CN219905614U - Intelligent biological sample low-temperature storage system - Google Patents

Abstract

The utility model discloses an intelligent biological sample low-temperature storage system which comprises an operation chamber, a transfer docking system, a grabbing system, a mobile carrying system and a sample storage system, wherein the operation chamber is connected with the transfer docking system; the transfer docking system can dock with the operation chamber, the grabbing system can rotate and grab the transfer docking system and the mobile carrying system, the grabbing system and the mobile carrying system are arranged in the operation chamber, the mobile carrying system can move in the operation chamber, the sample storage system is arranged below the operation chamber, and the mobile carrying system can dock with the sample storage system. The utility model has the beneficial effects that different chucks can be automatically replaced to grasp a single freezing tube or a whole plate, a plurality of mechanical arms are not required to be added, the device can realize automatic access without manually storing or taking out biological samples, the access of the device is in a sealed operation space, the identification of the samples is not influenced, and the lifting cylinder assembly and the movable shaft assembly can ensure that the lifting cylinder assembly can realize XY shaft movement.

Description

Intelligent biological sample low-temperature storage system

Technical Field

The utility model relates to the technical field of biological sample storage, in particular to an intelligent biological sample low-temperature storage system.

Background

Biological samples generally need to be stored at low temperature, and most of tissue, blood, DNA, biological fluids and protein samples are stored at the temperature of minus 196 ℃ at present, and a storage container is generally an ultralow-temperature manual liquid nitrogen tank. Therefore, the biological sample is stored or taken out by manual operation, and the manual operation process has high probability of error and danger of low-temperature frostbite, and meanwhile, the biological sample can be accessed only by opening the top cover of the liquid nitrogen tank every time, so that a large amount of water vapor can be brought in the process, serious frosting is caused on the surface of the sample, and the identification of the sample is influenced. As biological sample storage has become more and more important, automated storage has become imperative.

At present, some full-automatic deep low-temperature biological sample storage devices exist, but the structure is complex, the cost is high, a plurality of manipulators are often increased due to the fact that a single freezing tube and a grabbing plate frame are needed to be picked, and the operation efficiency is reduced while the cost is increased; in addition, the conventional lifting mechanism of the lifting basket is fixedly arranged above the liquid nitrogen tank, and is inconvenient in emergency sample storage and taking because the lifting mechanism does not have flexible movement, so that an intelligent biological sample low-temperature storage system is urgently needed.

Disclosure of Invention

This section is intended to outline some aspects of embodiments of the utility model and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the utility model and in the title of the utility model, which may not be used to limit the scope of the utility model.

The present utility model has been made in view of the above-mentioned or existing problems occurring in the prior art.

Therefore, the utility model aims to provide an intelligent biological sample low-temperature storage system which can automatically change different chucks to grasp a single freezing tube or a whole plate, a plurality of mechanical arms are not required to be added, the working efficiency is greatly improved, the device can realize automatic access without manually storing or taking out biological samples, the access of the device is in a sealed operation space, frosting is avoided, the identification of the samples is not influenced, and the lifting cylinder assembly and the movable shaft assembly can ensure that the lifting cylinder assembly can realize XY shaft movement.

In order to solve the technical problems, the utility model provides the following technical scheme: an intelligent biological sample low-temperature storage system comprises an operation chamber, a transfer docking system, a grabbing system, a mobile carrying system and a sample storage system;

The transfer docking system can dock with the operation chamber, the grabbing system can rotate and grab the transfer docking system and the mobile carrying system, the grabbing system and the mobile carrying system are arranged in the operation chamber, the mobile carrying system can move in the operation chamber, the sample storage system is arranged below the operation chamber, and the mobile carrying system can dock with the sample storage system.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the grabbing system comprises a manipulator assembly, a picking pipe storage assembly, a grabbing head assembly and a code scanner;

the manipulator assembly can be connected with the gripper head assembly for replacement, the gripper head assembly is driven by the manipulator assembly to grab a frozen storage tube in the transfer docking system and place the frozen storage tube in the picking tube storage assembly, and the code scanner can be used for scanning a single frozen storage tube or a whole plate frame.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the transfer docking system comprises a support cabin assembly, a sliding assembly, a cabin door assembly and a docking door assembly;

the sliding assembly can slide in the supporting cabin assembly, the cabin door assembly can seal and close the supporting cabin assembly, and the butt joint door assembly is arranged in the operation cavity.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the mobile carrying system comprises an opening cabin assembly, a mobile shaft assembly, a shovel plate assembly and a lifting cylinder assembly;

the cabin opening assembly is arranged in the operation cavity, the movable shaft assembly can drive the shovel plate assembly and the lifting cylinder assembly to move, and the side surface of the shovel plate assembly is communicated with the lower side surface of the lifting cylinder assembly.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the transfer docking system further includes a transfer pot disposed above the slide assembly, and the door assembly is configured to close or open the support compartment assembly.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the operation chamber comprises a reference plate, a chamber shell, an observation window and a maintenance plate opening;

the top of benchmark board sets up the cavity shell, forms inside operation chamber between benchmark board and the cavity shell, is provided with the observation window on the preceding terminal surface of cavity shell, and cavity shell top is provided with the maintenance board mouth.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the sample storage system comprises a tank body assembly and a basket rotating assembly;

The cabin opening assembly can seal the tank assembly, and the basket rotating assembly is arranged in the tank assembly.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the manipulator assembly comprises a rotating arm and a gripper fixing head;

the bottom of the rotating arm is fixed with the reference plate, a plurality of groups of rotating support shafts are arranged on the rotating arm, the rotating arm can move in multiple directions and multiple angles under the drive of the plurality of groups of rotating support shafts, and the gripper fixing head is arranged at the front end of the rotating arm.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the gripper head assembly comprises a supporting plate, a gripper head, a clamping plate frame head and a quick-change head;

the support plate is arranged above the picking pipe storage assembly, quick-change heads are connected above the clamping pipe heads and the clamping plate frame heads, two notches are formed in the support plate, and the clamping pipe heads and the clamping plate frame heads are respectively placed in the notches; the gripper fixing head can quickly replace the clip tube head or the clip frame head by using the quick-change head; the code scanner is arranged on the supporting plate.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the tube picking storage assembly comprises a tube picking groove, a tube picking groove box and a tube picking temporary storage frame;

The tube picking groove box is connected with the reference plate, a tube picking groove is formed in the tube picking groove box, and a tube picking temporary storage frame is arranged in the tube picking groove.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the support cabin assembly comprises a square cabin, a front open slot and an upper open slot;

the upper end face of the square cabin is fixedly connected with the lower end face of the reference plate, a front open slot is formed in the square cabin, and an upper open slot is formed in the upper end of the square cabin.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the sliding assembly comprises a supporting sliding rail plate, a first sliding connecting plate, a second sliding plate, a conveying belt, conveying wheels, a first roller, a second roller, a sliding plate motor, a third driving shaft and a third connector;

the support sliding rail plate is arranged in the square cabin, the first sliding plate is connected with the first roller, the first sliding connecting plate is connected with the first sliding plate, an open slot is formed in the first sliding connecting plate, the conveying wheels are arranged in the open slot and are connected with the first sliding connecting plate, two groups of conveying wheels are arranged front and back, the two groups of conveying wheels are connected through a conveying belt, a connecting block is arranged on the conveying belt, the connecting block is connected with the second sliding plate, the second sliding plate is connected with the second roller, the second roller can slide along the guide rail slot on the inner side of the first sliding plate, the second sliding plate is arranged on the upper side of the first sliding connecting plate, a sliding plate motor is connected with a third driving shaft through a belt wheel, a third connector is connected on the third driving shaft, and the third connector is connected with the first sliding connecting plate;

