CN218967856U

CN218967856U - Low-temperature storage system for large-batch biological samples

Info

Publication number: CN218967856U
Application number: CN202223080076.9U
Authority: CN
Inventors: 肖阳
Original assignee: Shanghai Baoneng Biotechnology Co ltd
Current assignee: Shanghai Baoneng Biotechnology Co ltd
Priority date: 2022-08-16
Filing date: 2022-11-21
Publication date: 2023-05-05
Anticipated expiration: 2032-11-21
Also published as: CN115676218A; CN218967857U; CN218968152U; CN218967860U; CN218967859U; CN219340566U; CN218967858U

Abstract

The utility model discloses a low-temperature storage system for large-batch biological samples, which comprises the following components: the device comprises a shell, a dense storage mechanism, a freezing storage rack grabbing mechanism and a warehouse-in and warehouse-out mechanism. Through the mode, the large-batch biological sample low-temperature storage system provided by the utility model not only enables the number of stored samples to be increased in multiple stages through the optimized freezing frame extraction mode and the centralized storage mode of the freezing frame, but also can reduce the storage cost of the samples, and further improves the safety, the intelligent degree and the flexibility of the whole system and the efficiency.

Description

Low-temperature storage system for large-batch biological samples

Technical Field

The utility model relates to the technical field of automated systems for storing biological samples, in particular to a low-temperature storage system for large-batch biological samples.

Background

At present, the low-temperature storage technology of biological samples is various in forms, but the storage management of application scenes of a large number of samples depends on the increase of the number of devices, so that the input of the devices is large, and the inconvenience is brought to the actual use.

In addition, the traditional design of the present frozen storage rack gripper is a cage gripper, but the gripper structure needs to reserve a large amount of movable space for the gripper, and the gripper can only take and place the frozen storage rack at the bottom of the gripper, so that the frozen storage rack can only be designed at the bottom, and a large amount of upper space is wasted.

Disclosure of Invention

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

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

provided is a high-volume biological sample cryogenic storage system, comprising: the shell, the intensive storage mechanism and the frozen storage rack grabbing mechanism are arranged in the shell in a sealing and separating mode, and the frozen storage rack grabbing mechanism is movably arranged in the intensive storage mechanism.

The warehouse-in and warehouse-out mechanism comprises: the device is used for docking an external turnover device and a dense storage mechanism and storing and taking samples in a low-temperature environment, so that the samples can be stored and taken in;

the dense storage mechanism: a double-layer storage mechanism with a lower-layer sample storage mechanism and a movable upper-layer sample storage mechanism is adopted to carry out intensive low-temperature storage on a frozen storage rack provided with a test tube rack;

the frozen storage rack grabbing mechanism comprises: and the storage rack is matched with the double-layer storage mechanism and the warehouse-in and warehouse-out mechanism to move, and the freezing storage rack is carried and lifted, so that loading and unloading of the freezing storage rack and warehouse-in and warehouse-out of samples are realized.

In a preferred embodiment of the present utility model, the housing is provided with a transfer port for connecting the warehouse-in and warehouse-out mechanism and the dense storage mechanism, respectively, and a thermal insulation partition door for opening and closing the transfer port.

In a preferred embodiment of the present utility model, the thermal insulation partition door includes a plurality of sealing plates, an adjusting bump, a driving lever, a first adjusting driving device driving the driving lever to rotate/stretch, and a second adjusting driving device driving the driving lever to move up and down, where the sealing plates are sequentially and slidably disposed on the rotating interface from top to bottom, the adjusting bump is disposed on the sealing plates, the first adjusting driving device drives the driving lever to movably connect with the adjusting bump, and the second adjusting driving device drives the first adjusting driving device and the driving lever to move up and down, so that the driving lever and the adjusting bump cooperate to lift or put down the sealing plates, thereby opening or closing the rotating interface.

In a preferred embodiment of the present utility model, a cache rack is rotatably connected to the interface near the dense storage mechanism, and one or more cache grooves for caching the frozen storage rack are provided on the cache rack, wherein the outer edge of the cache rack protrudes from the inner port of the interface and extends into the dense storage mechanism so as to access the frozen storage rack.

In a preferred embodiment of the utility model, the in-out warehouse mechanism comprises a material taking mechanism for docking an external turnover device and transferring and identifying sample test tubes and/or test tube racks, and a test tube rack grabbing mechanism for docking a dense storage mechanism, the material taking mechanism and an external operation port and taking, placing and transferring the sample test tubes and/or test tube racks.

In a preferred embodiment of the present utility model, the rack grabbing mechanism includes a rack gripper, a manipulator, a horizontal linear module, and a vertical linear module, the horizontal linear module drives the vertical linear module to move horizontally, and the vertical linear module drives the manipulator to move up and down, and the manipulator is connected with the rack gripper to drive the rack gripper to rotate, stretch and open.

In a preferred embodiment of the utility model, an external operation port communicated with the sample transferring operation area is arranged on the shell, a test tube rack taking and placing position is arranged in the external operation port, and sealing heat preservation doors are respectively arranged on the inner side and the outer side of the external operation port so as to form a sealing environment which is convenient for storing the reagent rack at the external operation port.

In a preferred embodiment of the present utility model, the dense storage mechanism includes a storage area frame, a lower sample storage mechanism and an upper sample storage mechanism for storing the frozen storage frames are disposed in the storage area frame, the upper sample storage mechanism includes a movable substrate and a stabilizing frame, the stabilizing frame is disposed on each movable substrate to form a plurality of cavities for placing the frozen storage frames, and the plurality of movable substrates are movably disposed above the lower sample storage mechanism to form an avoidance channel for allowing the frozen storage frame grabbing mechanism to move and grab the frozen storage frames in the upper and lower sample storage mechanisms.

