Folding liquid nitrogen tank access device

Abstract

An embodiment of the present invention provides a foldable liquid nitrogen tank access device, which relates to the field of sample access in a biorepository. The aim is to improve the problem of low efficiency of manually retrieving tubes from a liquid nitrogen storage tank. The foldable liquid nitrogen tank access device includes a liquid nitrogen tank, a cap group, a storage rack, a lifting group, a moving group, and a tube retrieval group: the inside of the liquid nitrogen tank is used to fill liquid nitrogen; the storage rack is foldably arranged inside the liquid nitrogen tank; the lifting group is fixed on the cap group, and the lifting group is used to connect or disconnect from the storage rack; the moving group is fixed on the cap group, and the tube retrieval group is fixed on the moving group; the moving group is used to drive the tube retrieval group to move so that the tube retrieval group corresponds to the position of the storage rack lifted in place. After opening the liquid nitrogen tank through the cap group, the storage rack containing cryotubes is lifted by the lifting group, and then the tube retrieval group is moved in front of the storage rack by the moving group. The tube retrieval group precisely transfers the cryotubes from the storage rack, eliminating the need for manual tube retrieval, with a short operation time and greatly improved efficiency.

Description

Technical Field

[0001] The present invention relates to the field of sample access in a biorepository, and more particularly, to a folding liquid nitrogen tank access device. Background Art

[0002] Deep cryogenic biorepositories are important basic equipment in current medical and biological research. By storing at low temperatures, biological tissues such as blood, stem cells, and immune cells can maintain their activity for a long time. Currently, the common cryogenic storage device is a liquid nitrogen storage tank. When retrieving a target cryotube, most of the existing technologies are manual access, which takes a long time for personnel to operate, has low efficiency, and may also affect physical health after long-term exposure to a low-temperature environment. Summary of the Invention

[0003] The objectives of the present invention include, for example, providing a folding liquid nitrogen tank access device that can improve the problem of low efficiency in manually retrieving tubes from a liquid nitrogen storage tank.

[0004] Embodiments of the present invention may be implemented as follows:

[0005] Embodiments of the present invention provide a folding liquid nitrogen tank access device, including a liquid nitrogen tank, a lid group, a storage rack, a lifting group, a moving group, and a tube retrieving group: The interior of the liquid nitrogen tank is used to fill liquid nitrogen; The lid group is provided with an opening, and the lid group is rotatably connected to the top of the liquid nitrogen tank. The lid group is used to open or close the opening during rotation; The storage rack is foldably arranged inside the liquid nitrogen tank, and the storage rack is used to store a plurality of cryotubes; The lifting group is fixed on the lid group, and the lifting group is used to connect to or disengage from the storage rack, and the lifting group is used to drive the connected storage rack to move up and out of or down and into the liquid nitrogen tank through the opening; The moving group is fixed on the lid group, and the tube retrieving group is fixed on the moving group; A plurality of jaws are installed on the tube retrieving group; The moving group is used to drive the tube retrieving group to move so that the tube retrieving group corresponds to the position of the storage rack lifted in place, so that the jaws can pick up the cryotubes on the storage rack and transfer them to the tube retrieving group.

[0006] In addition, the folding liquid nitrogen tank access device provided by the embodiments of the present invention may also have the following additional technical features:

[0007] Optionally, the rotary cover group includes a first cover, a second cover, a first ratchet structure, a second ratchet structure and a first motor; the first cover is rotatably arranged on the second cover, the first motor is connected to the first cover via the first ratchet structure, the first motor is connected to the second cover via the second ratchet structure, the first motor is used to drive the first cover to rotate in the case of forward rotation, or the first motor is used to drive the second cover to rotate in the case of reverse rotation;

[0008] The openings include a first opening opened on the first cover and a second opening opened on the second cover; the first opening and the second opening are used to correspond or stagger positions during the rotation of the first cover and the second cover so that the openings are opened or closed.

[0009] Optionally, the lifting group includes a vertical plate, a second motor, a first gear, a first rack and a lifting block; the vertical plate is fixed on the rotary cover group and is located on one side of the opening; the first rack is fixed to the vertical plate in the vertical direction; the lifting block and the second motor are slidably connected to the vertical plate and are located on both sides of the first rack; the first gear is meshed with the first rack, one end of the first gear is transmission-connected to the second motor, and the other end of the first gear is rotationally connected to the lifting block; the second motor is used to drive the lifting block to rise or fall along the first rack; the lifting block is provided with a first electromagnet, and the first electromagnet is used to attract and connect with the storage rack or repel and detach.

[0010] Optionally, the mobile group includes a first driving mechanism and a second driving mechanism; the first driving mechanism is fixed on the vertical plate, the second driving mechanism is connected to the first driving mechanism, and the second driving mechanism is connected to the tube retrieval group; the first driving mechanism is used to drive the second driving mechanism and the tube retrieval group to move in a horizontal direction, and the second driving mechanism is used to drive the tube retrieval group to move in a vertical direction so that the tube retrieval group corresponds to the position of the storage rack lifted into place.

