Biological sample preservation device and system based on self-maintaining cold energy storage

Abstract

The invention provides a biological sample preservation device and system based on self-maintaining cold energy storage, and belongs to the technical field of biological sample low-temperature storage. Comprising a cabin body module, an upper refrigerator, a phase change energy storage device and an intelligent control system. The cabin body module is divided into a front cabin and a rear cabin, the front cabin is provided with a precise grabbing mechanism, and stable grabbing and transferring of cryopreservation tubes are achieved through cooperative work of a tank chain metal plate, a multi-axis lead screw and a four-claw air cylinder; a phase-change energy storage device is arranged in the rear cabin, a phase-change material in the phase-change energy storage device can store cold during normal power supply and release cold during power failure, and long-time self-maintenance of low temperature after power failure is achieved. The intelligent control system has a dual-mode operation function and can be automatically switched according to a power supply state, energy consumption is optimized, and sample safety is guaranteed. The problems that after a traditional storage device is powered off, samples are inactivated, grabbing operation is not accurate, and energy consumption is high are effectively solved, and the reliability, safety and energy efficiency of biological sample storage are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of cryogenic storage technology for biological samples, and in particular to a biological sample preservation device and system based on self-sustaining cold energy storage. Background Technology

[0002] Biological samples, such as cells, tissues, DNA, and RNA, need to be stored in ultra-low temperature environments for a long time to maintain their biological activity in scientific research and clinical applications.

[0003] Traditional cryogenic storage devices for biological samples heavily rely on continuous power to maintain the operation of the refrigeration system. In the event of an external power outage or refrigeration system failure, the temperature inside the storage chamber rises rapidly, leading to sample inactivation and irreversible loss. While existing technologies employ backup power supplies or dry ice as emergency solutions, backup power supplies have limited lifespan, and the preparation, transportation, and replenishment of dry ice are extremely inconvenient, making long-term, stable temperature maintenance unattended. Furthermore, existing devices suffer from deficiencies in motion stability, grasping accuracy, and the continuity of power supply to rotating components, affecting the reliability of automated operation.

[0004] Therefore, there is an urgent need for an automated biological sample preservation solution that can maintain low temperatures for extended periods after a power outage and operate with precision and reliability. Summary of the Invention

[0005] This invention provides a biological sample preservation device and system based on self-sustaining cold energy storage, which solves the technical problems of sample inactivation after power failure, inaccurate grasping operation, and high energy consumption in existing traditional storage devices.

[0006] On one hand, the present invention provides a biological sample preservation device based on self-sustaining cold energy storage, comprising: a cabin module and an upper-mounted cryostat. The cabin module includes a front cabin module and a rear cabin module. There are two sets of upper-mounted cryostats, which are respectively disposed inside the front cabin module and the rear cabin module. The upper-mounted cryostat includes a refrigeration unit. A first motor is disposed in the inner cavity of the refrigeration unit. A tank chain sheet metal is connected to the outside of the front cabin module. A Z-axis gripping screw is disposed on the outside of the tank chain sheet metal. A Y-axis gripping screw is disposed on the outside of the Z-axis gripping screw. A four-jaw cylinder is disposed in the inner cavity of the Y-axis gripping screw. A cryopreservation tube is disposed on the outside of the four-jaw cylinder. The front compartment module is equipped with an A-plate cryopreservation box inside. A synchronous belt and a gripping X-axis lead screw are respectively installed on the outside of the A-plate cryopreservation box. A rotating R-axis is installed at the lower end of the gripping X-axis lead screw. A hollow rotating platform is installed outside the rotating R-axis. A conductive slip ring is installed outside the hollow rotating platform. A second motor is installed at the input end of the hollow rotating platform. The first motor can drive the tank chain sheet metal to move. The tank chain sheet metal can fix the drag chain and guide it to move back and forth in a straight line, effectively preventing the drag chain from getting stuck due to deviation and ensuring the stability of the gripping mechanism's movement. The four-jaw cylinder has a wedge mechanism inside, which can realize the synchronous linkage of the four jaws, ensuring that the jaws move synchronously in the radial direction, thereby accurately positioning the cryopreservation tube to the gripping center and preventing the cryopreservation tube from shifting or falling during the gripping process. The second motor can drive the hollow rotating platform to rotate. The hollow rotating platform carries the cryopreservation box in position A through a synchronous belt, realizing the rotation adjustment of the cryopreservation box in position A. The conductive slip ring can ensure that the circuit is connected and not tangled during the 360° rotation of the hollow rotating platform, and ensure the stable power supply and signal transmission of the gripping component. The X-axis, Y-axis, and Z-axis gripping screws work together to enable precise movement of cryopreservation tubes in the horizontal X-axis, horizontal Y-axis, and vertical Z-axis, meeting the tube-picking requirements between plate A and other plate positions.