The transfer pot is arranged on the first sliding connecting plate or/and the second sliding plate.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the cabin door assembly comprises a transmission door, a connecting rod, a transmission door driving motor, a transmission screw rod, a transmission sliding block and a transmission door supporting frame;

the transfer door support frame sets up the preceding terminal surface in square cabin, and transfer door driving motor sets up the side terminal surface in square cabin, and transfer door driving motor is connected with the transfer lead screw, and the transfer slider is connected for the cooperation with the transfer lead screw, and transfer door driving motor's height is higher than the height of transfer door, is provided with vertical notch on the transfer door support frame, transfer slider and transfer door, and the connecting rod passes vertical notch and is connected with transfer slider and transfer door.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the butt joint door assembly comprises a passage port, a rotary door motor shaft, a rotary door base and an upper cover temporary storage groove;

the channel opening is arranged on the reference plate and is consistent with the opening position of the upper open slot, the rotary door base is fixed with the upper end surface of the reference plate, a round hole is formed in the rotary door base, a rotary door motor shaft is arranged in the round hole, one end of the rotary door motor shaft is connected with the rotary door motor, and the rotary door is fixedly connected with the rotary door motor shaft; the rotary door can cover the passage opening, and the upper cover temporary storage groove is formed in the reference plate and is arranged on one side of the passage opening.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the cabin opening assembly comprises a storage cabin door, a storage cabin door motor shaft and a storage cabin door motor base;

the storage cabin door motor is connected with a storage cabin door motor shaft, the storage cabin door motor base supports the storage cabin door motor shaft, the storage cabin door is fixedly connected with the storage cabin door motor shaft, and the storage cabin door motor base is fixedly connected with the upper end face of the reference plate.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the movable shaft assembly comprises an X-axis guide rail, a first sliding plate, a Y-axis guide rail, an X-axis motor sliding rail, a Y-axis motor, a Y-axis driving rod, a second sliding plate, a first connecting plate, a second connecting plate, a first connector, a second connector and an X-axis driving rod;

the X-axis guide rail is arranged on the reference plate, the first sliding plate is arranged on the upper side of the X-axis guide rail, an X-axis pulley is arranged in the X-axis guide rail, the X-axis pulley is connected to the lower side of the first sliding plate, a Y-axis guide rail is arranged on the sliding plate, a Y-axis pulley is arranged in the Y-axis guide rail, the second sliding plate is arranged above the Y-axis guide rail, the Y-axis pulley is connected to the lower side of the second sliding plate, a second connecting plate is arranged on the side of the second sliding plate, a Y-axis motor is connected with a Y-axis driving rod, the Y-axis driving rod is connected with a first connector, the first connector is connected with the second sliding plate, the upper end face of the reference plate is connected with the X-axis motor through a belt pulley and the X-axis driving rod, the side end of the second connecting plate is connected with a first connecting plate, and the first connecting plate is connected with the second connector.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the lifting cylinder assembly comprises a lifting cylinder shell, a heat insulation plate, a foam copper evaporator, a fixed upper plate, a lifting basket driving motor, a lifting basket guide rail, a lifting basket sliding block, a lifting basket handle, a transfer port, a balancing weight and a balancing weight guide rail;

the basket driving motor is arranged on the upper side of the lifting cylinder shell, the heat-insulating plate is arranged in the lifting cylinder shell, the foam copper evaporator is arranged in the heat-insulating plate, the upper end of the foam copper evaporator is provided with a fixed upper plate, the side face of the lifting cylinder shell is provided with a balancing weight guide rail, the balancing weight is slidably connected with the balancing weight guide rail, the inner side face of the heat-insulating plate is provided with a basket guide rail, the lifting cylinder shell is provided with a transmission port, and the heat-insulating plate and the foam copper evaporator are all provided with transmission ports.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the shovel plate assembly comprises a shovel plate motor, a shovel plate pushing plate, a pushing opening and a pushing frame;

the pushing frame is connected with the upper end face of the second sliding plate, a notch is formed in the pushing frame, the shovel motor is connected with the shovel pushing plate through a driving rod, and the shovel pushing plate can pass through a pushing opening and a transferring opening to be connected.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the tank body assembly comprises a double-vacuum tank body, a liquid nitrogen valve, a liquid nitrogen liquid supply head, a rotary supporting wheel and a basket inlet and outlet;

a basket inlet and outlet are formed above the double-vacuum tank body, a liquid nitrogen valve is arranged on the outer side surface of the double-vacuum tank body, a liquid nitrogen liquid supply head is arranged on the inner side of the double-vacuum tank body, and a rotary supporting wheel is arranged on the bottom side of the double-vacuum tank body; the storage cabin door can open or close the basket inlet and outlet.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the basket rotating assembly comprises a turntable shaft, a turntable groove, a turntable motor, a basket, a storage groove and a basket track;

the turntable motor is arranged on the reference plate, the turntable motor is connected with the turntable shaft, the turntable is connected with the turntable shaft, a turntable groove is vertically formed in the turntable, the basket can be accommodated in the turntable groove, the storage groove is formed in the basket, and the basket rail is arranged on the side face of the basket; the turntable is arranged in the double-vacuum tank body.

As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present utility model, wherein: the display screen is also included, and the shell is supported;

The cabin door assembly is laterally provided with a display screen, and the operating chamber and the sample storage system outer side are provided with a support housing.

The utility model has the beneficial effects that: according to the utility model, the transfer tank is in butt joint with the operation cavity through the transfer butt joint system, the grabbing system can clamp and pick the frozen storage pipe or the whole frozen storage pipe in the transfer tank, the transfer tank is in butt joint with the mobile conveying system, the frozen storage pipe or the whole frozen storage pipe is accessed into the sample storage system through the mobile conveying system, and the liquid nitrogen is arranged in the sample storage system, so that biological samples can be well stored.

Drawings

In order to more clearly illustrate 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 described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:

FIG. 1 is a schematic perspective view of an intelligent biological sample cryogenic storage system.

Fig. 2 is a schematic perspective view of an operating chamber of the intelligent biological sample cryogenic storage system.

Fig. 3 is a schematic perspective view of a hidden chamber housing and a support housing of the intelligent biological sample cryogenic storage system.

Fig. 4 is a schematic perspective view of a hidden sample storage system of the intelligent biological sample cryogenic storage system.

FIG. 5 is an enlarged view of the intelligent biological sample cryogenic storage system at F1.

FIG. 6 is a schematic diagram of a transfer docking system of an intelligent biological sample cryogenic storage system.

Fig. 7 is a cross-sectional view of a square cabin of an intelligent biological specimen cryogenic storage system.

FIG. 8 is an enlarged view of a manipulator assembly of the intelligent biological sample cryogenic storage system.

FIG. 9 is an enlarged view of a pick tube storage assembly of the intelligent biological sample cryogenic storage system.

Fig. 10 is a schematic perspective view of a lift cylinder assembly of an intelligent biological sample cryogenic storage system.