[0011] Optionally, the first driving mechanism includes a support frame, a third motor, a second gear, a second rack, and a sliding frame; the second driving mechanism includes a fourth motor and a third gear; the support frame is fixed to the vertical plate, the second rack is fixed on the support frame in the horizontal direction, the sliding frame and the third motor are slidably connected to the support frame in the horizontal direction, the second gear meshes with the second rack, one end of the second gear is drivingly connected to the third motor, and the other end of the second gear is rotatably connected to the sliding frame; the third motor is used to drive the sliding frame to move along the second rack; the fourth motor and the third gear are fixed on the sliding frame, and the fourth motor is drivingly connected to the third gear; the tube picking group is slidably arranged on the sliding frame in the vertical direction, the tube picking group is provided with a third rack, the third gear meshes with the third rack, and the fourth motor drives the tube picking group to move in the vertical direction.

[0012] Optionally, a T-shaped chute extending in the horizontal direction is provided at the bottom of the support frame; a T-shaped protrusion is provided at the top of the sliding frame; the sliding frame is located at the bottom of the support frame, and the T-shaped protrusion is slidably matched with the T-shaped chute.

[0013] Optionally, the tube picking group includes a tube picking frame and a plurality of clamping jaws; the tube picking frame is slidably arranged on the sliding frame in the vertical direction; the tube picking frame is provided with a plurality of storage grooves, each storage groove is provided with a clamping jaw chute, and the clamping jaw chute is provided with a second electromagnet; the clamping jaw is provided with a second magnet, the clamping jaw is assembled in the clamping jaw chute, and the second electromagnet is used to drive the clamping jaw to move out of or into the clamping jaw chute during the energization process.

[0014] Optionally, the clamping jaw includes a clamping jaw protrusion and a clamping head, and the clamping head is fixed to one side of the clamping jaw protrusion; the clamping jaw protrusion is used for sliding cooperation with the clamping jaw chute, the clamping head is provided with a clamping jaw opening, and the clamping head is used to open or close when the clamping jaw opening is stressed.

[0015] Optionally, the storage rack includes a first folding rack and a plurality of second folding racks; hinge grooves and hinge heads are respectively provided at both ends of each second folding rack, the plurality of second folding racks are arranged in sequence, and the hinge grooves and hinge heads of two adjacent second folding racks are hinged; the first folding rack is hinged to the outermost second folding rack of the plurality of second folding racks; the first folding rack is provided with a first magnet, and the first magnet is used for attracting connection or repulsive detachment with the moving group; the first folding rack is provided with a plurality of first clamping positions, and the second folding rack is provided with a plurality of second clamping positions, and both the first clamping positions and the second clamping positions are used for storing cryotubes.

[0016] Optionally, the foldable liquid nitrogen tank access device further includes a plurality of partition plates; the plurality of partition plates are arranged at intervals in the liquid nitrogen tank, and the partition plates are provided with long sliding grooves extending in the vertical direction; one side of the first folding frame is provided with a first cylindrical protrusion, and one side of the second folding frame is provided with a second cylindrical protrusion; the first cylindrical protrusion and the second cylindrical protrusion are slidably connected in the long sliding groove, and the first cylindrical protrusion and the second cylindrical protrusion are used to fold or unfold the first folding frame and the second folding frame during the process of sliding along the long sliding groove.

[0017] The beneficial effects of the foldable liquid nitrogen tank access device according to the embodiments of the present invention include, for example:

[0018] The foldable liquid nitrogen tank access device includes a liquid nitrogen tank, a screw cap group, a storage rack, a lifting group, a moving group, and a tube taking group: the inside of the liquid nitrogen tank is used to fill liquid nitrogen; the screw cap group is provided with an opening, and the screw cap group is rotatably connected to the top of the liquid nitrogen tank, and the screw cap group is used to open or close the opening during rotation; the storage rack is foldably arranged in the liquid nitrogen tank, and the storage rack is used to store a plurality of cryogenic tubes; the lifting group is fixed on the screw cap group, and the lifting group is used to connect to or disconnect from the storage rack, and the lifting group is used to drive the connected storage rack to rise out of or descend into the liquid nitrogen tank from the opening; the moving group is fixed on the screw cap group, and the tube taking group is fixed on the moving group; a plurality of clamping jaws are installed on the tube taking group; the moving group is used to drive the tube taking group to move so that the tube taking group corresponds to the position of the storage rack lifted in place, so that the clamping jaws can clamp the cryogenic tubes on the storage rack and transfer them to the tube taking group.

[0019] After opening the liquid nitrogen tank through the screw cap group, the storage rack containing the cryogenic tubes is lifted by the lifting group, and then the tube taking group is moved in front of the storage rack by the moving group. The tube taking group realizes the precise transfer of the cryogenic tubes from the storage rack, eliminating the need for manual tube taking, with short operation time and greatly improved efficiency. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is the front view of the overall structure of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0022] Figure 2 It is the front view of the screw cap group, the lifting group, the moving group, and the tube taking group of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0023] Figure 3 Front view of the first cover of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0024] Figure 4 Front view of the second cover of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0025] Figure 5 Left view of the screw cap group, lifting group, and moving group of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0026] Figure 6 Left view of the sliding rack of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0027] Figure 7 Front view of the tube extraction group and sliding rack of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0028] Figure 8 Front view of the tube extraction group of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0029] Figure 9 Side view of the tube extraction rack of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0030] Figure 10 Front view of the jaw of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0031] Figure 11 Left view of the storage rack and cryotube of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0032] Figure 12 Left view of the first folding rack of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0033] Figure 13 Left view of the second folding rack of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0034] Figure 14 Front view of the cryotube of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0035] Figure 15 Front view of the partition board and liquid nitrogen tank of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0036] Figure 16 View of the first state of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0037] Figure 17It is the second state view of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0038] Figure 18 It is the third state view of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention;

[0039] Figure 19 It is the fourth state view of the foldable liquid nitrogen tank access device provided by the embodiment of the present invention.

