Linear reciprocating high-efficiency cryotube transfer module and method

Abstract

Embodiments of the present invention provide a linear reciprocating high-efficiency cryotube transfer module and method, which relate to the field of sample access and storage. The aim is to alleviate the problem of very low picking and transferring efficiency of cryotubes. The linear reciprocating high-efficiency cryotube transfer module includes a platform, a first driving device, a first limiting chuck, a second driving device, a second limiting chuck, a third driving device, a first clamping mechanism, and a second clamping mechanism; the first clamping mechanism and the second clamping mechanism move in opposite directions along the Y direction, and the first clamping mechanism and the second clamping mechanism are used to alternately clamp the cryotubes on the target cryobox and insert the clamped cryotubes into an empty cryobox. The linear reciprocating high-efficiency cryotube transfer method is implemented using the above-mentioned module. When the first clamping mechanism clamps a cryotube, the second clamping mechanism releases the cryotube; when the second clamping mechanism clamps a cryotube, the first clamping mechanism releases the cryotube, and the tube picking and tube releasing are carried out simultaneously, improving the transfer efficiency of the cryotubes.

Description

Technical Field

[0001] The present invention relates to the field of sample access, and more particularly, to a linear reciprocating high-efficiency cryotube transfer module and method. Background Art

[0002] Deep cryogenic biobanks are important basic equipment in current medical and biological research. By storing at ultra-low temperatures, biological tissues such as blood, stem cells, and immune cells can maintain their viability for a long time. In an ultra-low temperature environment, the storage of biological samples requires the use of automated access equipment, which mainly consists of a cryo-rack transfer module, a cryo-box transfer module, and a cryotube transfer module. The cryotube transfer module can take out the target cryotubes in the target cryo-box transferred from the cryo-box transfer module and transfer them into an empty cryo-box, undertaking the work of picking and transferring.

[0003] However, the existing tube-picking and transferring process is that the cryotube transfer module picks a target cryotube in the target cryo-box, then transfers the target cryotube above the empty cryo-box, and finally puts the picked cryotube into the empty tube position in the empty cryo-box, and then returns above the target cryo-box to continue picking the next target cryotube until all the cryotubes to be taken out are picked. However, such a cryotube transfer module needs to go back and forth to transfer one cryotube, wasting too much time on the transfer path, with low transfer efficiency, and the transfer time of cryotubes at a relatively far position is even longer. Therefore, when the cryotube transfer module picks a large number of cryotubes, the efficiency will become very low. Summary of the Invention

[0004] The objectives of the present invention include, for example, providing a linear reciprocating high-efficiency cryotube transfer module, which can alleviate the problem of very low efficiency of cryotube picking and transfer.

[0005] The objectives of the present invention also include providing a linear reciprocating high-efficiency cryotube transfer method, which can alleviate the problem of very low efficiency of cryotube picking and transfer.

[0006] The embodiments of the present invention can be implemented as follows:

[0007] The embodiments of the present invention provide a linear reciprocating high-efficiency cryotube transfer module, including a platform, a first driving device, a first limit chuck, a second driving device, a second limit chuck, a third driving device, a first clamping mechanism, and a second clamping mechanism;

[0008] The first driving device is arranged on the platform, and the first limiting chuck is arranged on the first driving device. The first driving device is used to drive the first limiting chuck to move along the X direction; the first limiting chuck is used to position and place a target cryogenic storage box, and the target cryogenic storage box contains cryogenic tubes; the second driving device is arranged on the platform, and the second limiting chuck is arranged on the second driving device. The second driving device is used to drive the second limiting chuck to move along the X direction; the second limiting chuck is used to position and place an empty cryogenic storage box; the third driving device is arranged on the platform, and the third driving device is located above the first driving device and the second driving device; both the first clamping mechanism and the second clamping mechanism are arranged on the third driving device, and the third driving device is used to drive the first clamping mechanism and the second clamping mechanism to move in opposite directions along the Y direction, so that the first clamping mechanism and the second clamping mechanism alternately move above the first limiting chuck and the second limiting chuck to alternately clamp the cryogenic tubes on the target cryogenic storage box and insert the clamped cryogenic tubes into the empty cryogenic storage box.

[0009] In addition, the linear reciprocating high-efficiency cryogenic tube transfer module provided by the embodiment of the present invention may further have the following additional technical features:

[0010] Optionally, the linear reciprocating high-efficiency cryogenic tube transfer module further includes a first rotating device and a second rotating device. The first rotating device is arranged on the first driving device, and the first limiting chuck is arranged on the first rotating device. The first rotating device is used to drive the first limiting chuck to rotate; the second rotating device is arranged on the second driving device, and the second limiting chuck is arranged on the second rotating device. The second rotating device is used to drive the second limiting chuck to rotate; the first limiting chuck and the second limiting chuck are used to make the mutually remote sides of the target cryogenic storage box and the empty cryogenic storage box approach each other during the rotation process.

[0011] Optionally, the first driving device includes a first motor, a first lead screw, and a first guide rail; the first rotating device includes a second motor and a first connecting plate; the first guide rail is arranged along the X direction, the first lead screw is arranged along the first guide rail, the first motor is arranged on the first guide rail, and the first motor is in transmission connection with the first lead screw; the first connecting plate is slidably arranged on the first guide rail, and the first connecting plate is in threaded connection with the first lead screw, the first limit chuck is rotatably arranged above the first connecting plate, the second motor is arranged below the first connecting plate, and the second motor is in transmission connection with the first limit chuck; the first motor is used to drive the first connecting plate and the first limit chuck to move along the X direction, and the second motor is used to drive the first limit chuck to rotate.

[0012] Optionally, the second driving device includes a third motor, a second lead screw, and a second guide rail; the second rotating device includes a fourth motor and a second connecting plate; the second guide rail is arranged along the X direction, the second lead screw is arranged along the second guide rail, the third motor is arranged on the second guide rail, and the third motor is in transmission connection with the second lead screw; the second connecting plate is slidably arranged on the second guide rail, and the second connecting plate is in threaded connection with the second lead screw, the second limit chuck is rotatably arranged above the second connecting plate, the fourth motor is arranged below the first connecting plate, and the fourth motor is in transmission connection with the second limit chuck; the fourth motor is used to drive the second connecting plate and the second limit chuck to move along the X direction, and the fourth motor is used to drive the second limit chuck to rotate.