FIG. 11 is a schematic diagram illustrating the disassembly of a lift cylinder assembly of an intelligent biological sample cryogenic storage system.

Fig. 12 is a schematic perspective view of a tank assembly of the intelligent biological sample cryogenic storage system.

FIG. 13 is a cut-away view of the interior of a tank assembly of the intelligent biological sample cryogenic storage system.

Reference numerals;

an operation chamber 100; a transfer docking system 200; a grasping system 300; a mobile handling system 400; a sample storage system 500; a robot assembly 301; a pick tube storage assembly 320; a gripper assembly 330; a code scanner 340; a support pod assembly 210; a slide assembly 250; a hatch assembly; 230, a step of; a docking door assembly 240; an open cabin assembly 410; a movable shaft assembly 420; blade assembly, 450; a lift cylinder assembly 460; a transfer pot 280; a reference plate 110; a chamber housing 120; a viewing window 130; a maintenance panel port 140; a canister assembly 510; a basket rotation assembly 520; a rotating arm 311; a gripper securing head 312; a support plate 331; clip head, 332; a clip frame head 333; a quick change head 334; a tube picking groove 321; tube picking groove box 322; a tube picking temporary storage rack 323; a support slide rail plate 251; a first slide plate 252; a first sliding connection plate 253; a second sliding plate 254; a conveyor belt 255; a transfer wheel, 256; a first roller 267; a second roller, 268; a slide plate motor 269; a third drive shaft 270; a third connector 271; a transfer gate 231; a connecting rod 232; a transfer gate drive motor 233; a transfer screw, 234; a transfer slider 235; a transfer door support 236; a passage port 241; a rotary door 242; a rotating door motor 243; a top cover temporary storage groove 244; a storage compartment door 411; a storage hatch motor 403; an X-axis rail 421; a first slide plate 422; y-axis guide rail 423; an X-axis motor 424; x-axis motor slide rails, 425; a Y-axis motor 426; a Y-axis drive lever 427; a second sled, 428; a first connection plate 429; a second connection plate 430; a first connector 431; a second connector 432; an X-axis driving rod 433; a lift cylinder housing 461; a thermal insulation plate 462; a copper foam evaporator 463; fixing the upper plate 464; a basket drive motor 465; basket guide rails 466; basket slider, 467; basket grip 468; a transfer port 469; a blade motor 451; a blade pushing plate 452; a push port 453; a push rack 454; double vacuum tanks, 511; a liquid nitrogen valve 512; a liquid nitrogen supply head 513; rotating the support wheel 514; basket access ports, 515; a turntable shaft 521; a turntable, 527; a rotor groove 522; a turntable motor 523; basket, 524; a storage tank 525; a display screen 600; a support housing 700;

Detailed Description

In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, but the present utility model may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present utility model is not limited to the specific embodiments disclosed below.

Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the utility model. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Example 1

Referring to fig. 1 to 3, in a first embodiment of the present utility model, an intelligent biological sample low-temperature storage system is provided, which comprises an operation chamber 100, a transfer docking system 200, a grabbing system 300, a mobile handling system 400, and a sample storage system 500, wherein the grabbing system 300 and the mobile handling system 400 can be accommodated in the operation chamber 100, after the transfer docking system 200 is docked with the operation chamber 100, the grabbing system 300 can take and place a frozen storage tube between the transfer docking system 200 and the mobile handling system 400, and access a single frozen storage tube or a whole frozen storage tube is performed after the mobile handling system 400 is docked with the sample storage system 500.

Specifically, the system comprises an operation chamber 100, a transfer docking system 200, a grabbing system 300, a mobile handling system 400 and a sample storage system 500;

the transfer docking system 200 may dock with the operation chamber 100, the gripping system 300 may rotationally grip the transfer docking system 200 and the mobile handling system 400, the gripping system 300 and the mobile handling system 400 may be disposed within the operation chamber 100, the mobile handling system 400 may move within the operation chamber 100, the sample storage system 500 may be disposed below the operation chamber 100, and the mobile handling system 400 may dock with the sample storage system 500.

In summary, according to the utility model, the transfer tank is docked with the operation chamber 100 through the transfer docking system 200, the grabbing system 300 is used to clamp and dock the frozen storage tube or the whole frozen storage tube in the transfer tank with the mobile handling system 400, the frozen storage tube or the whole frozen storage tube is accessed into the sample storage system 500 through the mobile handling system 400, and the sample storage system 500 is provided with liquid nitrogen, so that biological samples can be well stored.

Example 2

Referring to fig. 1 to 13, in the above embodiment, the intelligent biological sample low temperature storage system according to the second embodiment of the present utility model comprises an operation chamber 100, a transfer docking system 200, a gripping system 300, a mobile handling system 400, and a sample storage system 500, wherein the gripping system 300 and the mobile handling system 400 can be accommodated in the operation chamber 100, and after the transfer docking system 200 is docked with the operation chamber 100, the gripping system 300 can take and place the transfer docking system 200 and the mobile handling system 400 with respect to a single frozen storage tube or a whole frozen storage tube after the mobile handling system 400 is docked with the sample storage system 500.

Specifically, the system comprises an operation chamber 100, a transfer docking system 200, a grabbing system 300, a mobile handling system 400 and a sample storage system 500;

the transfer docking system 200 may dock with the operation chamber 100, the gripping system 300 may rotationally grip the transfer docking system 200 and the mobile handling system 400, the gripping system 300 and the mobile handling system 400 may be disposed within the operation chamber 100, the mobile handling system 400 may move within the operation chamber 100, the sample storage system 500 may be disposed below the operation chamber 100, and the mobile handling system 400 may dock with the sample storage system 500.

Further, the grabbing system 300 includes a manipulator assembly 310, a picking tube storage assembly 320, a gripper head assembly 330 and a scanner 340;

the manipulator assembly 310 may be connected to the gripper head assembly 330 for replacement, and the manipulator assembly 310 drives the gripper head assembly 330 to grasp and place the frozen storage tube in the transfer docking system 200 in the tube picking storage assembly 320, so that the code scanner 340 may be used to scan a single frozen storage tube or a whole plate rack.

Further, the transfer docking system 200 includes a support pod assembly 210, a slide assembly 250, a pod door assembly 230, and a docking door assembly 240;

The slide assembly 250 may slide within the support pod assembly 210 and the pod door assembly 230 may seal closed the support pod assembly 210 with the docking door assembly 240 disposed within the operating chamber 100.

Further, mobile handling system 400 includes an open cabin assembly 410, a mobile shaft assembly 420, a blade assembly 450, and a lift cylinder assembly 460;

cabin opening assembly 410 is disposed in operation chamber 100, and movable shaft assembly 420 can drive shovel assembly 450 and lift cylinder assembly 460 to move, and the side of shovel assembly 450 is communicated with the lower side of lift cylinder assembly 460.

Further, the transfer docking system 200 further includes a transfer pot 280, the transfer pot 280 being disposed above the slide assembly 250, and the door assembly 230 being configured to close or open the support pod assembly 210.

Further, the operation chamber 100 includes a reference plate 110, a chamber housing 120, a viewing window 130, and a maintenance plate port 140;

the upper side of the reference plate 110 is provided with a chamber housing 120, an internal operation cavity is formed between the reference plate 110 and the chamber housing 120, the front end surface of the chamber housing 120 is provided with an observation window 130, and the upper side of the chamber housing 120 is provided with a maintenance plate port 140.

