KR100916841B1 - Custody device of the extremely low temperature - Google Patents

Abstract

An extremely low temperature storage device using the mechanism of a robot arm is provided to improve the operation safety by separating an elevating member from the liquid nitrogen inside a reservoir with a transfer member. An extremely low temperature storage device comprises a reservoir(2), a first, a second, and a third shelf(5,6,7), a liquid nitrogen, a door(21), a robot arm(17), a first rotational plate(11), a robot arm mobile tool, a monitoring control system, and a second rotational plate. The liquid nitrogen is filled in reservoir. The robot arm transports a storing box within the reservoir. The first rotational plate is driven with the first rotating member. The monitoring control system controls the robot arm mobile tool and manages the input and output. The second rotational plate is installed in a mounting hole formed in the first rotational plate. An operation space is made by removing a part of the second and the third shelf. The robot arm transfers the reservoir of the third shelf inside to the operating space.

Description

Custody device of the extremely low temperature

The present invention relates to a cryogenic storage device, and more particularly, a robot for stably transporting or withdrawing a canister, by placing a shelf inside a storage container filled with liquefied nitrogen, and storing the stack in multiple layers. He developed the mechanism of the arm.

In the field of medicine (forensic medicine), there is a growing demand for the long-term cold storage of cord blood (blood in the placenta and umbilical cord) or genes, tissue cells, bone marrow, fertilized eggs, white blood cells, heart valves, various microorganisms, and cells. .

In the case of the conventional cryogenic storage device, most of the storage tank is composed of a storage tank filled with liquid nitrogen (-196 ℃), the representative technology is the cryogenic storage tank transport cart of Korea Utility Model Application No. 20-2005-0012921, Cryogenic storage tanks of 20-2005-0013454, racks for liquid nitrogen transport vessels of 20-2006-0005313, and cryogenic storage tanks of 20-2006-0026226.

However, the configuration of the preceding design was to provide a lid that is sealed with a cover on the upper side of the storage tank, and to insert the rack into which the storage container is inserted in the storage tank in a vertical direction.

In the case of the cryogenic storage device, there is a concern that the temperature is changed in the surrounding storage container in the process of drawing out the storage container, and it is difficult to efficiently store many storage containers.

In addition, foreign technologies include a method and apparatus for cryogenic storage of thermally labile materials of US Pat. No. 5,638,686, and a method and apparatus for cryogenic storage of thermally labile materials of No. 5,964,095. It provides a structure that can solve the problems of the conventional cryogenic storage device.

To summarize the configuration of the above-mentioned US patents, a circular shelf for stacking and storing a multi-layered storage container inside the container that can be used at cryogenic temperatures is arranged concentrically, and a robot arm is installed at the center installed to rotate while sealing the opening. The robot arm rotates up and down as well as up and down, and rotates in the center and moves to any place arranged in the concentric circle, so that the reservoir can be moved into and out of the entrance formed in the toroid installed at the edge of the center. It is configured to move.

In the case of the above-described US patents, the container can be stored in multiple layers inside the container maintaining a stable cryogenic state and selected and withdrawn. Therefore, many US patents have been used in the medical field or related cord blood banks.

However, in the case of the above-described conventional US patents, it is difficult to quickly put out and put out the storage container with the arrangement of the circular shelf storing the storage container, and the configuration in which all operations depend on the robotic arm in the storage and storage of the storage container.

In other words, when you want to select a storage container located on another circular shelf while moving the robot arm moved in and out of the selected circular shelf, the robot arm is moved upward so that the hold is located on the corresponding circular shelf. There was a problem such as a lot of time to put in and out, such as having to hold down again.

Therefore, the present inventors have researched and developed the problems of the conventional cryogenic storage devices as described above. In the present invention, a shelf can be stacked and stored in multiple layers by placing a shelf inside a storage container filled with liquid nitrogen. In addition, to provide a novel mechanism of the robot arm (Robotic Arm) for stably transporting or withdrawing the storage container has been completed the present invention with the technical problem of the invention.

In the present invention as a means for solving the above technical problem, one side of the two circular lathes located in the inner side of the three stacked circular lathes installed in the container to open the robot arm, the robot arm is a container The first means for circular motion with respect to the center of the center, the second means for moving the robot arm to the center of the container, the third means for rotating the robot arm, and the lifting means for discharging the storage container to the corresponding position. In particular, the elevating means is a linear or ball screw type of thing is configured to be isolated in the guide tube disposed in the vertical direction in the interior of the container, and the lifting material coupled to the lifting means in the guide tube and the elevating means along the guide tube Composed of a magnet coupled to the storage container is stored in the circular shelf was made.