[0007] According to the present invention, a biological sample preservation device based on self-sustaining cold energy storage is provided, wherein a top plate is provided at the upper end of the cabin module, a side plate is provided on the outside of the cabin module, a control module is provided on the front of the cabin module, and an emergency stop button is provided on the outside of the control module. The top and side panels together form the external protective and thermal insulation basic structure of the cabin module. They not only provide physical protection for the core components inside the cabin, such as the refrigeration unit and phase change energy storage device, resisting external impacts or dust intrusion, but also help enhance the thermal insulation effect of the cabin, reduce the heat transfer from the external environment into the cabin, and reduce the energy consumption of the refrigeration unit. The emergency stop button is a key component for equipment safety protection. In case of emergency such as refrigeration failure, mechanical jamming, or operational error, the operator can trigger the emergency stop button to quickly cut off the main power supply or operation of the core components, avoiding problems such as temperature rise and component damage to biological samples caused by equipment abnormalities, while ensuring the personal safety of the operator.

[0008] According to the present invention, a biological sample preservation device based on self-sustaining cold energy storage is provided, wherein the inner cavity of the cabin module is provided with a front cabin shell and a front cabin door, and a reinforcing plate is provided on the outside of the front cabin door; The front chamber shell is an independent protective structure for the front chamber area, which can separate the rotating components and tube picking components from the phase change energy storage device and rotating cage in the rear chamber, forming a relatively independent sample pretreatment and transfer space. This facilitates individual temperature control of the front chamber area and reduces the loss of cold energy exchange between different areas. The front door of the front chamber is the only passage for biological samples and cryopreservation boxes to enter and exit the front chamber area. The reinforcing plate on its exterior can significantly improve the structural strength of the front door, prevent the door panel from deforming due to long-term opening and closing, and at the same time enhance the sealing fit between the front door and the front chamber shell, reduce the leakage of low-temperature cold energy in the front chamber, maintain the stability of the cold chain environment in the front chamber, and prevent samples from coming into contact with outside room temperature air during entry and exit.

[0009] According to the present invention, a biological sample preservation device based on self-sustaining cold energy storage is provided, wherein a foot cup is provided at the bottom of the cabin module, and a fuma wheel is provided on the outside of the foot cup; The foot cups feature an adjustable height design, allowing operators to rotate them to adjust their extension length and thus calibrate the horizontal position of the chamber module. This ensures stable equipment placement and prevents the chamber from tilting due to uneven ground, which could affect the 360° rotation accuracy of the rotating drum and the positioning accuracy of the shovel lifting assembly, thereby guaranteeing the operational stability of core components. The casters have flexible rolling and locking functions. During equipment installation, handling, or maintenance, unlocking the casters allows for easy movement of the equipment to the target location, reducing the difficulty of equipment handling. Once the equipment is in place, locking the casters secures it, preventing displacement due to vibration or external forces during operation and ensuring overall equipment stability.

[0010] According to the present invention, a biological sample preservation device based on self-sustaining cold energy storage is provided. The inner cavity of the rear chamber module is provided with a phase change energy storage device. The interior of the phase change energy storage device includes a rotating cage. A central shaft is uniformly arranged inside the rotating cage. A robot joint is provided at the upper end of the rotating cage. The core of the phase change energy storage device is the phase change material, which uses materials such as graphene, carbon foam, or copper foam as a thermally conductive framework. This framework can significantly increase the thermal conductivity of the phase change material and improve its cold absorption and release efficiency. It can store cold energy during normal operation and slowly release cold energy when the device is powered off, effectively solving the problem of sample insulation after power failure and ensuring sample integrity. The rotating cage is directly connected to the robot joint through the central axis. The robot joint can drive the central axis to rotate the cage continuously 360°. The cage has an axially movable basket along the height direction. The basket has a layered shelf placement structure. Each shelf can hold a whole shelf of cryopreservation boxes. The rotating cage can rotate any shelf to the pick-up and drop position of the shovel lifting component, which facilitates the automated storage and retrieval of cryopreservation boxes and improves the efficiency of sample storage and retrieval.

