WO2021068373A1 - 自动化生物样本库 - Google Patents

自动化生物样本库 Download PDF

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Publication number
WO2021068373A1
WO2021068373A1 PCT/CN2019/121072 CN2019121072W WO2021068373A1 WO 2021068373 A1 WO2021068373 A1 WO 2021068373A1 CN 2019121072 W CN2019121072 W CN 2019121072W WO 2021068373 A1 WO2021068373 A1 WO 2021068373A1
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WO
WIPO (PCT)
Prior art keywords
module
cabin
assembly
biological sample
cover
Prior art date
Application number
PCT/CN2019/121072
Other languages
English (en)
French (fr)
Inventor
李�浩
蒋磊
沈洪华
牛永杰
甘泉
梁波
Original Assignee
苏州贝康医疗器械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州贝康医疗器械有限公司 filed Critical 苏州贝康医疗器械有限公司
Priority to US17/767,464 priority Critical patent/US20230329230A1/en
Priority to EP19948565.7A priority patent/EP4043367A4/en
Publication of WO2021068373A1 publication Critical patent/WO2021068373A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
    • A01N1/00—Preservation of bodies of humans or animals, or parts thereof
    • A01N1/02—Preservation of living parts
    • A01N1/0236—Mechanical aspects
    • A01N1/0242—Apparatuses, i.e. devices used in the process of preservation of living parts, such as pumps, refrigeration devices or any other devices featuring moving parts and/or temperature controlling components
    • A01N1/0252—Temperature controlling refrigerating apparatus, i.e. devices used to actively control the temperature of a designated internal volume, e.g. refrigerators, freeze-drying apparatus or liquid nitrogen baths
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
    • A01N1/00—Preservation of bodies of humans or animals, or parts thereof
    • A01N1/02—Preservation of living parts
    • A01N1/0236—Mechanical aspects
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
    • A01N1/00—Preservation of bodies of humans or animals, or parts thereof
    • A01N1/02—Preservation of living parts
    • A01N1/0236—Mechanical aspects
    • A01N1/0242—Apparatuses, i.e. devices used in the process of preservation of living parts, such as pumps, refrigeration devices or any other devices featuring moving parts and/or temperature controlling components
    • A01N1/0252—Temperature controlling refrigerating apparatus, i.e. devices used to actively control the temperature of a designated internal volume, e.g. refrigerators, freeze-drying apparatus or liquid nitrogen baths
    • A01N1/0257—Stationary or portable vessels generating cryogenic temperatures
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
    • A01N3/00—Preservation of plants or parts thereof, e.g. inhibiting evaporation, improvement of the appearance of leaves or protection against physical influences such as UV radiation using chemical compositions; Grafting wax
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
    • B65D81/18—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents providing specific environment for contents, e.g. temperature above or below ambient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D11/00—Self-contained movable devices, e.g. domestic refrigerators
    • F25D11/04—Self-contained movable devices, e.g. domestic refrigerators specially adapted for storing deep-frozen articles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D3/00—Devices using other cold materials; Devices using cold-storage bodies
    • F25D3/10—Devices using other cold materials; Devices using cold-storage bodies using liquefied gases, e.g. liquid air
    • F25D3/102—Stationary cabinets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D11/00—Self-contained movable devices, e.g. domestic refrigerators
    • F25D11/02—Self-contained movable devices, e.g. domestic refrigerators with cooling compartments at different temperatures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D25/00—Charging, supporting, and discharging the articles to be cooled
    • F25D25/04—Charging, supporting, and discharging the articles to be cooled by conveyors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations

Definitions

  • the invention relates to the technical field of biological sample storage, in particular to an automated biological sample library.
  • the biological sample library is a standardized collection, processing, and storage of biological macromolecules, cells, tissues and organs of healthy and diseased organisms. Most biological samples need to be stored in a deep-low temperature environment, especially for storage and recovery.
  • the storage environment of the biological sample bank for cells that are transfused into the human body needs to be at a temperature close to that of liquid nitrogen.
  • the traditional biological sample library usually adopts manual or semi-automatic operation in the process of depositing and extracting biological samples, resulting in a low degree of automation of the access of the biological sample library.
  • An automated biological sample library including:
  • the upper computer is set in the frame
  • the control system is electrically connected to the host computer
  • the liquid nitrogen tank is arranged in the frame, and includes a first heat preservation tank body, a turntable assembly accommodated in the first heat preservation tank body, a plurality of baskets placed in the turntable assembly, and can selectively interact with any one Description of the automatic cover with the basket;
  • the heat preservation chamber which is covered by the automatic cover, includes a first cabin and a second cabin communicated with each other through a communication port, the first cabin is provided with an outlet port, and the second cabin is provided with a cooling Module
  • the transfer container is arranged in the frame, and includes a second heat preservation tank, a sample rack contained in the second heat preservation tank, and a tank cover for closing the second heat preservation tank, and the sample rack is used for Containing the cryopreservation tube moved in or removed from the outlet;
  • the turntable rotation module is electrically connected to the control system, and is at least partially disposed in the second cabin.
  • the turntable rotation module cooperates with the turntable assembly and can drive the turntable assembly to rotate;
  • the basket lifting module is electrically connected to the control system and is at least partially disposed in the second compartment.
  • the basket lifting module cooperates with the automatic cover and can drive the automatic cover to rise and fall;
  • the shovel tray module is electrically connected to the control system, and is at least partially disposed in the first compartment, and is used to store or extract the frozen storage tray from the basket extracted by the lifting assembly;
  • the tube picking module is electrically connected to the control system, and is at least partially arranged in the first compartment for storing or extracting the freezing tube from the freezing tray extracted by the shovel tray module, and for freezing
  • the depository is moved in or removed from the outlet;
  • the transfer module is electrically connected to the control system and is arranged on the frame, and can drive the transfer container to move to the outlet or remove from the outlet.
  • the automated biological sample library provided by this technical solution includes a host computer and a control system, which can automatically control the operation of the turntable rotation module, the basket lifting module, the shovel module, the tube picking module, and the transport module. It realizes the automatic storage and extraction of biological samples, reduces human interference, improves the safety, reliability and convenience of access, and realizes the automatic data management, data sharing and data analysis of biological sample information.
  • the automatic cover can seal the liquid nitrogen tank without access to biological samples.
  • the heat preservation chamber is covered by the automatic cover.
  • the turntable rotation module, the basket lifting module, the shovel module and the pipe picking module are all at least partially arranged in the heat preservation chamber ,
  • the biological sample is placed in the transfer container during the transfer process, so the biological sample is always in a deep low temperature environment during the storage and transfer process, avoiding repeated freezing and thawing of the biological sample and damaging the activity.
  • the liquid nitrogen tank further includes a manual cover and a quick release mechanism for locking the manual cover.
  • the first cabin body is provided with a partition structure higher than the communication port, and the partition structure divides the first cabin body into an upper cabin body and a lower cabin body along the height direction.
  • the partition structure is provided with a mechanism movement port connecting the upper cabin and the lower cabin.
  • the top of the first cabin in the height direction is provided with a first sealing cover communicating with the upper cabin, and the top of the second cabin in the height direction is provided with the first sealing cover.
  • the second sealing cover connected with the two compartments;
  • the turntable rotation module includes a first drive assembly and a rotation assembly driven by the first drive assembly, the first drive assembly being at least partially located between the second cabin and the second sealing cover, so The rotating assembly is located in the second cabin, and the rotating assembly is matched with the turntable assembly;
  • the basket lifting module includes a second drive assembly and a lifting assembly driven by the second drive assembly, the second drive assembly being at least partially located between the second cabin and the second sealing cover, so The lifting component is located in the second cabin, and the lifting component is matched with the automatic cover;
  • the shovel plate module includes a third drive assembly and a shovel plate assembly driven by the third drive assembly, the third drive assembly being at least partially located between the upper cabin and the first sealing cover, so The shovel plate assembly is located in the lower cabin;
  • the pipe picking module includes a fourth drive assembly and a pipe picking assembly driven by the fourth drive assembly, the fourth drive assembly being at least partially located between the upper cabin and the first sealing cover, so The pick tube assembly is located in the lower cabin.
  • the partition structure is provided with a transparent board capable of transmitting light between the upper cabin and the lower cabin, and the transparent board is provided with a machine on one side of the upper cabin. Vision module.
  • the inside of the first cabin body is provided with an inner sealing cover for closing the outlet port
  • the outside of the first cabin body is provided with an outer sealing cover for closing the outlet port
  • the heat preservation chamber is provided with a manual intervention port, and the heat preservation chamber is also provided with an intervention port sealing cover that closes the manual intervention port, and an observation window.
  • the transfer module includes a connected lifting assembly and a translation assembly, the translation assembly or the lifting assembly is provided with a tray, and the transfer container is placed on the tray.
  • the automated biological sample library further includes a code scanning module arranged outside the first compartment, and the code scanning module is electrically connected to the control system for extracting data from the tube picking module.
  • Code scanning identification is performed on the cryopreservation tube of the first compartment, and a light-transmitting code scanning window is provided at the position of the first cabin corresponding to the code scanning module.
  • the automated biological sample library further includes a lid opening module provided on the frame for automatically opening or closing the lid of the transit container.
  • FIG. 1 is a schematic diagram of the structure of an automated biological sample library in an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram from another angle of the automated biological sample library in an embodiment of the present invention.
  • Fig. 3 is a schematic diagram of a position of the outer seal in the automated biological sample library shown in Fig. 2;
  • FIG. 4 is a schematic diagram of the structure of the seal at the movement port of the mechanism in an embodiment of the present invention.
  • Figure 5 is a schematic structural view of the seal at the movement port of the mechanism in another embodiment of the present invention.
  • FIG. 6 is a schematic diagram of the structure of a multi-axis manipulator in an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of cooperation between the transfer module and the tray in an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of the tray when it can be drawn in an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of an automatic depository process of an automated biological sample library in an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of the process of resetting the depository of the automated biological sample library in an embodiment of the present invention.
  • Automated biological sample library 100 frame 110, scroll wheel
  • lifting component 544 lifting component 544, translation component 550, scanning code module
  • An embodiment of the present invention provides an automated biological sample library 10, which includes: a frame 100; an upper computer 140 arranged on the frame 100; a control system electrically connected to the upper computer 140;
  • the liquid nitrogen tank 200 is set in the frame 100, and includes a first heat preservation tank body 210, a turntable assembly 220 accommodated in the first heat preservation tank body 210, a plurality of baskets 230 placed on the turntable assembly 220, and can be selected and optionally
  • the heat preservation chamber 300 which is covered by the automatic cover 240, includes a first compartment 320 and a second compartment 330 that are communicated with each other through a communication port 310, and the first compartment 320 is provided with an outlet pipe Port 329, the second cabin 330 is provided with a cooling module 340;
  • the transfer container 400 which is arranged in the frame 100, includes a second thermal insulation tank, a sample rack contained in the second thermal insulation tank, and a closed second
  • the frame 100 is used to provide bearing capacity and supporting force for the entire device, and is also used to gather multiple mechanisms of the entire device together to improve the degree of integration.
  • At the bottom of the frame 100 can also be provided with a roller 110 with brakes, when an emergency occurs, the entire device can be transferred.
  • An adjustable foot 120 may also be provided at the bottom of the frame 100 to adjust the level of the frame 100.
  • the upper computer 140 includes an industrial computer, a display screen, a software system, etc., which can realize automatic data management, realize human-computer interaction and real-time monitoring, and has an automatic data mirroring and backup function to ensure data security.
  • the display screen has a touch function, and can also be moved up and down to facilitate the operation of different operators.
  • the upper computer 140 also includes a remote communication module, which can be interconnected with a central server to realize big data aggregation, data sharing, and data analysis.
  • the upper computer 140 also includes an alarm module. When the device is abnormal, the software system can control the alarm module to issue an alarm.
  • the control system is used to receive instructions from the host computer 140 and execute the instructions to enable the automatic modules such as the turntable rotating module 500 and the basket lifting module 510 to implement operations such as start and stop.
  • the control system usually adopts PLC control.
  • the upper computer 140 When the upper computer 140 is in normal operation, the upper computer 140 and the control system are in a normal control relationship.
  • the control system can independently control without affecting the basic operation. Ensure the safety and reliability of the entire equipment, and ensure the safety of biological samples.
  • the liquid nitrogen tank 200 is used to store biological samples, and can stably create a storage temperature below minus 180°C for a long time. Specifically, liquid nitrogen refrigeration or gas phase liquid nitrogen refrigeration can be used.
