Low temperature storage device

Abstract

The present application relates to biological sample storage, and specifically provides a low-temperature storage device, aiming at solving the problem that the cryopreservation rack in the low-temperature storage device in the prior art is a single-section structure, that is, the length size cannot be adjusted, resulting in that the lifting space occupied by the lifting mechanism for lifting the entire cryopreservation rack is large, thereby indirectly causing the problem of small inventory capacity. For this purpose, the low-temperature storage device of the present application comprises a cryopreservation library, a first transfer mechanism and a lifting separation mechanism, the cryopreservation library is provided with a freezing zone, the freezing zone is provided with a cryopreservation rack, the cryopreservation rack comprises at least two sub-racks capable of being combined together or split, and a plurality of cryopreservation boxes are arranged in the sub-racks. The cryopreservation rack designed by the present application can be combined and split, realizes the adjustment function of the length size of the cryopreservation rack, and under the action of the lifting separation mechanism, the sub-racks can be lifted to the outside of the freezing zone for splitting, and then the remaining sub-racks are lifted, the space occupied by the entire lifting outside the freezing zone is small, and the library capacity is improved.

Description

Technical Field

[0001] This invention relates to biological sample storage, and specifically provides a low-temperature 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 storage and retrieval processes and procedures. Long-term storage of biological samples typically requires the use of the lowest possible temperatures to reduce biochemical reactions within the samples and improve the stability of various components. To achieve long-term, stable, and reliable storage and retrieval of large quantities of biological samples, the development and use of automated low-temperature or ultra-low-temperature biological sample storage and retrieval equipment is an inevitable direction for development.

[0003] However, in the existing technology, the cryogenic storage rack in the low-temperature storage equipment is a single-section structure, that is, the length dimension cannot be adjusted, which results in a large lifting space occupied by the lifting mechanism to lift the entire cryogenic storage rack, thus indirectly leading to a small storage capacity.

[0004] Accordingly, the present invention requires a new cryogenic storage device to solve the above-mentioned technical problems. Summary of the Invention

[0005] The present invention aims to solve the above-mentioned technical problems, namely, to solve the problem that the cryogenic rack in the existing low-temperature storage equipment is a single-section structure, that is, the length dimension cannot be adjusted, which results in the lifting mechanism occupying a large lifting space to lift the entire cryogenic rack, thereby indirectly leading to the problem of small storage capacity.

[0006] To this end, the present invention provides a low-temperature storage device, comprising a cryogenic storage chamber, a first transfer mechanism, and a lifting and separating mechanism. The cryogenic storage chamber has a freezing zone, in which cryogenic racks are placed. Each cryogenic rack includes at least two modular racks that can be combined or separated. Multiple cryogenic boxes are placed within each modular rack. The first transfer mechanism is located inside the cryogenic storage chamber outside the freezing zone. The lifting and separating mechanism is mounted on the first transfer mechanism. The first transfer mechanism drives the lifting and separating mechanism to move and lift cryogenic racks at different positions. The lifting and separating mechanism is configured to lift and separate the cryogenic racks in the freezing zone to transfer the modular racks to the outside of the freezing zone, or to combine the separated modular racks into a cryogenic rack and place it back into the freezing zone.

[0007] With the above technical solution, the cryopreservation rack is composed of at least two separate racks, and can also be disassembled, realizing the adjustment function of the length of the cryopreservation rack. Under the action of the lifting and separating mechanism, the separate racks can be combined into a cryopreservation rack, and the cryopreservation rack can also be disassembled according to the separate racks. Thus, during the process of lifting the cryopreservation rack to the outside of the freezing zone, the separate racks located on the outside of the freezing zone can be separated from the cryopreservation rack before the remaining separate racks are lifted to the outside of the freezing zone. The vertical space occupied by the entire lifting is reduced on the outside of the freezing zone. Under the same space, the storage capacity is increased compared with the use of a single-section cryopreservation rack.

[0008] In a specific embodiment of the above-mentioned low-temperature storage device, the low-temperature storage device further includes a second transfer mechanism, which is configured to remove the cryopreservation box from the sub-rack and transfer it to the discharge port of the cryopreservation chamber, or transfer the cryopreservation box from the discharge port of the cryopreservation chamber to the cryopreservation chamber and place it on the sub-rack.

[0009] When the above technical solution is adopted, the second transfer mechanism is used to transfer the frozen storage box to the discharge port or transfer the frozen storage box from the discharge port into the frozen storage room. It can be carried out simultaneously with the transfer action of the first transfer mechanism, which improves the efficiency of picking up or putting down the box.

[0010] In a specific embodiment of the above-mentioned low-temperature storage device, the lifting and separation mechanism includes a lifting mechanism, a first clamping mechanism, and a second clamping mechanism disposed on the first transfer mechanism. The first clamping mechanism is located directly below the lifting mechanism. Both the first clamping mechanism and the second clamping mechanism are capable of clamping the sub-rack body. The lifting mechanism is configured to lift or return the cryogenic rack of the freezing zone to its original position. The lifting mechanism, the first clamping mechanism, and the second clamping mechanism cooperate with each other to disassemble the cryogenic rack or assemble the sub-rack bodies.

[0011] With the above technical solution, the present invention uses only one lifting mechanism, which, together with the first clamping mechanism and the second clamping mechanism, realizes the lifting, disassembly and assembly of the cryopreservation rack. Since only one lifting mechanism is used, the overall cost of the lifting and separation mechanism is reduced.

[0012] In a specific embodiment of the aforementioned cryogenic storage device, the number of second clamping mechanisms is one less than the number of sub-racks, and they are arranged side-by-side. The second clamping mechanisms are positioned opposite to the lifting mechanism. The second clamping mechanisms are connected to a first linear actuator, which is mounted on the first transfer mechanism. The first linear actuator can drive the second clamping mechanisms to move longitudinally relative to the lifting mechanism and the first clamping mechanism, thereby splitting or combining two adjacent sub-racks; and / or,

[0013] The first clamping mechanism and the second clamping mechanism have the same structure. The first clamping mechanism includes a support plate, a clamping driver and two clamping rods. The support plate is disposed on the first transfer mechanism, the clamping driver is disposed on the support plate, and the two clamping rods are slidably connected to the support plate. The clamping driver drives the two clamping rods to move closer or further away from each other to clamp or release the frame body.

[0014] With the above technical solution, the cooperation of the first clamping mechanism, the second clamping mechanism and the lifting mechanism realizes the lifting, disassembly and assembly of the cryopreservation rack. Since the first clamping mechanism and the second clamping mechanism are both located above the inner storage, normal use is avoided due to the low temperature of the inner storage.

