A fully automatic sample cryogenic storage and retrieval system

Abstract

The present invention relates to a fully automatic sample cryogenic storage and retrieval system. The system comprises two sets of rotating drums for storing plate racks within its housing, thereby increasing its storage capacity. The single-layered drums significantly simplify the complexity of the lifting and shoveling mechanism used to store and retrieve the plate racks. The lifting and shoveling mechanism for transferring the plate racks utilizes a rotating drive motor to drive the shovels, which are then driven for movement by the shovel drive motor. Compared to the multi-stage telescopic retrieving mechanism of existing dual-drum storage systems, the system has a simpler structure, more stable operation, and is less susceptible to damage even after prolonged use.

Description

Technical Field

[0001] The present invention relates to a deep cold storage system, in particular to a fully automatic sample low temperature storage and retrieval system. Background Art

[0002] Currently, cryogenic storage devices typically utilize automated access systems to automatically connect to biological samples. Existing automated access systems are mostly single-tube systems, which utilize automated mechanisms to transfer biological samples within a single tube. To improve access efficiency, some manufacturers have introduced dual-tube automated access systems, which utilize two internal tubes for transferring biological samples, significantly improving access efficiency.

[0003] Existing dual-drum storage and retrieval systems, such as the Chinese patent application "CN115388597A," titled "An Intelligent Refrigerator for Storing Biological Samples," disclose an intelligent refrigerator equipped with two rotating drum storage racks for storing biological samples, a transport drive assembly for transferring biological samples, and an automatic transport mechanism for the test tube racks to and from the sample racks. The intelligent refrigerator uses the transport drive assembly to transport the racks from the rotating drum storage racks to the transport drive assembly, where the racks are then driven by the test tube holder drive module. The transport drive assembly also includes components such as a test tube gripper for removing the sample, enabling the sample removal process.

[0004] The above-mentioned intelligent refrigerator greatly improves the storage and retrieval efficiency of biological samples by setting up two sets of rotary drum storage racks, and realizes the automatic transportation of samples through devices such as transportation drive components. However, its rotary drum storage rack includes an inner and outer cylinder, and the rotation drive device used to drive its rotation is relatively complex. At the same time, in order to achieve transportation, its automatic transportation mechanism includes a multi-stage telescopic material extraction structure with three-stage carrier plates. Although this solves the problem of transporting the plate rack, the three-stage telescopic structure makes its overall structure complex and less stable. It is easily damaged after long-term use, which shortens its service life. In addition, its tube picking assembly for tube picking operations uses two sets of X-axis linear drive modules to drive the main and spare test tube holders respectively, and is separated from the test tube holder drive module used to output samples, thereby increasing the overall cost of the equipment and the overall layout is not entirely reasonable. Summary of the Invention

[0005] In order to solve the above technical problems, the purpose of the present invention is to provide a fully automatic sample low-temperature storage and retrieval system with a simple structure, high stability and low cost.

[0006] The fully automatic sample cryogenic storage and retrieval system of the present invention comprises a housing, a plate rack inlet and outlet being provided on the surface of the housing, two sets of rotating drums being provided inside the housing, a plurality of plate rack storage boxes being provided on the rotating drums and distributed around their rotating axes, a plurality of plate rack storage slots for storing the plate racks being provided from top to bottom in the plate rack storage boxes, a plate rack access assembly being provided between the two sets of rotating drums inside the housing, the plate rack access assembly comprising a lifting plate shoveling mechanism and a sample transfer mechanism;

[0007] The lifting shovel mechanism includes a shovel linear displacement module with a vertical displacement driving direction, a rotary drive motor is provided on the movable platform of the shovel linear displacement module, the output shaft of the rotary drive motor is connected to a shovel fixing frame, a shovel and a guide rail slidingly matched with the shovel are slidably provided on the shovel fixing frame, a guide groove is provided on the surface of the shovel, and a shovel driving motor is also provided on the shovel fixing frame, the output shaft of the shovel driving motor is fixedly connected to a driving arm, the end of the driving arm is hinged with a connecting pin, and the bottom end of the connecting pin is located in the guide groove;

[0008] The sample transport mechanism includes a mounting frame, on which a first lateral displacement module with a horizontal displacement driving direction is provided. A plate rack positioning seat corresponding to the plate rack inlet and outlet is provided on the moving platform of the first lateral displacement module.

[0009] The advantages of this fully automated sample cryogenic storage and retrieval system lie in its housing housing, which houses two sets of rotating drums for storing plate racks, thereby increasing its storage capacity. Furthermore, the single-layer design of the rotating drums significantly simplifies the complexity of the lifting and shoveling mechanism used to store and retrieve the plate racks. This lifting and shoveling mechanism, which rotates the shovels and moves them via a rotating drive motor, is simpler in structure and more stable in operation than the multi-stage telescopic retrieval mechanisms of existing dual-drum storage systems, making it less susceptible to damage even after prolonged use.

[0010] In addition, this fully automatic sample low-temperature storage and retrieval system realizes the transportation of plate rack positioning seats and plate racks through a set of first lateral displacement modules. Compared with the existing storage and retrieval system, the number of modules is greatly reduced and the structural layout is more reasonable, thereby reducing the cost of the equipment and improving the reliability of the equipment.

[0011] Furthermore, in the fully automatic sample cryogenic storage and retrieval system of the present invention, a carrier plate is fixedly provided on the movable platform of the first lateral displacement module, and a surface of the carrier plate is provided with a guide rail that slidably cooperates with the plate rack positioning seat.

