CN218909006U

CN218909006U - Freezing box taking and placing device

Info

Publication number: CN218909006U
Application number: CN202223407429.1U
Authority: CN
Inventors: 胡佳霖; 黄轶; 何森
Original assignee: Base Biotechnology Chengdu Co ltd
Current assignee: Base Biotechnology Chengdu Co ltd
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-04-25
Anticipated expiration: 2032-12-16

Abstract

The utility model discloses a frozen storage box taking and placing device which comprises a mounting substrate, a driving mechanism, a lifting mechanism and a pushing-out mechanism, wherein an avoidance hole is formed in the mounting substrate, and the lifting mechanism is arranged around the avoidance hole; the driving mechanism is respectively connected with the lifting mechanism and the pushing-out mechanism. When the lifting mechanism is connected with the target access frame, the lifting mechanism can drive the target access frame to move along the vertical direction and pass through the avoidance hole under the drive of the driving mechanism; the pushing-in and pushing-out mechanism is arranged around the avoiding hole. When the target storage area of the target access rack is located at a height position where the target storage area is in butt joint with the pushing-in pushing-out mechanism, the pushing-in pushing-out mechanism is driven by the driving mechanism to move relative to the mounting substrate in a direction perpendicular to the vertical direction so as to push the target freezing storage box into the target storage area or push the target freezing storage box out of the target storage area. The technical scheme of the utility model has the advantages of less time consumption and high efficiency when the freezing box is stored and taken.

Description

Freezing box taking and placing device

Technical Field

The application relates to the technical field of biological sample preservation, in particular to a freezing storage box taking and placing device.

Background

The biological sample low-temperature storage device is an important basic device in the current biomedical field, and a low-temperature environment can be generated inside the biological sample low-temperature storage device. When a biological tissue sample such as blood, stem cells and immune cells is stored at a low temperature, the biological sample is usually placed in a freezing tube, the freezing tube can be further placed on a freezing frame after being placed in a freezing box, and the freezing frame is placed in a low-temperature environment, so that the biological sample can be kept active for a long time, and long-term stable storage of the biological sample is realized.

In the prior art, in the biological sample low-temperature storage device, the freezing boxes are usually stored in a low-temperature environment in a mode of stacking from bottom to top in sequence, so that if the freezing box at the bottommost layer is to be taken out of the low-temperature environment, the freezing box at the upper side of the freezing box needs to be taken out or moved away through a grabbing device in sequence, and then the freezing box can be finally taken out.

For example, the patent with publication number CN209027170U adopts a similar way of storing and taking out a freezing box, and the biological sample low-temperature storage device disclosed in the patent comprises a refrigerator mechanism, one end of the refrigerator mechanism is provided with a transfer box transmission mechanism, a plurality of storage square tubes are arranged in the refrigerator mechanism, and a first grabbing device is arranged on the upper side of the refrigerator mechanism. The process of storing and taking out the freezing box by the low-temperature storage device is as follows: the method comprises the steps that firstly, a frozen storage box of a transfer tank is taken out and moved to the upper side of a storage square tube through a first grabbing device, then the frozen storage box is placed inside the storage square tube through the first grabbing device, and the frozen storage box is stored in the storage square tube in a mode of being stacked from bottom to top in sequence.

Therefore, the frozen box positioned on the non-top layer can be taken out by the first grabbing device for multiple grabbing operations in the process of taking out the frozen box inside the storage square tube in the prior art, so that the time consumption is long, and the access efficiency of the frozen box can be reduced.

Disclosure of Invention

To above-mentioned not enough among the prior art, this application provides a cryopreservation box and gets puts device, can solve among the prior art take out the cryopreservation box operation have time consuming longer, and the lower problem of efficiency.

The application provides a freeze and deposit box and get put device, include: the mounting substrate is provided with an avoidance hole;

the driving mechanism is respectively connected with the lifting mechanism and the pushing-in and pushing-out mechanism;

the lifting mechanism is arranged around the avoidance hole; when the lifting mechanism is connected with the target access frame, the lifting mechanism is driven by the driving mechanism to drive the target access frame to move along the vertical direction and pass through the avoidance hole; the target storage rack comprises at least two layers of sample placement areas which are sequentially arranged along the vertical direction, and one of all the sample placement areas is a target storage area;

the pushing-in and pushing-out mechanism is positioned around the avoidance hole; when the target access rack passes through the avoidance hole and the target storage area is located at a height position where the target storage area is in butt joint with the pushing-out mechanism, the pushing-out mechanism is driven by the driving mechanism to move relative to the mounting substrate in a direction perpendicular to the vertical direction so as to push the target freezing box into the target storage area or push the target freezing box out of the target storage area.

In an optional embodiment of the present application, the frozen storage box taking and placing device further includes a frozen storage box grabbing mechanism and a temporary storage refrigerator; a temporary storage area is also arranged above the mounting substrate; the frozen box grabbing mechanism is connected with the driving mechanism, and driven by the driving mechanism, the frozen box grabbing mechanism places the target frozen box in the temporary storage area into the temporary storage refrigerator or places the target frozen box in the temporary storage refrigerator into the temporary storage area.

In an optional embodiment of the present application, the freezing box grabbing mechanism includes a first manipulator assembly, a horizontal moving assembly and a vertical moving assembly, where the horizontal moving assembly and the vertical moving assembly are respectively connected with the driving mechanism;

the first manipulator assembly is arranged on the vertical moving assembly, and the vertical moving assembly is driven by the driving mechanism to drive the first manipulator assembly to move along the vertical direction;

the vertical moving assembly is movably connected to the horizontal moving assembly, and the horizontal moving assembly is driven by the driving mechanism to drive the vertical moving assembly to move along the direction vertical to the vertical direction.

In an alternative embodiment of the present application, the pushing-in and pushing-out mechanism includes a pushing-in assembly and a pushing-out assembly respectively connected with the driving mechanism; the pushing assembly is positioned at a first end of the avoidance hole and a second end opposite to the first end of the avoidance hole;

when the target storage area is positioned at a height position in butt joint with the pushing-in and pushing-out mechanism, the pushing-in assembly moves relative to the mounting substrate from the first end of the avoidance hole to the second end of the avoidance hole under the driving of the driving mechanism so as to abut against the target freezing box and push the target freezing box into the target storage area; or, the pushing-out assembly is driven by the driving mechanism to move from the second end of the avoidance hole to the first end of the avoidance hole relative to the mounting substrate so as to abut against the target freezing box in the target storage area and push out the target freezing box.

In an alternative embodiment of the present application, the push-in assembly includes a first push rod and a first transmission assembly, and the push-out assembly includes a second push rod and a second transmission assembly; the first push rod and the second push rod are respectively positioned at the first end and the second end of the avoidance hole;

The first transmission assembly is connected with the driving mechanism and the first end of the first push rod, and the end face of the second end of the first push rod faces the second end of the avoidance hole; the first transmission assembly is driven by the driving mechanism to drive the first push rod to move forwards or backwards relative to the mounting substrate along a first horizontal direction perpendicular to the vertical direction;

the second transmission assembly is connected with the driving mechanism and the first end of the second push rod, and the end face of the second end of the second push rod faces the first end of the avoidance hole; the second transmission assembly is driven by the driving mechanism to drive the second push rod to move backwards or forwards relative to the mounting substrate along a first horizontal direction perpendicular to the vertical direction.

In an alternative embodiment of the present application, the driving mechanism includes a first motor, and the first motor is fixedly connected to the first end of the first push rod;

the first transmission assembly comprises a first gear and a first rack which are connected in a meshed manner; the end face of the first gear is fixedly connected with the output shaft of the first motor; the first rack is arranged along the first horizontal direction and is fixedly connected with the mounting substrate;

When the output shaft of the first motor rotates, the first gear is driven to rotate relative to the first rack, so that the first push rod moves forward or backward relative to the first rack along the first horizontal direction.

In an alternative embodiment of the present application, the first transmission assembly further includes a first linear slide and a first slider;

the first linear slide rail is connected with the mounting substrate, and the first linear slide rail is arranged along the first horizontal direction; the first sliding block is in sliding connection with the linear sliding rail, and is fixedly connected with the first end of the first push rod;

when the output shaft of the first motor rotates, the first gear is driven to rotate relative to the first rack, so that the first push rod moves forward or backward along the first horizontal direction relative to the first linear sliding rail.