[0015] In a specific embodiment of the above-mentioned low-temperature storage device, the lifting mechanism includes a lifter and a gripper. The lifter is mounted on the first transfer mechanism. The lifter is configured to drive the gripper to move up and down. The gripper is configured to grip the sub-frame.

[0016] Preferably, the gripper includes a gripping plate, the bottom end of which is provided with a gripping groove, the gripping groove having a T-shaped structure, and the two sides of the gripping groove are respectively provided with a first recessed edge groove.

[0017] With the above technical solution, the lifting device drives the gripper to move up and down, thereby realizing the function of automatically gripping the cryopreservation rack. The gripping slot is provided with a first edge groove, which allows the extraction hook on the sub-rack to be inserted into the first edge groove to limit the displacement of the sub-rack and ensure that the gripper can successfully separate two adjacent sub-racks. The gripper has a simple overall structure and is easy to use.

[0018] In a specific embodiment of the above-mentioned low-temperature storage device, an extraction hook is fixed at the top of the sub-frame and an extraction groove is fixed at the bottom of the sub-frame. The extraction hook and the extraction groove can hook onto or separate from each other, so as to realize that two adjacent sub-frames can be combined together or separated in an up-down arrangement.

[0019] Preferably, the extraction groove is a T-shaped slide groove, and the two sides of the T-shaped slide groove are respectively provided with a second recessed edge groove. The extraction hook is a T-shaped slider. The T-shaped slider can be inserted into the T-shaped slide groove and sink into the second edge groove to realize the detachable connection of two adjacent sub-frames. The T-shaped slider can be inserted into the gripping groove, and the edge of the T-shaped slider can sink into the first edge groove so that the sub-frame moves with the gripper.

[0020] With the above technical solution, the extraction hook can be inserted into the extraction slot in a set direction and taken out in a set direction, realizing the combination or disassembly of multiple sub-frames. The combination and disassembly methods are simple and easy to operate. At the same time, when the extraction slot is a T-shaped slide and the extraction hook is a T-shaped slider, the T-shaped slider is inserted into the T-shaped slide, and the edge of the T-shaped slider is embedded in the second overlap groove, which restricts the displacement of the T-shaped slider. This means that the T-shaped slider can only move upward and be pulled out of the second overlap groove before it can be moved out of the T-shaped slide. This ensures that the two adjacent sub-frames will not shift in position in a free state after being combined, thus improving the stability of the combination.

[0021] In a specific embodiment of the above-mentioned low-temperature storage device, the cryopreservation chamber includes an outer chamber and an inner chamber. The inner chamber is located inside the outer chamber. The top of the inner chamber is covered with a cover plate. A discharge port is provided on one side wall of the outer chamber. A refrigeration system is installed inside the inner chamber. The inner cavity of the inner chamber constitutes the freezing zone.

[0022] With the above technical solution, the cryopreservation facility adopts a dual insulation structure of inner and outer chambers, which has high insulation performance. The upper part of the freezing area is covered with a cover plate. When taking out or putting in the cryopreservation box, the cover plate is opened and then put back in its original position, which can effectively prevent the loss of cold air and achieve the ultra-low temperature requirements for sample storage.

[0023] In a specific embodiment of the above-mentioned cryogenic storage device, the first transfer mechanism includes a bracket, a second linear actuator, a third linear actuator, and a sixth linear actuator. The third linear actuator is installed at the top of the inner chamber. The bracket is located above the inner chamber and connected to the third linear actuator. The third linear actuator drives the bracket to move laterally above the inner chamber. The second linear actuator, the sixth linear actuator, and the first linear actuator are all disposed on the bracket. The second linear actuator drives the lifting mechanism to move longitudinally, and the sixth linear actuator drives the first clamping mechanism to move longitudinally.

[0024] In a specific embodiment of the above-mentioned low-temperature storage device, the second transfer mechanism includes a walking drive assembly, a first support plate, a first lifting assembly, an angle rotation assembly, and a box retrieval assembly. The walking drive assembly is disposed on the inner chamber. The first support plate is located above the inner chamber and connected to the walking drive assembly. The walking drive assembly is configured to drive the first support plate to move laterally and longitudinally. The first lifting assembly is disposed on the first support plate. The first lifting assembly is connected to the angle rotation assembly so that it can move up and down. The angle rotation assembly is connected to the box retrieval assembly so that it can rotate. The box retrieval assembly is configured to lift out or lift in the cryogenic box in the cryogenic rack. A temporary storage box is fixed on the first support plate.

[0025] Preferably, the box-retrieving assembly includes a second support plate, a tray, and a telescopic device. The second support plate is connected to the angle rotation assembly, and the tray is slidably connected to the second support plate. The telescopic device is mounted on the second support plate and connected to the tray to drive the tray to extend or retract. The tray is capable of supporting the cryopreservation box.

[0026] With the above technical solution, the automatic box picking or placing function is realized through the cooperation of the walking drive component, the first lifting component, the angle rotation component and the box picking component. The automation level is high, the box picking efficiency is improved, and the temporary storage box can temporarily store the frozen boxes. This makes it easy to pick up or place multiple frozen boxes in one stroke of the second transfer mechanism, reducing the number of times the second transfer mechanism moves between the frozen storage rack and the discharge port, and improving work efficiency.

[0027] In a specific embodiment of the above-mentioned low-temperature storage device, the low-temperature storage device further includes a lid opening mechanism, which is disposed on the support and configured to grasp the lid and move it upward to open the inner storage.

[0028] With the above technical solution, the opening mechanism can automatically grab the cover and move it up to open the inner warehouse, thus realizing the function of automatically opening or closing the inner warehouse. Attached Figure Description

[0029] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0030] Figure 1 This is an overall appearance drawing of the low-temperature storage device provided by the present invention;

[0031] Figure 2 This is an overall view of the cryopreservation facility;

[0032] Figure 3 This is a schematic diagram of the internal structure of the cryopreservation facility;

[0033] Figure 4 yes Figure 3 Enlarged structural diagram of the first transfer mechanism, the lifting and separation mechanism, and the second transfer mechanism;

[0034] Figure 5 This is an enlarged view of the structure of the first transfer mechanism, the lifting and separating mechanism, and the opening mechanism;

[0035] Figure 6 yes Figure 5 A schematic diagram of the structure of the gripper;

[0036] Figure 7 yes Figure 5 Enlarged view of the structure of the second clamping mechanism;

[0037] Figure 8 This is a schematic diagram of the opening claw structure;

[0038] Figure 9 This is a schematic diagram of the cryopreservation rack;

[0039] Figure 10 This is a schematic diagram of the second transfer mechanism;

[0040] Figure 11 This is a structural schematic diagram of the second transfer mechanism from another angle;

[0041] Figure 12 This is a structural diagram of the temporary storage box;

[0042] Figure 13 This is a structural diagram of the cover plate.