[0011] According to the present invention, a biological sample preservation device based on self-sustaining cold energy storage is provided, wherein the inner cavity of the refrigeration unit is further provided with a temperature sensor, the temperature sensor is electrically connected to an external controller, and the controller establishes signal linkage with a first motor, a second motor and a four-jaw cylinder respectively. Temperature sensors can collect temperature data from the refrigeration unit and the chamber module in real time and transmit the data to an external controller, forming a closed-loop temperature monitoring system. When the temperature inside the chamber exceeds the set cryogenic threshold, the controller automatically triggers the refrigeration unit to increase its cooling power. Simultaneously, it adjusts the operating speed of the first and second motors through signal linkage to optimize the motion efficiency of the gripping mechanism, reduce cold leakage caused by the mechanism's movement, and ensure that the four-jaw cylinder maintains a stable gripping force in cryogenic environments, preventing cylinder jamming due to excessively low temperatures. If the temperature falls below the set threshold or abnormal temperature fluctuations occur, the controller can promptly reduce the power of the refrigeration unit or trigger an alarm mechanism to alert operators to troubleshoot the problem. At the same time, it controls the first and second motors to suspend unnecessary movements to prevent samples from being transferred during abnormal temperature conditions, ensuring that a stable cryogenic environment is maintained inside the chamber at all times, maximizing the protection of the biological sample's activity and integrity.

[0012] On the other hand, the present invention provides a control system for a biological sample preservation device based on self-sustaining cold energy storage, comprising: An external controller is electrically connected to the refrigeration unit, a temperature sensor installed inside the refrigeration unit, a first motor, a second motor, a four-jaw cylinder, and an emergency stop button. The external controller is configured to have a normal operation mode and an energy storage maintenance mode: In the normal operating mode, the refrigeration unit is controlled to provide cooling to the cabin module to maintain the low temperature environment for sample storage, and to charge the phase change material in the phase change energy storage device with cooling. In the energy storage maintenance mode, when an external power outage or refrigeration unit failure is detected, unnecessary movement of the first motor and the second motor is suppressed to reduce cooling consumption, and the low-temperature environment inside the cabin module is maintained by the cooling released by the phase change energy storage device.

[0013] According to the control system of a biological sample preservation device based on self-sustaining cold energy storage provided by the present invention, the external controller is also electrically connected to the robot joint; The external controller is further configured to: in the energy storage maintenance mode, control the robot joint to reduce the rotation speed of the rotating cage or keep it stationary, so as to reduce the heat load caused by mechanical movement and extend the heat preservation time of the phase change energy storage device.

[0014] According to the present invention, a control system for a biological sample preservation device based on self-sustaining cold energy storage is provided, wherein the control system for the biological sample preservation device based on self-sustaining cold energy storage further includes a voltage monitoring module that is communicatively connected to the external controller; The external controller is further configured to automatically switch to the energy storage maintenance mode in advance when the voltage monitoring module detects an abnormal external power supply voltage, and control the refrigeration unit to perform maximum power charging and cooling until the power supply is interrupted, thereby maximizing the energy storage state of the phase change energy storage device.

[0015] According to the control system of a biological sample preservation device based on self-sustaining cold energy storage provided by the present invention, the external controller is configured to: in the normal operation mode, dynamically calculate and adjust the operating power of the refrigeration unit and the charging rate of the phase change energy storage device according to the frequency of sample access operations and the external ambient temperature, so as to optimize the overall energy consumption while ensuring the stability of the sample storage environment.

[0016] The biological sample preservation device and system based on self-sustaining cold energy storage provided by this invention has the following advantages compared with the prior art: (1) The biological sample preservation device and system based on self-sustaining cold energy storage provided by the present invention solves the core problem of sample inactivation caused by power failure or cooling failure in traditional equipment by integrating a phase change energy storage device in the rear chamber module and designing an energy storage maintenance mode in the control system. When the power supply is normal, the device can charge the phase change material with cold energy storage. After the power failure, it can automatically maintain the low temperature environment in the chamber for several hours or even several days by releasing the cold of the phase change material, thus achieving the beneficial effect of providing emergency protection for precious biological samples in the event of power failure and greatly improving the safety and reliability of storage.

[0017] (2) The biological sample preservation device and system based on self-sustaining cold energy storage provided by this invention solves technical problems such as easy jamming during the movement of the gripping mechanism, easy falling of cryopreservation tubes due to misalignment during gripping, and easy circuit entanglement and interruption during rotation adjustment by adopting tank chain sheet metal guided drag chain, four-claw cylinder built-in wedge mechanism to achieve radial synchronous gripping, and hollow rotating platform with conductive slip ring. It achieves the beneficial effect of ensuring accurate, stable and continuous operation of the entire process of automated tube picking and storage, and significantly improving the reliability and efficiency of device operation.

