An automated access structure for a liquid nitrogen tank freezing box and a control method thereof

Abstract

The present invention provides an automated access structure for a liquid nitrogen tank freezing box and a control method thereof, which relates to the technical field of laboratory sample cryopreservation, including a liquid nitrogen tank body mechanism, a freezing box moving module, a freezing rack slot module, a freezing rack rotating module, a liquid nitrogen supply module and a control module, wherein the control module is electrically connected to the liquid nitrogen tank body mechanism, the freezing box moving module, the freezing rack slot module, the freezing rack rotating module and the liquid nitrogen supply module; the liquid nitrogen tank body mechanism includes a liquid nitrogen tank module tank body and a tank body cover. The present invention adopts a mechanized access to the freezing box, which solves the problem that the entire freezing process of the prior art is manually operated, the operator needs to wear low-temperature protective gloves during the operation, the storage and retrieval position needs to be manually searched, which is time-consuming, and there is also a risk of manual error and thawing of the cryopreservation tube, resulting in a reduced sample revival rate, or even sample scrapping, resulting in irreparable losses.

Description

Technical Field

[0001] The invention belongs to the field of laboratory sample cryopreservation, and in particular relates to an automatic storage and access structure for a liquid nitrogen tank cryopreservation box and a control method thereof. Background Art

[0002] Liquid nitrogen tank freezing box is a container used to freeze and preserve biological samples in a liquid nitrogen environment. It is usually made of low-temperature resistant materials and has sealing properties. It can effectively resist the penetration and volatilization of liquid nitrogen. Liquid nitrogen tank freezing box usually has multiple grids or holes for placing frozen samples, such as cells, bacteria, serum and DNA. Liquid nitrogen tank freezing box is widely used in biological science research, medical clinics and biopharmaceutical industry.

[0003] At present, the existing method of placing cryogenic tubes in liquid nitrogen tanks used in laboratories and sample libraries is to put the cryogenic tubes into a freezing box and then into a bucket or directly put the cryogenic tubes into a bucket and then put the bucket into the liquid nitrogen tank. The entire process is manually operated, and the operator is required to wear low-temperature protective gloves during the operation. The storage and retrieval positions must be manually searched, which is time-consuming. There are also risks of manual errors and thawing of the cryogenic tubes, which leads to a decrease in the sample revival rate or even sample scrapping, resulting in irreparable losses. Summary of the invention

[0004] The present invention provides an automated access structure and method for a liquid nitrogen tank freezing box, which are used to solve at least one of the technical problems mentioned above.

[0005] In order to solve the above technical problems, the present invention discloses an automatic access structure for a liquid nitrogen tank freezing box, comprising a liquid nitrogen tank body mechanism, a freezing box moving module, a freezing rack slot module, a freezing rack rotating module, a liquid nitrogen supply module and a control module, wherein the control module is electrically connected to the liquid nitrogen tank body mechanism, the freezing box moving module, the freezing rack slot module, the freezing rack rotating module and the liquid nitrogen supply module;

[0006] The liquid nitrogen tank body mechanism includes a liquid nitrogen tank module tank body and a tank body cover, a freezing box moving module is arranged on the tank body cover, and is used for automatically storing and retrieving the freezing box, a freezing rack rotating module is arranged on the tank body cover, and an output end of the freezing rack rotating module is connected to a freezing rack slot module, and the freezing rack rotating module is used to control the rotation of the freezing rack slot module, and a plurality of freezing racks are arranged in the freezing rack slot module, and the freezing racks are used for storing the freezing boxes, and a liquid nitrogen supply module is arranged on the liquid nitrogen tank body mechanism, and is used for replenishing the liquid nitrogen tank module tank body;

[0007] The control module includes a control touch screen and an electric control module.

[0008] Preferably, the tank cover comprises a liquid nitrogen tank outer shell and a liquid nitrogen tank inner shell, the liquid nitrogen tank outer shell is sealed and connected to the liquid nitrogen tank module tank body, the liquid nitrogen tank inner shell is installed in the liquid nitrogen tank outer shell, the liquid nitrogen tank outer shell is provided with a liquid nitrogen tank opening, a liquid nitrogen tank opening insulation body is provided in the liquid nitrogen tank opening, and a liquid nitrogen tank insulation cover is provided on the liquid nitrogen tank opening;

[0009] A liquid nitrogen tank module tank body fixing support structure is provided at the bottom of the liquid nitrogen tank module tank body.

[0010] Preferably, the liquid nitrogen supply module includes several liquid nitrogen filling ports, a liquid nitrogen tank sensor installation port, a liquid nitrogen filling control module and a refrigeration and heat exchange module. The liquid nitrogen tank sensor installation port is used to install a liquid level sensor, a pressure sensor and a temperature sensor. The liquid nitrogen filling control module is used to supply liquid nitrogen. The refrigeration and heat exchange module is used to control the internal temperature of the liquid nitrogen tank module tank body.

[0011] Preferably, it also includes a liquid nitrogen supply trigger coefficient calculation module, which is used to calculate the real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body, and the control module is used to control the operation of the liquid nitrogen replenishment module based on the calculated real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body:

[0012]

[0013] Among them, ψ is the real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body, λ1 is the weight coefficient of the liquid level factor on the liquid nitrogen supply trigger coefficient, e is a natural number with a value of 2.71, and h σ is the real-time liquid nitrogen level in the liquid nitrogen tank module, h max is the height of the highest cryobox in the liquid nitrogen tank module, λ2 is the weight coefficient of the influence of the unevenness of liquid nitrogen in the liquid nitrogen tank module on the liquid nitrogen supply trigger coefficient, ΔT s is the temperature value of the highest point of the real-time liquid nitrogen level in the liquid nitrogen tank module, ΔT0 is the internal reference temperature value of the liquid nitrogen tank module, and m liquid nitrogen concentration sensors are evenly arranged on the inner wall of the liquid nitrogen tank module from bottom to top, c k is the detection value of the kth liquid nitrogen concentration sensor from bottom to top, It is the unevenness of liquid nitrogen concentration in the liquid nitrogen tank module;

[0014] When the real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body is greater than the preset liquid nitrogen supply trigger coefficient, the control module controls the liquid nitrogen replenishment module to trigger and start.