[0043] List of reference numerals in the attached diagram:

[0044] 1. Frozen storage warehouse; 11. Outer warehouse; 111. Discharge port; 12. Inner warehouse; 121. Grille frame; 2. Buffer warehouse; 3. Frozen storage rack; 31. Sub-rack body; 32. Extraction hook; 33. Extraction slot; 4. Second transfer mechanism; 41. Walking drive assembly; 411. Fourth linear actuator; 4111. Fourth motor; 4112. Fourth rack; 412. Fifth linear actuator; 4121. Seventh motor; 4122. Seventh slide rail; 413. Crossbeam; 42. Box retrieval assembly; 421. Pallet; 422. Second support plate; 423. Telescopic device; 4231. Fifth motor; 4232. Fifth slide rail; 43. First lifting assembly; 431. Connecting plate; 432. Lifting motor; 433. Fourth support plate; 44. Angle rotation assembly; 441. Rotation motor; 442. Third support plate 45. Plate; Temporary storage box; 451. Support rod; 46. First support plate; 5. First transfer mechanism; 51. Bracket; 52. Second linear actuator; 521. First moving plate; 522. Second motor; 53. Third linear actuator; 6. Lifting and separating mechanism; 61. Lifting mechanism; 611. Gripper; 6111. Gripping slot; 6112. Gripping plate; 6113. First overlapping slot; 612. Lifter; 62. Second clamping mechanism; 621. Clamping actuator; 622. Clamping rod; 623. Support plate; 63. First clamping mechanism; 64. First linear actuator; 641. Second moving plate; 642. Third motor; 7. Opening mechanism; 71. Opening frame; 72. Second lifting assembly; 721. Sixth motor; 722. Sixth slider; 73. Opening claw; 8. Cover plate. Detailed Implementation

[0045] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. It should be understood by those skilled in the art 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. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0046] It should be noted that in the description of this invention, terms such as "upper," "lower," "lateral," "longitudinal," "inner," and "outer," which indicate direction or positional relationships, are based on the direction or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the relevant devices or elements must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, ordinal numbers such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation" and "connection" 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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0048] First refer to Figure 3 , Figure 4 and Figure 9 This invention provides a low-temperature storage device, which includes a cryopreservation chamber 1, a first transfer mechanism 5, and a lifting and separating mechanism 6. The cryopreservation chamber 1 has a freezing zone, and cryopreservation racks 3 are placed in the freezing zone. The first transfer mechanism 5 is located above the freezing zone, and the lifting and separating mechanism 6 is located on the first transfer mechanism 5. The cryopreservation racks 3 include at least two rack bodies 31 that can be combined or separated. Multiple cryopreservation boxes are placed in the rack bodies 31. The first transfer mechanism 5 drives the lifting and separating mechanism 6 to move to lift the cryopreservation racks 3 at different positions. The lifting and separating mechanism 6 is configured to lift the cryopreservation racks 3 in the freezing zone upward and separate them so that the rack bodies 31 can be transferred to the outside of the freezing zone, or the separated rack bodies 31 can be combined into cryopreservation racks 3 and placed back into the freezing zone.

[0049] See below. Figure 1 , Figure 2 and Figure 13The cryogenic storage 1 includes an outer storage 11 and an inner storage 12. The inner storage 12 is located inside the outer storage 11. The top of the inner storage 12 is an open structure. The top of the inner storage 12 is covered by multiple cover plates 8 arranged side by side to cover the entire top of the inner storage 12. Four handles are fixed to the top of the cover plates 8. The four handles are arranged to form a rectangular structure, and the four handles are located at the corners of the four rectangles. A grid frame 121 is fixed inside the inner storage 12. The grid frame 121 has receiving holes, and cryogenic racks 3 are placed in the receiving holes. A discharge port 111 is provided on one side wall of the outer storage 11. A refrigeration system is installed inside the inner storage 12. The refrigeration system is a liquid nitrogen refrigeration system. The inner cavity of the inner storage 12 is a freezing zone. The cover plates, the outer storage 11, and the inner storage 12 are all made of insulation board.

[0050] The inner storage chamber 12 is located inside the outer storage chamber 11. Both the inner and outer storage chambers 12 are made of insulation panels. The top of the inner storage chamber 12 is covered with a cover plate. The cryopreservation chamber 1 adopts a double insulation structure with good insulation and sealing, which can effectively prevent the loss of cold air. The upper part of the freezing area is covered with multiple covers, which helps to reduce the loss of cold air. At the same time, when taking out or putting in the cryopreservation box, only the cover plate used for the taking out or putting in needs to be opened. The covers in other positions do not move. After use, the covers are put back in their original positions, which also helps to reduce the loss of cold air and achieves the ultra-low temperature requirements for sample storage.

[0051] Continue reading Figure 9 The side wall of the discharge port 111 on the sub-frame 31 facing the cryogenic storage 1 is an open structure. Multiple support rods arranged vertically at equal intervals are fixed on the two side walls inside the sub-frame 31. The cavity between adjacent support rods forms a storage cavity for placing cryogenic boxes. The two edges of the cryogenic boxes rest on support rods of the same height to support the cryogenic boxes and realize the function of placing the cryogenic boxes in the storage cavity. Since there are multiple support rods, multiple storage cavities arranged vertically at equal intervals are formed inside the sub-frame 31, which can hold multiple cryogenic boxes at the same time to increase the capacity of the cryogenic storage 1. The cryogenic boxes are taken out from the opening of the sub-frame.

[0052] Continue reading Figure 9 The top of the sub-frame 31 is fixed with an extraction hook 32, and the bottom of the sub-frame 31 is fixed with an extraction groove 33. The extraction hook 32 and the extraction groove 33 can hook onto each other or separate, so that two adjacent sub-frames 31 can be arranged in an up-down manner or separated.

[0053] For example, the extraction groove 33 is a T-shaped slide groove, and the two sides of the T-shaped slide groove are respectively provided with a second recessed edge groove. The extraction hook 32 is a T-shaped slider. The T-shaped slider is inserted into the T-shaped slide groove to hook the T-shaped slide groove. The two ends of the T-shaped slide groove are open structures so that the T-shaped slider can be inserted into or removed from the T-shaped slide groove. After the T-shaped slider is inserted into the T-shaped slide groove, the edge of the T-shaped slider can sink into the second edge groove so that the two adjacent sub-frames will not shift in position in the free state after being combined. When the upper sub-frame 31 is lifted, the adjacent lower sub-frame 31 moves upward with the cooperation of the T-shaped slider and the T-shaped slide groove. When disassembling, simply move the T-shaped slider upward and pull it out from the second edge groove and then remove it from the T-shaped slide groove to separate the two adjacent sub-frames 31. When assembling, the T-shaped slider is inserted into the T-shaped slide groove to achieve assembly.