[0040] Icons: 100 - cap group; 110 - first motor; 120 - vertical plate; 130 - first cover; 131 - first round hole; 132 - first opening; 140 - second cover; 141 - second round hole; 142 - second opening; 200 - lifting group; 210 - second motor; 220 - first gear; 230 - first rack; 240 - lifting block; 300 - moving group; 310 - support frame; 311 - T-shaped sliding groove; 320 - third motor; 330 - second gear; 340 - second rack; 350 - sliding frame; 351 - T-shaped protrusion; 352 - third round hole; 353 - fourth round hole; 354 - limit sliding groove; 360 - fourth motor; 370 - third gear; 400 - tube picking group; 410 - tube picking rack; 411 - limit protrusion; 412 - storage tank; 413 - jaw sliding groove; 420 - third rack; 430 - jaw; 431 - jaw protrusion; 432 - chuck; 500 - storage rack; 510 - first folding rack; 511 - top plate; 512 - first cylindrical protrusion; 513 - fifth round hole; 514 - sixth round hole; 520 - second folding rack; 521 - seventh round hole; 522 - eighth round hole; 523 - second cylindrical protrusion; 524 - ninth round hole; 530 - rotating shaft; 600 - cryopreservation tube; 610 - tube cap; 620 - tube body; 700 - partition board; 710 - blade; 720 - long sliding groove; 730 - limit plate; 800 - liquid nitrogen tank. Detailed implementation manners

[0041] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0043] It should be noted that like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, it is not necessary to further define and explain it in subsequent figures.

[0044] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0045] In addition, if terms such as "first", "second", etc. are used only for distinguishing descriptions, they cannot be understood as indicating or implying relative importance.

[0046] It should be noted that, without conflict, the features in the embodiments of the present invention can be combined with each other.

[0047] The following Figures 1 to 19 will describe in detail the foldable liquid nitrogen tank access device provided in this embodiment.

[0048] Please refer to Figure 1 , an embodiment of the present invention provides a foldable liquid nitrogen tank access device, including a liquid nitrogen tank 800, a cap group 100, a storage rack 500, a lifting group 200, a moving group 300, and a tube picking group 400: The inside of the liquid nitrogen tank 800 is used to fill liquid nitrogen; the cap group 100 is provided with an opening, and the cap group 100 is rotatably connected to the top of the liquid nitrogen tank 800. The cap group 100 is used to open or close the opening during rotation; the storage rack 500 is foldably arranged in the liquid nitrogen tank 800, and the storage rack 500 is used to store a plurality of cryotubes 600; the lifting group 200 is fixed on the cap group 100, and the lifting group 200 is used to connect or disconnect from the storage rack 500, and the lifting group 200 is used to drive the connected storage rack 500 to move up and out of or down and into the liquid nitrogen tank 800 from the opening; the moving group 300 is fixed on the cap group 100, and the tube picking group 400 is fixed on the moving group 300; a plurality of jaws 430 are installed on the tube picking group 400; the moving group 300 is used to drive the tube picking group 400 to move so that the tube picking group 400 corresponds to the position of the storage rack 500 lifted in place, so that the jaws 430 can pick up the cryotubes 600 on the storage rack 500 and transfer them to the tube picking group 400.

[0049] The cap screwing group 100 is located at the top of the liquid nitrogen tank 800; the lifting group 200, the moving group 300, and the tube taking group 400 are located outside the liquid nitrogen tank 800 and on top of the cap screwing group 100; the storage rack 500 is located inside the liquid nitrogen tank 800. The cap screwing group 100 functions to seal and open. When the opening of the cap screwing group 100 is opened, the driving lifting group 200 is connected to the storage rack 500. The lifting group 200 lifts the storage rack 500 upward. After the storage rack 500 is lifted in place, the moving group 300 drives the tube taking group 400 to move to a position corresponding to the storage rack 500, so that the jaws 430 on the tube taking group 400 correspond to the cryogenic tubes 600 on the storage rack 500. Then, the jaws 430 are activated to clamp and transfer the cryogenic tubes 600 on the storage rack 500 to the tube taking group 400, completing the tube taking. Multiple jaws 430 are provided on the tube taking group 400, and multiple cryogenic tubes 600 are stored on the storage rack 500, enabling the transfer of multiple cryogenic tubes 600 to be completed simultaneously. After the transfer is completed, the moving group 300 drives the tube taking group 400 to reset, the lifting group 200 drives the storage rack 500 to move into the liquid nitrogen tank 800 and reset, and then the cap screwing group 100 is rotated to close the liquid nitrogen tank 800, completing the grasping of the cryogenic tubes 600. The whole process is completed automatically by machinery, improving the tube taking efficiency of the liquid nitrogen storage tank and also solving the safety problem of manual tube taking.

