Low-temperature storage system

Abstract

The present invention provides a low-temperature storage system that can sufficiently gather storage objects onto a tray with a simple configuration and can effectively implement the transfer of storage objects without using a camera to confirm the positions of the pipe racks and the storage objects. Specifically, the low-temperature storage system includes: a storage area for storing storage objects (C) in a low-temperature storage; a picking area where a positioning device (100) for taking out and putting in storage objects (C) from a tray (T) is arranged. A pipe rack fixing unit (130), a tray fixing unit (120), and a driving mechanism (150) for fixing a pipe rack (R) are provided on the positioning device (100). The pipe rack fixing unit (130) has a pipe rack pressing member (136) for pressing the pipe rack (R) and a pipe rack movement restricting member (132) for restricting the movement of the pipe rack (R). The tray fixing unit (120) has a tray pressing member (123) for pressing the tray (T) and a tray movement restricting member (121) for restricting the movement of the tray (T).

Description

Technical Field

[0001] The present invention relates to a positioning device for a cryogenic storage system for storing objects to be stored at low temperatures, and more particularly to a cryogenic storage system for storing drug development samples used in the process of discovering or designing drugs in medicine, biotechnology, and pharmacy at low temperatures. Background Art

[0002] Conventionally, a cryogenic storage system is known in which a storage rack containing a plurality of tubes is stored in a cryogenic storage. The plurality of tubes are filled with drug development samples used in the process of discovering or designing drugs in medicine, biotechnology, and pharmacy. The internal temperature of the cryogenic storage can be maintained at a low temperature such as -150°C by injecting liquid nitrogen into it.

[0003] For example, Patent Document 1 describes a cryogenic storage system 10 having: a storage area for holding a tube rack (storage rack R) on a tray (storage tray) and storing it in a cryogenic storage 20, the tube rack being capable of holding a plurality of objects to be stored (tubes C); and a pick-up area 22 for transferring the object to be stored (tube C) held on the storage rack R in the cryogenic storage 20 to another storage rack R.

[0004] In the cryogenic storage system 10 described in Patent Document 1, a pick-up tray 23 is arranged in the pick-up area 22. On the pick-up tray 23, a first tube rack stage 30A for holding the transfer source tube rack (storage rack R) and a second tube rack stage 30B for holding the transfer target storage rack R are provided. And by a horizontal anti-lifting stopper (anti-floating mechanism 40) that can slide longitudinally, it is possible to prevent the storage rack R held on the first tube rack stage 30A from moving upward during the transfer of the object to be stored (tube C). Thus, it is possible to prevent the problem that when lifting the object to be stored (tube C), the object to be stored (tube C) gets caught and the tube rack (storage rack R) is lifted.

[0005] Moreover, since the anti-lifting stopper (anti-floating mechanism 40) is driven by a drive mechanism (drive member) and has a drive source for driving the drive mechanism (drive member) outside the cryogenic storage, it is possible to avoid inconvenience caused by the low temperature environment for the drive source, ensure good operation of the anti-lifting stopper (anti-floating mechanism 40), prevent the temperature inside the cryogenic storage from rising due to the heat generated by the drive source, and ensure a wider storage area for the tube rack (storage rack R) inside the cryogenic storage.

[0006] Patent Document

[0007] Patent Document 1: Japanese Patent Laid-Open No. 2016-190706 Summary of the Invention

[0008] However, there is still room for improvement in the publicly known low-temperature storage systems such as the above-mentioned patent documents.

[0009] That is, although the positions of the respective pipe racks of the low-temperature storage system described in Patent Document 1 are fixed to a certain extent by the guides, since the structure has a clearance between the guides and the pipe racks, when transferring the storage objects between the pipe racks, it is considered to use a camera or the like to confirm the exact positions of the pipe racks or the storage objects. However, in order not to interfere with the camera or the shooting range of the camera arranged at the opening, a special structure such as a pickup unit that can partially avoid the opening of the low-temperature storage and enter the low-temperature storage is required, which may lead to complication of the device structure.