  • the liquid nitrogen tank 200 includes a first insulation tank body 210, a turntable assembly 220, a basket 230 and an automatic cover 240.
  • the first heat preservation tank body 210 adopts a double-layer vacuum structure, and the vacuum layer wraps the heat preservation material and the adsorption material, which can achieve a good temperature insulation effect.
  • the top of the first heat preservation tank 210 is also filled with heat preservation material, for example, a circle of heat preservation ring may be provided. This arrangement can reduce the temperature transmission to the outside room temperature environment, and can also avoid the phenomenon of frost and frost on the top of the first heat preservation tank 210.
  • the turntable assembly 220 is used to hold a plurality of baskets 230. By rotating the turntable assembly 220, the baskets 230 in different positions can be rotated to a position facing the automatic cover 240, so that the automatic cover 240 can selectively cooperate with the basket 230 in this position.
  • the fit means that the automatic cover 240 can abut the basket 230 in the vertical direction, so that the automatic cover 240 can lift the basket 230 and can separate when the basket 230 rotates in the horizontal direction.
  • the turntable assembly 220 includes a turntable with several sectors evenly distributed and a central axis that drives the turntable to rotate.
  • Each sector is placed with a basket 230, which is evenly distributed in a number of layers in the vertical direction, and each layer is placed with a frozen storage disk. 30.
  • a plurality of cryopreservation tubes 20 are distributed on each cryopreservation tray 30. This setting increases the storage density and improves the space utilization.
  • the top of the first heat preservation tank 210 is provided with an automatic opening 212, and the automatic cover 240 is used to close the automatic opening 212.
  • the side of the automatic cover 240 facing the inside of the first thermal insulation tank 210 has a hook, and the top of each basket 230 has a hook that is centrally symmetrical with the hook of the automatic cover 240 when it is directly opposite to the hook of the automatic cover 240. .
  • the basket 230 rotates to the position facing the automatic cover 240, the two sets of hooks will form a state that can abut in the vertical direction or move a distance to abut in the vertical direction.
  • the automatic cover 240 When the automatic cover 240 is lifted, The automatic cover 240 cooperates with the hook of the basket 230 through its own hook, so that the basket 230 can be lifted from the first heat preservation tank 210. When the basket 230 does not need to be lifted, the automatic cover 240 closes the automatic opening 212 to ensure the storage temperature in the first heat preservation tank 210 and prevent the low temperature from spreading into the heat preservation chamber 300 in the non-access state to affect the mechanism located therein.
  • a plurality of liquid level sensors and temperature sensors electrically connected to the control system are provided in the first heat preservation tank body 210 to monitor the liquid nitrogen level and the temperature of the liquid nitrogen in the first heat preservation tank body 210 in real time, and replenish the liquid in time.
  • the first thermal insulation tank 210 also includes a manual fluid replenishment port and an automatic fluid replenishment port to perform fluid replenishment in a timely manner.
  • the heat preservation chamber 300 is formed with a hollow cavity.
  • the cavity is divided into a first cabin 320 and a second cabin 330 through a communication port 310 to achieve temperature zoning.
  • the communication port 310 is arranged in a vertical direction so that the first cabin 320 is used to provide operation space for shoveling the freezing storage tray 30 and picking the freezing storage tube 20, and the second compartment 330 is used to provide operation space for the lifting basket 230.
  • the communication port 310 may extend from the bottom of the heat preservation chamber 300 upward along the height, or may start from a certain distance from the bottom of the heat preservation chamber 300 and extends upward along the height.
  • the first cabin 320 or the second cabin 330 may also be provided with an automated isolation door 312 with a porous structure for closing the communication port 310, and the lifting module 314 that drives the automated isolation door 312 to lift can be located in the first cabin. 320 or the higher position in the second cabin 330.
  • the automatic isolation door 312 is removed to ensure that the low temperature can be quickly transmitted to the first cabin; when the temperature drops to the set value and the pipe picking operation starts, the automatic isolation door 312
  • the connecting port 310 is sealed to ensure that the cryotube 20 will not fly into the second cabin 330 in the event of an accidental pipe drop, avoiding the consequences of manual intervention.
  • the thermal insulation chamber 300 is composed of thermal insulation materials and profile frames, and has a certain mechanical structural strength while ensuring thermal insulation performance.
  • a plurality of temperature sensors electrically connected to the control system are arranged in the heat preservation chamber 300 to monitor the temperature conditions at different locations in real time and adjust the cooling capacity of the cooling module 340 in time.
  • An entrance and exit are provided at the bottom of the second cabin 330, and the entrance and exit are covered by the automatic cover 240.
  • the basket 230 rises into the second cabin 330 or descends from the second cabin 330 to the first insulation tank 210 through the entrance and exit.
  • the automatic cover 240 is lifted, the basket 230 is placed in the heat preservation chamber 300 to avoid direct contact with the outside room temperature environment, so that the cryopreservation tube 20 will not be directly exposed to the air environment, which improves the biological activity of the biological sample .
  • the first compartment 320 is provided with an outlet 329 for removing the cryopreservation tube 20 from the heat preservation chamber 300 or moving the cryopreservation tube 20 from outside the heat preservation chamber 300.
  • the outlet port 329 selects the opening position according to the overall layout. For example, if the removal or relocation operation is performed from the side of the first cabin 320, the outlet 329 is opened on the side of the first cabin 320. If the removal or removal operation is performed from the bottom of the first cabin 320, the outlet port 329 is opened at the bottom of the first cabin 320. There is no limitation here.
  • a cooling module 340 is provided in the second cabin 330.
  • the cooling module 340 is used to provide biological samples with an environment close to the low temperature of liquid nitrogen in the first thermal insulation tank 210, reduce the temperature rise during the transfer process, and improve the biological sample Biological activity.
  • the cooling module 340 may adopt methods such as liquid nitrogen spray, multi-stage compressor refrigeration, Stirling refrigeration, and the like.
  • the cold air is transferred from the second cabin 330 to the first cabin 320 through the communication port 310, so that the temperature in the space around the cooling module 340 in the second cabin 330 is lower, and the first cabin 320 is adjacently connected
  • the temperature in the space of the port 310 is relatively low, about a low temperature environment below minus 130°C.
  • the cooling module 340 does not work, and the heat preservation chamber 300 is in a room temperature environment. Before the access operation, the temperature in the heat preservation chamber 300 is lowered to below minus 130°C through the cooling module 340.
  • the transfer container 400 is used to transfer the target cryopreservation tube 20 picked out from the liquid nitrogen tank 200 to a target location, or to transfer the target cryopreservation tube 20 to the heat preservation chamber 300 for storage in the liquid nitrogen tank 200. It can be understood that the transfer container 400 can close the outlet nozzle 329.
  • the transfer container 400 includes a second heat preservation tank, a sample rack, and a tank cover.
  • the second thermal insulation tank body is a hollow structure with an opening, the tank body cover is used to close the opening, the sample rack is accommodated in the second thermal insulation tank body, and the sample box 40 is placed on the sample rack for holding the outlet pipe 329
  • the cryopreservation tube 20 moved in or removed.
  • the tank cover closes the opening; when the transit container 400 needs to be accessed, the tank cover is opened.
  • the temperature sensor, liquid level sensor, alarm module, remote communication module, etc. are integrated in the transit container 400 to record, store, import and export the information of biological samples, etc., through wired or wireless Communicate with the sample library in a way to import the saved or recorded data into the sample library database.
  • the transfer container 400 storing the target cryopreservation tube 20 is transferred to the insulation chamber 300, and the target cryopreservation tube 20 is moved into the insulation chamber 300 through the outlet 329, and passed through the inlet The outlet moves into the liquid nitrogen tank 200.
  • the basket 230 where the target cryopreservation tube 20 is located is moved from the liquid nitrogen tank 200 to the insulation chamber 300, and the target cryopreservation tube 20 is moved into the transfer container 400 through the outlet 329 .
  • the automated biological sample library 10 further includes: a turntable rotating module 500 electrically connected to the control system and at least partially disposed in the second cabin 330.
  • the turntable rotating module 500 cooperates with the turntable assembly 220 and can drive the turntable assembly 220 to rotate;
  • the module 510 is electrically connected to the control system, and is at least partially arranged in the second cabin 330.
  • the basket lifting module 510 cooperates with the automatic cover 240 and can drive the automatic cover 240 to rise and fall;
  • the shovel module 520 is electrically connected to the control system, at least Partially arranged in the first compartment 320, used to store or withdraw the frozen storage tray 30 from the lifting basket 230 extracted from the lifting assembly;
  • the pipe picking module 530 which is electrically connected to the control system, is at least partly arranged in the first compartment 320, used to store or extract the cryopreservation tube 20 from the freezing disk 30 extracted from the shovel disk module 520, and used to move the cryopreservation tube 20 in or out of the tube outlet 329;
  • the transfer module 540 is electrically connected to The control system, which is arranged in the frame 100, can drive the transfer container 400 to move to the outlet 329 or remove from the outlet 329.
  • the turntable rotation module 500 is matched with the turntable assembly 220.
  • the fit can be a connection relationship, such as welding, thread locking, etc., or a radial limit matching relationship, for example, a groove and a protrusion are matched
  • the turntable assembly 220 can be driven to rotate.
  • the turntable rotation module 500 includes a motor with a motor shaft and a drive shaft connected to the motor shaft.
  • the turntable assembly 220 includes a turntable and a central shaft that drives the turntable to rotate.
  • the drive shaft and the central shaft are connected by a coupling, and the motor shaft rotates. Drive the rotation of the central shaft.
  • the turntable rotating module 500 is at least partially disposed in the second cabin 330, and components with poor low temperature resistance, such as motors, can be disposed outside the second cabin 330, thereby increasing the service life of the components.
  • the basket lifting module 510 cooperates with the automatic cover 240.
  • the cooperation can be a connection relationship, such as welding, thread locking, etc., or a vertical limit matching relationship, such as clamping jaws, hooks, etc. , So that the basket lifting module 510 can lift the automatic cover 240 in the vertical direction.
  • the basket lifting module 510 includes a motor with a motor shaft, a chain, a draw rope, etc. connected to the motor shaft, the chain, draw rope, etc. are connected to the automatic cover 240, and the rotation of the motor shaft can drive the chain, draw rope, etc. to automatically cover 240 Raise or lower.
  • the basket lifting module 510 is at least partially arranged in the second cabin 330, and components with poor low temperature resistance such as motors can be arranged outside the second cabin 330, thereby increasing the service life of the components.
  • the shovel module 520 is at least partially arranged in the first cabin 320, and components with poor low temperature resistance such as motors can be arranged outside the first cabin 320, thereby increasing the service life of the components.
  • the shoveling tray module 520 can shovel the target freezing tray 30 in the target carrying basket 230 in the second compartment 330, or put the target freezing tray 30 in the shoveling tray module 520 into the target carrying basket 230.
  • the pipe picking module 530 is at least partially arranged in the first cabin 320, and components with poor low temperature resistance such as motors can be arranged outside the first cabin 320, thereby increasing the service life of the components.
  • the tube picking module 530 includes a movable tube taking device, which can extract the target cryopreservation tube 20 in the freezing tray 30 of the shovel tray module 520 and remove it from the tube outlet 329, or it can remove the tube from the tube outlet 329.
  • the target cryopreservation tube 20 outside 329 is extracted and placed in the cryopreservation tray 30 of the shovel tray module 520.
  • the transfer module 540 is arranged outside the heat preservation chamber 300 and can drive the transit container 400 to move from other positions to the outlet 329 or can drive the transit container 400 to move from the outlet 329 to other positions. During the access process, the transfer module 540 drives the transfer container 400 to move back and forth between the outlet 329 and other positions.
  • the other positions may be the preset transfer positions of the transfer container 400.
  • the transfer module 540 may adopt a driving method such as a chain, a pull rope, a belt, a timing belt, a rack and pinion, a ball screw and the like.
  • the transfer module 540 moves the transfer container 400 containing the target cryopreservation tube 20 to the outlet port 329, and the tube picking module 530 extracts the target cryopreservation tube 20 through the outlet port 329 , Placed on the freezing tray 30 that has been shoveled out by the shoveling tray module 520, the shoveling tray module 520 puts the freezing tray 30 stored in the target cryopreservation tube 20 into the basket 230 that has been lifted by the basket lifting module 510, the basket lifting module 510 Lower the basket 230 into the liquid nitrogen tank 200.