[0012] The arrangement of the carrier plate allows the plate rack positioning seat to extend from the plate rack inlet and outlet, making it convenient for the operator to place the plate rack on the plate rack positioning seat. The plate rack positioning seat is slidably arranged on the carrier plate through a guide rail, so that after the operator places the plate rack on the plate rack positioning seat, the operator can manually push the plate rack into the other end of the carrier plate, so that the shovel can operate the plate rack.

[0013] Furthermore, in the fully automatic sample cryogenic storage and retrieval system of the present invention, the mounting frame is further provided with a tube lifting assembly located above the first lateral displacement module, the tube lifting assembly including a tube lifting mechanism and a tube lifting and lowering drive device for driving the tube lifting mechanism to rise and fall;

[0014] The body of the pipe lifting and lowering drive device is fixedly mounted on the mounting frame;

[0015] The pipe lifting mechanism includes a base provided at the output end of the pipe lifting and lifting drive device, a mounting riser provided on the base, the mounting riser slidably engaged with a slide rail on the surface of the base, and a second lateral displacement module fixedly connected to the base and having an output end connected to the mounting riser. The displacement drive direction of the second lateral displacement module is horizontal and perpendicular to the displacement drive direction of the first lateral displacement drive module.

[0016] An electric push rod is provided on the vertical mounting plate, a body of the electric push rod is fixedly connected to the vertical mounting plate, and an output end of the electric push rod is provided with a sample tube connector for clamping or adsorbing the sample tube.

[0017] The setting of the tube picking assembly realizes the operation of a single sample tube.

[0018] Furthermore, in the fully automatic sample low-temperature storage and retrieval system of the present invention, the tube lifting drive device includes a guide seat fixedly mounted on the mounting frame, a lifting plate slidingly engaged with the guide seat, a rack provided on the lifting plate, a lifting drive motor fixedly mounted on the guide seat, and a gear provided at the output end of the lifting drive motor and meshing with the rack, and the tube lifting mechanism is provided at the bottom end of the lifting plate.

[0019] The arrangement of the guide seat, lifting plate, rack, lifting drive motor and other components realizes the lifting and lowering drive function of the pipe lifting mechanism.

[0020] Furthermore, in the fully automatic sample low-temperature storage and retrieval system of the present invention, the second lateral displacement module includes a lateral drive motor fixedly mounted on the base, a driving wheel arranged at the output end of the lateral drive motor, a driven wheel arranged on the base, a connecting belt wound around the driving wheel and the driven wheel, and a connecting plate arranged on the connecting belt, and the top end of the mounting vertical plate is fixedly connected to the connecting plate.

[0021] The arrangement of the base, the transverse drive motor, the driving wheel, the driven wheel and the connecting plate realizes the transverse displacement drive of the mounting vertical plate so that the sample tube on the sample tube connector is aligned with the target slot on the plate rack.

[0022] Furthermore, in the fully automatic sample low-temperature storage and retrieval system of the present invention, the base is an L-shaped seat, and a rectangular hole is provided on the side panel of the L-shaped seat. The body of the lifting drive motor is fixed on the top plate of the L-shaped seat, and the driving wheel, driven wheel and connecting belt are located below the top plate of the L-shaped seat. The connecting plate passes through the rectangular hole and is connected to the mounting vertical plate.

[0023] The rectangular hole realizes the connection between the connecting plate and the mounting vertical plate, and also enables the mounting vertical plate to move laterally along the rectangular hole.

[0024] Furthermore, in the fully automatic sample low-temperature storage and retrieval system of the present invention, the sample tube connector includes a fixing seat fixedly connected to the mounting vertical plate, at least two guide holes are provided on the side of the fixing seat, and an avoidance hole is provided on the bottom surface of the guide hole. A connecting block is provided in the guide hole, and a wedge-shaped groove is provided on the surface of the connecting block. A transmission hole connected to the guide hole is also provided on the top surface of the fixing seat, and a driving block is provided at the bottom end of the electric push rod, and the edge of the driving block is provided in the wedge-shaped groove. The surface of the driving block is also provided with an oblique groove, and a protrusion adapted to the oblique groove is provided on the inner wall of the wedge-shaped groove. A clamping rod is provided on the connecting block, and the bottom end of the clamping rod passes through the avoidance hole and protrudes out of the bottom surface of the fixing seat.

[0025] The arrangement of the fixing seat, the connecting block, the clamping rod and the driving block realizes the clamping operation of a single sample tube.

[0026] Furthermore, in the fully automatic sample cryogenic storage and retrieval system of the present invention, the number of the guide holes, the connecting blocks and the clamping rods are all four, and the driving block is a cross-shaped driving block.

[0027] The arrangement of four guide holes, a connecting block, and a clamping rod improves the stability of the clamping rod when gripping the sample tube. The arrangement of the cross-shaped drive block enables its four edges to simultaneously drive the four connecting blocks.

[0028] Furthermore, in the fully automatic sample low-temperature storage and retrieval system of the present invention, a limit plate is provided on the surface of the mounting vertical plate, the output end of the electric push rod is connected to an upper fixed plate, a guide rod is provided on the upper fixed plate, the bottom end of the guide rod passes through the limit plate and is connected to the driving block, a spring is sleeved on the guide rod, and the spring is located between the upper fixed plate and the limit plate.

[0029] The arrangement of the upper fixing plate, the limit plate, the guide rod and the spring realizes the buffering and guiding functions of the driving block, thereby preventing it from being damaged due to excessive impact force.

[0030] Furthermore, in the fully automatic sample cryogenic storage and retrieval system of the present invention, a distance sensor is provided on the surface of the mounting vertical plate, and a trigger plate corresponding to the distance sensor is provided on the rear side of the upper fixing plate.

[0031] The setting of the distance sensor and the trigger plate realizes the limit function of the upper fixed plate and the driving block.