Preferably, the operation process of the internal operation cavity can be observed through the observation window 130, and the reserved maintenance panel 140 can be opened for maintenance when the internal components fail.

Further, the sample storage system 500 includes a canister assembly 510, a basket rotation assembly 520;

the nacelle assembly 410 may seal against the tank assembly 510, with the basket rotating assembly 520 disposed within the tank assembly 510.

Further, the manipulator assembly 310 includes a rotating arm 311, a gripper fixing head 312;

the bottom of the rotating arm 311 is fixed with the reference plate 110, a plurality of groups of rotating support shafts are arranged on the rotating arm 311, the rotating arm 311 can move in multiple directions and multiple angles under the drive of the plurality of groups of rotating support shafts, and the gripper fixing head 312 is arranged at the front end of the rotating arm 311.

Preferably, the rotating arm 311 is composed of multiple sections of rotating shafts, so that the rotating arm 311 can conveniently rotate in any direction, the front end of the rotating arm 311 is fixedly provided with the gripper fixing head 312, the gripper fixing head 312 can be provided with the gripper head 332 or the gripper frame head 333, and only the gripper fixing head 312 is required to be connected with the quick-change head 334.

Further, the gripper head assembly 330 comprises a support plate 331, a gripper head 332, a gripper frame head 333, and a quick change head 334;

the supporting plate 331 is arranged above the picking tube storage component 320, the quick-change heads 334 are connected above the clamping tube heads 332 and the clamping plate frame heads 333, two notches are formed in the supporting plate 331, and the clamping tube heads 332 and the clamping plate frame heads 333 are respectively placed in the notches; the gripper fixing head 312 can quickly replace the gripper head 332 or the gripper frame head 333 with the quick-change head 334; the code scanner 340 is disposed on the support plate 331.

Preferably, the quick-change heads 334 are fixedly arranged above the clamping tube heads 332 and the clamping plate frame heads 333, and the gripper fixing heads 312 can be quickly connected with the quick-change heads 334; clip head 332 may be used to grasp a single tube biological sample, while clip head 333 may clip a whole plate biological sample or other item to be grasped.

Further, the tube picking storage assembly 320 includes a tube picking groove 321, a tube picking groove box 322, and a tube picking temporary storage frame 323;

the tube picking groove box 322 is connected with the reference plate 110, a tube picking groove 321 is arranged in the tube picking groove box 322, and a tube picking temporary storage frame 323 is arranged in the tube picking groove 321.

Preferably, the supporting plate 331 is arranged on the upper end face of the tube picking groove box 322 and is fixedly connected, the same notch as the tube picking groove 321 is formed in the same supporting plate 331, the supporting plate 331 extends to one part outwards, three notches are formed in the extending part, the notch formed in the middle is used for placing the code scanner 340, the code scanner 340 can scan a single tube cryopreserved tube or a whole plate cryopreserved plate or other biological samples, the notches on the front side and the rear side of the code scanner 340 are used for placing the clamp head 332 and the clamp frame head 333, and when needed, the clamp fixing head 312 is directly fixed with the quick-change head 334, so that the clamp head 332 or the clamp frame head 333 is replaced.

Preferably, the tube picking groove box 322 is fixed with the reference plate 110 through bolts or other fasteners, the tube picking groove 321 is arranged in the tube picking groove box 322, the tube picking temporary storage frame 323 is arranged in the tube picking groove 321, the tube picking temporary storage frame 323 can be used for placing single-tube biological samples and whole-plate biological samples, and the tube picking temporary storage frame 323 is mainly used for temporarily storing biological samples.

Further, the support compartment assembly 210 includes a square compartment 211, a front open slot 212, an upper open slot 213;

the upper end surface of the square cabin 211 is fixedly connected with the lower end surface of the reference plate 110, a front open groove 212 is formed in the square cabin 211, and an upper open groove 213 is formed in the upper end of the square cabin 211.

Further, the sliding assembly 250 includes a support slide rail plate 251, a first sliding plate 252, a first sliding connection plate 253, a second sliding plate 254, a conveyor belt 255, a conveyor wheel 256, a first roller 267, a second roller 268, a sliding plate motor 269, a third driving shaft 270, a third connector 271;

the supporting sliding rail plate 251 is arranged in the square cabin 211, the first sliding plate 252 is connected with the first roller 267, the first sliding connecting plate 253 is connected with the first sliding plate 252, an open slot is formed in the first sliding connecting plate 253, the conveying wheels 256 are arranged in the open slot and are connected with the first sliding connecting plate 253, two groups of conveying wheels 256 are arranged front and back, the two groups of conveying wheels 256 are connected through a conveying belt 255, a connecting block is arranged on the conveying belt 255, the connecting block is connected with the second sliding plate 254, the second roller 268 is connected on the second sliding plate 254, the second roller 268 can slide along a guide rail slot on the inner side of the first sliding plate 252, the second sliding plate 254 is arranged on the upper side of the first sliding connecting plate 253, the sliding plate motor 269 is connected with a third driving shaft 270 through a belt wheel, a third connector 271 is connected on the third driving shaft 270, and the third connector 271 is connected with the first sliding connecting plate 253;

Preferably, the supporting sliding rail plate 251 is disposed on the upper end surface of the bottom plate of the square cabin 211, two groups of supporting sliding rail plates 251 are symmetrically disposed, a plurality of groups of first rollers 267 are fixedly connected to the inner side of the bottom of the first sliding plate 252, concave first roller grooves for accommodating the plurality of groups of first rollers 267 to move are disposed on the outer side of the bottom of the supporting sliding rail plate 251, the first sliding plate 252 is symmetrically disposed, the two groups of first sliding plates 252 are fixedly connected through the first sliding connection plate 253, an open slot is disposed on the first sliding connection plate 253, front and rear groups of conveying wheels 256 are disposed in the open slot, the two groups of conveying wheels 256 are connected through a conveying belt 255, a connecting block is fixedly disposed on the conveying belt 255, the connecting block is fixedly connected with the bottom of the second sliding plate 254 through bolts or other fixing pieces, a plurality of second rollers 268 are fixedly connected to the two sides of the bottom of the second sliding plate 254, a plurality of second roller concave grooves are disposed at positions of the inner sides of the second rollers 268, and the plurality of second rollers 268 can slide in the second roller concave grooves, thus the second sliding plate 254 can slide on the first sliding connection plate 253.

Preferably, the third sliding shaft supports the third driving shaft 270, the third connector 271 is connected with the third driving shaft 270, the third driving shaft 270 can drive the third connector 271 to move back and forth when the third driving shaft 270 rotates positively and negatively, the third driving shaft 270 can adopt a screw rod or other transmission devices, only the third driving shaft 270 rotates to drive the third connector 271 to move back and forth, the third connector 271 is fixedly connected with the bottom of the first sliding connecting plate 253, and the sliding plate motor 269 can drive the third driving shaft 270 on the side to rotate through a belt wheel to provide power for the third driving shaft 270.

The transfer pot 280 is disposed on the first sliding connection plate 253 or/and the second sliding plate 254.

Preferably, the transfer pot 280 may be placed on the second slide plate 254, on the first slide connection plate 253, or both.