  • the turntable rotation module 500 rotates the target basket 230 below the automatic cover 240
  • the basket lifting module 510 drives the automatic cover 240 to lift the target basket 230
  • the shoveling module 520 removes the target frozen disk 30 from the target Shovel out of the basket 230
  • the tube picking module 530 extracts the target cryopreservation tube 20 from the target cryopreservation tray 30, and moves the target cryopreservation tube 20 into the transfer container 400 through the outlet 329
  • the transfer module 540 moves the transfer container 400 To the preset position.
  • the automated biological sample library 10 provided by the embodiment of the present invention can be operated as a stand-alone machine or online.
  • each stand-alone machine can be interconnected by a transmission system such as Automated Guided Vehicle (AGV for short), track or conveyor chain, etc. , Expand the capacity, or run online with other systems.
  • AGV Automated Guided Vehicle
  • the single automated biological sample library 10 is provided with a transfer port 580 at the position where the transfer container 400 is placed, and a lifting door 570 for closing the transfer port 580.
  • the transfer container 400 can be interconnected with other systems through the transfer port 580, and lifted.
  • the door 570 can be manually controlled or automatically controlled.
  • the transfer container 400 is transferred between multiple stand-alone machines through the transfer port 580.
  • the multiple stand-alone databases are networked to realize data sharing, cooperate with a unified control and dispatch system and integrated data management, to realize system expansion, or to run online with other systems.
  • the automated biological sample library 10 is also provided with an emergency power source 130.
  • the emergency power source 130 can continue to supply power to ensure the completion of the operation currently being performed and the safety of the biological sample.
  • the automated biological sample library 10 provided by this technical solution includes a host computer 140 and a control system, which can automatically control the turntable rotation module 500, the basket lifting module 510, the shovel tray module 520, and the tube picking module 530
  • the operation of the transport module 540 realizes the automatic deposit and extraction of biological samples, reduces human interference, improves the safety, reliability and convenience of access, and realizes the automatic data management, data sharing and data sharing of biological sample information. data analysis.
  • the automatic cover 240 can seal the liquid nitrogen tank 200 without access to biological samples.
  • the heat preservation chamber 300 is covered by the automatic cover 240.
  • the turntable rotation module 500, the basket lifting module 510, the shovel tray module 520, and the tube picking module 530 are all It is at least partially set in the thermal insulation chamber 300, and the biological sample is placed in the transfer container 400 during the transfer process, so the biological sample is always in a deep low temperature environment during the storage and transfer process, avoiding repeated freezing and thawing of the biological sample and damage active.
  • the liquid nitrogen tank 200 further includes a manual cover 250 and a quick release mechanism for locking the manual cover 250.
  • a manual port 214 is opened on the top of the first thermal insulation tank 210, and the manual cover 250 is used to close the manual port 214.
  • the manual cover 250 is used as an emergency mode.
  • the manual cover 250 is locked by the quick release mechanism, and the access operations of the frozen storage tray 30 are all performed through the automatic port 212.
  • the quick release mechanism can be released.
  • the manual cover 250 is opened, and the freezing disk 30 is stored or extracted from the manual port 214.
  • the quick release mechanism includes a rotating part and a pressing part rotatably connected with the rotating part.
  • the pressing member is partially pressed onto the top of the manual cover 250 and partially connected to the top of the first heat preservation tank 210.
  • the rotating member rotates at a certain angle
  • the pressing member can be pressed tightly above the manual cover 250.
  • the pressing member is separated from the manual cover 250. At this time, the pressing member can be disassembled and the manual cover 250 can be opened.
  • the first cabin 320 is provided with a partition structure 321 higher than the communication port 310, and the partition structure 321 divides the first cabin 320 into an upper cabin 327 and a lower cabin along the height direction.
  • the partition structure 321 is provided with a mechanism movement port 322 connecting the upper cabin 327 and the lower cabin 328.
  • the partition structure 321 is arranged in the horizontal direction and is formed of thermal insulation materials, which can be specifically polyisocyanurate (PIR), polyurethane (PUR), expanded polypropylene (EPP), polystyrene foam (EPS), and extruded plastic. Style polystyrene foam (XPS), aerogel or vacuum insulation board, etc.
  • the partition structure 321 can be arranged at a suitable height position in the first cabin 320 according to the size of the pipe picking module 530.
  • the partition structure 321 is arranged at 2/3 height or 1/2 height of the first cabin 320, etc., which can provide a larger accommodating space for the pipe picking module 530, so that the pipe picking module 530 is more at a temperature.
  • the height of the communication port 310 can be 1/2 height or 1/3 height of the lower compartment 328, etc., to provide sufficient transfer space for the freezing tray 30 or the freezing tube 20.
  • the partition structure 321 divides the first cabin body 320 into an upper cabin body 327 and a lower cabin body 328, realizing the temperature zone of the first cabin body 320. At this time, the temperature of the upper cabin body 327 is higher than that of the lower cabin body 328, causing the pipe picking Some components of the movement mechanism such as the module 530 and the shovel module 520 can be located in the upper cabin 327, which can increase the temperature of the mechanical and electronic components, increase the service life of the mechanical and electronic components, and increase the reliability of operation.
  • the mechanism movement port 322 as the pipe picking module 530 partially penetrates the opening of the partition structure 321.
  • the pipe picking module 530 includes a manipulator and a pipe taking mechanism controlled by the manipulator.
  • the manipulator partially passes through the mechanism movement port 322, and the pipe taking mechanism is installed. At the end of the manipulator, it is located in the lower cabin 328.
  • the pipe picking module 530 Since the pipe picking module 530 is inserted into the mechanism movement port 322, there is a gap between the pipe picking module 530 and the mechanism movement port 322. At this time, the cold air in the lower cabin 328 easily enters the upper through the gap. Inside the cabin 327, the temperature zone effect of the upper cabin 327 and the lower cabin 328 is affected. To this end, a sealing member 323 capable of sealing when the pipe picking module 530 moves is provided at the mechanism movement port 322. Taking the multi-axis manipulator 600 shown in FIG. 6 as an example, the multi-axis manipulator 600 is used as a driving component of the tube picking module 530 for description.
  • the multi-axis manipulator 600 is composed of X-axis 610, Z-axis 620, and R-axis 630.
  • the R-axis 630 is installed on the Z-axis 620, and the ZR-axis 630 is installed on the X-axis 610 through a fixed seat 640; the X-axis 610 can do horizontal movement , Z axis 620 can do up and down movement, R axis 630 can do rotation movement.
  • the R shaft 630 is a zigzag structure and is divided into a first vertical section 632, a horizontal section 634, and a second vertical section 636. The first vertical section 632 passes through the partition structure 321, and the horizontal section 634 is connected to the second vertical section 636.
  • Section 636 always moves in the lower cabin 328. Since the horizontal movement trajectory of the R shaft 630 is a straight line, the mechanism movement port 322 on the partition structure 321 can be designed as a narrow groove shape, which effectively reduces the communication area between the upper cabin 327 and the lower cabin 328, and reduces The low temperature transfer efficiency from the lower tank 328 to the upper tank 327.
  • the seal 323 may adopt a two-stage organ-type protective cover.
  • One end of the two-stage organ-type protective cover is fixed to the front end and the rear end of the mechanism movement port 322, and the other end is fixed to the ZR shaft 630 fixing seat 640. on.
  • the organ type protective cover expands and contracts with the movement of the X-axis 610, and can cover the mechanism movement opening 322.
  • the sealing member 323 includes two flexible thin plates overlapped and covered. When the first vertical section 632 passes, the flexible thin plate will be expanded. When the first vertical section 632 does not pass, The flexible sheet will keep the overlapped state, and play a role of covering the movement opening 322 of the mechanism.
  • the sealing member 323 includes two hollow flexible tubes.
  • the flexible tubes on both sides will be expanded.
  • the first vertical section 632 does not pass, the two sides
  • the flexible tube will squeeze in the middle to cover the movement port 322 of the mechanism.
  • the partition structure 321 is provided with a transparent plate 324 capable of transmitting light between the upper cabin 327 and the lower cabin 328, and the transparent plate 324 is provided with a machine vision module 325 on one side of the upper cabin 327.
  • the transparent plate 324 is made of high light-transmitting materials. In order to ensure the temperature insulation effect, a thickened, hollow or vacuum structure can be adopted.
  • the machine vision module 325 includes an image pickup unit and an image processing unit. The image pickup unit is used to take pictures of the tube picking state in the lower cabin 328, and the real-time cryopreservation tray 30, cryopreservation tube 20 and sample box 40 are obtained through the image processing unit analysis.
  • the position coordinates of the sample box 40 are fed back to the tube picking module 530 through the control system, so that the tube picking module 530 can accurately pick the tubes, improve the success rate of the tube picking, reduce the positioning accuracy requirements of the cryopreservation tray 30 and the sample box 40, and avoid the deep The phenomenon of poor positioning accuracy caused by large shrinkage of the material in a low temperature environment.
  • the tube picking module 530 can also be used to touch multiple fixed positions on the freezing tray 30 and the sample box 40, and the signal can be fed back to the control system through changes in electrical signals, weak voltage, torque and other parameters to control the tube picking module
  • the position of the 530 is adjusted, and the position of the pick-up module 530 is calibrated in time.
  • a piezoelectric element may be provided at the end of the multi-axis manipulator 600, and the position information can be obtained by sensing changes in pressure.
  • the top of the first cabin 320 in the height direction is provided with a first sealing cover 326 communicating with the upper cabin 327
  • the top of the second cabin 330 in the height direction is provided with The second sealing cover 332 communicates with the second cabin 330.
  • a first seal communicating with the upper cabin 327 is also provided on the top of the first cabin 320
  • the cover 326, the first sealing cover 326 is made of a thin plate material with good thermal conductivity. With such a configuration, the temperature in the first sealing cover 326 is close to the outside room temperature, forming a room temperature zone.
  • a first partition with an opening is used between the upper cabin 327 and the first sealing cover 326, and the first partition is made of heat-insulating material.
  • the principle of the second sealing cover 332 is similar to the principle of the first sealing cover 326, and a second partition 334 with an opening is also used between the second compartment 330 and the second sealing cover 332, which will not be repeated here.
  • An air outlet 336 is provided at the top of the second sealing cover 332 along the height direction for discharging vaporized liquid nitrogen gas, and a heating module 338 is also provided at the air outlet 336 to prevent frosting and condensation of the air outlet 336.
  • the turntable rotation module 500 includes a first drive assembly and a rotation assembly driven by the first drive assembly.
  • the first drive assembly is at least partially located between the second compartment 330 and the second sealing cover 332, and the rotation assembly is located at the second compartment 330. Inside, the rotating assembly cooperates with the turntable assembly 220.
  • the first drive assembly can install the motor with poor low temperature resistance on the second partition 334, that is, in the space formed by the second sealing cover 332 and the second partition 334, the first drive assembly can be used Ordinary motors reduce production costs, and increase the service life of each component by locating the first drive component and the rotating component in different temperature zones.
  • the first driving component includes a motor and a mounting frame.
  • the motor has a motor shaft.
  • the rotating component includes a transmission shaft connected with the motor shaft and a coupling for connecting the motor shaft and the transmission shaft.
  • the transmission shaft is used to cooperate with the turntable assembly 220.
  • the cooperation can be a connection relationship, such as welding, thread locking, etc., or a radial limit matching relationship, for example, a groove and a protrusion are matched
  • the rotation angle of the turntable assembly 220 can be controlled by a sensor to achieve a more accurate rotation angle.
  • the basket lifting module 510 includes a second driving component and a lifting component driven by the second driving component.
  • the second driving component is at least partially located between the second cabin 330 and the second sealing cover 332, and the lifting component is located in the second cabin 330 Inside, the lifting assembly cooperates with the automatic cover 240.
  • the second drive assembly can install the motor with poor low temperature resistance on the second partition 334, that is, in the space formed by the second sealing cover 332 and the second partition 334, the second drive assembly can be used Ordinary motors reduce production costs, and increase the service life of each component by locating the second drive assembly and the lifting assembly in different temperature zones.
  • the second driving component includes a motor and a mounting frame.
  • the motor has a motor shaft.
  • the lifting component can adopt a chain, a rope, a belt, a timing belt, a rack and pinion, a ball screw, etc.
  • the lifting component cooperates with the automatic cover 240.
  • the cooperation can be a connection relationship, such as welding, thread locking, etc., or a vertical limit matching relationship, such as a clamping jaw, a hook, etc., so that The lifting assembly can lift the automatic cover 240 in the vertical direction.