In a preferred embodiment of the present utility model, the gripping mechanism of the freezing shelf includes an X-axis driving device, a Y-axis driving device, a rotation driving mechanism, a gripper housing, a turret, a freezing shelf gripper, a gripper lifting driving mechanism, and a gripper telescopic driving mechanism, where the gripper lifting driving mechanism is disposed in the turret and drives the gripper telescopic driving mechanism to lift in the turret, the gripper telescopic driving mechanism is connected with the freezing shelf gripper to drive the freezing shelf gripper to extend outwards or retract inwards, the upper portion of the turret is movably disposed in the gripper housing, the rotation driving mechanism drives the turret to rotate axially, and the Y-axis driving device drives the gripper housing to reciprocate on a beam, and the X-axis driving device drives the Y-axis driving device and the gripper housing to reciprocate along the X-axis direction through the beam.

In a preferred embodiment of the utility model, the gripper telescopic driving mechanism comprises a telescopic connecting frame connected with the gripper lifting driving mechanism, a mounting seat for mounting the gripper or the gripper driving device of the freeze storage frame, and a telescopic plate respectively connected with the telescopic connecting frame and the mounting seat in a sliding manner, wherein the first-stage telescopic driving assembly drives the telescopic plate to perform first-stage telescopic movement on the telescopic connecting frame, two groups of second-stage telescopic driving assemblies which are identical in structure and opposite in installation and movement direction are arranged on the telescopic plate, and the second-stage telescopic driving assembly comprises a second-stage chain wheel rotatably arranged on the telescopic plate and a second-stage chain movably connected with the second-stage chain wheel, and two ends of the second-stage chain are respectively fixedly connected with the telescopic connecting frame and the mounting seat, so that the telescopic plate synchronously drives the mounting seat to perform second-stage telescopic movement during telescopic movement, and the multi-stage telescopic driving of the gripper of the freeze storage frame is realized.

The beneficial effects of the utility model are as follows: through optimizing the freeze and deposit the mode of drawing and freeze and deposit the concentrated storage mode of frame, not only make the quantity that the sample stored the multiple level increase, can reduce the storage cost of sample moreover, still improved security, intelligent degree and the flexibility of complete machine system, improved efficiency.

Drawings

For a clearer description of the technical solutions of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:

FIG. 1 is a schematic top view of a high-volume biological sample cryogenic storage system according to a preferred embodiment of the present utility model;

FIG. 2 is a schematic diagram of a system for storing a large quantity of biological samples at a low temperature according to a preferred embodiment of the present utility model;

FIG. 3 is a schematic diagram of a warehouse entry mechanism in a preferred embodiment of a high-volume biological sample cryogenic storage system according to the present utility model;

FIG. 4 is a schematic diagram of a high-level sample storage mechanism in a preferred embodiment of a high-volume biological sample cryogenic storage system according to the present utility model;

FIG. 5 is a schematic view of a thermal isolation door in a preferred embodiment of a high-volume biological sample cryogenic storage system according to the present utility model;

FIG. 6 is a schematic diagram of a buffer transfer mechanism and a freeze frame grabbing mechanism in a preferred embodiment of a high-volume biological sample cryogenic storage system according to the present utility model;

FIG. 7 is a schematic view of a capturing mechanism of a freezing rack in a preferred embodiment of a high-volume biological sample cryogenic storage system according to the present utility model;

FIG. 8 is a schematic view showing a state that a grabbing mechanism of a freezing frame descends and grabs and lifts the freezing frame in a preferred embodiment of a high-volume biological sample low-temperature storage system according to the present utility model;

FIG. 9 is a schematic view showing a state that a grabbing mechanism of a freezing frame descends to stretch out and grab and lifts the freezing frame in a preferred embodiment of a high-volume biological sample low-temperature storage system according to the present utility model;

FIG. 10 is a schematic view of a sealed and uncapped device in a preferred embodiment of a high-volume biological sample cryogenic storage system according to the present utility model;

FIG. 11 is a schematic diagram showing the structure of an external operation port in a preferred embodiment of a high-volume biological sample low-temperature storage system according to the present utility model.

Detailed Description

The following description of the technical solutions in the embodiments of the present utility model will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-11, an embodiment of the present utility model includes:

a low-temperature storage system for large-batch biological samples realizes full automation and informatization management of sample storage and dynamic and intelligent sample access function.

The method mainly comprises the following steps: the device comprises a shell 1, a dense storage mechanism, a frozen storage rack grabbing mechanism 4, a warehouse-in and warehouse-out mechanism and a software control system.

(1) Shell body

The casing mainly comprises the heat preservation plywood, and storage area 12, sample are transported operation district 11 and maintenance district 13 in the whole casing, and different subregions separate through heated board (door), intensive storage mechanism with frozen storage frame snatchs the mechanism and sets up in the storage area, go out storehouse mechanism set up in the sample is transported operation district.

Further preferably, the storage area is kept at a low temperature of-75 ℃ to-85 ℃, and the sample transferring operation area is kept at a low temperature of-20 ℃ to-40 ℃ so as to effectively ensure the safety of the sample in different operation stages.

Further preferably, independent dual-system refrigeration is adopted in the storage area and the sample transferring operation area, namely, the storage area and the sample transferring operation area comprise a cold air refrigeration system and a liquid nitrogen refrigeration system, and when equipment is powered off, the external standby liquid nitrogen refrigeration system works to provide a low-temperature environment, so that biological samples are protected in all aspects.

Further preferably, a maintenance door leading to a maintenance area is arranged on the sample transferring operation area.