Further, the hatch assembly 230 includes a transfer door 231, a connecting rod 232, a transfer door drive motor 233, a transfer screw 234, a transfer slide 235, a transfer door support 236;

the transfer door support frame 236 is fixedly arranged on the front end face of the square cabin 211, the transfer door driving motor 233 is fixedly arranged on the side end face of the square cabin 211, the transfer door driving motor 233 is connected with the transfer screw rod 234, the transfer sliding block 235 is connected with the transfer screw rod 234 in a matched mode, the height of the transfer door driving motor 233 is higher than that of the transfer door 231, a vertical notch is formed in the transfer door support frame 236, the transfer sliding block 235 and the transfer door 231 are arranged, and the connecting rod 232 penetrates through the vertical notch and is connected with the transfer sliding block 235 and the transfer door 231.

It should be noted that, the transfer door support 236 is fixedly disposed on the front end surface of the square cabin 211, the corresponding notch is formed in the transfer door support 236, the transfer can 280 is conveniently moved into the square cabin 211, one end of the transfer door 231 connected with the square cabin 211 is fixed by the pin shaft, the transfer door 231 can be guaranteed to rotate along the pin shaft, thereby closing the square cabin 211 with the transfer door support 236, the square cabin 211 can be sealed, one end of the connecting rod 232 is connected with the transfer door 231, the other end of the connecting rod 232 is connected with the transfer slider 235, the setting position of the transfer door driving motor 233 is higher than the position of the transfer door 231 in the horizontal state, the position of the connecting rod 232 at one end of the transfer slider 235 is relatively lower, the forward and backward rotation of the transfer door driving motor 233 can drive the transfer screw 234 to rotate, and the transfer slider 235 can be driven to move forward and backward, and the transfer slider 235 can drive the connecting rod 232 to open or close the square cabin 211 around the pin shaft.

It should be noted that, when the transfer door 231 is in the horizontal position, the first sliding plate 252, the first sliding connection plate 253, and the second sliding plate 254 may be used to support, and after the first sliding plate 252, the first sliding connection plate 253, and the second sliding plate 254 enter the square cabin 211, the transfer door 231 may close or open the square cabin 211 along the pin shaft.

Further, the docking door assembly 240 includes a passage port 241, a rotary door 242, a rotary door motor 243, a rotary door motor shaft, a rotary door base, and an upper cover temporary storage slot 244;

the passage opening is arranged on the reference plate 110 and is consistent with the opening position of the upper opening groove 213, the rotary door base is fixed with the upper end surface of the reference plate 110, a round hole is formed in the rotary door base, a rotary door motor shaft is arranged in the round hole, one end of the rotary door motor shaft is connected with a rotary door motor 243, and the rotary door 242 is fixedly connected with the rotary door motor shaft; the rotary door 242 can cover the access opening 241, and the reference plate 110 is provided with an upper cover temporary storage groove 244, and the upper cover temporary storage groove 244 is disposed at one side of the access opening 241.

Preferably, the reference plate 110 is provided with a passage opening 241, and the opening position of the passage opening 241 is right above the upper opening slot 213, the rotating door motor 243 can drive the rotating door motor shaft to rotate, the rotating door motor shaft drives the rotating door 242 to rotate, the rotating door 242 can be placed in the passage opening 241 to realize closing, the passage opening 241 can also be opened, the upper cover of the transfer tank 280 can be stored in the upper cover temporary storage slot 244, and the rotating arm 311 and the gripper fixing head 312 drive the gripper head 332 or the gripper head 333 to open the upper cover of the transfer tank 280 and place the upper cover in the upper cover temporary storage slot 244.

Further, the cabin opening assembly 410 comprises a storage cabin door 411, a storage cabin door motor 403, a storage cabin door motor shaft and a storage cabin door motor base;

the storage cabin door motor 403 is connected with a storage cabin door motor shaft, the storage cabin door motor base supports the storage cabin door motor shaft, the storage cabin door 411 is fixedly connected with the storage cabin door motor shaft, and the storage cabin door motor base is fixedly connected with the upper end face of the reference plate 110.

Preferably, the storage cabin door motor 403 can drive the storage cabin door motor shaft to rotate, the storage cabin door motor shaft can drive the storage cabin door 411 to rotate, the reference plate 110 is provided with a storage cabin passage opening, and the storage cabin door 411 can open or close the basket inlet and outlet 515 through the storage cabin passage opening.

Further, the movable shaft assembly 420 includes an X-axis rail 421, a first slide 422, a Y-axis rail 423, an X-axis motor 424, an X-axis motor rail 425, a Y-axis motor 426, a Y-axis driving rod 427, a second slide 428, a first connection plate 429, a second connection plate 430, a first connector 431, a second connector 432, an X-axis driving rod 433;

the X-axis guide rail 421 is fixedly arranged on the reference plate 110, the first slide plate 422 is arranged on the upper side of the X-axis guide rail 421, X-axis pulleys are arranged in the X-axis guide rail 421, a plurality of groups of X-axis pulleys are fixedly connected and arranged below the first slide plate 422, two groups of Y-axis guide rails 423 are arranged on the slide plate 422, Y-axis pulleys are arranged in the Y-axis guide rail, the second slide plate 428 is arranged above the Y-axis guide rail 423, the Y-axis pulleys are connected and arranged below the second slide plate 428, a second connecting plate 430 is fixedly arranged on the side of the second slide plate 428, a Y-axis motor is arranged on the second connecting plate 430, the Y-axis motor is connected with a Y-axis driving rod 427, a first connector 431 is connected with the second slide plate 428 in a matched mode, the upper end face of the reference plate 110 is connected with the X-axis motor 424, the X-axis motor 424 is connected with the X-axis driving rod 433 through a belt pulley, a second connector 432 is connected with the X-axis driving rod 433, and the side end of the second connecting plate 430 is connected with the first connector 429, and the first connector 429 is fixedly connected with the second connector 432.

Preferably, the X-axis guide rails 421 are symmetrically arranged into two groups, two sides of the bottom of the first sliding plate 422 are provided with X-axis pulleys corresponding to the X-axis guide rails 421, the X-axis base can support the X-axis driving rod 433, the X-axis motor 424 is connected with the X-axis driving rod 433 through a belt wheel, the X-axis motor can drive the X-axis driving rod 433 to rotate, the X-axis driving rod 433 drives the second connector 432 to move, and the second connector 432 drives the first connecting plate 429 to move.

Preferably, the Y-axis driving rod 427 and the X-axis driving rod 433 may be screw rods, and the first connector 431 and the second connector 432 are cooperatively connected with the screw rods, so that the first connector 431 and the second connector 432 can move back and forth.