[0015] Preferably, the freezing rack slot module comprises a freezing rack top plate and a freezing rack bottom plate, the freezing rack top plate and the freezing rack bottom plate are fixedly connected by two circles of support columns, each circle of support columns comprises a plurality of groups of evenly arranged freezing rack support columns, two adjacent freezing rack support columns in the inner circle are slidably connected to the inner circle freezing racks, and two adjacent freezing rack support columns in the outer circle are slidably connected to the outer circle freezing racks, a freezing rack rack housing is provided on the outer side of the outer circle freezing rack between the freezing rack top plate and the freezing rack bottom plate, a plurality of freezing rack positioning grooves are provided on the freezing rack top plate, a plurality of freezing rack positioning pins are provided on the top of the inner circle freezing rack and the outer circle freezing rack, the freezing rack positioning pins are used to cooperate with the freezing rack positioning grooves, the freezing rack top plate is connected to the freezing rack rotating module through the freezing rack top plate fixing flange, and the freezing rack bottom plate is installed on the liquid nitrogen tank module tank body fixed support structure through the freezing rack bottom plate fixing flange;

[0016] A plurality of inner circle freezing rack storage slots and an outer circle freezing rack storage slots are respectively arranged in the inner circle freezing rack and the outer circle freezing rack, and a plurality of freezing rack storage card positions are arranged in the inner circle freezing rack and the outer circle freezing rack, and each freezing rack storage card position is composed of two symmetrically arranged freezing rack bearing mechanisms.

[0017] Preferably, the liquid nitrogen tank module tank body fixed support structure includes a bottom truncated table, a plurality of retractable suction cups and a plurality of universal wheels, the plurality of retractable suction cups and the plurality of universal wheels are installed at the bottom of the bottom truncated table, the top of the bottom truncated table is rotatably connected to a freezing rack rotating shaft support mechanism, and the freezing rack rotating shaft support mechanism is fixedly connected to a fixing flange of a bottom plate of the freezing rack.

[0018] Preferably, the freezing rack rotation module includes a rotating transmission shaft insulation mechanism, which is fixedly connected to the liquid nitrogen tank shell of the tank body cover, and a rotating transmission shaft is rotatably connected inside the rotating transmission shaft insulation mechanism, one end of the rotating transmission shaft is connected to the output end of the degree transmission mechanism, the input end of the degree transmission mechanism is connected to the output end of the reducer, the input end of the reducer is connected to the freezing rack rotating motor, the other end of the rotating transmission shaft is connected to the freezing rack rotating shaft through the transmission shaft insulation mechanism, and the freezing rack rotating shaft is connected to the freezing rack top plate through the freezing rack top plate fixing flange.

[0019] Preferably, the freezing box moving module comprises two symmetrically arranged freezing box moving module positioning mechanisms, the freezing box moving module positioning mechanisms are installed in the liquid nitrogen tank opening of the tank cover, a moving screw is rotatably connected to the freezing box moving module positioning mechanisms, a moving guide groove is provided below the moving screw on the freezing box moving module positioning mechanisms, a freezing box moving module translation mechanism is threadedly connected to the moving screw, the bottom of the freezing box moving module translation mechanism is slidably connected in the moving guide groove, a freezing box moving module translation mechanism hook plate is provided on the freezing box moving module translation mechanism, the freezing box moving module translation mechanism hook plate is used to place the freezing box, and a freezing tube is provided in the freezing box;

[0020] A mounting frame is provided on the front side of the movable guide groove, a bevel gear 1 is fixedly connected to the movable screw rod, a transmission shaft of the freezing box moving module is rotatably connected to the mounting frame, a bevel gear 2 is fixedly connected to the transmission shaft of the freezing box moving module, the bevel gear 2 and the bevel gear 1 are meshed with each other, an end of the transmission shaft of the freezing box moving module away from the bevel gear 2 is connected to an insulation mechanism of the transmission shaft of the freezing box moving module, and the insulation mechanism of the transmission shaft of the freezing box moving module is installed at the output end of the freezing box moving module motor.

[0021] A control method comprises the following steps:

[0022] Step 1: When storing the cryobox, remove the liquid nitrogen tank insulation cover on the tank cover, and place the cryobox to be stored on the cryobox moving module positioning mechanism of the cryobox moving module;

[0023] Step 2: The freezing rack rotation motor of the freezing rack rotation module rotates under control, and after passing through the reducer, the degree transmission mechanism, the rotation transmission shaft and the freezing rack rotation shaft, drives the freezing rack slot module to rotate, and stops rotating when the target inner ring freezing rack or outer ring freezing rack is rotated to the bottom of the liquid nitrogen tank opening;

[0024] Step 3: After the inner ring freezing rack or the outer ring freezing rack is lifted to the target freezing rack storage card position and aligned with the plane of the freezing box moving module positioning mechanism, the freezing box moving module is controlled to push the freezing box into the target freezing rack storage card position, the freezing box is received by the freezing rack bearing mechanism and separated from the hook plate of the freezing box moving module translation mechanism, the freezing box moving module is controlled to move in the opposite direction to retract the hook plate of the freezing box moving module translation mechanism, the inner ring freezing rack or the outer ring freezing rack is controlled to lower its height and return to the liquid nitrogen tank, after the freezing rack positioning pin slides into the freezing rack positioning groove, the liquid nitrogen tank insulation cover is covered, and the freezing box storage operation is completed;

[0025] Step 4: When taking out the cryobox, remove the liquid nitrogen tank insulation cover, and the target inner ring cryorack or outer ring cryorack is rotated to the bottom of the liquid nitrogen tank opening under the drive of the cryorack rotating module;

[0026] Step 5: The target inner ring cryorack or outer ring cryorack rises so that the target cryorack storage card position and the hook plate of the cryobox moving module translation mechanism are on the same horizontal plane, and the cryobox moving module translation mechanism drives the hook plate of the cryobox moving module translation mechanism to move forward to below the target cryobox, and then the corresponding inner ring cryorack or outer ring cryorack is lowered to an appropriate height so that the target cryobox completely falls on the hook plate of the cryobox moving module translation mechanism, and then the hook plate of the cryobox moving module translation mechanism is recovered, and the liquid nitrogen tank insulation cover is covered after the cryobox removal operation is completed.

[0027] Preferably, the method further includes controlling the rising or falling speed of the inner ring freezing rack or the outer ring freezing rack, including the following steps:

[0028] S1: Calculate the actual freezing temperature adaptation time during the storage and access of frozen samples:

[0029]

[0030] Among them, t s is the actual freezing temperature adaptation time during the storage and retrieval of frozen samples, ρ is the baseline density of cells in the frozen samples, Q s is the latent heat of freezing of the sample, T i T is the temperature of the environment when the frozen sample in the freezing box is at a high position. o is the internal temperature of the liquid nitrogen tank module at the starting height of the target cryopreservation rack storage position when the frozen sample in the cryopreservation box is at the target cryopreservation rack storage position, A is the heat exchange contact surface area of ​​the frozen sample in a single cryopreservation tube, n is the number of cryopreservation tubes in the cryopreservation box, W1 is the thermal conductivity of the frozen sample, W2 is the thermal conductivity of the cryopreservation tube, r is the radius of the cryopreservation tube, For frozen samples and ambient temperature The convective heat transfer coefficient between the environments at time ;

