Automated storage device

Abstract

The present application belongs to the technical field of biological sample storage equipment, and specifically provides an automatic storage equipment. It aims to solve the problem that the existing automatic storage equipment causes sample damage due to tube picking operation in the process of accessing cryopreservation tubes. To this end, the automatic storage equipment of the present application comprises a box body, the box body has a storage room, a tube picking room and an in-out warehouse buffer room, the tube picking room is communicated with the storage room through a first entrance and exit, the tube picking room and the in-out warehouse buffer room are communicated through a second entrance and exit, the in-out warehouse buffer room is communicated with the external environment of the box body through a third entrance and exit, the environmental temperature in the storage room and the tube picking room is lower than that in the in-out warehouse buffer room; a first transfer device is arranged in the in-out warehouse buffer room, and a code scanning device, a tube picking device and a second transfer device are arranged in the tube picking room. By making the temperature in the tube picking room lower than that in the in-out warehouse buffer room, the present application can keep the cryopreservation tube at a low temperature during tube picking, thereby ensuring the activity of the sample.

Description

Technical Field

[0001] This invention belongs to the technical field of biological sample storage devices, and specifically provides an automated storage device. Background Technology

[0002] The development of life science research and the advancement of disease analysis, detection, treatment, and healthcare technologies in the clinical medical field have promoted an increasingly widespread demand for biological samples. This has also placed higher demands on biological sample storage technologies and equipment, including requirements for the safety, reliability, and stability of stored samples, as well as the accuracy, efficiency, and scientific rigor of sample access processes and procedures. Biological sample storage often encompasses samples such as biological macromolecules, cells, tissues, and organs, including human organ tissues, whole blood, plasma, serum, biological fluids, or processed biological samples (including DNA, RNA, proteins, etc.). However, long-term storage of biological samples typically requires the use of the lowest possible temperatures to reduce biochemical reactions within the sample and improve the stability of various components. To achieve long-term, stable, and reliable storage and retrieval of large quantities of biological samples, automated low-temperature and ultra-low-temperature biological sample storage and retrieval equipment has gradually become the primary storage device.

[0003] Existing automated cryogenic storage equipment typically includes a buffer area and a main storage area. The buffer area receives cryovials and uses a tube-picking device to transfer cryovials into the corresponding cryovials. However, the existing buffer area is an interconnected space. Because this area is connected to the external environment for sample transport, to ensure the smooth operation of the internal devices and to prevent frost formation during cryovial transfer, the temperature difference between the buffer area and the external environment needs to be minimized. Therefore, the temperature within the buffer area is typically set to -20°C or -30°C.

[0004] However, when tube picking is required, the time required for tube picking will prolong the storage time of the cryopreserved tubes in the buffer area. This will cause the cryopreserved tubes to remain in the buffer area at -30°C or above for a long time, which may cause some samples to deteriorate and result in loss.

[0005] Accordingly, a new technical solution is needed in this field to solve the above-mentioned technical problems. Summary of the Invention

[0006] The present invention aims to solve the above-mentioned technical problem, namely, to solve the problem of sample damage caused by tube picking operation during the storage and retrieval of cryopreservation tubes in existing automated storage devices.

[0007] This invention provides an automated storage device, comprising: a housing having a storage room, a tube-picking room, and an in-and-out buffer room; the tube-picking room being connected to the storage room via a first inlet / outlet; the tube-picking room and the in-and-out buffer room being connected via a second inlet / outlet; and the in-and-out buffer room being connected to the external environment of the housing via a third inlet / outlet; wherein the ambient temperature in the storage room and the tube-picking room is lower than the ambient temperature in the in-and-out buffer room; a first transfer device installed in the in-and-out buffer room, configured to pass through the third inlet / outlet to receive cryogenic boxes located outside the housing and to transport the received cryogenic boxes; a barcode scanning device installed in the tube-picking room; a tube-picking device installed in the tube-picking room; and a second transfer device installed in the tube-picking room, configured to receive cryogenic boxes transported by the first transfer device through the second inlet / outlet and to transfer the cryogenic boxes between the barcode scanning device, the tube-picking device, and the storage room.

[0008] In the preferred technical solution of the above-mentioned automated storage device, the refrigeration system in the tube-picking room is an air-cooled refrigeration system.

[0009] In the preferred technical solution of the above-mentioned automated storage device, the ambient temperature inside the tube-picking room is between -80°C and -120°C.

[0010] In the preferred technical solution of the above-mentioned automated storage device, the ambient temperature in the cache room is between -10°C and -30°C.

[0011] In the preferred embodiment of the above-mentioned automated storage device, the automated storage device further includes a turntable storage device for storing multiple cryopreservation boxes, which is disposed in the inbound / outbound buffer room and is located below the first transfer device.

[0012] In the preferred embodiment of the above-mentioned automated storage device, the third inlet / outlet includes a third main inlet / outlet and a third auxiliary inlet / outlet. The third main inlet / outlet is located above the third auxiliary inlet / outlet. The third main inlet / outlet is directly opposite to the first transfer device. The first transfer device can pass through the third main inlet / outlet to receive cryogenic boxes located outside the housing. The third auxiliary inlet / outlet is directly opposite to the turntable storage device so that cryogenic boxes can be stored in the turntable storage device through the third auxiliary inlet / outlet.

[0013] In the preferred embodiment of the above-mentioned automated storage device, the second inlet / outlet includes a second main inlet / outlet and a second auxiliary inlet / outlet. The second main inlet / outlet is located above the second auxiliary inlet / outlet. The second transfer device is configured to receive cryopreservation boxes transported by the first transfer device through the second main inlet / outlet and to receive cryopreservation boxes located on the turntable storage device through the second auxiliary inlet / outlet.

[0014] In the preferred embodiment of the above-mentioned automated storage device, the second transfer device is located close to the second inlet / outlet, the barcode scanning device and the tube-picking device are located on the side of the second transfer device away from the second inlet / outlet, and the barcode scanning device is located below the tube-picking device.