[0032] Furthermore, in the fully automatic sample low-temperature storage and retrieval system of the present invention, a lower fixed plate fixedly connected to the guide rod is provided below the limit plate, a slot is provided on the surface of the lower fixed plate, and the top surface of the driving block is connected to a plug-in plate adapted to the slot via a connecting rod.

[0033] The arrangement of slots and plug-in boards facilitates the installation and replacement of components such as drive blocks by operators.

[0034] Furthermore, in the fully automatic sample low-temperature storage and retrieval system of the present invention, the mounting frame is also provided with a third lateral displacement module located above the first lateral displacement module, the displacement driving direction of the third lateral displacement module is parallel to the first lateral displacement module, and a plate rack positioning seat is also provided on the movable platform of the third lateral displacement module.

[0035] The provision of the third lateral displacement module enables temporary storage of the plate rack, thereby facilitating the pipe picking operation of the pipe picking assembly.

[0036] Furthermore, in the fully automatic sample low-temperature storage and retrieval system of the present invention, the mounting frame includes an upper mounting plate and a lower mounting plate, a plurality of vertical mounting rods are provided between the upper mounting plate and the lower mounting plate, the two ends of the vertical mounting rods are respectively fixedly connected to the upper mounting plate and the lower mounting plate, and the body of the first lateral displacement module is fixedly provided on the vertical mounting rods.

[0037] Furthermore, in the fully automatic sample low-temperature storage and retrieval system of the present invention, a mounting box is provided on the surface of the mounting lower plate, a plate rack positioning groove is provided on the top surface of the mounting box, and a plate rack scanner is provided inside the mounting box.

[0038] The plate rack scanner is provided to realize the recognition of the plate rack, and it can be a scanning device such as a QR code or a bar code.

[0039] Furthermore, in the fully automatic sample low-temperature storage and retrieval system of the present invention, the rotating drum includes an upper ring plate and a lower ring plate, the top end of the plate rack storage slot is fixedly connected to the upper ring plate, and the bottom end of the plate rack storage slot is fixedly connected to the lower ring plate, the lower ring plate is provided with an annular rack, the middle part of the lower ring plate is provided with a motor connecting frame fixedly connected to the shell, the motor connecting frame is provided with a rotating drum driving motor fixedly connected to the body and the motor connecting frame, and the output end of the rotating drum driving motor is connected to a gear meshing with the annular rack.

[0040] The arrangement of the lower ring plate, the annular rack and the drum drive motor realizes the rotation drive of the drum.

[0041] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement them in accordance with the contents of the specification, the embodiments of the present invention are described in detail below. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a three-dimensional diagram of the fully automatic sample cryogenic storage and retrieval system;

[0043] Figure 2 This is the internal structure diagram of the fully automatic sample cryogenic storage and retrieval system;

[0044] Figure 3 This is a diagram of the internal structure of the fully automatic sample cryogenic storage and retrieval system, with one of the rotating drums not shown;

[0045] Figure 4 It is a three-dimensional diagram of the drum and other components;

[0046] Figure 5 It is a three-dimensional diagram of the drum drive motor, annular rack and other components;

[0047] Figure 6 is a perspective view of the plate rack access assembly;

[0048] Figure 7 It is a three-dimensional diagram of the lifting shovel mechanism;

[0049] Figure 8 yes Figure 7 A partial enlarged view of part A in the middle;

[0050] Figure 9 It is a three-dimensional diagram of the sample transport mechanism;

[0051] Figure 10 It is a perspective view of the pick pipe assembly;

[0052] Figure 11 is a perspective view of the third lateral displacement module;

[0053] Figure 12 is a perspective view of the first lateral displacement module;

[0054] Figure 13 This is a disassembled diagram of the pipe pick assembly;

[0055] Figure 14 This is a disassembled diagram of the second lateral displacement module;

[0056] Figure 15 This is a disassembled diagram of the pipe-picking mechanism;

[0057] Figure 16 It is a three-dimensional diagram of the pipe lifting mechanism and the second lateral displacement module;

[0058] Figure 17 yes Figure 16 Side view of

[0059] Figure 18 is a front view of the sample tube connector;

[0060] Figure 19 is a top view of the sample tube connector;

[0061] Figure 20 yes Figure 19 Cross-sectional view along the AA axis;

[0062] Figure 21 This is a disassembled diagram of the sample tube connector.

[0063] Among them, the shell 1, the plate rack inlet and outlet 2, the rotating drum 3, the plate rack storage box 4, the shovel plate linear displacement module 5, the rotation drive motor 7, the shovel plate fixing frame 8, the shovel plate 9, the guide groove 10, the shovel plate drive motor 11, the drive arm 12, the connecting pin 13, the mounting frame 14, the first lateral displacement module 15, the plate rack positioning seat 16, the plate rack support plate 17, the plate rack 18, the plate rack positioning groove 19, the carrier plate 20, the tube picking mechanism 21, the tube picking lifting drive device 22, the base 23, the mounting vertical plate 24, the second lateral displacement module 25, the electric push rod 26, the sample tube connector 27, the guide seat 28, the lifting plate 29, the rack 30, the lifting drive motor 31, the gear 32, the transverse Drive motor 34, active wheel 35, driven wheel 36, connecting belt 37, connecting plate 38, fixed seat 39, guide hole 40, avoidance hole 41, connecting block 42, wedge groove 43, transmission hole 44, driving block 45, inclined groove 46, protrusion 47, clamping rod 48, limit plate 49, upper fixed plate 50, guide rod 51, spring 52, distance sensor 53, trigger plate 54, lower fixed plate 55, slot 56, connecting rod 57, third lateral displacement module 58, install upper plate 59, install lower plate 60, install vertical rod 61, install box 62, upper ring plate 63, lower ring plate 64, annular rack 65, motor connecting frame 66, drum drive motor 67. DETAILED DESCRIPTION