[0031] S2: Calculate the rising or falling speed of the inner ring freezing rack or the outer ring freezing rack:

[0032]

[0033] Among them, θ x is the rising or falling speed of the inner ring freezing rack or the outer ring freezing rack, h1 is the height of the positioning mechanism of the freezing box moving module, h x The starting height of the target cryo rack storage card when it is located in the liquid nitrogen tank module;

[0034] S3: The control module controls the inner ring freezing rack or the outer ring freezing rack to rise or fall based on the calculated rising or falling speed of the inner ring freezing rack or the outer ring freezing rack. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0037] Figure 2 An exploded view of the present invention;

[0038] Figure 3 It is a cross-sectional view of the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of the translation mechanism of the freezing box moving module of the present invention;

[0040] Figure 5 This is a schematic diagram of the working state of the translation mechanism of the freezing box moving module of the present invention;

[0041] Figure 6 This is a schematic diagram of the control module structure of the present invention;

[0042] Figure 7 It is a schematic diagram of the structure of the thermal insulation cover of the liquid nitrogen tank of the present invention.

[0043] In the figure: 1. Liquid nitrogen tank module tank body; 2. Cryobox; 3. Outer ring cryorack; 4. Cryorack rotating motor; 5. 90 degree transmission mechanism; 6. Rotating transmission shaft; 7. Transmission shaft insulation mechanism; 8. Cryobox moving module motor; 9. Inner ring cryorack; 10. Outer ring cryorack storage slot; 11. Inner ring cryorack storage slot; 12. Cryorack top plate; 13. Cryorack support column; 14. Cryorack rack shell; 15. Liquid nitrogen tank shell; 16. Liquid nitrogen tank inner shell; 17. Liquid nitrogen tank opening; 18. Liquid nitrogen tank opening insulation body; 19. Liquid nitrogen filling port; 20. Liquid nitrogen tank sensor installation port; 21. Cryorack top plate fixing flange; 22. Cryorack bottom plate; 23. Cryorack bottom plate fixing flange; 24. Cryorack rotating shaft; 25. Cryorack rotating shaft support mechanism; 26. Rotating transmission shaft insulation mechanism ; 27, cryobox moving module transmission shaft; 28, bevel gear one; 280, bevel gear two; 29, cryobox moving module translation mechanism; 30, cryorack storage card position; 31, cryobox moving module transmission shaft insulation mechanism; 32, cryotube; 33, cryobox moving module translation mechanism hook plate; 34, cryobox moving module positioning mechanism; 340, moving screw rod; 341, moving guide groove; 342, mounting frame; 35, liquid nitrogen filling control module; 36, reducer; 37, liquid nitrogen tank module tank body fixed support structure; 370, bottom round table; 371, retractable suction cup; 372, universal wheel; 38, refrigeration heat exchange module; 39, cryorack positioning groove; 40, cryorack positioning pin; 41, liquid nitrogen tank insulation cover; 42, control touch screen; 43, electric control module; 44, cryorack bearing mechanism. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0045] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0046] The present invention provides the following embodiments

[0047] Example 1

[0048] The embodiment of the present invention provides an automated access structure for a liquid nitrogen tank freezing box, such as Figure 1-7 As shown, it includes a liquid nitrogen tank mechanism, a freezing box moving module, a freezing rack slot module, a freezing rack rotating module, a liquid nitrogen supply module and a control module, and the control module is electrically connected to the liquid nitrogen tank mechanism, the freezing box moving module, the freezing rack slot module, the freezing rack rotating module and the liquid nitrogen supply module;

[0049] The liquid nitrogen tank mechanism includes a liquid nitrogen tank module tank body 1 and a tank cover, a freezing box moving module is arranged on the tank cover, and is used for automatically storing and retrieving the freezing box 2, a freezing rack rotating module is arranged on the tank cover, and an output end of the freezing rack rotating module is connected to a freezing rack slot module, and the freezing rack rotating module is used to control the rotation of the freezing rack slot module, and a plurality of freezing racks are arranged in the freezing rack slot module, and the freezing rack is used to store the freezing box 2, and a liquid nitrogen supply module is arranged on the liquid nitrogen tank mechanism, and is used for replenishing the liquid nitrogen tank module tank body 1;

[0050] The control module includes a control touch screen 42 and an electric control module 43 .

[0051] A control method comprises the following steps:

[0052] Step 1: When storing the cryopreservation box 2, remove the liquid nitrogen tank insulation cover 41 on the tank cover, and place the cryopreservation box 2 to be stored on the cryopreservation box moving module positioning mechanism 34 of the cryopreservation box moving module;

[0053] Step 2: The freezing rack rotating motor 4 of the freezing rack rotating module is controlled to rotate, and after passing through the reducer 36, the 90-degree transmission mechanism 5, the rotating transmission shaft 6 and the freezing rack rotating shaft 24, the freezing rack slot module is driven to rotate, and the rotation is stopped when the target inner ring freezing rack 9 or the outer ring freezing rack 3 is rotated to the bottom of the liquid nitrogen tank opening 17;

[0054] Step 3: After the inner ring freezing rack 9 or the outer ring freezing rack 3 is lifted to the target freezing rack storage card position 30 and aligned with the plane of the freezing box moving module positioning mechanism 34, the freezing box moving module is controlled to push the freezing box 2 into the target freezing rack storage card position 30, and the freezing box 2 is received by the freezing rack bearing mechanism 44 and separated from the freezing box moving module translation mechanism hook plate 33, and the freezing box moving module is controlled to move in the reverse direction to retract the freezing box moving module translation mechanism hook plate 33, and the inner ring freezing rack 9 or the outer ring freezing rack 3 is controlled to lower the height and return to the liquid nitrogen tank, and after the freezing rack positioning pin 40 slides into the freezing rack positioning groove 39, the liquid nitrogen tank insulation cover 41 is covered, and the freezing box 2 storage operation is completed;

[0055] Step 4: When taking out the freezing box 2, remove the liquid nitrogen tank insulation cover 41, and the target inner ring freezing rack 9 or outer ring freezing rack 3 is driven by the freezing rack rotating module to rotate to the bottom of the liquid nitrogen tank opening 17;

[0056] Step 5: The target inner ring freezing rack 9 or outer ring freezing rack 3 rises so that the target freezing rack storage card position 30 and the hook plate 33 of the freezing box moving module translation mechanism are located at the same horizontal plane, and the freezing box moving module translation mechanism 29 drives the hook plate 33 of the freezing box moving module translation mechanism to move forward to the bottom of the target freezing box 2, and then the corresponding inner ring freezing rack 9 or outer ring freezing rack 3 is lowered to an appropriate height, so that the target freezing box 2 completely falls on the hook plate 33 of the freezing box moving module translation mechanism, and then the hook plate 33 of the freezing box moving module translation mechanism is recovered, and after the freezing box 2 is taken out, the liquid nitrogen tank insulation cover 41 is covered.