[0013] Optionally, the third driving device includes a fifth motor, a third guide rail, a forward lead screw, a reverse lead screw, a first telescopic cylinder, and a second telescopic cylinder; the third guide rail is arranged along the Y direction above the first limit chuck and the second limit chuck, the forward lead screw and the reverse lead screw are arranged side by side along the Y direction on the third guide rail, the first telescopic cylinder and the second telescopic cylinder are respectively slidably arranged on both sides of the third guide rail, the first telescopic cylinder is in threaded connection with the forward lead screw, and the second telescopic cylinder is in threaded connection with the reverse lead screw; the fifth motor is in transmission connection with the forward lead screw and the reverse lead screw, and the fifth motor is used to drive the forward lead screw and the reverse lead screw to rotate during rotation, so as to drive the first telescopic cylinder and the second telescopic cylinder to move in opposite directions along the Y direction; the first clamping mechanism is fixed on the first telescopic cylinder, and the second clamping mechanism is fixed on the second telescopic cylinder; the first telescopic cylinder is used to drive the first clamping mechanism to move along the Z direction, and the second telescopic cylinder is used to drive the second clamping mechanism to move along the Z direction.

[0014] Optionally, the first clamping mechanism includes a claw holder cylinder, a cylinder barrel, a main piston, and a plurality of clamping claws; the claw holder cylinder is fixed on the third driving device; the cylinder barrel is fixed within the claw holder cylinder, the plurality of clamping claws are circumferentially spaced apart along the claw holder cylinder, the plurality of clamping claws are movably disposed on the claw holder cylinder, and one ends of the plurality of clamping claws extend into the cylinder barrel; the main piston is slidably disposed within the cylinder barrel, and the main piston is configured to compress or release pressure during movement relative to the cylinder barrel, so that the plurality of clamping claws approach or separate from each other, so that one ends of the plurality of clamping claws away from the cylinder barrel jointly abut or disengage from the inner wall of the tube cap of the cryotube.

[0015] Optionally, the first clamping mechanism further includes a plurality of piston cylinders; the plurality of piston cylinders are spaced between the cylinder barrel and the claw holder cylinder, and the piston cylinders communicate the cylinder barrel with the claw holder cylinder;

[0016] The clamping claw includes a pushing block, a piston rod, and a sub-piston connected in sequence; the sub-piston and the piston rod are slidably disposed within the piston cylinder, the pushing block is located outside the claw holder cylinder, and the pushing blocks of the plurality of clamping claws jointly are configured to abut against the inner wall of the tube cap of the cryotube.

[0017] Optionally, the first clamping mechanism further includes an electromagnet and a spring; the electromagnet is disposed above the main piston, the main piston is a magnetic member, and the spring is disposed between the main piston and the cylinder barrel; the main piston is configured to compress the spring and move relative to the cylinder barrel when the electromagnet is energized to drive the plurality of clamping claws to separate from each other, or the main piston is configured to reset under the action of the spring when the electromagnet is de-energized.

[0018] Optionally, the cylinder barrel is provided with a vent hole, the vent hole is located between the electromagnet and the piston cylinder, and the vent hole is configured to ventilate the cylinder barrel when the electromagnet is de-energized and the main piston resets.

[0019] An embodiment of the present invention further provides a linear reciprocating high-efficiency cryotube transfer method. Implemented by a linear reciprocating high-efficiency cryotube transfer module, the method includes the following steps:

[0020] Drive the first limit chuck to reciprocate along the X direction through the first driving device, drive the second limit chuck to reciprocate along the X direction through the second driving device, drive the first clamping mechanism and the second clamping mechanism to move in opposite directions along the Y direction through the third driving device, so that the first clamping mechanism and the second clamping mechanism are alternately located above the first limit chuck and the second limit chuck, so as to alternately clamp the cryotubes on the target cryobox and insert the clamped cryotubes into the empty cryobox.

[0021] The beneficial effects of the linear reciprocating high-efficiency cryotube transfer module and method according to the embodiments of the present invention include, for example:

[0022] The linear reciprocating high-efficiency cryotube transfer module includes a platform, a first driving device, a first limiting chuck, a second driving device, a second limiting chuck, a third driving device, a first clamping mechanism, and a second clamping mechanism; the first driving device is arranged on the platform, the first limiting chuck is arranged on the first driving device, and the first driving device is used to drive the first limiting chuck to move along the X direction; the first limiting chuck is used to position and place a target cryobox, and the target cryobox contains cryotubes; the second driving device is arranged on the platform, the second limiting chuck is arranged on the second driving device, and the second driving device is used to drive the second limiting chuck to move along the X direction; the second limiting chuck is used to position and place an empty cryobox; the third driving device is arranged on the platform and is located above the first driving device and the second driving device; both the first clamping mechanism and the second clamping mechanism are arranged on the third driving device, and the third driving device is used to drive the first clamping mechanism and the second clamping mechanism to move in opposite directions along the Y direction, so that the first clamping mechanism and the second clamping mechanism alternately move above the first limiting chuck and the second limiting chuck to alternately clamp the cryotubes on the target cryobox and insert the clamped cryotubes into the empty cryobox.

[0023] The first clamping mechanism and the second clamping mechanism move in opposite directions along the Y direction. The first limiting chuck and the second limiting chuck respectively move along the X direction to the lower sides of the first clamping mechanism and the second clamping mechanism. The first clamping mechanism clamps the cryotubes on the target cryobox, then the positions of the first clamping mechanism and the second clamping mechanism are alternated. The second clamping mechanism clamps the cryotubes on the target cryobox, and the first clamping mechanism inserts the clamped cryotubes into the empty cryotube. The tube picking and tube placing are carried out simultaneously, greatly improving the transfer efficiency of multiple cryotubes.