[0054] See Figure 4 The first transfer mechanism 5 includes a bracket 51, a second linear actuator 52, a third linear actuator 53, and a sixth linear actuator. The third linear actuator 53 is mounted on the top of the inner storage 12. The bracket 51 is located above the inner storage 12 and connected to the third linear actuator 53. The third linear actuator 53 drives the bracket 51 to move laterally above the inner storage 12. The second linear actuator 52, the sixth linear actuator, and the first linear actuator 64 are all mounted on the bracket 51. The second linear actuator 52 drives the lifting mechanism to move longitudinally, and the sixth linear actuator drives the first clamping mechanism to move longitudinally.

[0055] Specifically, a third linear actuator 53 is provided at the top of each of the two side walls of the inner storage 12. The third linear actuator 53 is connected to the end of the bracket 51 so that the bracket 51 spans the inner storage 12. The third linear actuator 53 includes a first slide rail, a first rack, a first gear, and a first motor. The first slide rail and the first rack are fixed to the top of the side walls of the inner storage 12. The first slide rail and the first rack are parallel to each other. A first slider is slidably connected to the first slide rail. The first slider is fixedly connected to the bottom end of the bracket 51. A first motor is fixed on the first slider. A first gear is fixed on the output shaft of the first motor. The first gear meshes with the first rack so that when the first motor drives the first gear to rotate, the first slider drives the bracket 51 to move laterally under the cooperation of the first gear and the first rack.

[0056] See Figure 4 and Figure 5The support 51 is a rectangular frame structure with open top and bottom ends to facilitate lifting the cryopreservation rack 3. The second linear actuator 52 and the first linear actuator 64 are fixed to the inner side walls of the support 51, so that the second linear actuator 52 and the first linear actuator 64 are arranged opposite to each other. The second linear actuator 52 includes a first moving plate 521, a second motor 522, a second slide rail, a second rack, and a second gear. The second slide rail and the second rack are fixed to the inner side walls of the support 51. A second slider is slidably connected to the second slide rail. The first moving plate 521 is fixed to the second slider. The second motor 522 is fixed to the first moving plate 521, and a second gear is fixed to the output shaft of the second motor 522. The second gear meshes with the second rack. The second motor 522 drives the second gear to rotate, causing the first moving plate 521 to move longitudinally. The sixth linear actuator includes an eighth slide rail, an eighth rack, an eighth motor, and an eighth slider. The eighth slide rail and the eighth rack are both fixed to the bottom of the bracket. The eighth slider is slidably connected to the eighth slide rail. The eighth motor is mounted on the first clamping mechanism. The output shaft of the eighth motor is fixed to the eighth gear meshing with the eighth rack. The first clamping mechanism can move longitudinally by rotating the eighth gear driven by the eighth motor.

[0057] Those skilled in the art will understand that although the first linear actuator 64 is disposed on the side wall of the bracket 51 opposite to the second linear actuator 52 to drive the second clamping mechanism 62 to move longitudinally, this does not limit the scope of protection of the present invention. The first linear actuator 64 can also be located on the same side as the second linear actuator 52, that is, the first linear actuator 64 is disposed on the side wall of the bracket 51 on which the second linear actuator 52 is mounted. However, disposing of the first linear actuator 64 on the side wall of the bracket 51 opposite to the second linear actuator 52 is a preferred embodiment of the present invention, which is not only simple in structure and convenient in operation, but also capable of driving multiple parallel second clamping mechanisms 62 to move together, unaffected by the position of the lifting mechanism 61.

[0058] Continue reading Figure 5 The first linear actuator 64 includes a second moving plate 641, a third motor 642, a third rack, a third slide rail, and a third gear. The third rack and the third slide rail are both fixed on the other side arm inside the bracket 51. A third slider is slidably connected to the third slide rail. The second moving plate 641 is fixed to the third slider. The third motor 642 is fixed on the second moving plate 641. The third gear is fixed on the output shaft of the third motor 642. The third gear meshes with the third rack. The third motor 642 drives the third gear to rotate, and the second moving plate 641 moves longitudinally under the condition that the third gear meshes with the third rack.

[0059] Those skilled in the art will understand that the first linear actuator 64, the second linear actuator 52, and the third linear actuator 53 described above use a gear and rack mechanism to achieve linear motion, but this should not limit the scope of protection of the present invention. Any suitable structure that can perform linear motion in the cold environment of the cryogenic storage 1 is acceptable, such as a lead screw linear module.

[0060] Continue reading Figure 4 and Figure 5 The lifting and separating mechanism 6 includes a lifting mechanism 61, a first clamping mechanism 63, and a second clamping mechanism 62. The lifting mechanism 61 is mounted on the first moving plate 521 so that the second linear actuator 52 can drive the lifting mechanism 61 to move longitudinally to lift the freezer racks 3 at different positions. The first clamping mechanism 63 is located directly below the lifting mechanism 61. A sixth linear actuator (not shown in the figure) is mounted at the bottom of the support and drives the first clamping mechanism to move longitudinally relative to the lifting mechanism. The second clamping mechanism 62 is mounted on the second moving plate 641. Both the first clamping mechanism 63 and the second clamping mechanism 62 can clamp the separate rack bodies 31. The lifting mechanism 61 is configured to lift or return the freezer racks 3 in the freezing zone to their original positions. The lifting mechanism 61, the first clamping mechanism 63, and the second clamping mechanism 62 cooperate with each other to separate the freezer racks 3 or combine the separate rack bodies 31.

[0061] The number of second clamping mechanisms 62 is one less than the number of sub-shelves 31 in a cryopreservation rack 3, and they are arranged side by side. The second clamping mechanisms 62 are positioned opposite to the lifting mechanism 61. The first linear actuator 64 drives the second clamping mechanisms 62 to move longitudinally relative to the lifting mechanism 61 and the first clamping mechanism 63, so as to separate or combine two adjacent sub-shelves 31. The number of second clamping mechanisms 62 and sub-shelves 31 is illustrated by example. When a cryopreservation rack 3 includes three sub-shelves 31, the number of second clamping mechanisms 62 is two. When a cryopreservation rack 3 includes five sub-shelves 31, the number of second clamping mechanisms 62 is four.