[0018] (3) The biological sample preservation device and system based on self-sustaining cold energy storage provided by the present invention, by introducing an intelligent control system, has voltage monitoring and multi-mode switching functions. It can automatically switch between normal operation mode and energy storage maintenance mode according to the power supply status, and dynamically optimize the cooling and charging strategies based on the sample access frequency and ambient temperature in normal operation mode. It solves the problems of high energy consumption and lack of intelligence in dealing with voltage fluctuations of traditional equipment, and achieves the beneficial effects of optimizing overall energy consumption, realizing intelligent energy management, and providing early warning and maximizing energy storage status in case of voltage abnormality, thus extending the emergency protection time.

[0019] (4) The biological sample preservation device and system based on self-sustaining cold energy storage provided by the present invention solves the problems of cold exchange loss in different functional areas, cold air leakage, and the impact of uneven placement on the operating accuracy of the equipment by adopting an independent cabin structure design, a front door with enhanced sealing, and adjustable leveling casters. It achieves the beneficial effects of enhancing the overall thermal insulation of the equipment, ensuring the operational stability of core components, and providing a stable and reliable low-temperature storage environment for samples. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a front view of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention; Figure 2 This is a partial cross-sectional view of the cabin module of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention; Figure 3 This is a schematic diagram of the external structure of the cryopreservation box in position A of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention. Figure 4 This is a schematic diagram of the external Y-axis lead screw of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention; Figure 5 This is a partial schematic diagram of the cabin module of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention; Figure 6 This is an external schematic diagram of the phase change energy storage device of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention. Figure 7 This is a schematic diagram of the external rotating cage of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention; Figure 8 This is a functional structure block diagram of the control system of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention; Figure 9 This is a flowchart of the control system of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention.

[0022] Figure label: 1. Cabin module; 11. Top plate; 12. Side plate; 13. Emergency stop button; 14. Front cabin shell; 15. Front cabin door; 16. Foot cup; 17. Fuma wheel; 2. Top-mounted refrigeration unit; 21. Refrigeration unit; 22. First motor; 23. Tank chain sheet metal; 24. Y-axis gripping screw; 25. Four-jaw cylinder; 26. Cryopreservation tube; 27. Z-axis gripping screw; 28. A-plate position cryopreservation box; 29. ​​Synchronous belt; 210. X-axis gripping screw; 211. Rotating R-axis; 212. Hollow rotating platform; 213. Conductive slip ring; 214. Second motor; 3. Phase change energy storage device; 31. Rotating cage; 32. Central shaft; 33. Robot joint. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] The following is combined with Figures 1-9 The present invention describes a biological sample preservation device and system based on self-sustaining cold energy storage.

[0025] Figure 1 This is a front view of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention. Figure 2 This is a partial cross-sectional view of the cabin module of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention.

[0026] like Figure 1 and Figure 2As shown, the biological sample preservation device based on self-sustaining cold energy storage provided in this embodiment of the invention includes: a cabin module 1 and an upper-mounted cryostat 2. The cabin module 1 includes a front cabin module and a rear cabin module. There are two sets of upper-mounted cryostats 2, which are respectively set inside the front cabin module and the rear cabin module. The upper-mounted cryostat 2 includes a refrigeration unit 21. A first motor 22 is set in the inner cavity of the refrigeration unit 21. A tank chain sheet metal 23 is connected to the outside of the front cabin module. A Z-axis gripping screw 27 is set on the outside of the tank chain sheet metal 23. A Y-axis gripping screw 24 is set on the outside of the Z-axis gripping screw 27. A four-jaw cylinder 25 is set in the inner cavity of the Y-axis gripping screw 24. A cryopreservation tube 26 is set on the outside of the four-jaw cylinder 25.

[0027] Figure 3 This is a schematic diagram of the external structure of the cryopreservation box in position A of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention. Figure 4 This is a schematic diagram of the external Y-axis lead screw of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention.

[0028] like Figure 3 and Figure 4 As shown, the biological sample preservation device based on self-sustaining cold energy storage provided in this embodiment of the invention has an A-plate cryopreservation box 28 inside the front chamber module. A synchronous belt 29 and a gripping X-axis lead screw 210 are respectively arranged outside the A-plate cryopreservation box 28. A rotating R-axis 211 is arranged at the lower end of the gripping X-axis lead screw 210. A hollow rotating platform 212 is arranged outside the rotating R-axis 211. A conductive slip ring 213 is arranged outside the hollow rotating platform 212. A second motor 214 is arranged at the input end of the hollow rotating platform 212.