[0015] In the preferred embodiment of the above-mentioned automated storage device, the second transfer device includes a fixed component and a lifting mechanism, a first horizontal sliding mechanism, a second horizontal sliding mechanism, a shovel mechanism, and a transfer assembly mounted on the fixed component. The first horizontal sliding mechanism is mounted on the lifting mechanism, and the shovel mechanism is mounted on the first horizontal sliding mechanism. The lifting mechanism is configured to drive the first horizontal sliding mechanism and the shovel mechanism to move vertically relative to the fixed component. The first horizontal sliding mechanism is configured to drive the shovel mechanism to move horizontally relative to the fixed component between the first inlet / outlet and the pipe-lifting device. The shovel mechanism is configured to rotate circumferentially to change direction between the second inlet / outlet and the pipe-lifting device and to extend and retract along its length to receive and transfer cryopreservation boxes. The transfer assembly is mounted on the second horizontal sliding mechanism. The transfer assembly is used to place cryopreservation boxes and is positioned towards the first inlet / outlet. The second horizontal sliding mechanism is configured to drive the transfer assembly towards the first inlet / outlet to transport the cryopreservation boxes located on the transfer assembly through the first inlet / outlet into the storage room.

[0016] In the preferred technical solution of the above-mentioned automated storage device, a maintenance room is also provided inside the box. The maintenance room is located on the side of the pipe-picking room away from the in-and-out buffer room. The maintenance room is connected to the storage room and the external environment of the box through the fourth entrance and the fifth entrance.

[0017] When the above technical solution is adopted, the automated storage device of the present invention is equipped with a storage room, a tube picking room, and an inbound / outbound buffer room inside the box, and the temperature in the tube picking room is lower than the temperature in the inbound / outbound buffer room. This arrangement can keep the cryopreservation tubes at a lower temperature during the tube picking process to ensure the activity of the samples. In addition, the tube picking room is not directly connected to the external environment, but is connected to the inbound / outbound buffer room, which can reduce the temperature difference when the cryopreservation box enters the tube picking room, thereby reducing the frosting phenomenon and ensuring normal barcode scanning and storage.

[0018] Furthermore, the refrigeration system in the pipe-picking room is set as an air-cooled refrigeration system, which has the ability to defrost during the refrigeration process. This allows for timely defrosting of the frost on the cryopreservation boxes and cryopreservation tubes entering the pipe-picking room, so that the barcode scanning device can scan and identify the barcodes normally and store and retrieve the cryopreservation boxes smoothly.

[0019] Furthermore, the ambient temperature inside the tube-picking room is set to -80°C to -120°C, so that the temperature inside the tube-picking room is close to or the same as the actual storage temperature of the sample, thereby ensuring the activity of the sample in the cryopreservation tube and preventing the sample from being damaged during the tube-picking operation.

[0020] Furthermore, setting the ambient temperature in the inbound and outbound buffer room to -10°C to -30°C can both meet the requirements of cryogenic box caching and reduce the low-temperature resistance of various mechanical equipment in the inbound and outbound buffer room, thereby reducing costs.

[0021] Furthermore, a rotary storage device is installed in the inbound and outbound buffer room, which can temporarily store frozen boxes in batches, improving the efficiency of automated storage. In addition, the rotary storage device is placed below the first transfer device to make reasonable use of space and reduce the volume of the inbound and outbound buffer room.

[0022] Furthermore, the third inlet and outlet are configured as a third main inlet and a third auxiliary inlet and outlet, with the third main inlet and outlet facing the first transfer device and the third auxiliary inlet and outlet facing the turntable storage device. This configuration allows the first transfer device to easily receive the cryogenic boxes outside the box through the third main inlet and outlet and to easily store the cryogenic boxes in batches into the turntable storage device through the third auxiliary inlet and outlet.

[0023] Furthermore, the second inlet / outlet is configured as a second main inlet / outlet and a second auxiliary inlet / outlet, with the second main inlet / outlet located above the second auxiliary inlet / outlet. This configuration allows the second transfer device to conveniently receive the cryogenic boxes located on the first transfer device and the turntable storage device through the second main inlet / outlet and the second auxiliary inlet / outlet, respectively.

[0024] Furthermore, the barcode scanning device is placed below the tube-picking device, and the second transfer device is placed between the tube-picking device and the second inlet / outlet. This arrangement facilitates the second transfer device to transfer the received cryopreservation boxes to the tube-picking device and the barcode scanning device. In addition, it can save space and reduce the volume occupied by the tube-picking area.

[0025] Furthermore, the second transfer device is configured as a fixed component and a lifting mechanism, a first horizontal sliding mechanism, a second horizontal sliding mechanism, a shovel mechanism, and a transfer assembly installed on the fixed component. In this configuration, the lifting mechanism and the first horizontal sliding mechanism work together to drive the shovel mechanism to move, so that the shovel mechanism can receive the cryopreservation boxes and transfer the cryopreservation boxes between the second inlet / outlet, the pipe-picking device, the barcode scanning device, and the transfer assembly. The second horizontal sliding mechanism can drive the transfer assembly to move toward the first inlet / outlet, so as to transfer the cryopreservation boxes located on the transfer assembly to the storage room.

[0026] Furthermore, a maintenance room is set up and located on the side of the pipe-picking room away from the inbound and outbound cache room. This arrangement reduces the size of the automated storage equipment through a reasonable layout. In addition, maintenance personnel can perform maintenance on the automated storage equipment through the maintenance room, making it more convenient to use. Attached Figure Description

[0027] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0028] Figure 1 This is a three-dimensional structural diagram of the automated storage device of the present invention;

[0029] Figure 2 This is a three-dimensional structural diagram of the automated storage device of the present invention with the hidden portion of the housing as shown.

[0030] Figure 3 This is a three-dimensional structural diagram of the automated storage device of the present invention after the storage room is hidden;

[0031] Figure 4 This is a three-dimensional structural diagram of the first transfer device and the turntable storage device of the present invention;

[0032] Figure 5 yes Figure 4 Enlarged structural diagram at point A;

[0033] Figure 6 yes Figure 4 Enlarged structural diagram at point B;

[0034] Figure 7 This is a three-dimensional structural schematic diagram of the second transfer device of the present invention;

[0035] Figure 8yes Figure 7 Enlarged structural diagram at point C;

[0036] Figure 9 This is a three-dimensional structural diagram of the barcode scanning device and the tube picking device of the present invention;

[0037] Figure 10 This is a three-dimensional structural diagram of the barcode scanning device of the present invention;

[0038] Figure 11 This is a three-dimensional structural schematic diagram of the tube-picking device of the present invention;

[0039] Figure 12 yes Figure 11 A magnified structural diagram at point D.