[0024] The linear reciprocating high-efficiency cryotube transfer method is implemented by using the above-mentioned linear reciprocating high-efficiency cryotube transfer module, which can alleviate the problem of very low picking and transfer efficiency of cryotubes. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1Schematic diagram of the overall structure of the linear reciprocating high-efficiency cryotube transfer module provided by the embodiment of the present invention;

[0027] Figure 2 Left axonometric view of the linear reciprocating high-efficiency cryotube transfer module provided by the embodiment of the present invention;

[0028] Figure 3 Left view of the linear reciprocating high-efficiency cryotube transfer module provided by the embodiment of the present invention;

[0029] Figure 4 For Figure 3 Cross-sectional view taken along line A-A in

[0030] Figure 5 Schematic diagram of the structure of the cryotube in the linear reciprocating high-efficiency cryotube transfer module provided by the embodiment of the present invention;

[0031] Figure 6 Front view of the linear reciprocating high-efficiency cryotube transfer module provided by the embodiment of the present invention;

[0032] Figure 7 For Figure 6 Cross-sectional view taken along line B-B in

[0033] Figure 8 Partial structure schematic diagram of the first clamping mechanism in the linear reciprocating high-efficiency cryotube transfer module provided by the embodiment of the present invention;

[0034] Figure 9 Semi-sectional structure schematic diagram of the first clamping mechanism of the linear reciprocating high-efficiency cryotube transfer module provided by the embodiment of the present invention;

[0035] Figure 10 Schematic diagram of the initial state of the linear reciprocating high-efficiency cryotube transfer module provided by the embodiment of the present invention;

[0036] Figure 11 Schematic diagram of the cryotube transfer state in the linear reciprocating high-efficiency cryotube transfer module provided by the embodiment of the present invention;

[0037] Figure 12 Schematic diagram of the rotation state of the cryobox in the linear reciprocating high-efficiency cryotube transfer module provided by the embodiment of the present invention.

[0038] Icons: 10 - Linear reciprocating high-efficiency cryotube transfer module; 100 - Target cryobox; 110 - First driving device; 120 - First guide rail; 130 - First connecting plate; 140 - First motor; 150 - First lead screw; 160 - First limit chuck; 170 - Second motor; 200 - Empty cryobox; 210 - Second driving device; 220 - Second limit chuck; 300 - Cryotube; 400 - Tube body; 410 - Tube cap; 420 - Notch; 500 - Platform; 510 - Support frame; 600 - Third driving device; 610 - Third guide rail; 620 - Transmission device; 630 - Fixed frame; 640 - Central gear; 641 - First gear; 642 - Second gear; 650 - Fifth motor; 660 - Forward lead screw; 661 - Reverse lead screw; 670 - First telescopic cylinder; 671 - Second telescopic cylinder; 700 - First clamping mechanism; 710 - Claw holder cylinder; 720 - Cylinder barrel; 730 - Piston barrel; 740 - Vent hole; 750 - Claw; 751 - Thrust block; 752 - Piston rod; 753 - Sub-plug; 760 - Main plug; 770 - Spring; 780 - Electromagnet; 790 - Connector. Detailed implementation manners

[0039] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0041] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0042] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the accompanying drawings or the orientation or positional relationship when the product of the present invention is usually placed. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0043] In addition, terms such as "first" and "second" are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0044] It should be noted that, without conflict, the features in the embodiments of the present invention can be combined with each other.

[0045] The following Figures 1 to 12 will describe in detail the linear reciprocating high-efficiency cryotube transfer module 10 provided in this embodiment.

[0046] Please refer to Figure 1 and Figure 2 , an embodiment of the present invention provides a linear reciprocating high-efficiency cryotube transfer module 10, including a platform, a first driving device 110, a first limiting chuck 160, a second driving device 210, a second limiting chuck 220, a third driving device 600, a first clamping mechanism 700 and a second clamping mechanism;

[0047] The first driving device 110 is arranged on the platform, the first limiting chuck 160 is arranged on the first driving device 110, and the first driving device 110 is used to drive the first limiting chuck 160 to move along the X direction; the first limiting chuck 160 is used to position and place the target cryobox 100, and the target cryobox 100 contains cryotubes 300; the second driving device 210 is arranged on the platform, the second limiting chuck 220 is arranged on the second driving device 210, and the second driving device 210 is used to drive the second limiting chuck 220 to move along the X direction; the second limiting chuck 220 is used to position and place the empty cryobox 200; the third driving device 600 is arranged on the platform, and the third driving device 600 is located above the first driving device 110 and the second driving device 210; both the first clamping mechanism 700 and the second clamping mechanism are arranged on the third driving device 600, and the third driving device 600 is used to drive the first clamping mechanism 700 and the second clamping mechanism to move in opposite directions along the Y direction, so that the first clamping mechanism 700 and the second clamping mechanism alternately move above the first limiting chuck 160 and the second limiting chuck 220 to alternately clamp the cryotubes 300 on the target cryobox 100 and insert the clamped cryotubes 300 into the empty cryobox 200.

[0048] The "target cryobox 100" contains multiple cryotubes 300 to be taken, and the "empty cryobox 200" is an empty cryobox for placing the cryotubes 300 taken out from the target cryobox 100. The first limiting chuck 160 is used to drive the target cryobox 100 to reciprocate along the X direction, the second limiting chuck 220 is used to drive the empty cryobox 200 to reciprocate along the X direction, and the first clamping mechanism 700 and the second clamping mechanism move in the same and opposite directions along the Y direction. Refer to Figure 5, The cryotube 300 is composed of three parts: a tube body 400, a tube cap 410, and a notch 420. The tube cap 410 is screwed onto the upper end of the tube body 400. The upper end of the tube cap 410 is provided with a notch 420, and the inner surface of the notch 420 is a rough surface.

[0049] For Figure 1 introducing the relative positions, the first clamping mechanism 700 moves to the left end along the Y direction, while the second clamping mechanism moves to the right end along the Y direction. The first limit chuck 160 can move along the X direction to correspond to the first clamping mechanism 700, and the second limit chuck 220 can move along the X direction to correspond to the second clamping mechanism. The first clamping mechanism 700 moves to the right end along the Y direction, while the second clamping mechanism moves to the left end along the Y direction. The first limit chuck 160 can move along the X direction to correspond to the second clamping mechanism, and the second limit chuck 220 can move along the X direction to correspond to the first clamping mechanism 700. Therefore, when the first clamping mechanism 700 moves to the first limit chuck 160 to clamp the cryotube 300 on the first limit chuck 160, the second clamping mechanism can correspond to the second limit chuck 220 and place the clamped cryotube 300 into the empty cryobox 200 on the second limit chuck 220. When the second clamping mechanism moves to the first limit chuck 160 to clamp the cryotube 300, the first clamping mechanism 700 can correspond to the second limit chuck 220 and place the clamped cryotube 300 into the empty cryobox 200 on the second limit chuck 220, so that it can achieve that "the first clamping mechanism 700 and the second clamping mechanism alternately move above the first limit chuck 160 and the second limit chuck 220, alternately clamp the cryotubes 300 on the target cryobox 100, and insert the clamped cryotubes 300 into the empty cryobox 200". The tube picking and tube placing are carried out simultaneously, greatly improving the transfer efficiency of multiple cryotubes 300.