  • the lifting assembly includes a gear matched with the motor shaft and a rack meshed with the gear.
  • the rack is fixedly connected to the automatic cover 240, and the motor drives the rack to lift, and then drives the automatic cover 240 to lift to realize the lifting of the basket 230. .
  • the shovel plate module 520 includes a third drive assembly 532 and a shovel plate assembly 534 driven by the third drive assembly 532.
  • the third drive assembly 532 is at least partially located between the upper compartment 327 and the first sealing cover 326.
  • the shovel plate assembly 534 Located in the lower cabin 328.
  • the shovel plate assembly 534 is located at the bottom of the lower cabin 328, and the third driving assembly 532 extends from the lower cabin 328 to the space formed by the first partition and the first sealing cover 326.
  • the third drive assembly 532 can install the motor with poor low temperature resistance on the first partition, that is, in the space formed by the first sealing cover 326 and the first partition, the third drive assembly 532 can be used Ordinary motors reduce production costs, and by locating the third drive assembly 532 and the shovel plate assembly 534 in different temperature zones, the service life of each component is increased.
  • the third drive assembly 532 includes a motor and a chain, rack and pinion or ball screw that drives the shovel plate assembly 534.
  • the shovel plate assembly 534 includes a shovel plate that can be driven. When the basket 230 is raised to a specified height, the shovel plate will The target freezing tray 30 is shoveled out of the basket 230, and the shoveling tray drives the target freezing tray 30 to be retracted to a position close to the tube picking module 530.
  • the pipe picking module 530 includes a fourth drive assembly 532 and a pipe picking assembly 534 driven by the fourth drive assembly 532.
  • the fourth drive assembly 532 is at least partially located between the upper cabin 327 and the first sealing cover 326.
  • the pipe picking assembly 534 Located in the lower cabin 328.
  • the pipe pick assembly 534 is located in the lower cabin 328, and the fourth driving assembly 532 extends from the lower cabin 328 to the space formed by the first partition and the first sealing cover 326.
  • the fourth drive assembly 532 can install the motor with poor low temperature resistance on the first partition, that is, in the space formed by the first sealing cover 326 and the first partition, the fourth drive assembly 532 can be used Ordinary motors reduce production costs, and by locating the fourth drive assembly 532 and the tube picking assembly 534 in different temperature zones, the service life of each component is increased.
  • the fourth driving component 532 includes a motor or an electric cylinder, etc., and a manipulator driven by the motor or the electric cylinder.
  • the manipulator may adopt a chain, a belt, a timing belt, a rack and pinion, a ball screw, and the like.
  • the tube picking assembly 534 includes a tube taking device provided at the end of the manipulator.
  • the tube taking device can adopt a mechanical gripper mechanism or a vacuum suction mechanism for automatically accessing and storing the freezing tube 20.
  • the tube taking device extracts the target cryopreservation tube 20 from the shovel tray or extracts the target cryopreservation tube 20 from the transfer container 400.
  • the inside of the first cabin 320 is provided with an inner sealing cover 350 that closes the outlet 329, and the outside of the first cabin 320 is provided with a closed outlet 329.
  • External sealing cover 360 When the inner sealing cover 350 and the outer sealing cover 360 are in the non-access state, they play a double-layer sealing function for the first compartment 320.
  • the inner sealing cover 350 can be opened and closed by chains, drawstrings, belts, timing belts, gears, worm gears, ball screws, etc.
  • the driving module 352 of the inner sealing cover 350 is located at the height of the first cabin 320.
  • the outer sealing cover 360 can also be opened and closed by means of chains, drawstrings, belts, timing belts, gears, worm gears, ball screws, and the like.
  • first remove the outer sealing cover 360 then move the transfer container 400 to the outlet 329, seal the outlet 329, and finally remove the inner sealing cover 350.
  • Two sealing operations It is avoided that the low temperature zone in the first cabin 320 is connected with the room temperature zone outside the first cabin 320, and the two sealing operations are performed one after the other to ensure the tightness and heat preservation of the first cabin 320.
  • the inner sealing cover 350, the outer sealing cover 360 and the transit container 400 are independent multiple sealing structures.
  • the above-mentioned seals can exist at the same time, but not at the same time, ensuring good sealing and heat preservation.
  • the transfer module 540 includes a connected lifting assembly 542 and a translation assembly 544, the translation assembly 544 or the lifting assembly 542 is provided with a tray, and the transfer container 400 is placed on the tray.
  • the lifting assembly 542 is used to raise the transfer container 400 to the outlet 329 or lower the transfer container 400 from the outlet 329.
  • the lifting assembly 542 can adopt a chain, a drawstring, a belt, a timing belt, a gear rack, and a ball wire. Drive methods such as bars.
  • the translation component 544 is used to move the transfer container 400 from another position to the outlet 329 or move the transfer container 400 from the outlet 329 to another position.
  • the translation component 544 can adopt a chain, a drawstring, a belt, a timing belt, Drive methods such as rack and pinion and ball screw. Other positions can be understood as the opening position or the closing position.
  • the lifting assembly 542 and the translation assembly 544 are connected. It can be understood as the first type: the translation assembly 544 and the lifting assembly 542 are in a relative translation and lifting relationship, and the translation assembly 544 can drive the lifting assembly 542 and the transfer container 400 to move out. At the nozzle 329 or moved to other positions, the lifting assembly 542 can drive the transfer container 400 to lift.
  • the translation component 544 can drive the transfer container 400 to move to the outlet 329 or to another position.
  • the lifting component 542 is arranged at the outlet 329 and It can drive the transfer container 400 up and down.
  • the tray is set on the translation assembly 544.
  • the tray can slide on the translation assembly 544 by means of sliding rails.
  • the translation assembly 544 drives the tray to move, and the tray synchronously drives the intermediate container 400 to move to Below the outlet port 329, at this time, the lifting assembly 542 can directly lift the tray, and synchronously drive the transit container 400 to the outlet port 329 and seal the outlet port 329; alternatively, an opening is provided on the tray,
  • the lifting assembly 542 can only lift the transfer container 400 over the opening until the nozzle 329 is sealed.
  • the way in which the transfer container 400 rises is not limited.
  • the removal process is opposite to the above process, and will not be repeated here.
  • the tray used for holding the transit container 400 is defined as the first tray 710, and a second tray 720 for receiving the outer sealing cover 360 may be provided on the translation assembly 544.
  • the second tray 720 is provided with On one side of the first tray 710, the two are placed side by side.
  • the translation assembly 544 can drive the second tray 720 and the outer sealing cover 360 to move away from or below the outlet port 329, and the lifting assembly 542 can directly lift the second tray 720 and simultaneously drive it.
  • the outer sealing cover 360 rises to the outlet 329 and seals the outlet 329; or, an opening is provided on the second tray 720, and the lifting assembly 542 can only lift the outer sealing cover 360 over the opening until the outlet 329 is sealed.
  • the process in which the lifting assembly 542 drives the outer sealing cover 360 to descend is opposite to the foregoing process, and will not be repeated here.
  • the translation assembly 544 drives the first tray 710 and the transfer container 400 to move below the outlet port 329
  • the second tray 720 and the outer sealing cover 360 move synchronously from below the outlet port 329 to a side position.
  • the translation assembly 544 drives the first tray 710 and the transfer container 400 to move away from below the outlet 329
  • the second tray 720 and the outer sealing cover 360 move synchronously from one side position to below the outlet 329.
  • the first tray 710 used to hold the transit container 400 can also be pulled away from the translation assembly 544 directly from the open position or the closed position, so that the transit container 400 and the second tray can be manually separated. If one tray 710 is removed, it can also be removed for replacement when the first tray 710 fails.
  • the heat preservation chamber 300 is provided with a manual intervention port 370, and the heat preservation chamber 300 is also provided with an intervention port sealing cover 372 for closing the manual intervention port 370, and an observation window 374.
  • the manual intervention port 370 is closed by the intervention port sealing cover 372.
  • the operator opens the intervention port sealing cover 372, and performs manual auxiliary operations through the manual intervention port 370.
  • the manual intervention port 370 may also be connected with operating gloves.
  • the observation window 374 is convenient for the operator to observe the conditions in the heat preservation chamber 300 in time.
  • the observation window 374 is made of high light-transmitting materials, and to ensure the temperature insulation effect, a thickened structure, a hollow structure or a vacuum structure can be adopted. On one side of the observation window 374 is also provided a dew removal module 376. When water droplets or water mist condensed on the surface of the observation window 374 appear, the dew drop module 376 is used to remove water droplets or water mist and keep the observation window 374 clear. degree.
  • the automated biological sample library 10 further includes a code scanning module 550 disposed outside the first cabin 320, and the code scanning module 550 is electrically connected to the control system for the tube picking module 530
  • the extracted cryopreservation tube 20 is scanned for code recognition, and a light-transmitting code scanning window 552 is provided at the position of the first cabin 320 corresponding to the code scanning module 550.
  • the code scanning module 550 may specifically be a code scanner.
  • Each cryopreservation tube 20 has an identification code, such as a one-dimensional code, a two-dimensional code, etc., when the tube picking module 530 extracts the cryopreservation tube 20, the code scanning module 550 can scan and identify the cryopreservation tube 20, and The required target cryopreservation tube 20 information is checked and confirmed. After the confirmation is correct, the cryopreservation tube 20 is placed in the sample box 40 of the transfer container 400 or the cryopreservation tray 30 carried by the shovel module 520 to realize automated biological sample information. Identification and recording.
  • the code scanning module 550 is arranged outside the first cabin 320, specifically the bottom outside the lower cabin 328, and a transparent module is provided at the corresponding position on the body wall of the lower cabin 328.
  • the optical scanning code window 552 enables the code scanning module 550 to scan the cryopreservation tube 20 in the lower cabin 328 through the code scanning window 552.
  • the scan code window 552 adopts a thickened structure, a hollow structure or a vacuum structure.
  • a dew removal module 554 is also provided on one side of the code scanning window 552 to remove water droplets or mist.
  • the code scanning module 550 can also be at least partially disposed in the lower cabin 328 so that some mechanical and electronic components in the code scanning module 550 are located in the room temperature area outside the lower cabin 328.
  • the automated biological sample library 10 further includes an opening module 560 provided on the frame 100 for automatically opening or closing the lid of the transfer container 400.
  • the lid opening module 560 is arranged above the support platform where the transit container 400 is placed.
  • the lid opening module 560 can be lifted to the tank cover of the transit container 400, and the tank cover can be opened by means of clamping rotation or buckle lifting, etc.
  • the transfer module 540 is used to transfer the transfer container 400 to the outlet port 329 of the lower tank 328.
  • the tank cover can be closed by means of clamping rotation or clamping down pressing.
  • the lid opening module 560 fails, the manual lid opening method can also be used for emergency treatment.
  • Step S102 is executed to determine whether the initialization is completed.
  • Step S100 is executed to determine the liquid nitrogen tank detection.
  • step S104 to open the lift door
  • step S106 to manually or automatically place the transfer container on the transfer module
  • step S108 to close the lift Door
  • step S110 to make the heat preservation cabin begin to cool down
  • step S112 to open the isolation door
  • step S114 to make the turntable rotating module rotate the target basket to the automatic opening
  • step S116 to end the cooling process
  • step S118 to lift the basket
  • the module lifts the target basket to the heat preservation chamber, that is, above the automatic opening
  • step S120 to manually or automatically uncover the transfer container
  • step S122 to extend the shovel tray to the bottom of the target freezing tray in the basket.
  • step S124 to use the camera to identify the position information of the cryopreservation disk, perform step S126 to lower the outer sealing cover, perform step S128 to make the shovel disk drive the target cryopreservation disk to retract to the tube picking position, and perform S130 to remove the outer sealing cover from the exit tube Move the port away, execute S132 to move the transfer container to the bottom of the outlet, execute step S134 to make the basket lifting module return the basket to its original position, execute step S136 to close the isolation door, execute step S138 to use the lifting assembly to transfer the transfer The container is raised to close the outlet, the sealing cap is opened within step S140, step S142 is used to extract the cryotube from the transfer container using the tube picking assembly, step S144 is performed to scan the code for the cryotube, and step S146 is performed to freeze the tube. The storage tube is placed in the freezing tray. If the tube picking is finished, it is ready to enter the device return state. If the tube picking is not finished, the steps S142, S144, and S146 are continued.