In an alternative embodiment of the present application, the second transmission assembly includes a first screw and a first nut; the driving mechanism comprises a second motor;

the first screw rod is arranged along the first horizontal direction, the first end of the first screw rod is connected with the output shaft of the second motor, and the second end of the first screw rod is in threaded connection with the first nut; the first nut is connected with the first end of the second push rod; when the output shaft of the second motor rotates, the first screw rod rotates relative to the first nut, so that the first nut drives the second push rod to move along the first horizontal direction relative to the first screw rod.

In an alternative embodiment of the present application, the drive mechanism includes an eleventh motor; the pushing-in and pushing-out mechanism comprises a fifth screw rod and a fifth nut, and an electric finger or a shovel plate; the fifth screw rod is arranged along the direction vertical to the vertical direction, an output shaft of the eleventh motor is connected with the first end of the fifth screw rod, the fifth nut is in threaded connection with the second end of the fifth screw rod, and the electric finger or the shovel plate is connected with the fifth nut;

when the output shaft of the eleventh motor rotates, the fifth screw rod is driven to rotate relative to the fifth nut, so that the electric finger or the shovel plate moves relative to the fifth screw rod along the direction perpendicular to the vertical direction.

In an alternative embodiment of the present application, the driving mechanism includes a fifth motor and a sixth motor; the lifting mechanism comprises a Z-axis movement assembly and a clamping assembly;

an output shaft of the sixth motor is connected with the Z-axis motion assembly, and the clamping assembly and the fifth motor are arranged on the Z-axis motion assembly; the Z-axis movement assembly is driven by the sixth motor to drive the clamping assembly and the fifth motor to move along the vertical direction;

The clamping assembly comprises a hook, a vertical movement connecting piece with the shape matched with that of the hook is arranged on the upper side of the target access frame, and an output shaft of the fifth motor is fixedly connected with the hook; when the output shaft of the fifth motor rotates, the hook is driven to rotate relative to the vertical movement connecting piece and form connection.

According to the frozen storage box taking and placing device, the lifting mechanism is connected with the target storage rack, so that the target storage rack can be lifted or lowered along the vertical direction; when the lifting mechanism passes through the avoidance hole and lifts the position of the target storage area of the target access rack to the height position in which the pushing-out mechanism is in butt joint, the pushing-in pushing-out mechanism can push the target frozen storage box into the target storage area of the target access rack or push out the target frozen storage box positioned in the target storage area of the target access rack. Thereby when taking out the target and freeze the case from the target access frame, need not to be located the frozen case of the intraductal target frozen case upside of storage side like prior art in earlier and take out, then just can take out the target and freeze the case, the frozen case that this application provided gets the device and freezes the time consuming that the case was got and put and is carried out frozen case access less (especially the in-process time consuming of taking out the frozen case is shorter) to efficiency has been improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is an assembly schematic diagram of a device for taking and placing a freezing storage box according to an embodiment of the present application;

fig. 2 is a schematic diagram of the structure and assembly of the mounting substrate, the lifting mechanism, the pushing-out mechanism, the frozen box grabbing mechanism, the temporary storage refrigerator and the translation mechanism according to the embodiment of the present application;

FIG. 3 is a schematic view illustrating the structure and assembly of a temporary storage refrigerator according to an embodiment of the present disclosure;

fig. 4 is a schematic structural and assembly diagram of a gripping mechanism of a freezing box according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of the structure and assembly of the lifting mechanism and the guiding mechanism provided in the embodiments of the present application;

FIG. 6 is a schematic view of a part of a lifting mechanism according to an embodiment of the present disclosure;

FIG. 7 is a schematic illustration of the structure and assembly of a push-out assembly according to an embodiment of the present disclosure;

FIG. 8 is a schematic illustration of a push-in assembly according to an embodiment of the present disclosure;

Fig. 9 is a schematic structural diagram of a freezing shelf according to an embodiment of the present application.

Reference numerals illustrate:

10. a freezing refrigerator; 20. a freezing storage rack; 20A, a target access rack; 20B, a target cryopreservation box; 201. a vertical motion link; 201a, connection through holes; 202. a second positioning member; 30. a mounting substrate; 301. avoidance holes; 302. a temporary storage area; 40. a lifting mechanism; 401. a Z-axis motion assembly; 401a, ninth linear slide rail; 401b, ninth slider; 402. a clamping assembly; 4021. a hook; 4022. a first positioning member; 403. a first sensor; 404. a second sensor; 405. an induction block; 50. pushing in the pushing-out mechanism; 5011. a first push rod; 5012a, a first gear; 5012b, a first rack; 5012c, a first linear slide; 5012d, a first slider; 5013. a push rod mounting plate; 5021. a second push rod; 5022. a second transmission assembly; 601. a first motor; 605. a fifth motor; 70. a translation mechanism; 80. a riser; 90. a frozen box grabbing mechanism; 901. a first manipulator assembly; 901a, grabbing a manipulator by a freezing box; 901b, a grabbing manipulator of a freezing storage tube; 902. a horizontal movement assembly; 9021. a third screw rod; 9023. a fourth screw rod; 9025. a support base; 903. a vertical movement assembly; 100. temporarily storing the refrigerator; 1001. temporary storage box body; 1002. a positioning plate; 1003. a positioning groove; 110. a guide mechanism; 1101. a guide frame; 1102. a guide wheel; 120. a docking mechanism; 140. and a main frame.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.

Referring to fig. 1-9, an embodiment of the present application provides a device for taking and placing a freezing storage box, which includes a mounting substrate 30, a driving mechanism (not shown), a lifting mechanism 40 and a pushing-pushing mechanism 50, wherein an avoidance hole 301 is provided on the mounting substrate 30.

The driving mechanism is connected to the lifting mechanism 40 and the push-in and push-out mechanism 50, respectively.

The lifting mechanism 40 is installed around the escape hole 301. When the lifting mechanism 40 is connected with the target access frame 20A, the lifting mechanism 40 drives the target access frame 20A to move along the vertical direction and pass through the avoiding hole 301 under the drive of the driving mechanism; the target access rack 20A includes at least two layers of sample placement areas sequentially arranged in the vertical direction, and one of all the sample placement areas is a target storage area.

The push-out mechanism 50 is located around the escape hole 301. When the target access rack 20A passes through the avoidance hole 301 and the target storage area is located at a height position where it interfaces with the push-out mechanism 50, the push-out mechanism 50 is driven by the driving mechanism to move in a direction perpendicular to the vertical direction with respect to the mounting substrate 30 to push the target cryopreservation cassette 20B into the target storage area or push out the target cryopreservation cassette 20B located in the target storage area.

In this embodiment, the freezing storage box taking and placing device is located inside the biological sample low-temperature storage device, and the internal structure of the biological sample low-temperature storage device is shown in fig. 1. In addition to the cryopreservation cassette retrieval apparatus, the biological sample cryogenic storage device may include a cryopreservation refrigerator 10, a docking mechanism 120, a main frame 140, and a housing (not shown).

The housing is sleeved outside the main frame 140, and most parts in the biological sample low-temperature storage device are located inside the housing. The housing is provided with an access port, and a docking mechanism 120 is provided at the position of the access port. Biological samples to be cryopreserved are typically placed in a cryopreservation vessel in a cryopreservation cassette. The docking mechanism 120 is used for receiving the target cryopreservation cassette 20B from the outside of the biological sample cryogenic storage device from the access port and transferring the target cryopreservation cassette 20B to the inside of the biological sample cryogenic storage device; or the target freezing box 20B located inside the biological sample low temperature storage device is transferred to the access port for taking from the user outside the biological sample low temperature storage device.

The interior of the refrigerator 10 has a low temperature storage area in which a plurality of shelves are placed, in which a low temperature environment is generally generated. To store the freezing box in low temperature environment. Wherein, the low temperature environment generally refers to an environment with a temperature of-80 ℃ or below-80 ℃, and the preservation of the biological sample in the environment can reduce the biochemical reaction of the biological sample and maintain the stability of various components in the biological sample. The biological sample low-temperature storage device can comprise one or more freezing refrigerators 10, and the number of the freezing refrigerators 10 is not limited in the embodiment, and can be reasonably set according to actual application requirements. For example, the biological sample cryogenic storage device shown in fig. 1 includes 5 freezing refrigerators 10 placed side by side.