[0057] The working principle and beneficial effects of the above technical solution are as follows: when storing the cryopreservation box 2, the cryopreservation box 2 is placed on the cryopreservation box moving module, and at the same time, the cryopreservation rack rotating module drives the cryopreservation rack slot module to rotate, so that the target cryopreservation rack rotates to the working port of the cryopreservation box moving module, and then the target cryopreservation rack rises to an appropriate height, and the cryopreservation box moving module pushes the cryopreservation box 2 thereon into the target cryopreservation rack to realize the storage of the cryopreservation box 2, and when taking out the cryopreservation box 2, the cryopreservation rack rotating module drives the cryopreservation rack slot module to rotate, so that the target cryopreservation rack rotates to the working port of the cryopreservation box moving module, and then the target cryopreservation rack rises to an appropriate height, driving the target cryopreservation box 2 to rise to the same height as the cryopreservation box moving module, and the target cryopreservation box 2 is taken out through the cryopreservation box moving module;

[0058] The present invention realizes mechanized storage and retrieval of cryo boxes, and solves the technical problem that the existing method of placing cryotubes in liquid nitrogen tanks used in laboratories and sample libraries adopts manual operation throughout the process, and the operator needs to wear low-temperature protection gloves during the operation. The storage and retrieval positions need to be manually searched, which is time-consuming. There are also risks of manual errors and thawing of cryotubes, which leads to a reduced sample revival rate or even sample scrapping, resulting in irreparable losses.

[0059] Example 2

[0060] On the basis of Example 1, the tank cover includes a liquid nitrogen tank outer shell 15 and a liquid nitrogen tank inner shell 16, the liquid nitrogen tank outer shell 15 is sealed and connected to the liquid nitrogen tank module tank body 1, the liquid nitrogen tank inner shell 16 is installed in the liquid nitrogen tank outer shell 15, the liquid nitrogen tank outer shell 15 is provided with a liquid nitrogen tank opening 17, the liquid nitrogen tank opening 17 is provided with a liquid nitrogen tank opening insulation body 18, and the liquid nitrogen tank opening 17 is provided with a liquid nitrogen tank insulation cover 41;

[0061] A liquid nitrogen tank module tank body fixing support structure 37 is provided at the bottom of the liquid nitrogen tank module tank body 1 .

[0062] The working principle and beneficial effects of the above technical solution are as follows: when storing the cryobox 2, first open the liquid nitrogen tank insulation cover 41 and then place the cryobox 2 on the cryobox moving module, and the storage of the cryobox 2 is achieved through the mutual cooperation between the cryobox moving module and the cryorack rotating module. When taking out the cryobox 2, first open the liquid nitrogen tank insulation cover 41, and through the mutual cooperation between the cryobox moving module and the cryorack rotating module, take the cryobox 2 out of the cryorack slot module to the cryobox moving module, and then take it out through the liquid nitrogen tank opening 17.

[0063] Example 3

[0064] On the basis of Example 1, the liquid nitrogen supply module includes a plurality of liquid nitrogen filling ports 19, a liquid nitrogen tank sensor installation port 20, a liquid nitrogen filling control module 35 and a refrigeration and heat exchange module 38. The liquid nitrogen tank sensor installation port 20 is used to install a liquid level sensor, a pressure sensor and a temperature sensor. The liquid nitrogen filling control module 35 is used to replenish liquid nitrogen. The refrigeration and heat exchange module 38 is used to control the internal temperature of the liquid nitrogen tank module tank body 1.

[0065] It also includes a liquid nitrogen supply trigger coefficient calculation module, which is used to calculate the real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body 1, and the control module is used to control the operation of the liquid nitrogen replenishment module based on the calculated real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body 1:

[0066]

[0067] Among them, ψ is the real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body 1, λ1 is the influence weight coefficient of the liquid level factor on the liquid nitrogen supply trigger coefficient, e is a natural number with a value of 2.71, and h σ is the real-time liquid nitrogen level in the liquid nitrogen tank module tank body 1, h max is the height of the highest cryopreservation box 2 in the tank body 1 of the liquid nitrogen tank module, λ2 is the weight coefficient of the influence of the unevenness of liquid nitrogen in the tank body 1 of the liquid nitrogen tank module on the liquid nitrogen supply trigger coefficient, ΔT sis the temperature value of the highest point of the real-time liquid nitrogen level in the liquid nitrogen tank module tank body 1, ΔT0 is the internal reference temperature value of the liquid nitrogen tank module tank body 1, and m liquid nitrogen concentration sensors are evenly arranged on the inner wall of the liquid nitrogen tank module tank body 1 from bottom to top, c k is the detection value of the kth liquid nitrogen concentration sensor from bottom to top, The unevenness of the liquid nitrogen concentration in the liquid nitrogen tank module tank body 1;

[0068] When the real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body 1 is greater than the preset liquid nitrogen supply trigger coefficient, the control module controls the liquid nitrogen replenishment module to trigger and start.

[0069] The working principle and beneficial effects of the above technical solution are as follows: when working, when the actual detection values ​​of the liquid level sensor and the concentration sensor are lower than the preset values, the control module controls the liquid nitrogen filling control module 35 to work, and the liquid nitrogen is replenished from the liquid nitrogen filling port 19 to the liquid nitrogen tank module tank body 1 through the liquid nitrogen filling control module 35. When the actual detection value of the temperature sensor is higher than the preset value, the control module controls the refrigeration and heat exchange module 38 to work, and the low-temperature refrigerant takes away the heat in the liquid nitrogen tank module tank body 1 through the refrigeration and heat exchange module 38, so as to achieve the effect of maintaining the temperature in the liquid nitrogen tank module tank body 1;

[0070] The liquid nitrogen supply trigger coefficient calculation module can calculate the real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body 1. When the real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body 1 is greater than the preset liquid nitrogen supply trigger coefficient, the control module controls the liquid nitrogen replenishment module to trigger and start, thereby ensuring the immediate supply of liquid nitrogen and the cryopreservation reliability of the automatic storage and retrieval structure of the liquid nitrogen tank cryopreservation box. At the same time, the placement height value h of the cryopreservation box 2 with the highest placement position in the liquid nitrogen tank module tank body 1 is introduced in the calculation. max , not taking the top surface height value of the liquid nitrogen tank module tank body 1 as a reference, which can save liquid nitrogen and effectively save freezing costs.