(2) Warehouse-in and warehouse-out mechanism

The warehouse-in and warehouse-out mechanism comprises a turnover lifting mechanism, a material taking mechanism 22, a double-station conversion conveying mechanism 23, a test tube rack grabbing mechanism 24, a transfer port 25 for communicating a storage area and a sample transfer operation area and a heat preservation separation door 26 for opening and closing the transfer port, wherein the turnover lifting mechanism is arranged below the material taking mechanism, and the double-station conversion conveying mechanism is arranged between the material taking mechanism and the test tube rack grabbing mechanism.

Further preferably, the warehouse-in and warehouse-out mechanism further comprises a two-dimensional code photographing mechanism, an RFID automatic identification device and a platform for installing the material taking mechanism, the double-station conversion conveying mechanism and the test tube rack grabbing mechanism.

Further preferably, the size of the transfer port is matched with (slightly larger than) the freezing storage rack, and the freezing storage rack can be allowed to come in and go out.

Further preferably, a docking door 27 for automatic loading and unloading is arranged on the side wall of the sample transferring operation area, and the docking door is positioned in front of the turnover lifting mechanism.

Further preferably, an external operation port 28 for manual/automatic feeding and discharging is arranged on the side wall of the sample transferring operation area. The external operation port is mainly used for the warehouse-in and warehouse-out operation of the manual operation test tube rack, the station is provided with a manual test tube rack taking and placing position, and the inner side and the outer side of the external operation port are respectively provided with an automatic sealing heat preservation door 29 for forming a sealing environment which is convenient for storing the reagent rack at the external operation port.

Further preferably, the sealing heat-insulating door in and/or outside the external operation opening adopts the existing heat-insulating door body structure.

Or the sealing heat-insulating door at the inner side of the external operation port can also adopt a heat-insulating separation door structure; the sealing thermal insulation door 29 in the outside can also include a thermal insulation door body 291, an opening and closing motor 292, an opening and closing swing arm 293 and a roller 294, wherein the opening and closing motor is arranged on the shell (or a motor bracket 295 positioned in the shell), one end of the opening and closing swing arm is connected with the opening and closing motor, the roller is rotatably arranged at the other end of the opening and closing swing arm, and a groove 296 movably connected with the roller is arranged on the thermal insulation door body.

When the opening and closing motor drives the opening and closing swing arm to rotate, the idler wheel and the groove body on the opening and closing swing arm cooperate to drive the heat-insulating door body to move horizontally on the outer side of the external operation opening so as to open or close the external operation opening. The roller on the opening and closing swing arm can rotate (can not be blocked in the groove body), and the roller is positioned in the groove body, so when the opening and closing motor drives the opening and closing swing arm to rotate downwards, one side of the roller can be attached to the outer side wall of the groove body, and the opening and closing swing arm can pull the heat-insulating door body to move in an outward translational mode so as to open an external operation opening; when the opening and closing motor drives the opening and closing swing arm to rotate upwards, the other side of the roller can be attached to the inner side wall of the groove body, so that the opening and closing swing arm can push the heat-insulating door body to move in a translational manner inwards, and the external operation opening is closed.

In addition, the top and the bottom outside the external operation opening can be provided with a guide rail or a guide groove which is convenient for the movement of the thermal insulation door body.

Further preferably, a cooling device for providing a low-temperature environment and a dehumidifying and defrosting mechanism for removing frost or water drops on the test tube or the test tube rack are arranged in the external operation port. The cooling device can use a cold air refrigerating system or a liquid nitrogen refrigerating system in the system, and an independent cold air refrigerating system or a liquid nitrogen refrigerating system can be additionally arranged; the dehumidifying and defrosting mechanism comprises a dehumidifying device and a defrosting device, wherein the dehumidifying device can adopt an existing air draft device, a nitrogen blowing device, an exhaust filtering and dehumidifying device and the like, and the defrosting device can adopt an existing defrosting agent spraying device, a defrosting brush and the like.

When the manual/automatic warehousing operation is carried out, the sealing heat preservation door is opened, and a user puts the test tube rack into a positioning position of a test tube rack taking and placing position; after the sealed heat-preserving door is closed, blowing cold air into the external operation port, and simultaneously dehumidifying and defrosting; and then the inner side sealing heat preservation door is automatically opened, and the test tube rack grabbing mechanism grabs the test tube rack to a corresponding working area. When a warehouse-out task is executed, the test tube rack grabbing mechanism grabs the test tube rack to the inner side sealing heat preservation gate for waiting; after the sealing heat preservation door is opened, placing the test tube rack in a corresponding position, and then closing the inner sealing heat preservation door; and opening the sealing heat-preserving door at the outer side after waiting for issuing a task instruction of taking out the workpiece, taking out the test tube rack in time, and automatically closing the sealing heat-preserving door.

Further preferably, a visual window is arranged on the side wall of the sample transferring operation area so as to observe the condition of the transferring operation; and a gripper maintenance outlet communicated with the maintenance area is arranged on the side wall of the storage area.

(2.1) turnover elevating system: for transferring an external transfer device 210 containing a biological sample cartridge (or sample tube transfer cassette) to a target retrieval location.

The turnover lifting mechanism comprises a docking station 211 for receiving and placing a turnover device and a docking driving device, wherein the docking driving device is arranged at the bottom of the platform and drives the docking station to move upwards to a material taking position. The butt joint driving device can adopt driving devices such as an air cylinder, a motor lead screw and the like.

In addition, a docking translation device 212 may be disposed on the docking station to drive the turnover device to horizontally move on the docking station, so as to adjust the horizontal position of the turnover device. In order to further improve the accuracy of docking, the side on the telescopic platform can be arranged on the docking plate at the bottom of the platform in a sliding manner through the lifting sliding rail.