[0050] Referring to Figure 3 and Figure 4 , in this embodiment, the linear reciprocating high-efficiency cryotube transfer module 10 further includes a first rotating device and a second rotating device. The first rotating device is arranged on the first driving device 110, and the first limit chuck 160 is arranged on the first rotating device. The first rotating device is used to drive the first limit chuck 160 to rotate. The second rotating device is arranged on the second driving device 210, and the second limit chuck 220 is arranged on the second rotating device. The second rotating device is used to drive the second limit chuck 220 to rotate. The first limit chuck 160 and the second limit chuck 220 are used to make the mutually far sides of the target cryobox 100 and the empty cryobox 200 approach each other during the rotation process.

[0051] Specifically, the first driving device 110 drives the first rotating device and the first limit chuck 160 to move synchronously, and the second driving device 210 drives the second rotating device and the second limit chuck 220 to move synchronously.

[0052] Referring to Figure 12 , after the cryotubes 300 on the sides of the target cryobox 100 and the empty cryobox 200 that are close to each other are transferred, in order to improve efficiency, the target cryobox 100 and the empty cryobox 200 can be driven to rotate by the first rotating device and the second rotating device, so that the sides of the target cryobox 100 and the empty cryobox 200 that are far from each other are close to each other, thereby shortening the stroke of the alternating movement of the first clamping mechanism 700 and the second clamping mechanism, and thus improving the efficiency of clamping and transferring.

[0053] Referring to Figure 3 and Figure 4 , in this embodiment, the first driving device 110 includes a first motor 140, a first lead screw 150, and a first guide rail 120; the first rotating device includes a second motor 170 and a first connecting plate 130; the first guide rail 120 is arranged along the X direction, the first lead screw 150 is arranged along the first guide rail 120, the first motor 140 is arranged on the first guide rail 120, and the first motor 140 is in transmission connection with the first lead screw 150; the first connecting plate 130 is slidably arranged on the first guide rail 120, and the first connecting plate 130 is in threaded connection with the first lead screw 150. The first limit chuck 160 is rotatably arranged above the first connecting plate 130, the second motor 170 is arranged below the first connecting plate 130, and the second motor 170 is in transmission connection with the first limit chuck 160; the first motor 140 is used to drive the first connecting plate 130 and the first limit chuck 160 to move along the X direction, and the second motor 170 is used to drive the first limit chuck 160 to rotate.

[0054] Specifically, the number of the first guide rails 120 is two. The two first guide rails 120 are arranged side by side and spaced apart on the platform 500. The first connecting plate 130 is movably installed on the two first guide rails 120. The first motor 140 is fixedly installed at the end of one of the first guide rails 120. The first lead screw 150 is installed on the first guide rail 120. One end of the first lead screw 150 can be in power connection with the first motor 140 and passes through one end of the first connecting plate 130 and is in threaded connection with the first connecting plate 130. When the first motor 140 rotates, the first connecting plate 130 can be made to move along the first guide rail 120 through the threaded connection between the first lead screw 150 and the first connecting plate 130. The first limit chuck 160 is rotatably installed in the middle of the first connecting plate 130. The second motor 170 is fixedly installed below the first connecting plate 130, and the second motor 170 is in power connection with the first limit chuck 160. The second motor 170 can drive the first limit chuck 160 to rotate.

[0055] Referring to Figure 3 and Figure 4 , in this embodiment, the second driving device 210 includes a third motor, a second lead screw, and a second guide rail; the second rotating device includes a fourth motor and a second connecting plate; the second guide rail is arranged along the X direction, the second lead screw is arranged along the second guide rail, the third motor is arranged on the second guide rail, and the third motor is in transmission connection with the second lead screw; the second connecting plate is slidably arranged on the second guide rail, and the second connecting plate is in threaded connection with the second lead screw. The second limit chuck 220 is rotatably arranged above the second connecting plate. The fourth motor is arranged below the first connecting plate 130, and the fourth motor is in transmission connection with the second limit chuck 220; the fourth motor is used to drive the second connecting plate and the second limit chuck 220 to move along the X direction, and the fourth motor is used to drive the second limit chuck 220 to rotate.

[0056] Specifically, the number of the second guide rails is two. The two second guide rails are arranged side by side and spaced apart on the platform 500. The second connecting plate is movably installed on the two second guide rails. The third motor is fixedly installed at the end of one second guide rail. The second lead screw is installed on the second guide rail. One end of the second lead screw can be in power connection with the third motor and passes through one end of the second connecting plate and is in threaded connection with the second connecting plate. When the third motor rotates, the second connecting plate can be moved along the second guide rail through the threaded connection between the second lead screw and the second connecting plate. The second limit chuck 220 is rotatably installed in the middle of the second connecting plate. The fourth motor is fixedly installed below the second connecting plate, and the fourth motor is in power connection with the second limit chuck 220. The fourth motor can drive the second limit chuck 220 to rotate.

[0057] The first driving device 110 and the second driving device 210 have the same structure and are arranged in parallel and symmetrically.

[0058] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 4, in this embodiment, the third driving device 600 includes a fifth motor 650, a third guide rail 610, a forward lead screw 660, a reverse lead screw 661, a first telescopic cylinder 670, and a second telescopic cylinder 671; the third guide rail 610 is arranged above the first limit chuck 160 and the second limit chuck 220 along the Y direction, the forward lead screw 660 and the reverse lead screw 661 are arranged side by side along the Y direction on the third guide rail 610, the first telescopic cylinder 670 and the second telescopic cylinder 671 are respectively slidably arranged on both sides of the third guide rail 610, the first telescopic cylinder 670 is threadedly connected to the forward lead screw 660, and the second telescopic cylinder 671 is threadedly connected to the reverse lead screw 661; the fifth motor 650 is drivingly connected to the forward lead screw 660 and the reverse lead screw 661, and the fifth motor 650 is used to drive the forward lead screw 660 and the reverse lead screw 661 to rotate during rotation, so as to drive the first telescopic cylinder 670 and the second telescopic cylinder 671 to move in opposite directions along the Y direction; the first clamping mechanism 700 is fixed on the first telescopic cylinder 670, and the second clamping mechanism is fixed on the second telescopic cylinder 671; the first telescopic cylinder 670 is used to drive the first clamping mechanism 700 to move along the Z direction, and the second telescopic cylinder 671 is used to drive the second clamping mechanism to move along the Z direction.

[0059] The linear reciprocating high-efficiency cryotube transfer module 10 further includes two support frames 510. Two symmetrically arranged support frames 510 are fixedly installed at both ends of the platform 500, and the third guide rail 610 is installed on the two support frames 510.

