Tube picking system and biological sample repository comprising a tube picking system

Abstract

The present application belongs to the technical field of biological sample storage, and specifically provides a tube picking system and a biological sample storage library comprising the tube picking system. The present application aims to solve the problem of large volume and inconvenient assembly and use of the existing tube picking system. To this end, the tube picking system comprises a base, a first cryogenic box receiving and transferring device, a tube picking device and a code scanning device. The first cryogenic box receiving and transferring device can receive and transfer cryogenic boxes along the Y axis and the X axis, and the first cryogenic box receiving and transferring device can be docked with the tube picking device and the code scanning device. The tube picking device is configured to perform tube picking operation. The code scanning device can scan the box code of the received cryogenic box and the tube code of the cryogenic tube in the cryogenic box. The present application simplifies the number of transferring devices for transporting cryogenic boxes in the tube picking system, makes the arrangement of each device more compact, thereby reducing the volume of the tube picking system and making it more convenient to use.

Description

Technical Field

[0001] This invention belongs to the field of biological sample storage technology, specifically providing a tube-picking system and a biological sample storage bank including the tube-picking system. 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] To enable the storage and retrieval of specific cryovials, a tube-picking device is typically installed in the cryogenic storage equipment. Similarly, to cooperate with the tube-picking device in transferring cryovials, multiple transfer devices need to be installed in the tube-picking room to achieve the transfer of cryovials in different directions. This process is bulky and complex, making it inconvenient to assemble and use.

[0004] Accordingly, a new technical solution is needed in this field 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 existing tube picking system is large in size and inconvenient to assemble and use.

[0006] In a first aspect, the present invention provides a tube-picking system, the tube-picking system comprising a base and a first cryopreservation box receiving and transferring device, a tube-picking device, and a barcode scanning device mounted on the base; the first cryopreservation box receiving and transferring device is configured to receive and transfer cryopreservation boxes along the Y-axis and X-axis, and the first cryopreservation box receiving and transferring device is respectively capable of docking with the tube-picking device and the barcode scanning device; the tube-picking device is configured to dock with the first cryopreservation box receiving and transferring device to receive cryopreservation boxes and to perform tube-picking operations; the barcode scanning device is capable of docking with the first cryopreservation box receiving and transferring device to receive cryopreservation boxes and to scan the box code of the received cryopreservation box and the tube code of the cryopreservation tube inside the cryopreservation box.

[0007] In the preferred embodiment of the above-mentioned tube-picking system, the first cryopreservation box receiving and transfer device includes a first mounting component and a first lifting mechanism, a second mounting component, a first horizontal sliding mechanism, a third mounting component, a rotating shovel mechanism, and a horizontal transfer mechanism mounted on the first mounting component. The first mounting component is mounted on the base, the second mounting component is connected to the first lifting mechanism, the first horizontal sliding mechanism and the horizontal transfer mechanism are mounted on the second mounting component and are spaced apart along the X-axis, the third mounting component is connected to the first horizontal sliding mechanism, and the rotating shovel mechanism is mounted on the third mounting component. The first lifting mechanism is configured to drive the second mounting component, the first horizontal sliding mechanism, the horizontal transfer mechanism, the third mounting component, and the rotating shovel mechanism to move along the Z-axis; the first horizontal sliding mechanism is configured to drive the third mounting component and the rotating shovel mechanism to move along the Y-axis, so that the rotating shovel mechanism can dock with the pipe-lifting device to transfer the cryopreservation box; the rotating shovel mechanism is configured to rotate circumferentially around a vertical axis and extend and retract along its length to receive and transfer the cryopreservation box; the horizontal transfer mechanism is configured to receive and transfer the cryopreservation box along the Y-axis and to transfer the cryopreservation box between the pipe-lifting device and the barcode scanning device.

[0008] In the preferred embodiment of the above-mentioned tube-picking system, the scanning device and the horizontal transfer mechanism are distributed at intervals along the Y-axis, and when the first lifting mechanism drives the horizontal transfer mechanism to move to the same height as the scanning device, the horizontal transfer mechanism and the scanning device are positioned facing each other.

[0009] In the preferred embodiment of the above-mentioned pipe-picking system, the rotating shovel mechanism includes a fourth mounting component and a fifth mounting component, a rotating mechanism, a telescopic mechanism, and a shovel component mounted on the fourth mounting component; the fourth mounting component is mounted on the third mounting component, the fifth mounting component is connected to the fourth mounting component through the rotating mechanism, the telescopic mechanism and the shovel component are mounted on the fifth mounting component, the rotating mechanism is configured to drive the fifth mounting component, the telescopic mechanism and the shovel component to rotate around a vertical axis, and the telescopic mechanism is configured to drive the shovel component to extend and retract along the length direction of the fifth mounting component.

[0010] In the preferred embodiment of the above-mentioned tube-picking system, the tube-picking device includes a second horizontal sliding mechanism, a cryopreservation box fixing mechanism, and a tube-picking device. The first cryopreservation box receiving and transferring device, the second horizontal sliding mechanism, and the barcode scanning device are arranged sequentially along the Y-axis. The tube-picking device and the barcode scanning device are spaced apart along the X-axis. The cryopreservation box fixing mechanism can simultaneously fix two cryopreservation boxes. The second horizontal sliding mechanism and the tube-picking device are mounted on the base, and the cryopreservation box fixing mechanism is mounted on the second horizontal sliding mechanism. The second horizontal sliding mechanism is configured to drive the cryopreservation box fixing mechanism to move along the X-axis, so that the cryopreservation box fixing mechanism can move between the first receiving position, the second receiving position, and the tube-picking position. The cryopreservation box fixing mechanism can dock with the rotating shovel mechanism at the first receiving position and with the horizontal transfer mechanism at the second receiving position to receive and transfer cryopreservation boxes. The tube-picking device is configured to perform a tube-picking operation on the cryopreservation box fixed mechanism located at the tube-picking position.

[0011] In the preferred embodiment of the above-mentioned pipe-picking system, the pipe-picking device includes a first connector, a second lifting mechanism, a second connector, a third horizontal sliding mechanism, and a pipe-picking gripper; the first connector is mounted on the base, the second lifting mechanism is mounted on the first connector, the second connector is mounted on the second lifting mechanism, the third horizontal sliding mechanism is mounted on the second connector, and the pipe-picking gripper is mounted on the third horizontal sliding mechanism; the second lifting mechanism is configured to drive the second connector, the third horizontal sliding mechanism, and the pipe-picking gripper to move relative to the first connector along the Z-axis, and the third horizontal sliding mechanism is configured to drive the pipe-picking gripper to move relative to the second connector along the Y-axis; the pipe-picking gripper is capable of gripping cryopreservation pipes.

[0012] In the preferred embodiment of the above-mentioned tube-picking system, the tube-picking device further includes a tube-pushing device, which is configured to push out the cryopreservation tubes inside the cryopreservation box on the cryopreservation box fixing mechanism located at the tube-picking position, so that the tube-picking device can pick up the tubes smoothly.

[0013] In the preferred embodiment of the above-mentioned pipe-lifting system, the pipe-lifting device includes a third connector, a third lifting mechanism, and a pipe-lifting component; the third connector is connected to the pipe-lifting gripper, the third lifting mechanism is mounted on the third connector, the pipe-lifting component is connected to the third lifting mechanism, the third lifting mechanism is configured to drive the pipe-lifting component to move along the Z-axis, and the pipe-lifting head of the pipe-lifting component is located below the pipe-lifting gripper and is directly opposite the pipe-lifting gripper.

[0014] In a second aspect, the present invention provides a biological sample storage facility, the biological sample storage facility including a box, a second cryopreservation box receiving and transporting device, and the aforementioned tube picking system; the box has a tube picking room and a storage room, the tube picking room and the storage room being connected and distributed along the Y-axis; the second cryopreservation box receiving and transporting device and the tube picking system are both disposed in the tube picking room, the second cryopreservation box receiving and transporting device being configured to transfer cryopreservation boxes between the first cryopreservation box receiving and transporting device and the storage room.