[0062] It should be noted that the relative positions of the second clamping mechanism 62 and the lifting mechanism 61 are not restrictive. When the first linear driver 64 is located on the same side as the second linear driver 52, the second clamping mechanism 62 is located on both sides of the lifting mechanism 61, and the clamping inlet of the second clamping mechanism 62 faces the lifting mechanism 61, so as to facilitate the smooth completion of the clamping action and avoid the lifting mechanism 61 from hindering the clamping action of the second clamping mechanism 62.

[0063] See Figure 4 , Figure 5 and Figure 7The first clamping mechanism 63 and the second clamping mechanism 62 have the same structure. The second clamping mechanism 62 includes a support plate 623, a clamping driver 621, and two clamping rods 622. The support plate 623 is fixed to the second moving plate 641. The clamping driver 621 is disposed on the support plate 623. The two clamping rods 622 are slidably connected to the support plate 623. The clamping driver 621 drives the two clamping rods 622 to move closer or further away from each other to clamp or release the frame 31.

[0064] It should be noted that the support plate 623 in the first clamping mechanism 63 is fixedly connected to the eighth slider in the sixth linear actuator. At least one support plate 623 in the second clamping mechanism 62 is arranged side-by-side; that is, when there are two equal numbers of second clamping mechanisms 62, the support plates 623 are arranged side-by-side on the second moving plate 641. The clamping rod 622 is used to clamp the fixed limiting post on the side wall of the sub-frame 31. The side wall of the sub-frame 31 used for clamping is provided with an anti-fall protrusion. When the clamping rod 622 clamps the sub-frame 31, the limiting post is located below the anti-fall protrusion. When the sub-frame 31 falls downwards, the protrusion is locked onto the limiting post, preventing it from falling and improving safety.

[0065] The specific structure of the clamping driver 621 is described using the second clamping mechanism 62 as an example. Specifically, the clamping driver 621 includes a clamping motor, a clamping gear, and a clamping rack. The clamping motor is fixed on the support plate 623, and the output shaft of the clamping motor is fixed to the clamping gear. A clamping rack is fixed on each of the two clamping rods 622, and the clamping racks on the two clamping rods 622 are distributed vertically and mesh with the clamping gear. When the clamping motor drives the clamping gear to rotate, the clamping racks meshing above and below cause the two clamping rods 622 to move closer or further apart, so as to clamp or release the frame 31.

[0066] Those skilled in the art will understand that although the clamping driver 621 uses a gear and rack meshing structure to convert the rotational motion of the clamping motor into the mutual approaching or moving away motion of the two clamping rods 622, this is not limiting. For example, a lead screw structure can also be used to convert the rotation of the clamping motor into the mutual approaching or moving away motion of the two clamping rods 622. Specifically, the lead screw is provided with two sections of threads with opposite helical lines, and each section of the thread is threadedly connected to the clamping rod 622. At the same time, the clamping rod 622 is slidably connected to the support plate 623 to limit the position of the clamping rod 622 so that the clamping rod 622 can only move in a straight line when the lead screw rotates.

[0067] It should be noted that the fact that the first clamping mechanism 63 and the second clamping mechanism 62 have the same structure is not a limitation. The structures of the first clamping mechanism 63 and the second clamping mechanism 62 can also be different, as long as a suitable structure can be used to clamp the sub-frame 31.

[0068] See Figure 4 , Figure 5 and Figure 6 The lifting mechanism 61 includes a lifter 612 and a gripper 611. The lifter 612 is mounted on the first moving plate 521 of the first transfer mechanism 5. The lifter 612 is configured to drive the gripper 611 to move up and down. The gripper 611 is configured to grip the sub-frame 31. Specifically, the gripper 611 includes a gripping plate 6112, which is connected to the lifter. The bottom end of the gripping plate 6112 is provided with a gripping groove 6111. The gripping groove 6111 can grip the extraction hook 32 on the sub-frame 31, so that the gripper 611 can grip the sub-frame 31. At the same time, the gripping groove 6111 and the extraction hook 32 can be disengaged, so that the gripper 611 can release the sub-frame 31.

[0069] Specifically, the gripping groove 6111 has a T-shaped structure, and each of its two side edges has a downwardly recessed first overlapping groove 6113. The gripping groove 6111 is T-shaped to cooperate with the extraction hook 32, which is a T-shaped slider. The T-shaped slider can be inserted into the gripping groove 6111, and the edge of the T-shaped slider is embedded in the first overlapping groove 6113, which restricts the position of the T-shaped slider relative to the gripping groove 6111. The T-shaped slider cannot be moved out of the gripping groove 6111, thus allowing the sub-frame 31 to move with the gripper 611. At the same time, when the edge of the T-shaped slider moves upward from the first overlapping groove 6113, the restriction on the T-shaped slider is removed, and the T-shaped slider can be moved out of the gripping groove 6111, achieving the purpose of the gripper 611 releasing the sub-frame 31.

[0070] Specifically, the lifting device 612 includes a lead screw, a lifting motor, and a lifting slider. The lead screw is rotatably connected to the first moving plate 521, and the lifting slider is threadedly connected to the lead screw. The lifting slider is slidably connected to the first moving plate 521 through a lifting slide rail, which is fixed to the first moving plate 521. The lifting motor drives the lead screw to rotate so that the lifting slider moves up and down. The lifting slider is fixed to the gripping plate 6112.

[0071] See Figure 4 , Figure 10 and Figure 11 The low-temperature storage device also includes a second transfer mechanism 4, which is configured to remove the cryopreservation box from the shelf 31 and transfer it to the discharge port 111 of the cryopreservation chamber 1, or transfer the cryopreservation box from the discharge port 111 of the cryopreservation chamber 1 into the cryopreservation chamber 1 and place it on the shelf 31.

[0072] Specifically, the second transfer mechanism 4 includes a walking drive assembly 41, a first support plate 46, a first lifting assembly 43, an angle rotation assembly 44, and a box retrieval assembly 42. The walking drive assembly 41 is mounted on the inner storage 12. The first support plate 46 is located above the inner storage 12 and connected to the walking drive assembly 41. The walking drive assembly 41 is configured to drive the first support plate 46 to move laterally and longitudinally. The first lifting assembly 43 is mounted on the first support plate 46. The first lifting assembly 43 is connected to the angle rotation assembly 44 so that it can move up and down. The angle rotation assembly 44 is connected to the box retrieval assembly 42 so that it can rotate. The box retrieval assembly 42 is configured to lift out or lift in the cryopreservation box in the cryopreservation rack 3.