[0071] Example 4

[0072] On the basis of Example 1, the freezing rack slot module includes a freezing rack top plate 12 and a freezing rack bottom plate 22, and the freezing rack top plate 12 and the freezing rack bottom plate 22 are fixedly connected by two circles of support columns, each circle of support columns includes a plurality of groups of evenly arranged freezing rack support columns 13, two adjacent freezing rack support columns 13 in the inner circle are slidably connected to the inner circle freezing rack 9, and two adjacent freezing rack support columns 13 in the outer circle are slidably connected to the outer circle freezing rack 3, and the outer circle freezing rack 3 is connected between the freezing rack top plate 12 and the freezing rack bottom plate 22. A freezing rack housing 14 is provided on the outside of the storage rack 3, a plurality of freezing rack positioning grooves 39 are provided on the freezing rack top plate 12, a plurality of freezing rack positioning pins 40 are provided on the top of the inner ring freezing rack 9 and the outer ring freezing rack 3, and the freezing rack positioning pins 40 are used to cooperate with the freezing rack positioning grooves 39, the freezing rack top plate 12 is connected to the freezing rack rotating module through the freezing rack top plate fixing flange 21, and the freezing rack bottom plate 22 is installed on the liquid nitrogen tank module tank body fixed support structure 37 through the freezing rack bottom plate fixing flange 23;

[0073] The inner circle freezing rack 9 and the outer circle freezing rack 3 are respectively provided with a plurality of inner circle freezing rack storage slots 11 and outer circle freezing rack storage slots 10, and the inner circle freezing rack 9 and the outer circle freezing rack 3 are both provided with a plurality of freezing rack storage card positions 30, and each freezing rack storage card position 30 is composed of two symmetrically arranged freezing rack bearing mechanisms 44.

[0074] The working principle and beneficial effects of the above technical solution are as follows: when the freezing rack slot module is working, the freezing rack top plate 12 is driven to rotate by the freezing rack rotating module, thereby driving the entire freezing rack slot module to rotate, and the target freezing rack inner ring freezing rack 9 or outer ring freezing rack 3 is rotated to the bottom of the liquid nitrogen tank opening 17, and then the target inner ring freezing rack 9 or outer ring freezing rack 3 is raised along its corresponding freezing rack support column 13 so that the target freezing rack storage card position 30 and the to-be-stored freezing box 2 on the freezing box moving module are in the same plane, and then the freezing box moving module pushes the to-be-stored freezing box 2 onto the target freezing rack bearing mechanism 44, and after the freezing box 2 is placed, the target inner ring freezing rack 9 or outer ring freezing rack 3 is lowered and reset, and after resetting, the freezing rack positioning pins 40 corresponding to the inner ring freezing rack 9 or the outer ring freezing rack 3 cooperate with the freezing rack positioning grooves 39 to realize the positioning of the inner ring freezing rack 9 or the outer ring freezing rack 3;

[0075] When storing the cryobox 2, the cryobox moving module delivers the cryobox 2 to the corresponding cryorack storage card position 30 and pushes it horizontally onto the corresponding cryorack bearing mechanism 44. When taking out the cryobox 2, the cryobox moving module moves the hook plate 33 of the translation mechanism of the cryobox moving module to the bottom of the target cryobox 2. After that, the corresponding outer ring cryorack 3 or the inner ring cryorack 9 is controlled to be lowered to an appropriate height, and the target cryobox 2 falls on the hook plate 33 of the translation mechanism of the cryobox moving module, and is reversely retrieved by the cryobox moving module to achieve the taking out of the cryobox 2.

[0076] Example 5

[0077] On the basis of Example 4, the liquid nitrogen tank module tank body fixed support structure 37 includes a bottom truncated table 370, a plurality of retractable suction cups 371 and a plurality of universal wheels 372, and the plurality of retractable suction cups 371 and the plurality of universal wheels 372 are installed at the bottom of the bottom truncated table 370, and the top of the bottom truncated table 370 is rotatably connected to a freezing rack rotating shaft support mechanism 25, and the freezing rack rotating shaft support mechanism 25 is fixedly connected to the freezing rack bottom plate fixed flange 23.

[0078] The working principle and beneficial effects of the above technical solution are as follows: the height of the liquid nitrogen tank module tank body 1 can be adjusted by adjusting the height of the retractable suction cup 371 , and the flexible movement of the liquid nitrogen tank module tank body 1 can be achieved through the universal wheel 372 .

[0079] Example 6

[0080] On the basis of Example 4, the freezing rack rotation module includes a rotating transmission shaft insulation mechanism 26, which is fixedly connected to the liquid nitrogen tank shell 15 of the tank body cover, and a rotating transmission shaft 6 is rotatably connected inside the rotating transmission shaft insulation mechanism 26. One end of the rotating transmission shaft 6 is connected to the output end of the 90-degree transmission mechanism 5, and the input end of the 90-degree transmission mechanism 5 is connected to the output end of the reducer 36. The input end of the reducer 36 is connected to the freezing rack rotating motor 4, and the other end of the rotating transmission shaft 6 is connected to the freezing rack rotating shaft 24 through the transmission shaft insulation mechanism 7, and the freezing rack rotating shaft 24 is connected to the freezing rack top plate 12 through the freezing rack top plate fixing flange 21.

[0081] The working principle and beneficial effects of the above technical solution are as follows: when working, the freezing rack rotating motor 4 drives the reducer 36 to rotate, the rotation of the reducer 36 drives the 90-degree transmission mechanism 5 to rotate, the rotation of the 90-degree transmission mechanism 5 drives the rotating transmission shaft 6 to rotate, the rotation of the rotating transmission shaft 6 drives the transmission shaft insulation mechanism 7 to rotate, the rotation of the transmission shaft insulation mechanism 7 drives the freezing rack top plate fixing flange 21 and the freezing rack top plate 12 to rotate, thereby driving the inner circle freezing rack 9 and the outer circle freezing rack 3 to rotate, so that they are located directly below the liquid nitrogen tank opening 17.

[0082] Example 7

[0083] On the basis of Example 4, the freezing box moving module includes two symmetrically arranged freezing box moving module positioning mechanisms 34, the freezing box moving module positioning mechanisms 34 are installed in the liquid nitrogen tank opening 17 of the tank cover, the freezing box moving module positioning mechanisms 34 are rotatably connected with a moving screw 340, a moving guide groove 341 is provided below the moving screw 340 on the freezing box moving module positioning mechanisms 34, a freezing box moving module translation mechanism 29 is threadedly connected to the moving screw 340, the bottom of the freezing box moving module translation mechanism 29 is slidably connected in the moving guide groove 341, a freezing box moving module translation mechanism hook plate 33 is provided on the freezing box moving module translation mechanism 29, and the freezing box moving module translation mechanism hook plate 33 is used to place the freezing box 2, and a freezing tube 32 is provided in the freezing box 2;

[0084] A mounting bracket 342 is provided on the front side of the movable guide groove 341, and a bevel gear 28 is fixedly connected to the movable screw rod 340. The mounting bracket 342 is rotatably connected to the freezing box moving module transmission shaft 27, and a bevel gear 280 is fixedly connected to the freezing box moving module transmission shaft 27. The bevel gear 280 and the bevel gear 1 28 are meshed with each other. The end of the freezing box moving module transmission shaft 27 away from the bevel gear 280 is connected to the freezing box moving module transmission shaft insulation mechanism 31, and the freezing box moving module transmission shaft insulation mechanism 31 is installed at the output end of the freezing box moving module motor 8.