When the target freezing box 20B needs to enter the low-temperature storage area of the freezing refrigerator 10, the target freezing box 20B can be placed on the docking mechanism 120 through the access port, the freezing box taking and placing device can take the target freezing box 20B from the docking mechanism 120 and store the target freezing box into the target storage area of the target access frame 20A, and then the target freezing box 20B is placed in the freezing refrigerator 10 for low-temperature storage; when the target freezing box 20B needs to be taken out of the freezing refrigerator 10, the freezing box taking and placing device will take the target freezing box 20B out of the target storage area of the target access rack 20A and place the target freezing box on the docking mechanism 120 for the user to take the biological sample from the outside of the low-temperature storage device.

In this embodiment, one or more freezing frames 20 may be placed in the freezing refrigerator 10, at least one freezing frame 20 may include a plurality of sample placement areas sequentially set along the vertical direction, at least one freezing box may be placed in each sample placement area, and in this embodiment, the number of freezing frames 20 and the number of freezing boxes that may be placed on each freezing frame 20 are not limited, and may be set reasonably according to practical application requirements. In order to increase the number of low-temperature storages of the freezing boxes, it may be preferable that each freezing refrigerator 10 includes a plurality of freezing shelves 20, and that each freezing shelf 20 is provided with a plurality of sample placement areas.

In the present embodiment, the target freezing box 20B is a freezing box that needs to be taken out from the low-temperature storage area of the freezing refrigerator 10, or a freezing box that needs to be stored in the low-temperature storage area of the freezing refrigerator 10. The target freezing box 20B is placed in the target storage area of the target access rack 20A while being stored at a low temperature. The target storage rack 20A is one of all the freezing racks 20, and includes at least two layers of sample placement areas sequentially arranged in the vertical direction. The target storage area is one of all sample placement areas in the target access rack 20A.

In this embodiment, the drive mechanism is used to provide a driving force for the movement of the other mechanisms. The specific structural composition, the provided driving force, the setting position, the connection mode with other mechanisms, the shape and the size are not limited, and the driving force, the setting position, the connection mode with other mechanisms and the shape and the size can be reasonably set according to actual application requirements. For example, the driving mechanism may include a plurality of driving members, all or part of the driving members may be motors, and the driving forces provided by different motors may be the same or different, and different motors may be disposed at different positions of the freezer access device and respectively connected to and providing driving forces for different other mechanisms.

Further, in view of the price of the low temperature motor suitable for use in the low temperature environment being more expensive than the normal temperature motor unsuitable for use in the low temperature environment, when the driving mechanism includes a plurality of motors, it may be preferable to use the normal temperature motor and set the position of the normal temperature motor outside the refrigerator 10.

In this embodiment, referring to fig. 1, a mounting substrate 30 is located on the upper side of the refrigerator 10, and is provided with a relief hole 301 for passing through a target access rack 20A. The specific shapes and sizes of the mounting substrate 30 and the avoidance hole 301 are not limited, and may be set reasonably according to practical application requirements, but the shape and size of the avoidance hole 301 need to ensure that the target access rack 20A can pass smoothly when moving along the vertical direction.

In this embodiment, the lifting mechanism 40 is at least used to adjust the height of the target access rack 20A in the vertical direction, so that the target storage area of the target access rack 20A is located at a height position where it is in butt joint with the push-in and push-out mechanism 50 or in the low temperature storage area of the refrigerator 10. Specifically, the freezing shelf 20 is generally placed in a low temperature storage area inside the freezing refrigerator 10, and when it is required to take out the target freezing box 20B located inside the freezing refrigerator 10 or to store the target freezing box 20B inside the freezing refrigerator 10, referring to fig. 4, the vertical height of the target access shelf 20A located inside the freezing refrigerator 10 may be lifted up by the lifting mechanism 40 and pass through the avoidance hole 301 of the mounting substrate 30 so that the target storage area is located at a height position where it interfaces with the push-out mechanism 50.

The lifting mechanism 40 may be detachably connected to the target access rack 20A or may be fixedly connected to the target access rack, which is not limited herein. For example, when the number of the freezing frames 20 is plural, the lifting mechanism 40 may be detachably connected with all the freezing frames 20, and when the target freezing box 20B needs to be stored or taken out, the lifting mechanism 40 only establishes connection with the target storage frame 20A and drives the target storage frame 20A to move along the vertical direction; the lifting mechanism 40 may be fixedly connected with all the freezing frames 20, and only drives the target storage frame 20A to move along the vertical direction when the target freezing box 20B needs to be stored or taken out.

In addition, the structural composition, installation position, shape and size of the lifting mechanism 40 are not limited, and can be reasonably set according to practical application requirements.

In this embodiment, the push-out mechanism 50 is located on the upper side of the refrigerator 10, and the push-out mechanism 50 is used to push the target cryopreservation cassette 20B into the target storage area or push out the target cryopreservation cassette 20B located in the target storage area after the lifting mechanism 40 lifts the position of the target storage area to the upper side of the refrigerator 10. The specific structural composition, shape and size of the push-in and push-out mechanism 50 are not limited, and can be reasonably set according to practical application requirements.

In this embodiment, the height position where the target storage area is in butt joint with the push-in and push-out mechanism 50 means that the push-in and push-out mechanism 50 can push the frozen box into or out of the target storage area, and the specific height is not limited, and in practical application, the height position where the target storage area is in butt joint with the push-in and push-out mechanism 50 may be different for different types of push-in and push-out mechanisms 50 according to the structural composition, shape, size, etc. of the push-in and push-out mechanism 50.

In this embodiment, the target freezing box 20B may be located in a temporary placement area before being pushed into the target storage area of the target access rack 20A and after being pushed out from the target storage area of the target access rack 20A, and the specific setting manner of the temporary placement area is not limited, and may be reasonably set according to the actual application requirement. For example, a tray may be provided, the upper portion of which is a temporary placement area; a temporary placement area may be provided on the mounting substrate 30.

In this embodiment, the workflow of placing the target cryopreservation cassette 20B into the inside of the biological sample cryopreservation apparatus from the outside for cryopreservation includes: a user places the target cryopreservation cassette 20B on the docking mechanism 120 through the access port from outside the biological sample cryogenic storage device; docking mechanism 120 transfers target cryopreserved cassette 20B to a temporary placement area; the lifting mechanism 40 is connected with the target access frame 20A, and drives the target access frame 20A to move upwards in the vertical direction from the low-temperature storage area of the freezing and storing refrigerator 10 under the drive of the driving mechanism until the target access frame 20A passes through the avoiding hole 301 and the target storage area is located at a height position in butt joint with the push-in and push-out mechanism 50; the push-in push-out mechanism 50 moves in a direction perpendicular to the vertical direction with respect to the mounting substrate 30 under the drive of the drive mechanism to push the target cryopreservation cassette 20B from the temporary placement area to the target storage area of the target access rack 20A; the lifting mechanism 40 is driven by the driving mechanism to drive the target access rack 20A to move downward in the vertical direction until the target access rack 20A is completely placed in the low-temperature storage area of the refrigerator 10.

In the present embodiment, the workflow of taking out the target cryopreservation cassette 20B from inside the biological sample cryogenic storage apparatus includes: the lifting mechanism 40 is connected with the target access frame 20A, and drives the target access frame 20A to move upwards in the vertical direction from the low-temperature storage area of the freezing and storing refrigerator 10 under the drive of the driving mechanism until the target access frame 20A passes through the avoiding hole 301 and the target storage area is located at a height position in butt joint with the push-in and push-out mechanism 50; the push-in push-out mechanism 50 moves in a direction perpendicular to the vertical direction with respect to the mounting substrate 30 under the drive of the drive mechanism to push out the target cryopreservation cassette 20B from the target storage area of the target access rack 20A to the temporary placement area; the lifting mechanism 40 is driven by the driving mechanism to drive the target access rack 20A to move downwards in the vertical direction until the target access rack 20A is completely placed in the low-temperature storage area of the freezing refrigerator 10, and the docking mechanism 120 transfers the target freezing box 20B from the temporary placement area to the access port, so that a user can take the target freezing box 20B from the outside of the biological sample low-temperature storage apparatus through the access port.