[0010] In addition, when using a camera to confirm the positions of the pipe racks or the storage objects, if humid air flows into the low-temperature storage from the opening, fog will form inside the low-temperature storage, making it difficult for the camera to confirm the pipe racks or the storage objects, and the normal function may not be exerted.

[0011] In addition, when identifying the positions of the pipe racks or the storage objects based on the images captured by the camera, fine adjustments need to be made for each type of pipe rack or storage object, which may lead to complication of the operation process.

[0012] In addition, if the structure is formed such that the pipe racks for storage and the pipe racks for loading and unloading are positioned without deviation to specific positions for pickup operations, there is no need to confirm the position of the camera. However, since the shapes of the trays and the pipe racks are different, it may be impossible to fully gather the storage objects held on the pipe racks onto the trays.

[0013] The present invention is an invention that solves these problems. The technical problem to be solved is to provide a low-temperature storage system that can fully gather storage objects onto a tray with a simple structure, can effectively implement the transfer of the storage objects, and does not require confirmation of the positions of the pipe racks or the storage objects by a camera.

[0014] A low-temperature storage system, comprising: a storage area for holding a plurality of objects to be stored on a tray and storing them in a low-temperature storage; and a pick-up area provided with a positioning device for fixing the tray in the low-temperature storage and taking out and putting in the objects to be stored. The problem is solved by the following means, that is, on the positioning device, there are provided: a pipe rack fixing unit for fixing the position of a pipe rack used for transferring the objects to be stored and carrying them in and out to the outside; a tray fixing unit for fixing the position of the tray; and a driving mechanism for driving the pipe rack fixing unit and the tray fixing unit. The pipe rack fixing unit has: a pipe rack pressing member for pressing the pipe rack in a predetermined direction by the driving mechanism; and a pipe rack movement restricting member for restricting the movement of the pipe rack pressed by the pipe rack pressing member. The tray fixing unit has: a tray pressing member for pressing the tray in a predetermined direction by the driving mechanism; and a tray movement restricting member for restricting the movement of the tray pressed by the tray pressing member.

[0015] In the low-temperature storage system of the invention according to Technical Solution 1, since a pipe rack fixing unit, a tray fixing unit and a driving mechanism are provided on the positioning device, the pipe rack fixing unit has a pipe rack pressing member for pressing the pipe rack in a predetermined direction and a pipe rack movement restricting member for restricting the movement of the pipe rack, and the tray fixing unit has a tray pressing member for pressing the tray in a predetermined direction and a tray movement restricting member for restricting the movement of the tray. Therefore, by pressing the pipe rack and the tray against the pipe rack movement restricting member side and the tray movement restricting member side respectively with the pipe rack pressing member and the tray pressing member, the pipe rack and the tray placed in the pick-up area can be accurately positioned and fixed at the fixed positions. Moreover, simply by pre-memorizing a specific position without using a camera to confirm the position of the objects to be stored on the pipe rack or the tray, the objects to be stored on the positioned and fixed pipe rack or tray can be easily transferred.

[0016] Thus, there is no need to consider ensuring the required space at the opening in the low-temperature storage when using a camera and the interference of other components with the shooting range, so that the device structure will not be complicated or enlarged.

[0017] According to the configuration described in Technical Solution 2, since a tray movement restricting member for holding the tray with a clearance at a predetermined position is provided on the tray fixing unit, when placing the tray on the tray fixing unit, fine alignment is not required. In addition, even if there is an impact or the like before pressing the tray placed on the tray fixing unit with the tray pressing member, even if the misalignment of the tray is pressed by the tray pressing member like this, it can be suppressed to the extent that it can be positioned at a specific position.