  • step S200 is executed to open the isolation door
  • step S202 is executed to close the inner sealing cover
  • step S204 is executed to lower the transfer container
  • step S204 is executed to lower the transfer container.
  • Step S206 is to enable the basket lifting module to lift the target basket into the heat preservation chamber, perform step S208 to move the outer sealing cover to below the outlet nozzle, and perform step S208 to move the transit container from below the outlet nozzle and enter the pre-prepared Set the lid opening position, execute step S212 to extend the shovel tray and put the frozen storage tray containing the target cryopreservation tube back into the basket, execute step S214 to raise the outer sealing cap to close the outlet nozzle, execute step S216 to transfer the container Close the cover, perform step S218 to retract the shovel to the tube picking position, perform step S220 to open the lift door, perform step S222 to close the cooling module, perform step S224 to make the basket lifting module return the basket to its original position, perform step S226 is to close the isolation door, perform step S228 to manually or automatically remove the transfer container, perform step S230 to close the lift door, and finally return to the initial state of the pipe picking.
  • the automatic tube-taking process of the automated biological sample library is roughly the same as the automatic tube-taking process. The difference is that during the automatic tube-taking process, the tube-picking component extracts the target cryopreservation tube from the target cryopreservation tray and puts it into the transfer container. .

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Abstract

一种自动化生物样本库（10），包括：框架（100），上位机（140），控制系统，液氮罐（200），保温腔室（300），中转容器（400），以及电连接于控制系统的转盘转动模块（500）、提篮提升模块（510）、铲盘模块（520）、挑管模块（530）和转运模块（540）。该自动化生物样本库包括上位机和控制系统，能够自动化控制转盘转动模块、提篮提升模块、铲盘模块、挑管模块和转运模块的运行，实现了生物样本的自动化存入和提取，减少了人为干扰，提高了存取的安全性、可靠性和便捷性，实现了生物样本信息的自动化数据管理、数据共享和数据分析。

Description

自动化生物样本库 技术领域
本发明涉及生物样本存储技术领域，特别是涉及一种自动化生物样本库。
背景技术
生物样本库是标准化收集、处理、储存健康和疾病生物体的生物大分子、细胞、组织和器官等样本的设备，大多数生物样本需要存储在深低温环境内，特别是某些用于储存回输人体的细胞的生物样本库，其存储环境需要在接近液氮的温度中。以存储人体胚胎的生物样本库为例，胚胎需要先经过复杂的降温流程，然后投入液氮中保存，中途需要全程处于深低温环境保护中，以防止胚胎重复冻融而损伤其活性。在胚胎经过降温后，放置在装有液氮的中转容器内，再经由人工送入较大的液氮罐中。当需要提取胚胎时，则将胚胎从液氮罐中取出，放置在中转容器内，转运至目标位置。
传统的生物样本库在生物样本存入和提取的过程中通常采用手动或半自动的操作方式，导致生物样本库的存取自动化程度较低。
发明内容
基于此，有必要针对生物样本库的存取自动化程度较低的问题，提供一种自动化生物样本库。
一种自动化生物样本库，包括：
框架；
上位机，设置于所述框架；
控制系统，电连接于所述上位机；
液氮罐，设置于所述框架，包括第一保温罐体、容置于所述第一保温罐体内的转盘组件、放置于所述转盘组件的多个提篮，以及能够选择地与任一所述提篮配合的自动盖；
保温腔室，罩设于所述自动盖，包括通过连通口相互连通的第一舱体和第二舱体，所述第一舱体开设有出管口，所述第二舱体内设有降温模块；
中转容器，设置于所述框架，包括第二保温罐体、容置于所述第二保温罐体内的样本架，以及封闭所述第二保温罐体的罐体盖，所述样本架用于盛放从所述出管口移入或移走的冻存管；
转盘转动模块，电连接于所述控制系统，至少部分地设置于所述第二舱体内，所述转盘 转动模块与所述转盘组件配合且能够带动所述转盘组件转动；
提篮提升模块，电连接于所述控制系统，至少部分地设置于所述第二舱体内，所述提篮提升模块与所述自动盖配合且能够带动所述自动盖升降；
铲盘模块，电连接于所述控制系统，至少部分地设置于所述第一舱体内，用于将冻存盘从所述提升组件提取的提篮中存入或提取；
挑管模块，电连接于所述控制系统，至少部分地设置于所述第一舱体内，用于将冻存管从所述铲盘模块提取的冻存盘中存入或提取，并用于将冻存管从所述出管口移入或移走；
转运模块，电连接于所述控制系统，设置于所述框架，能够带动所述中转容器移动至所述出管口处或从所述出管口处移走。
上述技术方案至少具有以下技术效果：本技术方案所提供的自动化生物样本库包括上位机和控制系统，能够自动化控制转盘转动模块、提篮提升模块、铲盘模块、挑管模块和转运模块的运行，实现了生物样本的自动化存入和提取，减少了人为干扰，提高了存取的安全性、可靠性和便捷性，实现了生物样本信息的自动化数据管理、数据共享和数据分析。自动盖能够在不存取生物样本的过程中密封液氮罐，保温腔室罩设于自动盖，转盘转动模块、提篮提升模块、铲盘模块、挑管模块均至少部分地设置于保温腔室内，生物样本在转运过程中放置于中转容器内，故生物样本在存取和转运过程中始终处于深低温环境中，避免了生物样本重复冻融而损伤活性。
在其中一个实施例中，所述液氮罐还包括手动盖和锁紧所述手动盖的快拆机构。
在其中一个实施例中，所述第一舱体设有高于所述连通口的隔断结构，所述隔断结构沿高度方向将所述第一舱体隔为上舱体和下舱体，所述隔断结构开设有连通所述上舱体和所述下舱体的机构运动口。
在其中一个实施例中，所述第一舱体沿高度方向的顶部设有与所述上舱体连通的第一密封罩，所述第二舱体沿高度方向的顶部设有与所述第二舱体连通的第二密封罩；
所述转盘转动模块包括第一驱动组件和由所述第一驱动组件驱动的转动组件，所述第一驱动组件至少部分地位于所述第二舱体和所述第二密封罩之间，所述转动组件位于所述第二舱体内，所述转动组件与所述转盘组件配合；
所述提篮提升模块包括第二驱动组件和由所述第二驱动组件驱动的提升组件，所述第二驱动组件至少部分地位于所述第二舱体和所述第二密封罩之间，所述提升组件位于所述第二舱体内，所述提升组件与所述自动盖配合；
所述铲盘模块包括第三驱动组件和由所述第三驱动组件驱动的铲盘组件，所述第三驱动组件至少部分地位于所述上舱体和所述第一密封罩之间，所述铲盘组件位于所述下舱体内；
所述挑管模块包括第四驱动组件和由所述第四驱动组件驱动的挑管组件，所述第四驱动组件至少部分地位于所述上舱体和所述第一密封罩之间，所述挑管组件位于所述下舱体内。
在其中一个实施例中，所述隔断结构设有能够使所述上舱体和所述下舱体之间透光的透明板，所述透明板于所述上舱体的一侧设有机器视觉模块。
在其中一个实施例中，所述第一舱体的内部设有封闭所述出管口的内密封盖，所述第一舱体的外部设有封闭所述出管口的外密封盖。
在其中一个实施例中，所述保温腔室开设有人工干预口，所述保温腔室还设有封闭所述人工干预口的干预口密封盖，以及观察窗。
在其中一个实施例中，所述转运模块包括连接的升降组件和平移组件，所述平移组件或所述升降组件设有托盘，所述托盘放置有所述中转容器。
在其中一个实施例中，所述自动化生物样本库还包括设置于所述第一舱体外的扫码模块，所述扫码模块电连接于所述控制系统，用于对所述挑管模块提取的冻存管进行扫码识别，所述第一舱体对应所述扫码模块的位置设有透光性的扫码窗。
在其中一个实施例中，所述自动化生物样本库还包括设置于所述框架的开盖模块，用于为所述中转容器自动开盖或关盖。
附图说明
图1为本发明一实施例中自动化生物样本库的结构示意图；
图2为本发明一实施例中自动化生物样本库的另一角度结构示意图；
图3为图2所示自动化生物样本库中外密封件的一位置示意图；
图4为本发明一实施例中机构运动口处的密封件的结构示意图；
图5为本发明另一实施例中机构运动口处的密封件的结构示意图；
图6为本发明一实施例中多轴机械手的结构示意图；
图7为本发明一实施例中转运模块与托盘的配合示意图；
图8为本发明一实施例中托盘可抽拉时的示意图；
图9为本发明一实施例中自动化生物样本库的自动存管的流程示意图；
图10为本发明一实施例中自动化生物样本库的存管复位的流程示意图。
其中：
10、自动化生物样本库        100、框架               110、滚轮
120、可调地脚               130、应急电源           140、上位机
200、液氮罐                 210、第一保温罐体       212、自动口
214、手动口                 220、转盘组件           230、提篮
240、自动盖                 250、手动盖             300、保温腔室
310、连通口                 312、自动化隔离门       314、升降模块
320、第一舱体               321、隔断结构           322、机构运动口
323、密封件                 324、透明板             325、机器视觉模块
326、第一密封罩             327、上舱体             328、下舱体
329、出管口                 330、第二舱体           332、第二密封罩
334、第二隔板               336、出气口             338、加热模块
340、降温模块               350、内密封盖           352、驱动模块
360、外密封盖               370、人工干预口         372、干预口密封盖
374、观察窗                 376、除露模块           400、中转容器
500、转盘转动模块           510、提篮提升模块       520、铲盘模块
522、第三驱动组件           524、铲盘组件           530、挑管模块
532、第四驱动组件           534、挑管组件           540、转运模块
542、升降组件               544、平移组件           550、扫码模块
552、扫码窗                 554、除露模块           560、开盖模块
570、升降门                 580、转运口             600、多轴机械手