[0073] The walking drive assembly 41 includes a crossbeam 413, a fourth linear actuator 411, and a fifth linear actuator 412. The fourth linear actuator 411 is respectively installed at the top of the two side walls of the inner storage 12. The fourth linear actuator 411 is connected to the end of the crossbeam 413 so that the crossbeam 413 spans the inner storage 12 and is located above the inner storage 12. The fourth linear actuator 411 is located on one side of the first linear actuator 64. The fifth linear actuator 412 is installed on the crossbeam 413 and connected to the first support plate 46. The fifth linear actuator 412 drives the first support plate 46 to move longitudinally.

[0074] Specifically, the fourth linear actuator 411 includes a fourth motor 4111, a fourth rack 4112, and a fourth slide rail. The fourth rack and the fourth slide rail are both fixed to the top of the inner wall of the inner chamber 12. A fourth slider is slidably connected to the fourth slide rail. The fourth motor is fixed to the fourth slider. A fourth gear is fixed to the output shaft of the fourth motor, and the fourth gear meshes with the fourth rack. The fifth linear actuator 412 includes a seventh motor 4121, a seventh slide rail 4122, a seventh rack, and a seventh gear. The seventh slide rail and the seventh rack are parallel to each other and are both fixed to the crossbeam. A first support plate 46 is slidably connected to the seventh slide rail 4122. The seventh motor 4121 is fixed to the first support plate 46. A seventh gear is fixed to the output shaft of the seventh motor 4121, and the seventh gear meshes with the seventh rack. Under the rotation of the seventh motor, the first support plate moves relative to the crossbeam.

[0075] Those skilled in the art will understand that although the fourth linear actuator 411 and the fifth linear actuator 412 described above use a gear and rack mechanism to achieve linear motion, this should not limit the scope of protection of the present invention. Any suitable structure that can perform linear motion in the cold environment of the cryogenic storage 1 is acceptable, such as a lead screw linear module.

[0076] Continue reading Figure 10 and Figure 11The box-retrieving assembly 42 includes a second support plate 422, a tray 421, and a telescopic device 423. The second support plate 422 is connected to the angle rotation assembly 44, and the tray 421 is slidably connected to the second support plate 422. The telescopic device 423 is mounted on the second support plate 422 and connected to the tray 421 to drive the tray 421 to extend or retract, enabling the tray 421 to lift the cryopreservation box. Specifically, the telescopic device 423 includes a fifth motor 4231, a fifth slide rail 4232, a fifth gear, and a fifth rack. The fifth slide rail 4232 is fixed to the second support plate 422, and a fifth slider is slidably connected to the fifth slide rail 4232. The fifth slider is fixedly connected to the tray 421 and the fifth rack, respectively. The fifth motor 4231 is fixed to the second support plate 422, and a fifth gear is fixed to the output shaft of the fifth motor 4231. The fifth gear meshes with the fifth rack.

[0077] Continue reading Figure 10 and Figure 11 The angle rotation assembly 44 includes a rotary motor 441 and a third support plate 442. The third support plate 442 is located above and fixedly connected to the second support plate 422. The output shaft of the rotary motor 441 is fixedly connected to the third support plate 442 so that the rotary motor 441 can drive the third support plate 442 to rotate the second support plate 422.

[0078] The first lifting assembly 43 includes a fourth support plate 433, a lifting motor 432, a connecting plate 431, a lifting rack, and a lifting gear. The fourth support plate 433 is fixed to one end of the first support plate 46. A lifting slide rail is fixed on the fourth support plate 433, and a lifting slider is slidably connected to the lifting slide rail. The connecting plate 431 is fixedly connected to the lifting slider. The lifting rack is fixed on the fourth support plate. The lifting motor 432 is fixed on the connecting plate 431. The output shaft of the lifting motor 432 is fixed to the lifting gear, and the lifting gear meshes with the lifting rack. A rotary motor 441 is fixed on the connecting plate 431. The rotation of the lifting motor causes the connecting plate to drive the rotary motor 441 to move up and down.

[0079] See Figure 10 , Figure 11 and Figure 12 A temporary storage box 45 is fixed on the first support plate 46. The temporary storage box is located on one side of the box retrieval assembly 42. The side wall of the temporary storage box 45 facing the box retrieval assembly 42 has a retrieval opening. Multiple vertically arranged support rods 451 are fixed on the two side walls inside the temporary storage box 45. The edge of the frozen box rests on two support rods 451 of the same height to realize the placement of the frozen box in the temporary storage box 45. When taking it out, the tray 421 extends into the temporary storage box 45 from the retrieval opening to take out the frozen box. The setting of the temporary storage box 45 makes it easy to take out or place multiple frozen boxes in one stroke of the second transfer mechanism, reducing the number of movements of the second transfer mechanism 4 between the frozen rack 3 and the discharge port 111, and improving work efficiency.

[0080] See Figure 5 and Figure 8 The low-temperature storage device also includes a lid opening mechanism 7, which is mounted on a support 51 and is configured to grasp and move the lid upward to open the inner storage compartment 12.

[0081] Specifically, the opening mechanism 7 includes a second lifting component 72, an opening frame 71, and an opening claw 73. The second lifting component 72 is mounted on the side wall of the support 51 facing away from the second transfer mechanism 4. The second lifting component 72 is connected to the opening frame 71. The second lifting component 72 drives the opening frame 71 to move up and down. The opening claw 73 is fixed at both ends of the bottom of the opening frame 71. The opening claw 73 can grab the handle on the cover.

[0082] Specifically, the second lifting assembly 72 includes a sixth motor 721, a sixth rack, a sixth gear, and a sixth slide rail. The sixth slide rail and the sixth rack are both fixed on the bracket 51. The sixth rack, the sixth slide rail, and the sixth gear are not shown in the figure. The sixth slider 722 is slidably connected to the sixth slide rail. The sixth motor 721 and the cover opening frame 71 are fixedly connected to the sixth slider 722. The sixth gear is fixed on the output shaft of the sixth motor 721. The sixth gear meshes with the sixth rack. The sixth motor 721 drives the sixth gear to rotate. Under the meshing condition of the sixth gear and the sixth rack, the cover opening frame 71 drives the cover opening claw 73 to move up and down.

[0083] Those skilled in the art will understand that the structure of the second lifting component 72 described above does not limit the scope of protection of the present invention, and other structures, such as a linear motor module, are also within the scope of protection of the present invention.