[0018] According to the configuration described in Technical Solution 3, since the driving mechanism has: a linkage member that moves the tray pressing member and the pipe rack pressing member forward and backward in their respective pressing directions; and a driving transmission rod that is connected to the linkage member and moves the linkage member forward and backward, only by operating the driving transmission rod, the tray pressing member and the pipe rack pressing member can be moved forward and backward through the linkage member.

[0019] In addition, by arranging the driving transmission rod at a position where the driving force can be easily transmitted, the tray pressing member and the pipe rack pressing member can be simply moved forward and backward.

[0020] According to the configuration described in Technical Solution 4, since the linkage member has a tray-side linkage member and a pipe rack-side linkage member, either one of the tray-side linkage member and the pipe rack-side linkage member is connected to the rod connection shaft of the driving transmission rod, and one end of the rod connection shaft extends to a position where it can abut against the side that is not connected to the rod connection shaft among the tray-side linkage member and the pipe rack-side linkage member, the transmission timing of the driving force to the tray-side linkage member and the pipe rack-side linkage member can be changed. Thus, for example, the timing or pressing force of pressing the tray and the pipe rack can be changed, or an operation such as replacing only one of the tray and the pipe rack by pressing only one of them can be performed.

[0021] According to the configuration described in Technical Solution 5, since the driving rod can be operated by an external force from outside the low-temperature storage, the driving source that generates the driving force for operating the driving rod can be arranged outside the low-temperature storage. Thus, the driving rod can be operated without introducing the heat generated from the driving source into the low-temperature storage, and the temperature rise inside the low-temperature storage during the operation can be suppressed.

[0022] According to the configuration described in Technical Solution 6, since the linkage member has a biasing member that biases at least one of the tray pressing member and the pipe rack pressing member in the direction opposite to the pressing direction, even when an excessive driving force is applied to the linkage member through the driving rod, the movement of the linkage member in the pressing direction can be suppressed by the biasing member.

[0023] Thereby, excessive pressing of the tray and the pipe rack by the tray pressing member and the pipe rack pressing member can be prevented, and the load applied to each component can be reduced.

[0024] In addition, when releasing the pressing on the tray and the pipe rack, by releasing the supply of the driving force to the driving rod, the linkage member can be automatically reset to the position before pressing the tray and the pipe rack by the biasing force of the biasing member.

[0025] In addition, for example, when configured such that a boosting member is not provided on the pipe rack side linkage member and it is connected to the rod connection shaft, and a boosting member is provided on the tray side linkage member and can abut against the rod connection shaft, when automatically resetting to the position before pressing the tray by the boosting of the boosting member, since the rod connection shaft connecting the pipe rack side linkage member is also pressed back, the pipe rack side linkage member can also be reset to the position before pressing the pipe rack.

[0026] According to the configuration described in Technical Solution 7, since the pipe rack pressing member further includes a slide plate and an auxiliary pressing member, a transmission member is provided below the slide plate, a transmission protrusion is provided at the top end of the transmission base extending from the pipe rack side rotating body of the auxiliary pressing member, a pressing piece is provided at the top end of the pressing base of the auxiliary pressing member, and the transmission member is arranged to be able to press the transmission protrusion, so by the forward and backward movement of the slide plate, the transmission protrusion is pressed by the transmission member, whereby the pipe rack side rotating body rotates, and the pipe rack can be pressed by the pressing piece.

[0027] Thus, by only pressing the slide plate, the pipe rack can be pressed from the direction orthogonal to the forward and backward movement direction of the slide plate and the forward and backward movement direction of the slide plate.

[0028] According to the configuration described in Technical Solution 8, since an anti - rising stopper that can move forward and backward on the upper surface of the pipe rack fixed to the pipe rack fixing unit is provided on the pipe rack fixing unit, even when the storage object catches on the pipe rack when lifting the storage object, the pipe rack will be pressed by the anti - rising stopper, so that only the storage object can be lifted reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a perspective view showing the positioning device 100 of the low - temperature storage system according to an embodiment of the present invention.

