Biological sample repository

Abstract

The present application belongs to the technical field of biological sample storage, and specifically provides a biological sample storage library. The present application aims to solve the problem that the existing automated storage equipment is prone to sample damage due to tube picking operation in the process of accessing the cryopreservation tube. To this end, the biological sample storage library of the present application comprises a box body, a lifting transfer device, a code scanning device, a tube picking device and a cryopreservation box transfer device. The box body has a storage room, a tube picking room and a sample receiving room. The tube picking room is connected with the storage room. The sample receiving room is above the tube picking room and is connected with the tube picking room through a first inlet and outlet. The sample receiving room is connected with the external environment of the box body through a second inlet and outlet. The lifting transfer device is installed in the sample receiving room. The code scanning device, the tube picking device and the cryopreservation box transfer device are installed in the tube picking room. The tube picking room of the present application is connected with the storage room, so that the temperature of the tube picking room and the storage room is consistent, and the sample will not be inactivated during the tube picking operation, thereby reducing the risk of sample inactivation.

Description

Technical Field

[0001] This invention belongs to the field of biological sample storage technology, and specifically provides a biological sample storage bank. 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] Existing automated cryogenic storage equipment typically includes a buffer area and a main storage area. The buffer area receives cryovials and uses a tube-picking device to transfer cryovials into the corresponding cryovials. However, because the existing buffer area is connected to the external environment for sample transport, to ensure the smooth operation of the internal devices and to reduce frost formation during cryovial transfer, it is necessary to minimize the temperature difference between the buffer area and the external environment. Therefore, the temperature within the buffer area is typically set to -20°C or -30°C.

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

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

[0006] The present invention aims to solve the above-mentioned technical problems, namely, to solve the problem that existing automated storage devices are prone to sample damage during the storage and retrieval of cryopreservation tubes due to tube picking operations.

[0007] This invention provides a biological sample storage device, comprising a housing with a storage room, a tube picking room, and a sample receiving room inside. The tube picking room is connected to the storage room and distributed along the Y-axis. The sample receiving room is located above the tube picking room and is connected to the tube picking room through a first inlet and outlet. The sample receiving room is connected to the external environment of the housing through a second inlet and outlet. A lifting and transfer device is installed in the sample receiving room. The lifting and transfer device is configured to transfer cryopreservation boxes between the tube picking room and the sample receiving room through the first inlet and outlet. The lifting and transfer device is also configured to transfer cryopreservation boxes between the sample receiving room and the external environment through the second inlet and outlet. A barcode scanning device is installed in the tube picking room for scanning the box code of the cryopreservation box and the tube code of the cryopreservation tube inside the cryopreservation box. A tube picking device is installed in the tube picking room for picking tubes. A cryopreservation box transfer device is installed in the tube picking room and is configured to transfer cryopreservation boxes between the lifting and transfer device, the tube picking device, the barcode scanning device, and the storage room.

[0008] In the preferred embodiment of the above-mentioned biological sample storage device, the lifting and transporting device includes a first fixing member, a lifting mechanism, a transport frame, and a first horizontal transfer mechanism. The first fixing member is installed in the sample receiving room. The lifting mechanism and the first horizontal transfer mechanism are installed on the first fixing member and located in the sample receiving room. The transport frame is connected to the lifting mechanism and passes through the first inlet / outlet. The transport frame is capable of placing cryopreservation boxes in batches. The lifting mechanism is configured to drive the transport frame to move along the Z-axis so that the transport frame moves between a first transfer position and a second transfer position. The first transfer position is located in the sample receiving room, and the second transfer position is located in the tube picking room. The first horizontal transfer mechanism is configured to receive and transfer cryopreservation boxes along the X-axis. When the transport frame is located at the first transfer position, the transport frame is directly opposite the second inlet / outlet. The first horizontal transfer mechanism can receive cryopreservation boxes located on the transport frame and transport them to the external environment through the second inlet / outlet, and can also receive cryopreservation boxes from the external environment through the second inlet / outlet and place them on the transport frame.

[0009] In the preferred embodiment of the above-mentioned biological sample storage device, the transfer rack includes a frame with multiple storage positions. The multiple storage positions are arranged in an array along the length and height of the frame to form multiple columns and multiple layers. Each storage position has a first opening and a second opening for taking out and placing cryopreservation boxes. The first opening and the second opening are arranged opposite to each other.

[0010] In the preferred embodiment of the above-mentioned biological sample storage device, the top and bottom of the transfer rack are respectively provided with a first seal and a second seal. The lifting mechanism is connected to the first seal. When the transfer rack is in the second transfer position, the first seal seals the first inlet and outlet. When the transfer rack is in the first transfer position, the second seal seals the first inlet and outlet.

[0011] In the preferred embodiment of the above-mentioned biological sample storage facility, the biological sample storage facility further includes a transfer rack guide device, which is located in the tube picking room. The transfer rack guide device is connected to the transfer rack and can guide the transfer rack during its up-and-down movement so that the transfer rack moves in a straight line.

[0012] In the preferred embodiment of the above-mentioned biosample storage device, the biosample storage device also includes a detection element, which is installed on the top of the transfer rack guide device and is set horizontally toward the transfer rack. The detection element is capable of detecting whether there is a cryopreservation box at the storage position at the same height as it.

[0013] In the preferred technical solution of the above-mentioned biological sample storage repository, there are multiple test pieces, which are distributed at intervals along the length of the transfer rack, and each column of storage positions corresponds to one test piece.

[0014] In the preferred embodiment of the above-mentioned biological sample storage facility, the cryopreservation box transfer device includes a first cryopreservation box receiving and transfer device and a second cryopreservation box receiving and transfer device. The first cryopreservation box receiving and transfer device is configured to receive and transfer cryopreservation boxes along the X-axis and Y-axis, and the first cryopreservation box receiving and transfer device can be docked with the lifting and transfer device, the tube picking device, the barcode scanning device and the second cryopreservation box receiving and transfer device respectively to receive and transfer cryopreservation boxes. 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.

[0015] In the preferred embodiment of the above-mentioned biosample storage facility, the first cryopreservation box receiving and transport 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 rotary shovel mechanism, and a second horizontal transfer mechanism mounted on the first mounting component; the first mounting component is connected to the box body, the second mounting component is connected to the first lifting mechanism, the first horizontal sliding mechanism and the second 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 rotary shovel mechanism is mounted on the third mounting component. The lowering mechanism is configured to drive the second mounting component, the first horizontal sliding mechanism, the second 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 the cryopreservation box; the second 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-picking device, the barcode scanning device, and the second cryopreservation box receiving and transferring device.

[0016] In the preferred embodiment of the above-mentioned biological sample storage facility, the scanning device and the second horizontal transfer mechanism are distributed at intervals along the Y-axis, and when the first lifting mechanism moves the second horizontal transfer mechanism to the same height as the scanning device, the second horizontal transfer mechanism and the scanning device are positioned opposite each other.

[0017] In the preferred embodiment of the above-mentioned biosample storage facility, the second cryopreservation box receiving and transport device includes a first support member, a second horizontal sliding mechanism mounted on the first support member, a second support member, and a box carrier; the second support member is mounted on the second horizontal sliding mechanism, and the box carrier is mounted on the second support member, the box carrier being capable of carrying the cryopreservation box; the second horizontal sliding mechanism is configured to drive the second support member and the box carrier to move along the Y-axis to transfer the cryopreservation box between the tube picking room and the storage room, the box carrier and the second horizontal transfer mechanism are spaced apart along the Y-axis, and when the first lifting mechanism drives the second horizontal transfer mechanism to move to the same height as the box carrier, the second horizontal transfer mechanism and the box carrier are positioned opposite each other; and / or, the tube picking device includes a third horizontal sliding mechanism, a cryopreservation box fixing mechanism, and a tube picking device, the first cryopreservation box... The receiving and transferring device, the second horizontal sliding mechanism, and the scanning device are arranged sequentially along the Y-axis. The tube-picking device and the scanning device are spaced apart along the X-axis. The cryopreservation box fixing mechanism can fix two cryopreservation boxes simultaneously. The third horizontal sliding mechanism and the tube-picking device are both connected to the box body. The cryopreservation box fixing mechanism is mounted on the third horizontal sliding mechanism. The third 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 second horizontal transfer mechanism at the second receiving box 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.

[0018] In the preferred embodiment of the above-mentioned biological sample storage device, the tube picking device further includes a tube jacking 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.

[0019] In the preferred embodiment of the above-mentioned biological sample storage device, the tube-lifting device includes a third connector, a third lifting mechanism, and a tube-lifting component; the third connector is connected to the tube-lifting gripper, the third lifting mechanism is mounted on the third connector, the tube-lifting component is connected to the third lifting mechanism, the third lifting mechanism is configured to drive the tube-lifting component to move along the Z-axis, and the tube-lifting head of the tube-lifting component is located directly below the tube-lifting gripper and is directly opposite the tube-lifting gripper.

[0020] In the preferred embodiment of the above-mentioned biological sample storage facility, the ambient temperature in the tube picking room and the storage room is -70°C to -120°C; and / or, the ambient temperature in the sample receiving room is -10°C to -30°C.

[0021] In the preferred embodiment of the above-mentioned biological sample storage facility, there are two storage rooms, and the tube picking room is located between the two storage rooms.

[0022] In the preferred embodiment of the above-mentioned biological sample storage facility, the refrigeration system in the tube picking room and the storage room is an air-cooled refrigeration system.

[0023] With the above technical solution adopted, the biosample storage device of the present invention includes a box, a lifting and transport device, a barcode scanning device, a tube picking device, and a cryopreservation box transport device. The box has a storage room, a tube picking room, and a sample receiving room. The tube picking room and the storage room are connected. The sample receiving room is located above the tube picking room. The lifting and transport device is used to transfer the cryopreservation boxes between the sample receiving room and the tube picking room. The cryopreservation box transport device is used to transfer the cryopreservation boxes between the lifting and transport device, the tube picking device, the barcode scanning device, and the storage room. In this configuration, firstly, the tube picking room and the storage room are connected. The temperature in the tube picking room and the storage room is the same, so the samples will not be inactivated during the tube picking operation, reducing the risk of sample inactivation. Second, the sample receiving room is located above the tube picking room, and the tube picking room and the storage room are distributed horizontally, which is reasonable and compact, reducing the volume of the biological sample storage device and making it convenient to use. Third, the cryopreservation box transfer equipment transfers the cryopreservation boxes between the lifting and transfer device, the tube picking device, the tube picking device and the storage room, thereby realizing the automated storage and retrieval of cryopreservation boxes, which can reduce the proportion of the tube picking room in the box, thus helping to improve the storage utilization rate of the box.