[0050] Referring to Figure 2 、 Figure 3 and Figure 4 In this embodiment, the cap screwing group 100 includes a first cover 130, a second cover 140, a first ratchet structure, a second ratchet structure, and a first motor 110; the first cover 130 is rotatably arranged on the second cover 140. The first motor 110 is connected to the first cover 130 through the first ratchet structure, and the first motor 110 is connected to the second cover 140 through the second ratchet structure. The first motor 110 is used to drive the first cover 130 to rotate when rotating forward, or drive the second cover 140 to rotate when rotating backward; the opening includes a first opening 132 formed on the first cover 130 and a second opening 142 formed on the second cover 140; the first opening 132 and the second opening 142 are used to correspond or stagger in position during the rotation of the first cover 130 and the second cover 140, so as to open or close the opening. Specifically, both the first opening 132 and the second opening 142 are fan-shaped.

[0051] A ratchet, defined as a gear with a rigid tooth-shaped surface or a friction surface on its outer or inner edge, is an important component of a ratchet mechanism. It is pushed by a pawl to make a step motion. The characteristic of this meshing motion is that the ratchet can only rotate in one direction and cannot reverse.

[0052] The first motor 110 is used to provide power. The first motor 110 is fixed by the outside. For example, a fixing frame is provided outside. The first motor 110 is fixed to the fixing frame to prevent the first motor 110 from rotating.

[0053] The first cover 130 is provided with a first circular hole 131 and a first opening 132; the first circular hole 131 is located in the middle of the main body of the first cover 130, and the first circular hole 131 is connected to the motor shaft of the first motor 110 through a first ratchet structure (not shown in the figure), so that the first cover 130 can be driven to rotate only when the first motor 110 rotates forward; the first opening 132 is located on one side of the first circular hole 131, and the first opening 132 is a through hole. Figure 2 As shown, the second cover 140 is located below the first cover 130, and the second cover 140 can rotate relative to the first cover 130; Figure 4 As shown, the second cover 140 is provided with a second circular hole 141 and a second opening 142; the second circular hole 141 is located in the middle of the second cover 140 body, and the second circular hole 141 is connected to the motor shaft of the first motor 110 through a second ratchet structure (not shown in the figure), so that the second cover 140 can only be driven to rotate when the first motor 110 reverses; the second opening 142 is located on one side of the second circular hole 141, and the second opening 142 is a through hole.

[0054] The first ratchet structure includes a first ratchet and a first pawl, the first ratchet is fixed in the first circular hole 131, and the first pawl is fixed to the first motor 110; the second ratchet structure includes a second ratchet and a second pawl, the second ratchet is fixed in the second circular hole 141, and the second pawl is fixed to the first motor 110; when the first motor 110 rotates forward, the first pawl drives the first ratchet and the first cover 130 to rotate, at this time the second pawl and the second ratchet are slidably matched, and the second cover 140 does not rotate; when the first motor 110 rotates reversely, the second pawl drives the second ratchet and the second cover 140 to rotate, at this time the first pawl and the first ratchet are slidably matched, and the first cover 130 does not rotate. Thus, the first cover 130 and the second cover 140 are driven to rotate in opposite directions, so that the first opening 132 and the second opening 142 are staggered and corresponded.

[0055] Reference Figure 1 as well as Figure 2, in this embodiment, the lifting group 200 includes a vertical plate 120, a second motor 210, a first gear 220, a first rack 230 and a lifting block 240; the vertical plate 120 is fixed on the cap screwing group 100 and is located on one side of the opening; the first rack 230 is fixed on the vertical plate 120 in the vertical direction; the lifting block 240 and the second motor 210 are respectively slidably connected to the vertical plate 120 in the vertical direction and are respectively located on both sides of the first rack 230; the first gear 220 meshes with the first rack 230, one end of the first gear 220 is drivingly connected to the second motor 210, and the other end of the first gear 220 is rotatably connected to the lifting block 240; the second motor 210 is used to drive the lifting block 240 to rise or fall along the first rack 230; the lifting block 240 is provided with a first electromagnet, and the first electromagnet is used to attractively connect or repulsively disconnect from the storage rack 500.

[0056] Specifically, the second motor 210 is located in front of the vertical plate 120. The second motor 210 provides power, and the vertical plate 120 limits the second motor 210 so that the second motor 210 can move in the vertical direction but cannot rotate (not shown in the figure). The first gear 220 is located on one side of the second motor 210, and the motor shaft of the second motor 210 is fixedly connected to the first gear 220; the first rack 230 is located behind the first gear 220, the first rack 230 is fixed on the vertical plate 120, and the first gear 220 meshes with the first rack 230 for transmission. The lifting block 240 is located on one side of the first gear 220, the lifting block 240 is connected to the motor shaft of the second motor 210 through a bearing, and the lower end surface of the lifting block 240 is provided with a first electromagnet (not shown in the figure).

[0057] Specifically, two sets of the second motor 210, the first gear 220, the first rack 230 and the lifting block 240 are provided, and the two sets are symmetrically arranged on the left and right sides of the vertical plate 120. Correspondingly, in the liquid nitrogen tank 800, two storage racks 500 are correspondingly arranged for each partition 700, and two lifting blocks 240 correspondingly suck two storage racks 500.