[0015] In the preferred embodiment of the above-mentioned biological sample storage facility, the second cryopreservation box receiving and transporting device includes a first support member, a fourth horizontal sliding mechanism mounted on the first support member, a second support member, and a box carrier member; the second support member is mounted on the fourth horizontal sliding mechanism, the box carrier member is mounted on the second support member, and the box carrier member is capable of carrying the cryopreservation box; the fourth horizontal sliding mechanism is configured to drive the second support member and the box carrier member to move along the Y-axis to transfer the cryopreservation box between the picking tube room and the storage room, and the first cryopreservation box transporting and receiving device is capable of docking with the box carrier member to transfer the cryopreservation box.

[0016] With the above technical solution adopted, the tube-picking system of the present invention includes a base and a first cryopreservation box receiving and transferring device, a tube-picking device, and a barcode scanning device mounted on the base. The first cryopreservation box receiving and transferring device can receive and transfer cryopreservation boxes along the X-axis and Y-axis, and can respectively connect to the tube-picking device and the barcode scanning device to smoothly complete the transfer operation of the cryopreservation boxes. This arrangement allows the first cryopreservation box receiving and transferring device to connect to two perpendicular directions to receive and transfer cryopreservation boxes, making its application more convenient. It also simplifies the number of transfer devices for transporting cryopreservation boxes within the tube-picking system, making the arrangement of each device more compact, thereby reducing the volume of the tube-picking system and making it more convenient to use. Furthermore, the first cryopreservation box receiving and transferring device can connect to both the X-axis and Y-axis directions, meeting the needs of transporting cryopreservation boxes in different directions, further facilitating its application.

[0017] Furthermore, the first cryopreservation box receiving and transferring device includes a first mounting component, a first lifting mechanism, a second mounting component, a first horizontal sliding mechanism, a third mounting component, a rotating shovel mechanism, and a horizontal transfer mechanism. The first horizontal sliding mechanism, the rotating shovel mechanism, and the horizontal transfer mechanism can change their corresponding heights under the drive of the first lifting mechanism. The rotating shovel mechanism can move along the Y-axis under the drive of the first horizontal sliding mechanism to connect with the pipe-picking device to transfer the cryopreservation boxes. The rotating shovel mechanism can rotate and extend, thus receiving and transferring cryopreservation boxes along the X and Y axes. The horizontal transfer mechanism transfers the cryopreservation boxes between the pipe-picking device and the barcode scanning device. With this configuration, firstly, the first horizontal sliding mechanism, the rotating shovel mechanism, and the horizontal transfer mechanism can share a single lifting mechanism to achieve height adjustment, making each mechanism more compact, reducing the volume of the first cryopreservation box receiving and transferring device, and saving costs; secondly, the rotating shovel mechanism enables the receiving and transfer of cryopreservation boxes in two directions, making its application more convenient.

[0018] Furthermore, by distributing the barcode scanning device and the horizontal transfer mechanism at intervals, the horizontal transfer mechanism can be moved to the same height as the barcode scanning device under the drive of the first lifting mechanism, so that the horizontal transfer mechanism and the barcode scanning device are set facing each other, which facilitates the docking of the horizontal transfer mechanism and the barcode scanning device to transfer the cryopreservation box; and this arrangement reduces the volume of the tube picking system.

[0019] Furthermore, the rotating shovel mechanism includes a fourth mounting component, a fifth mounting component, a rotating mechanism, a telescopic mechanism, and a shovel component. The rotating mechanism can drive the telescopic mechanism and the shovel component to rotate, changing the docking direction of the shovel component. The telescopic mechanism can drive the shovel component to extend and retract to dock and receive and transfer cryopreservation boxes. This configuration is simple in structure, easy to assemble and use, small in size, and occupies little space.

[0020] Furthermore, the tube-picking device includes a second horizontal sliding mechanism, a cryopreservation box fixing mechanism, and a tube-picking device. The second horizontal sliding mechanism can drive the cryopreservation box fixing mechanism to move along the X-axis, so that the cryopreservation box fixing mechanism and the rotating shovel mechanism can receive and transfer the cryopreservation boxes, dock with the horizontal transfer mechanism to receive and transfer the cryopreservation boxes, and transfer the cryopreservation boxes to the barcode scanning device for scanning, and dock with the tube-picking device so that the tube-picking device can pick up the tubes. This configuration, by having the second horizontal sliding mechanism transport the cryopreservation box fixing mechanism along the Y-axis to change the position of the cryopreservation box fixing mechanism, reduces the complexity of the equipment, improves the cycle time of automated transfer, increases the efficiency of tube picking, barcode scanning, and cryopreservation box transfer, and is more convenient to use.

[0021] Furthermore, the tube-picking device includes a first connector, a second lifting mechanism, a third horizontal sliding mechanism, and a tube-picking gripper. The second lifting mechanism can drive the tube-picking gripper to move along the Z-axis to change the height of the tube-picking gripper. The third horizontal sliding mechanism can drive the tube-picking gripper to move along the Y-axis to change the position of the tube-picking gripper in the Y-axis direction. In conjunction with the second horizontal sliding mechanism, it drives the cryopreservation box fixing mechanism to move along the X-axis, thereby enabling the tube-picking gripper to correspond to different cryopreservation tubes in the cryopreservation box for smooth tube picking. This configuration saves an X-axis drive mechanism, reduces costs, and decreases the size of the tube-picking device.

[0022] Furthermore, the pipe-lifting equipment also includes a pipe-pushing device, which is used to lift the frozen pipe upwards so that the pipe-lifting device can smoothly carry out the pipe-lifting operation.

[0023] Furthermore, the pipe jacking device includes a third connector, a third lifting mechanism, and a pipe jacking component. The third connector is connected to the pipe-lifting gripper, so that the pipe jacking device and the pipe-lifting gripper share a lifting mechanism and a moving mechanism on the Y-axis. This arrangement reduces the complexity of the pipe jacking device, helps to reduce costs and the size of the pipe-lifting equipment. In addition, the synchronous operation of the pipe-lifting gripper and the pipe jacking component can improve the accuracy of their cooperation and make it more convenient to use.

[0024] Furthermore, the biological sample storage device of the present invention includes a box, a second cryopreservation box receiving and transfer device, and the aforementioned tube picking system. The box has a tube picking room and a storage room connected together, and the second cryopreservation box receiving and transfer device is used to transfer the cryopreservation boxes between the first cryopreservation box receiving and transfer device and the storage room, thereby realizing automated storage and retrieval of the cryopreservation boxes. In addition, the tube picking system is small in size, which can reduce the proportion of the tube picking room in the box, thereby helping to improve the storage utilization rate in the box.