[0029] Figure 5 This is a partial schematic diagram of the cabin module of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention. Figure 6 This is an external schematic diagram of the phase change energy storage device of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention.

[0030] like Figure 5 and Figure 6 As shown, the biological sample preservation device based on self-sustaining cold energy storage provided in this embodiment of the invention has a first motor 22 that can drive the tank chain sheet metal 23 to move. The tank chain sheet metal 23 can fix the drag chain and guide it to move back and forth in a straight line, effectively preventing the drag chain from getting stuck due to deviation and ensuring the stability of the gripping mechanism. The four-jaw cylinder 25 is equipped with a wedge mechanism inside, which can realize the synchronous linkage of the four jaws, ensuring that the jaws move synchronously in the radial direction, thereby accurately positioning the cryopreservation tube 26 to the gripping center and preventing the cryopreservation tube 26 from shifting or falling off during the gripping process. The second motor 214 can drive the hollow rotating platform 212 to rotate. The hollow rotating platform 212 carries the cryopreservation box 28 at position A through the synchronous belt 29, realizing the rotation adjustment of the cryopreservation box 28 at position A. The conductive slip ring 213 can ensure that the circuit is connected and not tangled during the 360° rotation of the hollow rotating platform 212, and ensure the stable power supply and signal transmission of the gripping component.

[0031] Figure 7 This is a schematic diagram of the external rotating cage of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention.

[0032] like Figure 7 As shown, the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention uses the X-axis gripping screw 210, the Y-axis gripping screw 24, and the Z-axis gripping screw 27 to achieve precise movement of the cryopreservation tube 26 in the horizontal X-axis, horizontal Y-axis, and vertical Z-axis directions, meeting the tube picking requirements between plate A and other plate positions. At the same time, the refrigeration unit 21 of the upper-mounted cryostat 2 also has a dehumidification and refrigeration function, which can maintain the low temperature environment in the front chamber area, ensuring that the biological sample is always in a cold chain protection state during the transfer and tube picking process, and avoiding temperature fluctuations from affecting the sample activity.

[0033] Figure 8 This is a functional structure block diagram of the control system of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention.

[0034] like Figure 8 As shown, the control system of the biosample preservation device based on self-sustaining cold energy storage provided by this invention adopts a layered architecture design, consisting of a human-machine interface layer, a control layer, a sensing layer, and an execution layer from top to bottom. The human-machine interface layer uses a touchscreen as its carrier, providing operators with an interface for parameter setting, command issuance, status monitoring, and alarm information viewing. The control layer uses a programmable logic controller (PLC) or industrial computer as its core, running energy management strategies and mode switching logic to process all input signals, make decisions, and output control commands. The sensing layer consists of temperature sensors, voltage monitoring modules, emergency stop buttons, and door status sensors distributed throughout key locations within the chamber, used to collect signals such as ambient temperature, power supply status, and safety status in real time. The execution layer includes three subsystems: pneumatic control, motion control, and temperature control. It receives commands from the control layer and drives the four-jaw cylinder, the first motor, the second motor, the robot joints, and the refrigeration unit to complete precise movements. The closed-loop system, which integrates information sensing, intelligent decision-making and precise execution, manages the refrigeration unit and phase change energy storage device in a coordinated manner through an external controller. This enables intelligent energy management throughout the entire process, from "cooling supply" to "cooling use" and then to "cooling storage," ensuring stable operation of the device under both normal and emergency conditions.

[0035] Figure 9This is a flowchart of the control system of the biological sample preservation device based on self-sustaining cold energy storage provided by the present invention.

[0036] like Figure 9 As shown, the control system of the biosample preservation device based on self-sustaining cold energy storage provided by this invention begins with the system power-on initialization self-test. Subsequently, the voltage monitoring module continuously monitors the external power supply status and intelligently switches between two modes accordingly. When the power supply is normal, the system enters the normal operation mode: In this mode, the control system controls the refrigeration unit to maintain the deep cryogenic environment inside the chamber to meet the sample storage requirements, and prioritizes the cooling of the phase change material in the phase change energy storage device for energy storage. At the same time, the system dynamically adjusts the cooling power and cooling rate to optimize energy efficiency and can normally perform all automated operations such as sample picking and storage. Once the sensing layer detects an abnormal situation such as an external power outage or refrigeration unit failure, it immediately and automatically switches to the energy storage maintenance mode: In this mode, the system prioritizes cold preservation, first suppressing all unnecessary mechanical movements (such as the movement of the gripping mechanism and the rotation of the drum) to minimize the heat load generated by movement and reduce cold energy consumption. Subsequently, the refrigeration unit is stopped, and the low-temperature environment in the critical areas inside the chamber is maintained entirely by the slow release of the pre-stored cold energy in the phase change energy storage device, thereby providing power failure protection for the samples. The system will continuously monitor the power supply status until power is restored, at which point it will automatically switch back to normal operation mode and restart the cooling process. Through a dual-mode switching mechanism, it deeply integrates traditional active cooling with passive phase change energy storage, achieving a leap from "passive insulation" to "active cooling management and emergency response," greatly improving the safety and reliability of biological sample preservation.