[0030] Figure 2 It is a top view showing the positioning device 100 of the low - temperature storage system according to an embodiment of the present invention.

[0031] Figure 3 It is a bottom view showing the positioning device 100 of the low - temperature storage system according to an embodiment of the present invention.

[0032] Figure 4 It is a side view showing the positioning device 100 of the low - temperature storage system according to an embodiment of the present invention.

[0033] Figure 5 It is a perspective view showing the state of mounting the tray T and the pipe rack R on the positioning device 100 of the low - temperature storage system according to an embodiment of the present invention.

[0034] Figure 6It is a top view showing the state in which the tray T and the pipe rack R are mounted on the positioning device 100 of the cryogenic storage system according to an embodiment of the present invention.

[0035] Figure 7 It is a bottom view showing the state in which the tray T and the pipe rack R are mounted on the positioning device 100 of the cryogenic storage system according to an embodiment of the present invention.

[0036] Figure 8 It is a perspective view showing the state in which the tray T and the pipe rack R are positioned on the positioning device 100 of the cryogenic storage system according to an embodiment of the present invention.

[0037] Figure 9 It is a top view showing the state in which the tray T and the pipe rack R are positioned on the positioning device 100 of the cryogenic storage system according to an embodiment of the present invention.

[0038] Figure 10 It is a bottom view showing the state in which the tray T and the pipe rack R are positioned on the positioning device 100 of the cryogenic storage system according to an embodiment of the present invention.

[0039] Figure 11 It is a side view showing the state in which the tray T and the pipe rack R are positioned on the positioning device 100 of the cryogenic storage system according to an embodiment of the present invention.

[0040] Symbol Explanation

[0041] 100 - positioning device; 110 - substrate; 111 - sliding support part; 112 - drive shaft; 113 - support arm; 120 - tray fixing unit; 121 - tray movement restricting member; 122 - tray movement restricting member; 123 - tray pressing member; 124 - tray side rotating body; 130 - pipe rack fixing unit; 131 - slide plate; 132 - pipe rack movement restricting member; 133 - pipe rack movement restricting member; 134 - long side movement restricting part; 135 - short side movement restricting part; 136 - pipe rack pressing member; 137 - short side pressing piece; 138 - long side pressing piece; 138a - pressing base; 139 - pipe rack side rotating body; 140 - linkage assisting member; 141 - transfer protrusion; 141a - transfer base; 142 - anti - rising stopper; 143 - transfer member; 150 - drive mechanism; 151 - drive transmission rod; 152 - rod connecting shaft; 153 - linkage member; 154 - tray side linkage member; 155 - pipe rack side linkage member; 156 - chamfered part; 157 - movement amount adjusting stopper; C - object to be stored; T - tray; R - pipe rack. Detailed Embodiment

[0042] Next, the positioning device 100 of the low-temperature storage system according to an embodiment of the present invention will be described based on the accompanying drawings.

[0043] In addition, for the sake of explanation, only the picking area is illustrated, and the low-temperature storage and picking devices outside the picking area are not illustrated.

[0044] As Figures 1 to 4 shown, the positioning device 100 of the low-temperature storage system according to an embodiment of the present invention has: a storage area (not illustrated) that can hold a plurality of storage objects C on a tray T and store them in a low-temperature storage (not illustrated); and a picking area where a positioning device 100 that can fix the tray T in the low-temperature storage (not illustrated) and take out and put in the storage object C is arranged. On the substrate 110 of the positioning device 100, there are provided: a support arm 113; a cylindrical sliding support portion 111 provided at the top of the support arm 113 and penetrating in the vertical direction; and a drive shaft 112 slidably passing through the sliding support portion 111.

[0045] In addition, on the substrate 110, there are provided: a pipe rack fixing unit 130 that fixes the position of the pipe rack R which can transfer the storage object C and carry it in and out of the outside; a tray fixing unit 120 that fixes the position of the tray T; and a drive mechanism 150 that drives the pipe rack fixing unit 130 and the tray fixing unit 120.