[0025] Furthermore, the second cryopreservation box receiving and transfer device includes a first support member, a fourth horizontal sliding mechanism, a second support member, and a box carrier. The first cryopreservation box receiving and transfer device can dock with the box carrier to receive and transfer cryopreservation boxes. The fourth horizontal sliding mechanism can drive the box carrier to move along the Y-axis, thereby transferring the cryopreservation boxes between the picking tubes and the storage room. Its structure is simple and easy to assemble and use. Attached Figure Description

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0027] Figure 1 This is a three-dimensional structural diagram of the tube-picking system of the present invention;

[0028] Figure 2 This is a three-dimensional structural diagram of the first cryopreservation box receiving and transfer device of the present invention. Figure 1 ;

[0029] Figure 3 This is a three-dimensional structural diagram of the first cryopreservation box receiving and transfer device of the present invention. Figure 2 ;

[0030] Figure 4 This is a front view of the connection between the first horizontal sliding mechanism and the rotary shovel mechanism of the present invention;

[0031] Figure 5 yes Figure 4 Cross-sectional view along the BB direction;

[0032] Figure 6 This is a three-dimensional structural diagram of the connection between the pipe-picking device, the barcode scanning device, and the base of the present invention;

[0033] Figure 7 yes Figure 6 Enlarged structural diagram at point A;

[0034] Figure 8 This is a three-dimensional structural diagram of the connection between the pipe-lifting device and the pipe-jacking device of the present invention. Figure 1 ;

[0035] Figure 9 This is a three-dimensional structural diagram of the connection between the pipe-lifting device and the pipe-jacking device of the present invention. Figure 2 ;

[0036] Figure 10 This is a three-dimensional structural diagram of the biological sample storage device of the present invention behind the hidden portion of the box;

[0037] Figure 11 This is a three-dimensional structural diagram of the connection between the second cryopreservation box receiving and transfer device and the tube picking system of the present invention;

[0038] Figure 12 This is a three-dimensional structural schematic diagram of the second cryopreservation box receiving and transfer device of the present invention;

[0039] Figure 13 yes Figure 12 A magnified structural diagram at point B in the middle.

[0040] List of reference numerals :

[0041] 1. Pipe picking system;

[0042] 11. Base;

[0043] 12. First cryopreservation box receiving and transfer device; 121. First mounting component; 122. First lifting mechanism; 1221. First driving component; 1222. First lead screw; 1223. First lead screw slider; 1224. First guide assembly; 123. Second mounting component; 124. First horizontal sliding mechanism; 1241. Second driving component; 1242. First drive gear; 1243. First linear rack; 1244. First guide rail assembly; 12441. First limiting guide rail; 12442. First limiting slider; 125. Third mounting component; 126. Rotating shovel mechanism; 1261. Fourth mounting component; 1262. Fifth mounting component; 1263. Rotating mechanism; 1264. Telescopic mechanism; 1265. Shovel component; 127. Horizontal transfer mechanism; 1271. Sixth mounting component; 1272. Seventh mounting component; 1273. Fifth driving component; 1274. Second driving gear; 1275. Second linear rack; 1276. Second guide rail assembly; 12761. Second limiting guide rail; 12762. Second limiting slider; 1277. Shovel plate;

[0044] 13. Pipe-lifting device; 131. Second horizontal sliding mechanism; 1311. Sixth driving component; 1312. Second lead screw; 1313. Second lead screw slider; 1314. Second guide assembly; 13141. Second guide rod; 13142. Second guide ring; 132. Cryopreservation box fixing mechanism; 1321. First support base; 1322. First box platform; 133. Pipe-lifting device; 1331. First connector; 1332. Second lifting mechanism; 1333. Second connector; 1334. Third horizontal sliding mechanism; 1335. Pipe-lifting gripper; 134. Pipe-jacking device; 1341. Third connector; 1342. Third lifting mechanism; 1343. Pipe-jacking component;

[0045] 14. Scanning device; 141. Second support base; 142. First scanning camera; 143. Second scanning camera; 144. Second carrier platform;

[0046] 2. Container; 21. Pipe-lifting room; 22. Storage room;

[0047] 3. Second cryopreservation box receiving and transfer device; 31. First support member; 32. Fourth horizontal sliding mechanism; 33. Second support member; 34. Box carrier. Detailed Implementation

[0048] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0049] It should be noted that in the description of this invention, terms such as "upper," "lower," "inner," and "outer," indicating directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element 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, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through other components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0051] Addressing the issues of existing cryovial picking systems being bulky and inconvenient to assemble and use, as mentioned in the background section, the present invention provides a cryovial picking system comprising a base and a first cryovial receiving and transferring device, a picking device, and a barcode scanning device mounted on the base. The first cryovial receiving and transferring device can receive and transfer cryovials along the X and Y axes, and can respectively dock with the picking device and the barcode scanning device to smoothly complete the cryovial transfer operation. This arrangement allows the first cryovial receiving and transferring device to dock with two perpendicular directions to receive and transfer cryovials, making its application more convenient. It also simplifies the number of transferring devices within the cryovial picking system, allowing for a more compact arrangement of the devices, thereby reducing the overall size of the system and facilitating assembly and use. Furthermore, the first cryovial receiving and transferring device can dock with both the X and Y axes, meeting the needs of cryovial transport in different directions, further enhancing its application.

[0052] In the specific description of this invention, the X-axis and Y-axis are two perpendicular directions on a horizontal plane, and the Z-axis is the vertical direction.

[0053] Specifically, please refer to Figure 1 The tube-picking system 1 of the present invention includes a base 11 and a first cryopreservation box receiving and transferring device 12, a tube-picking device 13, and a barcode scanning device 14 mounted on the base 11. The base 11 is used to mount the first cryopreservation box receiving and transferring device 12, the tube-picking device 13, and the barcode scanning device 14, so as to facilitate the subsequent installation of the tube-picking system 1 into the corresponding storage warehouse. Exemplarily, the base 11 can be a support plate with supporting feet. Alternatively, the base 11 can also be configured as a support frame.

[0054] The first cryopreservation box receiving and transferring device 12 is configured to receive and transfer cryopreservation boxes along the Y-axis and X-axis, and can be docked with the tube-picking device 13 and the barcode scanning device 14 respectively. The first cryopreservation box receiving and transferring device 12 can receive and transfer cryopreservation boxes along the Y-axis and X-axis, thus enabling it to receive and transfer cryopreservation boxes in two perpendicular directions. This makes the application more convenient, as one transfer device can achieve transport in two directions, reducing the number of transfer devices used for transporting cryopreservation boxes and thus helping to reduce the size of the tube-picking system 1, facilitating assembly and use. Furthermore, the first cryopreservation box receiving and transferring device 12 can dock with the tube-picking device 13 and the barcode scanning device 14 to achieve barcode scanning and tube-picking operations.

[0055] The tube-picking device 13 is configured to interface with the first cryopreservation box receiving and transfer device 12 to receive cryopreservation boxes and to perform tube-picking operations. The tube-picking device 13 is used to perform tube-picking operations to transfer cryopreservation tubes from one cryopreservation box to another, so as to achieve the output of specific cryopreservation tubes / single tubes / multiple tubes, and to facilitate the management of scattered cryopreservation tubes, so as to achieve whole-box storage and thus improve storage utilization.

[0056] The barcode scanning device 14 can interface with the first cryopreservation box receiving and transfer device 12 to receive cryopreservation boxes and scan the box code of the received cryopreservation box and the tube code of the cryopreservation tube inside the cryopreservation box. The first cryopreservation box receiving and transfer device 12 can transfer the cryopreservation box to the barcode scanning device 14 so that the barcode scanning device 14 can scan the box code of the cryopreservation box and the tube code of the cryopreservation tube inside the cryopreservation box, so as to manage the stored cryopreservation box and cryopreservation tube.

[0057] Preferably, please refer to the following: Figures 2 to 5 The first cryopreservation box receiving and transfer device 12 includes a first mounting component 121 and a first lifting mechanism 122, a second mounting component 123, a first horizontal sliding mechanism 124, a third mounting component 125, a rotating shovel mechanism 126, and a horizontal transfer mechanism 127 mounted on the first mounting component 121.

[0058] The first mounting component 121 is mounted on the base 11. The second mounting component 123 is connected to the first lifting mechanism 122. The first horizontal sliding mechanism 124 and the horizontal transfer mechanism 127 are mounted on the second mounting component 123, and are spaced apart along the X-axis. The first horizontal sliding mechanism 124 and the horizontal transfer mechanism 127 are located on both sides of the first mounting component 121. The third mounting component 125 is connected to the first horizontal sliding mechanism 124, and the rotating shovel mechanism 126 is mounted on the third mounting component 125. This arrangement rationally distributes space, allowing the mechanisms to work together without interfering with each other, thus helping to reduce the overall size of the device.