[0084] In addition, the opening claw 73 includes an opening block with a T-shaped groove at the bottom. When opening the cover, the handle is inserted into the T-shaped groove to hook the cover. The two ends of the T-shaped groove are open so that the handle can be inserted into or removed from the T-shaped groove. Two handles can be inserted into one T-shaped groove at the same time, so that the two T-shaped grooves can grasp four handles.

[0085] It should be noted that some components are not shown in the figure in order to make the structure clearer. However, the structure of these unshown components is a commercially available product and is known to those skilled in the art. It does not affect the understanding of the technical solution of the present invention by those skilled in the art, so it will not be described in detail.

[0086] In addition, see Figure 1 and Figure 2The cryogenic storage device also includes a buffer chamber 2, which is fixed to one side of the cryogenic storage chamber 1. An automatic opening and closing door is provided on the discharge port 111. When the automatic opening and closing door is open, the cryogenic storage chamber 1 can communicate with the buffer chamber 2 through the discharge port 111. When the automatic opening and closing door closes the discharge port 111, the cryogenic storage chamber 1 and the buffer chamber 2 are separated and not connected. The buffer chamber 2 is used for scanning and identifying cryogenic boxes to be placed or removed for recording purposes. Since the structure of the buffer chamber 2 is prior art known to those skilled in the art, it will not be described in detail here.

[0087] The working principle of this invention is illustrated by taking the cryopreservation rack 3, which includes three sub-racks 31, and the cryopreservation boxes on the third sub-rack 31 need to be transferred as an example. The third linear actuator 53 drives the support 51 to move above the inner storage compartment 12 until the support 51 is positioned at the location of the cryopreservation rack 3 to be lifted. Simultaneously, the handle on the cover plate corresponding to this position is inserted into the T-slot on the opening block, activating the second lifting assembly 72 to move the opening frame 71 upwards, thus lifting the cover plate. Then, the third linear actuator 53 drives the support 51 to move the opening frame 71 laterally, causing the cover plate to move horizontally above other covers. The second lifting assembly 72 then lowers the cover plate, and with the cooperation of the third linear actuator 53, the cover plate is temporarily placed on other covers, allowing the cryopreservation rack 3 to be lifted to be... The inner storage compartment 12 is opened, ensuring temperature stability in other parts of the inner storage compartment 12 by opening only a portion of it. After the cover is placed, the third linear actuator 53 drives the support 51 to retract to the position where the cryogenic rack 3 is to be lifted. Then, the second linear actuator 52 is activated to drive the lifting mechanism 61 to move longitudinally, and the sixth linear actuator is activated to drive the first clamping mechanism 63 to move longitudinally until the lifting mechanism 61 and the first clamping mechanism 63 are directly above the cryogenic rack 3 to be lifted, and the gripping slot 6111 is fitted onto the uppermost T-shaped slider on the cryogenic rack 3, so that the gripper 611 can grasp the cryogenic rack 3. Then, the first linear actuator 64 is activated to drive the second clamping mechanism 62 to move, so that the two clamping rods 6 in the second clamping mechanism 62 move. Position 22 is directly above the gripper 611. The lifting mechanism 61's elevator 612 is activated, causing the gripper 611 to move upwards, allowing the first sub-shelf 31 to leave the inner storage 12. This continues until the first sub-shelf 31 is above the inner storage 12 and between the two clamping rods 622 in the second clamping mechanism 62. The two clamping rods 622 in the first clamping mechanism 63 clamp the second sub-shelf 31 below. Then, the elevator is activated to move downwards, causing the corresponding sub-shelf to follow suit, pulling the extraction hook at the bottom of the sub-shelf out of the second overlapping groove in the extraction slot. Next, the clamping driver 621 in the second clamping mechanism is activated, driving the two clamping rods 622 to move closer together to clamp the sub-shelf 31. After clamping, the elevator 612 drives the gripper 611 to move downwards, allowing... The extraction hook on the clamped sub-frame 31 extends from the first overlap groove 6113 of the gripper 611. Then, the first linear actuator 64 is activated to drive the second clamping mechanism 62 to move longitudinally, so as to move the sub-frame 31 from the gripper 611 to one side, realizing the separation of two adjacent sub-frames 31. At the same time, the two clamping rods 622 in the other second clamping mechanism 62 are located directly above the first clamping mechanism 63. The lifter drives the gripper to move down and align with the extraction hook. Then, driven by the second linear actuator 53, the gripper moves longitudinally so that the extraction hook on the second sub-frame inserts into the gripping groove, realizing the function of the gripper 611 to re-grip the second sub-frame 31. After gripping, the first clamping mechanism 63 releases the second sub-frame 31.Then, the lifter 612 moves the second sub-frame 31 upward to leave the inner storage 12. The second sub-frame 31 is located between the two clamping rods 622 in the second clamping mechanism 62, and the third sub-frame 31 is located between the two clamping rods 622 in the first clamping mechanism 63. The first clamping mechanism 63 clamps the corresponding third sub-frame. Then, the lifter 612 moves the gripper 611 downward, and the second sub-frame moves downward accordingly, so that the T-shaped slider on the second sub-frame is pulled out from the second overlap groove in the corresponding T-shaped slide groove. Then, the second clamping mechanism clamps the second sub-frame, and the lifter is restarted to move the gripper downward, so that... The extraction hook on the second shelf 31 extends from the first overlap groove 6113 of the gripping slot 6111. Then, the first linear actuator 64 is activated to drive the second clamping mechanism 62 to continue longitudinal translation, thereby separating the second shelf 31 from the third shelf 31. Then, the gripper 611 grips the third shelf 31, the first clamping mechanism 63 releases, and the lifter 612 drives the gripper 611 to move the third shelf 31 upward to leave the inner storage 12, thereby achieving the purpose of lifting the entire cryogenic storage 1 to the outside of the inner storage 12. The second transfer mechanism 4 is activated to transfer the cryogenic boxes on the third shelf 31. First, the second transfer mechanism 4 is activated to transfer the cryopreservation boxes on the third shelf 31. The first driving component 41 is activated to move the box-retrieving component 42 closer to the cryopreservation shelf 3, and the first lifting component 43 is activated to bring the box-retrieving component 42 to the required height. Then, the telescopic device 423 in the box-retrieving component 42 is activated, causing the tray 421 to extend into the storage cavity on the third shelf 31. The first lifting component 43 moves the tray 421 upwards, allowing it to support the cryopreservation box. Finally, the driving component 41 is activated, causing the crossbeam 413 to move the tray 421 backwards, thus transferring the cryopreservation box from the storage location. To retrieve the frozen food from the storage chamber, the walking drive assembly 41 continues to retract to the outlet 111. Then, the angle rotation assembly 44 is activated, causing the tray 421 to rotate 180°, so that the frozen food box on the tray 421 faces the outlet 111. The walking drive assembly 41 then drives the crossbeam 413 to continue moving closer to the outlet 111, so that the frozen food box on the tray 421 reaches the designated position. This facilitates the subsequent transfer of the frozen food box from the outlet into the buffer storage, completing the retrieval of the box from the frozen food rack. After the box is retrieved, the lifting separation mechanism 6 and the first transfer mechanism 5 work together to reassemble the three separate racks 31 in sequence and place them back into the inner storage 12.