Further, the lifting drum assembly 460 comprises a lifting drum shell 461, a heat preservation plate 462, a foam copper evaporator 463, a fixed upper plate 464, a lifting basket driving motor 465, lifting basket guide rails 466, lifting basket sliding blocks 467, lifting basket grippers 468, a transfer port 469, balancing weights and balancing weight guide rails;

the basket driving motor 465 is arranged on the upper side of the lifting cylinder shell 461, the heat preservation plate 462 is arranged in the lifting cylinder shell 461, the heat preservation plate 462 is fixedly connected with the inner side of the lifting cylinder shell 461, the foam copper evaporator 463 is arranged in the heat preservation plate 462, the upper end of the foam copper evaporator 463 is provided with a fixed upper plate 464, the fixed upper plate 464 can fix the foam copper evaporator 463, the side face of the lifting cylinder shell 461 is provided with a balancing weight guide rail, the balancing weight is slidably connected with the balancing weight guide rail, the inner side face of the heat preservation plate 462 is provided with the basket guide rail 466, the lifting cylinder shell 461, the heat preservation plate 462 and the foam copper evaporator 463 are provided with transmission ports 469, and the transmission ports 469 on the foam copper evaporator 463 are not drawn in the drawing. The gears on the basket driving motor 465 and the gears on the basket guide rails 466 are not shown in the gear diagram and are connected through chains, the gears on the basket guide rails 466 are arranged below the basket guide rails 466, the basket sliding blocks 467 are fixedly connected with the chains, the basket sliding blocks 467 are fixedly connected with the basket handles 468, the chains are driven to rotate when the basket driving motor 465 rotates, the basket sliding blocks 467 are driven to lift, pulleys are arranged on the basket sliding blocks 467, and the lifting process can be carried out up and down along the basket guide rails 466.

Further, blade assembly 450 includes blade motor 451, blade pusher plate 452, pusher port 453, pusher carriage 454;

push frame 454 carries out fixed connection with second slide 428 up end, and push frame 454 side is connected with hoist cylinder shell 461, is provided with the notch in the push frame 454, is provided with push plate 452 in the notch, and shovel board motor 451 is connected with shovel board push plate 452 through the actuating lever, and shovel board push plate 452 accessible push port 453 is together with transfer port 469.

Further, the tank assembly 510 comprises a double vacuum tank 511, a liquid nitrogen valve 512, a liquid nitrogen supply head 513, a rotary supporting wheel 514, and a basket inlet and outlet 515;

a basket inlet and outlet 515 is formed above the double vacuum tank 511, a liquid nitrogen valve 512 is arranged on the outer side surface of the double vacuum tank 511, a liquid nitrogen supply head 513 is arranged on the inner side of the double vacuum tank 511, and a rotary supporting wheel 514 is arranged on the bottom side of the double vacuum tank 511; the storage compartment door 411 may open or close the basket access opening 515.

Preferably, liquid nitrogen is supplied into the double vacuum tank 511 by a liquid nitrogen supply head 513 controlled by a liquid nitrogen valve 512.

Further, the basket rotating assembly 520 includes a turntable shaft 521, a turntable 527, a turntable slot 522, a turntable motor 523, a basket 524, a storage tank 525, and a basket rail;

The turntable motor 523 is arranged on the reference plate 110, the turntable motor 523 is connected with the turntable shaft 521, the turntable 527 is vertically provided with a turntable groove 522, a basket 524 can be accommodated in the turntable groove 522, a storage groove 525 is arranged on the basket 524, and a basket rail is arranged on the side surface of the basket 524; the rotary plate 527 is disposed within the double vacuum tank 511.

Preferably, the turntable motor 523 can control the turntable shaft 521 to move in the double-vacuum tank 511, the turntable shaft 521 can drive the turntable 527 to move, the turntable 527 is vertically provided with a plurality of groups of turntable grooves 522, a plurality of groups of lifting baskets 524 can be arranged in the plurality of groups of turntable grooves 522, a plurality of groups of multi-layer storage tanks 525 are arranged in the lifting baskets 524, and single-tube freezing storage tubes or whole-plate freezing storage tubes or other biological samples can be contained in the storage tanks 525.

Further, the display screen 600 and the supporting housing 700 are included;

the hatch assembly 230 is laterally provided with a display screen and the exterior sides of the operating chamber 100 and sample storage system 500 are provided with support housings.

Preferably, commands are controlled and issued to the entire operating system via the display 600.

The complete use process is as follows:

the transfer docking system 200 operates as follows; firstly, the transfer pot 280 is placed on the first sliding connection plate 253, the transfer pot 280 can be placed on the second sliding plate 254, or the transfer pot 280 can be arranged on the first sliding connection plate 253 and the second sliding plate 254, then the sliding plate motor 269 drives the third driving shaft 270 to rotate through a belt wheel, the third connector 271 is driven to move while rotating, the third connector 271 drives the first sliding connection plate 253 to move, the second sliding plate 254 is also driven to move on the first sliding connection plate 253, and the first sliding connection plate 253 drives the first roller 267 on the first sliding plate 252 to move along the concave first roller groove on the supporting sliding rail plate 251, so that the transfer pot 280 is transported into the square cabin 211; then, the transfer door driving motor 233 can be started, the transfer door driving motor 233 drives the transfer screw rod 234 to rotate, the transfer screw rod 234 drives the transfer sliding block 235 to move, the transfer sliding block 235 drives the connecting rod 232 to move, and the connecting rod 232 drives the transfer door 231 to fold along the pin shaft and the transfer door supporting frame 236, so that the square cabin 211 is sealed; after sealing, the rotary door 242 can be moved away from the passage opening 241 by the rotary door motor 243.

Grasping system movement process: the rotating arm 311 drives the gripper fixing head 312 to firstly install the clamping tube head 332 or the clamping plate frame head 333 through the quick-change head 334, so as to grasp and open the upper cover of the transfer tank 280, place the upper cover into the upper cover temporary storage groove 244, then according to the identification of whether the biological sample in the transfer tank 280 is a single-tube cryopreservation tube or a whole-plate cryopreservation tube, if the biological sample is a single-tube cryopreservation tube, the gripper fixing head 312 can clamp the single tube through the quick-change head 334 by replacing the clamping tube head 332, if the biological sample is a whole-plate sample, the gripper fixing head 312 can grasp through the quick-change head 334 by replacing the clamping plate frame head 333, after clamping, the biological sample is placed on the scanning register 340, and then the biological sample is temporarily placed into the picking-tube temporary storage frame 323 through the rotating arm 311.

The mobile handling system 400 and the sample storage system 500; firstly, after the lifting cylinder assembly 460 is moved to a position which does not affect the opening of the storage cabin door 411 through the movable shaft assembly 420, the storage cabin door motor 403 drives the storage cabin door 411 to open, after the storage cabin door 411 is opened, the movable shaft assembly 420 aligns the lifting cylinder assembly 460 with the basket inlet and outlet 515 on the double vacuum tank 511, then the turntable shaft 521 in the double vacuum tank 511 starts to rotate under the driving of the turntable motor 523, the basket 524 in the turntable groove 522 starts to rotate, and when the system judges which storage groove 525 in the basket 524 is empty, the empty basket 524 in the turntable groove 522 is aligned with the basket inlet and outlet 515 and then stops rotating; then, the gears on the basket driving motor 465 and the gears on the basket guide rails 466 are connected through a chain, the basket sliding block 467 is fixedly connected with the chain, then, after the basket handles 468 grab the upper end of the basket 524, the basket driving motor 465 drives the chain through the gears to drive the basket sliding block 467 to ascend, the basket sliding block 467 drives the basket 524 to ascend, the basket sliding block 467 ascends along the basket guide rails 466, when the basket 524 completely enters the foam copper evaporator 463, the foam copper evaporator 463 is used for spraying liquid nitrogen, the samples in the basket 524 are always in a deep low-temperature state, and the heat preservation plate 462 can conduct heat preservation; the gripper fixing head 312 on the rotating arm 311 changes the gripper head 332 or the gripper frame head 333 through the quick change head 334 quickly, then the frozen storage tube or the frozen storage tube plate frame temporarily placed in the tube picking temporary storage frame 323 is grabbed and placed on the shovel plate pushing plate 452 in the pushing frame 454, the shovel plate motor 451 is utilized to push the single-tube biological sample or the whole-plate biological sample on the shovel plate pushing plate 452 to be sent into the storage groove 525 on the basket 524 through the pushing port 453 and the transfer port 469, the basket 524 can be placed into the double-vacuum tank 511 after placement is completed, and the storage cabin door motor 403 drives the storage cabin door 411 to be closed.

