outer wide limiting stopper 26 of evagination, limiting stopper 26 is placed in position-limited trough.
As shown in Figure 1, Figure 3 and Figure 4, rotating shaft and the 3rd gear of the 3rd motor 7 are (not shown in the figures, but easy to understand) centre hole connect, 3rd gear and the 4th gear 32 are connected with a joggle, the centre hole of the 4th gear 32 is connected with one end of second driving shaft 27, and the other end of second driving shaft 27 is fixedly connected with the first pivoted arm 5.
As shown in Fig. 1, Fig. 3, Fig. 4 and Fig. 5, the rotating shaft of the 4th motor 4 is connected with the centre hole of the 5th gear 33,5th gear 33 and the 6th gear 34 are connected with a joggle, the centre hole of the 6th gear 34 is connected with one end of the 3rd transmission shaft 35, and the other end of the 3rd transmission shaft 35 is fixedly connected with the second pivoted arm 3.
As shown in Fig. 1, Fig. 3, Fig. 4 and Fig. 7, the rotating shaft of the 5th motor 2 is connected with the centre hole of the 7th gear (not shown), 7th gear and octadentate are taken turns (not shown) and are connected with a joggle, the centre hole of octadentate wheel is fixedly connected with mechanical arm 15, this drive mechanism is similar with the drive mechanism of the 3rd motor 7 and the 4th motor 4, the 7th gear not shown in the figures and octadentate wheel.
As shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 8, the rotating shaft of the 6th motor 1 is connected with the centre hole of the 9th gear 36,9th gear 36 and the tenth gear 38 are connected with a joggle, the center bore inner wall of the tenth gear 38 is provided with screw thread, the excircle of robotic transfer axle 37 is provided with screw thread, and the centre hole of the tenth gear 38 is set in outside robotic transfer axle 37.
As shown in figs. 2 and 10, the rotating shaft of the 7th motor 21 is connected with the centre hole of the 11 gear 52, and the 11 gear the 52 and the 12 gear 51 is connected with a joggle, and the centre hole of the 12 gear 51 is fixedly connected with the upper end of center shaft 42.
The housing 6 be installed on outside second driving shaft 27 is also show in Fig. 1, Fig. 3 and Fig. 4, also show in Fig. 1 and be located on upper cover 13 and hanger 12 for lifting, the roller 20 be installed on bottom tank body 14 is also show in Fig. 1, Fig. 3 and Fig. 9, Fig. 2 also show in the lid shell 22, Fig. 8 being located at upper cover 13 center and also show for carrying out spacing gear position limiting plate 39 to the tenth gear 38.
Composition graphs 1-Figure 10, when needing to take out freezing storing box 50, position residing for manipulator 16 is (for the ease of controlling, after having operated each time, manipulator 16 is moved to a fixing initial position, more satisfactory selection), control the second motor 23, the 3rd motor 7 and the 4th motor 4, manipulator 16 is moved to directly over lid mouth 11 and (calls control operation 1 in the following text); Control the first motor 30 to open cover plate 10(and call control operation 2 in the following text); Control freezing storing box 50 that the 7th motor 21 makes needs operate rotates to lid mouth 11 below (calling control operation 3 in the following text) with frozen frame 43; Controlling the second motor 23 again makes manipulator 16 extend into the inside of tank body 14 from lid mouth 11 and be placed in the position (calling control operation 4 in the following text) at corresponding handle hole 47 place; Controlling the 5th motor 2 and the 6th motor 1 again makes manipulator 16 clamp freezing storing box 50 on frozen frame 43, then gets back to the position at handle hole 47 place and prepares to move up (calling control operation 5 in the following text); Then controlling the second motor 23 makes manipulator 16 move to the top (calling control operation 6 in the following text) of lid mouth 11 through lid mouth 11 from the inside of tank body 14; Control the first motor 30 again to close cover plate 10(and call control operation 7 in the following text); Control the 3rd motor 7, the 4th motor 4 and the 6th motor 1 again, make manipulator move to desired location and discharge freezing storing box 50(to call control operation 8 in the following text); Finally control the second motor 23, the 3rd motor 7 and the 4th motor 4, make manipulator 16 move to initial position (calling control operation 9 in the following text).