[0046] The pipe rack fixing unit 130 has: a slide plate 131 on which the pipe rack R can be placed and moved in the pressing direction; a pipe rack movement restricting member 133 that restricts the movement of the pipe rack R placed on the slide plate 131 and allows a slight misalignment; a pipe rack pressing member 136 that presses the pipe rack R; and a pipe rack movement restricting member 132 that restricts the movement of the pressed pipe rack R.

[0047] The slide plate 131 is connected to a pipe rack side linkage member 155 of the drive mechanism 150 described later. On the slide plate 131, there are provided: a short-side pressing piece 137 of the pipe rack pressing member 136 that presses the pipe rack R from the short side; and a transmission member 143 that makes a transmission protrusion 141 described later move forward and backward.

[0048] In addition, an anti-lifting stopper 142 is provided at the middle position of the short-side pressing piece 137.

[0049] In addition, anti-lifting stoppers 142 are also provided on the opposite short sides sandwiching the pipe rack R placed on the slide plate 131, and the anti-lifting stoppers 142 are fixed in position relative to the substrate 110.

[0050] The pipe rack movement restricting member 132 is configured to face the short-side pressing piece 137 with the pipe rack R placed on the slide plate 131 sandwiched therebetween.

[0051] The pipe rack movement restricting member 133 has: a long side movement restricting portion 134 that restricts the displacement of the long side of the pipe rack R; and a short side movement restricting portion 135 that restricts the displacement of the short side of the pipe rack R. The short side movement restricting portion 135 on the side of the pipe rack movement restricting member 132 is configured to be retractable in conjunction with the slide plate 131.

[0052] The pipe rack pressing member 136 has two long side pressing pieces 138 that press the long side of the pipe rack R. The two long side pressing pieces 138 are respectively connected to two pipe rack side rotating bodies 139 through pressing base portions 138a, and the two pipe rack side rotating bodies 139 are connected by a linkage assisting member 140.

[0053] In addition, one of the pipe rack side rotating bodies 139 has a transmission protrusion 141 on the connection portion with the linkage assisting member 140, that is, the transmission base portion 141a. Since the transmission protrusion 141 is pressed by the transmission member 143, the two pipe rack side rotating bodies 139 can be rotated through the linkage assisting member 140.

[0054] Through the rotation of the pipe rack side rotating body 139, the long side pressing piece 138 moves forward and backward.

[0055] The tray fixing unit 120 has: a tray pressing member 123 that presses the tray T; a tray movement restricting member 122 that restricts the movement of the tray T placed on the tray fixing unit 120 and allows a slight displacement; and a tray movement restricting member 121 that restricts the movement of the pressed tray T.

[0056] In addition, the tray pressing member 123 is configured to transmit the driving force for pressing the tray T from a tray side linkage member 154, which will be described later, through the tray side rotating body 124.

[0057] The drive mechanism 150 has: a drive transmission rod 151 connected to the drive shaft 112; a linkage member 153 composed of a tray side linkage member 154 and a pipe rack side linkage member 155 that impart driving forces to the tray pressing member 123 and the pipe rack pressing member 136; and a rod connection shaft 152 that connects the drive transmission rod 151 and the pipe rack side linkage member 155.

[0058] In addition, the tray side linkage member 154 has a chamfered portion 156, and a movement amount adjusting stopper 157 configured to enter the chamfered portion 156 is provided on the lower surface side of the substrate 110.

[0059] Next, based on Figures 5 to 11 The positioning sequence of the tray T and the pipe rack R of the positioning device 100 of the low-temperature storage system according to an embodiment of the present invention will be described.

[0060] First, asFigures 5 to 7 As shown, place the tray T on the tray fixing unit 120 and place the pipe rack R on the pipe rack fixing unit 130.