[0024] Furthermore, the lifting and transfer device includes a lifting mechanism, a transfer frame, and a first horizontal transfer mechanism. The transfer frame can place cryopreservation boxes in batches, the lifting mechanism can drive the transfer frame to move vertically so that the transfer frame can move between a first transfer position and a second transfer position, and the first horizontal transfer mechanism can receive and transfer cryopreservation boxes along the X-axis. This configuration has the following advantages: first, it has a simple structure and is easy to set up; second, the transfer frame can transfer cryopreservation boxes in batches at one time, improving the transfer efficiency of cryopreservation boxes and making it more convenient to use; third, the first horizontal transfer mechanism can receive and transfer cryopreservation boxes along the X-axis, thereby realizing the automated transfer of cryopreservation boxes between the outside world and the transfer frame.

[0025] Furthermore, the transfer rack includes a frame, within which multiple storage locations are arranged in a matrix pattern with multiple columns and multiple layers. Each storage location has a first opening and a second opening at both ends. Both the first opening and the second opening can accommodate cryopreservation boxes. This arrangement is simple in structure and small in size, and allows cryopreservation boxes to be stored in both directions at each storage location, making it more convenient to use.

[0026] Furthermore, the top and bottom of the transfer rack are respectively equipped with a first seal and a second seal for sealing the first inlet and outlet. With this arrangement, when the transfer rack is in the first transfer position and receiving the cryopreservation box from the outside, the second seal seals the first inlet and outlet. When the transfer rack is in the second transfer position and docking with the cryopreservation box in the tube picking room, the first seal seals the first inlet and outlet. This can prevent cold air from the tube picking room from entering the sample receiving room through the first inlet and outlet, keep the environment in the tube picking room stable, and reduce the consumption of cold energy.

[0027] Furthermore, a transfer rack guide device is installed in the tube picking room to guide the transfer rack as it moves up and down. This arrangement ensures that the transfer rack moves in a straight line and remains stable during movement, which helps to improve the safety factor of the cryopreservation box transfer and makes it more convenient to use.

[0028] Furthermore, a detection element is installed on the transfer rack guide device, which is horizontally oriented towards the transfer rack, so as to detect whether there is a frozen box in the storage position of the transfer rack, making it more convenient to use.

[0029] Furthermore, by setting multiple detection items, each detection item corresponds to a column of storage positions, which can effectively detect each column of storage positions on the transfer rack, making the application more convenient.

[0030] Furthermore, the cryopreservation box transfer equipment is configured as a first cryopreservation box receiving and transfer device and a second cryopreservation box receiving and transfer device. The first cryopreservation box receiving and transfer device can transfer cryopreservation boxes between the lifting and transporting device, the pipe-picking device, the barcode scanning device, and the second cryopreservation box receiving and transfer device. The second cryopreservation box receiving and transfer device can transfer cryopreservation boxes between the first cryopreservation box receiving and transfer device and the storage room. This configuration allows the first cryopreservation box receiving and transfer 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 in the pipe-picking system, making the arrangement of each device more compact, thereby reducing the volume of the pipe-picking system and making it more convenient to use. In addition, the first cryopreservation box receiving and transfer device can connect to both the X-axis and Y-axis directions, which can meet the needs of transporting cryopreservation boxes in different directions, making it more convenient to use.

[0031] 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.

[0032] Furthermore, by distributing the barcode scanning device and the second horizontal transfer mechanism at intervals, the second 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 second horizontal transfer mechanism and the barcode scanning device are positioned directly opposite each other, which facilitates the docking of the second horizontal transfer mechanism and the barcode scanning device to transfer the frozen storage box. In addition, this arrangement can reduce the volume between the lifting tubes, so as to improve the utilization rate of the space inside the box.

[0033] Furthermore, the second cryopreservation box receiving and transfer device includes a first support member, a second horizontal sliding mechanism, a second support member, and a box carrier. The box carrier and the second horizontal transfer mechanism are distributed at intervals along the Y-axis. Driven by the first lifting mechanism, the second horizontal transfer mechanism can be moved to a position at the same height as the box carrier, so that the second horizontal transfer mechanism and the box carrier are directly opposite each other. This facilitates the docking of the second horizontal transfer mechanism and the box carrier to transfer the cryopreservation box. This arrangement can reduce the volume between the lifting tubes, so as to improve the utilization rate of the space inside the box.

[0034] Furthermore, the tube-picking device includes a third horizontal sliding mechanism, a cryopreservation box fixing mechanism, and a tube-picking device. The third 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 through the horizontal transfer mechanism. It can also dock with the tube-picking device so that the tube-picking device can pick up the tubes. This configuration, by having the third 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, and increases the efficiency of tube picking, barcode scanning, and cryopreservation box transfer, making it more convenient to use.

[0035] 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.

[0036] 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.

[0037] Furthermore, by setting the number of storage rooms to two, and placing the pipe-lifting room between the two storage rooms, one pipe-lifting room can be used in conjunction with two storage rooms at the same time, which can increase the proportion of storage area inside the enclosure and improve storage utilization. Attached Figure Description

[0038] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0039] Figure 1 This is a three-dimensional structural diagram of the biosample storage device of the present invention;

[0040] Figure 2 This is a schematic diagram of the three-dimensional structure of the biological sample storage device of the present invention behind the hidden box. Figure 1 ;

[0041] Figure 3 This is a schematic diagram of the three-dimensional structure of the biological sample storage device of the present invention behind the hidden box. Figure 2 ;

[0042] Figure 4 This is a three-dimensional structural diagram of the lifting and transferring device of the present invention;

[0043] Figure 5 This is a three-dimensional structural diagram of the lifting mechanism of the present invention;

[0044] Figure 6 This is a three-dimensional structural schematic diagram of the transfer frame of the present invention;

[0045] Figure 7 This is a three-dimensional structural schematic diagram of the first horizontal transfer mechanism of the present invention;

[0046] Figure 8 This is a front view of the connection between the transfer frame and the transfer frame guide device of the present invention;

[0047] Figure 9 yes Figure 8 A cross-sectional view along the AA direction;

[0048] Figure 10 This is a schematic diagram showing the arrangement of the cryopreservation box transfer device, the tube picking device, and the barcode scanning device of the present invention.

[0049] Figure 11 This is a three-dimensional structural diagram of the first cryopreservation box receiving and transfer device of the present invention. Figure 1 ;

[0050] Figure 12 This is a three-dimensional structural diagram of the first cryopreservation box receiving and transfer device of the present invention. Figure 2 ;

[0051] Figure 13 This is a front view of the connection between the first horizontal sliding mechanism and the rotary shovel mechanism of the present invention;

[0052] Figure 14 yes Figure 13 Cross-sectional view along the BB direction;

[0053] Figure 15 This is a schematic diagram showing the arrangement of the tube-picking device and the barcode scanning device of the present invention;

[0054] Figure 16 yes Figure 15 Enlarged structural diagram at point B;

[0055] Figure 17 This is a three-dimensional structural diagram of the pipe-picking device and the pipe-jacking device of the present invention. Figure 1 ;

[0056] Figure 18 This is a three-dimensional structural diagram of the pipe-picking device and the pipe-jacking device of the present invention. Figure 2 ;

[0057] Figure 19 This is a three-dimensional structural schematic diagram of the second cryopreservation box receiving and transfer device of the present invention;

[0058] Figure 20 yes Figure 19 A magnified structural diagram at point C.

[0059] List of reference numerals :

[0060] 1. Box body; 11. Storage room; 12. Tube picking room; 13. Sample receiving room; 101. First inlet / outlet; 102. Second inlet / outlet;

[0061] 2. Lifting and transferring device; 21. First fixing component; 22. Lifting mechanism; 221. Second fixing component; 222. First driving component; 223. First lead screw; 224. First lead screw slider; 225. First guide assembly; 2251. First linear guide rail; 2252. First guide rail slider; 23. Transfer frame; 231. Frame body; 232. Storage position; 233. First sealing component; 234. Second sealing component; 24. First horizontal transfer mechanism; 241. Third fixing component; 242. Fourth fixing component; 243. Drive mechanism; 2431. Second driving component; 2432. First drive gear; 2433. First linear rack; 244. Second guide assembly; 2441. Second linear guide rail; 2442. Second guide rail slider; 245. First shovel plate;

[0062] 3. Cryopreservation box transfer equipment; 31. First cryopreservation box receiving and transfer device; 311. First mounting component; 312. First lifting mechanism; 3121. Third driving component; 3122. Second lead screw; 3123. Second lead screw slider; 3124. Third guide assembly; 313. Second mounting component; 314. First horizontal sliding mechanism; 3141. Fourth driving component; 3142. Second driving gear; 3143. Second linear rack; 3144. First guide rail assembly; 31441. First limiting guide rail; 31442. First limiting slider; 315. Third mounting component; 316. Rotary shovel mechanism; 3161. Fourth mounting component; Components: 3162, Fifth mounting component; 3163, Rotating mechanism; 3164, Telescopic mechanism; 3165, Shovel plate component; 317, Second horizontal transfer mechanism; 3171, Sixth mounting component; 3172, Seventh mounting component; 3173, Seventh driving component; 3174, Third driving gear; 3175, Third linear rack; 3176, Second guide rail assembly; 31761, Second limiting guide rail; 31762, Second limiting slider; 3177, Second shovel plate; 32, Second cryopreservation box receiving and transfer device; 321, First support component; 322, Second horizontal sliding mechanism; 323, Second support component; 324, Carrier box component;

[0063] 4. Scanning device; 41. Second support base; 42. First scanning camera; 43. Second scanning camera; 44. Second carrier platform;

[0064] 5. Pipe-picking device; 51. Third horizontal sliding mechanism; 511. Eighth driving component; 512. Third lead screw; 513. Third lead screw slider; 514. Fourth guide assembly; 5141. Second guide rod; 5142. Second guide ring; 52. Cryopreservation box fixing mechanism; 521. First support base; 522. First box platform; 53. Pipe-picking device; 531. First connector; 532. Second lifting mechanism; 533. Second connector; 534. Fourth horizontal sliding mechanism; 535. Pipe-picking gripper; 54. Pipe-jacking device; 541. Third connector; 542. Third lifting mechanism; 543. Pipe-jacking component;

[0065] 6. Transfer frame guiding device; 61. Base plate; 62. First support column; 621. First guide groove; 63. Second support column; 631. Second guide groove; 64. Guide component; 641. First guide block; 642. Second guide block;

[0066] 7. Test items. Detailed Implementation

[0067] 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.