[0064] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0065] See also Figures 1 to 21 The fully automatic sample low-temperature storage and retrieval system of this embodiment includes a housing 1, a plate rack inlet and outlet 2 is provided on the surface of the housing, two sets of rotating drums 3 are provided in the housing, multiple sets of plate rack storage boxes 4 are distributed around the rotating axis of the rotating drums, multiple sets of plate rack storage slots for storing plate racks are provided from top to bottom in the plate rack storage boxes, a plate rack access assembly is provided between the two sets of rotating drums in the housing, and the plate rack access assembly includes a lifting shovel mechanism and a sample transfer mechanism;

[0066] The lifting shovel mechanism includes a shovel linear displacement module 5 with a vertical displacement drive direction, a rotary drive motor 7 is provided on the movable platform of the shovel linear displacement module, the output shaft of the rotary drive motor is connected to a shovel fixing frame 8, a shovel 9 and a guide rail that slides with the shovel are slidably provided on the shovel fixing frame, a guide groove 10 is provided on the shovel surface, and a shovel drive motor 11 is also provided on the shovel fixing frame, the output shaft of the shovel drive motor is fixedly connected to a drive arm 12, the end of the drive arm is hinged with a connecting pin 13, and the bottom end of the connecting pin is located in the guide groove;

[0067] The sample transport mechanism includes a mounting frame 14 on which a first lateral displacement module 15 with a horizontal displacement driving direction is provided. A plate rack positioning seat 16 corresponding to the plate rack inlet and outlet is provided on the moving platform of the first lateral displacement module.

[0068] The fully automated sample cryogenic storage and retrieval system of the present invention incorporates two sets of rotating drums for storing plate racks within its housing, thereby increasing its storage capacity. The single-layer design of the rotating drums significantly simplifies the complexity of the lifting and shoveling mechanism used to store and retrieve the plate racks. The lifting and shoveling mechanism, used to transfer the plate racks, uses a rotary drive motor to drive the shovels, which are then driven for movement by the shovel drive motor. Compared to the multi-stage telescopic retrieval mechanism of existing dual-drum storage systems, this mechanism offers a simpler structure, more stable operation, and resistance to damage even after prolonged use.

[0069] In addition, this fully automatic sample low-temperature storage and retrieval system realizes the transportation of plate rack positioning seats and plate racks through a set of first lateral displacement modules. Compared with the existing storage and retrieval system, the number of modules is greatly reduced and the structural layout is more reasonable, thereby reducing the cost of the equipment and improving the reliability of the equipment.

[0070] The rack storage box is used to store racks, and has multiple rack storage slots arranged from top to bottom. The rack storage slots can be separated by rack support plates 17 provided on the side walls of the rack storage box. When storing, the racks are sequentially placed on the rack support plates on both sides of the rack storage box from top to bottom.

[0071] The lifting shovel mechanism is used to shovel the plate rack out of the plate rack storage slot and transport it to the plate rack positioning seat, or transport the plate rack on the plate rack positioning seat to the plate rack storage slot.

[0072] The shovel linear displacement module is used to drive the shovel and other components to rise and fall so that they reach the height corresponding to the target plate rack.

[0073] The rotation drive motor is used to drive the shovel plate fixing frame and the shovel plate and other components to rotate so that the shovel plate is aligned with the target plate frame.

[0074] The shovel drive motor and its output drive arm are used to drive the shovel along the guide rails on the shovel mounting bracket, allowing the shovel to extend beneath the target rack or retract the target rack onto the shovel mounting bracket. The shovel drive motor is secured to the shovel mounting bracket via the motor mounting bracket, and the drive arm is a folding rod formed by connecting multiple sections of connecting rods to connect the shovel motor to the connecting pin.

[0075] The first transverse displacement module of the sample transport mechanism is used to drive the plate rack positioning seat to move so as to input the plate rack thereon into the shell, or to output the plate rack transferred by the shovel from the plate rack inlet and outlet.

[0076] The following is the specific working process of the storage plate rack of the fully automatic sample low-temperature storage and retrieval system. The plate rack output process is the opposite and will not be repeated here.

[0077] First, the operator inputs the plate frame 18 into the plate frame positioning seat on the rear side through the plate frame inlet and outlet, and then the first lateral displacement module drives the plate frame positioning seat to move in the direction close to the lifting shovel mechanism. After the plate frame positioning seat drives the plate frame to move to the predetermined position, the output shaft of the shovel drive motor drives the drive arm to rotate. Since the connecting pin hinged at the end of the drive arm is set in the guide groove on the surface of the shovel, as the drive arm rotates, the bottom end of the connecting pin moves in the guide groove, thereby driving the shovel to slide outward along the guide rail on the bottom surface of the shovel fixed frame until the front end of the shovel moves into the plate frame positioning groove 19 on the surface of the plate frame positioning seat. At this time, the shovel is located directly below the plate frame. Driven by the shovel linear displacement module, the shovel rises to a certain height so that the shovel lifts the plate frame from the plate frame positioning seat.

[0078] After the pallet rack is lifted, the pallet rack positioning seat returns to its original position. Simultaneously, the shovel drive motor, via the drive arm, retracts the shovel rack onto the shovel rack holder. The shovel rack linear displacement module then moves the shovel rack to a predetermined height. Once the shovel rack and its upper pallet rack reach the predetermined height, the drive motor's output shaft rotates the shovel rack holder through a predetermined angle, aligning the pallet rack on the shovel rack with the target pallet rack storage slot.

[0079] Afterwards, the shovel plate is extended under the drive of the shovel plate driving motor and the driving arm until the plate rack on the shovel plate extends into the plate rack storage slot.