When using the cryogenic storage device of the present invention configured as described above can be made very quickly withdrawal of storage bins stored in circular shelves.

In addition, according to the present invention, since the lifting means is isolated from the liquid nitrogen inside the container by the transfer member, it is possible to ensure stable operability.

The present invention is a storage container for storing a canister (Canister), the first to the third shelves are installed concentrically arranged inside the storage container, the liquid nitrogen contained in the storage container so that the shelves are submerged, and the upper end of the storage container The first rotation means coupled to the door formed in the door, the robot arm for transporting the storage container in the storage container, and the inside of the fixed body fixed to the top of the container to seal the top of the storage container and move the position of the robot arm at the same time. A cryogenic storage device comprising: a first rotating plate driven by the controller; a means for moving the position of the robot arm; and a monitoring control system for controlling the input and output and controlling the means for moving the position of the robot arm;

A second rotating plate driven by the second rotating means is installed in the assembly hole formed in the first rotating plate to be eccentric with the center of the container with a dimension larger than the radius of the first rotating body; The second rotating plate includes a support coupled to the second rotating body, a third motor installed at an upper end of the supporting body, a third rotating body installed to be bearing-coupled to the support so as to coincide with the center of the first rotating body, A third rotating means for rotating the robot arm comprising a pulley respectively coupled to the three motor shaft and the third rotating body and a belt coupled to the pulley to rotate the third rotating body; Forming a working space in the second shelf and the third shelf by removing a part of the shelf so that the robot arm can move to the center of the storage container inside the third shelf when rotated by the second rotating means; The robot arm is supported by a bearing and supported by a rotating member that is tightly coupled to a second rotating body, a guide member formed integrally with the rotating member and extended down to a position close to the bottom of the storage container, and the rotating member and the guide member. It includes a lifting means installed in the interior, and positioned to be wrapped in the outer side of the guide member is installed to operate along the lifting means and the hook is formed to take out the hook to draw the storage container stored in the first to third shelves Characterized in that.

In addition, the present invention is the combination of the lifting means and the conveying member is formed in the guide member long and vertically actuated groove, the operation groove is a combination of the table and the conveying member of the elevating means by inserting a bolt or the elevating means and the conveying member Combination of the guide member is composed of a non-magnetic material, characterized in that the permanent magnets are coupled to the table and the transfer member of the lifting means so that they are coupled by magnetic force.

EMBODIMENT OF THE INVENTION Hereinafter, the structure of this invention is demonstrated based on an accompanying drawing.

Figure 1 is a front sectional view showing an embodiment of the cryogenic storage device to which the present invention is applied, Figure 2 is a plan view of the present invention, Figure 3 is a plan view showing a shelf arrangement in a storage container in the present invention. It is.

The cryogenic storage device (1) provided by the present invention is a storage container (2) for storing a storage container (Canister; 3) as shown, and at the same time the upper end of the storage container (2) and at the same time the robot arm (17) Means for moving the position of the door, the door 21 formed at the upper end of the storage container 2, the robot arm 17 for transporting the storage container 3 in the storage container 2, and the robot arm 17 ) And a monitoring control system (30) that controls the means for moving the robot arm 17 and the means for moving the robot arm 17.

The storage container (2) has a double-walled structure, and can hold and store liquefied nitrogen, and the inlet and outlet pipes 2a and 2b for injecting or discharging liquefied nitrogen into the upper and lower portions thereof are controlled by a valve. It is installed, the cast (4) is installed on the lower part to ensure the mobility, and the shelf for storing the storage container (3) inside the storage container (2) is installed to be arranged in a concentric circle.

The shelves are arranged concentrically on the inside of the first shelf (5) and the first shelf (5) which is installed at the edge of the storage container (2) and has an opening for accommodating the reservoir (3) toward the center. A second shelf 6 having an opening facing the opening of the first shelf 5, and a third shelf 7 arranged concentrically inside the second shelf 6 and having an opening toward the center thereof. . At this time, between the first shelf 5 and the second shelf 6 and the inside of the third shelf 7 is formed a passage 8 through which the transfer member, which is a constituent member of the robot arm 17, can be operated.

In addition, the second to third shelves (6, 7) is configured to form a working space (9) by removing a portion of the shelf to enable the transfer member of the robot arm 17 to be described later.