[0068] 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, terms such as "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0069] 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.

[0070] As mentioned in the background section, existing automated storage devices are prone to sample damage during cryopreservation due to the tube-picking operation. The biosample storage bank of this invention addresses this issue by connecting the tube-picking room and the storage room, ensuring consistent temperatures between them and preventing sample inactivation during the tube-picking process, thus reducing the risk of sample inactivation. Furthermore, by placing the sample receiving room above the tube-picking room and distributing the tube-picking room and storage room horizontally, the layout is rational and the structure compact, reducing the volume of the biosample storage bank and facilitating its application.

[0071] Specifically, please also refer to Figures 1 to 3 The biological sample storage device of the present invention includes a box 1, a lifting and transport device 2, a barcode scanning device 4, a tube picking device 53, and a cryopreservation box transport device 3.

[0072] The enclosure 1 contains a storage room 11, a tube-picking room 12, and a sample receiving room 13. The tube-picking room 12 is connected to the storage room 11 along the Y-axis. The sample receiving room 13 is located above the tube-picking room 12 and is connected to the tube-picking room 12 via a first inlet / outlet 101. The sample receiving room 13 is also connected to the external environment of the enclosure 1 via a second inlet / outlet 102. The tube-picking room 12 is connected to the storage room 11, and the temperatures of the two rooms are the same, preventing sample inactivation during the tube-picking operation and reducing the risk of sample inactivation. The sample receiving room 13 is positioned above the tube-picking room 12, and the tube-picking room 12 and storage room 11 are distributed horizontally, resulting in a reasonable and compact layout that reduces the volume of the biological sample storage device and facilitates application.

[0073] The lifting and transfer device 2 is installed in the sample receiving room 13. The lifting and transfer device 2 is configured to transfer the cryopreservation box between the tube picking room 12 and the sample receiving room 13 through the first inlet and outlet 101. The lifting and transfer device 2 is also configured to transfer the cryopreservation box between the sample receiving room 13 and the outside through the second inlet and outlet 102.

[0074] The barcode scanning device 4 is installed in the tube picking room 12 to 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.

[0075] The tube picking device 5 is installed in the tube picking room 12 and is used to pick tubes so that the cryopreserved tubes can be picked up and placed into other cryopreserved boxes so as to realize the release of specific cryopreserved tubes.

[0076] The cryopreservation box transfer device 3 is installed inside the tube-picking chamber 12. The cryopreservation box transfer device 3 is configured to transfer cryopreservation boxes between the lifting and transferring device 2, the tube-picking device 5, the barcode scanning device 4, and the storage chamber 11. The cryopreservation box transfer device 3 transfers cryopreservation boxes between the lifting and transferring device 2, the tube-picking device 5, the tube-picking device 53, and the storage chamber 11, thereby achieving automated storage and retrieval of cryopreservation boxes. This reduces the proportion of the tube-picking chamber 12 within the container 1, thus improving the storage utilization rate within the container 1.

[0077] Preferably, please also refer to Figure 3 and Figure 4 The lifting and transfer device 2 includes a first fixing component 21, a lifting mechanism 22, a transfer frame 23, and a first horizontal transfer mechanism 24.

[0078] The first fixing member 21 is installed in the sample receiving chamber 13. The lifting mechanism 22 and the first horizontal transfer mechanism 24 are installed on the first fixing member 21 and located in the sample receiving chamber 13. The transfer frame 23 is connected to the lifting mechanism 22 and is set through the first inlet and outlet 101. The transfer frame 23 can place cryopreservation boxes in batches. The lifting mechanism 22 is configured to drive the transfer frame 23 to move along the Z-axis so that the transfer frame 23 moves between the first transfer position and the second transfer position. The first transfer position is located in the sample receiving chamber 13 and the second transfer position is located in the tube picking chamber 12. The first horizontal transfer mechanism 24 is configured to receive and transfer cryopreservation boxes along the X-axis. When the transfer frame 23 is located in the first transfer position, the transfer frame 23 is directly opposite the second inlet and outlet 102. The first horizontal transfer mechanism 24 can receive cryopreservation boxes located on the transfer frame 23 and transport the cryopreservation boxes to the external environment through the second inlet and outlet 102. It can also receive cryopreservation boxes in the external environment through the second inlet and outlet 102 and place the cryopreservation boxes on the transfer frame 23.

[0079] The lifting and transfer device 2 includes a lifting mechanism 22, a transfer frame 23, and a first horizontal transfer mechanism 24. The lifting mechanism 22 drives the transfer frame 23 to move vertically, thereby enabling batch transfer of cryopreservation boxes in the vertical direction, which is more convenient to use and can effectively improve the transfer efficiency of cryopreservation boxes. The first horizontal transfer mechanism 24 can transfer cryopreservation boxes on the X-axis, thereby enabling the automatic retrieval and placement of cryopreservation boxes on the storage position 232, which is convenient for use. In addition, the transfer frame 23 is arranged opposite to the second inlet and outlet 102. When storing and retrieving cryopreservation boxes in batches, the cryopreservation boxes can be manually placed onto the transfer frame 23 or removed from the transfer frame 23 in batches, which can shorten the residence time of the cryopreservation boxes in the sample receiving room 13, thereby ensuring the activity of the samples.

[0080] Preferably, please continue reading. Figure 5The lifting mechanism 22 includes a second fixing member 221, a first driving member 222, a first lead screw 223, and a first lead screw slider 224.

[0081] The first lead screw slider 224 is connected to the transfer frame 23; the second fixing member 221 is installed on the first fixing member 21; the first lead screw 223 is rotatably installed on the second fixing member 221 and extends along the Z-axis; the first lead screw slider 224 is sleeved on the first lead screw 223 and threadedly connected to the first lead screw 223; the first driving member 222 is connected to the first lead screw 223 and can drive the first lead screw 223 to rotate, thereby causing the first lead screw slider 224 and the transfer frame 23 to move relative to the second fixing member 221 along the Z-axis.

[0082] The lifting mechanism 22 is configured as a second fixing member 221, a first driving member 222, a first lead screw 223 and a first lead screw slider 224. Its structure is simple and easy to assemble and use.

[0083] Although the preferred embodiment described above uses a structure where a drive member drives a lead screw to rotate, thereby moving the slider, this should not limit the scope of protection of the present invention. In practical applications, those skilled in the art can also configure the lifting mechanism 22 with other structural forms. For example, the lifting mechanism 22 can be configured such that a drive member drives a gear to rotate and cooperates with a rack to move relative to the rack. Such adjustments and changes to the specific structure of the lifting mechanism 22 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, it is preferable to configure the lifting mechanism 22 with the aforementioned structure where a drive member drives a lead screw to rotate, thereby moving the slider, as this provides better stability compared to a structure using gear and rack transmission.

[0084] Preferably, please continue reading. Figure 5 The lifting mechanism 22 also includes a first guide component 225, which is located between the second fixing member 221 and the first lead screw slider 224. The first guide component 225 can guide the first lead screw slider 224 during the movement of the first lead screw slider 224 relative to the second fixing member 221, so that the first lead screw slider 224 moves.

[0085] By setting the first guide component 225, the first lead screw slider 224 can be guided, so that the first lead screw slider 224 moves linearly relative to the second fixed member 221. This can effectively prevent the first lead screw slider 224 from rotating, improve control and accuracy, and make it more convenient to use.

[0086] Preferably, please continue reading. Figure 5The first guide assembly 225 includes a first linear guide rail 2251 and a first guide rail slider 2252. The first linear guide rail 2251 is mounted on the second fixing member 221 and extends along the Z-axis. The first guide rail slider 2252 is connected to the transfer frame 23. The first guide rail slider 2252 is slidably connected to the first linear guide rail 2251 and can move along the first linear guide rail 2251.

[0087] The first guide component 225 is configured as a first linear guide rail 2251 and a second guide rail slider 2442. It has a simple structure, is easy to assemble and use, and has a small size after assembly.

[0088] Although the first guide component 225 is configured as a first linear guide rail 2251 and a first guide rail slider 2252 in the preferred embodiment described above, 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 component 225 with other structures. For example, the first guide component 225 can be configured as a first guide rod and a first guide ring sleeved on the first guide rod. The first guide rod is vertically mounted on the second fixing member 221, and the first guide ring is connected to the slider. The first guide ring is sleeved on the first guide rod and can slide along the first guide rod. Such adjustments and changes to the specific structure of the first guide component 225 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, it is preferred to configure the first guide component 225 as a first linear guide rail 2251 and a first guide rail slider 2252, which has a simple structure, small assembled size, and is convenient for application.

[0089] Preferably, there are two first guide components 225, and the two first guide components 225 are located on both sides of the first lead screw 223.

[0090] By setting two first guide components 225, which are located on both sides of the first lead screw 223 respectively, the slider can be better guided and the slider can be prevented from rotating, thereby preventing the transfer frame 23 from rotating during the conveying process.

[0091] Preferably, please refer to the following: Figure 7 The first horizontal transfer mechanism 24 includes a third fixing member 241, a fourth fixing member 242, a drive mechanism 243, a second guide assembly 244, and a first shovel plate 245.