[0085] The working principle and beneficial effects of the above technical solution are as follows: during storage, the cryopreservation box 2 is placed on the hook plate 33 of the translation mechanism of the cryopreservation box moving module, and the target inner circle cryopreservation rack 9 or the outer circle cryopreservation rack 3 is driven by the cryopreservation rack rotating module to rotate to the position directly below the opening 17 of the liquid nitrogen tank, and then the target inner circle cryopreservation rack 9 or the outer circle cryopreservation rack 3 rises so that the target cryopreservation rack storage position 30 and the hook plate 33 of the translation mechanism of the cryopreservation box moving module are located at the same horizontal plane, and then the cryopreservation box moving module motor 8 drives the cryopreservation box moving module transmission shaft insulation mechanism 31 to rotate, and the cryopreservation box moving module transmission shaft The heat-insulating mechanism 31 drives the freezing box moving module transmission shaft 27 to rotate, the freezing box moving module transmission shaft 27 drives the bevel gear 280 to rotate, the bevel gear 280 drives the bevel gear 1 28 to rotate, the bevel gear 1 28 drives the moving screw 340 to rotate, the moving screw 340 drives the freezing box moving module translation mechanism 29 to move, the freezing box moving module translation mechanism 29 drives the freezing box moving module translation mechanism hook plate 33 to move forward, and pushes the freezing box 2 thereon into the corresponding freezing rack bearing mechanism 44, and then the target inner circle freezing rack 9 or outer circle freezing rack 3 is reset;

[0086] When taking the freezing box 2, the liquid nitrogen tank insulation cover 41 is removed, and the target inner ring freezing rack 9 or outer ring freezing rack 3 is driven by the freezing rack rotating module to rotate to the bottom of the liquid nitrogen tank opening 17, and then the target inner ring freezing rack 9 or outer ring freezing rack 3 rises so that the target freezing rack storage card position 30 and the freezing box moving module translation mechanism hook plate 33 are located at the same horizontal plane, and then the freezing box moving module motor 8 drives the freezing box moving module transmission shaft insulation mechanism 31 to rotate, and the freezing box moving module transmission shaft insulation mechanism 31 drives the freezing box moving module transmission shaft 27 to rotate, and the freezing box moving module transmission shaft 27 drives the bevel gear Wheel 280 rotates, bevel gear 280 drives bevel gear 1 28 to rotate, bevel gear 1 28 drives moving screw 340 to rotate, moving screw 340 drives freezing box moving module translation mechanism 29 to move, freezing box moving module translation mechanism 29 drives freezing box moving module translation mechanism hook plate 33 to move forward to below target freezing box 2, then the corresponding inner ring freezing rack 9 or outer ring freezing rack 3 drops to an appropriate height, so that the target freezing box 2 completely falls on the freezing box moving module translation mechanism hook plate 33, then the freezing box moving module translation mechanism hook plate 33 is recovered, and finally the freezing box 2 is taken out.

[0087] Example 8

[0088] On the basis of Example 1, the method further includes controlling the rising or falling speed of the inner ring freezing rack 9 or the outer ring freezing rack 3, including the following steps:

[0089] S1: Calculate the actual freezing temperature adaptation time during the storage and access of frozen samples:

[0090]

[0091] Among them, t s is the actual freezing temperature adaptation time during the storage and retrieval of frozen samples, ρ is the baseline density of cells in the frozen samples, Q s is the latent heat of freezing of the sample, T i is the temperature of the environment when the frozen sample in the freezing box 2 is at a high position (that is, when the freezing box 2 is stored or taken out, the state where the frozen sample is at a high position is that the inner ring freezing rack 9 or the outer ring freezing rack 3 rises to the target freezing rack storage card position 30 and aligns with the plane of the freezing box moving module positioning mechanism 34. At this time, the temperature corresponding to the environment of the freezing box moving module positioning mechanism 34 plane is T i The value of T o is the internal temperature of the liquid nitrogen tank module body 1 at the starting height of the target freezing rack storage card position 30 when the frozen sample in the freezing box 2 is at the starting height of the target freezing rack storage card position 30 (that is, when storing or taking out the freezing box 2, the ambient temperature corresponding to the starting height of the target freezing rack storage card position 30 in the liquid nitrogen tank module body 1 is T oA is the heat exchange contact surface area of ​​the frozen sample in a single cryotube 32, n is the number of cryotubes 32 in the cryobox 2, W1 is the thermal conductivity of the frozen sample, W2 is the thermal conductivity of the cryotube 32, r is the radius of the cryotube 32, For frozen samples and ambient temperature The convective heat transfer coefficient between the environment at time ;

[0092] S2: Calculate the rising or falling speed of the inner ring freezing rack 9 or the outer ring freezing rack 3:

[0093]

[0094] Among them, θ x is the rising or falling speed of the inner ring freezing rack 9 or the outer ring freezing rack 3, h1 is the height of the freezing box moving module positioning mechanism 34, h x The starting height of the target freezing rack storage card position 30 when it is in the liquid nitrogen tank module tank body 1;

[0095] S3: The control module controls the inner ring freezing rack 9 or the outer ring freezing rack 3 to rise or fall based on the calculated rising or falling speed of the inner ring freezing rack 9 or the outer ring freezing rack 3.

[0096] The working principle and beneficial effects of the above technical solution are as follows: during the storage and retrieval of frozen samples, due to the large temperature difference between the outside of the liquid nitrogen tank module tank body 1 and the inside of the liquid nitrogen tank module tank body 1, in order to avoid the sample being inactivated or damaged due to too rapid temperature changes during storage or retrieval, the speed of storing and retrieving the sample needs to be accurately controlled within an appropriate numerical range. The present invention is based on the conditions of the frozen samples themselves and the real-time physical conditions of the liquid nitrogen tank module tank body 1 during freezing, by calculating the actual freezing temperature adaptation time during the storage and retrieval of the frozen samples, and finally calculates the rising or falling speed of the inner circle freezing rack 9 or the outer circle freezing rack 3, thereby accurately controlling the sample storage and retrieval speed, improving the reliability of the automated storage and retrieval structure of the liquid nitrogen tank freezing box, and avoiding the risk of reduced sample revival rate or even sample scrapping, resulting in irreparable losses.