[0040] List of reference numerals in the attached diagram:

[0041] 1. Cabinet; 11. Storage room; 12. Pipe handling room; 13. Inbound / outbound buffer room; 14. First entrance / exit; 15. Second entrance / exit; 151. Second main entrance / exit; 152. Second auxiliary entrance / exit; 16. Third entrance / exit; 161. Third main entrance / exit; 162. Third auxiliary entrance / exit; 17. Maintenance room; 18. Fourth entrance / exit; 19. Fifth entrance / exit;

[0042] 2. First transfer device; 21. First fixing component; 22. First horizontal sliding mechanism; 221. First driving component; 222. First gear; 223. First rack; 23. Second horizontal sliding mechanism; 231. First mounting plate; 232. First driving mechanism; 233. Slide rail; 234. Slider; 24. Placement component; 25. First guide rail; 26. First guide slider;

[0043] 3. Turntable storage device; 31. Second fixing component; 32. Third driving component; 33. Transmission assembly; 34. Turntable assembly; 341. Turntable; 342. Shelf; 343. Storage component;

[0044] 4. Second transfer device; 41. Third fixing component; 42. First lifting mechanism; 43. Third horizontal sliding mechanism; 44. Fourth horizontal sliding mechanism; 45. Shovel mechanism; 451. Mounting component; 452. Second drive mechanism; 453. Shovel component; 454. Sliding mechanism; 46. Transfer assembly;

[0045] 5. Scanning device; 51. Fourth fixing component; 52. First camera; 53. Second camera;

[0046] 6. Pipe lifting device; 61. Clamping mechanism; 62. Pipe jacking component; 63. Pipe lifting mechanism; 64. Fifth horizontal sliding mechanism; 65. Sixth horizontal sliding mechanism; 66. Second lifting mechanism; 67. Third lifting mechanism. Detailed Implementation

[0047] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0048] It should be noted that in the description of this invention, terms such as "above" and "below" indicating directional or positional relationships are based on the directional or positional relationships shown in the accompanying drawings. This is merely for ease of description and does not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through other components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] The existing automated storage devices, as mentioned in the background art, are prone to sample damage during the tube-picking operation due to the temperature of the picking area being -20°C or -30°C, which can lead to prolonged picking time. The automated storage device of this invention comprises a storage room, a tube-picking room, and an in / out buffer room. The tube-picking room is connected to both the storage room and the in / out buffer room via a first inlet and a second inlet. The ambient temperature within the tube-picking room is lower than that within the in / out buffer room. By placing the tube-picking room between the in / out buffer room and the storage room, and ensuring its lower temperature, the ambient temperature of the cryopreserved tubes during the picking operation is reduced, thus preventing sample damage during the picking process. Furthermore, the tube-picking room is not directly connected to the external environment, effectively reducing frost formation during the picking process.

[0051] Specifically, such as Figures 1 to 3 As shown, the automated storage device of the present invention includes a housing 1 and a first transfer device 2, a barcode scanning device 5, a tube picking device 6 and a second transfer device 4 disposed within the housing 1.

[0052] Among them, such as Figure 2 and Figure 3 As shown, the enclosure 1 has a storage room 11, a pipe-lifting room 12, and an in-and-out buffer room 13. The pipe-lifting room 12 is connected to the storage room 11 through a first entrance 14, and the pipe-lifting room 12 is connected to the in-and-out buffer room 13 through a second entrance 15. The in-and-out buffer room 13 is connected to the external environment of the enclosure 1 through a third entrance 16. The ambient temperature in the storage room 11 and the pipe-lifting room 12 is lower than the ambient temperature in the in-and-out buffer room 13.

[0053] The first transfer device 2 is installed in the inbound / outbound buffer room 13. The first transfer device 2 is configured to pass through the third inbound / outbound entrance 16 to receive the frozen storage boxes located outside the box 1 and to transport the received frozen storage boxes.

[0054] The barcode scanning device 5, the tube picking device 6, and the second transfer device 4 are all installed in the tube picking room 12. The barcode scanning device 5 is used to scan the information codes on the cryopreservation boxes and the cryopreservation tubes located in the cryopreservation boxes. The tube picking device 6 can pick up the cryopreservation tubes on the cryopreservation boxes and transfer them to another cryopreservation box. The second transfer device 4 is configured to receive the cryopreservation boxes transported by the first transfer device 2 through the second inlet / outlet 15, and to transfer the cryopreservation boxes between the barcode scanning device 5, the tube picking device 6, and the storage room 11.

[0055] The automated storage device of the present invention is equipped with separate inbound / outbound buffer room 13, tube picking room 12, and storage room 11. The tube picking room 12 is located between the inbound / outbound buffer room 13 and the storage room 11, and is connected to the external environment through the inbound / outbound buffer room 13, but not directly connected to the external environment. This allows the tube picking room 12 to maintain a lower ambient temperature, thereby keeping the cryopreserved tubes in a low-temperature environment during the tube picking operation, ensuring the activity of the samples. Furthermore, the transfer of cryopreserved boxes from the inbound / outbound buffer room 13 to the tube picking room 12, due to the small temperature difference between the inbound / outbound buffer room 13 and the tube picking room 12, can reduce the frosting phenomenon of the cryopreserved boxes, ensuring that the barcode scanning device 5 can scan normally, thus enabling normal tube picking and storage of cryopreserved boxes.

[0056] Preferably, such as Figure 2 and Figure 3 As shown, a maintenance room 17 is also provided inside the enclosure 1. The maintenance room 17 is located on the side of the pipe-picking room 12 away from the in-and-out buffer room 13. The maintenance room 17 is connected to the storage room 11 through the fourth entrance 18, and the maintenance room 17 is connected to the external environment of the enclosure 1 through the fifth entrance 19.