[0092] The third fixing member 241 is installed on the first fixing member 21. The fourth fixing member 242 is connected to the third fixing member 241 through the second guide assembly 244. The fourth fixing member 242 extends along the X-axis, and the first end of the fourth fixing member 242 extends toward the transfer frame 23. The first shovel plate 245 is installed on the first end of the fourth fixing member 242. The drive mechanism 243 is connected to the fourth fixing member 242 and can drive the fourth fixing member 242 and the first shovel plate 245 to move relative to the third fixing member 241 along the X-axis. The second guide assembly 244 can guide the fourth fixing member 242 during the movement of the fourth fixing member 242 relative to the third fixing member 241 so that the fourth fixing member 242 moves in a straight line.

[0093] The first horizontal transfer mechanism 24 is configured with a third fixing member 241, a fourth fixing member 242, a drive mechanism 243, a second guide assembly 244, and a first shovel plate 245. The drive mechanism 243 drives the fourth fixing member 242 to extend and retract relative to the third fixing member 241 toward the transfer frame 23, thereby enabling the first shovel plate 245 to dock with the cryopreservation box on the storage position 232. In conjunction with the lifting mechanism 22, the transfer frame 23 moves vertically, enabling the transfer of cryopreservation boxes onto the first shovel plate 245 or the placement of cryopreservation boxes from the first shovel plate 245 onto the storage position 232, thus achieving automatic loading and unloading of cryopreservation boxes and making the application more convenient. Furthermore, the first horizontal transfer mechanism 24 has a simple structure and is easy to assemble and use.

[0094] Preferably, please continue reading. Figure 7 The drive mechanism 243 includes a second drive element 2431 (e.g., a servo motor or a stepper motor), a first drive gear 2432, and a first linear rack 2433.

[0095] The second driving member 2431 is mounted on the third fixing member 241, the first linear rack 2433 is mounted on the fourth fixing member 242 and extends along the X-axis, the second driving member 2431 is connected to the first driving gear 2432 and can drive the first driving gear 2432 to rotate, the first linear rack 2433 is meshed with the first driving gear 2432, and when the first driving gear 2432 rotates, it can drive the first linear rack 2433 and the fourth fixing member 242 to move.

[0096] The drive mechanism 243 is configured as a second drive member 2431, a first drive gear 2432 and a first linear rack 2433, which has a simple structure and is easy to assemble and use.

[0097] Although the drive mechanism 243 is configured as a second drive member 2431, a first drive gear 2432, and a first linear rack 2433 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 drive mechanism 243 in other structural forms. For example, the drive mechanism 243 can be configured as a mechanism in which a motor drives a lead screw to move a lead screw slider. Such adjustments and changes to the specific structure of the drive mechanism 243 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 structural form of the drive mechanism 243, which is configured as a second drive member 2431, a first drive gear 2432, and a first linear rack 2433, is preferred because it has a simple structure and a smaller assembled size.

[0098] Preferably, please continue reading. Figure 7 The second guide assembly 244 includes a second linear guide rail 2441 and a second guide rail slider 2442. The second linear guide rail 2441 is mounted on the fourth fixing member 242 and extends along the X-axis. The second guide rail slider 2442 is mounted on the third fixing member 241. The second guide rail slider 2442 is slidably connected to the second linear guide rail 2441 and can move along the second linear guide rail 2441.

[0099] The second guide component 244 is configured as the second linear guide rail 2441 and the second guide rail slider 2442, and has a simple structure and good guiding effect.

[0100] In other embodiments, the second guide assembly 244 may be configured as a second guide rod and a second guide ring sleeved on the second guide rod. The second guide rod is mounted on the fourth fixing member 242 and extends along the length direction of the fourth fixing member 242. The second guide ring is mounted on the third fixing member 241 and sleeved on the second guide rod, and can slide along the second guide rod.

[0101] It should be noted that the present invention does not limit the specific structure of the second guide component 244. In practical applications, those skilled in the art can design the specific structure of the second guide component 244 according to actual needs. The specific implementation of the second guide component 244 in the above embodiments does not limit the scope of protection of the present invention.

[0102] Preferably, please refer to the following: Figure 6 The transfer rack 23 includes a frame 231, which has multiple storage positions 232. The multiple storage positions 232 are arranged in an array along the length and height of the frame 231 to form multiple columns and multiple layers. Each storage position 232 has a first opening and a second opening for taking out and putting in the cryopreservation box. The first opening and the second opening are arranged opposite to each other.

[0103] The frame 231 has multiple storage locations 232 arranged in a multi-column and multi-layer matrix, which makes the multiple storage locations 232 arrayed, convenient for positioning, and small in size.

[0104] Preferably, in this embodiment, the frame 231 includes a first vertical plate, a second vertical plate, a first horizontal plate, a second horizontal plate, multiple partitions, and multiple load-bearing components.

[0105] The first vertical plate and the second vertical plate are horizontally spaced apart and their large surfaces face each other. The top walls of the first vertical plate and the second vertical plate are connected by a first horizontal plate, and the bottom walls of the first vertical plate and the second vertical plate are connected by a second horizontal plate. A partition is located between the first vertical plate and the second vertical plate, and the top and bottom walls of the partition are connected to the first horizontal plate and the second horizontal plate, respectively. Multiple partitions divide the storage area surrounded by the first vertical plate, the second vertical plate, the first horizontal plate, and the second horizontal plate into multiple accommodating cavities. Each accommodating cavity has openings on opposite sides. Multiple supporting members are arranged vertically spaced in each accommodating cavity, and the top surface of the supporting members forms storage position 232.

[0106] Although the frame 231 is configured as a first vertical plate, a second vertical plate, a first horizontal plate, a second horizontal plate, multiple partitions, and multiple load-bearing members 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 frame 231 as other structural forms. For example, the frame 231 can be configured as a U-shaped frame with multiple load-bearing members located within the frame. The frame is divided into multiple horizontally spaced accommodating cavities by partitions. The opposite sides of each accommodating cavity have openings, and each accommodating cavity contains multiple load-bearing members spaced vertically. The top surface of each load-bearing member forms a storage position 232. Such adjustments and changes to the specific structure of the frame 231 do not deviate from the basic principles of the present invention and should be limited to the scope of protection of the present invention.

[0107] Preferably, please continue reading. Figure 6 The top and bottom of the transfer frame 23 are respectively provided with a first seal 233 and a second seal 234. The lifting mechanism 22 is connected to the first seal 233. When the transfer frame 23 is in the second transfer position, the first seal 233 seals the first inlet and outlet 101. When the transfer frame 23 is in the first transfer position, the second seal 234 seals the first inlet and outlet 101.

[0108] A first sealing element 233 and a second sealing element 234 are respectively provided at the top and bottom of the transfer rack 23, which can seal the first inlet and outlet 101, thereby preventing the sample receiving room 13 and the tube picking room 12 from connecting, effectively preventing the cold air in the tube picking room 12 from entering the sample receiving room 13, keeping the environment in the tube picking room 12 stable, and reducing the consumption of cold energy.

[0109] In practical applications, it is sufficient as long as the first seal 233 and the second seal 234 can seal the first inlet and outlet 101.

[0110] For example, the first sealing element 233 includes a first heat-insulating block and a first sealing plate. The shape of the first heat-insulating block matches that of the first inlet / outlet 101. When the first sealing element 233 seals the first inlet / outlet 101, the first heat-insulating block is located inside the first inlet / outlet 101, and the first sealing plate abuts against the top surface of the partition where the first inlet / outlet 101 is located, thereby sealing the gap between the first heat-insulating block and the first inlet / outlet 101.

[0111] For example, the second seal 234 includes a second insulation block and a second sealing plate. The shape of the second insulation block matches that of the first inlet / outlet 101. When the second seal 234 seals the first inlet / outlet 101, the second insulation block is located inside the first inlet / outlet 101, and the second sealing plate abuts against the bottom surface of the partition where the first inlet / outlet 101 is located, thereby sealing the gap between the second insulation block and the first inlet / outlet 101.

[0112] Preferably, please refer to the following: Figure 3 The biological sample storage device of the present invention also includes a transfer rack guide device 6, which is located in the tube picking chamber 12. The transfer rack guide device 6 is connected to the transfer rack 23 and can guide the transfer rack 23 during the up and down movement of the transfer rack 23 so that the transfer rack 23 moves in a straight line.

[0113] A transfer rack guide device 6 is installed in the tube picking room 12 to guide the transfer rack 23 during its up and down movement, so as to ensure that the transfer rack 23 moves in a straight line and remains stable without shaking, which helps to improve the safety of the transfer of cryopreservation boxes.

[0114] Preferably, please refer to the following: Figure 8 and Figure 9 The transfer frame guide device 6 includes a base plate 61, a first support column 62, a second support column 63, and a guide component 64.

[0115] The first support column 62 and the second support column 63 are vertically installed on the base plate 61. The first support column 62 and the second support column 63 are located on both sides of the transfer frame 23. The first support column 62 and the second support column 63 are respectively provided with a first guide groove 621 and a second guide groove 631. The first guide groove 621 and the second guide groove 631 are both extended in the vertical direction. The guide member 64 is connected to the bottom of the transfer frame 23. The guide member 64 is provided with a first guide block 641 and a second guide block 642. The first guide block 641 is located in the first guide groove 621 and can slide in the first guide groove 621 along the length direction of the first guide groove 621. The second guide block 642 is located in the second guide groove 631 and can slide in the second guide groove 631 along the length direction of the second guide groove 631.

[0116] The transfer frame guide device 6 is configured as a base plate 61, a first support column 62, a second support column 63 and a guide member 64. Its structure is simple, it guides both sides of the transfer frame 23 at the same time, the guiding effect is better, and it can ensure that the transfer frame 23 remains stable during movement.

[0117] Preferably, please continue reading. Figure 8 The biological sample storage device of the present invention also includes a detection element 7, which is installed on the top of the transfer rack guide device 6 and is horizontally positioned toward the transfer rack 23. The detection element 7 is capable of detecting whether a cryopreservation box is present at the storage position 232 at the same height as it.

[0118] By setting up the detection element 7, it is possible to detect whether a cryogenic container is present in the storage location 232, making the application more convenient. The detection element 7 can be a distance sensor. When the detection element 7 is directly opposite the storage location 232 and a cryogenic container is placed in the storage location 232, the cryogenic container can reflect the light emitted by the distance sensor back, so that the distance sensor can detect the presence of the item.

[0119] Preferably, please continue reading. Figure 8 There are multiple test pieces 7, which are distributed at intervals along the length of the transfer frame 23, and each column of storage position 232 corresponds to one test piece 7.