The butt joint translation device comprises a butt joint driving cylinder, a telescopic platform and a butt joint conveying belt, wherein the telescopic platform is connected with a sliding rail on the butt joint platform through a sliding block, the butt joint conveying belt is arranged on the telescopic platform, and the butt joint driving cylinder drives the telescopic platform to move back and forth on the butt joint platform so as to drive the butt joint conveying belt to extend outwards to receive the turnover device or drive the turnover device to retract inwards to the upper material level. In addition, the butt joint translation device can also directly adopt driving devices such as a conveyor belt, an air cylinder and the like.

(2.2) a take-off mechanism: the transfer device is used for transferring the material box in the turnover device, taking out the biological sample test tubes in the material box, photographing and identifying sample parameters, and transferring the biological sample test tubes to the test tube carrying disc.

The material taking mechanism comprises a turnover feed port 220, a sealed cover opening device 223, a picking pipe gripper 221, a box taking gripper 222 for grabbing a box in the sealed cover opening device and the turnover device, and a material taking driving mechanism for driving the picking pipe gripper and the box taking gripper to perform triaxial movement, wherein the turnover feed port allowing the turnover device to extend in is arranged on a platform, the sealed cover opening device is movably connected with the turnover feed port so as to seal or open the turnover feed port, and the sealed cover opening device and the turnover barrel cover 224 are simultaneously lifted in cooperation with the box taking gripper.

The tube picking gripper is responsible for picking tubes, clamping test tubes from the carrying disc to a material box to be put in and out of a warehouse or clamping test tubes in the material box into the carrying disc, and can grasp the diameters of the test tubes from phi 2mm to phi 20mm by adopting a set of high-flexibility design; the box taking gripper can be compatible with grabbing of test tubes and grabbing of hole covers of turnover barrels.

Still more preferably, the sealed cover opening device includes a cover opening plate 225, a return spring 226, a fastening groove 227, and a clamping block 228, where the fastening groove allowing the box taking gripper to pass through is disposed on the cover opening plate, and the clamping block is relatively disposed below the cover opening plate and connected to the bottom of the cover opening plate through the return spring, and the box taking gripper and the clamping block cooperate to clamp or unclamp the cover opening plate and the turnover barrel cover.

When the turnover device reaches the material taking position, the box taking gripper descends and passes through the buckling groove, then the box taking gripper clamps the buckling groove to fix the cover opening cover plate, meanwhile, the lower part of the box taking gripper drives the clamping block to move inwards, so that the bottom of the clamping block clamps/buckles the turnover barrel cover, then the box taking gripper ascends upwards to synchronously drive the cover opening cover plate and the turnover barrel cover to be separated upwards and move to a designated storage position, so that the function of opening two covers while one gripper is realized, the reciprocating motion of equipment is simplified, the beat of uncovering the cover is greatly saved, and the use efficiency of the equipment is optimized; when the box taking gripper releases the cover plate, the clamping block moves outwards to reset under the action of the reset spring, so that the clamping block is separated from the turnover barrel cover.

The reset spring is transversely arranged in the axial direction, the inner end of the reset spring is connected with the cover plate of the cover opening, and the outer end of the reset spring is connected with the clamping block. In order to facilitate the movement of the clamping blocks, the tops of the clamping blocks can be in sliding connection with the bottoms of the cover plates of the cover through sliding rail sliding blocks or sliding grooves and the like.

Further preferably, two groups of tube picking seats 229 for placing test tube racks are arranged on the tube picking station, so that the tube picking stations can be used for exchanging test tubes with the test tube racks, and clamping or positioning mechanisms (positioning clamping grooves, positioning clamping blocks, positioning holes, positioning pins and the like) are arranged at the bottoms of the tube picking seats, so that the positioning accuracy of the test tube racks is facilitated, tube picking operation is better matched, meanwhile, the stability of the test tube racks is guaranteed when test tubes are picked and placed, and the moving positions of the test tubes can not be along with the picking and placing of the test tubes.

Further preferably, the material taking mechanism further comprises a defrosting device, the defrosting device can adopt an existing defrosting agent spraying device, a defrosting brush and the like, and the follow-up photographing code reading is more accurate and efficient by cleaning the bottom of the test tube and the bottom of the test tube rack, so that the high efficiency of two-dimensional code identification is guaranteed. The defrosting device can be arranged on the tube picking seat, or can be arranged around the tube picking seat, the tube picking gripper or the box picking gripper, and can remove frosting on the test tube or the test tube rack.

Further preferably, the material taking driving mechanism can independently drive the tube picking gripper and the box picking gripper to move respectively, and can synchronously drive the tube picking gripper and the box picking gripper to move by using a group of material taking driving mechanisms. Wherein, get material actuating mechanism and include X axle sharp module, Y axle sharp module and Z axle lifting module, in order to further improve the accuracy of motion, Y axle sharp module can with the last slide rail sliding connection of track frame.

Further preferably, a plurality of vision photographing systems can be further arranged for compensating the positions of grabbing test tubes, so that grabbing work is safer and more effective.

And (2.3) the double-station conversion conveying mechanism is mainly used for realizing the switching function between the material taking mechanism and the test tube rack grabbing mechanism, and can adopt conveying devices such as a conveyor belt and the like to bear and convey the test tube rack.

In addition, the double-station switching conveyor can be provided with two groups parallel to each other to perform different conveying tasks, and can also be used as a buffer station.

(2.4) the test-tube rack snatchs mechanism includes test-tube rack tongs 240, 2 axle manipulator 241, horizontal straight line module 242, perpendicular straight line module 243, and horizontal straight line module sets up on the platform to drive perpendicular straight line module horizontal movement, perpendicular straight line module drives 2 axle manipulators and carries out elevating movement, and 2 axle manipulators are connected with the test-tube rack tongs, in order to drive the test-tube rack tongs and rotate and stretch out and draw back.

Wherein, 2 axle manipulator can include flexible module of tongs, the rotatory module of tongs, tongs connecting seat, the rotatory module of tongs drives the tongs connecting seat and rotates, the flexible module of tongs set up in on the tongs connecting seat to drive test-tube rack tongs back-and-forth telescopic motion, in order to snatch the test-tube rack.