The configuration of the shelves can be applied to a variety of commonly used. Typically, as shown in the planar view as shown in the flat form of the settled grooves, when applying the shelf of this configuration there is sufficient fox space between the upper shelf and the lower shelf for the reservoir (3) can enter and exit It must be secured.

The first, second and third rotating means 12, 14 and 16 and the robot arm 17 to be described later provided by the present invention move to the trajectory A as shown in FIG. The storage containers 3 are stored or withdrawn on the shelves 5, 6 and 7.

The upper opening portion of the storage container 2 is sealed.

As the sealing means thereof, as shown in FIGS. 4 and 5, a ring-shaped fixture 10 is fixed to the storage container 2 at an upper end of the storage container 2, and the inside of the fixing body 10 is fixed. At the end, the recess 10a and the locking protrusion 10b which are upwardly opened are formed in the circumferential direction.

The first rotating body 11 is coupled to the inside of the fixed body 10, the outer end of the first rotating body 11 grooves (10a) formed in the inner end of the fixed body 10 and the locking stones The engaging protrusion 11a and the recess 11b corresponding to the base 10b are formed.

The first rotating body 11 is driven by the first rotating means 12, the first rotating means 12 is a ring gear 12a coupled to the upper side of the edge of the first rotating body 11, At least three guide rollers 12b assembled with pins in the housing 10 and in contact with the ring gear 12a, and guides installed in the fixed body 10 and connected to the shaft to be driven by the first motor 12c. It is comprised including the gear 12d.

As shown in the enlarged view of FIG. 5, the first rotating body 11 has an assembly hole 11c which is eccentric with the center of the container with a dimension larger than the radius of the first rotating body 11, At the edge of 11c, an upwardly recessed groove 11d and a locking projection 11e are formed in the circumferential direction.

A second rotating body 13 is coupled to the assembling hole 11a, and an outer end of the second rotating body 13 has a recess formed in the assembling hole 11c side of the first rotating body 11. 11d) and the locking protrusion 13a and the recess 13b corresponding to the locking protrusion 11e are formed.

The second rotating body 13 is driven by the second rotating means 14, the second rotating means 14, the first rotating body to the upper side of the assembly hole (11c) formed in the first rotating body (11). A ring-shaped ring gear 14a fixed to (11), at least three or more guide rollers 14b assembled with pins on the second rotating body 13 and in contact with the ring gear 14a, and a second time It is installed in the whole 13 and comprises a guide gear (14d) is connected to the shaft to be driven by the first motor (14c).

The grooves 10a and 11d formed in the assembling holes 11c of the fixing body 10 and the first rotating body 11 may be made of silicone oil such that the ends of the mating protrusions 11a and 13a may be submerged. The adiabatic lubricant 15 can be filled to prevent thermal movement.

Third rotating means for rotating the robot arm 17 to be described later installed through the second rotating body 13 above the second rotating body 13 assembled to the first rotating body 11 ( 16) is installed.

The third rotating means 16 includes a support 16a coupled to the second rotating body 13, a third motor 16b installed at an upper end of the support 16a, and a first rotating body 11. A third rotating body 16c installed to be bearing-coupled to the support 16a so as to coincide with the center of the pulley, and a pulley 16d coupled to the shaft of the third motor 16b and the third rotating body 16c, respectively. The belt 16e is coupled to these pulleys 16d to rotate the third rotating body 16c.

The robot arm 17 is installed in the third rotating body 16d which is rotated by the third rotating means 16, and the robot arm 17 is supported by the support 16a as shown in FIGS. 6 and 7. A guide member (17a) which is supported on the bearing and is watertightly coupled to the second rotating body (13) and extended down to a position close to the bottom of the storage container (2), and the lifting means installed in the guide member (17a). (17b) and the storage container (3) installed to operate along the elevating means (17b) while being positioned on the outside of the guide member (17a) and accommodated in the first to third shelves (5, 6, 7). It is a configuration that includes a conveying member (17e) formed with a hook for taking out by walking.

Preferably, the elevating means 17b uses a table 17d coupled to a ball screw driven by a motor 17c, and forms an operating groove 18 extending vertically in the guide member 17a. The operating groove 18 is a configuration in which the table 17d and the transfer member 17e are coupled by inserting a bolt 19.