[0061] At this moment, since the tray movement restricting member 122 guides the tray T within a prescribed range on the tray fixing unit 120 and holds the tray T with a prescribed play, strict alignment is not required when placing the tray T on the tray fixing unit 120.

[0062] In addition, even if the tray T placed on the tray fixing unit 120 moves due to vibration or impact, the position of the tray T will not change significantly due to the tray movement restricting member 121 and the tray movement restricting member 122.

[0063] Since the pipe rack movement restricting member 133 also holds the pipe rack R with a prescribed play, strict alignment is not required when placing the pipe rack R on the pipe rack fixing unit 130. Even if the pipe rack R placed on the pipe rack fixing unit 130 moves due to vibration or impact, the position of the pipe rack R will not change significantly due to the pipe rack movement restricting member 133.

[0064] In addition, at this moment, the tray pressing member 123 and the pipe rack pressing member 136 standby at positions separated from the positions pressing the tray T and the pipe rack R, respectively.

[0065] Next, as Figures 8 to 11 shown, when the pressing drive shaft 112 is pressed, since one end of the drive transmission rod 151 connected to the drive shaft 112 is pushed downward, the pipe rack side linkage member 155 connected to the other end of the drive transmission rod 151 through the rod connection shaft 152 moves in the pressing direction.

[0066] At this moment, since the rod connection shaft 152 contacts and directly presses the tray side linkage member 154, the pipe rack side linkage member 155 and the tray side linkage member 154 can be made to work simultaneously by the pressing action of one drive shaft 112.

[0067] Since the tray side linkage member 154 moves in the pressing direction through the rod connection shaft 152, the tray side rotating body 124 connected to the other end side of the tray side linkage member 154 rotates.

[0068] Thereby, the tray pressing member 123 abuts against the tray T and presses the tray T.

[0069] At this moment, since the movement amount adjustment stopper 157 enters the chamfered portion 156, the tray side linkage member 154 moves in the pressing direction to a position where the end of the chamfered portion 156 abuts against the movement amount adjustment stopper 157.

[0070] Accordingly, it is possible to prevent the tray pressing member 123 from excessively pressing the tray T, and at the same time, it is possible to reduce the load on the tray fixing unit 120.

[0071] When the tray T is pressed by the tray pressing member 123, it moves in the pressing direction, but at the position where it abuts against the tray movement restricting member 121, the movement is restricted.

[0072] At this moment, since the tray movement restricting member 121 is also configured to function as a guide for guiding the tray T to a specific position, the tray T pressed by the tray pressing member 123 can be reliably guided to and fixed at a specific position.

[0073] Since the pipe rack side linkage member 155 moves in the pressing direction through the rod connecting shaft 152, the slide plate 131 connected to the pipe rack side linkage member 155 moves in the pressing direction with the pipe rack R placed thereon.

[0074] At this moment, although the movement of the pipe rack R is restricted at the position where it abuts against the pipe rack movement restricting member 132, the slide plate 131 further moves in the pressing direction in a manner of sliding under the pipe rack R until it reaches the position where the short side pressing piece 137 abuts against the pipe rack R, and the short side of the pipe rack R is clamped by the short side pressing piece 137 and the pipe rack movement restricting member 132.

[0075] In addition, when the slide plate 131 moves in the pressing direction, the transfer member 143 provided on the slide plate 131 also moves in the pressing direction and presses the transfer protrusion 141.

[0076] At this moment, due to the movement of the transfer protrusion 141, the pipe rack side rotating body 139 rotates, whereby the long side pressing piece 138 abuts against and presses the long side of the pipe rack R. Thus, the long side of the pipe rack R is clamped by the long side pressing piece 138 and the long side movement restricting portion 134 at a position opposite to the long side pressing piece 138 with the pipe rack R interposed therebetween.