[0058] The second motor 210 drives the first gear 220 to rotate. During the rotation of the first gear 220, it rolls along the first rack 230, driving the lifting block 240 to move. During the movement of the first gear 220 along the first rack 230, the second motor 210 moves in the vertical direction without rotating. The lifting block 240 moves downward into the liquid nitrogen tank 800 through the opening, attractively connects with the storage rack 500 and drives the storage rack 500 to move upward synchronously, or the lifting block 240 drives the storage rack 500 to move downward synchronously. Until after the storage rack 500 is moved into the liquid nitrogen tank 800, the lifting block 240 disengages from the storage rack 500, completes the reset of the storage rack 500, and the lifting block 240 moves upward out of the liquid nitrogen tank 800.

[0059] Refer to Figure 5In this embodiment, the moving group 300 includes a first driving mechanism and a second driving mechanism; the first driving mechanism is fixed on the vertical plate 120, the second driving mechanism is connected to the first driving mechanism, and the second driving mechanism is connected to the pipe taking group 400; the first driving mechanism is used to drive the second driving mechanism and the pipe taking group 400 to move in the horizontal direction, and the second driving mechanism is used to drive the pipe taking group 400 to move in the vertical direction, so that the pipe taking group 400 corresponds to the position of the storage rack 500 lifted into place.

[0060] The moving group 300 is located at one side of the lifting group 200, specifically, the moving group 300 is located between the two first racks 230. The moving group 300 is used for horizontal and vertical movement of the pipe taking group 400.

[0061] Reference Figure 2 , Figure 5 , Figure 6 as well as Figure 7 In this embodiment, the first driving mechanism includes a support frame 310, a third motor 320, a second gear 330, a second rack 340 and a sliding frame 350; the second driving mechanism includes a fourth motor 360 and a third gear 370; the support frame 310 is fixed to the vertical plate 120, the second rack 340 is fixed to the support frame 310 in a horizontal direction, the sliding frame 350 and the third motor 320 are slidably connected to the support frame 310 in a horizontal direction, the second gear 330 is meshed with the second rack 340, and one end of the second gear 330 is engaged with the third motor 320. 0 transmission connection, the other end of the second gear 330 is rotatably connected to the sliding frame 350; the third motor 320 is used to drive the sliding frame 350 to move along the second rack 340; the fourth motor 360 and the third gear 370 are fixed on the sliding frame 350, and the fourth motor 360 is transmission connected with the third gear 370; the tube taking group 400 is slidably arranged on the sliding frame 350 along the vertical direction, the tube taking group 400 is provided with a third rack 420, the third gear 370 is meshed with the third rack 420, and the fourth motor 360 drives the tube taking group 400 to move along the vertical direction.

[0062] Specifically, the support frame 310 is located at the upper end of the main body of the moving group 300, one end of the support frame 310 is fixed on the vertical plate 120, and the support frame 310 plays a supporting role. The third motor 320 is located on one side of the support frame 310, the third motor 320 provides power, and the support frame 310 limits the third motor 320, so that the third motor 320 can move horizontally relative to the support frame 310, but cannot rotate (not shown in the figure).

[0063] The second gear 330 is located below the third motor 320, and the motor shaft of the third motor 320 is fixedly connected to the second gear 330. The second rack 340 is located on one side of the second gear 330. The second rack 340 is in meshing transmission with the second gear 330, and the second rack 340 is arranged on one side of the support frame 310. The sliding frame 350 can move relative to the support frame 310; the sliding frame 350 is provided with a third round hole 352, a fourth round hole 353, and a limiting chute 354; the third round hole 352 is connected to the motor shaft of the third motor 320 through a bearing; the fourth round hole 353 is located below the third round hole 352, and two groups are symmetrically arranged on the left and right of the fourth round hole 353, and the fourth round hole 353 plays a limiting role; the limiting chutes 354 are located at the left and right ends of the main body of the sliding frame 350, and the limiting chutes 354 play a limiting role.

[0064] Refer to Figure 5 As shown, the fourth motor 360 is located below the second gear 330, and the motor shaft of the fourth motor 360 is connected to the fourth round hole 353 through a bearing. Two fourth motors 360 are arranged on the left and right of the sliding frame 350, and the fourth motor 360 provides power. The third gear 370 is located in front of the fourth motor 360, and the third gear 370 is fixedly connected to the motor shaft of the fourth motor 360; Refer to Figure 2 , 7 As shown, the tube group 400 is installed in the limiting chutes 354 on both sides of the sliding frame 350, and two groups are symmetrically arranged.

[0065] The third motor 320 drives the second gear 330 to rotate. The second gear 330 rolls along the second rack 340, driving the sliding frame 350 and the tube group 400 on the sliding frame 350 to move horizontally synchronously; both the third motor 320 and the sliding frame 350 can only move in the horizontal direction. The fourth motor 360 drives the third gear 370 to rotate. The third gear 370 is in meshing with the third rack 420, and the third gear 370 drives the tube group 400 to move up and down.

[0066] Refer to Figure 5 and Figure 6 , in this embodiment, a T-shaped chute 311 extending in the horizontal direction is provided at the bottom of the support frame 310; a T-shaped protrusion 351 is provided at the top of the sliding frame 350; the sliding frame 350 is located at the bottom of the support frame 310, and the T-shaped protrusion 351 is in sliding fit with the T-shaped chute 311.