Alternatively, in order to simplify the overall structure, it may be preferable that a temporary storage area 302 for temporarily placing the target cryopreservation cassette 20B is also provided on the mounting substrate 30, i.e., the temporary placement area may be located on the mounting substrate 30. The specific shape and size of the temporary storage area 302 is not limited, but it is necessary to ensure that at least one target freezing box 20B can be placed thereon.

Alternatively, in order to improve space utilization and simplify the structure of the push-out mechanism 50, the push-out mechanism 50 may include a push-in assembly (not shown) and a push-out assembly (not shown) respectively connected to the driving mechanism.

Specifically, the pushing assembly is located at a first end of the avoidance hole 301, the pushing assembly is located at a second end of the avoidance hole 301, and the first end of the avoidance hole 301 and the second end of the avoidance hole 301 are distributed relatively.

When the lifting mechanism 40 drives the target storage rack 20A to move along the vertical direction and enables the target storage area to be located at the height position where the target storage area is in butt joint with the pushing-in and pushing-out mechanism 50, the pushing-in assembly can move relative to the mounting substrate 30 from the first end of the avoidance hole 301 to the second end of the avoidance hole 301 under the driving of the driving mechanism so as to push the target freezing storage box 20B into the target storage area; alternatively, the push-out assembly is driven by the driving mechanism to move from the second end of the escape hole 301 to the first end of the escape hole 301 with respect to the mounting substrate 30 to abut against the target cryopreservation cassette 20B located in the target storage area and push out the target cryopreservation cassette 20B.

The connection mode of the driving mechanism, the pushing-in assembly and the pushing-out assembly is not limited, and the driving mechanism, the pushing-in assembly and the pushing-out assembly can be reasonably selected according to actual application requirements. For example, the drive mechanism may be manually or electrically driven to drive the push-in and push-out assemblies, respectively. For another example, when the driving mechanism adopts an electric driving mode, the driving mechanism can comprise a motor, and the pushing-out assembly and the pushing-in assembly are respectively driven to move through different control and transmission modes; the drive mechanism may further comprise two motors respectively connected to the push-out assembly and the push-in assembly, one motor for driving the push-out assembly in motion and the other motor for driving the push-in assembly in motion.

The specific orientation of the push-in assembly relative to the mounting substrate 30 from the first end of the relief hole 301 to the second end of the relief hole 301 may be seen in the x-direction in fig. 8; the specific direction of movement of the ejector assembly relative to the mounting substrate 30 from the second end of the relief hole 301 to the first end of the relief hole 301 can be seen in the direction opposite to the x-direction in fig. 8.

Further, when the mounting substrate 30 includes the temporary storage area 302, the temporary storage area 302 and the escape hole 301 may be provided at adjacent positions on the upper side of the mounting substrate 30, and the push-in member and the temporary storage area 302 may each be located at a first end on the upper side of the escape hole 301, so that the push-in member may push the target cryopreservation cassette 20B from the temporary storage area 302 into the target storage area, and the push-out member may push the target cryopreservation cassette 20B into the temporary storage area 302.

Further, in order to simplify the structural composition while ensuring smooth pushing of the target cryopreservation cassette 20B, it may be preferable that both the pushing-in assembly and the pushing-out assembly include push rods and are respectively connected to the driving mechanism through the transmission assembly.

Specifically, the push-in assembly includes a first push rod 5011 and a first transmission assembly (not shown), and the push-out assembly includes a second push rod 5021 and a second transmission assembly 5022; the first push rod 5011 and the second push rod 5021 are respectively located at a first end and a second end of the avoiding hole 301, and the first transmission assembly and the second transmission assembly 5022 are respectively connected with the driving structure.

The first transmission component is connected with the driving mechanism and the first end of the first push rod 5011, and the end face of the second end of the first push rod 5011 faces the second end of the avoidance hole 301; the first transmission assembly is driven by the driving mechanism to drive the first push rod 5011 to move forward or backward relative to the mounting substrate 30 in a first horizontal direction perpendicular to the vertical direction.

The second transmission component 5022 is connected with the driving mechanism and the first end of the second push rod 5021, and the end face of the second end of the second push rod 5021 faces the first end of the avoiding hole 301; the second transmission assembly 5022 is driven by the driving mechanism to drive the second push rod 5021 to move backward or forward relative to the mounting substrate 30 along a first horizontal direction perpendicular to the vertical direction.

The specific direction is not limited, and can be determined according to the arrangement position of related parts in practical application. For example, referring to fig. 7 and 8, the vertical direction may be a z direction in the coordinate system of the drawing or a direction opposite thereto, and the first horizontal direction may be an x direction in the coordinate system of the drawing or a direction opposite thereto.

In addition, the number, shape, size and connection mode with the transmission assembly of the first push rod 5011 and the second push rod 5021 are not limited, and can be reasonably selected according to practical application requirements. For example, referring to fig. 7 and 8, the number of the first push rod 5011 and the second push rod 5021 may be two and arranged in parallel to avoid that the target freezing compartment 20B cannot move in the first horizontal direction due to uneven stress during pushing of the target freezing compartment 20B.

Further, in order to automatically drive the first push rod 5011 and improve space utilization, a first motor 601 connected to the first push rod 5011 may be provided; the first transmission assembly includes a first rack 5012b connected to the mounting substrate 30, and a first gear 5012a fixedly connected to an output shaft of the first motor 601, the first rack 5012b being engaged with the first gear 5012 a. So that when the output shaft of the first motor 601 rotates, the first rack 5012b and the first gear 5012a can convert the rotational movement of the output shaft of the first motor 601 into the linear movement of the first push rod 5011 in the first horizontal direction.

Specifically, referring to fig. 8, the driving mechanism includes a first motor 601, and a main body of the first motor 601 is connected to a first end of a first push rod 5011. The first transmission assembly comprises a first gear 5012a and a first rack 5012b which are in meshed connection, and the end surface of the first gear 5012a is connected with the output shaft of the first motor 601. The first rack 5012b is disposed in a first horizontal direction and is connected to the mounting substrate 30. When the output shaft of the first motor 601 rotates, the first gear 5012a is driven to rotate relative to the first rack 5012b, such that the first gear 5012a drives the first motor 601 and the first push rod 5011 to move forward or backward along the first horizontal direction relative to the first rack 5012b and the mounting substrate 30, i.e., the first gear 5012a can drive the first push rod 5011 to move forward or backward along the first horizontal direction relative to the first rack 5012 b.

Wherein, the first push rod 5011 is connected with the main body of the first motor 601 and cannot be connected with the output shaft of the first motor 601, i.e. the first push rod 5011 cannot rotate with the rotation of the output shaft of the first motor 601. The main body of the first motor 601 may be directly connected to the first push rod 5011 or may be indirectly connected to the first push rod through other parts, which is not limited herein. For example, referring to fig. 8, the push-in assembly may further include a push-rod mounting plate 5013, with two first push rods 5011 mounted on the push-rod mounting plate 5013 and connected to the main body of the first motor 601 through the push-rod mounting plate 5013.

Further, in order to improve the smoothness of the movement of the first motor 601 and the first push rod 5011 in the first horizontal direction, guiding may be performed by a slider and slide rail structure. Specifically, referring to fig. 8, the first transmission assembly further includes a first linear slide 5012c and a first slider 5012d; the first linear slide 5012c is fixedly connected with the mounting substrate 30, and two ends of the first linear slide 5012c are disposed along a first horizontal direction and parallel to the first rack 5012 b. The first slider 5012d is slidably connected to the first linear slide 5012c, and the first slider 5012d is fixedly connected to the first end of the first push rod 5011.

When the output shaft of the first motor 601 rotates, the first gear 5012a is driven to rotate relative to the first rack 5012b, such that the first gear 5012a can drive the first motor 601, the first push rod 5011 and the first slider 5012d to move forward or backward along the first horizontal direction relative to the first rack 5012b, the first linear rail 5012c and the mounting substrate 30, i.e., the first gear 5012a can drive the first push rod 5011 to move forward or backward along the first horizontal direction relative to the first linear rail 5012 c.

Among them, in order to improve the space utilization, it is preferable that the first rack 5012b and the first linear rail 5012c have the same length and are disposed adjacently on the upper side of the mounting board 30.

Further, in order to automatically drive the second push rod 5021 and improve the stability of the second push rod 5021 moving along the first horizontal direction, the second push rod 5021 can be driven to move along the first horizontal direction through the linear slider module.