[0120] By setting multiple detection elements 7 and ensuring that each column of storage position 232 is equipped with a corresponding detection element 7, each column of storage position 232 of the transfer rack 23 can be effectively detected, making the application more convenient.

[0121] Preferably, please refer to the following: Figure 10The cryopreservation box transfer device 3 includes a first cryopreservation box receiving and transfer device 31 and a second cryopreservation box receiving and transfer device 32. The first cryopreservation box receiving and transfer device 31 is configured to receive and transfer cryopreservation boxes along the X-axis and Y-axis, and the first cryopreservation box receiving and transfer device 31 can be docked with the lifting and transfer device 2, the tube picking device 5, the barcode scanning device 4 and the second cryopreservation box receiving and transfer device 32 respectively to receive and transfer cryopreservation boxes. The second cryopreservation box receiving and transfer device 32 is configured to transfer cryopreservation boxes between the first cryopreservation box receiving and transfer device 31 and the storage room 11.

[0122] The first cryopreservation box receiving and transferring device 31 can receive and transfer cryopreservation boxes along the Y-axis and X-axis. Thus, the first cryopreservation box receiving and transferring device 31 can connect to two perpendicular directions to receive and transfer cryopreservation boxes, making the application more convenient. One transfer device can realize the transportation in two directions, reducing the number of transfer devices for transporting some cryopreservation boxes, which helps to reduce the size of the tube picking system and facilitates assembly and use. In addition, the first cryopreservation box receiving and transferring device 31 can connect with the tube picking device 5 and the barcode scanning device 4 to realize barcode scanning and tube picking operations. The second cryopreservation box receiving and transferring device 32 is used to transfer cryopreservation boxes between the tube picking room 12 and the storage room 11, so as to cooperate with the first cryopreservation box receiving and transferring device 31 to realize the automated storage and retrieval of cryopreservation boxes and cryopreservation tubes.

[0123] Preferably, please continue reading. Figure 11 and Figure 12 The first cryopreservation box receiving and transfer device 31 includes a first mounting component 311 and a first lifting mechanism 312, a second mounting component 313, a first horizontal sliding mechanism 314, a third mounting component 315, a rotating shovel mechanism 316, and a second horizontal transfer mechanism 317 mounted on the first mounting component 311.

[0124] The first mounting component 311 is connected to the housing 1, the second mounting component 313 is connected to the first lifting mechanism 312, the first horizontal sliding mechanism 314 and the second horizontal transfer mechanism 317 are mounted on the second mounting component 313, and the first horizontal sliding mechanism 314 and the second horizontal transfer mechanism 317 are spaced apart along the X-axis, the third mounting component 315 is connected to the first horizontal sliding mechanism 314, and the rotating shovel mechanism 316 is mounted on the third mounting component 315. This arrangement rationally distributes space, allowing the mechanisms to cooperate and work together without interfering with each other, thus helping to reduce the overall size of the device.

[0125] The first lifting mechanism 312 is configured to drive the second mounting component 313, the first horizontal sliding mechanism 314, the second horizontal transfer mechanism 317, the third mounting component 315, and the rotary shovel mechanism 316 to move along the Z-axis. The first horizontal sliding mechanism 314, the second horizontal transfer mechanism 317, and the rotary shovel mechanism 316 share a single lifting mechanism to adjust their height, effectively saving costs and facilitating assembly and use.

[0126] The first horizontal sliding mechanism 314 is configured to drive the third mounting component 315 and the rotating shovel mechanism 316 to move along the Y-axis, so that the rotating shovel mechanism 316 can dock with the pipe-picking device 5 to transfer the cryopreservation box. The first horizontal sliding mechanism 314 can drive the rotating shovel mechanism 316 to move along the Y-axis, thereby changing the position of the rotating shovel mechanism 316 on the Y-axis, enabling it to better dock with the pipe-picking device 5 to transfer the cryopreservation box, making it more convenient to use.

[0127] The rotating shovel mechanism 316 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 316'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.

[0128] The second horizontal transfer mechanism 317 is configured to receive and transfer cryopreservation boxes along the Y-axis, and to transfer the cryopreservation boxes between the tube-picking device 5, the barcode scanning device 4, and the second cryopreservation box receiving and transferring device 32. The second horizontal transfer mechanism 317 facilitates scanning the cryopreservation boxes before and after tube picking, thereby simplifying the management of the cryopreservation boxes and cryopreservation tubes.

[0129] This configuration makes the structure of the first cryopreservation box receiving and transfer device 31 more compact, reduces its size, and saves costs.

[0130] Preferably, please continue reading. Figure 11 The first lifting mechanism 312 includes a third driving component 3121 (e.g., a servo motor or a stepper motor), a second lead screw 3122, a second lead screw slider 3123, and a third guide assembly 3124.

[0131] The third driving member 3121 and the second lead screw 3122 are both mounted on the first mounting member 311. The second lead screw 3122 extends vertically. The second mounting member 313 is connected to the second lead screw slider 3123. The second lead screw slider 3123 is sleeved on the second lead screw 3122 and threadedly connected to the second lead screw 3122. The third driving member 3121 is connected to the second lead screw 3122 and can drive the second lead screw 3122 to rotate, thereby driving the second lead screw slider 3123 and the second mounting member 313 to move along the Z-axis.

[0132] The third guide assembly 3124 is located between the second lead screw slider 3123 and the first mounting member 311. The third guide assembly 3124 can guide the second lead screw slider 3123 during its movement along the Z-axis, so that the second lead screw slider 3123 moves in a straight line and prevents the second lead screw slider 3123 from rotating.

[0133] In actual operation, the third driving component 3121 drives the second lead screw 3122 to rotate. Under the guidance of the third guide component 3124, the second lead screw slider 3123 moves along the Z-axis with the second mounting bracket, thereby adjusting the height of the first horizontal sliding mechanism 314, the rotating shovel mechanism 316, and the horizontal transfer mechanism. The overall structure is simple and easy to assemble and use. Furthermore, setting the first lifting mechanism 312 to a driving method where the driving component cooperates with the lead screw and lead screw slider provides better stability compared to a driving method where the driving component cooperates with gears and racks.

[0134] Although in the above embodiment, the first lifting mechanism 312 is configured as a driving form in which the third driving member 3121 drives the second lead screw 3122 to rotate, thereby moving the second lead screw slider 3123, 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 312 as other driving forms. For example, the first lifting mechanism 312 can be configured as a driving form in which the third driving member 3121 drives the gear to rotate, thereby moving the rack. Such adjustments and changes to the specific structure of the first lifting mechanism 312 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 312 is configured as a driving form in which the third driving member 3121 drives the second lead screw 3122 to rotate, thereby moving the second lead screw slider 3123, is preferred, as it provides greater stability and stronger driving force during lifting and moving.

[0135] Preferably, the third guide assembly 3124 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 311 and extends along the Z-axis. The first guide ring is movable along the first guide rod and is connected to the second lead screw slider 3123.

[0136] In other embodiments, the third guide assembly 3124 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 311 and is diffracted along the Z-axis. The guide slider is connected to the second lead screw slider 3123 and can slide along the guide rail.

[0137] It should be noted that the present invention does not impose any limitations on the specific structure of the third guide component 3124. In practical applications, those skilled in the art can set the specific structure of the third guide component 3124 according to actual needs, as long as the third guide component 3124 can guide the second lead screw slider 3123 to make the second lead screw slider 3123 move linearly. The specific implementation of the above-mentioned third guide component 3124 should not limit the scope of protection of the present invention. Of course, it is preferable to set the above-mentioned third guide component 3124 as a structure of a first guide rod and a first guide ring, which can be assembled simultaneously with the second lead screw 3122, and its structural stability is better.

[0138] Preferably, there are two third guide components 3124, which are located on both sides of the second lead screw 3122.

[0139] Two third guide components 3124 are provided, located on both sides of the second lead screw 3122 respectively. They have better guiding effect and better limiting effect, which can effectively prevent the second lead screw slider 3123 from rotating relative to the first mounting part 311.

[0140] Preferably, please refer to the following: Figure 13 and Figure 14 The first horizontal sliding mechanism 314 includes a fourth driving element 3141 (e.g., a servo motor or a stepper motor), a second driving gear 3142, a second linear rack 3143, and a first guide rail assembly 3144.

[0141] The second linear rack 3143 is mounted on the second mounting member 313 and extends along the Y-axis. The fourth driving member 3141 is mounted on the third mounting member 315. The fourth driving member 3141 is connected to the second driving gear 3142 and can drive the second driving gear 3142 to rotate. The second driving gear 3142 is meshed with the second linear rack 3143. When the second driving gear 3142 rotates, it can drive the third mounting member 315 and the fourth driving member 3141 to move relative to the second linear rack 3143 along the Y-axis.

[0142] The first guide rail assembly 3144 is located between the second mounting member 313 and the third mounting member 315. The first guide rail assembly 3144 can guide the third mounting member 315 during the movement of the third mounting member 315 relative to the second mounting member 313, so that the third mounting member 315 moves linearly, and can keep the second drive gear 3142 and the second linear rack 3143 in a meshing state.

[0143] In actual operation, the fourth driving member 3141 drives the second driving gear 3142 to rotate, thereby causing the second driving gear 3142 to move relative to the second linear rack 3143. This enables the third mounting member 315, the fourth driving member 3141, the second driving gear 3142, and the rotary shovel mechanism 316 to move along the Y-axis. The first guide rail assembly 3144 guides the third mounting member 315 to move linearly, thus maintaining its stability during movement.

[0144] Preferably, please continue reading. Figure 14 The first guide rail assembly 3144 includes a first limiting guide rail 31441 and a first limiting slider 31442. The first limiting guide rail 31441 is mounted on the second mounting member 313 and extends along the Y-axis. The first limiting slider 31442 is slidably connected to the first limiting guide rail 31441 and can move along the length direction of the first limiting guide rail 31441. The first limiting slider 31442 is connected to the third mounting member 315.

[0145] The first limiting guide rail 31441 is provided with a first limiting structure (e.g., a limiting groove or a limiting protrusion), and the first limiting slider 31442 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 31442 relative to the first limiting guide rail 31441 in the width and thickness directions of the first limiting guide rail 31441. When the second mounting member 313 and the third mounting member 315 are vertically arranged, the second mounting member 313 and the third mounting member 315 can be kept relatively stable.