[0077] Since the position of the pipe rack movement restricting member 132 is fixed, the pipe rack R pressed by the short side pressing piece 137 is pressed toward the pipe rack movement restricting member 132 side.

[0078] At this moment, since the position of the long side movement restricting portion 134 at a position opposite to the long side pressing piece 138 with the pipe rack R interposed therebetween is fixed, in the direction orthogonal to the moving direction of the slide plate 131, it can function in the same manner as the pipe rack movement restricting member 132.

[0079] That is, the pipe rack R is pressed toward the long side movement restricting portion 134 side, and the pipe rack R is pressed by the long side pressing piece 138 in the direction orthogonal to the moving direction of the slide plate 131.

[0080] Thus, the pipe rack R pressed by the short-side pressing piece 137 and the long-side pressing piece 138 can be reliably guided to a specific position and fixed in position.

[0081] In addition, since the anti-lifting stopper 142 is provided above the short-side pressing piece 137 and at a position opposite to the short-side pressing piece 137 with the pipe rack R interposed therebetween, when the storage object C is taken out from the pipe rack R, even if the storage object C catches on the pipe rack R and may be lifted together with the pipe rack R, since the upper surface of the pipe rack R is pressed by the anti-lifting stopper 142, it is possible to reliably lift only the storage object C from the pipe rack R.

[0082] As described above, since the tray T and the pipe rack R held in the picking area are always reliably guided and fixed in position to a specific position, by simply pre-registering the fixed positions on the picking area of the tray T and the pipe rack R, even without using a camera or the like to confirm the position during the picking operation, the positions of the tray T and the pipe rack R can be accurately grasped and the transfer of the storage object C can be reliably performed.

[0083] In addition, since devices such as cameras are not required, complication and enlargement of the device configuration and increase in cost can be avoided.

[0084] Moreover, since the positioning device 100 can fix the positions of the tray T and the pipe rack R to a specific position only by moving the drive shaft 112 up and down, for example, if it is configured to perform the picking operation with the tip of the drive shaft 112 pressed in by a picking device (not shown), the transfer of the storage object C can be reliably performed without any device other than the picking device entering a low-temperature storage (not shown).

[0085] In addition, since the positioning device 100 does not have a drive source that is a heat source, an increase in the temperature inside a low-temperature storage (not shown) can be prevented.

[0086] For example, by applying a pre-load to the linkage member 153 in a direction opposite to the pressing direction using a biasing member or the like, after the picking operation is completed, by simply releasing the pressing of the drive shaft 112, the linkage member 153 can automatically move in the direction of pressing back the drive transmission rod 151, so that while releasing the pressing of the tray pressing member 123 and the pipe rack pressing member 136 on the tray T and the pipe rack R, the drive shaft 112 can be reset to its original position.

[0087] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various design changes can be made on the premise of the present invention described within the scope of the technical solution.

[0088] In addition, although the following case has been described in the above-described embodiments, that is, there is a drive mechanism, the drive mechanism having: a drive transmission rod connected to the drive shaft; and a linkage member composed of a tray-side linkage member and a pipe rack-side linkage member that impart driving force to the tray pressing member and the pipe rack pressing member, the configuration of the drive mechanism is not limited thereto. For example, it may also be configured to directly transmit the driving force from the drive transmission rod to the tray pressing member and the pipe rack pressing member without providing a linkage member, and it may also be configured to provide one independent drive transmission rod for each of the tray-side linkage member and the pipe rack-side linkage member, respectively.

[0089] In addition, although the case of performing the picking operation while pressing the drive shaft with the picking device has been described in the above-described embodiments, the method of pressing the drive shaft is not limited thereto. For example, a pressing device may also be provided separately from the picking device outside the low-temperature storage, and it may be configured to press the drive shaft from outside the low-temperature storage with the pressing device.