610、X轴                    620、Z轴                630、R轴
632、第一竖直段             634、水平段             636、第二竖直段
640、固定座                 710、第一托盘           720、第二托盘
20、冻存管                  30、冻存盘              40、样本盒
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似改进，因此本发明不受下面公开的具体实施例的限制。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
传统的生物样本库大都采用手动或半自动操作，数据管理主要采用人工管理，存储容器 大多采用小容量的液氮罐，摆放较为分散，人工管理较为麻烦，导致效率低下，出错率高。
为此，请参考图1和图2，本发明的实施例提供了一种自动化生物样本库10，包括：框架100；上位机140，设置于框架100；控制系统，电连接于上位机140；液氮罐200，设置于框架100，包括第一保温罐体210、容置于第一保温罐体210内的转盘组件220、放置于转盘组件220的多个提篮230，以及能够选择地与任一提篮230配合的自动盖240；保温腔室300，罩设于自动盖240，包括通过连通口310相互连通的第一舱体320和第二舱体330，第一舱体320开设有出管口329，第二舱体330内设有降温模块340；中转容器400，设置于框架100，包括第二保温罐体、容置于第二保温罐体内的样本架，以及封闭第二保温罐体的罐体盖，样本架用于盛放从出管口329移入或移走的冻存管20。
框架100用于为整个设备提供承载力和支撑力，也用于将整个设备的多个机构集合在一起，提高集成程度。在框架100的底部还可以设置有带有刹车的滚轮110，当出现紧急情况时，可以将整个设备进行转移。在框架100的底部还可以设置有可调地脚120，用于调整框架100的水平度。
上位机140包括工控机、显示屏和软件系统等，能够实现自动化数据管理，实现人机交互和实时监测，具有数据自动镜像备份功能，确保数据的安全性。显示屏带有触控功能，还可以升降和平移，以便于不同的操作人员操作。上位机140还包括远程通讯模块，能够与中心服务器互联，以实现大数据汇总、数据共享和数据分析。上位机140还包括报警模块，当设备出现异常时，软件系统能够控制报警模块发出警报。
控制系统用于接收上位机140的指令，并执行指令，使转盘转动模块500、提篮提升模块510等自动化模块实现启停等操作。控制系统通常采用PLC控制，当上位机140处于正常运行状态时，上位机140和控制系统为正常的控制关系，当上位机140出现故障时，控制系统可以独立地进行控制，不影响基本操作，确保整个设备的运行安全性和可靠性，保证生物样本的安全性。
液氮罐200用于存储生物样本，能够长期稳定地营造低于零下180℃的存储温度，具体可以采用液相液氮制冷或气相液氮制冷。液氮罐200包括第一保温罐体210、转盘组件220、提篮230和自动盖240。第一保温罐体210采用双层真空结构，真空层包裹保温材料和吸附材料，能够起到良好的隔温效果。同时，在第一保温罐体210的顶部也采用保温材料填充，例如，可以设置一圈保温圈。如此设置，可以减少温度传导至外界常温环境中，也可以避免第一保温罐体210的顶部出现凝霜和结霜的现象。
转盘组件220用于盛放多个提篮230，通过转动转盘组件220，可以将不同位置的提篮230转动至正对自动盖240的位置，使得自动盖240能够选择地与该位置的提篮230实现配 合，此处，配合指的是自动盖240能够与提篮230实现竖直方向上的抵接，使得自动盖240能够将提篮230吊起，在水平方向上能够在提篮230转动时分离。转盘组件220包括均匀分布有若干个扇区的转盘和带动转盘旋转的中心轴，每个扇区放置有一个提篮230，提篮230沿竖直方向均匀分布为若干层，每层放置有一个冻存盘30，每个冻存盘30上分布有多个冻存管20。如此设置，增加了存储密度，提高了空间利用率。
第一保温罐体210的顶部开设有自动口212，自动盖240用于封闭自动口212。自动盖240面对第一保温罐体210内的一侧具有挂钩，每个提篮230的顶部具有与自动盖240的挂钩在正对时呈中心对称的挂钩，挂钩通常呈L形或类L形。当提篮230转动至正对自动盖240的位置时，两组挂钩会形成能够在竖直方向上抵接的状态或移动一段距离能够在竖直方向抵接的状态，当提升自动盖240时，自动盖240通过其自身的挂钩与提篮230的挂钩配合，能够将提篮230从第一保温罐体210中提起。当不需要提起提篮230时，自动盖240封闭自动口212，保证第一保温罐体210内的存储温度，防止非存取状态时低温扩散至保温腔室300内影响位于其中的机构。在第一保温罐体210内设置有多个电连接至控制系统的液位传感器和温度传感器，以实时监测第一保温罐体210内的液氮液位和液氮温度，及时地进行补液。第一保温罐体210还包括手动补液口和自动补液口，以及时地进行补液。
保温腔室300形成有中空的腔体，通过连通口310将腔体分为第一舱体320和第二舱体330，实现温度分区，连通口310沿竖直方向设置，使得第一舱体320用于为铲冻存盘30、挑冻存管20等提供操作空间，第二舱体330用于为提升提篮230提供操作空间。连通口310可以自保温腔室300的底部开始沿高度向上延伸，也可以自保温腔室300的底部一定距离处开始沿高度向上延伸。同时，在第一舱体320或第二舱体330内还可以设置有用于封闭连通口310的采用多孔结构的自动化隔离门312，驱动自动化隔离门312升降的升降模块314可以位于第一舱体320或第二舱体330中较高的位置。当设备启动开始降温，且未进行挑管操作时，自动化隔离门312移开，保证低温可以迅速传递到第一舱体；当温度降到设定值，开始挑管操作时，自动化隔离门312封闭连通口310，确保若出现意外掉管，冻存管20不会飞入第二舱体330，避免出现人工无法干预的后果，同时自动化隔离门312上的多孔结构可确保第二舱体330的低温仍可传递到第一舱体320，保证挑管温度。保温腔室300由保温材料和型材框组成，在保证保温性能的同时具有一定的机械结构强度。在保温腔室300内设置有多个电连接至控制系统的温度传感器，以实时监测不同位置的温度情况，及时地调整降温模块340的降温能力。
在第二舱体330的底部开设有进出口，进出口罩设于自动盖240，提篮230通过进出口上升至第二舱体330内或从第二舱体330内下降至第一保温罐体210内。本实施例中，当提 升自动盖240时，提篮230处于保温腔室300内，避免与外界常温环境直接接触，使得冻存管20不会直接暴露于空气环境中，提高了生物样本的生物活性。
在第一舱体320开设有出管口329，用于将从冻存管20从保温腔室300内移出或将冻存管20从保温腔室300外移入。具体出管口329根据整体布局选择开设的位置，例如，如果从第一舱体320的侧部进行移出或移入操作，则出管口329开设于第一舱体320的侧部。如果从第一舱体320的底部进行移出或移入操作，则出管口329开设于第一舱体320的底部。在此不做限定。
在第二舱体330内设置有降温模块340，降温模块340用于为生物样本提供一个接近第一保温罐体210内液氮低温的环境，减少转移过程中的温度骤升，提高生物样本的生物活性。降温模块340可以采用液氮喷淋、多级压缩机制冷、斯特林制冷等方式。冷气从第二舱体330内通过连通口310传递至第一舱体320内，使得第二舱体330内绕于降温模块340周围的空间内温度较低，以及第一舱体320内邻近连通口310的空间内温度较低，大约为低于零下130℃的低温环境。在待机过程中，降温模块340不工作，保温腔室300处于室温环境中。在存取操作前，先通过降温模块340将保温腔室300内的温度降至零下130℃以下。
中转容器400用于将从液氮罐200内挑出的目标冻存管20转运至目标位置，或者，用于将目标冻存管20转运至保温腔室300处供给液氮罐200存储。可以理解的是，中转容器400能够封闭出管口329。中转容器400包括第二保温罐体、样本架和罐体盖。第二保温罐体为具有开口的中空结构，罐体盖用于封闭该开口，样本架容置于第二保温罐体内，在样本架上放置有样本盒40，用于盛放从出管口329移入或移走的冻存管20。当中转容器400在非存取状态时，罐体盖封闭开口；当中转容器400需要存取时，罐体盖打开。为了监控中转容器400的运输情况，在中转容器400中集成了温度传感器、液位传感器、报警模块、远程通讯模块等，对生物样本的信息进行记录、存储、导入和导出等，通过有线或无线的方式与样本库通讯，将保存或记录的数据导入样本库数据库。
在存入目标冻存管20时，存储有目标冻存管20的中转容器400转运至保温腔室300处，通过出管口329将目标冻存管20移入保温腔室300内，并通过进出口移动至液氮罐200内。在提取目标冻存管20时，目标冻存管20所处的提篮230自液氮罐200内移动至保温腔室300内，通过出管口329将目标冻存管20移入至中转容器400内。
自动化生物样本库10还包括：转盘转动模块500，电连接于控制系统，至少部分地设置于第二舱体330内，转盘转动模块500与转盘组件220配合且能够带动转盘组件220转动；提篮提升模块510，电连接于控制系统，至少部分地设置于第二舱体330内，提篮提升模块510与自动盖240配合且能够带动自动盖240升降；铲盘模块520，电连接于控制系统，至少 部分地设置于第一舱体320内，用于将冻存盘30从提升组件提取的提篮230中存入或提取；挑管模块530，电连接于控制系统，至少部分地设置于第一舱体320内，用于将冻存管20从铲盘模块520提取的冻存盘30中存入或提取，并用于将冻存管20从出管口329移入或移走；转运模块540，电连接于控制系统，设置于框架100，能够带动中转容器400移动至出管口329处或从出管口329处移走。
转盘转动模块500与转盘组件220配合，此处，配合可以是连接关系，例如，焊接、螺纹锁紧等，也可以是在径向上的限位配接关系，例如，凹槽和凸起配合的方式，能够带动转盘组件220转动。例如，转盘转动模块500包括具有电机轴的电机，与电机轴连接的传动轴，转盘组件220包括转盘和带动转盘转动的中心轴，传动轴和中心轴通过联轴器连接，通过电机轴的转动带动中心轴的转动。转盘转动模块500至少部分地设置于第二舱体330内，能够将电机等耐低温性能较差的部件设置于第二舱体330外，提高各部件的使用寿命。
提篮提升模块510与自动盖240配合，此处，配合可以是连接关系，例如，焊接、螺纹锁紧等，也可以是竖直方向的限位配接关系，例如，夹爪、卡钩等方式，使得提篮提升模块510能够将自动盖240在竖直方向上吊起。例如，提篮提升模块510包括具有电机轴的电机，与电机轴连接的链条、拉绳等，链条、拉绳等连接于自动盖240，通过电机轴的转动能够带动链条、拉绳等将自动盖240提起或降下。提篮提升模块510至少部分地设置于第二舱体330内，能够将电机等耐低温性能较差的部件设置于第二舱体330外，提高各部件的使用寿命。
铲盘模块520至少部分地设置于第一舱体320内，能够将电机等耐低温性能较差的部件设置于第一舱体320外，提高各部件的使用寿命。铲盘模块520能够将位于第二舱体330内的目标提篮230中的目标冻存盘30铲出，或者，将位于铲盘模块520的目标冻存盘30放入目标提篮230中。
挑管模块530至少部分地设置于第一舱体320内，能够将电机等耐低温性能较差的部件设置于第一舱体320外，提高各部件的使用寿命。挑管模块530包括可移动的取管装置，能够将位于铲盘模块520的冻存盘30中的目标冻存管20提取并将其从出管口329移走，或者，能够将位于出管口329外的目标冻存管20提取并放置到铲盘模块520的冻存盘30中。
转运模块540设置于保温腔室300外，能够带动中转容器400从其他位置移动至出管口329处，或者，能够带动中转容器400从出管口329处移动至其他位置。在存取过程中，转运模块540带动中转容器400往复在出管口329和其他位置之间来回移动，此处，其他位置可以是中转容器400的预设中转位置。转运模块540可以采用链条、拉绳、皮带、同步带、齿轮齿条、滚珠丝杠等驱动方式。
在存入目标冻存管20时，转运模块540将盛放有目标冻存管20的中转容器400移动至 出管口329处，挑管模块530通过出管口329将目标冻存管20提取，放置到铲盘模块520已经铲出的冻存盘30上，铲盘模块520将存入目标冻存管20的冻存盘30放置到已经被提篮提升模块510提起的提篮230中，提篮提升模块510将提篮230下降至液氮罐200内。
在提取目标冻存管20时，转盘转动模块500将目标提篮230转动至自动盖240的下方，提篮提升模块510带动自动盖240将目标提篮230提起，铲盘模块520将目标冻存盘30从目标提篮230中铲出，挑管模块530将目标冻存管20从目标冻存盘30中提取，通过出管口329将目标冻存管20移入至中转容器400中，转运模块540将中转容器400移动至预设位置。