Specifically, the second transmission assembly 5022 includes a first lead screw (not shown) and a first nut (not shown); the drive mechanism includes a second motor (not shown). The first screw rod is arranged along the first horizontal direction, the first end of the first screw rod is connected with the output shaft of the second motor, and the second end of the first screw rod is in threaded connection with the first nut; the first nut is connected with the first end of the second push rod 5021; when the output shaft of the second motor rotates, the first screw rod rotates relative to the first nut, so that the first nut drives the second push rod 5021 to move relative to the first screw rod along the first horizontal direction.

The linear slide block module is also called as an industrial robot, a single-shaft mechanical arm, a linear module, a linear slide block, an electric slide block and the like. The transmission mode of the linear slide block module can be divided into three types, the first type is that a motor drives a ball line rod to transmit, the second type is that the motor drives a belt to transmit, the third type is that the motor drives a rack and pinion to transmit, and the three types of linear modules all use a guide rail as a guiding mechanism.

Optionally, the drive mechanism includes an eleventh motor (not shown); the push-out mechanism 50 includes a fifth screw (not shown) and a fifth nut (not shown), and an electric finger (not shown) or a blade (not shown). The fifth screw rod is arranged in the direction perpendicular to the vertical direction, an output shaft of the eleventh motor is connected with the first end of the fifth screw rod, the fifth nut is in threaded connection with the second end of the fifth screw rod, and the electric finger or the shovel plate is connected with the fifth nut.

When the output shaft of the eleventh motor rotates, the fifth screw rod is driven to rotate relative to the fifth nut, so that the fifth nut moves relative to the fifth screw rod in a direction perpendicular to the vertical direction, and further the electric finger or the shovel plate moves relative to the fifth screw rod in a direction perpendicular to the vertical direction.

Wherein, through adopting having the pushing out mechanism 50 of shovel board or electronic finger, can only set up the pushing out mechanism 50 in the one side of dodging hole 301 to electronic finger and shovel board all can be used to deposit the target and freeze case 20B temporarily, need not to set up other structures or region again and be used for depositing the target temporarily and freeze case 20B, are favorable to simplifying the structure and improve space utilization.

Alternatively, when a plurality of freezing refrigerators 10 are included in the biological sample low-temperature storage apparatus and/or a plurality of freezing shelves 20 are included in each freezing refrigerator 10, in order to simplify the structural complexity of the lifting mechanism 40, it may be preferable that the lifting mechanism 40 be detachably connected to the target access shelf 20A. In addition, considering that different freezing frames 20 are located at different positions in the freezing refrigerator 10, the translation mechanism 70 may be provided to translate the lifting mechanism 40 to the upper side of the target access frame 20A in a direction parallel to the horizontal plane, so that the lifting mechanism 40 may be connected to the target access frame 20A to drive the target access frame 20A to move in the vertical direction.

Specifically, referring to fig. 2 and 3, the device for taking and placing a cryopreservation cassette further includes a translation mechanism 70, and the translation mechanism 70 is connected to the mounting substrate 30, the lifting mechanism 40, the push-in and push-out mechanism 50, and the driving mechanism. The translation mechanism 70 is driven by the driving mechanism to drive the mounting substrate 30, the lifting mechanism 40 and the pushing-in and pushing-out mechanism 50 to move on the upper sides of the plurality of freezing shelves 20 until the avoiding hole 301 is located on the upper side of the target access shelf 20A. Wherein the target access rack 20A is one of the plurality of freezing racks 20.

The connection manner of the translation mechanism 70 and the mounting substrate 30, the lifting mechanism 40, and the push-out mechanism 50 is not limited, and may be a direct connection or an indirect connection. For example, the mounting substrate 30, the lifting mechanism 40, and the push-in and push-out mechanism 50 may be mounted on the translation mechanism 70, respectively; the lifting mechanism 40 and the pushing-in and pushing-out mechanism 50 may be mounted on the mounting substrate 30, and the mounting substrate 30 may be mounted on the translation mechanism 70; it is also possible that the mounting base plate 30, the lifting mechanism 40 and the push-in and push-out mechanism 50 are mounted on a bracket, which in turn is mounted on the translation mechanism 70.

Further, referring to fig. 2 and 3, in order to facilitate installation of related components and improve space utilization, it may be preferable that the freezing storage box picking and placing device further includes a vertical plate 80 having both ends arranged in a vertical direction, a lower end of the vertical plate 80 being fixedly connected with the installation base plate 30, and the push-in push-out mechanism 50 and the lifting mechanism 40 being connected with the vertical plate 80; the riser 80 is connected to the translation mechanism 70.

Alternatively, referring to fig. 1, in order to store the target cryopreservation cassette 20B located outside the biological sample cryopreservation apparatus to a cryopreservation site within the cryopreservation refrigerator 10 or to transfer the target cryopreservation cassette 20B from the cryopreservation site within the cryopreservation refrigerator 10 to a location accessible outside the biological sample cryopreservation apparatus, the cryopreservation cassette retrieval apparatus further includes a cryopreservation cassette grasping mechanism 90, the cryopreservation cassette grasping mechanism 90 being coupled to the driving mechanism. The cryopreservation cassette gripping mechanism 90 is driven by the driving mechanism to transfer the target cryopreservation cassette 20B located in the temporary storage area 302 onto the docking mechanism 120 or to transfer the target cryopreservation cassette 20B on the docking mechanism 120 into the temporary storage area 302.

Alternatively, since the biological sample low-temperature storage apparatus moves the target cryopreservation cassette 20B located at the outside into the cryopreservation refrigerator 10 or moves the target cryopreservation cassette 20B in the cryopreservation refrigerator 10 to the outside, the target cryopreservation cassette 20B is usually placed at the outside of the cryopreservation refrigerator 10 for a certain period of time, for example, when the target cryopreservation cassette 20B is stored, it is necessary to place the target cryopreservation cassette 20B on the temporary storage area 302 on the mounting substrate 30 first, and the target cryopreservation cassette 20B can be stored in the target access rack 20A when the mounting substrate 30 is moved above the target storage rack 20A; or when the target freezing box 20B is taken out, the target freezing box 20B taken out from the target access rack 20A is placed on the temporary storage area on the mounting substrate 30, and the target freezing box 20B can be taken out from the equipment when the mounting substrate 30 moves to the position of the docking mechanism 120. However, the temperature of the exterior of the refrigerator 10 is relatively high, so in order to avoid the influence on the activity of the biological sample in the target freezing box 20B due to the excessively long exposure time of the target freezing box 20B to the exterior of the refrigerator 10 during the transferring process, a temporary storage refrigerator 100 for generating a low temperature environment may be provided to the exterior of the refrigerator 10 to temporarily store the target freezing box 20B.

Specifically, referring to fig. 2 to 4, the frozen box picking and placing device further includes a frozen box grabbing mechanism 90 and a temporary storage refrigerator 100, where the frozen box grabbing mechanism 90 may be driven by a driving mechanism to place the target frozen box 20B located in the temporary storage area 302 into the temporary storage refrigerator 100 or place the target frozen box 20B in the temporary storage refrigerator 100 into the temporary storage area 302.

Wherein the temporary storage refrigerator 100 is used to generate a low temperature environment and temporarily store the target cryopreservation cassette 20B in the low temperature environment. The low ambient temperature generated by the temporary storage refrigerator 100 may be the same as or different from the low ambient temperature generated by the freezing refrigerator 10, and the setting position, capacity, etc. of the temporary storage refrigerator 100 are not limited in this embodiment.

The cartridge gripping mechanism 90 may be used to transfer the target cartridge 20B between the interior of the temporary storage refrigerator 100 and the temporary storage area 302 of the mounting substrate 30 and/or to transfer the target cartridge 20B between the docking mechanism 120 and the temporary storage area 302 of the mounting substrate 30. The specific structural composition, driving mode, shape and size of the freezing box grabbing mechanism 90 are not limited, and can be reasonably selected according to practical application requirements.