The test tube rack grabbing mechanism is mainly responsible for the following tasks:

(a) Storage area access operation: the test tube racks are sent into a dense storage mechanism, or the test tube racks in the dense storage mechanism are taken out and transferred to other stations;

(b) Taking and placing operation for external operation port: grabbing test tube racks in the external operation port and transferring the test tube racks to other stations, or sending the test tube racks on other stations into the external operation port;

(c) Test tube rack transfer task of tube picking station: the test tube rack on the double-station conversion conveying mechanism is grabbed and transferred to other stations, or the test tube rack on the other stations is sent back to the double-station conversion conveying mechanism.

(2.5) thermal insulation partition door

The heat preservation division door is movably arranged on the transfer port to seal or open the transfer port, and separate the storage area from the sample transfer operation area, so that the different temperature areas are prevented from being mutually cold, and the balance and stability of the whole temperature are ensured.

The heat-insulating partition door comprises N sealing plates 260 with corresponding sizes, adjusting convex blocks 261, adjusting sliding blocks, adjusting sliding rails 262, a deflector rod 263, a first adjusting driving device 264 for driving the deflector rod to rotate/stretch and a second adjusting driving device for driving the deflector rod to move up and down, the adjusting sliding rails are arranged on a shell on one side or two sides of a rotating port, each sealing plate is in sliding connection with the adjusting sliding rails through the adjusting sliding blocks, the adjusting convex blocks are arranged on one side or two sides of each sealing plate, the deflector rod is driven by the first adjusting driving device to be movably connected with the adjusting convex blocks, and the second adjusting driving device drives the first adjusting driving device and the deflector rod to move up and down, so that the deflector rod lifts up or puts down the adjusting convex blocks, and therefore independent lifting movement of each sealing plate is achieved. The lifting height of the sealing plate only needs to meet the requirement of taking and placing the target frozen storage rack or the test tube rack.

The heat-preserving separation door with the structure can effectively prevent the loss of cold energy or damage the temperature of a temperature area, has small lifting range, high speed and high efficiency, and can reduce the space size requirement of the heat-preserving separation door.

Further preferably, each sealing plate is provided with a sealing strip to provide sealing effect when the thermal insulation partition door is closed.

Further preferably, a limiting block 265 for limiting the lifting height of the sealing plate is arranged above the rotating port.

Further preferably, the first adjusting driving device can drive the deflector rod to rotate by adopting a mode that a rotating motor is directly connected with the deflector rod or through a rotating component; or the first adjusting driving device comprises an adjusting installation seat, a telescopic gear, a telescopic motor 264 and a telescopic rack, wherein the telescopic motor is arranged on the adjusting installation seat and drives the telescopic gear in the adjusting installation seat to rotate, the telescopic rack is movably arranged in the adjusting installation seat and meshed with the telescopic gear, the deflector rod is arranged on the telescopic rack, and the telescopic motor drives the telescopic gear to rotate, so that the telescopic rack drives the deflector rod to stretch out or retract to adjust the installation seat.

Further preferably, the second adjusting driving device comprises an adjusting screw 266 and an adjusting driving motor 267 for driving the adjusting screw to move, the adjusting screw is vertically arranged on the side face of the rotating interface, the adjusting driving motor is connected with the adjusting screw, and a nut in the adjusting screw is connected with the first adjusting driving device through an adjusting connecting frame so as to drive the first adjusting driving device and the deflector rod to lift.

When the switching port needs to be opened to execute tasks, the adjusting screw rod is lifted to drive the deflector rod to move to the corresponding sealing plate position, the first adjusting driving device stretches out the deflector rod and pushes the deflector rod to the adjusting protruding block, and the adjusting screw rod drives the deflector rod to move upwards again to drive the sealing plate and the sealing plate above the sealing plate to rise to a certain height (the sealing plate below the sealing plate is kept motionless) so as to open part or all of the switching port.

(3) Dense storage mechanism

The dense storage mechanism comprises a storage area frame 31 built by aluminum alloy sections, and a fixed rectangular array lower-layer sample storage mechanism 32 and a movable upper-layer sample storage mechanism 33 for storing a freezing rack 34 are arranged in the storage area frame.

The upper sample storage mechanism comprises a movable substrate 330 and a stable frame 331, wherein the stable frame is arranged on the movable substrate, the frozen storage frames can enter and are stored in the upper sample storage mechanism through a guide opening at the top of the stable frame, and a plurality of movable substrates are movably arranged on the storage area frame above the lower sample storage mechanism and can move back and forth on the storage area frame so as to adjust an avoidance channel for allowing the frozen storage frame grabbing mechanism to grab the frozen storage frames in the lower sample storage mechanism and leave a movement space for the frozen storage frame grabbing mechanism, thus not only enabling the frozen storage frame grabbing mechanism to grab task target samples quickly, but also fully utilizing the space in the storage area frame for compact storage, and simultaneously being compatible with the space for moving operation of the frozen storage frame grabbing mechanism for grabbing the frozen storage frames, thereby maximizing the frozen storage frame storage realized in a limited space.

For example, when a freezing frame at a certain position of the lower layer needs to be grabbed, the moving substrate moves and moves away from the space above the freezing frame, so that a gap avoiding channel for enough movement and grabbing of the grippers of the freezing frame is reserved above the freezing frame. When the spaces of the upper and lower storage areas are the same, the upper storage area cannot be fully paved by the movable substrate, so that the movable substrate cannot move and forms an avoidance channel.

Further preferably, when the direction in which the storage frame gripping mechanism moves back and forth along the top of the storage frame is set as the X-axis direction, the movable substrate is disposed parallel to the X-axis so as not to hinder the movement of the storage frame gripping mechanism.