[0097] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An automated storage and retrieval structure for a liquid nitrogen tank freezing box, characterized in that: It includes a liquid nitrogen tank mechanism, a freezing box moving module, a freezing rack slot module, a freezing rack rotating module, a liquid nitrogen supply module and a control module, and the control module is electrically connected to the liquid nitrogen tank mechanism, the freezing box moving module, the freezing rack slot module, the freezing rack rotating module and the liquid nitrogen supply module; The liquid nitrogen tank body mechanism comprises a liquid nitrogen tank module tank body (1) and a tank body cover, a freezing box moving module is arranged on the tank body cover and is used for automatically storing and retrieving the freezing box (2), a freezing rack rotating module is arranged on the tank body cover, an output end of the freezing rack rotating module is connected to a freezing rack slot module, the freezing rack rotating module is used for controlling the rotation of the freezing rack slot module, a plurality of freezing racks are arranged in the freezing rack slot module, the freezing racks are used for storing the freezing boxes (2), and a liquid nitrogen replenishing module is arranged on the liquid nitrogen tank body mechanism and is used for replenishing the liquid nitrogen tank module tank body (1); The control module comprises a control touch screen (42) and an electric control module (43); The liquid nitrogen supply module comprises a plurality of liquid nitrogen filling ports (19), a liquid nitrogen tank sensor installation port (20), a liquid nitrogen filling control module (35) and a refrigeration and heat exchange module (38), wherein the liquid nitrogen tank sensor installation port (20) is used to install a liquid level sensor, a pressure sensor and a temperature sensor, the liquid nitrogen filling control module (35) is used to supply liquid nitrogen, and the refrigeration and heat exchange module (38) is used to control the internal temperature of the liquid nitrogen tank module tank body (1); It also includes a liquid nitrogen supply trigger coefficient calculation module, which is used to calculate the real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body (1), and the control module is used to control the operation of the liquid nitrogen supply module based on the calculated real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body (1): （1）； in, is the real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank (1), is the weight coefficient of the influence of liquid level factors on the liquid nitrogen supply trigger coefficient, is a natural number, with a value of 2.

71. is the real-time liquid nitrogen level height in the liquid nitrogen tank module tank body (1), is the height value of the highest cryo box (2) placed in the liquid nitrogen tank module tank body (1), is the weight coefficient of the influence of the unevenness of liquid nitrogen in the liquid nitrogen tank module tank body (1) on the liquid nitrogen supply trigger coefficient, is the temperature value at the highest point of the real-time liquid nitrogen level in the liquid nitrogen tank module tank body (1), is the internal reference temperature value of the liquid nitrogen tank module tank body (1), and m liquid nitrogen concentration sensors are evenly arranged on the inner wall of the liquid nitrogen tank module tank body (1) from bottom to top. is the detection value of the kth liquid nitrogen concentration sensor from bottom to top, The degree of unevenness of the liquid nitrogen concentration in the liquid nitrogen tank module tank body (1); When the real-time liquid nitrogen supply trigger coefficient of the liquid nitrogen tank module tank body (1) is greater than the preset liquid nitrogen supply trigger coefficient, the control module controls the liquid nitrogen replenishment module to trigger and start.

2. The automatic storage and retrieval structure for a liquid nitrogen tank freezing box according to claim 1, characterized in that: The tank cover comprises a liquid nitrogen tank outer shell (15) and a liquid nitrogen tank inner shell (16); the liquid nitrogen tank outer shell (15) is sealedly connected to the liquid nitrogen tank module tank body (1); the liquid nitrogen tank inner shell (16) is installed in the liquid nitrogen tank outer shell (15); a liquid nitrogen tank opening (17) is provided on the liquid nitrogen tank outer shell (15); a liquid nitrogen tank opening insulation body (18) is provided in the liquid nitrogen tank opening (17); and a liquid nitrogen tank insulation cover (41) is provided on the liquid nitrogen tank opening (17); A liquid nitrogen tank module tank body fixing support structure (37) is provided at the bottom of the liquid nitrogen tank module tank body (1).

3. The automatic storage and retrieval structure for a liquid nitrogen tank freezing box according to claim 1, characterized in that: The freezing rack slot module comprises a freezing rack top plate (12) and a freezing rack bottom plate (22), wherein the freezing rack top plate (12) and the freezing rack bottom plate (22) are fixedly connected via two circles of support columns, each circle of support columns comprises a plurality of groups of evenly arranged freezing rack support columns (13), two adjacent freezing rack support columns (13) in the inner circle are slidably connected to the inner circle freezing rack (9), and two adjacent freezing rack support columns (13) in the outer circle are slidably connected to the outer circle freezing rack (3), and a freezing rack is arranged outside the outer circle freezing rack (3) between the freezing rack top plate (12) and the freezing rack bottom plate (22). A freezing rack housing (14) is provided, a plurality of freezing rack positioning grooves (39) are provided on the freezing rack top plate (12), a plurality of freezing rack positioning pins (40) are provided on the top of the inner ring freezing rack (9) and the outer ring freezing rack (3), the freezing rack positioning pins (40) are used to cooperate with the freezing rack positioning grooves (39), the freezing rack top plate (12) is connected to the freezing rack rotating module through the freezing rack top plate fixing flange (21), and the freezing rack bottom plate (22) is installed on the liquid nitrogen tank module tank body fixing support structure (37) through the freezing rack bottom plate fixing flange (23); A plurality of inner ring freezing rack storage slots (11) and an outer ring freezing rack storage slots (10) are respectively arranged in the inner ring freezing rack (9) and the outer ring freezing rack (3), and a plurality of freezing rack storage card positions (30) are arranged in the inner ring freezing rack (9) and the outer ring freezing rack (3), and each freezing rack storage card position (30) is composed of two symmetrically arranged freezing rack bearing mechanisms (44).

4. The automatic storage and retrieval structure for a liquid nitrogen tank freezing box according to claim 3, characterized in that: The liquid nitrogen tank module tank body fixed support structure (37) comprises a bottom truncated table (370), a plurality of retractable suction cups (371) and a plurality of universal wheels (372), wherein the plurality of retractable suction cups (371) and the plurality of universal wheels (372) are mounted at the bottom of the bottom truncated table (370), and the top of the bottom truncated table (370) is rotatably connected to a freezing rack rotating shaft support mechanism (25), and the freezing rack rotating shaft support mechanism (25) is fixedly connected to a freezing rack bottom plate fixed flange (23).