[0088] 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. A low-temperature storage device, characterized in that, The low-temperature storage device includes a cryogenic chamber, a first transfer mechanism, and a lifting and separating mechanism. The cryogenic chamber has a freezing zone, and cryogenic racks are placed in the freezing zone. Each cryogenic rack includes at least two modular racks that can be combined or separated. Multiple cryogenic boxes are placed in each modular rack. The first transfer mechanism is located in the cryogenic chamber outside the freezing zone. The lifting and separating mechanism is mounted on the first transfer mechanism. The first transfer mechanism drives the lifting and separating mechanism to move and lift cryogenic racks at different positions. The lifting and separating mechanism is configured to lift the cryogenic racks in the freezing zone upwards and separate them so that the modular racks can be transferred to the outside of the freezing zone, or the separated modular racks can be combined into a cryogenic rack and placed back into the freezing zone. The lifting and separating mechanism includes a lifting mechanism, a first clamping mechanism, and a second clamping mechanism disposed on the first transfer mechanism. The first clamping mechanism is located directly below the lifting mechanism. Both the first clamping mechanism and the second clamping mechanism are capable of clamping the separate rack body. The lifting mechanism is configured to lift or return the freezer rack in the freezing zone to its original position. The lifting mechanism, the first clamping mechanism, and the second clamping mechanism cooperate with each other to disassemble the freezer rack or assemble the separate rack bodies. The number of the second clamping mechanisms is one less than the number of the sub-frames. The second clamping mechanisms are arranged side by side and are positioned opposite to the lifting mechanism. The clamping inlet of the second clamping mechanism faces the lifting mechanism. The second clamping mechanism is connected to a first linear driver, which is mounted on the first transfer mechanism. The first linear driver can drive the second clamping mechanism to move longitudinally relative to the lifting mechanism and the first clamping mechanism to split or combine two adjacent sub-frames.

2. The low-temperature storage device according to claim 1, characterized in that, The low-temperature storage device further includes a second transfer mechanism, which is configured to remove the cryopreservation box from the sub-frame and transfer it to the discharge port of the cryopreservation chamber, or to transfer the cryopreservation box from the discharge port of the cryopreservation chamber to the cryopreservation chamber and place it on the sub-frame.

3. The low-temperature storage device according to claim 2, characterized in that, The first clamping mechanism and the second clamping mechanism have the same structure. The first clamping mechanism includes a support plate, a clamping driver and two clamping rods. The support plate is disposed on the first transfer mechanism, the clamping driver is disposed on the support plate, and the two clamping rods are slidably connected to the support plate. The clamping driver drives the two clamping rods to move closer or further away from each other to clamp or release the frame body.

4. The low-temperature storage device according to claim 3, characterized in that, The lifting mechanism includes a lifter and a gripper. The lifter is mounted on the first transfer mechanism and is configured to drive the gripper to move up and down. The gripper is configured to grip the sub-frame. The gripper includes a gripping plate, and the bottom end of the gripping plate is provided with a gripping groove. The gripping groove has a T-shaped structure, and the two sides of the gripping groove are respectively provided with a first recessed edge groove.

5. The low-temperature storage device according to claim 4, characterized in that, The top of the sub-frame is fixed with an extraction hook, and the bottom of the sub-frame is fixed with an extraction groove. The extraction hook and the extraction groove can hook onto or separate from each other, so that two adjacent sub-frames can be combined together or separated in an up-down arrangement. The extraction groove is a T-shaped slide groove, and the two sides of the T-shaped slide groove are respectively provided with a second recessed edge groove. The extraction hook is a T-shaped slider. The T-shaped slider can be inserted into the T-shaped slide groove to realize the detachable connection of two adjacent sub-frames. The edge of the T-shaped slider can sink into the second edge groove. The T-shaped slider can be inserted into the gripping groove, and the edge of the T-shaped slider can sink into the first edge groove so that the sub-frame moves with the gripper.

6. The low-temperature storage device according to claim 3, characterized in that, The cryopreservation facility includes an outer storage room and an inner storage room. The inner storage room is located inside the outer storage room. The top of the inner storage room is covered with a cover plate. A discharge port is provided on one side wall of the outer storage room. A refrigeration system is installed inside the inner storage room. The inner cavity of the inner storage room constitutes the freezing zone.

7. The low-temperature storage device according to claim 6, characterized in that, The first transfer mechanism includes a bracket, a second linear actuator, a third linear actuator, and a sixth linear actuator. The third linear actuator is mounted on the top of the inner storage unit. The bracket is located above the inner storage unit and connected to the third linear actuator. The third linear actuator drives the bracket to move laterally above the inner storage unit. The second linear actuator, the sixth linear actuator, and the first linear actuator are all mounted on the bracket. The second linear actuator drives the lifting mechanism to move longitudinally, and the sixth linear actuator drives the first clamping mechanism to move longitudinally.

8. The low-temperature storage device according to claim 6, characterized in that, The second transfer mechanism includes a walking drive assembly, a first support plate, a first lifting assembly, an angle rotation assembly, and a box retrieval assembly. The walking drive assembly is disposed on the inner storage unit. The first support plate is located above the inner storage unit and connected to the walking drive assembly. The walking drive assembly is configured to drive the first support plate to move laterally and longitudinally. The first lifting assembly is disposed on the first support plate and is connected to the angle rotation assembly to enable it to move up and down. The angle rotation assembly is connected to the box retrieval assembly to enable it to rotate. The box retrieval assembly is configured to lift or lift the cryogenic boxes in the cryogenic rack. A temporary storage box is fixed on the first support plate. The box retrieval assembly includes a second support plate, a tray, and a telescopic device. The second support plate is connected to the angle rotation assembly, and the tray is slidably connected to the second support plate. The telescopic device is mounted on the second support plate and connected to the tray to drive the tray to extend or retract. The tray is capable of supporting the cryopreservation box.

9. The low-temperature storage device according to claim 7, characterized in that, The low-temperature storage device also includes a lid opening mechanism, which is mounted on the support and is configured to grasp and move the lid upward to open the inner storage compartment.

Images