In said process, the order between control operation 1,2,3 can adjust according to the time of real-world operation, to reduce the time of cover plate 10 unlatching for principle as far as possible; Control operation 4-9 compares ideal in order, but also can adjust according to actual needs.
When needing the freezing storing box 50 of outside to be stored on the frozen frame 43 in tank body 14, its process and upper comparing class are seemingly, manipulator 16 just will be made first to clamp freezing storing box 50, move in tank body 14 again, and freezing storing box 50 is positioned on frozen frame 43, finally manipulator 16 shifted out tank body 14 and make it get back to initial position.
Above-mentioned control operation process is the control flow being easy to the routine expected on the architecture basics of the automatic access machinery hand shift device of liquid nitrogen cryopreservation tank described in the utility model; also be the conventional using method of the automatic access machinery hand shift device of this liquid nitrogen cryopreservation tank; not innovation scheme of the present utility model, do not belong to protection category of the present utility model yet.
Illustrate: the apparatus for placing of the freezing storing box 50 in above-mentioned tank body 14 is preferred structures, the innovative design focusing on the automatic control structure of manipulator 16 of the present utility model.
Above-described embodiment is preferred embodiment of the present utility model; it is not the restriction to technical solutions of the utility model; as long as without the technical scheme that creative work can realize on the basis of above-described embodiment, all should be considered as falling within the scope of the rights protection of the utility model patent.
Claims (10)
1. the automatic access machinery hand shift device of a liquid nitrogen cryopreservation tank, described liquid nitrogen cryopreservation tank comprises tank body and is installed on the upper cover on described tank body, be placed with freezing storing box in described tank body, the lid mouth be interlinked to the outside in the non-central location of described upper cover is provided with, described lid mouth is provided with cover plate, it is characterized in that: described automatic access machinery hand shift device also comprises controller, first motor ~ the 6th motor, manipulator, mechanical arm, first pivoted arm, second pivoted arm, load-bearing pillar and mount pad, described first motor ~ the 6th motor is controlled by described controller respectively, described first motor be installed on described on cover and control the keying of described cover plate, vertical described load-bearing pillar be installed on described on cover, described mount pad to be installed on described load-bearing pillar and by be installed on described on described second electric machine control that covers move up and down, the first end of horizontal described first pivoted arm to be installed on described mount pad and by being installed on the described 3rd electric machine control transverse rotation on described mount pad, the first end of horizontal described second pivoted arm be installed on described first pivoted arm the second end and by the described 4th electric machine control transverse rotation of the second end of being installed on described first pivoted arm, described 5th motor is installed on the second end of described second pivoted arm, described 6th motor is installed on the upper end of vertical described mechanical arm, the upper end of described mechanical arm is installed on the second end of described second pivoted arm and is rotated around himself central axis by described 5th electric machine control, described manipulator is installed on the lower end of described mechanical arm, described mechanical arm is provided with a robotic transfer axle, described in described 6th electric machine control, robotic transfer axle moves up and down the keying realizing manipulator.
2. the automatic access machinery hand shift device of liquid nitrogen cryopreservation tank according to claim 1, it is characterized in that: the rotating shaft of described first motor is connected with the centre hole of the first gear, described first gear is connected with the second gears meshing, the centre hole of described second gear is connected with one end of the first transmission shaft, described first transmission shaft is fixedly connected with driver plate, and described driver plate is fixedly connected with the upper surface of described cover plate.
3. the automatic access machinery hand shift device of liquid nitrogen cryopreservation tank according to claim 1, it is characterized in that: be provided with vertical screw rod in described load-bearing pillar, described screw rod is rotated around himself central axis by described second electric machine control; Described load-bearing pillar is provided with vertical lifting groove, and described screw rod is placed in described lifting groove, and described mount pad is provided with the elevator of evagination, and the center of described elevator is provided with vertical screw, and described elevator is set on described screw rod by described screw; Described load-bearing pillar is also provided with the position-limited trough of vertical inner wide and outer narrow, described mount pad is also provided with the interior narrow outer wide limiting stopper of evagination, described limiting stopper is placed in described position-limited trough.
4. the automatic access machinery hand shift device of liquid nitrogen cryopreservation tank according to claim 1, it is characterized in that: the rotating shaft of described 3rd motor is connected with the centre hole of the 3rd gear, described 3rd gear is connected with the 4th gears meshing, the centre hole of described 4th gear is connected with one end of second driving shaft, and the other end of described second driving shaft is fixedly connected with described first pivoted arm.