Further preferably, a translation driving mechanism is provided on each of the moving substrates to independently and automatically adjust the positions of the moving substrates.

Further preferably, the translation driving mechanism includes a translation driving motor 332, a translation rack 333, and a translation gear, where the translation driving motor is disposed on the moving substrate and drives the translation gear to rotate, and the translation rack meshed with the translation gear is disposed on the storage area frame. When the translation driving motor moves, the translation gear and the translation rack are matched to drive the movable substrate to move back and forth on the storage area frame. Wherein, the translation gears on two sides of the movable substrate can be connected with each other through a transmission shaft; the storage area frame is provided with a translation sliding rail 334 which is in sliding connection with the movable substrate.

The lower sample storage mechanism is of a rectangular structure and is fixedly arranged on the bottom layer of the storage area frame in an array mode, the lower sample storage mechanism comprises an upper fixing frame and a lower fixing frame, a guide opening which corresponds to the freezing storage frame and allows the freezing storage frame to pass through is arranged on the upper fixing frame, and the lower fixing frame is used for bearing and positioning so as to accept the freezing storage frame.

Further preferably, a plurality of sample test tube racks are sequentially arranged in the freezing frame from top to bottom. The frozen storage rack is a layered storage frame structure designed according to the minimum grabbing size of the test tube rack, and can be supported by metal plates.

Further preferably, the top of the freezing storage rack is provided with a first clamping structure matched with the grabbing mechanism of the freezing storage rack, and the first clamping structure comprises a clamping groove, a clamping block and the like; the bottom of the freezing storage rack is provided with a second clamping mechanism used for being positioned on the storage area frame (the movable substrate and/or the lower layer fixing rack), and the second clamping mechanism comprises a positioning hole, a positioning pin and the like.

(4) Frozen stock frame grabbing mechanism 4

The frozen storage rack grabbing mechanism comprises an X-axis driving device, a Y-axis driving device, a rotary driving mechanism 44, a gripper shell 41, a rotating rack 42, frozen storage rack grippers (clamping jaws) 43, a gripper lifting driving mechanism and a gripper telescopic driving mechanism.

The gripper lifting driving mechanism is arranged in the rotating frame, drives the gripper telescopic driving mechanism to move up and down in the rotating frame through the lifting connecting frame, and is connected with the freezing storage frame gripper to drive the freezing storage frame gripper to extend outwards or retract inwards.

The upper portion of rotating frame rotate set up in with in the tongs casing, rotary driving mechanism drives rotating frame axial rotation, Y axle drive arrangement with the tongs casing is connected, and drives rotary driving mechanism and tongs casing back and forth movement on the crossbeam, X axle drive arrangement is connected with the crossbeam, and drives Y axle drive arrangement, rotary driving mechanism and tongs casing along X axle direction back and forth movement through the crossbeam.

Further preferably, the gripper telescopic driving mechanism can adopt driving mechanisms such as a telescopic cylinder, a telescopic lead screw, a telescopic gear rack and the like; the telescopic driving mechanism of the gripper can also adopt a structure similar to a multistage telescopic fork, and mainly comprises: the telescopic connecting frame 490 is connected with the gripper lifting driving mechanism, the mounting seat 491 for mounting the frozen storage frame gripper or the gripper driving device, and the telescopic plate 492 is respectively connected with the telescopic connecting frame and the mounting seat in a sliding manner.

The telescopic connecting frame is provided with a group of primary telescopic driving components 493 connected with the telescopic plate so as to drive the telescopic plate to finish primary telescopic movement on the telescopic connecting frame, one side/two sides of the telescopic plate are provided with two groups of secondary telescopic driving components which have the same structure and are opposite in installation and movement direction, and the secondary telescopic driving components comprise secondary chain wheels 494 which are rotatably arranged on the telescopic plate, and secondary chain chains 495 which are movably connected with the secondary chain wheels and are fixedly connected with the telescopic connecting frame and the mounting seat at two ends respectively, so that the telescopic plate synchronously drives the mounting seat to perform secondary telescopic movement through the secondary telescopic driving components when performing telescopic movement, and the multistage telescopic driving of the freeze storage frame gripper is realized.

When multi-stage expansion and contraction is performed: the first-stage telescopic driving assembly drives the freezing storage rack gripper to perform first-stage extending movement through the telescopic plate, and meanwhile, a group of second-stage chain wheels on the telescopic plate also extend outwards and pull a group of second-stage chains corresponding to the second-stage chain wheels forwards; the first-stage telescopic driving assembly drives the freezing storage rack gripper to perform first-stage retraction movement through the telescopic plate, and meanwhile, the other group of second-stage chain wheels on the telescopic plate also retract inwards and pull a group of second-stage chains corresponding to the second-stage chain wheels backwards.

The first-stage telescopic driving assembly can adopt a screw rod or a worm gear or the like to carry out telescopic driving of the telescopic plate, namely, the telescopic plate is fixedly connected with a screw rod nut or the worm, and the telescopic driving motor drives the screw rod in threaded connection with the screw rod nut or the worm gear meshed with the worm to rotate, so that telescopic movement of the telescopic plate is realized. The first-level flexible drive assembly can also adopt sprocket chain subassembly, and the sprocket rotates promptly and sets up on flexible link, and the chain on locating the sprocket passes through connecting block and expansion plate fixed connection, and when flexible driving motor drive sprocket rotated, the chain just can drive the expansion plate and accomplish telescopic motion.