[0067] Specifically, the support frame 310 is provided with a T-shaped chute 311; the T-shaped chute 311 is located at the lower end of the support frame 310; the sliding frame 350 is located below the second rack 340, the T-shaped protrusion 351 is located in the middle of the main body of the sliding frame 350, and the T-shaped protrusion 351 is in sliding cooperation with the T-shaped chute 311.

[0068] Refer to Figure 8 and Figure 9, in this embodiment, the tube picking group 400 includes a tube picking rack 410 and a plurality of clamping jaws 430; the tube picking rack 410 is slidably arranged on the sliding rack 350 in the vertical direction; the tube picking rack 410 is provided with a plurality of storage grooves 412, each storage groove 412 is provided with a clamping jaw chute 413, and a second electromagnet is arranged in the clamping jaw chute 413; the clamping jaw 430 is provided with a second magnet, the clamping jaw 430 is assembled in the clamping jaw chute 413, and the second electromagnet is used to drive the clamping jaw 430 to move out of or into the clamping jaw chute 413 during the energization process.

[0069] The tube picking rack 410 is provided with a limiting protrusion 411, a storage groove 412, and a clamping jaw chute 413; the limiting protrusion 411 is located on the front and rear sides of the main body of the tube picking rack 410, and the limiting protrusion 411 is slidably matched with the limiting chute 354; the storage groove 412 is located in the middle of the limiting protrusion 411, the storage groove 412 can store the cryopreservation tube 600, and the number of the storage grooves 412 is determined according to the situation. The clamping jaw chute 413 is located on the left and right sides inside the storage groove 412, and a second electromagnet (not shown in the figure) is arranged on the end surface of the clamping jaw chute 413 close to the support frame 310; referring to Figure 8 As shown, the third rack 420 is located on one side of the main body of the tube picking group 400 close to the support frame 310, and the third rack 420 is in meshing transmission with the third gear 370; the clamping jaw 430 is installed in the storage groove 412, and a second magnet (not shown in the figure) is installed on the end surface of the clamping jaw 430 close to the support frame 310.

[0070] Referring to Figure 8 , Figure 9 and Figure 10 , in this embodiment, the clamping jaw 430 includes a clamping jaw protrusion 431 and a clamping head 432, and the clamping head 432 is fixed on one side of the clamping jaw protrusion 431; the clamping jaw protrusion 431 is used for sliding cooperation with the clamping jaw chute 413, the clamping head 432 is provided with a clamping jaw opening, and the clamping head 432 is used for opening or closing under the condition that the clamping jaw opening is stressed.

[0071] The clamping head 432 is located on one side of the clamping jaw protrusion 431, and the material of the clamping head 432 is rubber, so that the clamping head 432 can clamp the cryopreservation tube 600 by extrusion. The clamping jaw protrusion 431 is slidably matched with the clamping jaw chute 413.

[0072] When the second electromagnet is energized forward, the clamping jaw 430 repels the clamping jaw chute 413, partially moves out of the clamping jaw chute 413, and then extrudes the cryopreservation tube 600, so that the cryopreservation tube 600 enters the inside of the clamping head 432 through the clamping jaw opening. Then the second electromagnet is energized reversely, the clamping jaw 430 is attracted and moves back into the clamping jaw chute 413, driving the cryopreservation tube 600 clamped by the clamping head 432 to move into the clamping jaw chute 413 together, completing the movement of the cryopreservation tube 600 from the storage rack 500 to the tube picking rack 410.

[0073] Referring to Figure 11 ,Figure 12 and Figure 13 In this embodiment, the storage rack 500 includes a first folding rack 510 and a plurality of second folding racks 520; hinge slots and hinge heads are respectively arranged at both ends of each second folding rack 520, the plurality of second folding racks 520 are arranged in sequence, and the hinge slots and hinge heads of two adjacent second folding racks 520 are hinged; the first folding rack 510 is hinged to the outermost second folding rack 520 among the plurality of second folding racks 520; the first folding rack 510 is provided with a first magnet, and the first magnet is used for attracting connection or repulsive detachment with the moving group 300; the first folding rack 510 is provided with a plurality of first clamping positions, the second folding rack 520 is provided with a plurality of second clamping positions, and both the first clamping positions and the second clamping positions are used for storing the cryotubes 600.

[0074] Refer to Figure 12 As shown, the first folding rack 510 includes a top plate 511, a sixth round hole 514 and a plurality of first clamping positions, and a fifth round hole 513 is arranged at the first clamping position. The top plate 511 is located at the upper end of the main body of the first folding rack 510, and a first electromagnet (not shown in the figure) is installed on the top plate 511; the fifth round hole 513 is located inside the main body of the first folding rack 510, and the number of the fifth round holes 513 is determined according to the number of the cryotubes 600, and the fifth round hole 513 plays a limiting role. The sixth round hole 514 is located below the fifth round hole 513.

[0075] Refer to Figure 13 As shown, the second folding rack 520 includes a seventh round hole 521, an eighth round hole 522 and a plurality of second clamping positions, and a ninth round hole 524 is arranged at the second clamping position; the seventh round hole 521 is located at the upper end of the main body of the second folding rack 520; the eighth round hole 522 is located at the lower end of the main body of the second folding rack 520; the ninth round hole 524 is located inside the main body of the second folding rack 520, and the number of the ninth round holes 524 is determined according to the number of the cryotubes 600, and the ninth round hole 524 plays a limiting role.