[0080] After the pallet has completely entered the pallet storage slot, the shovel linear displacement module drives the shovel down a certain height so that the upper pallet falls on the pallet support plates on both sides, thus completing the pallet storage. After that, all components are reset and ready for the next operation.

[0081] Preferably, in the fully automatic sample cryogenic storage and retrieval system of this embodiment, a carrier plate 20 is fixedly provided on the movable platform of the first lateral displacement module, and a surface of the carrier plate is provided with a guide rail that slidably cooperates with the plate rack positioning seat.

[0082] The arrangement of the carrier plate allows the plate rack positioning seat to extend from the plate rack inlet and outlet, making it convenient for the operator to place the plate rack on the plate rack positioning seat. The plate rack positioning seat is slidably arranged on the carrier plate through a guide rail, so that after the operator places the plate rack on the plate rack positioning seat, the operator can manually push the plate rack into the other end of the carrier plate, so that the shovel can operate the plate rack.

[0083] Preferably, the fully automatic sample cryogenic storage and retrieval system of this embodiment further comprises a tube lifting assembly located above the first lateral displacement module on the mounting frame. The tube lifting assembly comprises a tube lifting mechanism 21 and a tube lifting drive device 22 for driving the tube lifting mechanism to lift and lower.

[0084] The body of the pipe lifting and lowering drive device is fixed on the mounting frame;

[0085] The pipe lifting mechanism includes a base 23 located at the output end of the pipe lifting and lifting drive device. The base is provided with a mounting plate 24 that slidably engages with a slide rail on the base surface. The base is also provided with a second lateral displacement module 25 that is fixedly connected to the base and has an output end connected to the mounting plate. The displacement drive direction of the second lateral displacement module is horizontal and perpendicular to the displacement drive direction of the first lateral displacement drive module.

[0086] An electric push rod 26 is provided on the mounting vertical plate. The body of the electric push rod is fixedly connected to the mounting vertical plate. A sample tube connector 27 for clamping or adsorbing the sample tube is provided at the output end of the electric push rod.

[0087] The setting of the tube picking assembly realizes the operation of a single sample tube.

[0088] The tube picking mechanism is used to extract the sample tube in the plate rack;

[0089] The tube lift drive is used to drive the tube lift mechanism up and down, allowing it to extract a sample tube and transfer it to the plate rack of the first transverse displacement module, thereby transferring the sample tube out. Alternatively, the reverse process can be used to transfer the sample tube in. This device can be a linear displacement device such as an electric cylinder or a pneumatic cylinder.

[0090] When extracting a sample tube, the plate rack carrying the target sample tube is first transported to a predetermined position by the lifting shovel mechanism. At this time, the tube picking mechanism is located directly above the plate rack.

[0091] After the plate rack reaches a predetermined height, the electric push rod pushes the sample tube connector at its output end to clamp or absorb the sample tube. The sample tube connector can be a gripping device such as an electric or pneumatic finger, or an absorption device such as a straw.

[0092] After the sample tube connector clamps or absorbs the target sample tube, the lifting scraper assembly resets the plate rack. The tube lift drive then drives the tube picker mechanism to directly above the first lateral displacement module. After the second lateral displacement module drives the mounting riser and sample tube connector to the target slot in the plate rack, the sample tube connector releases the sample tube, allowing it to fall into the slot in the plate rack. The sample tube and plate rack are then ejected by the first lateral displacement module.

[0093] The input of a single sample tube is similar to the output of the sample tube and will not be described here in detail.

[0094] Preferably, in the fully automatic sample cryogenic storage and retrieval system of this embodiment, the tube lifting and lowering drive device includes a guide seat 28 fixedly mounted on the mounting frame, a lifting plate 29 slidingly engaged with the guide seat, a rack 30 provided on the lifting plate, a lifting drive motor 31 fixedly mounted on the guide seat, a gear 32 provided at the output end of the lifting drive motor and meshing with the rack, and the tube lifting mechanism is provided at the bottom end of the lifting plate.

[0095] The arrangement of the guide seat, lifting plate, rack, lifting drive motor and other components realizes the lifting and lowering drive function of the pipe lifting mechanism.

[0096] Specifically, the output end of the lifting drive motor drives the gear to rotate, thereby driving the rack engaged with the gear to rise and fall, and then driving the lifting plate fixed to the rack and the pipe lifting mechanism at its bottom end to rise and fall along the slide rail on the guide seat.

[0097] Preferably, the fully automatic sample low-temperature storage and retrieval system of this embodiment, the second lateral displacement module includes a lateral drive motor 34 fixedly mounted on the base, a driving wheel 35 arranged at the output end of the lateral drive motor, a driven wheel 36 arranged on the base, a connecting belt 37 wound around the driving wheel and the driven wheel, and a connecting plate 38 arranged on the connecting belt, and the top end of the vertical plate is fixedly connected to the connecting plate.

[0098] The arrangement of the base, the transverse drive motor, the driving wheel, the driven wheel and the connecting plate realizes the transverse displacement drive of the mounting vertical plate so that the sample tube on the sample tube connector is aligned with the target slot on the plate rack.

[0099] The base is used to connect the lifting plate, thereby driving the components thereon to rise and fall.

[0100] The transverse driving motor drives the mounting vertical plate to move transversely through components such as a driving wheel, a driven wheel, a connecting belt and a connecting plate, so that the sample tube can be aligned with the target slot.

[0101] During operation, the base, driven by the lifting plate, moves to a predetermined height. The transverse drive motor then rotates the driving wheel, which in turn drives the connecting belt around the driving and driven wheels. As the connecting belt rotates, the connecting plate attached to the belt drives the mounting riser horizontally until the sample tube connector reaches the predetermined position.