[0059] The first lifting mechanism 122 is configured to drive the second mounting component 123, the first horizontal sliding mechanism 124, the horizontal transfer mechanism 127, the third mounting component 125, and the rotary shovel mechanism 126 to move along the Z-axis. The first horizontal sliding mechanism 124, the horizontal transfer mechanism 127, and the rotary shovel mechanism 126 share a single lifting mechanism to adjust their height, effectively saving costs and facilitating assembly and use.

[0060] The first horizontal sliding mechanism 124 is configured to drive the third mounting component 125 and the rotating shovel mechanism 126 to move along the Y-axis, so that the rotating shovel mechanism 126 can dock with the pipe-picking device 13 to transfer the cryopreservation box. The first horizontal sliding mechanism 124 can drive the rotating shovel mechanism 126 to move along the Y-axis, thereby changing the position of the rotating shovel mechanism 126 on the Y-axis, enabling it to better dock with the pipe-picking device 13 to transfer the cryopreservation box, making it more convenient to use.

[0061] The rotating shovel mechanism 126 is configured to rotate circumferentially about a vertical axis and extend and retract along its length to receive and transfer cryopreservation boxes. The rotating shovel mechanism 126's ability to rotate and extend allows it to engage in different directions, thus enabling the receiving and transfer of cryopreservation boxes in various orientations, improving ease of use and meeting diverse needs.

[0062] The horizontal transfer mechanism 127 is configured to receive and transfer cryopreservation boxes along the Y-axis, and to transfer the cryopreservation boxes between the tube picking device 13 and the barcode scanning device 14. The horizontal transfer mechanism 127 facilitates scanning the cryopreservation boxes before and after tube picking, thus enabling management of the cryopreservation boxes and cryopreservation tubes.

[0063] This configuration makes the structure of the first cryopreservation box receiving and transfer device 12 more compact, reduces its size, and saves costs.

[0064] Preferably, please continue reading. Figure 2 The first lifting mechanism 122 includes a first driving component 1221 (e.g., a servo motor or a stepper motor), a first lead screw 1222, a first lead screw slider 1223, and a first guide assembly 1224.

[0065] The first driving member 1221 and the first lead screw 1222 are both mounted on the first mounting member 121. The first lead screw 1222 extends vertically. The second mounting member 123 is connected to the first lead screw slider 1223. The first lead screw slider 1223 is sleeved on the first lead screw 1222 and threadedly connected to the first lead screw 1222. The first driving member 1221 is connected to the first lead screw 1222 and can drive the first lead screw 1222 to rotate, thereby driving the first lead screw slider 1223 and the second mounting member 123 to move along the Z-axis.

[0066] The first guide assembly 1224 is located between the first lead screw slider 1223 and the first mounting member 121. The first guide assembly 1224 can guide the first lead screw slider 1223 during its movement along the Z-axis, so that the first lead screw slider 1223 moves in a straight line and prevents the first lead screw slider 1223 from rotating.

[0067] In actual operation, the first driving component 1221 drives the first lead screw 1222 to rotate. Under the guidance of the first guide assembly 1224, the first lead screw slider 1223 moves along the Z-axis with the second mounting bracket, thereby adjusting the height of the first horizontal sliding mechanism 124, the rotating shovel mechanism 126, and the horizontal transfer mechanism 127. The overall structure is simple and easy to assemble and use. Furthermore, setting the first lifting mechanism 122 to a driving method in which the driving component cooperates with the lead screw and lead screw slider provides better stability compared to a driving method in which the driving component cooperates with gears and racks.

[0068] Although in the above embodiment, the first lifting mechanism 122 is configured as a driving form in which the first driving member 1221 drives the first lead screw 1222 to rotate, thereby moving the first lead screw slider 1223, this should not limit the scope of protection of the present invention. In practical applications, those skilled in the art can also configure the first lifting mechanism 122 as other driving forms. For example, the first lifting mechanism 122 can be configured as a driving form in which the first driving member 1221 drives the gear to rotate, thereby moving the rack. Such adjustments and changes to the specific structure of the first lifting mechanism 122 do not deviate from the basic principles of the present invention and should all be limited to the scope of protection of the present invention. Of course, the above-described driving form in which the first lifting mechanism 122 is configured as a driving form in which the first driving member 1221 drives the first lead screw 1222 to rotate, thereby moving the first lead screw slider 1223, is preferred, as it provides greater stability and stronger driving force during lifting and moving.

[0069] Preferably, the first guide assembly 1224 includes a first guide rod and a first guide ring sleeved on the first guide rod. The first guide rod is mounted on the first mounting member 121 and extends along the Z-axis. The first guide ring is movable along the first guide rod and is connected to the first lead screw slider 1223.

[0070] In other embodiments, the first guide assembly 1224 may also include a guide rail and a guide slider that cooperates with the guide rail. The guide rail is mounted on the first mounting member 121 and is diffracted along the Z-axis. The guide slider is connected to the first lead screw slider 1223 and can slide along the guide rail.

[0071] It should be noted that the present invention does not impose any limitations on the specific structure of the first guide component 1224. In practical applications, those skilled in the art can set the specific structure of the first guide component 1224 according to actual needs, as long as the first guide component 1224 can guide the first lead screw slider 1223 to make the first lead screw slider 1223 move linearly. The specific implementation of the first guide component 1224 described above should not limit the scope of protection of the present invention. Of course, it is preferable to set the first guide component 1224 as a structure of a first guide rod and a first guide ring, which can be assembled simultaneously with the first lead screw 1222, and its structural stability is better.

[0072] Preferably, there are two first guide components 1224, which are located on both sides of the first lead screw 1222.

[0073] Two first guide components 1224 are provided, located on both sides of the first lead screw 1222 respectively. This provides better guiding and limiting effects, and can effectively prevent the first lead screw slider 1223 from rotating relative to the first mounting part 121.

[0074] Preferably, please refer to the following: Figure 4 and Figure 5 The first horizontal sliding mechanism 124 includes a second driving member 1241 (e.g., a servo motor or a stepper motor), a first driving gear 1242, a first linear rack 1243, and a first guide rail assembly 1244.

[0075] The first linear rack 1243 is mounted on the second mounting member 123 and extends along the Y-axis. The second driving member 1241 is mounted on the third mounting member 125. The second driving member 1241 is connected to the first driving gear 1242 and can drive the first driving gear 1242 to rotate. The first driving gear 1242 is meshed with the first linear rack 1243. When the first driving gear 1242 rotates, it can drive the third mounting member 125 and the second driving member 1241 to move relative to the first linear rack 1243 along the Y-axis.

[0076] The first guide rail assembly 1244 is located between the second mounting member 123 and the third mounting member 125. The first guide rail assembly 1244 can guide the third mounting member 125 during the movement of the third mounting member 125 relative to the second mounting member 123, so that the third mounting member 125 moves linearly, and can keep the first drive gear 1242 meshing with the first linear rack 1243.

[0077] In actual operation, the second driving member 1241 drives the first driving gear 1242 to rotate, thereby causing the first driving gear 1242 to move relative to the first linear rack 1243. This enables the third mounting member 125, the second driving member 1241, the first driving gear 1242, and the rotary shovel mechanism 126 to move along the Y-axis. The first guide rail assembly 1244 guides the third mounting member 125 to move linearly, thus maintaining its stability during movement.

[0078] Preferably, please continue reading. Figure 5 The first guide rail assembly 1244 includes a first limiting guide rail 12441 and a first limiting slider 12442. The first limiting guide rail 12441 is mounted on the second mounting member 123 and extends along the Y-axis. The first limiting slider 12442 is slidably connected to the first limiting guide rail 12441 and can move along the length direction of the first limiting guide rail 12441. The first limiting slider 12442 is connected to the third mounting member 125.