[0037] In this invention, the upper end of the cabin module 1 is provided with a top plate 11, the outside of the cabin module 1 is provided with a side plate 12, the front of the cabin module 1 is provided with a control module, and the outside of the control module is provided with an emergency stop button 13.

[0038] This invention provides a biological sample preservation device based on self-sustaining cold energy storage. The top plate 11 and the side plate 12 together constitute the external protection and insulation basic structure of the cabin module 1. It can not only provide physical protection for the core components such as the refrigeration unit 21 and the phase change energy storage device 3 inside the cabin, resisting external impact or dust intrusion, but also help enhance the insulation effect of the cabin, reduce the heat transfer from the external environment into the cabin, and reduce the energy consumption of the refrigeration unit 21. The emergency stop button 13 is a key component for equipment safety protection. When the equipment experiences refrigeration failure, mechanical jamming, operation error or other emergency, the operator can trigger the emergency stop button 13 to quickly cut off the main power supply of the equipment or the operation of the core components, avoiding problems such as temperature rise and component damage to the biological sample due to equipment abnormality, while ensuring the personal safety of the operator.

[0039] In this invention, the inner cavity of the cabin module 1 is provided with a front cabin shell 14 and a front cabin door 15, and a reinforcing plate is provided on the outside of the front cabin door 15.

[0040] In this invention, the front chamber shell 14 is an independent protective structure for the front chamber area. It can separate the rotating components, including the hollow rotating platform 212, synchronous belt 29, etc., the tube picking components, including the four-jaw cylinder 25, and various gripping screws, from the phase change energy storage device 3, rotating cage 31, etc. in the rear chamber, forming a relatively independent sample pretreatment and transfer space. This facilitates individual temperature control of the front chamber area and reduces the loss of cold energy exchange between different areas. The front door 15 of the front chamber is the only channel for biological samples and cryopreservation boxes to enter and exit the front chamber area. The reinforcing plate set on its exterior can significantly improve the structural strength of the front door, prevent the door panel from deforming due to long-term opening and closing, and at the same time enhance the sealing fit between the front door and the front chamber shell 14, reduce the leakage of low-temperature cold energy in the front chamber, maintain the stability of the cold chain environment in the front chamber, and prevent the samples from coming into contact with the outside room temperature air during entry and exit.

[0041] In this invention, a foot cup 16 is provided at the bottom of the cabin module 1, and a fender 17 is provided on the outside of the foot cup 16.

[0042] In this invention, the foot cup 16 adopts an adjustable height design. The operator can adjust its extension length by rotating the foot cup 16, thereby calibrating the horizontal state of the cabin module 1, ensuring that the equipment is placed stably, and avoiding the cabin tilting due to uneven ground, which would affect the 360° rotation accuracy of the rotating cage 31 and the positioning accuracy of the shovel lifting assembly, etc., thus ensuring the operational stability of the core components. The fuma wheel 17 has flexible rolling and locking functions. When the equipment is installed, transported or maintained, unlocking the fuma wheel 17 can easily push the equipment to the target position, reducing the difficulty of transporting the equipment. After the equipment is in place, locking the fuma wheel 17 can fix the equipment, preventing the equipment from shifting due to vibration or external force during operation, and ensuring the overall stability of the equipment.

[0043] In this invention, the inner cavity of the rear cabin module is provided with a phase change energy storage device 3, the interior of the phase change energy storage device 3 includes a rotating cage 31, the interior of the rotating cage 31 is uniformly provided with a central shaft 32, and the upper end of the rotating cage 31 is provided with a robot joint 33.