Further preferably, the frozen storage rack gripper can directly adopt the existing integrated clamping jaw mechanism, and can also adopt various existing driving devices to realize the relative movement of the grippers on the two sides on the mounting seat, so as to achieve the purpose of opening and closing the grippers, for example: a bidirectional screw rod movably connected with the clamping jaws at two sides through a nut, a T-shaped worm movably connected with the clamping jaws at two sides through a turbine (the turbine is movably arranged on the clamping jaws and meshed with the worm, the worm rotates to drive the clamping jaws to open or close), a gear-rack combination (a rack is connected with the clamping jaws and meshed with the gear, and the gear rotates to drive the clamping jaws to open or close through the rack) and the like.

In addition, a clamping mechanism (such as a clamping block, a clamping groove and the like) matched with the first clamping structure can be further arranged on the clamping jaw.

Further preferably, the gripper lifting driving mechanism can adopt a gear rack, a lifting cylinder, a conveyor belt and other mechanisms for lifting driving, or the gripper lifting driving mechanism comprises a gripper lifting driving motor 481 and a gripper lifting driving screw 482, the gripper lifting driving screw is rotationally arranged in a gripper shell, the gripper lifting driving motor drives the gripper lifting driving screw to rotate through a synchronous wheel synchronous belt, and the gripper telescopic driving mechanism is fixedly connected with a nut on the gripper lifting driving screw, so that the gripper lifting driving mechanism can drive the gripper telescopic driving mechanism and the cryopreserved frame gripper to lift.

Further preferably, the rotation driving mechanism may adopt a rotation driving motor 441, a rotation driving worm 442 and a rotation driving worm gear 443, the rotation driving worm rotates in a worm seat on the gripper housing, the rotation driving motor is directly or through a transmission mechanism connected with the rotation driving worm to drive the rotation driving worm to rotate, the rotation driving worm gear meshed with the rotation driving worm is circumferentially arranged on the upper portion of the rotating frame, and when the rotation driving motor drives the rotation driving worm to rotate, the rotation driving worm drives the rotating frame to rotate in the gripper housing through the rotation driving worm gear.

In addition, in order to further improve rotating stability and smoothness of the rotating frame, the upper portion of the rotating frame is movably connected with the gripper shell through a limiting groove limiting block, an annular guide rail and other rotating limiting mechanisms, so that the rotating frame is prevented from being askew or falling out of the gripper shell. The limiting groove can be formed in the rotating frame or the gripper shell, and the limiting clamping block movably connected with the limiting groove can be formed in the gripper shell or the rotating frame.

Further preferably, the X/Y axis driving device can adopt the existing linear module to drive, can also adopt the matching structure of a driving motor, a driving gear and a driving rack to drive, and can also be assisted with a guide rail to carry out translation guiding.

For example: the X-axis driving rack 451 is arranged above the storage area frame, the Y-axis driving rack 452 is arranged on the cross beam 453, the driving gears are connected to each rack in a meshed manner, the X-axis driving motor 454 is arranged on the cross beam, the Y-axis driving motor 455 is arranged on the gripper frame, and the X-axis driving motor drives the driving gears to rotate, so that the cross beam moves in a sliding rail translational manner along the X-axis direction, and the Y-axis driving motor drives the driving gears to rotate, so that the gripper frame moves in a sliding rail translational manner along the Y-axis direction on the cross beam.

The frozen frame grabbing mechanism is designed with 5 motion shafting in the horizontal direction and the vertical direction, and can shuttle to any position in a gap of a movable substrate, so that the frozen frame at the bottom can be grabbed, the frozen frame at the upper layer can be grabbed, the grabbing direction can be switched at will by 360 degrees, the size space requirement is small, and the overall efficiency of the equipment is improved.

The storage rack can be grabbed at any position and at any angle through the two horizontal X shafts at the top of the storage area frame, the Y shaft moving through the middle cross beam and the rotation of the gripper frame, meanwhile, the gripper lifting driving mechanism enables the grippers of the storage rack to grab the bottom-layer storage rack in the storage area, and the gripper telescopic driving mechanism enables the grippers of the storage rack to grab the upper-layer storage rack and retract into the gripper shell after grabbing the storage rack.

Further preferably, a buffer transfer mechanism for buffering the frozen storage rack is rotatably connected to the inner side of the transfer opening near the storage area, and the outer edge of the buffer transfer mechanism protrudes out of the inner side wall of the transfer opening so as to access the frozen storage rack.

Further preferably, the buffer transferring mechanism comprises a buffer rack 46 and a rotation driving device for driving the buffer rack to rotate, a plurality of buffer grooves 47 for placing the freezing racks are formed in the buffer rack, more than a plurality of groups of sample tasks can be simultaneously executed, the feeding and discharging openings of the buffer grooves are always outward, a group of freezing racks can be placed in each buffer groove, and the buffer racks can be connected in the transferring openings through rotation of the rotating shafts so as to realize the switching of different transferring positions.

The rotation driving device can directly drive the rotating shaft by adopting a rotation motor, and can also be connected with the rotating shaft by matching with transmission components such as a synchronous wheel synchronous belt and the like.

The buffer transfer mechanism can automatically complete butt joint with the storage area frozen storage frame grabbing mechanism and the test tube rack grabbing mechanism through the buffer frame upper sensor, meanwhile, the moving distance of the frozen storage frame grabbing mechanism can be reduced, and the overall efficiency of the equipment is improved.

When the cache operation is needed, the cache rack rotates, so that the empty cache groove moves out of the transfer port, and the frozen storage racks in the dense storage mechanism are grabbed one by the frozen storage rack grabbing mechanism and are inserted into the cache groove; according to the grabbing requirement of the test tube rack grabbing mechanism, the buffer storage rack rotates, so that the corresponding frozen storage rack rotates into the transfer port and faces the heat preservation separation door, and after the heat preservation separation door is opened, the test tube rack grabbing mechanism can extend into the transfer port and grab the corresponding test tube rack.

(5) The software control system mainly comprises the following modules: the system comprises an interface module, a library management module, a motion and control module, a data management and monitoring module and a base module.