本发明的实施例所提供的自动化生物样本库10可以单机运行，也可以联机运行，例如，通过Automated Guided Vehicle(缩写AGV，自动导引运输车)、轨道或输送链等传输系统将各个单机互联，进行扩容，或与其他系统联机运行。此时，单个的自动化生物样本库10在放置中转容器400的位置设有转运口580，以及用于封闭转运口580的升降门570，中转容器400可以通过转运口580与其他系统进行互联，升降门570可以采用手动控制或自动控制的方式，当采用自动控制的方式时，可以采用链条、拉绳、皮带、同步带、齿轮齿条、滚珠丝杠等方式驱动。中转容器400通过转运口580，在多个单机之间传递，多个单机的数据库联网实现数据共享，配合统一的控制调度系统及集成化的数据管理，实现系统扩容，或与其他系统联机运行。
自动化生物样本库10还设有应急电源130，当失去外部电源时，应急电源130可以继续供电，确保完成当前正在执行的操作，确保生物样本的安全性。
上述技术方案至少具有以下技术效果：本技术方案所提供的自动化生物样本库10包括上位机140和控制系统，能够自动化控制转盘转动模块500、提篮提升模块510、铲盘模块520、挑管模块530和转运模块540的运行，实现了生物样本的自动化存入和提取，减少了人为干扰，提高了存取的安全性、可靠性和便捷性，实现了生物样本信息的自动化数据管理、数据共享和数据分析。自动盖240能够在不存取生物样本的过程中密封液氮罐200，保温腔室300罩设于自动盖240，转盘转动模块500、提篮提升模块510、铲盘模块520、挑管模块530均至少部分地设置于保温腔室300内，生物样本在转运过程中放置于中转容器400内，故生物样本在存取和转运过程中始终处于深低温环境中，避免了生物样本重复冻融而损伤活性。
请继续参考图1，在一些实施例中，液氮罐200还包括手动盖250和锁紧手动盖250的快拆机构。在第一保温罐体210的顶部开设有手动口214，手动盖250用于封闭手动口214。手动盖250作为应急方式使用，在正常存取过程中，手动盖250被快拆机构锁紧，冻存盘30的存取操作均通过自动口212进行。当设置于保温腔室300的机械或电子运动件，例如，提篮提升模块510、铲盘模块520等出现短时间内难以修复的故障时，或者出现其他紧急情况 时，可以松开快拆机构，打开手动盖250，将冻存盘30从手动口214存入或提取。
进一步地，快拆机构包括转动件，及与转动件转动连接的压紧件。压紧件部分地压合于手动盖250的上方，部分地连接于第一保温罐体210的顶部。当转动件转动一定的角度时，可以将压紧件紧压于手动盖250的上方。当转动件转动相反的一定的角度时，压紧件与手动盖250脱离，此时，可以将压紧件拆卸下来，打开手动盖250。
请继续参考图1，在一些实施例中，第一舱体320设有高于连通口310的隔断结构321，隔断结构321沿高度方向将第一舱体320隔为上舱体327和下舱体328，隔断结构321开设有连通上舱体327和下舱体328的机构运动口322。隔断结构321沿水平方向设置，采用保温材料形成，具体可以是聚异三聚氰酸酯(PIR)、聚氨酯(PUR)、发泡聚丙烯(EPP)、聚苯乙烯泡沫(EPS)、挤塑式聚苯乙烯泡沫塑料(XPS)、气凝胶或真空绝热板等。隔断结构321可以根据挑管模块530的尺寸大小，设置于第一舱体320内合适的高度位置。例如，隔断结构321设置于第一舱体320的2/3高度处或1/2高度处等，能够为挑管模块530提供较大的容置空间，使得挑管模块530更多地处于温度较高的环境中。相对应地，连通口310的高度可以为下舱体328的1/2高度或1/3高度等，为冻存盘30或冻存管20提供足够的转移空间。
隔断结构321将第一舱体320分为上舱体327和下舱体328，实现了第一舱体320的温度分区，此时，上舱体327温度高于下舱体328，使得挑管模块530、铲盘模块520等运动机构的部分元件能够处于上舱体327中，提高机械部件和电子部件所处的温度，增加机械部件和电子部件的使用寿命，增加操作的可靠性。
机构运动口322作为挑管模块530部分地穿过隔断结构321的开口，例如，挑管模块530包括机械手和由机械手控制的取管机构，机械手部分地穿过机构运动口322，取管机构安装于机械手的末端，位于下舱体328内。
由于机构运动口322中会穿设有挑管模块530，导致挑管模块530和机构运动口322之间留有缝隙，此时，下舱体328内的冷空气则容易从缝隙中进入到上舱体327内，影响上舱体327和下舱体328的温度分区效果。为此，在机构运动口322处设有能够在挑管模块530运动时起密封作用的密封件323。以图6所示的多轴机械手600为例，多轴机械手600作为挑管模块530的驱动组件，进行说明。
该多轴机械手600由X轴610、Z轴620、R轴630组成，R轴630安装在Z轴620上，ZR轴630通过固定座640安装在X轴610上；X轴610可做水平运动，Z轴620可做上下运动，R轴630可做旋转运动。R轴630为Z字型结构，分为第一竖直段632，水平段634，第二竖直段636，其中第一竖直段632穿过隔断结构321，水平段634与第二竖直段636始终在 下舱体328内运动。由于R轴630在水平方向的运动轨迹为一条直线，因此，隔断结构321上的机构运动口322可设计为窄槽形，有效地减小上舱体327和下舱体328的连通面积，减少低温从下舱体328向上舱体327的传递效率。
例如，如图6所示，密封件323可采用两段风琴式防护罩，两段风琴式防护罩一端分别固定在机构运动口322的前端和尾端，另一端固定在ZR轴630固定座640上。风琴式防护罩随着X轴610移动伸缩，能够对机构运动口322进行遮盖。又例如，如图4所示，密封件323包括交叠遮盖的两片柔性薄板，当第一竖直段632经过时，柔性薄板会被撑开，当第一竖直段632不经过时，柔性薄板会保持交叠状态，起到遮盖机构运动口322的作用。再例如，如图5所示，密封件323包括两个空心柔性管，当第一竖直段632经过时，两边的柔性管会被撑开，当第一竖直段632不经过时，两边的柔性管会向中间挤压，起到遮盖机构运动口322的作用。
进一步地，隔断结构321设有能够使上舱体327和下舱体328之间透光的透明板324，透明板324于上舱体327的一侧设有机器视觉模块325。透明板324采用高透光性材料，为了保证隔温效果，可以采用加厚、中空或真空结构。机器视觉模块325包括图像摄取单元和图像处理单元，利用图像摄取单元对下舱体328内的挑管状态进行拍照，通过图像处理单元分析获知实时的冻存盘30、冻存管20和样本盒40的位置坐标，通过控制系统反馈给挑管模块530，使得挑管模块530能够精确地挑管，提高挑管成功率，降低了对冻存盘30和样本盒40的定位精度要求，避免了由于深低温环境下材料收缩较大带来的定位精度较差的现象。
此外，还可以采用挑管模块530触碰冻存盘30、样本盒40上的多个固定位置点，通过电信号、弱电压、扭矩等参数的改变，将信号反馈给控制系统，控制挑管模块530的位置调整，对挑管模块530及时地进行位置校准。例如，在挑管模块530采用前述的多轴机械手600，可以在多轴机械手600的末端设置压电元件，通过压力感知变化，获知位置信息。
请继续参考图1，在一些实施例中，第一舱体320沿高度方向的顶部设有与上舱体327连通的第一密封罩326，第二舱体330沿高度方向的顶部设有与第二舱体330连通的第二密封罩332。为了使得保温腔室300的温度分区更加丰富，使得机械部件和电气部件更多地位于温度相对较高的位置，在第一舱体320的顶部还设有与上舱体327连通的第一密封罩326，第一密封罩326采用导热性能良好的薄板材料，如此设置，第一密封罩326内的温度接近于外部的室温，形成室温区。此时，可以将机械部件和电气部件相对地上移，使其更多地位于室温区，进一步地提高自动化模块的运行可靠性。此外，上舱体327和第一密封罩326之间采用具有开口的第一隔板，第一隔板采用保温材料制成。同样，第二密封罩332的原理类同于第一密封罩326的原理，第二舱体330和第二密封罩332之间也采用具有开口的第二隔板 334，在此不再赘述。第二密封罩332沿高度方向的顶部开设有出气口336，用于排放汽化后的液氮气体，在出气口336处还设有加热模块338，用以防止出气口336结霜、结露。
转盘转动模块500包括第一驱动组件和由第一驱动组件驱动的转动组件，第一驱动组件至少部分地位于第二舱体330和第二密封罩332之间，转动组件位于第二舱体330内，转动组件与转盘组件220配合。如此设置，第一驱动组件能够将耐低温性较差的电机设置于第二隔板334上，即位于第二密封罩332与第二隔板334所形成的空间内，第一驱动组件可以采用普通电机，降低生产成本，通过使第一驱动组件和转动组件位于不同的温度区，增加各部件的使用寿命。第一驱动组件包括电机和安装架等，电机具有电机轴，转动组件包括与电机轴连接的传动轴，以及用于将电机轴和传动轴连接的联轴器。传动轴用于与转盘组件220配合，此处，配合可以是连接关系，例如，焊接、螺纹锁紧等，也可以是在径向上的限位配接关系，例如，凹槽和凸起配合的方式，使得传动轴的转动能够带动转盘组件220转动。转盘组件220的转动角度可以通过传感器控制，实现较为准确的转动角度。
提篮提升模块510包括第二驱动组件和由第二驱动组件驱动的提升组件，第二驱动组件至少部分地位于第二舱体330和第二密封罩332之间，提升组件位于第二舱体330内，提升组件与自动盖240配合。如此设置，第二驱动组件能够将耐低温性较差的电机设置于第二隔板334上，即位于第二密封罩332与第二隔板334所形成的空间内，第二驱动组件可以采用普通电机，降低生产成本，通过使第二驱动组件和提升组件位于不同的温度区，增加各部件的使用寿命。第二驱动组件包括电机和安装架等，电机具有电机轴，提升组件可以采用链条、拉绳、皮带、同步带、齿轮齿条、滚珠丝杠等方式。提升组件与自动盖240配合，此处，配合可以是连接关系，例如，焊接、螺纹锁紧等，也可以是竖直方向的限位配接关系，例如，夹爪、卡钩等方式，使得提升组件能够将自动盖240在竖直方向上吊起。例如，提升组件包括与电机轴配合的齿轮，以及与齿轮啮合的齿条，齿条与自动盖240固定连接，通过电机带动齿条的升降，进而带动自动盖240的升降，实现提篮230的升降。
铲盘模块520包括第三驱动组件532和由第三驱动组件532驱动的铲盘组件534，第三驱动组件532至少部分地位于上舱体327和第一密封罩326之间，铲盘组件534位于下舱体328内。铲盘组件534位于下舱体328的底部，第三驱动组件532自下舱体328延伸至第一隔板和第一密封罩326所形成的空间内。如此设置，第三驱动组件532能够将耐低温性较差的电机设置于第一隔板上，即位于第一密封罩326与第一隔板所形成的空间内，第三驱动组件532可以采用普通电机，降低生产成本，通过使第三驱动组件532和铲盘组件534位于不同的温度区，增加各部件的使用寿命。第三驱动组件532包括电机和驱动铲盘组件534的链条、齿轮齿条或滚珠丝杠等部件，铲盘组件534包括能够被驱动的铲盘，当提篮230提升至 指定高度后，铲盘将目标冻存盘30从提篮230中铲出，铲盘带动目标冻存盘30收回至靠近挑管模块530的位置。
挑管模块530包括第四驱动组件532和由第四驱动组件532驱动的挑管组件534，第四驱动组件532至少部分地位于上舱体327和第一密封罩326之间，挑管组件534位于下舱体328内。挑管组件534位于下舱体328内，第四驱动组件532自下舱体328延伸至第一隔板和第一密封罩326所形成的空间内。如此设置，第四驱动组件532能够将耐低温性较差的电机设置于第一隔板上，即位于第一密封罩326与第一隔板所形成的空间内，第四驱动组件532可以采用普通电机，降低生产成本，通过使第四驱动组件532和挑管组件534位于不同的温度区，增加各部件的使用寿命。第四驱动组件532包括电机或电缸等，以及由电机或电缸驱动的机械手，机械手可以采用链条、皮带、同步带、齿轮齿条、滚珠丝杠等方式。挑管组件534包括设置于机械手末端的取管装置，取管装置可以采用机械式夹爪机构或真空吸取机构，用于自动化存取冻存管20。取管装置从铲盘中提取目标冻存管20或从中转容器400中提取目标冻存管20。
请继续参考图1和图2，在一些实施例中，第一舱体320的内部设有封闭出管口329的内密封盖350，第一舱体320的外部设有封闭出管口329的外密封盖360。内密封盖350和外密封盖360在非存取状态时，为第一舱体320起到了双层密封的作用。内密封盖350可以采用链条、拉绳、皮带、同步带、齿轮、蜗轮蜗杆、滚珠丝杠等方式驱动开合，内密封盖350的驱动模块352位于第一舱体320的高处。外密封盖360也可以采用链条、拉绳、皮带、同步带、齿轮、蜗轮蜗杆、滚珠丝杠等方式驱动开合。当开始存入操作时，先将外密封盖360移走，再将中转容器400移至出管口329处，并将出管口329密封，最后将内密封盖350移走，两种密封操作避免了第一舱体320内的低温区与第一舱体320外的室温区连通，两种密封操作先后进行，保证第一舱体320的密封性和保温性。内密封盖350、外密封盖360及中转容器400，为独立的多重密封结构，具体可以是，只有内密封盖350、外密封盖360、或中转容器400，或者，内密封盖350和外密封盖360组合、内密封盖350和中转容器400组合，上述密封可以同时存在，但不会同时不存在，保证了良好的密封性和保温性。