[0146] The first guide rail assembly 3144 is configured as a first limiting guide rail 31441 and a first limiting slider 31442. Its structure is simple, easy to assemble and use, and has good guiding and limiting effects, enabling the first horizontal sliding mechanism 314 to operate normally.

[0147] Although the first guide rail assembly 3144 is configured as a first limiting guide rail 31441 and a first limiting slider 31442 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 3144 as other structures. For example, the first guide rail assembly 3144 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 313 and extends along the Y-axis. The guide slip ring is connected to the third mounting member 315 and can slide along the guide rod. Such adjustments and changes to the specific structure of the first guide rail assembly 3144 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.

[0148] Preferably, please continue reading. Figure 13 and Figure 14 The rotary shovel mechanism 316 includes a fourth mounting member 3161 and a fifth mounting member 3162, a rotary mechanism 3163, a telescopic mechanism 3164, and a shovel member 3165 mounted on the fourth mounting member 3161.

[0149] The fourth mounting component 3161 is mounted on the third mounting component 315. The fifth mounting component 3162 is connected to the fourth mounting component 3161 via a rotating mechanism 3163. The telescopic mechanism 3164 and the shovel plate component 3165 are mounted on the fifth mounting component 3162. The rotating mechanism 3163 is configured to drive the fifth mounting component 3162, the telescopic mechanism 3164, and the shovel plate component 3165 to rotate around a vertical axis. The telescopic mechanism 3164 is configured to drive the shovel plate component 3165 to extend and retract along the length direction of the fifth mounting component 3162.

[0150] In actual operation, the rotating mechanism 3163 drives the fifth mounting component 3162, the telescopic mechanism 3164, and the shovel plate component 3165 to rotate, thereby changing the docking direction of the shovel plate component 3165. The telescopic mechanism 3164 drives the shovel plate component 3165 to extend and retract, and cooperates with the first lifting mechanism 312 to drive the rotating shovel plate mechanism 316 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.

[0151] Preferably, the rotating mechanism 3163 includes a fifth driving element (e.g., a servo motor or a stepper motor), a driving gear, and a driven gear.

[0152] The passive gear is fixedly connected to the fifth mounting part 3162 and rotatably connected to the fourth mounting part 3161 through a bearing. The fifth driving part is mounted on the fourth mounting part 3161 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 3162 to rotate.

[0153] The rotating mechanism 3163 is configured as a fifth driving member, an active gear, and a passive gear. It drives the fifth mounting member 3162 to rotate through gear transmission. The drive is reliable, the structure is simple, and it is easy to assemble and use.

[0154] Preferably, the telescopic mechanism 3164 includes a sixth driving component (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 rail, and a guide rail slider.

[0155] The sixth drive component is mounted on the fifth mounting component 3162. The sixth drive component is connected to the guide rail slider through a transmission assembly. The linear guide rail is mounted on the fifth mounting component 3162 and extends along the length direction of the fifth mounting component 3162. 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 3165 is mounted on the guide rail slider. The sixth drive component is connected to the transmission assembly and can drive the guide rail slider and the shovel disc component 3165 to slide along the length direction of the linear guide rail through the transmission assembly, thereby causing the shovel disc component 3165 to extend and retract.

[0156] The telescopic mechanism 3164 is configured as a sixth driving component, transmission component, linear guide rail and guide rail slider. Its structure is simple and easy to assemble and use. The guiding limit of the linear guide rail and guide rail slider enables the shovel plate component 3165 to move linearly, making it easier to control.

[0157] Preferably, please refer to Figure 10 The scanning device 4 and the second horizontal transfer mechanism 317 are distributed at intervals along the Y-axis, and when the first lifting mechanism 312 drives the second horizontal transfer mechanism 317 to move to the same height as the scanning device 4, the second horizontal transfer mechanism 317 and the scanning device 4 are positioned opposite each other.

[0158] The barcode scanning device 4 is placed on one side of the second horizontal transfer mechanism 317 so that the two can be connected, which is convenient for application and can save space.

[0159] Preferably, please refer to the following: Figure 16 The barcode scanning device 4 includes a second support base 41 and a first barcode scanning camera 42, a second barcode scanning camera 43, and a second box-carrying platform 44 disposed on the second support base 41. The second box-carrying platform 44 can hold cryopreservation boxes. The first barcode scanning camera 42 is horizontally disposed along the Y-axis and can scan the box code of the cryopreservation box located on the second box-carrying platform 44. The second barcode scanning camera 43 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 44.

[0160] The barcode scanning device 4 is configured as a second support base 41, a first barcode scanning camera 42, a second barcode scanning camera 43, and a second carrier platform 44. Its structure is simple and easy to assemble and use.

[0161] Preferably, please refer to the following: Figure 11 and Figure 12 The second horizontal transfer mechanism 317 includes a sixth mounting component 3171, a seventh mounting component 3172, a seventh drive component 3173 (e.g., a servo motor or a stepper motor), a third drive gear 3174, a third linear rack 3175, a second guide rail assembly 3176, and a second shovel plate 3177.

[0162] The sixth mounting component 3171 is connected to the second mounting component 313. The seventh mounting component 3172 is connected to the sixth mounting component 3171 via the second guide rail assembly 3176. The seventh driving component 3173 is mounted on the sixth mounting component 3171. The third linear rack 3175 is mounted on the seventh mounting component 3172 and extends along the Y-axis. The second shovel plate 3177 is mounted at the end of the seventh mounting component 3172 near the barcode scanner 4 along the Y-axis. The seventh driving component 3173 is connected to the third driving gear 3174 and can drive the third driving gear 3174 to rotate. The third driving gear 3174 meshes with the third linear rack 3175. When the third driving gear 3174 rotates, it can drive the third linear rack 3175, the seventh mounting component 3172, and the second shovel plate 3177 to move relative to the sixth mounting component 3171 along the Y-axis.

[0163] The second guide rail assembly 3176 can guide the seventh mounting member 3172 during the movement of the seventh mounting member 3172 relative to the sixth mounting member 3171, so that the seventh mounting member 3172 moves linearly, and can keep the third drive gear 3174 and the third linear rack 3175 in a meshing state.

[0164] In actual operation, the seventh driving component 3173 drives the third driving gear 3174 to rotate, causing the third driving gear 3174 and the third linear rack 3175 to move relative to each other. Thus, under the guiding and limiting action of the second guide rail assembly 3176, the seventh mounting component 3172, the third linear rack 3175 and the second shovel plate 3177 move relative to the sixth mounting component 3171 along the Y-axis. Its structure is simple and easy to assemble and use.

[0165] Preferably, please continue reading. Figure 12 The second guide rail assembly 3176 includes a second limiting guide rail 31761 and a second limiting slider 31762. The second limiting guide rail 31761 is mounted on the sixth mounting member 3171 and extends along the Y-axis. The second limiting slider 31762 is slidably connected to the second limiting guide rail 31761 and can move along the length direction of the second limiting guide rail 31761. The second limiting slider 31762 is connected to the seventh mounting member 3172.

[0166] The second limiting guide rail 31761 is provided with a third limiting structure (e.g., a limiting groove or a limiting protrusion), and the second limiting slider 31762 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 31762 relative to the second limiting guide rail 31761 in the width and thickness directions of the second limiting guide rail 31761.

[0167] The second guide rail assembly 3176 is configured as a second limiting guide rail 31761 and a second limiting slider 31762. It has a simple structure, is easy to assemble and use, and has good guiding and limiting effects.

[0168] Although the second guide rail assembly 3176 is configured as a second limiting guide rail 31761 and a second limiting slider 31762 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 3176 with other structures. For example, the second guide rail assembly 3176 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 3171 and extends along the Y-axis. The guide slip ring is connected to the seventh mounting member 3172 and can slide along the guide rod. Such adjustments and changes to the specific structure of the second guide rail assembly 3176 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.

[0169] Preferably, please refer to Figure 19 and Figure 20 The second cryopreservation box receiving and transfer device 32 includes a first support member 321 and a second horizontal sliding mechanism 322, a second support member 323 and a box carrier 324 mounted on the first support member 321.

[0170] The second support member 323 is mounted on the second horizontal sliding mechanism 322, and the box carrier 324 is mounted on the second support member 323. The box carrier 324 can carry the cryopreservation box. The second horizontal sliding mechanism 322 is configured to drive the second support member 323 and the box carrier 324 to move along the Y-axis to transfer the cryopreservation box between the lifting tube 12 and the storage room 11. The box carrier 324 and the second horizontal transfer mechanism 317 are distributed at intervals along the Y-axis. When the first lifting mechanism 312 drives the second horizontal transfer mechanism 317 to move to the same height as the box carrier 324, the second horizontal transfer mechanism 317 and the box carrier 324 are arranged facing each other.

[0171] This design is simple in structure and easy to assemble and use.

[0172] Preferably, please refer to Figure 10The container 324 and the horizontal transfer mechanism are distributed at intervals along the Y-axis. When the first lifting mechanism 312 moves the second horizontal transfer mechanism 317 to the same height as the container 324, the second horizontal transfer mechanism 317 and the container 324 are positioned opposite each other so that the second horizontal transfer mechanism 317 can dock with the container 324 to place the cryopreservation box on the container 324 and remove the cryopreservation box located on the container 324.

[0173] The carrier 324 is positioned on one side of the second horizontal transfer mechanism 317 so that the two can be connected to transfer the cryopreservation box, which is convenient to use and saves space.

[0174] It should also be noted that the present invention does not impose any restrictions on the specific structure of the second horizontal sliding mechanism 322, as long as the second horizontal sliding mechanism 322 can drive the carrier 324 to move along the Y-axis. In practical applications, those skilled in the art can set the specific structure of the second horizontal sliding mechanism 322 according to actual needs. For example, the second horizontal sliding mechanism 322 can be configured as a structure in which a motor drives a gear to rotate and engages with a rack; or, the second horizontal sliding mechanism 322 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 horizontal sliding mechanism 322 do not deviate from the basic principles of the present invention and should all be limited to the protection scope of the present invention.