[0090] In addition, although the case of providing the anti-rising stopper at the middle position of the short-side pressing piece and sandwiching the short side opposite to the pipe rack has been described in the above-described embodiments, the position of the anti-rising stopper is not limited thereto. For example, the anti-rising stopper may also be formed on the upper part of the long-side movement restricting piece.

[0091] In addition, although the case of having a chamfered portion on the tray-side linkage member and providing a movement amount adjustment stopper configured to enter the chamfered portion on the lower surface side of the substrate has been described in the above-described embodiments, the configuration of the drive mechanism is not limited thereto. For example, the chamfered portion and the movement amount adjustment stopper may not be provided, and the chamfered portion and the movement amount adjustment stopper may also be provided on the pipe rack-side linkage member.

Claims

1. A cryogenic storage system, comprising: a storage area for holding a plurality of storage objects on a tray and storing them in a cryogenic storage; and a picking area provided with a positioning device for fixing the tray in the cryogenic storage and taking in and out the storage objects, characterized in that the positioning device is provided with: a pipe rack fixing unit for fixing the position of a pipe rack used for transferring storage objects and carrying them in and out of the outside; a tray fixing unit for fixing the position of the tray; and a driving mechanism for driving the pipe rack fixing unit and the tray fixing unit, the pipe rack fixing unit has: a pipe rack pressing member for pressing the pipe rack in the lateral direction of the pipe rack by the driving mechanism; and a pipe rack movement restricting member for restricting the movement of the pipe rack pressed in the lateral direction of the pipe rack by the pipe rack pressing member, the tray fixing unit has: a tray pressing member for pressing the tray in the lateral direction of the tray by the driving mechanism; and a tray movement restricting member for restricting the movement of the tray pressed in the lateral direction of the tray by the tray pressing member.

2. The cryogenic storage system according to claim 1, characterized in that on the tray fixing unit, a tray movement restricting member is provided for holding the tray with a clearance at a prescribed position.

3. The cryogenic storage system according to claim 1 or claim 2, characterized in that the driving mechanism has: a linkage member for moving the tray pressing member and the pipe rack pressing member forward and backward in their respective pressing directions; and a driving transmission rod connected to the linkage member and moving the linkage member forward and backward.

4. The cryogenic storage system according to claim 3, characterized in that the linkage member has: a tray-side linkage member for moving the tray pressing member forward and backward in the pressing direction of the tray; and a pipe rack-side linkage member for moving the pipe rack pressing member forward and backward in the pressing direction of the pipe rack, the driving transmission rod has a rod connection shaft connected to any one of the tray-side linkage member and the pipe rack-side linkage member, one end of the rod connection shaft extends to a position where it can abut against the one not connected to the rod connection shaft among the tray-side linkage member and the pipe rack-side linkage member.

5. The cryogenic storage system according to claim 3, characterized in that the driving transmission rod is configured to be operable by an external force from outside the cryogenic storage.

6. The cryogenic storage system according to claim 3, characterized in that the linkage member has a biasing member for biasing at least one of the tray pressing member and the pipe rack pressing member in a direction opposite to the pressing direction.

7. The cryogenic storage system according to claim 3, characterized in that the pipe rack pressing member further has: a slide plate for moving forward and backward in the pressing direction by the linkage member; and an auxiliary pressing member for pressing the pipe rack in a direction orthogonal to the forward and backward movement direction of the slide plate, a transmission member protruding downward is provided on the slide plate. The auxiliary pressing member has a tube rack side rotating body rotatable about a central axis, a transmission base portion extending radially outward from the tube rack side rotating body, and a pressing base portion. A transmission protrusion protruding upward is provided at the top end portion of the transmission base portion. A pressing piece protruding upward is provided at the top end portion of the pressing base portion. The transmission member is configured to press the transmission protrusion.

8. The low-temperature storage system according to claim 1, wherein An anti-lifting stopper is provided on the tube rack fixing unit and is movable forward and backward on the upper surface of the tube rack whose position is fixed on the tube rack fixing unit.

Images