[0079] The first limiting guide rail 12441 is provided with a first limiting structure (e.g., a limiting groove or a limiting protrusion), and the first limiting slider 12442 is provided with a second limiting structure (e.g., a limiting protrusion that cooperates with the limiting groove or a limiting groove that cooperates with the limiting protrusion). The first limiting structure and the second limiting structure cooperate to restrict the movement of the first limiting slider 12442 relative to the first limiting guide rail 12441 in the width and thickness directions of the first limiting guide rail 12441. When the second mounting member 123 and the third mounting member 125 are vertically arranged, the second mounting member 123 and the third mounting member 125 can be kept relatively stable.

[0080] The first guide rail assembly 1244 is configured as a first limiting guide rail 12441 and a first limiting slider 12442. Its structure is simple, easy to assemble and use, and has good guiding and limiting effects, enabling the first horizontal sliding mechanism 124 to operate normally.

[0081] Although the first guide rail assembly 1244 is configured as a first limiting guide rail 12441 and a first limiting slider 12442 in the above embodiments, this should not limit the scope of protection of the present invention. In practical applications, those skilled in the art can also configure the first guide rail assembly 1244 as other structures. For example, the first guide rail assembly 1244 can be configured as a guide rod and a guide slip ring sleeved on the guide rod. The guide rod is mounted on the second mounting member 123 and extends along the Y-axis. The guide slip ring is connected to the third mounting member 125 and can slide along the guide rod. Such adjustments and changes to the specific structure of the first guide rail assembly 1244 do not depart from the basic principles of the present invention and should all be limited to the scope of protection of the present invention.

[0082] Preferably, please continue reading. Figure 5 The rotating shovel mechanism 126 includes a fourth mounting member 1261 and a fifth mounting member 1262, a rotating mechanism 1263, a telescopic mechanism 1264, and a shovel member 1265 mounted on the fourth mounting member 1261.

[0083] The fourth mounting component 1261 is mounted on the third mounting component 125. The fifth mounting component 1262 is connected to the fourth mounting component 1261 through a rotating mechanism 1263. The telescopic mechanism 1264 and the shovel plate component 1265 are mounted on the fifth mounting component 1262. The rotating mechanism 1263 is configured to drive the fifth mounting component 1262, the telescopic mechanism 1264 and the shovel plate component 1265 to rotate around a vertical axis. The telescopic mechanism 1264 is configured to drive the shovel plate component 1265 to extend and retract along the length direction of the fifth mounting component 1262.

[0084] In actual operation, the rotating mechanism 1263 drives the fifth mounting component 1262, the telescopic mechanism 1264, and the shovel plate component 1265 to rotate, thereby changing the docking direction of the shovel plate component 1265. The telescopic mechanism 1264 drives the shovel plate component 1265 to extend and retract, and cooperates with the first lifting mechanism 122 to drive the rotating shovel plate mechanism 126 to lift and lower, enabling docking, receiving, and transferring cryogenic boxes. The overall structure is compact, small in size, and easy to assemble and use.

[0085] Preferably, the rotating mechanism 1263 includes a third driving element (e.g., a servo motor or a stepper motor), a driving gear, and a driven gear.

[0086] The passive gear is fixedly connected to the fifth mounting part 1262 and rotatably connected to the fourth mounting part 1261 through a bearing. The third driving part is mounted on the fourth mounting part 1261 and is connected to the driving gear, which can drive the driving gear to rotate. The driving gear meshes with the passive gear, and when the driving gear rotates, it can drive the passive gear and the fifth mounting part 1262 to rotate.

[0087] The rotating mechanism 1263 is configured as a third driving element, an active gear, and a passive gear. It drives the fifth mounting element 1262 to rotate through gear transmission. The drive is reliable, the structure is simple, and it is easy to assemble and use.

[0088] Preferably, the telescopic mechanism 1264 includes a fourth driving element (e.g., a servo motor or a stepper motor), a transmission assembly (e.g., a gear-and-rack transmission assembly or a gear-and-link transmission assembly), a linear guide, and a guide slider.

[0089] The fourth drive component is mounted on the fifth mounting component 1262. The fourth drive component is connected to the guide rail slider through a transmission assembly. The linear guide rail is mounted on the fifth mounting component 1262 and extends along the length direction of the fifth mounting component 1262. The guide rail slider is slidably connected to the linear guide rail and can slide along the length direction of the linear guide rail. The shovel disc component 1265 is mounted on the guide rail slider. The fourth drive component is connected to the transmission assembly and can drive the guide rail slider and the shovel disc component 1265 to slide along the length direction of the linear guide rail through the transmission assembly, thereby causing the shovel disc component 1265 to extend and retract.

[0090] The telescopic mechanism 1264 is configured as a fourth driving component, a transmission component, a linear guide rail, and a guide rail slider. Its structure is simple and easy to assemble and use. Furthermore, the guiding and limiting functions of the linear guide rail and the guide rail slider enable the shovel plate component 1265 to move linearly, making it easier to control.

[0091] Preferably, please refer to the following: Figure 1 The barcode scanning device 14 and the horizontal transfer mechanism 127 are distributed at intervals along the Y-axis. When the first lifting mechanism 122 moves the horizontal transfer mechanism 127 to the same height as the barcode scanning device 14, the horizontal transfer mechanism 127 and the barcode scanning device 14 are positioned opposite each other so as to dock with the barcode scanning device 14 and place the cryopreservation box on the barcode scanning device 14.

[0092] The barcode scanning device 14 is placed on one side of the horizontal transfer mechanism 127 so that the two can be connected, which is convenient for application and can save space.

[0093] Preferably, please refer to the following: Figure 7 The barcode scanning device 14 includes a second support base 141 and a first barcode scanning camera 142, a second barcode scanning camera 143, and a second box-carrying platform 144 disposed on the second support base 141. The second box-carrying platform 144 can hold cryopreservation boxes. The first barcode scanning camera 142 is horizontally disposed along the Y-axis and can scan the box code of the cryopreservation box located on the second box-carrying platform 144. The second barcode scanning camera 143 is upwardly disposed along the Z-axis and can scan the tube code of the cryopreservation tube inside the cryopreservation box located on the second box-carrying platform 144.

[0094] The barcode scanning device 14 is configured as a second support base 141, a first barcode scanning camera 142, a second barcode scanning camera 143, and a second carrier platform 144. Its structure is simple and easy to assemble and use.

[0095] Preferably, please refer to the following: Figure 2 and Figure 3 The horizontal transfer mechanism 127 includes a sixth mounting component 1271, a seventh mounting component 1272, a fifth drive component 1273 (e.g., a servo motor or a stepper motor), a second drive gear 1274, a second linear rack 1275, a second guide rail assembly 1276, and a shovel plate 1277.

[0096] The sixth mounting member 1271 is connected to the second mounting member 123. The seventh mounting member 1272 is connected to the sixth mounting member 1271 through the second guide rail assembly 1276. The fifth driving member 1273 is mounted on the sixth mounting member 1271. The second linear rack 1275 is mounted on the seventh mounting member 1272 and extends along the Y-axis. The shovel plate 1277 is mounted on the end of the seventh mounting member 1272 near the barcode scanner 14 along the Y-axis. The fifth driving member 1273 is connected to the second driving gear 1274 and can drive the second driving gear 1274 to rotate. The second driving gear 1274 is meshed with the second linear rack 1275. When the second driving gear 1274 rotates, it can drive the second linear rack 1275, the seventh mounting member 1272 and the shovel plate 1277 to move relative to the sixth mounting member 1271 along the Y-axis.

[0097] The second guide rail assembly 1276 can guide the seventh mounting member 1272 during the movement of the seventh mounting member 1272 relative to the sixth mounting member 1271, so that the seventh mounting member 1272 moves linearly, and can keep the second drive gear 1274 and the second linear rack 1275 in a meshing state.