[0060] The third driving device 600 further includes a transmission device 620. The transmission device 620 includes a fixing frame 630, a central gear 640, a first gear 641, and a second gear 642. The transmission device 620 is fixedly installed at one end of the third guide rail 610, the fifth motor 650 is fixedly installed at one end of the transmission device 620, the forward lead screw 660 and the reverse lead screw 661 are opposite threads and are respectively rotatably and symmetrically installed at both side ends of the transmission device 620. The fixing frame 630 is fixedly installed at the end of the third guide rail 610, the central gear 640 is rotatably installed inside the fixing frame 630 and is power-connected to the fifth motor 650, the first gear 641 and the second gear 642 are respectively rotatably and symmetrically installed on the forward lead screw 660 and the reverse lead screw 661, and the first gear 641 and the second gear 642 can be meshed with the central gear 640. When the fifth motor 650 rotates, the first gear 641 and the second gear 642 will be driven to rotate through the meshing of the fixing frame 630 with the first gear 641 and the second gear 642.

[0061] The first telescopic cylinder 670 and the second telescopic cylinder 671 have the same structure. The first telescopic cylinder 670 is rotatably mounted on the forward lead screw 660, and the second telescopic cylinder 671 is rotatably mounted on the reverse lead screw 661. In the initial state, the first telescopic cylinder 670 and the second telescopic cylinder 671 are on the same straight line and are jointly located exactly in the middle between the target cryogenic storage box 100 and the empty cryogenic storage box 200. When the fixing frame 630 drives the first gear 641 and the second gear 642 to rotate, the first telescopic cylinder 670 and the second telescopic cylinder 671 will start to move synchronously in opposite directions.

[0062] Refer to Figure 8 and Figure 9 In this embodiment, the first clamping mechanism 700 includes a claw frame cylinder 710, a cylinder barrel 720, a main plug 760 and a plurality of clamping claws 750; the claw frame cylinder 710 is fixed on the third driving device 600; the cylinder barrel 720 is fixed inside the claw frame cylinder 710, and the plurality of clamping claws 750 are circumferentially spaced apart along the claw frame cylinder 710. The plurality of clamping claws 750 are movably arranged on the claw frame cylinder 710, and one ends of the plurality of clamping claws 750 all extend into the cylinder barrel 720; the main plug 760 is slidably arranged inside the cylinder barrel 720, and the main plug 760 is used to compress or release pressure during the process of moving relative to the cylinder barrel 720, so that the plurality of clamping claws 750 approach or move away from each other, so that the ends of the plurality of clamping claws 750 away from the cylinder barrel 720 jointly hold or disengage from the inner wall of the tube cap 410 of the cryogenic tube 300.

[0063] The first clamping mechanism 700 is fixed below the first telescopic cylinder 670. The first clamping mechanism 700 further includes a connector 790. The claw frame cylinder 710 is connected to the connector 790, and the connector 790 is connected to the first telescopic cylinder 670. The claw frame cylinder 710 is a hollow cylindrical structure with an open upper end. The cylinder barrel 720 is arranged inside the claw frame cylinder 710, and the cylinder barrel 720 is also a hollow cylindrical structure. The number of the clamping claws 750 is four. The main plug 760 is movably installed inside the cylinder barrel 720. The connector 790 is fixedly installed at the top opening of the cylinder barrel 720. When the main plug 760 moves past, as the main plug 760 continues to move, the air inside the cylinder barrel 720 will be compressed under the action of the main plug 760. As the air pressure gradually increases, the air will start to push the four clamping claws 750 to move outwards until the clamping claws 750 press against the inner wall of the notch 420 on the tube cap 410 of the cryogenic tube 300 and fix the cryogenic tube 300 under the action of the pressure, so that the clamping claws 750 can take out the cryogenic tube 300 from the target cryogenic storage box 100. When the main plug 760 resets, the air pressure inside the cylinder barrel 720 decreases, and the clamping claws 750 lose the top thrust and will loosen the clamping of the cryogenic tube 300.

[0064] Refer to Figure 8 and Figure 9, in this embodiment, the first clamping mechanism 700 further includes a plurality of piston cylinders 730; the plurality of piston cylinders 730 are arranged at intervals between the cylinder barrel 720 and the claw holder barrel 710, and the piston cylinders 730 communicate with the cylinder barrel 720 and the claw holder barrel 710; the clamping claw 750 includes a pushing block 751, a piston rod 752 and a split plug 753 connected in sequence; the split plug 753 and the piston rod 752 are slidably arranged in the piston cylinder 730, the pushing block 751 is located outside the claw holder barrel 710, and the pushing blocks 751 of the plurality of clamping claws 750 are jointly used to abut against the inner wall of the tube cap 410 of the cryopreservation tube 300.

[0065] On the outer peripheral surface of the cylinder barrel 720 near the bottom end, four piston cylinders 730 are also evenly arranged. Among them, the pushing block 751 is an arc-shaped block with the same arc as the notch 420 of the cryopreservation tube 300. The outer arc surface of the pushing block 751 is a rough surface. The piston rod 752 is provided on the inner arc surface of the pushing block 751, and the piston rod 752 is also provided at the end of the pushing block 751. The whole clamping claw 750 is movably installed in each piston cylinder 730 through the piston rod 752. When the main plug 760 moves past, as the main plug 760 continues to move, the air inside the cylinder barrel 720 will be compressed under the action of the main plug 760. As the air pressure gradually increases, the air will start to push the split plugs 753 in the four piston cylinders 730, so that the split plugs 753 drive the pushing blocks 751 to move outwards until the pushing blocks 751 abut against the inner wall of the notch 420 on the tube cap 410 of the cryopreservation tube 300 and fix the cryopreservation tube 300 under the action of the pressure.

[0066] Refer to Figure 8 and Figure 9 , in this embodiment, the first clamping mechanism 700 further includes an electromagnet 780 and a spring 770; the electromagnet 780 is arranged above the main plug 760, the main plug 760 is a magnetic part, and the spring 770 is arranged between the main plug 760 and the cylinder barrel 720; the main plug 760 is used to compress the spring 770 and move relative to the cylinder barrel 720 when the electromagnet 780 is energized, so as to drive the plurality of clamping claws 750 to move away from each other, or the main plug 760 is used to reset under the action of the spring 770 when the electromagnet 780 is de-energized.