The workflow of placing the target cryopreservation cassette 20B into the inside of the biological sample cryopreservation apparatus from the outside for cryopreservation includes: a user places the target cryopreservation cassette 20B on the docking mechanism 120 through the access port from outside the biological sample cryogenic storage device; the freezing box grabbing mechanism 90 transfers the target freezing box 20B into the temporary storage refrigerator 100; the temporary storage refrigerator 100, the frozen box grabbing mechanism 90, the mounting substrate 30, the lifting mechanism 40 and the pushing-in pushing-out mechanism 50 move above the frozen box 10 until the lifting mechanism 40 moves above the target storage and retrieval rack 20A, and the lifting mechanism 40 is connected with the target storage and retrieval rack 20A; the lifting mechanism drives the target access rack 20A to move upwards in the vertical direction from the low-temperature storage area of the freezing refrigerator 10 under the drive of the driving mechanism until the target access rack 20A passes through the avoidance hole 301 and the target storage area is positioned at a height position in butt joint with the push-in push-out mechanism 50, and meanwhile, the freezing box grabbing mechanism 90 can transfer the target freezing box 20B from the temporary storage refrigerator 100 to the temporary storage area 302 of the mounting substrate 30; the push-in push-out mechanism 50 is driven by the driving mechanism to move in a direction perpendicular to the vertical direction with respect to the mounting substrate 30 to push the target cryopreservation cassette 20B from the temporary storage area 302 into the target storage area of the target access rack 20A; the lifting mechanism 40 is driven by the driving mechanism to drive the target access rack 20A to move downward in the vertical direction until the target access rack 20A is completely placed in the low-temperature storage area of the refrigerator 10.

The workflow of taking out the target cryopreservation cassette 20B from inside the biological sample cryogenic storage device includes: the lifting mechanism 40 is connected with the target access frame 20A, and drives the target access frame 20A to move upwards in the vertical direction from the low-temperature storage area of the freezing and storing refrigerator 10 under the drive of the driving mechanism until the target access frame 20A passes through the avoiding hole 301 and the target storage area is located at a height position in butt joint with the push-in and push-out mechanism 50; the push-in push-out mechanism 50 is driven by the driving mechanism to move in a direction perpendicular to the vertical direction with respect to the mounting substrate 30 to push out the target cryopreservation cassette 20B from the target storage area of the target access rack 20A to the temporary storage area 302 of the mounting substrate 30; the cryopreservation box gripping mechanism 90 transfers the target cryopreservation box 20B from the temporary storage area 302 of the mounting substrate 30 into the temporary storage refrigerator 100; the temporary storage refrigerator 100, the frozen box grabbing mechanism 90, the mounting substrate 30, the lifting mechanism 40 and the pushing-in pushing-out mechanism 50 move above the frozen box 10 until the mounting substrate 30 is located at a position where the mounting substrate is in butt joint with the butt joint mechanism 120; the freezing box grabbing mechanism 90 transfers the target freezing box 20B from the temporary storage refrigerator 100 to the docking mechanism 120 so that the user can take the target freezing box 20B from the outside of the biological sample cryogenic storage apparatus through the access port.

Further, in order to improve space utilization, it is preferable that the temporary storage refrigerator 100 is installed at the lower side of the mounting substrate 30, and the freezing box gripping mechanism 90 is installed at the upper side of the mounting substrate 30. For example, referring to fig. 2 to 4, the temporary storage refrigerator 100 may be mounted on the lower side of the mounting substrate 30, and the mounting substrate 30 is provided with a communication hole (not shown) for communicating the inside of the temporary storage refrigerator 100; the freezing box grabbing mechanism 90 is installed at the upper side of the mounting substrate 30 and around the communication hole, so that the freezing box grabbing mechanism 90 can pass through the communication hole to transfer the target freezing box 20B located in the temporary storage refrigerator 100.

Further, in order to limit the target cryopreservation cassette 20B in the interior of the temporary storage refrigerator 100, a positioning plate 1002 for limiting the target cryopreservation cassette 20B may be provided in the interior of the temporary storage refrigerator 100. Specifically, referring to fig. 3, the temporary storage refrigerator 100 includes a temporary storage case 1001 and a positioning plate 1002; the temporary storage case 1001 is connected to the mounting board 30; the positioning plate 1002 is disposed on the inner bottom wall of the temporary storage box 1001, and the positioning plate 1002 is provided with a positioning groove 1003 adapted to the shape and size of the target freezing box 20B.

Further, referring to fig. 2 and 4, the freezing box grabbing mechanism 90 includes a first manipulator assembly 901, a horizontal moving assembly 902 and a vertical moving assembly 903, and the horizontal moving assembly 902 and the vertical moving assembly 903 are respectively connected with a driving mechanism. The first manipulator assembly 901 is mounted on the vertical moving assembly 903, and the vertical moving assembly 903 is driven by the driving mechanism to drive the first manipulator assembly 901 to move along the vertical direction. The vertical moving component 903 is movably connected to the horizontal moving component 902, and the horizontal moving component 902 is driven by the driving mechanism to drive the vertical moving component 903 and the first manipulator component 901 to move along a direction perpendicular to the vertical direction.

Wherein, through setting up first manipulator subassembly 901, can snatch and place target cryopreservation box 20B in a flexible way to through setting up horizontal movement subassembly 902 and vertical movement subassembly 903 can increase first manipulator subassembly 901's movable range. The specific structural composition, shape, size, etc. of the first manipulator assembly 901, the horizontal moving assembly 902, and the vertical moving assembly 903 are not limited herein, and may be reasonably set according to actual application requirements.

Alternatively, in order to improve the space utilization, two sets of moving mechanisms may be provided, and one set may be fixed to the other set, wherein the specific structural composition of the two sets of moving mechanisms is not limited. For example, the two groups of moving mechanisms can be an assembly formed by a gear and a rack, and can also be a linear slide block module.

Further, referring to fig. 4, the driving mechanism further includes a ninth motor (not shown) and a tenth motor (not shown); the horizontal movement assembly 902 includes a third screw 9021, a third nut (not shown), a fourth screw 9023, and a fourth nut (not shown).

The third screw rod 9021 is arranged along the fourth horizontal direction, the first end of the third screw rod 9021 is connected with an output shaft of a ninth motor, the second end of the third screw rod 9021 is connected with a third nut in a threaded manner, and the first manipulator assembly 901 is connected with the third nut; when the output shaft of the ninth motor rotates, the third screw 9021 rotates with respect to the third nut, so that the first robot assembly 901 and the third nut each move in the fourth horizontal direction.

The fourth screw rod 9023 is arranged along the fifth horizontal direction, the first end of the fourth screw rod 9023 is connected with an output shaft of a tenth motor, the second end of the fourth screw rod 9023 is in threaded connection with a fourth nut, and the fourth nut is connected with the third screw rod; when the output shaft of the tenth motor rotates, the fourth screw 9023 rotates with respect to the fourth nut such that the fourth nut, the third screw 9021, the third nut, and the first robot assembly 901 all move in the fifth horizontal direction with respect to the fourth screw 9023.

The fourth horizontal direction and the fifth horizontal direction are mutually perpendicular directions and are perpendicular to the vertical direction. For example, referring to fig. 2 and 4, the vertical direction may be the z direction or the opposite direction in the coordinate system in the drawing, the fourth horizontal direction may be the x direction or the opposite direction in the coordinate system in the drawing, and the fifth horizontal direction may be the y direction or the opposite direction in the coordinate system in the drawing.

Further, the specific orientations of the fourth horizontal direction and the fifth horizontal direction are not limited, and the fourth horizontal direction and the fifth horizontal direction may be the same as or different from one of the aforementioned first horizontal direction, third horizontal direction, and fourth horizontal direction, depending on the arrangement positions of the relevant components in practical use. For example, referring to fig. 4, the fourth horizontal direction may be the same as the first horizontal direction and the third horizontal direction, both being the x direction in the coordinate system in the figure or the opposite direction thereto; the fifth horizontal direction may be the same as the second horizontal direction, and may be the y direction or the opposite direction in the coordinate system in the figure.

Further, for more reasonable and simple overall structural layout, it may be preferable that the first horizontal direction, the third horizontal direction, the fourth horizontal direction, and the seventh horizontal direction are all the same, that is, the x direction in any coordinate system in the drawing or the opposite direction; the second horizontal direction, the fifth horizontal direction and the sixth horizontal direction are the same, i.e. the y direction in any coordinate system in the drawing or the opposite direction.