The interface module mainly solves the communication and data interaction with the upper system.

The library management module mainly solves the problem that the upper system needs to access the library task to be decomposed and distributed to the lower-level equipment control module. The optimized task ordering is intelligently given according to the current equipment state, so that the highest efficiency of the whole equipment is realized.

The data management and monitoring mainly feeds back the state of the equipment in real time, data of each parameter, log generation and the like.

The basic module is the language configuration of the whole machine, and the user and authority management.

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

(1) The extraction mode of the freezing storage rack and the centralized storage mode of the freezing storage rack are optimized, so that the number of stored samples is increased in multiple stages;

(2) The storage cost of the sample is reduced through centralized sample management and centralized refrigeration;

(3) The whole system has high safety, high intelligence, high flexibility and high efficiency.

The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes or direct or indirect application in other related arts are included in the scope of the present utility model.

Claims

1. A high volume biological sample cryogenic storage system comprising a housing, comprising: the dense storage mechanism and the warehouse-in and warehouse-out mechanism are hermetically and separately arranged in the shell, the grabbing mechanism of the freezing storage rack is movably arranged in the dense storage mechanism,

2. The system of claim 1, wherein the housing is provided with a transfer port for connecting the access mechanism and the dense storage mechanism, respectively, and a thermal insulation partition door for opening and closing the transfer port.

3. The system of claim 2, wherein the thermal insulation partition door comprises a plurality of sealing plates, adjusting projections, a deflector rod, a first adjusting driving device and a second adjusting driving device which are mutually independent, the sealing plates are sequentially arranged on the rotating interface in a sliding manner from top to bottom, the adjusting projections are arranged on the sealing plates, the first adjusting driving device drives the deflector rod to be movably connected with the adjusting projections, and the second adjusting driving device drives the first adjusting driving device and the deflector rod to move up and down, so that the deflector rod and the adjusting projections are matched to lift or put down the sealing plates, and the rotating interface is opened or closed.

4. The system of claim 2, wherein the transfer port is rotatably connected with a buffer rack, and one or more buffer slots for buffering the frozen storage rack are arranged on the buffer rack, wherein the outer edge of the buffer rack protrudes from the inner port of the transfer port and extends into the dense storage mechanism so as to access the frozen storage rack.

5. The system of claim 4, wherein the in-and-out mechanism comprises a take-out mechanism for interfacing with an external transfer device and transferring and identifying sample tubes and/or racks, and a rack gripping mechanism for interfacing with the dense storage mechanism, the take-out mechanism, and the external access port and transferring sample tubes and/or racks.

6. The system of claim 5, wherein the rack grabbing mechanism comprises a rack gripper, a manipulator, a horizontal linear module, and a vertical linear module, the horizontal linear module drives the vertical linear module to move horizontally, and the vertical linear module drives the manipulator to move up and down, and the manipulator is connected with the rack gripper to drive the rack gripper to rotate, retract and open and close.

7. The system of claim 1, wherein the housing is provided with an external operation port communicated with the sample transferring operation area, a test tube rack taking and placing position is arranged in the external operation port, and sealing heat-insulating doors are respectively arranged on the inner side and the outer side of the external operation port, so that a sealing environment convenient for storing the reagent rack is formed at the external operation port.

8. The system of claim 1, wherein the dense storage mechanism comprises a storage area frame, a lower sample storage mechanism and an upper sample storage mechanism for storing the frozen storage frames are arranged in the storage area frame, the upper sample storage mechanism comprises a movable base plate and a stable frame, the stable frame is arranged on each movable base plate to form a plurality of cavities for placing the frozen storage frames, and the movable base plates are movably arranged above the lower sample storage mechanism to form avoidance channels for allowing the frozen storage frames to move and grasp the frozen storage frames in the upper and lower sample storage mechanisms.

9. The system of claim 1, wherein the gripping mechanism of the freezing rack comprises an X-axis driving device, a Y-axis driving device, a rotation driving mechanism, a gripper housing, a rotating rack, a freezing rack gripper, a gripper lifting driving mechanism and a gripper telescopic driving mechanism, the gripper lifting driving mechanism is arranged in the rotating rack and drives the gripper telescopic driving mechanism to lift in the rotating rack, the gripper telescopic driving mechanism is connected with the gripper of the freezing rack to drive the gripper of the freezing rack to extend outwards or retract inwards, the upper portion of the rotating rack is movably arranged in the gripper housing, the rotation driving mechanism drives the rotating rack to axially rotate, the Y-axis driving device drives the gripper housing to move back and forth on a beam, and the X-axis driving device drives the Y-axis driving device and the gripper housing to move back and forth along the X-axis direction through the beam.

10. The low-temperature storage system for large-batch biological samples according to claim 9, wherein the gripper telescopic driving mechanism comprises a telescopic connecting frame connected with the gripper lifting driving mechanism, a mounting seat for mounting the grippers or the gripper driving device of the freezing storage frame, and a telescopic plate which is respectively connected with the telescopic connecting frame and the mounting seat in a sliding manner, the first-stage telescopic driving assembly drives the telescopic plate to perform first-stage telescopic movement on the telescopic connecting frame, two groups of second-stage telescopic driving assemblies which are identical in structure and opposite in installation and movement direction are arranged on the telescopic plate, and each second-stage telescopic driving assembly comprises a second-stage chain wheel which is rotatably arranged on the telescopic plate and a second-stage chain which is movably connected with the second-stage chain wheel and is fixedly connected with the telescopic connecting frame and the mounting seat at two ends, so that the telescopic plate synchronously drives the mounting seat to perform second-stage telescopic movement through the second-stage telescopic driving assembly when performing telescopic movement, and the multistage telescopic driving of the grippers of the freezing storage frame is realized.