[0067] When the electromagnet 780 is energized, the main plug 760 will move downward along the inner wall of the cylinder barrel 720 under the repulsive force of the electromagnet 780 and compress the spring 770. When the electromagnet 780 is de-energized, the main plug 760 will reset upward under the elastic force of the spring 770.

[0068] Refer to Figure 8 and Figure 9, in this embodiment, the cylinder barrel 720 is provided with a ventilation hole 740. The ventilation hole 740 is located between the electromagnet 780 and the piston barrel 730. The ventilation hole 740 is used to ventilate the cylinder barrel 720 when the electromagnet 780 is powered off and the main piston 760 is reset.

[0069] Four ventilation holes 740 are also correspondingly provided on the circumferential wall above each piston barrel 730. After the electromagnet 780 is powered on, the main piston 760 will move downward along the inner wall of the cylinder barrel 720 under the repulsive force of the electromagnet 780 and compress the spring 770. When the main piston 760 moves past the ventilation hole 740, as the main piston 760 continues to move, the air inside the cylinder barrel 720 will be compressed under the action of the main piston 760. As the air pressure gradually increases, the air will start to push the sub-piston 753 in the four piston barrels 730, causing the sub-piston 753 to drive the push block 751 to move outward until the push block 751 presses against the inner wall of the notch 420 on the tube cap 410 of the cryotube 300 and fixes the cryotube 300 under the action of the pressure, so that the first clamping mechanism 700 can take out the cryotube 300 from the target cryobox 100. After the electromagnet 780 is powered off, the main piston 760 will reset upward under the elastic force of the spring 770, the air pressure inside the cylinder barrel 720 will decrease, the clamping jaw 750 will lose the pushing force and release the clamping of the cryotube 300. After the main piston 760 moves past the ventilation hole 740, the air inside the cylinder barrel 720 will be refilled and wait for the next compression.

[0070] According to a linear reciprocating high-efficiency cryotube transfer module 10 provided by this embodiment, the working principle of the linear reciprocating high-efficiency cryotube transfer module 10 includes:

[0071] Refer to Figure 10 , in the initial state, the cryobox transfer module places the target cryobox 100 and the empty cryobox 200 in the first limit chuck 160 on the first driving device 110 and the second limit chuck 220 on the second driving device 210 in sequence. Then the first driving device 110 and the second driving device 210 respectively move the target cryobox 100 and the empty cryobox 200 to the central axis position of the platform 500 and align them with each other. At this time, the first telescopic cylinder 670 and the second telescopic cylinder 671 are also in an aligned state on the same straight line and are jointly located in the middle of the target cryobox 100 and the empty cryobox 200. At this time, the system is in the zero position state of the coordinate system.

[0072] Then, the first driving device 110 moves the coordinate position of the first cryotube 300 to be taken out on the target cryobox 100 to the moving track line of the first clamping mechanism 700 on the first telescopic cylinder 670. At the same time, the fifth motor 650 on the third driving device 600 will start to drive the first telescopic cylinder 670 to move towards the coordinate position of the first cryotube 300 to be taken out on the target cryobox 100, and at the same time drive the second telescopic cylinder 671 to move synchronously towards the empty cryobox 200 in the opposite direction. When the first clamping mechanism 700 below the first telescopic cylinder 670 reaches the coordinate position of the first cryotube 300 to be taken out on the target cryobox 100, the first telescopic cylinder 670 will drive the first clamping mechanism 700 into the notch 420 on the first cryotube 300 to be taken out. Then, the electromagnet 780 on the first clamping mechanism 700 is energized, and the main plug 760 will move downward along the inner wall of the cylinder barrel 720 under the repulsive force of the electromagnet 780 and compress the spring 770. When the main plug 760 moves past the ventilation hole 740, as the main plug 760 continues to move, the air inside the cylinder barrel 720 will be compressed by the main plug 760. As the air pressure gradually increases, the air will start to push the sub-plugs 753 in the four piston cylinders 730, causing the sub-plugs 753 to drive the push blocks 751 to move outward until the push blocks 751 press against the inner wall of the notch 420 on the tube cap 410 of the cryotube 300 and fix the cryotube 300 under the action of the pressure. Then, the first telescopic cylinder 670 drives the first clamping mechanism 700 to move upward, and the first clamping mechanism 700 takes out the first cryotube 300 to be taken out from the target cryobox 100.

[0073] Refer to Figure 11 , then the first driving device 110 continues to move the coordinate position of the second cryotube 300 to be taken out on the target cryobox 100 along the X direction to the moving track line of the second clamping mechanism on the second telescopic cylinder 671; at the same time, the second driving device 210 moves the first row of empty tube positions on the empty cryobox 200 to the moving track line of the first clamping mechanism 700 on the first telescopic cylinder 670; at the same time, the third driving device 600 drives the second telescopic cylinder 671 to move towards the coordinate position of the second cryotube 300 to be taken out on the target cryobox 100 and synchronously drives the first telescopic cylinder 670 to move towards the empty cryobox 200. When the second clamping mechanism on the second telescopic cylinder 671 reaches the coordinate position of the second cryotube 300 to be taken out on the target cryobox 100, the first clamping mechanism 700 on the first telescopic cylinder 670 also reaches above the first row of empty tube positions of the empty cryobox 200.

[0074] Then, the second telescopic cylinder 671 will drive the second clamping mechanism below the second telescopic cylinder 671 into the notch 420 on the second cryotube 300 to be taken out. At the same time, the first telescopic cylinder 670 will drive the first cryotube 300 to be taken out on the first clamping mechanism 700 below the first telescopic cylinder 670 into the first row of empty tube positions of the empty cryobox 200. Then, the first clamping mechanism 700 on the second telescopic cylinder 671 starts to be energized to clamp the second cryotube 300 to be taken out. At the same time, the first clamping mechanism 700 below the first telescopic cylinder 670 is de-energized to release the clamping of the first cryotube 300 to be taken out. Then, the second telescopic cylinder 671 drives the first clamping mechanism 700 below the second telescopic cylinder 671 to take out the second cryotube 300 to be taken out from the target cryobox 100. At the same time, the first telescopic cylinder 670 moves the first clamping mechanism 700 below the first telescopic cylinder 670 out of the first cryotube 300 to be taken out, completing the transfer of the first cryotube 300 to be taken out and the clamping of the second cryotube 300 to be taken out. Similarly, continue to take out the remaining cryotubes 300 to be taken out in the target cryobox 100.