[0044] In this invention, the core of the phase change energy storage device 3 is a phase change material. Its interior uses materials such as graphene, carbon foam, or copper foam as a thermally conductive framework. This framework significantly increases the thermal conductivity of the phase change material, improving its cold absorption and release efficiency. During normal operation, it can store cold energy. When the device is powered off, the phase change material can slowly release the cold energy, effectively solving the problem of sample insulation after a power outage and ensuring sample integrity. The rotating cage 31 is directly connected to the robot joint 33 via a central shaft 32. The robot joint 33 can drive the central shaft 32 to rotate the rotating cage 31 continuously 360°. Inside the rotating cage 31, an axially movable basket is arranged along the height direction. Layered shelf placement structures are arranged on the basket, each shelf capable of storing a whole shelf of cryopreservation boxes. The rotating function of the rotating cage 31 can rotate any shelf to the pick-up and drop position of the shovel lifting assembly, facilitating automated storage and retrieval of cryopreservation boxes and improving sample storage and retrieval efficiency.

[0045] In this invention, the inner cavity of the refrigeration unit 21 is also provided with a temperature sensor, which is electrically connected to an external controller, and the controller establishes signal linkage with the first motor 22, the second motor 214 and the four-jaw cylinder 25 respectively.

[0046] In this invention, the temperature sensor can collect temperature data in real time from the refrigeration unit 21 and the chamber module 1, and transmit the data to the external controller in real time to form a closed loop of temperature monitoring. When the temperature inside the chamber is detected to be higher than the set deep cryogenic threshold, the controller can automatically trigger the refrigeration unit 21 to increase the refrigeration power. At the same time, it can adjust the operating speed of the first motor 22 and the second motor 214 through signal linkage to optimize the motion efficiency of the gripping mechanism, reduce the leakage of cold air caused by the movement of the mechanism, and ensure that the four-jaw cylinder 25 maintains a stable gripping force in the low temperature environment, avoiding the cylinder action jamming due to excessively low temperature. If the temperature is detected to be lower than the set threshold or abnormal temperature fluctuations such as sudden rise or fall occur, the controller can reduce the power of the refrigeration unit 21 in time or trigger the alarm mechanism to remind the operator to check the fault. At the same time, it can control the first motor 22 and the second motor 214 to suspend unnecessary movements to prevent the sample from being transferred when the temperature is abnormal, and ensure that the chamber always maintains a stable deep cryogenic environment to maximize the protection of the activity and integrity of biological samples.

[0047] This invention also provides a control system for a biological sample preservation device based on self-sustaining cold energy storage, comprising: an external controller electrically connected to a refrigeration unit, a temperature sensor disposed within the refrigeration unit cavity, a first motor, a second motor, a four-jaw cylinder, and an emergency stop button; the external controller is configured to have a normal operation mode and an energy storage maintenance mode: in the normal operation mode, the refrigeration unit is controlled to operate, providing cooling to the chamber module to maintain a low-temperature environment for sample storage, and to charge the phase change material in the phase change energy storage device; in the energy storage maintenance mode, when an external power outage or refrigeration unit malfunction is detected, unnecessary movement of the first and second motors is suppressed to reduce cooling consumption, and the low-temperature environment inside the chamber module is maintained by the cooling released by the phase change energy storage device. In this invention, the external controller is also electrically connected to the robot joint; the external controller is further configured to: in the energy storage maintenance mode, control the robot joint to reduce the rotation speed of the rotating cage or keep it stationary, so as to reduce the heat load caused by mechanical movement and extend the heat preservation time of the phase change energy storage device.

[0048] In this invention, the control system of the biological sample preservation device based on self-sustaining cold energy storage also includes a voltage monitoring module that is communicatively connected to the external controller; the external controller is further configured to: when the voltage monitoring module detects an abnormal external power supply voltage, automatically switch to the energy storage maintenance mode in advance, control the refrigeration unit to perform maximum power charging and cooling until the power supply is interrupted, thereby maximizing the energy storage state of the phase change energy storage device.

[0049] In this invention, the external controller is configured to: in the normal operating mode, dynamically calculate and adjust the operating power of the refrigeration unit and the charging rate of the phase change energy storage device based on the frequency of sample access operations and the external ambient temperature, thereby optimizing overall energy consumption while ensuring a stable sample storage environment. Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Although the invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A biological sample preservation device based on self-sustaining cold energy storage, comprising: The cabin module (1) and the upper-mounted refrigeration unit (2) are characterized in that the cabin module (1) includes a front cabin module and a rear cabin module, and the upper-mounted refrigeration unit (2) has two sets, which are respectively set inside the front cabin module and the rear cabin module. The upper-mounted refrigeration unit (2) includes a refrigeration unit (21), the inner cavity of the refrigeration unit (21) is provided with a first motor (22), the front cabin module is connected to a tank chain sheet metal (23), the tank chain sheet metal (23) is provided with a Z-axis screw (27) for gripping, the Z-axis screw (27) is provided with a Y-axis screw (24) for gripping, the inner cavity of the Y-axis screw (24) is provided with a four-jaw cylinder (25), and the outer cavity of the four-jaw cylinder (25) is provided with a cryogenic tube (26). The front compartment module is equipped with an A-plate cryopreservation box (28) inside. The A-plate cryopreservation box (28) is equipped with a synchronous belt (29) and a gripping X-axis lead screw (210) on the outside. The lower end of the gripping X-axis lead screw (210) is equipped with a rotating R-axis (211). The outside of the rotating R-axis (211) is equipped with a hollow rotating platform (212). The outside of the hollow rotating platform (212) is equipped with a conductive slip ring (213). The input end of the hollow rotating platform (212) is equipped with a second motor (214).