In summary, according to the utility model, the transfer tank is docked with the operation chamber 100 through the transfer docking system 200, the grabbing system 300 is used to clamp and dock the frozen storage tube or the whole frozen storage tube in the transfer tank with the mobile handling system 400, the frozen storage tube or the whole frozen storage tube is accessed into the sample storage system 500 through the mobile handling system 400, and the sample storage system 500 is provided with liquid nitrogen, so that biological samples can be well stored.

It is important to note that the construction and arrangement of the utility model as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter described in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of present utility model. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present utility models. Therefore, the utility model is not limited to the specific embodiments, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Furthermore, in order to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those not associated with the best mode presently contemplated for carrying out the utility model, or those not associated with practicing the utility model).

It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.

It should be noted that the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present utility model may be modified or substituted without departing from the spirit and scope of the technical solution of the present utility model, which is intended to be covered in the scope of the claims of the present utility model.

Claims (21)

1. An intelligent biological sample low temperature storage system, characterized in that: comprises an operation chamber (100), a transfer docking system (200), a grabbing system (300), a mobile handling system (400) and a sample storage system (500);

the transfer docking system (200) can dock with the operation chamber (100), the grabbing system (300) can rotationally grab the transfer docking system (200) and the mobile carrying system (400), the grabbing system (300) and the mobile carrying system (400) are arranged in the operation chamber (100), the mobile carrying system (400) can move in the operation chamber (100), the sample storage system (500) is arranged below the operation chamber (100), and the mobile carrying system (400) can dock with the sample storage system (500).

2. The intelligent biological sample cryogenic storage system of claim 1, wherein: the grabbing system (300) comprises a manipulator assembly (310), a picking tube storage assembly (320), a gripper head assembly (330) and a code scanner (340);

the manipulator assembly (310) can be connected with the gripper head assembly (330) for replacement, the gripper head assembly (330) is driven by the manipulator assembly (310) to grasp a frozen storage tube in the transfer docking system (200) and place the frozen storage tube in the picking tube storage assembly (320), and the code scanner (340) can be used for scanning a single frozen storage tube or a whole plate frame.

3. The intelligent biological sample cryogenic storage system of claim 2, wherein: the transfer docking system (200) includes a support pod assembly (210), a slide assembly (250), a pod door assembly (230), a docking door assembly (240);

the sliding assembly (250) can slide in the supporting cabin assembly (210), the cabin door assembly (230) can seal and close the supporting cabin assembly (210), and the butt joint door assembly (240) is arranged in the operation chamber (100).

4. The intelligent biological sample cryogenic storage system of claim 3, wherein: the mobile handling system (400) comprises an opening cabin assembly (410), a mobile shaft assembly (420), a shovel board assembly (450) and a lifting cylinder assembly (460);

the cabin opening assembly (410) is arranged in the operation chamber (100), the movable shaft assembly (420) can drive the shovel plate assembly (450) and the lifting cylinder assembly (460) to move, and the side surface of the shovel plate assembly (450) is communicated with the lower side surface of the lifting cylinder assembly (460).

5. The intelligent biological sample cryogenic storage system of claim 4, wherein: the transfer docking system (200) further includes a transfer pot (280), the transfer pot (280) disposed above the slide assembly (250), and the door assembly (230) may close or open the support pod assembly (210).

6. The intelligent biological sample cryogenic storage system of claim 5, wherein: the operation chamber (100) comprises a reference plate (110), a chamber housing (120), an observation window (130) and a maintenance plate port (140);

the top of benchmark board (110) sets up cavity shell (120), form inside operation chamber between benchmark board (110) and cavity shell (120), be provided with observation window (130) on the preceding terminal surface of cavity shell (120), cavity shell (120) top is provided with maintenance board mouth (140).

7. The intelligent biological sample cryogenic storage system of claim 6, wherein: the sample storage system (500) includes a canister assembly (510), a basket rotation assembly (520);

the cabin opening assembly (410) can seal the tank body assembly (510), and a basket rotating assembly (520) is arranged in the tank body assembly (510).

8. The intelligent biological sample cryogenic storage system of claim 7, wherein: the manipulator assembly (310) comprises a rotating arm (311), a gripper fixing head (312);

the bottom of the rotating arm (311) is fixed with the reference plate (110), a plurality of groups of rotating support shafts are arranged on the rotating arm (311), the rotating arm (311) can move in multiple directions and multiple angles under the drive of the plurality of groups of rotating support shafts, and the gripper fixing head (312) is arranged at the front end of the rotating arm (311).

9. The intelligent biological sample cryogenic storage system of claim 8, wherein: the gripper head assembly (330) comprises a supporting plate (331), a gripper head (332), a gripper frame head (333) and a quick-change head (334);

the support plate (331) is arranged above the picking pipe storage component (320), quick-change heads (334) are connected above the clamping pipe heads (332) and the clamping plate frame heads (333), two notches are formed in the support plate (331), and the clamping pipe heads (332) and the clamping plate frame heads (333) are respectively placed in the notches; the gripper fixing head (312) can quickly replace the clamp tube head (332) or the clamp plate frame head (333) by the quick-change head (334); the code scanner (340) is arranged on the supporting plate (331).

10. The intelligent biological sample cryogenic storage system of claim 9, wherein: the tube picking storage assembly (320) comprises a tube picking groove (321), a tube picking groove box (322) and a tube picking temporary storage frame (323);

the tube picking groove box (322) is connected with the reference plate (110), a tube picking groove (321) is formed in the tube picking groove box (322), and a tube picking temporary storage frame (323) is arranged in the tube picking groove (321).

11. The intelligent biological sample cryogenic storage system of claim 10, wherein: the support cabin assembly (210) comprises a square cabin (211), a front open groove (212) and an upper open groove (213);

The upper end face of the square cabin (211) is fixedly connected with the lower end face of the reference plate (110), a front open groove (212) is formed in the square cabin (211), and an upper open groove (213) is formed in the upper end of the square cabin (211).

12. The intelligent biological sample cryogenic storage system of claim 11, wherein: the sliding assembly (250) comprises a supporting sliding rail plate (251), a first sliding plate (252), a first sliding connecting plate (253), a second sliding plate (254), a conveying belt (255), a conveying wheel (256), a first roller (267), a second roller (268), a sliding plate motor (269), a third driving shaft (270) and a third connector (271);

the support sliding rail plate (251) is arranged in the square cabin (211), the first sliding plate (252) is connected with the first roller (267), the first sliding connection plate (253) is connected with the first sliding plate (252), an opening groove is formed in the first sliding connection plate (253), the conveying wheels (256) are arranged in the opening groove and are connected with the first sliding connection plate (253), two groups of conveying wheels (256) are arranged in front of and behind, the two groups of conveying wheels (256) are connected through a conveying belt (255), a connecting block is arranged on the conveying belt (255), the connecting block is connected with the second sliding plate (254), the second roller (268) can slide along the guide rail groove on the inner side of the first sliding plate (252), the second sliding plate (254) is arranged on the upper side of the first sliding connection plate (253), the sliding plate (269) is connected with the third driving shaft (271) through a belt wheel, and the third sliding connection plate (253) is connected with the third driving shaft (271);

The transfer pot (280) is arranged on the first sliding connection plate (253) or/and the second sliding plate (254).