Further, referring to fig. 4, in order for the first manipulator assembly 901 to simultaneously achieve gripping of the target cryopreservation cassette 20B and tube picking of the cryopreserved tubes, the first manipulator assembly 901 may include a cryopreservation cassette gripping manipulator 901a and a tube gripping manipulator 901B, and both the cryopreservation cassette gripping manipulator 901a and the tube gripping manipulator 901B are connected to the vertical moving assembly 903.

Further, in order to enable the first robot assembly 901, the horizontal movement assembly 902, and the vertical movement assembly 903 to be stably mounted on the upper side of the mounting substrate 30, referring to fig. 4, the freezing box grabbing mechanism 90 may further include a support base 9025, the support base 9025 being fixedly mounted on the upper side of the mounting substrate 30 and being located at the periphery of the communication hole, the horizontal movement assembly 902 being mounted on the upper portion of the support base 9025.

Alternatively, when the number of the freezing shelves 20 located in the low temperature storage area of the freezing refrigerator 10 is plural, in order to simplify the overall structure of the lifting mechanism 40, it is preferable that the lifting mechanism 40 be detachably connected to all the freezing shelves 20, and the lifting mechanism 40 be connected to the target access shelf 20A when the target access shelf 20A is determined. Specifically, referring to fig. 5, the lifting mechanism 40 includes a Z-axis motion assembly 401 and a clamping assembly 402 that are connected. The gripper assembly 402 is mounted on the Z-axis motion assembly 401 and is detachably connected to the target access rack 20A. The Z-axis moving assembly 401 is driven by the driving mechanism to drive the clamping assembly 402 to move upwards or downwards along the vertical direction.

Further, in order to automatically move the clamping assembly 402 in the vertical direction and to improve the smoothness of the movement, the clamping assembly 402 may be preferably driven to move in the vertical direction by a linear slider module. Specifically, the driving mechanism may include a sixth motor (not shown), and the Z-axis moving assembly 401 may include a ninth linear slide 401a and a ninth slider 401b that are slidably connected, where the ninth linear slide 401a is fixedly connected to the mounting substrate 30, and the ninth slider 401b is fixedly connected to the clamping assembly 402. An output shaft of the sixth motor is connected with the ninth linear slide rail 401a or the ninth sliding block 401b, and the ninth sliding block 401b can drive the clamping assembly 402 to move in the vertical direction relative to the ninth linear slide rail 401a under the driving of the sixth motor.

Further, in order to allow the gripper assembly 402 to be automatically formed and disconnected from the target access rack 20A, referring to fig. 6 and 9, the driving mechanism includes a fifth motor 605, the gripper assembly 402 may include a hook 4021, and the upper side of the target access rack 20A is provided with a vertical movement connector 201 having a shape adapted to the shape of the hook 4021.

The fifth motor 605 is mounted on the Z-axis motion assembly 401, and an output shaft of the fifth motor 605 is connected with a hook 4021; when the output shaft of the fifth motor 605 rotates, the driving hook 4021 rotates with respect to the vertical movement connecting piece 201 and forms a connection, that is, a connection with the target access rack 20A.

The output shaft of the fifth motor 605 may be directly connected to the hook 4021 or may be indirectly connected to the hook, which is not limited herein. When the height of the hook 4021 in the vertical direction is at a height at which connection with the vertical movement connection member 201 can be established, the hook 4021 can be driven to rotate by a first preset angle in the first rotational direction by the fifth motor 605 to form connection with the vertical movement connection member 201. When the height of the hook 4021 in the vertical direction is at a height at which the hook is disconnected from the vertical movement connector 201, the hook 4021 can be driven by the fifth motor 605 to continue to rotate by a third preset angle in the first rotation direction so as to be disconnected from the vertical movement connector 201; or the hook 4021 may be driven to rotate by a second preset angle in a second rotation direction opposite to the first rotation direction by the fifth motor 605 to be disconnected from the vertical movement connection member 201.

In addition, the fifth motor 605 may be directly mounted on the Z-axis moving assembly 401 or may be indirectly mounted on the Z-axis moving assembly 401, which is not limited herein. When the Z-axis moving assembly 401 includes the ninth linear slide 401a and the ninth slider 401b, the main body of the fifth motor 605 is connected to the ninth slider 401 b.

Further, in order to reduce the rotation angle of the hook 4021, an induction device for controlling whether the motor rotates may be provided. Specifically, referring to fig. 6, the lifting mechanism 40 further includes a first sensor 403, a second sensor 404, and a sensing mass 405. The sensing block 405 is connected to the output shaft of the fifth motor 605, and the first sensor 403 and the second sensor 404 are disposed on the Z-axis moving assembly 401 along the moving direction of the sensing block 405.

When the fifth motor 605 drives the sensing block 405 to rotate along the first rotation direction and is connected with the first sensor 403, the fifth motor 605 stops rotating, and the hook 4021 forms a connection with the target storage shelf 20A; when the fifth motor 605 drives the sensing block 405 to rotate along the second rotation direction and is connected with the second sensor 404, the fifth motor 605 stops rotating, and the hook 4021 is disconnected from the target storage shelf 20A; wherein the first rotational direction and the second rotational direction are opposite rotational directions.

When the sensing block 405 is connected to the first sensor 403 or the second sensor 404, a control command may be generated or the power supply circuit of the fifth motor 605 may be cut off, so that the output shaft of the fifth motor 605 stops rotating. The shapes, sizes and connection modes of the first sensor 403, the second sensor 404 and the sensing block 405 are not limited, and can be reasonably selected according to practical application requirements. For example, the sensing mass 405 may form a physical contact connection with the first sensor 403 or the second sensor 404, or may form a wireless sensing connection with the first sensor 403 or the second sensor 404.

Further, in order to obtain a stable connection effect while having a simple structure, referring to fig. 6 and 9, the hook 4021 may have an inverted T shape, and a first end of the hook 4021 is connected to an output shaft of the fifth motor 605; the vertical movement coupling 201 on the target access rack 20A has an elongated coupling through-hole 201a, and the second end of the hanger 4021 is shaped and sized to fit the size of the coupling through-hole 201 a.

The second end of the hook 4021 is also in a strip shape, and the strip shape refers to a cross section perpendicular to the vertical direction, which has a length greater than a width, and the specific shape of the cross section is not limited. For example, the connection through hole 201a may be a rectangular hole, and the second end of the hook 4021 may be a rectangular parallelepiped or a long cylinder; or a curved hole of the connecting through hole 201a, and the second end of the hook 4021 is a curved cylinder with a size adapted to the second end.

In the use process, the Z-axis motion assembly 401 can be utilized to drive the inverted T-shaped hook 4021 to descend along the vertical direction and pass through the connecting through hole 201a; then, the fifth motor 605 drives the hook 4021 to rotate by a first preset angle along the first rotation direction, so that the second end of the hook 4021 is in a crossed state with the connecting through hole 201a; when the Z-axis moving assembly 401 drives the hook 4021 to move upward in the vertical direction, under the action of gravity, the upper surface of the second end of the hook 4021 abuts against the lower surface of the vertical moving connecting piece 201, that is, the hook 4021 and the target storage rack 20A may be connected, so that the Z-axis moving assembly 401 may drive the hook 4021 and the target storage rack 20A to move upward in the vertical direction.

After the Z-axis moving assembly 401 drives the hook 4021 and the target storage rack 20A to move downward in the vertical direction so that the target storage rack 20A is located in the low-temperature storage area in the freezing refrigerator 10, the fifth motor 605 drives the hook 4021 to rotate by a third preset angle in the first rotation direction or continues to rotate by a second preset angle in the second rotation direction, so that the second end of the hook 4021 is aligned with the connecting through hole 201a, that is, the hook 4021 and the target storage rack 20A can be disconnected; the hook 4021 is driven to move upwards along the vertical direction by the Z-axis moving component 401, so that the second end of the hook 4021 can pass through the connecting through hole 201a and be positioned on the upper side of the target storage rack 20A, and the subsequent connection with other freezing racks 20 is facilitated.

Further, it may be preferable that the first preset angle, the second preset angle and the third preset angle are all 90 degrees, that is, the rotation is stopped after the output shaft of the fifth motor 605 rotates 90 degrees, at this time, the second end of the inverted T-shaped hook 4021 is in an orthogonal state with the connecting through hole 201a, so that the stress of the hook 4021 and the target access rack 20A is more balanced in the process of moving along the vertical direction, and the stability of connection is better.