[0102] Among them, the driving wheel and the driven wheel are preferably synchronous wheels, and the connecting belt is preferably a synchronous belt.

[0103] Preferably, the fully automatic sample low-temperature storage and retrieval system of this embodiment has an L-shaped base with a rectangular hole on the side panel of the L-shaped base. The body of the lifting drive motor is fixed on the top panel of the L-shaped base. The driving wheel, driven wheel and connecting belt are located below the top panel of the L-shaped base. The connecting plate passes through the rectangular hole and is connected to the mounting vertical plate.

[0104] The rectangular hole realizes the connection between the connecting plate and the mounting vertical plate, and also enables the mounting vertical plate to move laterally along the rectangular hole.

[0105] Preferably, in the fully automatic sample low-temperature storage and retrieval system of this embodiment, the sample tube connector includes a fixing seat 39 fixedly connected to the mounting vertical plate, at least two guide holes 40 are provided on the side of the fixing seat, and an avoidance hole 41 is provided on the bottom surface of the guide hole. A connecting block 42 is provided in the guide hole, and a wedge-shaped groove 43 is provided on the surface of the connecting block. A transmission hole 44 connected to the guide hole is also provided on the top surface of the fixing seat, and a driving block 45 is provided at the bottom end of the electric push rod, and the edge of the driving block is provided in the wedge-shaped groove. The surface of the driving block is also provided with an inclined groove 46, and a protrusion 47 adapted to the inclined groove is provided on the inner wall of the wedge-shaped groove. A clamping rod 48 is provided on the connecting block, and the bottom end of the clamping rod passes through the avoidance hole and protrudes out of the bottom surface of the fixing seat.

[0106] The arrangement of the fixing seat, the connecting block, the clamping rod and the driving block realizes the clamping operation of a single sample tube.

[0107] Existing sample tube connectors often use straws, which use negative pressure to absorb the sample tube. However, during absorption, the sample tube cap itself is easily deformed, so the sample tube's posture after absorption is easily shifted, thereby affecting subsequent operations on the sample tube.

[0108] However, existing electric grippers are large in size and not convenient for gripping smaller objects such as sample tubes. They also have a complex structure and often require elastic or magnetic devices to reset the grippers, resulting in low reliability and service life.

[0109] The sample tube connector uses a drive block at the output end of the electric push rod to drive the connecting block to move within the guide hole, which in turn drives the clamping rod on the moving block to clamp or release the sample tube. Its simple structure eliminates the need for elastic or magnetic reset mechanisms, resulting in high reliability and longevity.

[0110] The fixing seat is connected to the mounting riser to mount the connecting block and clamping rod. The guide hole on its side is used to mount the connecting block, which can move laterally in the guide hole and drive the clamping rod on it to move along the avoidance hole.

[0111] The wedge-shaped groove on the surface of the connecting block is used to adapt to the driving block, and then move along the guide hole under the drive of the driving block. Its inner wall is equipped with a protrusion that adapts to the inclined groove on the surface of the driving block, so that the connecting block can always maintain linkage with the driving block, eliminating the need for a reset device such as a spring.

[0112] The driving block is used to drive the connecting block to move. Its edge is a wedge block that fits the wedge groove. Its side has an inclined groove for the protrusion on the inner wall of the wedge groove to move therein. When installed, its bottom end is inserted into the transmission hole, and the wedge block on its edge is set in the wedge groove on the connecting block.

[0113] To release the sample tube, the actuator moves downward, driven by the electric push rod. Its edge moves within the wedge-shaped groove of the connecting block, pushing the connecting block outward along the guide hole, which in turn drives the clamping rods outward. As the connecting block moves outward, its protrusions move within the inclined grooves on the actuator's surface, ultimately releasing the sample tube between the clamping rods.

[0114] The clamping operation of the sample tube is opposite to the above process and will not be described again here.

[0115] Preferably, in the fully automatic sample cryogenic storage and retrieval system of this embodiment, the number of guide holes, connecting blocks and clamping rods are all four, and the driving block is a cross-shaped driving block.

[0116] The arrangement of four guide holes, a connecting block, and a clamping rod improves the stability of the clamping rod when gripping the sample tube. The arrangement of the cross-shaped drive block enables its four edges to simultaneously drive the four connecting blocks.

[0117] Preferably, in the fully automatic sample low-temperature storage and retrieval system of this embodiment, a limit plate 49 is provided on the surface of the mounting vertical plate, and the output end of the electric push rod is connected to an upper fixed plate 50, and a guide rod 51 is provided on the upper fixed plate. The bottom end of the guide rod passes through the limit plate and is connected to the drive block. A spring 52 is sleeved on the guide rod, and the spring is located between the upper fixed plate and the limit plate.

[0118] The arrangement of the upper fixing plate, the limit plate, the guide rod and the spring realizes the buffering and guiding functions of the driving block, thereby preventing it from being damaged due to excessive impact force.

[0119] Preferably, in the fully automatic sample cryogenic storage and retrieval system of this embodiment, a distance sensor 53 is provided on the surface of the mounting vertical plate, and a trigger plate 54 corresponding to the distance sensor is provided on the rear side of the upper fixed plate.

[0120] The setting of the distance sensor and the trigger plate realizes the limit function of the upper fixed plate and the driving block.

[0121] The distance sensor can be a U-shaped photoelectric switch, with a trigger plate located in the middle of the U-shaped photoelectric switch. When the trigger plate moves between the U-shaped photoelectric switches, the U-shaped photoelectric switches generate a corresponding electrical signal. The external controller controls the displacement of the electric push rod based on this electrical signal, thereby achieving precise driving of the drive block and clamping rod.