[0075] Referring to Figure 12 , when all the remaining cryotubes 300 to be taken out in the target cryobox 100 are in the half box farther from the empty cryobox 200, the first driving device 110 will drive the target cryobox 100 to move away from the empty cryobox 200. When the target cryobox 100 moves to a farther distance from the empty cryobox 200, the first rotating device will start to drive the target cryobox 100 to rotate 180 degrees, so that the half box of the target cryobox 100 farther from the empty cryobox 200 rotates to the position of the half box closer to the empty cryobox 200. Then continue to take out the remaining cryotubes 300 to be taken out. When the empty tube positions on the empty cryobox 200 cannot meet the tube placement coordinate requirements, the second driving device 210 will start to drive the target cryobox 100 to rotate 180 degrees, so that the other half of the empty tube positions rotate to the working positions.

[0076] It should be noted that: the structures of the second clamping mechanism and the first clamping mechanism 700 are the same and will not be elaborated here. The difference is that the first clamping mechanism 700 is fixed on the first telescopic cylinder 670, and the second clamping mechanism is fixed on the second telescopic cylinder 671.

[0077] A linear reciprocating high-efficiency cryotube transfer module 10 provided in this embodiment has at least the following advantages:

[0078] By arranging a first clamping mechanism 700 and a second clamping mechanism on the third driving device 600, and arranging a first driving device 110 and a second driving device 210 below the target cryogenic storage box 100 and the empty cryogenic storage box 200, by using the synchronous reverse movement of the first clamping mechanism 700 and the second clamping mechanism and the separate movement of the target cryogenic storage box 100 and the empty cryogenic storage box 200, when the first clamping mechanism 700 clamps the cryogenic tube 300 in the target cryogenic storage box 100, the second clamping mechanism can place the cryogenic tube 300 in the empty cryogenic storage box 200. Clamping the cryogenic tube 300 and placing the cryogenic tube 300 are carried out simultaneously, greatly improving the transfer efficiency of multiple cryogenic tubes 300.

[0079] By arranging a first rotating device and a second rotating device below the target cryogenic storage box 100 and the empty cryogenic storage box 200, the target cryogenic storage box 100 and the empty cryogenic storage box 200 can rotate, enabling the mutually remote sides of the target cryogenic storage box 100 and the empty cryogenic storage box 200 to approach each other, transferring multiple cryogenic tubes 300 at a relatively long distance to a relatively short distance for clamping and transfer, reducing the transfer distance of the cryogenic tubes 300 at a relatively long distance, and improving the transfer efficiency of the cryogenic tubes 300 at a relatively long distance.

[0080] By arranging the clamping jaw 750 and using air pressure to clamp the cryogenic tube 300, the first clamping mechanism 700 can clamp cryogenic tubes 300 with different diameters, and the air force is evenly distributed, making the clamping of the cryogenic tube 300 more stable and not causing clamping damage to the cryogenic tube 300.

[0081] An embodiment of the present invention also provides a linear reciprocating high-efficiency cryogenic tube transfer method. It is implemented by using a linear reciprocating high-efficiency cryogenic tube transfer module 10, including the following steps: driving the first limit chuck 160 to reciprocate along the X direction by the first driving device 110, driving the second limit chuck 220 to reciprocate along the X direction by the second driving device 210, and driving the first clamping mechanism 700 and the second clamping mechanism to move in opposite directions along the Y direction by the third driving device 600, so that the first clamping mechanism 700 and the second clamping mechanism are alternately located above the first limit chuck 160 and the second limit chuck 220 to alternately clamp the cryogenic tubes 300 on the target cryogenic storage box 100 and insert the clamped cryogenic tubes 300 into the empty cryogenic storage box 200.

[0082] When the first clamping mechanism 700 clamps the cryogenic tube 300 on the target cryogenic storage box 100, the second clamping mechanism can insert the clamped cryogenic tube 300 into the empty cryogenic tube 300. Similarly, when the second clamping mechanism clamps the cryogenic tube 300 on the target cryogenic storage box 100, the first clamping mechanism 700 inserts the clamped cryogenic tube 300 into the empty cryogenic tube 300. Taking the tube and placing the tube are carried out simultaneously, greatly improving the transfer efficiency of multiple cryogenic tubes 300.

[0083] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims described above.

Claims

1. A linear reciprocating high-efficiency cryotube transfer module, characterized in that, it includes: a platform; a first driving device (110) and a first limit chuck (160), the first driving device (110) is arranged on the platform, the first limit chuck (160) is arranged on the first driving device (110), and the first driving device (110) is used to drive the first limit chuck (160) to move along the X direction; the first limit chuck (160) is used to position and place a target cryobox (100), and the target cryobox (100) contains cryotubes (300); a second driving device (210) and a second limit chuck (220), the second driving device (210) is arranged on the platform, the second limit chuck (220) is arranged on the second driving device (210), and the second driving device (210) is used to drive the second limit chuck (220) to move along the X direction; the second limit chuck (220) is used to position and place an empty cryobox (200); a third driving device (600), a first clamping mechanism (700) and a second clamping mechanism, the third driving device (600) is arranged on the platform, and the third driving device (600) is located above the first driving device (110) and the second driving device (210); the first clamping mechanism (700) and the second clamping mechanism are both arranged on the third driving device (600), and the third driving device (600) is used to drive the first clamping mechanism (700) and the second clamping mechanism to move in opposite directions along the Y direction, so that the first clamping mechanism (700) and the second clamping mechanism alternately move above the first limit chuck (160) and the second limit chuck (220) to alternately clamp the cryotubes (300) on the target cryobox (100) and insert the clamped cryotubes (300) into the empty cryobox (200); a first rotating device and a second rotating device, the first rotating device is arranged on the first driving device (110), the first limit chuck (160) is arranged on the first rotating device, and the first rotating device is used to drive the first limit chuck (160) to rotate; the second rotating device is arranged on the second driving device (210), the second limit chuck (220) is arranged on the second rotating device, and the second rotating device is used to drive the second limit chuck (220) to rotate; the first limit chuck (160) and the second limit chuck (220) are used to make the mutually remote sides of the target cryobox (100) and the empty cryobox (200) approach each other during rotation.