[0098] In actual operation, the fifth driving component 1273 drives the second driving gear 1274 to rotate, causing the second driving gear 1274 to move relative to the second linear rack 1275. Thus, under the guiding and limiting action of the second guide rail assembly 1276, the seventh mounting component 1272, the second linear rack 1275, and the shovel plate 1277 move relative to the sixth mounting component 1271 along the Y-axis. Its structure is simple and easy to assemble and use.

[0099] Preferably, please continue reading. Figure 3 The second guide rail assembly 1276 includes a second limiting guide rail 12761 and a second limiting slider 12762. The second limiting guide rail 12761 is mounted on the sixth mounting member 1271 and extends along the Y-axis. The second limiting slider 12762 is slidably connected to the second limiting guide rail 12761 and can move along the length direction of the second limiting guide rail 12761. The second limiting slider 12762 is connected to the seventh mounting member 1272.

[0100] The second limiting guide rail 12761 is provided with a third limiting structure (e.g., a limiting groove or a limiting protrusion), and the second limiting slider 12762 is provided with a fourth limiting structure (e.g., a limiting protrusion that cooperates with the limiting groove or a limiting groove that cooperates with the limiting protrusion). The third limiting structure and the fourth limiting structure cooperate to restrict the movement of the second limiting slider 12762 relative to the second limiting guide rail 12761 in the width and thickness directions of the second limiting guide rail 12761.

[0101] The second guide rail assembly 1276 is configured as a second limiting guide rail 12761 and a second limiting slider 12762. It has a simple structure, is easy to assemble and use, and has good guiding and limiting effects.

[0102] Although the second guide rail assembly 1276 is configured as a second limiting guide rail 12761 and a second limiting slider 12762 in the above embodiments, this should not limit the scope of protection of the present invention. In practical applications, those skilled in the art can also configure the second guide rail assembly 1276 with other structures. For example, the second guide rail assembly 1276 can be configured as a guide rod and a guide slip ring sleeved on the guide rod. The guide rod is mounted on the sixth mounting member 1271 and extends along the Y-axis. The guide slip ring is connected to the seventh mounting member 1272 and can slide along the guide rod. Such adjustments and changes to the specific structure of the second guide rail assembly 1276 do not depart from the basic principles of the present invention and should all be limited to the scope of protection of the present invention.

[0103] Preferably, please refer to the following: Figure 6 and Figure 7 The tube picking device 13 includes a second horizontal sliding mechanism 131, a cryopreservation box fixing mechanism 132, and a tube picking device 133. The first cryopreservation box receiving and transfer device 12, the second horizontal sliding mechanism 131, and the barcode scanning device 14 are arranged sequentially along the Y-axis. The tube picking device 133 and the barcode scanning device 14 are distributed at intervals along the X-axis. The cryopreservation box fixing mechanism 132 can fix two cryopreservation boxes at the same time.

[0104] The second horizontal sliding mechanism 131 and the tube-picking device 133 are mounted on the base 11, and the cryopreservation box fixing mechanism 132 is mounted on the second horizontal sliding mechanism 131. The second horizontal sliding mechanism 131 is configured to drive the cryopreservation box fixing mechanism 132 to move along the X-axis, so that the cryopreservation box fixing mechanism 132 can move between the first receiving box position, the second receiving box position, and the tube-picking position. The cryopreservation box fixing mechanism 132 can dock with the rotating shovel mechanism 126 at the first receiving box position and with the horizontal transfer mechanism 127 at the second receiving box position to receive and transfer the cryopreservation box. The tube-picking device 133 is configured to perform a tube-picking operation on the cryopreservation box on the cryopreservation box fixing mechanism 132 located at the tube-picking position.

[0105] This design saves space and reduces the complexity of the equipment. Furthermore, the second horizontal sliding mechanism 131 drives the cryopreservation box fixing mechanism 132 to move along the X-axis, enabling the cryopreservation box fixing mechanism 132 to move between the first receiving box position, the second receiving box position, and the tube picking position. This increases the cycle time of automated transfer, thereby improving the efficiency of tube picking, barcode scanning, and cryopreservation box transfer, making it more convenient to use.

[0106] Preferably, please continue reading. Figure 7The second horizontal sliding mechanism 131 includes a sixth driving member 1311 (e.g., a servo motor or a stepper motor), a second lead screw 1312, a second lead screw slider 1313, and a second guide assembly 1314.

[0107] The fifth driving component 1273 and the second lead screw 1312 are mounted on the base 11. The second lead screw 1312 extends along the X-axis. The cryopreservation box fixing mechanism 132 is connected to the second lead screw slider 1313. The second lead screw slider 1313 is sleeved on the second lead screw 1312 and threadedly connected to it. The fifth driving component 1273 is connected to the second lead screw 1312 and can drive the second lead screw 1312 to rotate, thereby causing the second lead screw slider 1313 and the cryopreservation box fixing mechanism 132 to move along the X-axis. The second guide component 1314 is located between the base 11 and the second lead screw slider 1313. The second guide component 1314 can guide the second lead screw slider 1313 during its movement along the X-axis, so that the second lead screw slider 1313 moves linearly and prevents it from rotating.

[0108] The second horizontal sliding mechanism 131 is configured as a sixth driving member 1311, a second lead screw 1312, a second lead screw slider 1313, and a second guide assembly 1314. Its structure is simple and easy to assemble and use.

[0109] Preferably, please continue reading. Figure 7 The second guide assembly 1314 includes a second guide rod 13141 and a second guide ring 13142 sleeved on the second guide rod 13141. The second guide rod 13141 is mounted on the base 11 and extends along the X-axis. The second guide ring 13142 is movable along the second guide rod 13141 and is connected to the second lead screw slider 1313.

[0110] In other embodiments, the second guide assembly 1314 includes a guide rail and a guide slider that is slidably disposed with the guide rail. The guide rail is mounted on the base 11 and extends along the X-axis. The guide slider is connected to the second lead screw slider 1313.

[0111] It should be noted that the present invention does not impose any limitations on the specific structure of the second guide component 1314. In practical applications, as long as the second guide component 1314 can guide the second lead screw slider 1313 to make the second lead screw slider 1313 move linearly, it is sufficient. Those skilled in the art can set the specific structure of the second guide component 1314 according to actual needs. The specific implementation of the second guide component 1314 in the above embodiments should not limit the scope of protection of the present invention.

[0112] Preferably, there are two second guide components 1314, which are located on both sides of the second lead screw 1312.

[0113] A second guide assembly 1314 is provided on each side of the second lead screw 1312, which can effectively prevent the second lead screw slider 1313 from rotating and improve the guiding and limiting effect.

[0114] Preferably, as shown in the figure, the cryopreservation box fixing mechanism 132 includes a first support base 1321 and a first box-carrying platform 1322 mounted on the first support base 1321. The first box-carrying platform 1322 has two placement positions for placing cryopreservation boxes arranged side-by-side along the X-axis. The first support base 1321 supports and mounts the first box-carrying platform 1322, which simultaneously holds two cryopreservation boxes to facilitate the picking operation with the tube-picking device 133.

[0115] Preferably, please refer to the following: Figure 8 and Figure 9 The tube picking device 133 includes a first connector 1331, a second lifting mechanism 1332, a second connector 1333, a third horizontal sliding mechanism 1334, and a tube picking gripper 1335, which can pick up frozen tubes.

[0116] The first connecting member 1331 is mounted on the base 11, the second lifting mechanism 1332 is mounted on the first connecting member 1331, the second connecting member 1333 is mounted on the second lifting mechanism 1332, the third horizontal sliding mechanism 1334 is mounted on the second connecting member 1333, and the pipe-picking gripper 1335 is mounted on the third horizontal sliding mechanism 1334. The second lifting mechanism 1332 is configured to drive the second connecting member 1333, the third horizontal sliding mechanism 1334, and the pipe-picking gripper 1335 to move relative to the first connecting member 1331 along the Z-axis. The third horizontal sliding mechanism 1334 is configured to drive the pipe-picking gripper 1335 to move relative to the second connecting member 1333 along the Y-axis.