[0057] A maintenance room 17 is set up inside the cabinet 1 to facilitate the maintenance of automated storage equipment by staff. The maintenance room 17 is located on the side of the pipe picking room 12 away from the inbound and outbound buffer room 13. The inbound and outbound buffer room 13, the pipe picking room 12 and the maintenance room 17 are arranged in sequence, which can save space and make more reasonable use of space.

[0058] It should be noted that the present invention does not impose any restrictions on the ambient temperature inside the tube picking room 12, as long as the sample stored inside the cryopreservation tube is not damaged due to excessive picking time during the tube picking operation. In practical applications, those skilled in the art can set the ambient temperature inside the tube picking room 12 according to the tolerance of the sample inside the cryopreservation tube.

[0059] Preferably, the ambient temperature inside the tube-picking chamber 12 is between -80°C and -120°C.

[0060] The ambient temperature inside the tube picking room 12 is set to -80°C to -120°C to ensure that the temperature inside the tube picking room 12 is consistent with the actual storage temperature of the storage area in the storage room 11. This ensures that the activity of the samples is maintained during the tube picking operation and that the samples are not damaged due to excessive picking time.

[0061] Preferably, the ambient temperature inside the buffer room 13 is between -10°C and -30°C.

[0062] Setting the ambient temperature inside the inbound / outbound buffer room 13 to -10°C to -30°C can meet the needs of transportation while reducing the low-temperature resistance requirements of the mechanical equipment inside the inbound / outbound buffer room 13, thereby reducing costs.

[0063] Preferably, the refrigeration system in the pipe-lifting chamber 12 is an air-cooled refrigeration system.

[0064] The refrigeration system in the pipe-picking room 12 is set as an air-cooled refrigeration system, which can defrost while refrigerating, thereby reducing the frost phenomenon in the pipe-picking room 12 and defrosting the frozen storage boxes in time during the transportation process, so as to ensure that the frozen storage boxes can be scanned and retrieved normally, thus improving efficiency.

[0065] Preferably, such as Figure 2 and Figure 3 As shown, the automated storage device of the present invention also includes a turntable storage device 3, which is installed in the inbound / outbound buffer room 13 and located below the first transfer device 2.

[0066] A turntable storage device 3 is set below the first transfer device 2, which can temporarily store frozen boxes in batches, thereby improving the efficiency of automatic storage. Setting the first transfer device 2 and the turntable storage device 3 vertically can save space and reduce the volume of the inbound and outbound buffer room 13.

[0067] Preferably, such as Figure 2 and Figure 3As shown, the third inlet / outlet 16 includes a third main inlet / outlet 161 and a third auxiliary inlet / outlet 162. The third main inlet / outlet 161 is located above the third auxiliary inlet / outlet 162. The third main inlet / outlet 161 is directly opposite to the first transfer device 2. The first transfer device 2 can receive cryogenic boxes located outside the box 1 through the third main inlet / outlet 161. The third auxiliary inlet / outlet 162 is directly opposite to the turntable storage device 3 so that cryogenic boxes can be stored in the turntable storage device 3 through the third auxiliary inlet / outlet 162.

[0068] The third inlet / outlet 16 is configured as a third main inlet / outlet 161 and a third auxiliary inlet / outlet 162. The third main inlet / outlet 161 facilitates the first transfer device 2 to receive and output cryopreservation boxes through the third main inlet / outlet 161, while the third auxiliary inlet / outlet 162 facilitates manual storage of cryopreservation boxes into the turntable storage device 3 in batches through the third auxiliary inlet / outlet 162, making it more convenient to use.

[0069] Preferably, such as Figure 2 and Figure 3 As shown, the second inlet / outlet 15 includes a second main inlet / outlet 151 and a second auxiliary inlet / outlet 152. The second main inlet / outlet 151 is located above the second auxiliary inlet / outlet 152. The second transfer device 4 is configured to receive cryopreservation boxes transported by the first transfer device 2 through the second main inlet / outlet 151, and to receive cryopreservation boxes located on the turntable storage device 3 through the second auxiliary inlet / outlet 152.

[0070] The second inlet / outlet 15 is configured as a second main inlet / outlet 151 and a second auxiliary inlet / outlet 152. The second main inlet / outlet 151 facilitates the second transfer device 4 to pass through the second main inlet / outlet 151 and dock with the first transfer device 2 to receive and transfer the cryopreservation boxes. The second auxiliary inlet / outlet 152 facilitates the second transfer device 4 to pass through the second auxiliary inlet / outlet 152 to receive the cryopreservation boxes located on the turntable storage device 3, thereby enabling the cryopreservation boxes to be transferred and stored smoothly.

[0071] It should be noted that the present invention does not impose any restrictions on the specific structure of the first transfer device 2, as long as the first transfer device 2 can transfer the cryopreservation box between the outside of the box body 1 and the picking tube 12. In practical applications, those skilled in the art can set the specific structure of the first transfer device 2 according to actual needs.

[0072] For example, such as Figure 4 and Figure 5As shown, the first transfer device 2 includes a first fixing member 21, a first horizontal sliding mechanism 22 and a second horizontal sliding mechanism 23 mounted on the first fixing member 21, and a placement member 24 for placing the cryopreservation box. The placement member 24 is mounted on the second horizontal sliding mechanism 23, and the second horizontal sliding mechanism 23 is mounted on the first horizontal sliding mechanism 22. The first horizontal sliding mechanism 22 is configured to drive the second horizontal sliding mechanism 23 and the placement member 24 to move relative to the first fixing member 21 between the second main inlet / outlet 151 and the third main inlet / outlet 161. The second horizontal sliding mechanism 23 is configured to drive the placement member 24 to move relative to the first fixing member 21 between the second main inlet / outlet 151 and the third main inlet / outlet 161.