5. the automatic access machinery hand shift device of liquid nitrogen cryopreservation tank according to claim 1, it is characterized in that: the rotating shaft of described 4th motor is connected with the centre hole of the 5th gear, described 5th gear is connected with the 6th gears meshing, the centre hole of described 6th gear is connected with one end of the 3rd transmission shaft, and the other end of described 3rd transmission shaft is fixedly connected with described second pivoted arm.
6. the automatic access machinery hand shift device of liquid nitrogen cryopreservation tank according to claim 1, it is characterized in that: the rotating shaft of described 5th motor is connected with the centre hole of the 7th gear, described 7th gear and octadentate are taken turns and are connected with a joggle, and the centre hole of described octadentate wheel is fixedly connected with described mechanical arm.
7. the automatic access machinery hand shift device of liquid nitrogen cryopreservation tank according to claim 1, it is characterized in that: the rotating shaft of described 6th motor is connected with the centre hole of the 9th gear, described 9th gear is connected with the tenth gears meshing, the center bore inner wall of described tenth gear is provided with screw thread, the excircle of described robotic transfer axle is provided with screw thread, and the centre hole of described tenth gear is set in outside described robotic transfer axle.
8. the automatic access machinery hand shift device of liquid nitrogen cryopreservation tank according to claim 7, it is characterized in that: described manipulator comprises a bottom plate be fixedly connected with described mechanical arm and a upper mobile board be rotatably connected with described mechanical arm, approximate mid-section position and the described mechanical arm of described upper mobile board are rotatably connected, the rear portion of described upper mobile board and the lower end of described robotic transfer axle are rotatably connected, and front portion and the described bottom plate of described upper mobile board form holding device.
9. according to the automatic access machinery hand shift device of the liquid nitrogen cryopreservation tank of claim 1-8 described in any one, it is characterized in that: in described tank body, be provided with pallet, described pallet is provided with frozen frame, described freezing storing box is positioned on described frozen frame, described automatic access machinery hand shift device also comprises the 7th motor, described 7th motor be installed on described on cover and control described pallet transverse rotation by the vertical center shaft being installed on described tank body center.
10. the automatic access machinery hand shift device of liquid nitrogen cryopreservation tank according to claim 9, it is characterized in that: described frozen frame is multiple-structure, every layer of described frozen frame is included in the multiple frozen region of the circumferencial direction setting centered by described center shaft, described frozen frame in each described frozen region is respectively equipped with the corresponding and handle hole that is that stretch into for manipulator in multiple and described Gai Kou position, described frozen frame around described handle hole is provided with multiple rest area for placing described freezing storing box, each described rest area is provided with breach near the position of described handle hole.
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| CN107972999A (en) * | 2017-12-19 | 2018-05-01 | 上海原能细胞生物低温设备有限公司 | A kind of freezing storing box storage tank |
| CN107972967A (en) * | 2017-12-19 | 2018-05-01 | 上海原能细胞生物低温设备有限公司 | A kind of cryogenic storage tank |
| CN113040132A (en) * | 2021-03-22 | 2021-06-29 | 浙江大学 | Sperm cryopreservation method based on protective agent |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107600859A (en) * | 2017-09-21 | 2018-01-19 | 基点维科(成都)医疗机器人技术有限公司 | Biological specimen low-temperature extraction method and extraction system |
| CN107972999A (en) * | 2017-12-19 | 2018-05-01 | 上海原能细胞生物低温设备有限公司 | A kind of freezing storing box storage tank |
| CN107972967A (en) * | 2017-12-19 | 2018-05-01 | 上海原能细胞生物低温设备有限公司 | A kind of cryogenic storage tank |
| CN107972967B (en) * | 2017-12-19 | 2023-12-05 | 上海原能细胞生物低温设备有限公司 | Low-temperature storage tank |
| CN107972999B (en) * | 2017-12-19 | 2023-12-19 | 上海原能细胞生物低温设备有限公司 | Freezing box storage tank |
| CN113040132A (en) * | 2021-03-22 | 2021-06-29 | 浙江大学 | Sperm cryopreservation method based on protective agent |
| CN113040132B (en) * | 2021-03-22 | 2022-03-25 | 浙江大学 | Sperm cryopreservation method based on protective agent |
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