5. The automatic storage and retrieval structure for a liquid nitrogen tank freezing box according to claim 3, characterized in that: The freezing rack rotating module comprises a rotating transmission shaft insulation mechanism (26), the rotating transmission shaft insulation mechanism (26) is fixedly connected to the liquid nitrogen tank shell (15) of the tank body cover, a rotating transmission shaft (6) is rotatably connected inside the rotating transmission shaft insulation mechanism (26), one end of the rotating transmission shaft (6) is connected to the output end of the 90-degree transmission mechanism (5), the input end of the 90-degree transmission mechanism (5) is connected to the output end of the reducer (36), the input end of the reducer (36) is connected to the freezing rack rotating motor (4), the other end of the rotating transmission shaft (6) is connected to the freezing rack rotating shaft (24) through the transmission shaft insulation mechanism (7), and the freezing rack rotating shaft (24) is connected to the freezing rack top plate (12) through the freezing rack top plate fixing flange (21).

6. The automatic storage and retrieval structure for a liquid nitrogen tank freezing box according to claim 3, characterized in that: The freezing box moving module comprises two symmetrically arranged freezing box moving module positioning mechanisms (34), the freezing box moving module positioning mechanisms (34) being installed in the liquid nitrogen tank opening (17) of the tank cover, the freezing box moving module positioning mechanisms (34) being rotatably connected with a moving screw (340), a moving guide groove (341) being provided below the moving screw (340) on the freezing box moving module positioning mechanisms (34), a freezing box moving module translation mechanism (29) being threadedly connected to the moving screw (340), the bottom of the freezing box moving module translation mechanism (29) being slidably connected in the moving guide groove (341), a freezing box moving module translation mechanism hook plate (33) being provided on the freezing box moving module translation mechanism (29), the freezing box moving module translation mechanism hook plate (33) being used for placing the freezing box (2), and a freezing tube (32) being provided in the freezing box (2); A mounting frame (342) is provided on the front side of the movable guide groove (341); a bevel gear 1 (28) is fixedly connected to the movable lead screw (340); a freezing box movable module transmission shaft (27) is rotatably connected to the mounting frame (342); a bevel gear 2 (280) is fixedly connected to the freezing box movable module transmission shaft (27); the bevel gear 2 (280) and the bevel gear 1 (28) are meshed with each other; an end of the freezing box movable module transmission shaft (27) away from the bevel gear 2 (280) is connected to a freezing box movable module transmission shaft insulation mechanism (31); and the freezing box movable module transmission shaft insulation mechanism (31) is mounted on the output end of the freezing box movable module motor (8).

7. A control method for controlling the automatic storage and access structure for a liquid nitrogen tank freezing box according to any one of claims 1 to 6 to store and access the freezing box, characterized in that: The steps include: Step 1: When storing the cryopreservation box (2), remove the liquid nitrogen tank insulation cover (41) on the tank cover, and place the cryopreservation box (2) to be stored on the cryopreservation box moving module positioning mechanism (34) of the cryopreservation box moving module; Step 2: The freezing rack rotating motor (4) of the freezing rack rotating module is controlled to rotate, and after passing through the reducer (36), the 90-degree transmission mechanism (5), the rotating transmission shaft (6) and the freezing rack rotating shaft (24), the freezing rack slot module is driven to rotate, and the rotation stops when the target inner ring freezing rack (9) or the outer ring freezing rack (3) is rotated to the bottom of the liquid nitrogen tank opening (17); Step 3: After the inner ring freezing rack (9) or the outer ring freezing rack (3) is lifted to the target freezing rack storage card position (30) and aligned with the plane of the freezing box moving module positioning mechanism (34), the freezing box moving module is controlled to push the freezing box (2) into the target freezing rack storage card position (30), and the freezing box (2) is received by the freezing rack bearing mechanism (44) and separated from the freezing box moving module translation mechanism hook plate (33), and the freezing box moving module is controlled to move in the opposite direction to retract the freezing box moving module translation mechanism hook plate (33), and the inner ring freezing rack (9) or the outer ring freezing rack (3) is controlled to lower its height and return to the liquid nitrogen tank, and after the freezing rack positioning pin (40) slides into the freezing rack positioning groove (39), the liquid nitrogen tank insulation cover (41) is covered, and the freezing box (2) storage operation is completed; Step 4: When taking out the freezing box (2), remove the liquid nitrogen tank insulation cover (41), and the target inner ring freezing rack (9) or outer ring freezing rack (3) is rotated to the bottom of the liquid nitrogen tank opening (17) under the drive of the freezing rack rotating module; Step 5: The target inner ring freezing rack (9) or outer ring freezing rack (3) is raised so that the target freezing rack storage card position (30) and the hook plate (33) of the freezing box moving module translation mechanism are located at the same horizontal plane, and the freezing box moving module translation mechanism (29) drives the hook plate (33) of the freezing box moving module translation mechanism to move forward to the bottom of the target freezing box (2), and then the corresponding inner ring freezing rack (9) or outer ring freezing rack (3) is lowered to an appropriate height so that the target freezing box (2) completely falls on the hook plate (33) of the freezing box moving module translation mechanism, and then the hook plate (33) of the freezing box moving module translation mechanism is recovered, and after the freezing box (2) is taken out, the liquid nitrogen tank insulation cover (41) is covered.

8. A control method according to claim 7, characterized in that: The method also includes controlling the rising or falling speed of the inner ring freezing rack (9) or the outer ring freezing rack (3), including the following steps: S1: Calculate the actual freezing temperature adaptation time during the storage and access of frozen samples: （2）； in, The actual freezing temperature adaptation time during the storage and retrieval of frozen samples. is the baseline density of cells in the frozen sample, is the latent heat of freezing of the sample, is the temperature of the environment corresponding to the frozen sample in the freezing box (2) when it is at a high position, is the internal temperature of the liquid nitrogen tank module tank body (1) at the starting height of the target freezing rack storage card position (30) when the frozen sample in the freezing box (2) is located. is the heat exchange contact surface area of ​​the cryopreserved sample in a single cryopreservation tube (32), is the number of cryopreservation tubes (32) in the cryopreservation box (2), is the thermal conductivity of the frozen sample, is the thermal conductivity of the cryopreservation tube (32), r is the radius of the cryopreservation tube (32), For frozen samples and ambient temperature The convective heat transfer coefficient between the environments at time ; S2: Calculate the rising or falling speed of the inner ring freezing rack (9) or the outer ring freezing rack (3): （3）； in, is the rising or falling speed of the inner ring freezing rack (9) or the outer ring freezing rack (3), is the height of the freezing box moving module positioning mechanism (34), The starting height of the target freezing rack storage card position (30) when it is in the liquid nitrogen tank module tank body (1); S3: The control module controls the inner ring freezing rack (9) or the outer ring freezing rack (3) to rise or fall based on the calculated rising or falling speed of the inner ring freezing rack (9) or the outer ring freezing rack (3).

Images