[0122] Preferably, in the fully automatic sample cryogenic storage and retrieval system of this embodiment, a lower fixed plate 55 fixedly connected to the guide rod is provided below the limit plate, a slot 56 is provided on the surface of the lower fixed plate, and the top surface of the drive block is connected to a plug-in plate adapted to the slot via a connecting rod 57.

[0123] The arrangement of slots and plug-in boards facilitates the installation and replacement of components such as drive blocks by operators.

[0124] Preferably, in the fully automatic sample cryogenic storage and retrieval system of this embodiment, a third lateral displacement module 58 is provided on the mounting frame, which is located above the first lateral displacement module. The displacement driving direction of the third lateral displacement module is parallel to that of the first lateral displacement module, and a plate rack positioning seat is also provided on the movable platform of the third lateral displacement module.

[0125] The provision of the third lateral displacement module enables temporary storage of the plate rack, thereby facilitating the pipe picking operation of the pipe picking assembly.

[0126] Specifically, the lifting shovel assembly places the plate rack on the plate rack locating seat of the third lateral displacement module. The third lateral displacement module then drives the plate rack locating seat to extend, allowing the tube picker assembly on top to extract a single sample tube. After extraction, the third lateral displacement module retracts the plate rack, allowing the tube picker assembly to place the sample tube on the plate rack of the first lateral displacement module. Once all sample tubes have been extracted, the first lateral displacement module unloads them.

[0127] Preferably, in the fully automatic sample low-temperature storage and retrieval system of this embodiment, the mounting frame includes an upper mounting plate 59 and a lower mounting plate 60, and a plurality of vertical mounting rods 61 are provided between the upper mounting plate and the lower mounting plate. The two ends of the vertical mounting rods are respectively fixedly connected to the upper mounting plate and the lower mounting plate, and the body of the first lateral displacement module is fixedly mounted on the vertical mounting rods.

[0128] Preferably, in the fully automatic sample cryogenic storage and retrieval system of this embodiment, a mounting box 62 is provided on the surface where the lower plate is mounted, a plate rack positioning groove is provided on the top surface of the mounting box, and a plate rack scanner is provided inside the mounting box.

[0129] The plate rack scanner is provided to realize the recognition of the plate rack, and it can be a scanning device such as a QR code or a bar code.

[0130] During scanning, the plate rack is placed on the positioning slot on the top surface of the installation box, and the plate rack scanner inside the installation box can scan and identify the identification code on the bottom surface of the plate rack.

[0131] Preferably, in the fully automatic sample low-temperature storage and retrieval system of this embodiment, the rotating drum includes an upper ring plate 63 and a lower ring plate 64, the top of the plate rack storage slot is fixedly connected to the upper ring plate, and the bottom end of the plate rack storage slot is fixedly connected to the lower ring plate, the lower ring plate is provided with an annular rack 65, and the middle part of the lower ring plate is provided with a motor connecting frame 66 fixedly connected to the shell, and the motor connecting frame is provided with a rotating drum driving motor 67 fixedly connected to the body and the motor connecting frame, and the output end of the rotating drum driving motor is connected to a gear meshing with the annular rack.

[0132] The arrangement of the lower ring plate, the annular rack and the drum drive motor realizes the rotation drive of the drum.

[0133] Specifically, the output end of the drum driving motor drives the annular rack on the lower ring plate to rotate through the gear, thereby driving the drum to rotate as a whole, so that the target plate rack rotates to a predetermined position.

[0134] The above are only preferred embodiments of the present invention, which are used to assist those skilled in the art to implement the corresponding technical solutions, and are not used to limit the scope of protection of the present invention, which is defined by the appended claims. It should be pointed out that for those skilled in the art, a number of equivalent improvements and variations can be made based on the technical solutions of the present invention, and these improvements and variations should also be regarded as the scope of protection of the present invention. At the same time, it should be understood that although this specification is described in accordance with the above-mentioned embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions of each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A fully automated sample cryogenic storage and retrieval system comprising a housing with a plate rack inlet and outlet provided on the housing surface, two sets of rotating drums disposed within the housing, multiple sets of plate rack storage boxes disposed around the rotating drums, multiple sets of plate rack storage slots disposed from top to bottom within the plate rack storage boxes for storing the plates, characterized in that: A plate rack access assembly is provided in the housing and is located between the two sets of rotating drums. The plate rack access assembly includes a lifting plate scraping mechanism and a sample transport mechanism. The lifting shovel mechanism includes a shovel linear displacement module with a vertical displacement driving direction, a rotary drive motor is provided on the movable platform of the shovel linear displacement module, the output shaft of the rotary drive motor is connected to a shovel fixing frame, a shovel and a guide rail slidingly matched with the shovel are slidably provided on the shovel fixing frame, a guide groove is provided on the surface of the shovel, and a shovel driving motor is also provided on the shovel fixing frame, the output shaft of the shovel driving motor is fixedly connected to a driving arm, the end of the driving arm is hinged with a connecting pin, and the bottom end of the connecting pin is located in the guide groove; The sample transport mechanism includes a mounting frame, on which a first lateral displacement module with a horizontal displacement driving direction is provided, and a plate rack positioning seat corresponding to the plate rack inlet and outlet is provided on the moving platform of the first lateral displacement module; The mounting frame is further provided with a pipe lifting assembly located above the first transverse displacement module, the pipe lifting assembly including a pipe lifting mechanism and a pipe lifting and lowering driving device for driving the pipe lifting mechanism to lift and lower; The body of the pipe lifting and lowering drive device is fixedly mounted on the mounting frame; The pipe lifting mechanism includes a base provided at the output end of the pipe lifting and lifting drive device, a mounting riser provided on the base, the mounting riser slidably engaged with a slide rail on the surface of the base, and a second lateral displacement module fixedly connected to the base and having an output end connected to the mounting riser. The displacement drive direction of the second lateral displacement module is horizontal and perpendicular to the displacement drive direction of the first lateral displacement drive module. An electric push rod is provided on the vertical mounting plate, a body of the electric push rod is fixedly connected to the vertical mounting plate, and an output end of the electric push rod is provided with a sample tube connector for clamping or adsorbing the sample tube.