[0175] Preferably, please refer to the following: Figure 15 and Figure 16 The tube-picking device 5 includes a third horizontal sliding mechanism 51, a cryopreservation box fixing mechanism 52, and a tube-picking device 53.

[0176] The first cryopreservation box receiving and transferring device 31, the second horizontal sliding mechanism 322, and the barcode scanning device 4 are arranged sequentially along the Y-axis, while the tube-picking device 53 and the barcode scanning device 4 are distributed at intervals along the X-axis. The cryopreservation box fixing mechanism 52 can fix two cryopreservation boxes simultaneously. The third horizontal sliding mechanism 51 and the tube-picking device 53 are both connected to the box body 1, and the cryopreservation box fixing mechanism 52 is mounted on the third horizontal sliding mechanism 51. The third horizontal sliding mechanism 51 is configured to drive the cryopreservation box fixing mechanism 52 to move along the X-axis, so that the cryopreservation box fixing mechanism 52 can move between the first receiving box position, the second receiving box position, and the tube-picking position. The cryopreservation box fixing mechanism 52 can dock with the rotating shovel mechanism 316 at the first receiving box position and with the second horizontal transfer mechanism 317 at the second receiving box position to receive and transfer cryopreservation boxes. The tube-picking device 53 is configured to perform tube-picking operations on the cryopreservation box fixed mechanism 52 located at the tube-picking position.

[0177] This setup saves space and reduces the complexity of the tube-picking device 5. Furthermore, the second horizontal sliding mechanism 322 drives the cryopreservation box fixing mechanism 52 to move along the X-axis, enabling the cryopreservation box fixing mechanism 52 to move between the first receiving box position, the second receiving box position, and the tube-picking position. This improves the cycle time of automated transfer, thereby increasing the efficiency of tube picking, barcode scanning, and cryopreservation box transfer, making it more convenient to use.

[0178] Preferably, please continue reading. Figure 16 The third horizontal sliding mechanism 51 includes an eighth drive element 511 (e.g., a servo motor or a stepper motor), a third lead screw 512, a third lead screw slider 513, and a fourth guide assembly 514.

[0179] The eighth driving component 511 and the third lead screw 512 are mounted on the base. The third lead screw 512 extends along the X-axis. The cryopreservation box fixing mechanism 52 is connected to the third lead screw slider 513. The third lead screw slider 513 is sleeved on the third lead screw 512 and threadedly connected to the third lead screw 512. The eighth driving component 511 is connected to the third lead screw 512 and can drive the third lead screw 512 to rotate, thereby driving the third lead screw slider 513 and the cryopreservation box fixing mechanism 52 to move along the X-axis. The fourth guide component 514 is located between the base and the third lead screw slider 513. The fourth guide component 514 can guide the third lead screw slider 513 during its movement along the X-axis, so that the third lead screw slider 513 moves in a straight line and prevents the third lead screw slider 513 from rotating.

[0180] The third horizontal sliding mechanism 51 is configured as an eighth driving component 511, a third lead screw 512, a third lead screw slider 513, and a fourth guide assembly 514. Its structure is simple and easy to assemble and use.

[0181] Preferably, please continue reading. Figure 16 The fourth guide assembly 514 includes a second guide rod 5141 and a second guide ring 5142 sleeved on the second guide rod 5141. The second guide rod 5141 is mounted on the base and extends along the X-axis. The second guide ring 5142 is movable along the second guide rod 5141. The second guide ring 5142 is connected to the third lead screw slider 513.

[0182] In other embodiments, the fourth guide assembly 514 includes a guide rail and a guide slider slidably disposed with the guide rail. The guide rail is mounted on a base and extends along the X-axis. The guide slider is connected to the third lead screw slider 513.

[0183] It should be noted that the present invention does not impose any limitations on the specific structure of the fourth guide component 514. In practical applications, as long as the fourth guide component 514 can guide the third lead screw slider 513 to make the third lead screw slider 513 move linearly, it is sufficient. Those skilled in the art can set the specific structure of the fourth guide component 514 according to actual needs. The specific implementation of the fourth guide component 514 in the above embodiments should not limit the scope of protection of the present invention.

[0184] Preferably, there are two fourth guide components 514, which are located on both sides of the third lead screw 512.

[0185] A fourth guide assembly 514 is provided on each side of the third lead screw 512, which can effectively prevent the third lead screw slider 513 from rotating and improve the guiding and limiting effect.

[0186] Preferably, please continue reading. Figure 16 The cryopreservation box fixing mechanism 52 includes a first support base 521 and a first box-carrying platform 522 mounted on the first support base 521. Two placement positions for placing cryopreservation boxes are arranged side-by-side along the X-axis on the first box-carrying platform 522. The first support base 521 supports and mounts the first box-carrying platform 522, which simultaneously holds two cryopreservation boxes to facilitate the tube-picking operation in conjunction with the tube-picking device 53.

[0187] Preferably, please refer to the following: Figure 17 and Figure 18 The pipe-lifting device 53 includes a first connector 531, a second lifting mechanism 532, a second connector 533, a fourth horizontal sliding mechanism 534, and a pipe-lifting gripper 535.

[0188] The first connector 531 is connected to the housing 1. The second lifting mechanism 532 is mounted on the first connector 531. The second connector 533 is mounted on the second lifting mechanism 532. The fourth horizontal sliding mechanism 534 is mounted on the second connector 533. The pipe-picking gripper 535 is mounted on the fourth horizontal sliding mechanism 534. The second lifting mechanism 532 is configured to drive the second connector 533, the fourth horizontal sliding mechanism 534 and the pipe-picking gripper 535 to move relative to the first connector 531 along the Z-axis. The fourth horizontal sliding mechanism 534 is configured to drive the pipe-picking gripper 535 to move relative to the second connector 533 along the Y-axis. The pipe-picking gripper 535 can pick up and hold cryopreservation tubes.

[0189] With this configuration, the pipe-picking device 53 has a more compact structure, which reduces its volume.

[0190] It should be noted that this invention does not impose any limitations on the specific structure of the second lifting mechanism 532, as long as the second lifting mechanism 532 can drive the second connecting member 533, the fourth horizontal sliding mechanism 534, and the pipe-picking gripper 535 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 532 according to actual needs. For example, the second lifting mechanism 532 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 532 do not deviate from the basic principles of this invention and should be limited to the protection scope of this invention.

[0191] It should also be noted that this invention does not impose any limitations on the specific structure of the fourth horizontal sliding mechanism 534, as long as the fourth horizontal sliding mechanism 534 can drive the pipe-picking gripper 535 to move along the Y-axis. In practical applications, those skilled in the art can customize the specific structure of the fourth horizontal sliding mechanism 534 according to actual needs. For example, the fourth horizontal sliding mechanism 534 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 534 do not deviate from the basic principles of this invention and should all be limited to the protection scope of this invention.

[0192] Preferably, please continue reading. Figure 17 and Figure 18 The tube-picking device 5 also includes a tube-jacking device 54, which is configured to push out the cryopreservation tubes in the cryopreservation box on the cryopreservation box fixing mechanism 52 located at the tube-picking position, so that the tube-picking device 53 can pick up the tubes smoothly.

[0193] A tube-lifting device 54 is provided to push the cryopreservation tube upwards so that the tube-lifting gripper 535 can smoothly pick up the cryopreservation tube.

[0194] Preferably, please refer to Figure 17 and Figure 18 The pipe jacking device 54 includes a third connector 541, a third lifting mechanism 542, and a pipe jacking component 543. The third connector 541 is connected to the pipe-lifting gripper 535. The third lifting mechanism 542 is mounted on the third connector 541. The pipe jacking component 543 is connected to the third lifting mechanism 542. The third lifting mechanism 542 is configured to drive the pipe jacking component 543 to move along the Z-axis. The pipe jacking head of the pipe jacking component 543 is located directly below the pipe-lifting gripper 535 and is directly opposite the pipe-lifting gripper 535.

[0195] This configuration allows the pipe jacking device 54 and the pipe-lifting gripper 535 to share a lifting mechanism and a moving mechanism on the Y-axis, reducing the complexity of the pipe jacking device 54, which helps to reduce costs and the size of the pipe-lifting equipment 5. In addition, the pipe-lifting gripper 535 and the pipe jacking component 543 operate synchronously in the horizontal direction, which can improve the progress of their cooperation and make them more convenient to use.

[0196] Although the jacking device 54 is configured as a third connector 541, a third lifting mechanism 542, and a jacking component 543 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 54 as other structural forms. For example, the jacking device 54 can be configured as a third connector 541 and a Y-axis moving mechanism, a Z-axis moving mechanism, and a jacking component 543 mounted on the third connector 541. The Y-axis moving mechanism can drive the Z-axis moving mechanism and the jacking component 543 to move along the Y-axis, and the Z-axis moving mechanism can drive the jacking component 543 to move along the Z-axis, so that the jacking component 543 can push out the cryopreservation tube. Such adjustments and changes to the specific structure of the jacking device 54 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.

[0197] Of course, the preferred configuration is to set the pipe jacking device 54 as a third connector 541, a third lifting mechanism 542, and a pipe jacking component 543, and to connect the third connector 541 to the pipe-lifting gripper 535. This configuration helps to reduce costs and the size of the pipe-lifting device 5, making it more convenient to use.

[0198] It should be noted that this invention does not impose any restrictions on the specific structure of the third lifting mechanism 542, as long as the third lifting mechanism 542 can drive the top pipe component 543 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 542 according to actual needs. For example, the third lifting mechanism 542 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 542 do not deviate from the basic principles of this invention and should be limited to the protection scope of this invention.

[0199] Preferably, the ambient temperature in the tube picking room 12 and the storage room 11 is between -120°C and -70°C.

[0200] In other embodiments, the ambient temperature inside the tube-picking room 12 and the storage room 11 is -160°C. In practical applications, those skilled in the art can set the ambient temperature inside the tube-picking room 12 and the storage room 11 according to the actual storage needs of the samples. The temperatures in the above specific embodiments should not limit the scope of protection of this invention.

[0201] Preferably, the ambient temperature inside the sample receiving room 13 is between -30°C and -10°C.

[0202] Preferably, there are two storage rooms 11, and the picking room 12 is located between the two storage rooms 11.