[0073] When receiving and transferring cryopreservation boxes, the first horizontal sliding mechanism 22 first drives the second horizontal sliding mechanism 23 and the placement member 24 to move toward the third main inlet / outlet 161. At the same time, the second horizontal sliding mechanism 23 drives the placement member 24 to move toward the third main inlet / outlet 161, so that the second horizontal sliding mechanism 23 extends out of the third main inlet / outlet 161 and the placement member 24 is located at the end of the second horizontal sliding mechanism 23 away from the second main inlet / outlet 151, thereby receiving the cryopreservation boxes outside the box body 1. Afterwards, the first horizontal sliding mechanism 22 drives the second horizontal sliding mechanism 23 and the placement member 24 to move toward the second main inlet / outlet 151. At the same time, the second horizontal sliding mechanism 23 drives the placement member 24 to move toward the second main inlet / outlet 151 and the placement member 24 is located at the end of the second horizontal sliding mechanism 23 away from the third main inlet / outlet 161, so as to facilitate docking with the second transfer device 4.

[0074] like Figure 5 As shown, the first horizontal sliding mechanism 22 includes a first driving member 221 mounted on the first fixed member 21, a first gear 222 drivenly connected to the first driving member 221, and a first rack 223 meshing with the first gear 222. The two ends of the first rack 223 extend toward the second main inlet / outlet 151 and the third main inlet / outlet 161, respectively. The first rack 223 is connected to the second horizontal sliding mechanism 23, so that under the drive of the first driving member 221, the second horizontal sliding mechanism 23 and the placement member 24 can move relative to the first fixed member 21 between the second main inlet / outlet 151 and the third main inlet / outlet 161.

[0075] The first driving component 221 drives the first gear 222 to rotate, thereby driving the first rack 223 to move. When the first rack 223 moves, it drives the second horizontal sliding mechanism 23 and the placement component 24 to move simultaneously, thereby moving towards the second main entrance / exit 151 or towards the third main entrance / exit 161.

[0076] like Figure 5As shown, the first transfer device 2 also includes a first guide rail 25 and a first guide slider 26. The first guide rail 25 is mounted on the second horizontal sliding mechanism 23 and is arranged parallel to the first rack 223. The first guide slider 26 is mounted on the first fixed member 21 and slides along the first guide rail 25, thereby guiding the second horizontal sliding mechanism 23 and the placement member 24 when they move between the second main entrance / exit 151 and the third main entrance / exit 161.

[0077] The first guide rail 25 is arranged parallel to the first rack 223. When the first driving member 221 drives the first rack 223 to move, it simultaneously drives the first guide slider 26 to slide along the first guide rail 25, so that the second horizontal sliding mechanism 23 moves in a straight line along the first guide rail 25 when it moves. At the same time, it can also keep the first rack 223 and the first gear 222 in a meshing state to ensure a good driving effect.

[0078] like Figure 5 As shown, the second horizontal sliding mechanism 23 includes a horizontal first mounting plate 231 and a first drive mechanism 232, a slide rail 233, and a slider 234 mounted on the first mounting plate 231. A first rack 223 and a first guide rail 25 are mounted on the first mounting plate 231. The slide rail 233 is mounted on the first mounting plate 231, and both ends of the slide rail 233 extend toward the second main entrance 151 and the third main entrance 161, respectively. The slider 234 is fixedly mounted on the bottom of the placement member 24 and slides on the slide rail 233. The first drive mechanism 232 is connected to the slider 234 and can drive the slider 234 and the placement member 24 to move along the slide rail 233.

[0079] When the first drive mechanism 232 is running, it can drive the slider 234 to slide along the slide rail 233, thereby driving the placement component 24 to move between the two ends of the first mounting plate 231.

[0080] The first drive mechanism 232 includes a second drive component mounted on the first mounting plate 231, a drive pulley, a driven pulley, and a conveyor belt. The drive pulley and the driven pulley are connected by the conveyor belt, which is arranged parallel to the slide rail 233. The conveyor belt is fixedly connected to the slider 234. The second drive component is connected to the drive pulley and can drive the drive pulley to rotate, thereby moving the conveyor belt and simultaneously moving the slider 234 and the placement component 24 along the slide rail 233.

[0081] The second driving component drives the active pulley to rotate, which in turn drives the driven pulley and the conveyor belt to rotate. When the conveyor belt rotates, it can drive the slider 234 and the placement component 24 to slide along the slide rail 233, thereby changing the position of the placement component 24 to facilitate the receiving and transfer of cryopreservation boxes.

[0082] It should be noted that the present invention does not impose any restrictions on the specific structure of the turntable storage device 3, as long as the turntable storage device 3 can temporarily store frozen boxes in batches. In practical applications, those skilled in the art can design the turntable storage device 3 according to actual needs.

[0083] For example, such as Figure 6 As shown, the turntable storage device 3 includes a second fixing member 31 and a third driving member 32, a transmission assembly 33, and a turntable assembly 34 mounted on the second fixing member 31. The turntable assembly 34 includes a turntable 341 and multiple shelves 342 fixedly mounted on the turntable 341. The multiple shelves 342 are evenly arranged around the turntable 341. Multiple storage components 343 for placing frozen boxes are provided on the shelves 342. The multiple storage components 343 are evenly distributed along the vertical direction of the shelves 342. The third driving member 32 is connected to the turntable 341 through the transmission assembly 33 and can drive the turntable 341 to rotate through the transmission assembly 33.

[0084] The third driving component 32 drives the transmission component 33 to operate, thereby driving the turntable component 34 to rotate. During the rotation of the turntable component 34, different shelves 342 and multiple storage components 343 on the shelves 342 are positioned directly opposite the third auxiliary inlet / outlet 162 or the second auxiliary inlet / outlet 152, which facilitates the storage and transfer of cryopreservation boxes.

[0085] Preferably, such as Figure 2 and Figure 3 As shown, the second transfer device 4 is located near the second entrance / exit 15, the barcode scanning device 5 and the pipe-picking device 6 are located on the side of the second transfer device 4 away from the second entrance / exit 15, and the barcode scanning device 5 is located below the pipe-picking device 6.

[0086] Setting the second transfer device 4 between the second inlet / outlet 15 and the tube-picking device 6 can save space and facilitate the transfer of cryopreservation boxes. The barcode scanning device 5 is set below the tube-picking device 6, which can improve the utilization of space and reduce the volume of the tube-picking compartment 12.

[0087] Preferably, such as Figure 7 and Figure 8 As shown, the second transfer device 4 includes a third fixed component 41 and a first lifting mechanism 42, a third horizontal sliding mechanism 43, a fourth horizontal sliding mechanism 44, a shovel mechanism 45, and a transfer assembly 46 mounted on the third fixed component 41.