2. The linear reciprocating high-efficiency cryotube transfer module according to claim 1, characterized in that: The first driving device (110) includes a first motor (140), a first lead screw (150), and a first guide rail (120); the first rotating device includes a second motor (170) and a first connecting plate (130); the first guide rail (120) is arranged along the X direction, the first lead screw (150) is arranged along the first guide rail (120), the first motor (140) is arranged on the first guide rail (120), and the first motor (140) is in transmission connection with the first lead screw (150); the first connecting plate (130) is slidably arranged on the first guide rail (120), and the first connecting plate (130) is in threaded connection with the first lead screw (150), the first limit chuck (160) is rotatably arranged above the first connecting plate (130), the second motor (170) is arranged below the first connecting plate (130), and the second motor (170) is in transmission connection with the first limit chuck (160); the first motor (140) is used to drive the first connecting plate (130) and the first limit chuck (160) to move along the X direction, and the second motor (170) is used to drive the first limit chuck (160) to rotate.

3. The linear reciprocating high-efficiency cryopreservation tube transfer module according to claim 2, characterized in that: The second driving device (210) includes a third motor, a second lead screw, and a second guide rail; the second rotating device includes a fourth motor and a second connecting plate; the second guide rail is arranged along the X direction, the second lead screw is arranged along the second guide rail, the third motor is arranged on the second guide rail, and the third motor is in transmission connection with the second lead screw; the second connecting plate is slidably arranged on the second guide rail, and the second connecting plate is in threaded connection with the second lead screw, the second limit chuck (220) is rotatably arranged above the second connecting plate, the fourth motor is arranged below the first connecting plate (130), and the fourth motor is in transmission connection with the second limit chuck (220); the fourth motor is used to drive the second connecting plate and the second limit chuck (220) to move along the X direction, and the fourth motor is used to drive the second limit chuck (220) to rotate.

4. The linear reciprocating high-efficiency cryopreservation tube transfer module according to any one of claims 1-3, characterized in that: The third driving device (600) includes a fifth motor (650), a third guide rail (610), a forward lead screw (660), a reverse lead screw (661), a first telescopic cylinder (670), and a second telescopic cylinder (671); the third guide rail (610) is arranged above the first limit chuck (160) and the second limit chuck (220) along the Y direction, the forward lead screw (660) and the reverse lead screw (661) are arranged side by side along the Y direction on the third guide rail (610), the first telescopic cylinder (670) and the second telescopic cylinder (671) are respectively slidably arranged on both sides of the third guide rail (610), the first telescopic cylinder (670) is threadedly connected to the forward lead screw (660), and the second telescopic cylinder (671) is threadedly connected to the reverse lead screw (661); the fifth motor (650) is drivingly connected to the forward lead screw (660) and the reverse lead screw (661), and the fifth motor (650) is used to drive the forward lead screw (660) and the reverse lead screw (661) to rotate during rotation, so as to drive the first telescopic cylinder (670) and the second telescopic cylinder (671) to move in opposite directions along the Y direction; the first clamping mechanism (700) is fixed on the first telescopic cylinder (670), and the second clamping mechanism is fixed on the second telescopic cylinder (671); the first telescopic cylinder (670) is used to drive the first clamping mechanism (700) to move along the Z direction, and the second telescopic cylinder (671) is used to drive the second clamping mechanism to move along the Z direction.

5. The linear reciprocating high-efficiency cryotube transfer module according to any one of claims 1-3, characterized in that: The first clamping mechanism (700) includes a claw frame cylinder (710), a cylinder barrel (720), a main plug (760), and a plurality of clamping claws (750); the claw frame cylinder (710) is fixed on the third driving device (600); the cylinder barrel (720) is fixed in the claw frame cylinder (710), the plurality of clamping claws (750) are circumferentially spaced apart along the claw frame cylinder (710), the plurality of clamping claws (750) are movably arranged on the claw frame cylinder (710), and one ends of the plurality of clamping claws (750) all extend into the cylinder barrel (720); the main plug (760) is slidably arranged in the cylinder barrel (720), and the main plug (760) is used to compress or release pressure during relative movement with respect to the cylinder barrel (720), so that the plurality of clamping claws (750) approach or move away from each other, so that the ends of the plurality of clamping claws (750) away from the cylinder barrel (720) jointly abut against or disengage from the inner wall of the tube cap (410) of the cryotube (300).

6. The linear reciprocating high-efficiency cryotube transfer module according to claim 5, characterized in that: The first clamping mechanism (700) further includes a plurality of piston cylinders (730); the plurality of piston cylinders (730) are arranged at intervals between the cylinder barrel (720) and the jaw holder cylinder (710), and the piston cylinders (730) communicate with the cylinder barrel (720) and the jaw holder cylinder (710); The clamping jaw (750) includes a pushing block (751), a piston rod (752), and a split plug (753) connected in sequence; the split plug (753) and the piston rod (752) are slidably arranged in the piston cylinder (730), the pushing block (751) is located outside the jaw holder cylinder (710), and the pushing blocks (751) of the plurality of clamping jaws (750) are jointly used to abut against the inner wall of the tube cap (410) of the cryotube (300).

7. The linear reciprocating high-efficiency cryotube transfer module according to claim 6, characterized in that: The first clamping mechanism (700) further includes an electromagnet (780) and a spring (770); the electromagnet (780) is arranged above the main plug (760), the main plug (760) is a magnetic part, and the spring (770) is arranged between the main plug (760) and the cylinder barrel (720); the main plug (760) is used to compress the spring (770) and move relative to the cylinder barrel (720) when the electromagnet (780) is energized, so as to drive the plurality of clamping jaws (750) to move away from each other, or the main plug (760) is used to reset under the action of the spring (770) when the electromagnet (780) is de-energized.

8. The linear reciprocating high-efficiency cryotube transfer module according to claim 7, characterized in that: The cylinder barrel (720) is provided with a ventilation hole (740), the ventilation hole (740) is located between the electromagnet (780) and the piston cylinder (730), and the ventilation hole (740) is used to ventilate the cylinder barrel (720) when the electromagnet (780) is de-energized and the main plug (760) is reset.

9. A linear reciprocating high-efficiency cryotube transfer method, implemented by using the linear reciprocating high-efficiency cryotube transfer module according to any one of claims 1-8, characterized in that, including the following steps: Drive the first limit chuck (160) to reciprocate along the X direction through the first driving device (110), drive the second limit chuck (220) to reciprocate along the X direction through the second driving device (210), and drive the first clamping mechanism (700) and the second clamping mechanism to move in opposite directions along the Y direction through the third driving device (600), so that the first clamping mechanism (700) and the second clamping mechanism are alternately located above the first limit chuck (160) and the second limit chuck (220), so as to alternately clamp the cryotubes (300) on the target cryobox (100) and insert the clamped cryotubes (300) into the empty cryobox (200).

Images