13. The intelligent biological sample cryogenic storage system of claim 12, wherein: the cabin door assembly (230) comprises a transmission door (231), a connecting rod (232), a transmission door driving motor (233), a transmission screw (234), a transmission sliding block (235) and a transmission door supporting frame (236);

the transfer door support frame (236) is arranged on the front end face of the square cabin (211), the transfer door driving motor (233) is arranged on the side end face of the square cabin (211), the transfer door driving motor (233) is connected with the transfer screw rod (234), the transfer sliding block (235) is connected with the transfer screw rod (234) in a matched mode, the height of the transfer door driving motor (233) is higher than that of the transfer door (231), a vertical notch is formed in the transfer door support frame (236), the transfer sliding block (235) is connected with the transfer door (231), and the connecting rod (232) penetrates through the vertical notch and is connected with the transfer sliding block (235) and the transfer door (231).

14. The intelligent biological sample cryogenic storage system of claim 13, wherein: the butt joint door assembly (240) comprises a passage port (241), a rotary door (242), a rotary door motor (243), a rotary door motor shaft, a rotary door base and an upper cover temporary storage groove (244);

The passage opening is formed in the reference plate (110) and is consistent with the opening position of the upper opening groove (213), the rotary door base is fixed with the upper end face of the reference plate (110), a round hole is formed in the rotary door base, a rotary door motor shaft is arranged in the round hole, one end of the rotary door motor shaft is connected with a rotary door motor (243), and the rotary door (242) is fixedly connected with the rotary door motor shaft; the rotary door (242) can cover the channel opening (241), an upper cover temporary storage groove (244) is formed in the reference plate (110), and the upper cover temporary storage groove (244) is arranged on one side of the channel opening (241).

15. The intelligent biological sample cryogenic storage system of claim 14, wherein: the cabin opening assembly (410) comprises a storage cabin door (411), a storage cabin door motor (403), a storage cabin door motor shaft and a storage cabin door motor base;

the storage cabin door motor (403) is connected with a storage cabin door motor shaft, the storage cabin door motor base supports the storage cabin door motor shaft, the storage cabin door (411) is fixedly connected with the storage cabin door motor shaft, and the storage cabin door motor base is fixedly connected with the upper end face of the reference plate (110).

16. The intelligent biological sample cryogenic storage system of claim 15, wherein: the movable shaft assembly (420) comprises an X-axis guide rail (421), a first sliding plate (422), a Y-axis guide rail (423), an X-axis motor (424), an X-axis motor sliding rail (425), a Y-axis motor (426), a Y-axis driving rod (427), a second sliding plate (428), a first connecting plate (429), a second connecting plate (430), a first connector (431), a second connector (432) and an X-axis driving rod (433);

the X-axis guide rail (421) is arranged on the reference plate (110), the first slide plate (422) is arranged on the upper side of the X-axis guide rail (421), an X-axis pulley is arranged in the X-axis guide rail (421), the X-axis pulley is connected with the lower side of the first slide plate (422), a Y-axis guide rail (423) is arranged on the slide plate (422), a Y-axis pulley is arranged in the Y-axis guide rail, the second slide plate (428) is arranged above the Y-axis guide rail (423), the Y-axis pulley is connected with the lower side of the second slide plate (428), a second connecting plate (430) is arranged on the side of the second slide plate (428), a Y-axis motor (426) is arranged on the second connecting plate (430), the Y-axis motor (426) is connected with a Y-axis driving rod (427), the first connector (431) is connected with the second motor (428), the X-axis pulley (433) is connected with the upper side of the second slide plate (433), the X-axis motor (433) is connected with the second connecting plate (433), the X-axis motor (433) is connected with the X-axis motor (433), the first connection plate (429) is connected to the second connector (432).

17. The intelligent biological sample cryogenic storage system of claim 16, wherein: the lifting cylinder assembly (460) comprises a lifting cylinder shell (461), a heat insulation plate (462), a foam copper evaporator (463), a fixed upper plate (464), a lifting basket driving motor (465), a lifting basket guide rail (466), a lifting basket sliding block (467), a lifting basket gripper (468), a transfer port (469), a balancing weight and a balancing weight guide rail;

the lifting basket driving motor (465) is arranged on the upper side of the lifting basket shell (461), a heat preservation plate (462) is arranged in the lifting basket shell (461), a foam copper evaporator (463) is arranged in the heat preservation plate (462), a fixed upper plate (464) is arranged at the upper end of the foam copper evaporator (463), a balancing weight guide rail is arranged on the side face of the lifting basket shell (461), the balancing weight is slidably connected with the balancing weight guide rail, a lifting basket guide rail (466) is arranged on the inner side face of the heat preservation plate (462), and a transmission port (469) is formed in the lifting basket shell (461), the heat preservation plate (462) and the foam copper evaporator (463).

18. The intelligent biological sample cryogenic storage system of claim 17, wherein: the shovel board assembly (450) comprises a shovel board motor (451), a shovel board pushing board (452), a pushing port (453) and a pushing frame (454);

The pushing frame (454) is connected with the upper end face of the second sliding plate (428), a notch is formed in the pushing frame (454), the shovel motor (451) is connected with the shovel pushing plate (452) through a driving rod, and the shovel pushing plate (452) can be connected with the transfer port (469) through a pushing port (453).

19. The intelligent biological sample cryogenic storage system of claim 18, wherein: the tank body assembly (510) comprises a double-vacuum tank body (511), a liquid nitrogen valve (512), a liquid nitrogen liquid supply head (513), a rotary supporting wheel (514) and a basket inlet and outlet (515);

a basket inlet and outlet (515) is formed above the double vacuum tank body (511), a liquid nitrogen valve (512) is arranged on the outer side surface of the double vacuum tank body (511), a liquid nitrogen liquid supply head (513) is arranged on the inner side of the double vacuum tank body (511), and a rotary supporting wheel (514) is arranged on the bottom side of the double vacuum tank body (511); the storage cabin door (411) can open or close the basket inlet and outlet (515).

20. The intelligent biological sample cryogenic storage system of claim 19, wherein: the basket rotating assembly (520) comprises a turntable shaft (521), a turntable (527), a turntable groove (522), a turntable motor (523), a basket (524), a storage groove (525) and a basket rail;

The rotary table motor (523) is arranged on the reference plate (110), the rotary table motor (523) is connected with the rotary table shaft (521), the rotary table (527) is connected with the rotary table shaft (521), a rotary table groove (522) is vertically formed in the rotary table (527), a basket (524) can be contained in the rotary table groove (522), a storage groove (525) is formed in the basket (524), and a basket rail is arranged on the side face of the basket (524); the rotary table (527) is arranged in the double-vacuum tank body (511).

21. The intelligent biological sample cryogenic storage system of claim 20, wherein: also comprises a display screen (600) and a supporting shell (700);

a display screen is provided laterally of the hatch assembly (230), and a support housing (700) is provided to the exterior side of the operating chamber (100) and the sample storage system (500).