[0088] The third horizontal sliding mechanism 43 is mounted on the first lifting mechanism 42, and the shovel mechanism 45 is mounted on the third horizontal sliding mechanism 43. The first lifting mechanism 42 is configured to drive the third horizontal sliding mechanism 43 and the shovel mechanism 45 to move vertically relative to the third fixed member 41. The third horizontal sliding mechanism 43 is configured to drive the shovel mechanism 45 to move horizontally relative to the third fixed member 41 between the first inlet / outlet 14 and the lifting device 6. The shovel mechanism 45 is configured to rotate circumferentially to change direction between the second inlet / outlet 15 and the lifting device 6, and to extend and retract along its length to receive and transfer cryopreservation boxes. The transfer assembly 46 is mounted on the fourth horizontal sliding mechanism 44. The transfer assembly 46 is used to place cryopreservation boxes and is positioned towards the first inlet / outlet 14. The fourth horizontal sliding mechanism 44 is configured to drive the transfer assembly 46 to move towards the first inlet / outlet 14 so that the cryopreservation boxes located on the transfer assembly 46 can be transported through the first inlet / outlet 14 into the storage room 11.

[0089] Preferably, such as Figure 8 As shown, the shovel mechanism 45 includes a mounting component 451, a second drive mechanism 452, a shovel component 453 mounted on the mounting component 451, and a sliding mechanism 454. The mounting component 451 is rotatably connected to the third horizontal sliding mechanism 43. The second drive mechanism 452 is mounted on the third horizontal sliding mechanism 43 and is connected to the mounting component 451, and can drive the mounting component 451 to rotate circumferentially. The sliding mechanism 454 is mounted on the mounting component 451 and can drive the shovel component 453 to extend and retract along the length of the mounting component 451, so that the shovel component 453 can receive and transfer the cryopreservation box.

[0090] In practical applications, the sliding mechanism 454 can be configured as a drive component + gear + rack structure, wherein the rack is connected to the shovel plate component 453 so that it can move under the drive of the drive component. Alternatively, the sliding mechanism 454 can be configured as a drive component + lead screw + slider structure, wherein the slider is connected to the shovel plate component 453 so that it can move along the lead screw. Those skilled in the art can set the specific structure of the sliding mechanism 454 according to the actual situation. Such adjustments and changes to the specific structure of the sliding mechanism 454 do not depart from the principle of the present invention and should be limited to the protection scope of the present invention.

[0091] It should be noted that this invention does not impose any restrictions on the specific structure of the first lifting mechanism 42, as long as the first lifting mechanism 42 can drive the third horizontal sliding mechanism 43 and the shovel mechanism 45 to move vertically relative to the third fixed member 41. In practical applications, those skilled in the art can customize the specific structure of the first lifting mechanism 42 according to actual needs. For example, the first lifting mechanism 42 can be configured as a structure in which the driving member drives the lead screw to rotate and cooperates with the slider, or it can be configured as a structure in which the driving member drives the gear and cooperates with the rack, and so on. Such adjustments and changes to the specific structure of the first lifting mechanism 42 do not deviate from the principles of this invention and should all be limited to the protection scope of this invention.

[0092] It should also be noted that this invention does not impose any restrictions on the specific structures of the third horizontal sliding mechanism 43 and the fourth horizontal sliding mechanism 44. As long as the third horizontal sliding mechanism 43 can drive the shovel mechanism 45 to move between the first inlet / outlet 14 and the pipe-lifting device 6, and the fourth horizontal sliding mechanism 44 can drive the transfer component 46 to move towards the first inlet / outlet 14, it is sufficient. In practical applications, those skilled in the art can customize the specific structures of the third horizontal sliding mechanism 43 and the fourth horizontal sliding mechanism 44 according to actual needs. For example, the third horizontal sliding mechanism 43 and the fourth horizontal sliding mechanism 44 can be configured as a structure where the driving component drives the lead screw to rotate and cooperates with the slider; or, the third horizontal sliding mechanism 43 and the fourth horizontal sliding mechanism 44 can be configured as a structure where the driving component drives the gear and cooperates with the rack, and so on. Such adjustments and changes to the specific structures of the third horizontal sliding mechanism 43 and the fourth horizontal sliding mechanism 44 do not deviate from the principles of this invention and should all be limited to the scope of protection of this invention.

[0093] Preferably, such as Figure 9 and Figure 10 As shown, the scanning device 5 includes a fourth fixing component 51 and a first camera 52 and a second camera 53 mounted on the fourth fixing component 51. The first camera 52 is arranged in a horizontal direction and can scan the information code on the cryopreservation box. The second camera 53 is arranged in a vertical direction and can scan the information code located at the bottom of the cryopreservation tube inside the cryopreservation box.

[0094] The scanning device 5 is set as the first camera 52 and the second camera 53, which scan the information codes of the cryopreservation box and cryopreservation tube respectively, and can locate the position of the cryopreservation tube to facilitate tube picking and storage.

[0095] Preferably, such as Figure 11 and Figure 12As shown, the tube-picking device 6 includes a clamping mechanism 61 for fixing and holding the cryopreservation box, a tube-pushing component 62 for ejecting the cryopreservation tube, a tube-picking mechanism 63 for picking up the tube, a fifth horizontal sliding mechanism 64, a sixth horizontal sliding mechanism 65, a second lifting mechanism 66, and a third lifting mechanism 67, all mounted on the fourth fixing component 51.

[0096] like Figure 12 As shown, the clamping mechanism 61 is mounted on the fifth horizontal sliding mechanism 64, and the fifth horizontal sliding mechanism 64 is mounted on the sixth horizontal sliding mechanism 65. The fifth horizontal sliding mechanism 64 is configured to drive the clamping mechanism 61 to move relative to the fourth fixed member 51 along the X-axis direction, and the sixth horizontal sliding mechanism 65 is configured to drive the fifth horizontal sliding mechanism 64 and the clamping mechanism 61 to move relative to the fourth fixed member 51 along the Y-axis direction. Specifically, the X-axis direction refers to the direction from the fourth fixed member 51 towards the storage room 11 in the horizontal direction, and the Y-axis direction refers to the direction from the third main entrance / exit 161 towards the second main entrance / exit 151 in the horizontal direction.