Figure 8 shows another example of the robot arm 17 that can be applied to the present invention, which constitutes the robot arm 17 as in the above embodiment, bearing supported on the support 16a and having a second rotating body. A guide member 17a that is watertightly coupled to the 13 and extended down to a position close to the bottom of the storage container 2, elevating means 17b installed inside the guide member 17a, and a guide member ( It is installed to operate along the elevating means (17b) in a state wrapped in the outer side of the 17a) and has a hook for drawing out by walking the storage container (3) accommodated in the first to third shelves (5, 6, 7) It comprises a conveying member (17e),

The elevating means 17b uses a table 17d coupled to a ball screw driven by a motor 17c, and a permanent magnet 20 is coupled to the table 17d and the transfer member 17e, respectively. To be combined. At this time, the guide member 17a is made of a nonmagnetic material.

In addition, the upper end of the storage container (2) injects the storage container (3) into the storage container (2) or a storage container (3) in the storage container (2) at a position corresponding to the position where the transfer member (17e) is moved upward. The door 21 which can be opened and closed so as to withdraw) is installed to be supported by the fixed body 10.

An access passage 22 is formed inside the door 21, and the inner end of the access passage 22 has a storage container (with the transfer member 17e moving up and down along the guide member 17a located at an upper end thereof). It is configured to be open so that 3) can be imported.

When storing the cord blood, etc. using the present invention configured as described above, the degree of being locked to the upper part of the shelves installed inside the storage container 2 by using the input tube 2a provided in the storage container 2 first. In the state in which the liquid nitrogen is sufficiently replenished, the monitoring control system 30 is operated to store the storage container 3 in the first to third shelves 5, 6, and 7, and withdraw the stored storage container 3. Will be.

The storage container 3 is placed inside the storage container 2 and placed on the shelves, and the storage container 3 can be taken out by operating the monitoring control system 30 in reverse. In the present invention, an example of introducing the storage container 3 will be described below.

When the storage container 3 is to be put into the storage container 2, the door 22 is first opened to push the storage container 3 into the access path 22. At this time, it is preferable that the handler keeps wearing sufficient protective equipment (for example, winter gloves).

First to move the robot arm 17 and the robot arm 17 to various positions of the storage container 2 in the state in which the storage container 3 is inserted into the access passage 22 and the door 22 is closed as described above. The third rotating means 12, 14, and 16 are pre-programmed by the monitoring ring control system 30 to move to a predetermined position and placed on the shelf.

That is, according to the present invention, using the robot arm 17 and the first and third rotation means 12 and 16, the storage container 3 is accommodated in the first shelf 5 and the second shelf 6 or the robot arm ( 17) and the first, second, and third rotating means 12, 14, and 16 are used to store the storage container 3 in the third shelf 7.

First, an example of storing the storage container 3 in the first shelf 5 and the second shelf 6, the transfer member (17e) is moved upward from the bottom of the storage container (3) introduced into the access passage (22). The hook formed in the member 17e is fixed to the storage container 3 by hooking, and then the third motor 16b of the third pivoting means 16 is first driven so that the entire robot arm 17 coupled to the support 16a. Since the rotating container 3 is separated from the access passage 22 while being rotated, the lifting means 17b of the robot arm 17 is moved to a position corresponding to the height of the predetermined shelf.

As described above, the robot arm 17 is moved, and then the first motor 12c of the first rotating means 12 is driven to rotate the first rotating plate 11 to move the storage container 3 toward the front of a predetermined shelf. Will be moved. At this time, the reservoir 3 is maintained in the narrow passage (8) between the first and second shelves (5, 6), the third rotation means when the drive of the first rotating means 12 is completed as described above (16) is driven to move the reservoir (3) to be positioned on the shelf.

Although the driving of the first rotating means 12 and the third rotating means 16 has been described separately for clarity in the present invention, in practice, the rotating means moves the reservoir 3 to a predetermined position within a short time by moving simultaneously. .

As such, the lifting means 17b of the robot arm 17 moves downward while the storage container 3 is moved above the shelf. At this time, the hook of the transfer member 17e is detached from the storage container 3 to open the storage container 3. It will be stored securely.

When the storage container 3 is to be placed on the third shelf 7, the hooks formed on the transfer member 17e are fixed to the storage container 3 introduced into the access path 22, and then the third rotating means ( When the third motor 16c of 16 is driven, the entire robot arm 17 coupled to the support 16a is rotated to separate the storage container 3 from the access passage 22. At this time, the robot arm 17 Drive the elevating means 17b to move to a position corresponding to the height of the predetermined shelf.