[0203] Setting the number of storage rooms 11 to two, and placing the pipe-lifting room 12 between the two storage rooms 11, allows one pipe-lifting room 12 to be used in conjunction with two storage rooms 11 at the same time, which can increase the proportion of storage area in the cabinet 1 and improve storage utilization.

[0204] In other embodiments, only one storage room 11 may be provided. Those skilled in the art can set the number of storage rooms 11 according to the actual situation. The specific implementation forms in the above embodiments should not limit the scope of protection of the present invention.

[0205] Furthermore, the biosample storage facility of the present invention also includes an electrically operated sealing door and a refrigeration system. The electrically operated sealing door can open and seal the second inlet / outlet 102, and the refrigeration system can cool the tube-picking chamber 12 and the storage chamber 11. In practical applications, the electrically operated sealing door can be an automatic door as described in the prior art, and the specific structure of the electrically operated sealing door will not be described in detail here. The refrigeration system can be a liquid nitrogen refrigeration system, an air-cooled refrigeration system, or other types of refrigeration systems. The present invention does not impose any restrictions on the specific configuration and related structure of the refrigeration system.

[0206] The preferred embodiment of the present invention provides a biosample storage facility that performs batch storage of cryopreservation boxes as follows:

[0207] First, the lifting mechanism 22 moves the transfer frame 23 to the first transfer position. At this time, the second seal 234 seals the first inlet and outlet 101.

[0208] Then, the second inlet / outlet 102 is opened, and multiple cryopreservation boxes are quickly placed onto the storage position 232 of the transfer rack 23 by hand through the second inlet / outlet 102. The second inlet / outlet 102 is then closed, and the lifting mechanism 22 moves the transfer rack 23 to the second transfer position.

[0209] Subsequently, the shovel rotating mechanism 316 docks with the transfer frame 23 to scoop up the cryopreservation box, and under the drive of the first lifting mechanism 312 and the first horizontal sliding mechanism 314, it docks with the cryopreservation box fixing mechanism 52 located at the first receiving box position, and moves the cryopreservation box to the cryopreservation box fixing mechanism 52.

[0210] Then, the third horizontal sliding mechanism 51 drives the cryopreservation box fixing mechanism 52 to move to the second receiving box position, and the second horizontal transfer mechanism 317 moves the cryopreservation box located on the cryopreservation box fixing mechanism 52 to the barcode scanning device 4 for scanning.

[0211] Finally, after scanning, the second horizontal transfer mechanism 317 moves the cryopreservation boxes from the scanning device 4 to the second cryopreservation box receiving and transfer device 3, which then transfers them into the storage room 11 for docking with the storage devices there. This process continues until all the cryopreservation boxes on the transfer rack 23 are stored in the storage room 11. The batch outbound process is similar to the batch inbound process, but the detailed steps are reversed.

[0212] The preferred embodiment of the present invention provides a procedure for retrieving single or multiple cryopreserved tubes from storage room 11 in the biosample storage facility as follows:

[0213] First, the lifting mechanism 22 moves the transfer frame 23 to the first transfer position. At this time, the second seal 234 seals the first inlet and outlet 101.

[0214] Then, the second inlet / outlet 102 is opened, the first horizontal transfer mechanism 24 operates to receive the empty cryopreservation box located outside, and in conjunction with the lifting mechanism 22, it lifts and lowers to place the empty cryopreservation box on the transfer rack 23. The second inlet / outlet 102 is closed, and the lifting mechanism 22 moves the transfer rack 23 to the second transfer position.

[0215] Subsequently, the shovel rotating mechanism 316 docks with the transfer frame 23 to scoop up the empty cryopreservation box, and under the drive of the first lifting mechanism 312 and the first horizontal sliding mechanism 314, it docks with the cryopreservation box fixing mechanism 52 located at the first receiving box position, and moves the empty cryopreservation box to position 1 of the cryopreservation box fixing mechanism 52.

[0216] Then, the second cryopreservation box receiving and transfer device 32 docks with the storage device in the storage room 11 to take out the target cryopreservation box and transfer it to the second horizontal transfer mechanism 317. The second horizontal transfer mechanism 317 transfers the target cryopreservation box to the barcode scanning device 4 for barcode scanning, and then transfers it to position 2 of the cryopreservation box fixing mechanism 52.

[0217] Then, the third horizontal sliding mechanism 51 drives the cryopreservation box fixing mechanism 52 to the tube picking position, and the tube picking device 53 and the tube lifting device 54 cooperate to pick up the target cryopreservation tube and transfer it into the empty cryopreservation box.

[0218] Finally, after the tube selection is completed, the two cryopreservation boxes are scanned again. After scanning, the cryopreservation boxes inside the storage room are transported back to storage room 11, while the original empty cryopreservation boxes are output from the storage room via the lifting and transfer device 2, thus completing the outbound operation of a specific cryopreservation tube. The inbound operation of single or multiple cryopreservation tubes is similar to its outbound operation, but the detailed steps are reversed.

[0219] 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 biological sample storage facility, characterized in that, The biological sample repository includes: The box has a storage room, a tube picking room and a sample receiving room inside. The tube picking room is connected to the storage room and is distributed along the Y-axis. The sample receiving room is located above the tube picking room and is connected to the tube picking room through a first inlet and outlet. The sample receiving room is connected to the external environment of the box through a second inlet and outlet. A lifting and transfer device is installed in the sample receiving room. The lifting and transfer device is configured to transfer the cryopreservation box between the tube picking room and the sample receiving room through the first inlet and outlet. The lifting and transfer device is also configured to transfer the cryopreservation box between the sample receiving room and the outside through the second inlet and outlet. A barcode scanning device is installed in the tube-picking room to scan the box code of the cryopreservation box and the tube code of the cryopreservation tube inside the cryopreservation box. A pipe-picking device, installed in the pipe-picking room, is used for picking pipes; as well as A cryopreservation box transfer device is installed in the tube-picking room. The cryopreservation box transfer device is configured to transfer cryopreservation boxes between the lifting and transfer device, the tube-picking device, the barcode scanning device, and the storage room.

2. The biosample storage facility according to claim 1, characterized in that, The lifting and transferring device includes a first fixing component, a lifting mechanism, a transfer frame, and a first horizontal transfer mechanism. The first fixing member is installed inside the sample receiving chamber, and the lifting mechanism and the first horizontal transfer mechanism are installed on the first fixing member and located inside the sample receiving chamber. The transfer rack is connected to the lifting mechanism and passes through the first inlet / outlet. The transfer rack is capable of storing cryogenic boxes in batches. The lifting mechanism is configured to drive the transfer frame to move along the Z-axis so that the transfer frame moves between a first transfer position and a second transfer position, wherein the first transfer position is located in the sample receiving room and the second transfer position is located in the tube picking room. The first horizontal transfer mechanism is configured to receive and transfer cryopreservation boxes along the X-axis. When the transfer rack is located at the first transfer position, the transfer rack is directly opposite the second inlet / outlet. The first horizontal transfer mechanism is capable of receiving cryopreservation boxes located on the transfer rack and transporting them to the external environment through the second inlet / outlet, and is also capable of receiving cryopreservation boxes from the external environment through the second inlet / outlet and placing them onto the transfer rack.

3. The biosample storage facility according to claim 2, characterized in that, The transfer rack includes a frame with multiple storage positions inside. The multiple storage positions are arranged in an array along the length and height of the frame to form multiple columns and multiple layers. Each storage position has a first opening and a second opening for taking out and placing cryogenic boxes. The first opening and the second opening are arranged opposite to each other.

4. The biosample storage facility according to claim 3, characterized in that, The top and bottom of the transfer frame are respectively provided with a first seal and a second seal, and the lifting mechanism is connected to the first seal. When the transfer frame is in the second transfer position, the first seal seals the first inlet and outlet. When the transfer frame is in the first transfer position, the second seal seals the first inlet and outlet.

5. The biological sample storage facility according to claim 1, characterized in that, The biological sample storage facility also includes a transfer rack guide device located within the tube picking chamber. The transfer rack guide device is connected to the transfer rack and can guide the transfer rack during its up-and-down movement, so that the transfer rack moves in a straight line.

6. The biosample storage facility according to claim 1, characterized in that, The cryopreservation box transfer equipment includes a first cryopreservation box receiving and transfer device and a second cryopreservation box receiving and transfer device. The first cryopreservation box receiving and transfer device is configured to receive and transfer cryopreservation boxes along the X-axis and Y-axis, and the first cryopreservation box receiving and transfer device can be docked with the lifting and transfer device, the tube picking device, the barcode scanning device and the second cryopreservation box receiving and transfer device respectively to receive and transfer cryopreservation boxes. 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.

7. The biosample storage facility according to claim 6, characterized in that, 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 second horizontal transfer mechanism mounted on the first mounting component. The first mounting component is connected to the housing, the second mounting component is connected to the first lifting mechanism, the first horizontal sliding mechanism and the second horizontal transfer mechanism are mounted on the second mounting component, and the first horizontal sliding mechanism and the second 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 second 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 second 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, the barcode scanning device, and the second cryopreservation box receiving and transfer device.

8. The biological sample storage facility according to claim 7, characterized in that, The scanning device and the second horizontal transfer mechanism are distributed at intervals along the Y-axis, and when the first lifting mechanism moves the second horizontal transfer mechanism to the same height as the scanning device, the second horizontal transfer mechanism and the scanning device are positioned opposite each other.

9. The biosample storage facility according to claim 7, characterized in that, The second cryopreservation box receiving and transfer device includes a first support member, a second 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 second horizontal sliding mechanism, and the carrier box is mounted on the second support member. The carrier box can support the cryopreservation box. The second 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 chamber. The carrier and the second horizontal transfer mechanism are distributed at intervals along the Y-axis, and when the first lifting mechanism drives the second horizontal transfer mechanism to move to the same height as the carrier, the second horizontal transfer mechanism and the carrier are positioned directly opposite each other. And / or, The tube picking device includes a third 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. Both the third horizontal sliding mechanism and the tube-picking device are connected to the box body, and the cryopreservation box fixing mechanism is installed on the third horizontal sliding mechanism; The third 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 second 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.

10. The biosample storage facility according to claim 9, 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.

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