[0097] like Figure 12 As shown, the tube-picking mechanism 63 is mounted on the second lifting mechanism 66. The tube-picking mechanism 63 is located above the clamping mechanism 61. The second lifting mechanism 66 is configured to drive the tube-picking mechanism 63 to move vertically relative to the fourth fixed member 51, so that the tube-picking mechanism 63 can clamp and transfer the frozen tube.

[0098] like Figure 12 As shown, the jacking tube component 62 is installed on the third lifting mechanism 67. The jacking tube component 62 is located below the cryopreservation box clamped and fixed by the clamping mechanism 61. The third lifting mechanism 67 is configured to drive the jacking tube component 62 to move vertically relative to the fourth fixed component 51, so as to lift the cryopreservation tube in the cryopreservation box upwards, thereby facilitating the tube picking mechanism 63 to clamp the cryopreservation tube.

[0099] It should be noted that this invention does not impose any restrictions on the specific structures of the fifth horizontal sliding mechanism 64 and the sixth horizontal sliding mechanism 65. As long as the fifth horizontal sliding mechanism 64 can drive the clamping mechanism 61 to move along the X-axis, and the sixth horizontal sliding mechanism 65 can drive both the fifth horizontal sliding mechanism 64 and the clamping mechanism 61 to move along the Y-axis, thus cooperating with the pipe-picking mechanism 63 for pipe picking and with the pipe-jacking component 62 for pipe jacking, it is sufficient. In practical applications, those skilled in the art can customize the specific structures of the fifth horizontal sliding mechanism 64 and the sixth horizontal sliding mechanism 65 according to actual needs. For example, the fifth horizontal sliding mechanism 64 and the sixth horizontal sliding mechanism 65 can be configured as a structure where the driving component drives the lead screw to rotate and cooperates with the slider; or, the fifth horizontal sliding mechanism 64 and the sixth horizontal sliding mechanism 65 can be configured as a structure where the driving component drives the gear and cooperates with the rack, etc. Such adjustments and changes to the specific structures of the fifth horizontal sliding mechanism 64 and the sixth horizontal sliding mechanism 65 do not deviate from the principles of this invention and should be limited to the scope of protection of this invention.

[0100] It should also be noted that this invention does not impose any restrictions on the specific structures of the second lifting mechanism 66 and the third lifting mechanism 67. As long as the second lifting mechanism 66 can drive the pipe-lifting mechanism 63 to move vertically, and the third lifting mechanism 67 can drive the jacking pipe component 62 to move vertically, it is sufficient. In practical applications, those skilled in the art can customize the specific structures of the second lifting mechanism 66 and the third lifting mechanism 67 according to actual needs. For example, the second lifting mechanism 66 and the third lifting mechanism 67 can be configured as a structure where the driving component drives the lead screw to rotate and cooperates with the slider; or, the second lifting mechanism 66 and the third lifting mechanism 67 can be configured as a structure where the driving component drives the gear and cooperates with the rack, etc. Such adjustments and changes to the specific structures of the second lifting mechanism 66 and the third lifting mechanism 67 do not deviate from the principles of this invention and should be limited to the scope of protection of this invention.

[0101] It should also be noted that the present invention does not impose any limitations on the specific structure of the tube-picking mechanism 63, as long as the tube-picking mechanism 63 can clamp, fix, and remove the cryopreservation tubes. For example, the tube-picking mechanism 63 includes a second mounting plate mounted on the second lifting mechanism 66 and a gripper cylinder mounted on the second mounting plate. Such adjustments and changes to the specific structure of the tube-picking mechanism 63 do not depart from the basic principles of the present invention and should be limited to the scope of protection of the present invention.

[0102] Finally, it should be noted that this invention does not impose any limitations on the specific structure of all the aforementioned driving components. In practical applications, those skilled in the art can customize the specific structure of the driving components according to actual needs. For example, the driving component can be configured as a servo motor, or it can be configured as a stepper motor, and so on. Such adjustments and changes to the specific structure of the driving component do not deviate from the basic principles of this invention and should all be limited to the scope of protection of this invention.

[0103] In addition to the above-mentioned device, the automated storage device of the present invention is also provided with automatic doors for opening and sealing the first entrance / exit 14, the second entrance / exit 15, the third entrance / exit 16, the fourth entrance / exit 18 and the fifth entrance / exit 19 respectively. The automatic doors only need to be able to open and seal the corresponding entrances / exits. Those skilled in the art can set the structure of the automatic doors according to actual needs, which will not be described in detail here.

[0104] The automated storage device of the present invention operates as follows when storing cryovials:

[0105] First, the first transfer device 2 extends out of the third main inlet 161 to receive the cryopreservation box outside the box body 1, and transports the received cryopreservation box toward the second main inlet 151.

[0106] Secondly, the shovel mechanism 45 moves to the second main inlet / outlet 151 under the drive of the first lifting mechanism 42 and the third horizontal sliding mechanism 43. The shovel component 453 extends out of the second main inlet / outlet 151 and receives the cryopreservation box located on the first transfer device 2.

[0107] Afterwards, the first lifting mechanism 42 and the third horizontal sliding mechanism 43 operate, transporting the shovel mechanism 45 to the side near the barcode scanning device 5. The shovel mechanism 45 then transfers the received cryopreservation box to the barcode scanning device 5 for scanning.

[0108] When the tube-picking operation is not required, the shovel mechanism 45, driven by the first lifting mechanism 42 and the third horizontal sliding mechanism 43, transfers the scanned cryopreservation box to the transfer assembly 46. The transfer assembly 46, driven by the fourth horizontal sliding mechanism 44, then passes the cryopreservation box through the first inlet 14 and transports it into the storage room 11. The storage work is completed after the equipment in the storage room 11 performs the storage.