In the above state, the second rotating body 13 is rotated by driving the second motor 14c of the second rotating means 14. That is, the position of the robot arm 17 when the position for receiving the storage container 3 in the access passage 22 is located on the narrow passage 8 between the first and second shelves 5 and 6, When the second rotating body 13 rotates, the robot arm 17 is the center of the storage container 2 through the operating space 9 formed by removing part of the second and third shelves 6 and 7. Since it is moved to the inside of the three shelves (7) at this time to drive the third rotation means (16) to move the lifting means (17b) of the robot arm 17 in the state in which the reservoir (3) to be positioned on the shelf to move the transfer member When the hook of 17e is removed from the storage container 3, the storage container 3 is securely placed and stored.

Although the technical spirit of the present invention has been described with reference to specific embodiments as described above, the protection scope of the present invention is not necessarily limited to these embodiments, and a simple design change within a range that does not change the technical gist of the present invention. In the case of the substitution of the usual means and the like, it is obvious that they belong to the protection scope of the present invention.

1 is a front cross-sectional view showing an embodiment of the cryogenic storage device to which the present invention is applied.

2 is a plan view of the present invention

Figure 3 is a plan sectional view showing a shelf arrangement in the storage container in the present invention

Figure 4 is an enlarged cross-sectional view showing the main portion extract showing the first rotating body coupled state of the present invention

Figure 5 is an enlarged cross-sectional view of the main portion extract showing the second rotating body coupled state of the present invention

Figure 6 is a front sectional view showing an embodiment of the robot arm applied to the present invention

7 is a side cross-sectional view of FIG. 6

Figure 8 is a front sectional view showing another embodiment of the robot arm applied to the present invention

Explanation of symbols used in main part of drawing

1: cryogenic storage device 2: storage container

3: reservoir 8: passage

9: operating space 10: fixed body

11: first rotating body 12: first rotating means

13: second rotating body 14: second rotating means

16: third rotating means 17: robot arm

18: operating groove 20: permanent magnet

30: monitoring control system

Claims (3)

A storage container 2 for storing a canister 3, first to third shelves 5, 6, and 7 arranged concentrically inside the storage container 2, and the shelves are submerged. Liquefied nitrogen contained in the storage container 2, an openable and closed door 21 formed at an upper end of the storage container 2, a robot arm 17 carrying the storage container 3 in the storage container 2, and storage Driven by the first rotating means 12 coupled to the inside of the fixed body 10 fixed to the upper end of the storage container 2 to seal the upper end of the container 2 and to move the position of the robot arm 17. Cryogenic storage device (1) consisting of a monitoring control system 20 for controlling the input and output and controlling the first rotating plate 11, the means for moving the robot arm 17 and the means for moving the robot arm 17 To A second driving means by the second rotating means 14 in the assembly hole 11c formed in the first rotating plate 11 so as to be eccentric with the center of the storage container 2 to a size larger than the radius of the first rotating plate 11. Install the rotating plate (13), The second rotating plate 13 includes a support 16a coupled to the second rotating plate 13, a third motor 16b installed at an upper end of the support 16a, and a center of the first rotating body 11. A third rotating body 16c installed to be bearing-coupled to the support 16a so as to coincide, a pulley 16d coupled to the shaft of the third motor 16b and the third rotating body 16c, and these pulleys ( A third rotating means 16 including a belt 16e coupled to 16d to rotate the third rotating body 16c, The second and third shelves (6,7) of the shelf so that the robot arm 17 can move to the center of the storage container (2) inside the third shelf (7) when rotated by the second rotating means (14) A part is removed to form the working space 9, The robot arm 17 is bearing-supported to the support 16a and watertightly coupled to the second rotating body 13 and lowered to a position close to the bottom of the storage container 2, the guide member 17a and the guide. Lifting means (17b) provided in the interior of the member (17a), and positioned to be wrapped around the outer side of the guide member (17a) is installed to operate along the lifting means (17b) and the first to the third shelf (5) Cryogenic storage device, characterized in that it comprises a transfer member (17e) having a hook for taking out the storage container (3) accommodated in the, 6,7. The method of claim 1, The combination of the elevating means 17b and the conveying member 17e forms an operating groove 18 vertically long in the guide member 17a, and the operating means 18 is fitted with a bolt 19 to elevate the lifting means ( Cryogenic storage device characterized in that the combination of the table 17d and the conveying member (17e) of 17b). The method of claim 1, The coupling of the elevating means 17b and the conveying member 17e constitutes the guide member 17a with a nonmagnetic material. Cryogenic storage device, characterized in that the permanent magnet (20) is coupled to the table (17c) and the transfer member (17e) of the lifting means (17b), respectively, by magnetic force.

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