[0117] With this configuration, the pipe-picking device 133 has a more compact structure, which reduces its volume.

[0118] It should be noted that this invention does not impose any restrictions on the specific structure of the second lifting mechanism 1332, as long as the second lifting mechanism 1332 can drive the second connecting member 1333, the third horizontal sliding mechanism 1334, and the pipe-picking gripper 1335 to move along the Z-axis (vertical direction). In practical applications, those skilled in the art can customize the specific structure of the second lifting mechanism 1332 according to actual needs. For example, the second lifting mechanism 1332 can be configured as a structure in which a motor drives a gear to rotate and engages with a rack, or it can be configured as a structure in which a motor drives a lead screw to rotate, thereby driving the lead screw slider to move, and so on. Such adjustments and changes to the specific structure of the second lifting mechanism 1332 do not deviate from the basic principles of this invention and should be limited to the protection scope of this invention.

[0119] It should also be noted that this invention does not impose any restrictions on the specific structure of the third horizontal sliding mechanism 1334, as long as the third horizontal sliding mechanism 1334 can drive the pipe-picking gripper 1335 to move along the Y-axis. In practical applications, those skilled in the art can customize the specific structure of the third horizontal sliding mechanism 1334 according to actual needs. For example, the third horizontal sliding mechanism 1334 can be configured as a structure in which a motor drives a gear to rotate and engages with a rack; or, it can be configured as a structure in which a motor drives a lead screw to rotate, thereby driving the lead screw slider to move, and so on. Such adjustments and changes to the specific structure of the third horizontal sliding mechanism 1334 do not deviate from the basic principles of this invention and should all be limited to the protection scope of this invention.

[0120] Preferably, referring to 6, the tube picking device 13 further includes a tube jacking device 134, which is configured to push out the cryopreservation tube in the cryopreservation box on the cryopreservation box fixing mechanism 132 located at the tube picking position, so that the tube picking device 133 can pick up the tube smoothly.

[0121] A tube-lifting device 134 is provided to push the cryopreservation tube upwards so that the tube-lifting gripper 1335 can smoothly pick up the cryopreservation tube.

[0122] Preferably, please refer to the following: Figure 8 and Figure 9 The pipe jacking device 134 includes a third connector 1341, a third lifting mechanism 1342, and a pipe jacking component 1343.

[0123] The third connector 1341 is connected to the pipe-lifting gripper 1335, the third lifting mechanism 1342 is installed on the third connector 1341, the jacking pipe component 1343 is connected to the third lifting mechanism 1342, the jacking pipe head of the jacking pipe component 1343 is located below the pipe-lifting gripper 1335 and is directly opposite the pipe-lifting gripper 1335; the third lifting mechanism 1342 is configured to drive the jacking pipe component 1343 to move along the Z-axis.

[0124] This configuration allows the pipe jacking device 134 and the pipe-picking gripper 1335 to share a lifting mechanism and a moving mechanism on the Y-axis, reducing the complexity of the pipe jacking device 134, which helps to reduce costs and the size of the pipe-picking equipment 13. In addition, the pipe-picking gripper 1335 and the pipe jacking component 1343 operate synchronously in the horizontal direction, which can improve the progress of their cooperation and make them more convenient to use.

[0125] Although the jacking device 134 is configured as a third connector 1341, a third lifting mechanism 1342, and a jacking component 1343 in the above embodiments, this should not limit the scope of protection of the present invention. In practical applications, those skilled in the art can also configure the jacking device 134 in other structural forms. For example, the jacking device 134 can be configured as a third connector 1341 and a Y-axis moving mechanism, a Z-axis moving mechanism, and a jacking component 1343 mounted on the third connector 1341. The Y-axis moving mechanism can drive the Z-axis moving mechanism and the jacking component 1343 to move along the Y-axis, and the Z-axis moving mechanism can drive the jacking component 1343 to move along the Z-axis, so that the jacking component 1343 can push out the cryopreservation tube. Such adjustments and changes to the specific structure of the jacking device 134 do not depart from the basic principles of the present invention and should all be limited to the scope of protection of the present invention.

[0126] Of course, the preferred configuration is to set the pipe jacking device 134 as a third connector 1341, a third lifting mechanism 1342, and a pipe jacking component 1343, and to connect the third connector 1341 to the pipe-lifting gripper 1335. This configuration helps to reduce costs and the size of the pipe-lifting device 13, and makes it more convenient to use.

[0127] It should be noted that this invention does not impose any restrictions on the specific structure of the third lifting mechanism 1342, as long as the third lifting mechanism 1342 can drive the top pipe component 1343 to move along the Z-axis (vertical direction). In practical applications, those skilled in the art can set the specific structure of the third lifting mechanism 1342 according to actual needs. For example, the third lifting mechanism 1342 can be configured as a structure in which a motor drives a gear to rotate and engages with a rack, or it can be configured as a structure in which a motor drives a lead screw to rotate, thereby driving the lead screw slider to move, and so on. Such adjustments and changes to the specific structure of the third lifting mechanism 1342 do not deviate from the basic principles of this invention and should be limited to the protection scope of this invention.

[0128] Specifically, please refer to Figure 10 and Figure 11 The biological sample storage device of the present invention includes a box 2, a second cryopreservation box receiving and transport device 3, and the above-mentioned tube picking system 1.

[0129] The enclosure 2 contains a tube-picking chamber 21 and a storage chamber 22, which are connected and distributed along the Y-axis. The connection between the tube-picking chamber 21 and the storage chamber 22 ensures that the tube-picking chamber 21 and the storage chamber 22 maintain a consistent storage environment, guaranteeing that the ambient temperature does not change during the tube-picking process and thus preserving the activity of the biological samples.

[0130] The second cryopreservation box receiving and transfer device 3 and the tube picking system 1 are both located in the tube picking room 21. The second cryopreservation box receiving and transfer device 3 is configured to transfer the cryopreservation box between the first cryopreservation box receiving and transfer device 12 and the storage room 22.

[0131] The second cryopreservation box receiving and transfer device 3 is used to transfer cryopreservation boxes between the tube picking room 21 and the storage room 22, so as to cooperate with the first cryopreservation box receiving and transfer device 12 to realize the automated storage and retrieval of cryopreservation boxes and cryopreservation tubes.

[0132] Preferably, please refer to the following: Figure 12 and Figure 13 The second cryopreservation box receiving and transfer device 3 includes a first support member 31 and a fourth horizontal sliding mechanism 32, a second support member 33 and a box carrier 34 installed on the first support member 31; the box carrier 34 is used to place the cryopreservation box.

[0133] The second support member 33 is mounted on the fourth horizontal sliding mechanism 32, and the box carrier 34 is mounted on the second support member 33. The box carrier 34 can carry the cryopreservation box. The fourth horizontal sliding mechanism 32 is configured to drive the second support member 33 and the box carrier 34 to move along the Y-axis to transfer the cryopreservation box between the picking tube 21 and the storage room 22. The first cryopreservation box transfer receiving device can dock with the box carrier 34 to transfer the cryopreservation box.

[0134] This design is simple in structure and easy to assemble and use.

[0135] Preferably, as shown in the figure, the container 34 and the horizontal transfer mechanism 127 are distributed at intervals along the Y-axis, and when the first lifting mechanism 122 moves the horizontal transfer mechanism 127 to the same height as the container 34, the horizontal transfer mechanism 127 and the container 34 are arranged facing each other so that the horizontal transfer mechanism 127 docks with the container 34 to place the cryopreservation box on the container 34 and remove the cryopreservation box located on the container 34.

[0136] The carrier 34 is positioned on one side of the horizontal transfer mechanism 127 so that the two can be connected to transfer the cryopreservation box, which is convenient to use and saves space.