2. The biological sample preservation device based on self-sustaining cold energy storage according to claim 1, characterized in that, The upper end of the cabin module (1) is provided with a top plate (11), the outside of the cabin module (1) is provided with a side plate (12), the front of the cabin module (1) is provided with a control module, and the outside of the control module is provided with an emergency stop button (13).

3. The biological sample preservation device based on self-sustaining cold energy storage according to claim 1, characterized in that, The inner cavity of the cabin module (1) is provided with a front cabin shell (14) and a front cabin door (15), and the front cabin door (15) is provided with a reinforcing plate on the outside.

4. The biological sample preservation device based on self-sustaining cold energy storage according to claim 1, characterized in that, The bottom of the cabin module (1) is provided with a foot cup (16), and the outside of the foot cup (16) is provided with a fuma wheel (17).

5. The biological sample preservation device based on self-sustaining cold energy storage according to claim 1, characterized in that, The rear cabin module is equipped with a phase change energy storage device (3). The phase change energy storage device (3) includes a rotating cage (31). A central shaft (32) is uniformly arranged inside the rotating cage (31). A robot joint (33) is arranged at the upper end of the rotating cage (31).

6. The biological sample preservation device based on self-sustaining cold energy storage according to claim 1, characterized in that, The refrigeration unit (21) is also equipped with a temperature sensor in its inner cavity. The temperature sensor is electrically connected to an external controller, and the controller establishes signal linkage with the first motor (22), the second motor (214), and the four-jaw cylinder (25) respectively.

7. A control system for a biological sample preservation device based on self-sustaining cold energy storage as described in any one of claims 1-6, characterized in that, include: An external controller is electrically connected to the refrigeration unit (21), a temperature sensor installed in the cavity of the refrigeration unit (21), a first motor (22), a second motor (214), a four-jaw cylinder (25), and an emergency stop button (13); The external controller is configured to have a normal operation mode and an energy storage maintenance mode: In the normal operating mode, the refrigeration unit (21) is controlled to operate to provide cooling capacity to the cabin module (1) to maintain the low temperature environment for sample storage, and to charge the phase change material in the phase change energy storage device (3) with cooling capacity. In the energy storage maintenance mode, when an external power supply interruption or a refrigeration unit (21) failure is detected, unnecessary movement of the first motor (22) and the second motor (214) is suppressed to reduce cooling consumption, and the low temperature environment inside the cabin module (1) is maintained by the cooling released by the phase change energy storage device (3).

8. The control system of the biological sample preservation device based on self-sustaining cold energy storage according to claim 7, characterized in that, The external controller is also electrically connected to the robot joint (33); The external controller is further configured to: control the robot joint (33) to reduce the rotation speed of the rotating cage (31) or keep it stationary in the energy storage maintenance mode, so as to reduce the heat load caused by mechanical movement and extend the heat preservation time of the phase change energy storage device (3).

9. The control system of the biological sample preservation device based on self-sustaining cold energy storage according to claim 7, characterized in that, The control system of the biosample preservation device based on self-sustaining cold energy storage also includes a voltage monitoring module that is communicatively connected to the external controller; The external controller is further configured to automatically switch to the energy storage maintenance mode in advance when the voltage monitoring module detects an abnormal external power supply voltage, and control the refrigeration unit (21) to perform maximum power charging and cooling until the power supply is interrupted, thereby maximizing the energy storage state of the phase change energy storage device (3).

10. The control system of the biological sample preservation device based on self-sustaining cold energy storage according to claim 7, characterized in that, The external controller is configured to: in the normal operation mode, dynamically calculate and adjust the operating power of the refrigeration unit (21) and the charging rate of the phase change energy storage device (3) according to the frequency of sample access operations and the external ambient temperature, so as to optimize the overall energy consumption while ensuring the stability of the sample storage environment.

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