2. The fully automatic sample cryogenic storage and retrieval system according to claim 1, characterized in that: A carrier plate is fixedly provided on the movable platform of the first transverse displacement module, and a guide rail is provided on the surface of the carrier plate for slidingly cooperating with the plate frame positioning seat.

3. The fully automatic sample cryogenic storage and retrieval system according to claim 1, characterized in that: The pipe lifting drive device includes a guide seat fixed on the mounting frame, a lifting plate slidingly matched with the guide seat, a rack provided on the lifting plate, a lifting drive motor fixed on the guide seat, and a gear provided at the output end of the lifting drive motor and meshing with the rack. The pipe lifting mechanism is provided at the bottom end of the lifting plate.

4. The fully automatic sample cryogenic storage and retrieval system according to claim 3, characterized in that: The second lateral displacement module includes a lateral drive motor fixedly mounted on the base, a driving wheel arranged at the output end of the lateral drive motor, a driven wheel arranged on the base, a connecting belt wound around the driving wheel and the driven wheel, and a connecting plate arranged on the connecting belt, and the top end of the mounting vertical plate is fixedly connected to the connecting plate.

5. The fully automatic sample cryogenic storage and retrieval system according to claim 4, characterized in that: The base is an L-shaped seat, and a rectangular hole is provided on the side plate of the L-shaped seat. The body of the lifting drive motor is fixed on the top plate of the L-shaped seat. The driving wheel, the driven wheel and the connecting belt are located below the top plate of the L-shaped seat. The connecting plate passes through the rectangular hole and is connected to the mounting vertical plate.

6. The fully automatic sample cryogenic storage and retrieval system according to claim 1, characterized in that: The sample tube connector includes a fixing base fixedly connected to the mounting vertical plate, at least two guide holes are provided on the side of the fixing base, and an avoidance hole is provided on the bottom surface of the guide hole. A connecting block is provided in the guide hole, and a wedge-shaped groove is provided on the surface of the connecting block. A transmission hole connected to the guide hole is also provided on the top surface of the fixing base, and a driving block is provided at the bottom end of the electric push rod, and the edge of the driving block is provided in the wedge-shaped groove. The surface of the driving block is also provided with an oblique groove, and a protrusion adapted to the oblique groove is provided on the inner wall of the wedge-shaped groove. A clamping rod is provided on the connecting block, and the bottom end of the clamping rod passes through the avoidance hole and protrudes out of the bottom surface of the fixing base.

7. The fully automatic sample cryogenic storage and retrieval system according to claim 6, characterized in that: The number of the guide holes, the connecting blocks and the clamping rods are all four, and the driving block is a cross-shaped driving block.

8. The fully automatic sample cryogenic storage and retrieval system according to claim 6, characterized in that: A limit plate is provided on the surface of the mounting vertical plate, the output end of the electric push rod is connected to an upper fixed plate, a guide rod is provided on the upper fixed plate, the bottom end of the guide rod passes through the limit plate and is connected to the driving block, a spring is sleeved on the guide rod, and the spring is located between the upper fixed plate and the limit plate.

9. The fully automatic sample cryogenic storage and retrieval system according to claim 8, characterized in that: A distance sensor is provided on the surface of the mounting vertical plate, and a trigger plate corresponding to the distance sensor is provided on the rear side of the upper fixing plate.

10. The fully automatic sample cryogenic storage and retrieval system according to claim 8, characterized in that: A lower fixing plate fixedly connected to the guide rod is provided below the limit plate, a slot is provided on the surface of the lower fixing plate, and a plug-in plate adapted to the slot is connected to the top surface of the driving block via a connecting rod.

11. The fully automatic sample cryogenic storage and retrieval system according to claim 1, characterized in that: The mounting frame is further provided with a third lateral displacement module located above the first lateral displacement module. The displacement driving direction of the third lateral displacement module is parallel to the first lateral displacement module. A plate frame positioning seat is also provided on the moving platform of the third lateral displacement module.

12. The fully automatic sample cryogenic storage and retrieval system according to claim 1, characterized in that: The mounting frame includes an upper mounting plate and a lower mounting plate, and a plurality of vertical mounting rods are provided between the upper mounting plate and the lower mounting plate. The two ends of the vertical mounting rods are respectively fixedly connected to the upper mounting plate and the lower mounting plate, and the body of the first lateral displacement module is fixedly provided on the vertical mounting rods.

13. The fully automatic sample cryogenic storage and retrieval system according to claim 12, characterized in that: The surface on which the lower plate is installed is provided with an installation box, the top surface of the installation box is provided with a plate rack positioning groove, and a plate rack scanner is provided in the installation box.

14. The fully automatic sample cryogenic storage and retrieval system according to claim 1, characterized in that: The rotating drum includes an upper ring plate and a lower ring plate, the top end of the plate rack storage groove is fixedly connected to the upper ring plate, and the bottom end of the plate rack storage groove is fixedly connected to the lower ring plate. An annular rack is provided on the lower ring plate, and a motor connecting frame fixedly connected to the shell is provided in the middle of the lower ring plate. A rotating drum driving motor fixedly connected to the machine body and the motor connecting frame is provided on the motor connecting frame, and the output end of the rotating drum driving motor is connected to a gear meshing with the annular rack.

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