Wherein, when the lifting mechanism 40 further comprises a first sensor 403, a second sensor 404 and a sensing block 405, the rotatable range of the sensing block 405 is also 90 degrees.

Further, referring to fig. 6 and 9, the clamping assembly 402 may further include a first positioning member 4022, and the upper side of the target access frame 20A is provided with a second positioning member 202 adapted to the first positioning member 4022. When the first positioning member 4022 is cooperatively connected with the second positioning member 202, the position of the target access rack 20A is fixed relative to the clamping assembly 402; the output shaft of the fifth motor 605 then rotates, driving the catch 4021 to rotate relative to the vertical movement coupler 201 and form a connection, i.e., a connection with the target access rack 20A. It can be seen that, the first positioning member 4022 and the second positioning member 202 form a matching connection first, so that the target access rack 20A can be positioned, and the subsequent hook 4021 is easier to automatically connect with the vertical movement connecting member 201, so that the success rate of forming connection between the first positioning member 4022 and the second positioning member can be improved.

The specific types, shapes and sizes of the first positioning member 4022 and the second positioning member 202 are not limited, and can be reasonably selected according to practical application requirements. For example, the first positioning member 4022 and the second positioning member 202 may be positioning holes and positioning pins, which are adapted in shape, size, arrangement position, and number, respectively, and the positioning holes and the positioning pins may be one or more pairs.

Further, referring to fig. 9, in order to obtain a relatively stable positioning effect while simplifying the structure, it may be preferable to provide two positioning holes on the vertical movement connecting member 201, that is, the second positioning member 202 is two positioning holes, and the two positioning holes are symmetrically disposed with respect to the connecting through hole 201 a. Correspondingly, referring to fig. 6, the first positioning member 4022 may be two positioning pins.

Alternatively, in order to guide the target access rack 20A when it moves in the vertical direction, avoiding a large amplitude of shake, a guide mechanism 110 may be provided on the upper side of the mounting substrate 30. Referring to fig. 5, the guide mechanism 110 is disposed around the upper side of the escape hole 301, and when the lifting mechanism 40 is driven by the driving mechanism to move the target access rack 20A in the vertical direction and pass through the escape hole 301, the guide mechanism 110 can restrict the movement of the target access rack 20A in the direction perpendicular to the vertical direction.

Further, the guide mechanism 110 may include a guide frame 1101 and a guide wheel 1102, the guide wheel 1102 being disposed on the guide frame 1101. When the lifting mechanism 40 drives the target access frame 20A to move in the vertical direction and pass through the avoidance hole 301 under the drive of the driving mechanism, the outer peripheral surface of the guide wheel 1102 contacts with the target access frame 20A, and the guide wheel 1102 rotates relative to the guide frame 1101.

Wherein, not only can the movement of the target access frame 20A along the vertical direction be guided and the sliding is assisted by the arrangement of the guide frame 1101 and the guide wheel 1102, but also the movement of the target access frame 20A along the vertical direction can be speed-adjusted by adjusting the surface roughness of the outer peripheral surface of the guide wheel 1102.

In addition, the shapes and the sizes of the guide frames 1101 and the guide wheels 1102 need to be matched with those of the freezing storage rack 20, the number of the guide frames 1101 and the guide wheels 1102 is not limited, and the guide frames 1101 and the guide wheels 1102 can be reasonably arranged according to practical application requirements. For example, referring to fig. 5, the guide mechanism 110 may include two guide frames 1101 disposed in a vertical direction, and a plurality of guide wheels 1102 are uniformly disposed on each guide frame 1101.

Optionally, the freezing box taking and placing device further comprises a heat-preserving frame cover (not shown), and the heat-preserving frame cover is sleeved on the periphery of the lifting mechanism 40. By sleeving the thermal insulation frame cover on the periphery of the lifting mechanism 40, the influence of the external heat of the refrigerator 10 on the freezing storage box stored on the upper side of the target storage area of the target freezing storage frame 20 can be avoided in the movement process of the target freezing storage frame 20A, particularly in the process of pushing the target freezing storage box 20B by the pushing-out mechanism 50.

As can be seen from the description of the above embodiments of the present application, the device for taking and placing a frozen storage box provided in the embodiments of the present application is connected with the target access rack 20A through the lifting mechanism 40, so that the target access rack 20A can be lifted or lowered along the vertical direction; after the lifting mechanism 40 passes through the avoidance hole and lifts the position of the target storage area of the target access rack 20A to the height position of interfacing with the push-out mechanism 50, the target cryopreservation cassette 20B can be pushed into the target storage area of the target access rack 20A or the target cryopreservation cassette 20B located in the target storage area of the target access rack 20A can be pushed out further by the push-out mechanism 50. Thus when taking out the target cryopreservation box 20B that is arranged in the low temperature storage area, need not to need to take out the cryopreservation box that is arranged in target cryopreservation box 20B upside earlier like prior art, then just can take out target cryopreservation box 20B, the time consuming that the cryopreservation box taking and placing device carried out the cryopreservation box access that this application provided is less, and efficiency is higher.

In addition, it should be noted that, in the embodiments of the present application, reference to movement in a certain direction does not refer to movement in a certain direction, but refers to movement in a certain direction in both directions. For example, referring to fig. 8, the vertical direction may be the z direction or the opposite direction in the coordinate system in the figure, and moving in the vertical direction means moving in the direction indicated by the z direction arrow in the figure or in the opposite direction; the first horizontal direction may be an x direction or a direction opposite thereto in the coordinate system in the figure, and moving in the first horizontal direction means moving in a direction indicated by an x direction arrow in the figure or a direction opposite thereto.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. The utility model provides a freeze and deposit box and get put device which characterized in that includes:

the mounting substrate is provided with an avoidance hole;

2. The frozen storage box taking and placing device according to claim 1, further comprising a frozen storage box grabbing mechanism and a temporary storage refrigerator; a temporary storage area is also arranged above the mounting substrate;

the frozen box grabbing mechanism is connected with the driving mechanism, and driven by the driving mechanism, the frozen box grabbing mechanism places the target frozen box in the temporary storage area into the temporary storage refrigerator or places the target frozen box in the temporary storage refrigerator into the temporary storage area.

3. The frozen storage box picking and placing device according to claim 2, wherein the frozen storage box grabbing mechanism comprises a first manipulator assembly, a horizontal moving assembly and a vertical moving assembly, and the horizontal moving assembly and the vertical moving assembly are respectively connected with the driving mechanism;

4. The frozen storage box taking and placing device according to claim 1, wherein the pushing and pushing mechanism comprises a pushing assembly and a pushing assembly which are respectively connected with the driving mechanism; the pushing assembly is positioned at a first end of the avoidance hole and a second end opposite to the first end of the avoidance hole;

5. The device of claim 4, wherein the push-in assembly comprises a first push rod and a first transmission assembly, and wherein the push-out assembly comprises a second push rod and a second transmission assembly; the first push rod and the second push rod are respectively positioned at the first end and the second end of the avoidance hole;

6. The device of claim 5, wherein the drive mechanism comprises a first motor fixedly connected to a first end of the first push rod;

7. The device of claim 6, wherein the first drive assembly further comprises a first linear rail and a first slider;

8. The device of claim 5, wherein the second transmission assembly comprises a first screw and a first nut; the driving mechanism comprises a second motor;

the first screw rod is arranged along the first horizontal direction, the first end of the first screw rod is connected with the output shaft of the second motor, and the second end of the first screw rod is in threaded connection with the first nut; the first nut is connected with the first end of the second push rod;

when the output shaft of the second motor rotates, the first screw rod rotates relative to the first nut, so that the first nut drives the second push rod to move along the first horizontal direction relative to the first screw rod.

9. The frozen storage box picking and placing device according to claim 1, wherein the driving mechanism comprises an eleventh motor; the pushing-in and pushing-out mechanism comprises a fifth screw rod and a fifth nut, and an electric finger or a shovel plate; the fifth screw rod is arranged along the direction vertical to the vertical direction, an output shaft of the eleventh motor is connected with the first end of the fifth screw rod, the fifth nut is in threaded connection with the second end of the fifth screw rod, and the electric finger or the shovel plate is connected with the fifth nut;

10. The frozen storage box picking and placing device according to claim 1, wherein the driving mechanism comprises a fifth motor and a sixth motor; the lifting mechanism comprises a Z-axis movement assembly and a clamping assembly;