[0137] It should also be noted that this invention does not impose any restrictions on the specific structure of the fourth horizontal sliding mechanism 32, as long as the fourth horizontal sliding mechanism 32 can drive the carrier 34 to move along the Y-axis. In practical applications, those skilled in the art can set the specific structure of the fourth horizontal sliding mechanism 32 according to actual needs. For example, the fourth horizontal sliding mechanism 32 can be configured as a structure in which a motor drives a gear to rotate and engages with a rack; or, it can be configured as a structure in which a motor drives a lead screw to rotate, thereby driving the lead screw slider to move, and so on. Such adjustments and changes to the specific structure of the fourth horizontal sliding mechanism 32 do not deviate from the basic principles of this invention and should all be limited to the protection scope of this invention.

[0138] In addition, the biosample storage facility of the present invention also includes a refrigeration system to cool the tube picking room 21 and the storage room 22. In application, it can be configured as a liquid nitrogen refrigeration system, an air-cooled refrigeration system or other types of refrigeration system. No specific configuration or related structure of the refrigeration system is limited herein.

[0139] 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 pipe-picking system, characterized in that, Includes a base and a first cryopreservation box receiving and transfer device, a tube picking device and a barcode scanning device mounted on the base; The first cryopreservation box receiving and transfer device is configured to receive and transfer cryopreservation boxes along the Y-axis and X-axis, and the first cryopreservation box receiving and transfer device can be connected to the tube picking device and the barcode scanning device respectively. The tube-picking device is configured to interface with the first cryopreservation box receiving and transfer device to receive cryopreservation boxes and to perform tube-picking operations. The scanning device can interface with the first cryopreservation box receiving and transfer device to receive cryopreservation boxes and can scan the box code of the received cryopreservation box and the tube code of the cryopreservation tube inside the cryopreservation box. The first cryopreservation box receiving and transfer device includes a first mounting component and a first lifting mechanism, a second mounting component, a first horizontal sliding mechanism, a third mounting component, a rotating shovel mechanism, and a horizontal transfer mechanism mounted on the first mounting component. The first mounting component is mounted on the base, the second mounting component is connected to the first lifting mechanism, the first horizontal sliding mechanism and the horizontal transfer mechanism are mounted on the second mounting component, and the first horizontal sliding mechanism and the horizontal transfer mechanism are spaced apart along the X-axis, the third mounting component is connected to the first horizontal sliding mechanism, and the rotating shovel mechanism is mounted on the third mounting component. The first lifting mechanism is configured to drive the second mounting component, the first horizontal sliding mechanism, the horizontal transfer mechanism, the third mounting component, and the rotating shovel mechanism to move along the Z-axis; The first horizontal sliding mechanism is configured to drive the third mounting component and the rotating shovel mechanism to move along the Y-axis, so that the rotating shovel mechanism can dock with the pipe-picking device to transfer the cryopreservation box; The rotating shovel mechanism is configured to rotate circumferentially about a vertical axis and extend and retract along its length to receive and transfer cryopreservation boxes. The horizontal transfer mechanism is configured to receive and transfer cryopreservation boxes along the Y-axis, and to transfer the cryopreservation boxes between the tube picking device and the barcode scanning device.

2. The pipe-picking system according to claim 1, characterized in that, The scanning device and the horizontal transfer mechanism are distributed at intervals along the Y-axis, and when the first lifting mechanism moves the horizontal transfer mechanism to the same height as the scanning device, the horizontal transfer mechanism and the scanning device are positioned directly opposite each other.

3. The pipe-picking system according to claim 1, characterized in that, The rotary shovel mechanism includes a fourth mounting component, a fifth mounting component mounted on the fourth mounting component, a rotating mechanism, a telescopic mechanism, and a shovel component; The fourth mounting component is mounted on the third mounting component, the fifth mounting component is connected to the fourth mounting component via the rotating mechanism, and the telescopic mechanism and the shovel assembly are mounted on the fifth mounting component. The rotating mechanism is configured to drive the fifth mounting component, the telescopic mechanism, and the shovel component to rotate around a vertical axis. The telescopic mechanism is configured to drive the shovel plate to extend and retract along the length of the fifth mounting component.

4. The pipe-picking system according to claim 1, characterized in that, The tube-picking device includes a second horizontal sliding mechanism, a cryopreservation box fixing mechanism, and a tube-picking device. The first cryopreservation box receiving and transfer device, the second horizontal sliding mechanism, and the barcode scanning device are arranged sequentially along the Y-axis. The tube-picking device and the barcode scanning device are distributed at intervals along the X-axis. The cryopreservation box fixing mechanism can fix two cryopreservation boxes at the same time. The second horizontal sliding mechanism and the tube-picking device are mounted on the base, and the cryopreservation box fixing mechanism is mounted on the second horizontal sliding mechanism; The second horizontal sliding mechanism is configured to drive the cryopreservation box fixing mechanism to move along the X-axis, so that the cryopreservation box fixing mechanism can move between the first receiving box position, the second receiving box position, and the tube picking position; The cryopreservation box fixing mechanism can dock with the rotating shovel mechanism at the first receiving box position and with the horizontal transfer mechanism at the second receiving box position to receive and transfer the cryopreservation box; The tube-picking device is configured to perform a tube-picking operation on the cryopreservation box fixed mechanism located at the tube-picking position.

5. The pipe-picking system according to claim 4, characterized in that, The pipe-picking device includes a first connector, a second lifting mechanism, a third horizontal sliding mechanism, and a pipe-picking gripper. The first connector is mounted on the base, the second lifting mechanism is mounted on the first connector, the second connector is mounted on the second lifting mechanism, the third horizontal sliding mechanism is mounted on the second connector, and the pipe-picking gripper is mounted on the third horizontal sliding mechanism; The second lifting mechanism is configured to drive the second connecting member, the third horizontal sliding mechanism, and the pipe-picking gripper to move relative to the first connecting member along the Z-axis. The third horizontal sliding mechanism is configured to drive the pipe-picking gripper to move relative to the second connecting member along the Y-axis. The tube-picking gripper can pick up frozen tubes.

6. The pipe-picking system according to claim 5, characterized in that, The tube-picking device also includes a tube-pushing device, which is configured to push out the cryopreservation tubes inside the cryopreservation box on the cryopreservation box fixing mechanism located at the tube-picking position, so that the tube-picking device can pick up the tubes smoothly.

7. The pipe-picking system according to claim 6, characterized in that, The pipe jacking device includes a third connector, a third lifting mechanism, and a pipe jacking component; The third connector is connected to the pipe-picking gripper, the third lifting mechanism is mounted on the third connector, the top pipe component is connected to the third lifting mechanism, the third lifting mechanism is configured to drive the top pipe component to move along the Z-axis, and the top pipe head of the top pipe component is located below the pipe-picking gripper and is directly opposite the pipe-picking gripper.

8. A biological sample storage facility, characterized in that, Includes a housing, a second cryogenic box receiving and transfer device, and a tube-picking system as described in any one of claims 1 to 7; The box contains a pipe-picking room and a storage room, which are connected and distributed along the Y-axis. Both the second cryopreservation box receiving and transfer device and the tube picking system are located in the tube picking room. The second cryopreservation box receiving and transfer device is configured to transfer cryopreservation boxes between the first cryopreservation box receiving and transfer device and the storage room.

9. The biological sample storage facility according to claim 8, characterized in that, The second cryopreservation box receiving and transfer device includes a first support member, a fourth horizontal sliding mechanism, a second support member, and a box carrier member mounted on the first support member; The second support member is mounted on the fourth horizontal sliding mechanism, and the carrier box is mounted on the second support member. The carrier box can support the cryopreservation box. The fourth horizontal sliding mechanism is configured to move the second support member and the carrier member along the Y-axis to transfer the cryopreservation box between the picking tube and the storage room. The first cryopreservation box transfer and receiving device can dock with the box carrier to transfer the cryopreservation box.

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