[0109] When a tube-picking operation is required, the shovel mechanism 45, driven by the first lifting mechanism 42 and the third horizontal sliding mechanism 43, transfers the scanned cryopreservation box to the clamping mechanism 61 on the tube-picking device 6. The tube-picking device 6 then performs the tube-picking operation. After the tube-picking is completed, the shovel mechanism 45 receives the cryopreservation box located on the clamping mechanism 61 and, driven by the first lifting mechanism 42 and the third horizontal sliding mechanism 43, transfers the cryopreservation box again to the scanning device 5 for scanning. After scanning, the scanned cryopreservation box is transferred to the transfer assembly 46. The transfer assembly 46, driven by the fourth horizontal sliding mechanism 44, passes the cryopreservation box through the first inlet / outlet 14 and transports it into the storage room 11. The storage is then completed by the equipment in the storage room 11.

[0110] The automated storage device of the present invention operates as follows when storing cryovials in batches:

[0111] First, staff members store multiple cryopreservation boxes onto the rotary storage device 3 through the third auxiliary entrance / exit 162.

[0112] Secondly, the shovel mechanism 45 moves to the second auxiliary inlet / outlet 152 under the drive of the first lifting mechanism 42 and the third horizontal sliding mechanism 43. The shovel component 453 extends out of the second auxiliary inlet / outlet 152 and receives the cryogenic box located on the turntable storage device 3.

[0113] Subsequently, the first lifting mechanism 42 and the third horizontal sliding mechanism 43 operate to transport the shovel mechanism 45 to the side near the barcode scanning device 5. The shovel mechanism 45 then transfers the received cryopreservation box to the barcode scanning device 5 for scanning.

[0114] Finally, driven by the first lifting mechanism 42 and the third horizontal sliding mechanism 43, the shovel mechanism 45 transfers the scanned cryopreservation box to the transfer assembly 46. The transfer assembly 46, driven by the fourth horizontal sliding mechanism 44, then passes the cryopreservation box through the first inlet / outlet 14 and transports it into the storage room 11. After storage by the equipment in the storage room 11, the storage of one cryopreservation box is completed. Then, the shovel mechanism 45 repeats the above steps to transfer other cryopreservation boxes located on the turntable storage device 3 to the transfer assembly 46 for sequential storage.

[0115] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. An automated storage and retrieval device, characterized by, The automatic storage device comprises: a box body having a storage room, a tube picking room and an in-out warehouse buffer room, the tube picking room is communicated with the storage room through a first entrance and exit, the tube picking room and the in-out warehouse buffer room are communicated through a second entrance and exit, the in-out warehouse buffer room is communicated with the external environment of the box body through a third entrance and exit, the ambient temperature in the storage room and the tube picking room is lower than the ambient temperature in the in-out warehouse buffer room; a first transfer device installed in the in-out warehouse buffer room, the first transfer device is arranged to be capable of passing through the third entrance and exit to receive a cryopreservation box located outside the box body and capable of conveying the received cryopreservation box; a code scanning device installed in the tube picking room; a tube picking device installed in the tube picking room; and a second transfer device installed in the tube picking room, the second transfer device is arranged to be capable of receiving the cryopreservation box conveyed by the first transfer device through the second entrance and exit and capable of transferring the cryopreservation box between the code scanning device, the tube picking device and the storage room; The automatic storage device further comprises a turntable storage device for storing a plurality of cryopreservation boxes arranged in the in-out warehouse buffer room, the turntable storage device is located below the first transfer device; The second entrance and exit comprises a second main entrance and exit and a second auxiliary entrance and exit, the second main entrance and exit is located above the second auxiliary entrance and exit, the second transfer device is arranged to be capable of receiving the cryopreservation box conveyed by the first transfer device through the second main entrance and exit and capable of receiving the cryopreservation box located on the turntable storage device through the second auxiliary entrance and exit; The refrigeration system in the tube picking room is a air-cooled refrigeration system.

2. The automated storage and retrieval device of claim 1, wherein, The ambient temperature in the tube picking room is minus 80 to minus 120 degrees Celsius.

3. The automated storage and retrieval device of claim 1, wherein, The ambient temperature in the in-out warehouse buffer room is minus 10 to minus 30 degrees Celsius.

4. The automated storage and retrieval device of claim 1, wherein, The third entrance and exit comprises a third main entrance and exit and a third auxiliary entrance and exit, the third main entrance and exit is located above the third auxiliary entrance and exit, the third main entrance and exit is arranged opposite to the first transfer device, the first transfer device is capable of passing through the third main entrance and exit to receive the cryopreservation box located outside the box body, the third auxiliary entrance and exit is arranged opposite to the turntable storage device to facilitate the storage of the cryopreservation box in the turntable storage device through the third auxiliary entrance and exit.

5. The automated storage and retrieval device of claim 1, wherein, The second transfer device is arranged close to the second entrance and exit, the code scanning device and the tube picking device are located on the side of the second transfer device away from the second entrance and exit, and the code scanning device is located below the tube picking device.

6. The automated storage and retrieval device of claim 5, wherein, The second transfer device comprises a fixed member, a lifting mechanism, a first horizontal sliding mechanism, a second horizontal sliding mechanism, a shovel disc mechanism and a transfer assembly installed on the fixed member; The first horizontal sliding mechanism is mounted on the lifting mechanism, and the shovel mechanism is mounted on the first horizontal sliding mechanism. The lifting mechanism is configured to drive the first horizontal sliding mechanism and the shovel mechanism to move vertically relative to the fixed member. The first horizontal sliding mechanism is configured to drive the shovel mechanism to move horizontally relative to the fixed member between the first inlet / outlet and the pipe-lifting device. The shovel mechanism is configured to rotate circumferentially to change direction between the second inlet / outlet and the pipe-lifting device and to extend and retract along its length to receive and transfer the cryopreservation box. The transfer component is mounted on the second horizontal sliding mechanism. The transfer component is used to place the cryopreservation box and is positioned towards the first inlet / outlet. The second horizontal sliding mechanism is configured to move the transfer component toward the first inlet / outlet so as to transport the cryopreservation box located on the transfer component through the first inlet / outlet into the storage room.

7. The automated storage and retrieval device of any one of claims 1 to 6, wherein, The enclosure also includes a maintenance room, which is located on the side of the pipe-picking room away from the inlet and outlet buffer room. The maintenance room is connected to the storage room and the external environment of the enclosure through the fourth and fifth entrances.

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