请继续参考图3，在一些实施例中，转运模块540包括连接的升降组件542和平移组件544，平移组件544或升降组件542设有托盘，托盘放置有中转容器400。升降组件542用于将中转容器400上升至出管口329处或将中转容器400从出管口329处下降，升降组件542可以采用链条、拉绳、皮带、同步带、齿轮齿条、滚珠丝杠等驱动方式。平移组件544用于将中转容器400从其他位置移动至出管口329处或将中转容器400从出管口329处移动至其他位置，平移组件544可以采用链条、拉绳、皮带、同步带、齿轮齿条、滚珠丝杠等驱动方 式。其他位置可以理解为开盖位置或关盖位置。升降组件542和平移组件544为连接关系，可以理解为，第一种：平移组件544和升降组件542为可相对平移和升降的关系，平移组件544能够带动升降组件542和中转容器400移动至出管口329处或移动至其他位置，升降组件542能够带动中转容器400升降。第二种：平移组件544和升降组件542为可相对升降的关系，平移组件544能够带动中转容器400移动至出管口329处或移动至其他位置，升降组件542设置于出管口329处并能够带动中转容器400升降。
以平移组件544和升降组件542为可相对升降的关系为例，进行说明。作为一个具体的方案，托盘设置于平移组件544上。例如，托盘通过滑轨的方式能够滑动于平移组件544上，当中转容器400需要被从其他位置转运至出管口329处时，平移组件544驱动托盘移动，托盘同步地带动中转容器400移动至出管口329的下方，此时，升降组件542能够直接地将托盘提升，并同步地带动中转容器400上升至出管口329处并密封出管口329；或者，在托盘上开设有开口，升降组件542能够越过开口只将中转容器400提升直至密封出管口329。中转容器400上升的方式不受限制。当中转容器400需要被从出管口329处移开时，移开过程与上述过程相反，在此不再赘述。
如图7所示，定义用以盛放中转容器400的托盘为第一托盘710，在平移组件544上还可以设置一个用以容置外密封盖360的第二托盘720，第二托盘720设置于第一托盘710的一侧，二者并排放置。平移组件544能够带动第二托盘720和外密封盖360从出管口329的下方移开或移动至出管口329的下方，升降组件542能够直接地将第二托盘720提升，并同步地带动外密封盖360上升至出管口329处并密封出管口329；或者，在第二托盘720上开设有开口，升降组件542能够越过开口只将外密封盖360提升直至密封出管口329。升降组件542带动外密封盖360下降的过程与上述过程相反，在此不再赘述。当平移组件544带动第一托盘710和中转容器400移动至出管口329的下方时，第二托盘720和外密封盖360同步地从出管口329的下方移开至一侧的位置。当平移组件544带动第一托盘710和中转容器400从出管口329的下方移开时，第二托盘720和外密封盖360同步地从一侧的位置移动至出管口329的下方。
此外，如图8所示，用以盛放中转容器400的第一托盘710还可以直接从开盖位置或关盖位置以抽拉的方式与平移组件544脱离，便于人工将中转容器400和第一托盘710取下，也能够在第一托盘710出现故障时，将其取下进行替换。
请继续参考图2，在一些实施例中，保温腔室300开设有人工干预口370，保温腔室300还设有封闭人工干预口370的干预口密封盖372，以及观察窗374。在自动化模块正常运行过程中，人工干预口370由干预口密封盖372封闭。当自动化模块发生故障时，操作人员打开 干预口密封盖372，通过人工干预口370进行人工辅助操作，人工干预口370还可以连接有操作手套。观察窗374便于操作人员能够及时地观察保温腔室300内的情况，观察窗374采用高透光性材料，且为保证隔温效果，可以采用加厚结构、中空结构或真空结构。在观察窗374的一侧还设有除露模块376，当观察窗374的表面出现遇冷凝结的水滴或水雾时，除露模块376用于清除水滴或水雾，保持观察窗374的清晰度。
请继续参考图1，在一些实施例中，自动化生物样本库10还包括设置于第一舱体320外的扫码模块550，扫码模块550电连接于控制系统，用于对挑管模块530提取的冻存管20进行扫码识别，第一舱体320对应扫码模块550的位置设有透光性的扫码窗552。扫码模块550具体可以是扫码器。每个冻存管20都带有识别码，如一维码、二维码等，当挑管模块530提取到冻存管20时，扫码模块550可以对冻存管20进行扫码识别，与所需目标冻存管20信息进行核对确认，确认无误后将冻存管20放入中转容器400的样本盒40中或放入铲盘模块520所承载的冻存盘30中，实现自动化生物样本信息的识别及记录。
由于保温腔室300内温度较低，扫码模块550设置于第一舱体320外，具体可以是下舱体328外的底部，在相对应的下舱体328的体壁位置设置一具有透光性的扫码窗552，使得扫码模块550透过扫码窗552能够对下舱体328内的冻存管20进行扫描。为了保证隔温效果，扫码窗552采用加厚结构、中空结构或真空结构。在扫码窗552的一侧还设有除露模块554，用以清除水滴或水雾。当然，扫码模块550也可以至少部分地设置于下舱体328内，使得扫码模块550中的部分机械部件和电子部件处于下舱体328外的室温区。
请继续参考图1，在一些实施例中，自动化生物样本库10还包括设置于框架100的开盖模块560，用于为中转容器400自动开盖或关盖。开盖模块560设置于放置中转容器400的支撑台的上方，开盖模块560能够升降至中转容器400的罐体盖处，利用卡紧旋转或卡扣抬起等方式，将罐体盖打开，然后利用转运模块540将中转容器400转运至下舱体328的出管口329处。或者，利用卡紧旋转或卡扣下压的方式，将罐体盖关闭。当然，当开盖模块560出现故障时，也可以采用手动开盖的方式进行应急处理。
下面结合具体的结构对自动化生物样本库10的自动存管过程进行说明。
请参考图9所示的挑管流程图，首先将处于未初始化的样本库进行初始化，上位机发送指令给PLC控制系统，执行步骤S102，判断是否完成初始化，执行步骤S100，判断液氮罐检测是否符合预设温度和液位要求，当二者均为是时，执行步骤S104以打开升降门，执行步骤S106以采用人工或自动的方式将中转容器放置在转运模块上，执行S108以关闭升降门，执行步骤S110以使保温舱室开始降温，执行步骤S112以打开隔离门，执行S114以使转盘转动模块将目标提篮转动至自动口处，执行步骤S116结束降温过程，执行步骤S118以使提篮提 升模块将目标提篮提升至保温腔室内，即自动口的上方，执行步骤S120以采用人工或自动的方式将中转容器开盖，执行步骤S122以使铲盘伸出至提篮内目标冻存盘的底部，执行步骤S124利用相机识别冻存盘的位置信息，执行步骤S126以使外密封盖下降，执行步骤S128以使铲盘带动目标冻存盘缩回至挑管位置，执行S130以将外密封盖从出管口处移开，执行S132以使中转容器移动至出管口的下方，执行步骤S134以使提篮提升模块将提篮放回原位，执行步骤S136以关闭隔离门，执行步骤S138利用升降组件将中转容器升起封闭出管口，执行步骤S140以内打开密封盖，执行步骤S142利用挑管组件从中转容器中提取冻存管，执行步骤S144对冻存管进行扫码识别，执行步骤S146以将冻存管放入冻存盘中，如果挑管结束，则准备进入设备返回状态，如果未结束挑管，则继续执行步骤S142、S144、S146。
请参考图10所示的挑管结束后设备返回的流程图，挑管结束后，执行步骤S200以打开隔离门，执行步骤S202以关闭内密封盖，执行步骤S204以使中转容器下降，执行步骤S206以使提篮提升模块将目标提篮提升至保温腔室内，执行步骤S208以使外密封盖移动至出管口的下方，执行步骤S208以使中转容器从出管口的下方移开，进入之前预设的开盖位置，执行步骤S212以使铲盘伸出将存放有目标冻存管的冻存盘放回提篮内，执行步骤S214以使外密封盖上升封闭出管口，执行步骤S216以为中转容器关盖，执行步骤S218以使铲盘缩回至挑管位置，执行步骤S220以打开升降门，执行步骤S222以关闭降温模块，执行步骤S224以使提篮提升模块将提篮放回原位，执行步骤S226以关闭隔离门，执行步骤S228采用人工或自动的方式取走中转容器，执行步骤S230以关闭升降门，最后返回挑管初始状态。
本发明的实施例中，自动化生物样本库的自动取管过程与自动取管过程大致相同，区别在于自动取管过程中，挑管组件从目标冻存盘中提取目标冻存管放入中转容器中。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。

Claims (10)

  1. 一种自动化生物样本库，其特征在于，包括：
    框架；
    上位机，设置于所述框架；
    控制系统，电连接于所述上位机；
    液氮罐，设置于所述框架，包括第一保温罐体、容置于所述第一保温罐体内的转盘组件、放置于所述转盘组件的多个提篮，以及能够选择地与任一所述提篮配合的自动盖；
    保温腔室，罩设于所述自动盖，包括通过连通口相互连通的第一舱体和第二舱体，所述第一舱体开设有出管口，所述第二舱体内设有降温模块；
    中转容器，设置于所述框架，包括第二保温罐体、容置于所述第二保温罐体内的样本架，以及封闭所述第二保温罐体的罐体盖，所述样本架用于盛放从所述出管口移入或移走的冻存管；
    转盘转动模块，电连接于所述控制系统，至少部分地设置于所述第二舱体内，所述转盘转动模块与所述转盘组件配合且能够带动所述转盘组件转动；
    提篮提升模块，电连接于所述控制系统，至少部分地设置于所述第二舱体内，所述提篮提升模块与所述自动盖配合且能够带动所述自动盖升降；
    铲盘模块，电连接于所述控制系统，至少部分地设置于所述第一舱体内，用于将冻存盘从所述提升组件提取的提篮中存入或提取；
    挑管模块，电连接于所述控制系统，至少部分地设置于所述第一舱体内，用于将冻存管从所述铲盘模块提取的冻存盘中存入或提取，并用于将冻存管从所述出管口移入或移走；
    转运模块，电连接于所述控制系统，设置于所述框架，能够带动所述中转容器移动至所述出管口处或从所述出管口处移走。
  2. 根据权利要求1所述的自动化生物样本库，其特征在于，所述液氮罐还包括手动盖和锁紧所述手动盖的快拆机构。
  3. 根据权利要求1所述的自动化生物样本库，其特征在于，所述第一舱体设有高于所述连通口的隔断结构，所述隔断结构沿高度方向将所述第一舱体隔为上舱体和下舱体，所述隔断结构开设有连通所述上舱体和所述下舱体的机构运动口。
  4. 根据权利要求3所述的自动化生物样本库，其特征在于，所述第一舱体沿高度方向的顶部设有与所述上舱体连通的第一密封罩，所述第二舱体沿高度方向的顶部设有与所述第二舱体连通的第二密封罩；
    所述转盘转动模块包括第一驱动组件和由所述第一驱动组件驱动的转动组件，所述第一驱动组件至少部分地位于所述第二舱体和所述第二密封罩之间，所述转动组件位于所述第二舱体内，所述转动组件与所述转盘组件配合；
    所述提篮提升模块包括第二驱动组件和由所述第二驱动组件驱动的提升组件，所述第二驱动组件至少部分地位于所述第二舱体和所述第二密封罩之间，所述提升组件位于所述第二舱体内，所述提升组件与所述自动盖配合；
    所述铲盘模块包括第三驱动组件和由所述第三驱动组件驱动的铲盘组件，所述第三驱动组件至少部分地位于所述上舱体和所述第一密封罩之间，所述铲盘组件位于所述下舱体内；
    所述挑管模块包括第四驱动组件和由所述第四驱动组件驱动的挑管组件，所述第四驱动组件至少部分地位于所述上舱体和所述第一密封罩之间，所述挑管组件位于所述下舱体内。
  5. 根据权利要求3所述的自动化生物样本库，其特征在于，所述隔断结构设有能够使所述上舱体和所述下舱体之间透光的透明板，所述透明板于所述上舱体的一侧设有机器视觉模块。
  6. 根据权利要求1所述的自动化生物样本库，其特征在于，所述第一舱体的内部设有封闭所述出管口的内密封盖，所述第一舱体的外部设有封闭所述出管口的外密封盖。
  7. 根据权利要求1所述的自动化生物样本库，其特征在于，所述保温腔室开设有人工干预口，所述保温腔室还设有封闭所述人工干预口的干预口密封盖，以及观察窗。
  8. 根据权利要求1所述的自动化生物样本库，其特征在于，所述转运模块包括连接的升降组件和平移组件，所述平移组件或所述升降组件设有托盘，所述托盘放置有所述中转容器。
  9. 根据权利要求1所述的自动化生物样本库，其特征在于，还包括设置于所述第一舱体外的扫码模块，所述扫码模块电连接于所述控制系统，用于对所述挑管模块提取的冻存管进行扫码识别，所述第一舱体对应所述扫码模块的位置设有透光性的扫码窗。
  10. 根据权利要求1所述的自动化生物样本库，其特征在于，还包括设置于所述框架的开盖模块，用于为所述中转容器自动开盖或关盖。
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