[0076] Refer to Figure 11 As shown, the rotating shaft 530 is installed between the first folding rack 510, the second folding rack 520 or adjacent second folding racks 520. The rotating shaft 530 rotatably connects the first folding rack 510 and the second folding rack 520 together through the sixth round hole 514 and the seventh round hole 521, and the rotating shaft 530 rotatably connects two adjacent second folding racks 520 together through the eighth round hole 522 and the seventh round hole 521 on the next second folding rack 520.

[0077] Refer to Figure 1 As shown, four groups of storage racks 500 are evenly distributed; refer to Figure 11 As shown, the cryotubes 600 are placed in the storage rack 500.

[0078] Refer to Figure 14The cryogenic tube 600 includes: a tube cover 610 and a tube body 620; the tube cover 610 is located at the upper end of the main body of the cryogenic tube 600, and the tube cover 610 seals the cryogenic tube 600; the tube body 620 is located below the tube cover 610, and the bottom end of the tube body 620 cooperates with the fifth circular hole 513 and the ninth circular hole 524 to limit the position.

[0079] Reference Figure 15 In this embodiment, the foldable liquid nitrogen tank storage and access device also includes a plurality of partitions 700; the plurality of partitions 700 are arranged at intervals in the liquid nitrogen tank 800, and the partitions 700 are provided with a long slide groove 720 extending in the vertical direction; a first cylindrical protrusion 512 is provided on one side of the first folding frame 510, and a second cylindrical protrusion 523 is provided on one side of the second folding frame 520; the first cylindrical protrusion 512 and the second cylindrical protrusion 523 are slidably connected in the long slide groove 720, and the first cylindrical protrusion 512 and the second cylindrical protrusion 523 are used to fold or unfold the first folding frame 510 and the second folding frame 520 during the sliding process along the long slide groove 720.

[0080] The first cylindrical protrusion 512 is located at one side of the main body of the first folding frame 510 , and the first cylindrical protrusion 512 plays a limiting role; the second cylindrical protrusion 523 is located at one side of the main body of the second folding frame 520 , and the second cylindrical protrusion 523 plays a limiting role.

[0081] Reference Figure 15 As shown, the partition 700 is fixedly installed in the liquid nitrogen tank 800; the partition 700 includes: a blade 710, a long slide groove 720, and a limit plate 730; the number of blades 710 is set to four; the long slide groove 720 is located at the end surface of the blade 710, and two long slide grooves 720 are set, and the long slide groove 720 cooperates with the first cylindrical protrusion 512 and the second cylindrical protrusion 523 to slide; the limit plate 730 is located at the lower end of the long slide groove 720, and the limit plate 730 limits the first cylindrical protrusion 512 and the second cylindrical protrusion 523 so that the bottom storage rack 500 will not be separated from the partition 700 when it is lifted; the liquid nitrogen tank 800 is located outside the partition 700, and the liquid nitrogen tank 800 is filled with liquid nitrogen.

[0082] According to a foldable liquid nitrogen tank storage and access device provided in this embodiment, the working principle of the foldable liquid nitrogen tank storage and access device is:

[0083] In the initial state, the first opening 132 and the second opening 142 are staggered, and the liquid nitrogen tank 800 remains sealed. When the cryotube 600 is to be taken out, the first motor 110 is started to rotate forward, so that the first cover 130 rotates. Finally, when the first opening 132 rotates to the area where the cryotube 600 is to be taken out, the first motor 110 is stopped, and then the first motor 110 is reversed so that the second opening 142 rotates to the first opening 132, and the first motor 110 is stopped. The final state is referred to Figure 1As shown; at this time, start the second motor 210. The second motor 210 drives the first gear 220 to rotate. The first gear 220 meshes with the first rack 230 for transmission, so that the first gear 220 drives the lifting block 240 to move downward on the first rack 230. After moving downward a certain distance, refer to Figure 16 As shown; stop starting the second motor 210, energize the electromagnet on the lower end surface of the lifting block 240, so that the electromagnet on the lower end surface of the lifting block 240 generates an attractive force with the magnet on the top plate 511, so that the storage rack 500 moves upward, and the top plate 511 coincides with the lower end surface of the lifting block 240. At this time, start the second motor 210 in the reverse direction, so that the lifting block 240 drives the storage rack 500 to move upward. When the lifting block 240 lifts the storage rack 500 until the second cylindrical protrusion 523 coincides with the lower end surface of the limiting plate 730, stop starting the second motor 210. At this time, the storage rack 500 is in a vertical state as a whole; refer to Figure 17 As shown; then start the third motor 320. The third motor 320 drives the second gear 330 to rotate. The second gear 330 meshes with the second rack 340 for transmission, so that the second gear 330 drives the sliding rack 350 and the tube picking group 400 to move forward until the tube picking group 400 moves to the cryopreservation tube 600 to be taken out and then stop starting the third motor 320. Refer to Figure 17 As shown; then start the fourth motor 360. The fourth motor 360 drives the third gear 370 to rotate. The third gear 370 meshes with the third rack 420 for transmission, so that the third rack 420 drives the tube picking rack 410 and the clamping jaws 430 to move downward until the upper end surface of the clamping jaws 430 is flush with the lower end surface of the tube cap 610 of the cryopreservation tube 600 to be taken out. Refer to Figure 18 As shown; stop starting the fourth motor 360, then energize the electromagnet on the clamping jaw chute 413 in the positive direction, so that the electromagnet on the clamping jaw chute 413 generates a repulsive force with the magnet on the clamping jaw protrusion 431, and then pushes the clamping jaws 430 towards the cryopreservation tube 600 to be taken out. Since the clamping head 432 is made of rubber, the clamping jaws 430 successfully clamp the cryopreservation tube 600 by extrusion. Then start the fourth motor 360 in the reverse direction, so that the tube picking group 400 moves upward a certain distance and then stop starting the fourth motor 360. The tube picking group 400 drives the cryopreservation tube 600 to move upward, so that the tube body 620 is separated from the fifth round hole 513 or the ninth round hole 524. Refer to Figure 19 As shown, then energize the electromagnet on the clamping jaw chute 413 in the reverse direction, so that the electromagnet on the clamping jaw chute 413 generates an attractive force with the magnet on the clamping jaw protrusion 431, and then the clamping jaws 430 move the cryopreservation tube 600 into the storage groove 412. If there are also cryopreservation tubes 600 to be taken out corresponding to other positions of the tube picking group 400, they can be taken out simultaneously. After taking out the cryopreservation tube 600, start the fourth motor 360, so that the tube picking group 400 moves upward to the initial state, stop starting the fourth motor 360, and then start the third motor 320, so that the tube picking group 400 moves backward to Figure 1When the lifting block 240 moves down to the storage rack 500, the third motor 320 is stopped and started, and the second motor 210 is started at the same time, so that the lifting block 240 moves down with the storage rack 500. Figure 16 When the storage rack 500 is in the upper position, the electromagnet on the lifting block 240 is powered off, so that the storage rack 500 continues to move downward due to its own gravity and finally returns to the upper position. Figure 1 state, and then the first motor 110 is started to rotate forward, so that the first cover 130 rotates, so that the first opening 132 and the second opening 142 are staggered, and the whole process is completed, and the cryogenic tube 600 is successfully taken out.

[0084] The foldable liquid nitrogen tank storage and access device provided in this embodiment has at least the following advantages:

[0085] After the liquid nitrogen tank 800 is opened by the screw capping group 100, the storage rack 500 containing the cryogenic tubes 600 is lifted up by the lifting group 200, and then the tube taking group 400 is moved to the front of the storage rack 500 by the moving group 300. The tube taking group 400 realizes the precise transfer of the cryogenic tubes 600 to the storage rack 500, without manual tube taking, and the operation time is short, and the efficiency is greatly improved.

[0086] By cooperating with the storage rack 500, the partition 700 and the lifting group 200, the storage rack 500 can be folded during storage and unfolded when storing and accessing the cryogenic tubes 600. When unfolded, it is convenient for the tube group 400 to store and access the cryogenic tubes 600, so that the storage rack 500 greatly improves the space utilization rate of the liquid nitrogen tank 800 without delaying the storage and access of the cryogenic tubes 600.

[0087] The coordination among the lifting group 200, the moving group 300, the tube retrieval group 400, the storage rack 500, the cryotube 600 and the partition 700 can solve the problems of dangerous and low efficiency in the manual retrieval process of the existing liquid nitrogen tank 800 retrieval equipment.

[0088] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A foldable liquid nitrogen tank access device, characterized in that, it includes: A liquid nitrogen tank (800), the interior of the liquid nitrogen tank (800) is used to fill liquid nitrogen; A rotary cover group (100), the rotary cover group (100) is provided with an opening, the rotary cover group (100) is rotatably connected to the top of the liquid nitrogen tank (800), and the rotary cover group (100) is used to open or close the opening during rotation; A storage rack (500), the storage rack (500) is foldably arranged in the liquid nitrogen tank (800), and the storage rack (500) is used to store a plurality of cryotubes (600); A lifting group (200), the lifting group (200) is fixed on the rotary cover group (100), the lifting group (200) is used to connect or disconnect from the storage rack (500), and the lifting group (200) is used to drive the connected storage rack (500) to move out of the opening upward or move into the liquid nitrogen tank (800) downward; A moving group (300) and a tube-taking group (400), the moving group (300) is fixed on the rotary cover group (100), and the tube-taking group (400) is fixed on the moving group (300); A plurality of jaws (430) are installed on the tube-taking group (400); the moving group (300) is used to drive the tube-taking group (400) to move so that the tube-taking group (400) corresponds to the position of the storage rack (500) lifted in place, so that the jaws (430) pick up the cryotubes (600) on the storage rack (500) and transfer them to the tube-taking group (400); The storage rack (500) includes a first folding rack (510) and a plurality of second folding racks (520); hinge grooves and hinge joints are respectively arranged at both ends of each second folding rack (520), and the plurality of second folding racks (520) are arranged in sequence, and the hinge grooves and the hinge joints of two adjacent second folding racks (520) are hinged; the first folding rack (510) is hinged on the outermost second folding rack (520) of the plurality of second folding racks (520); the first folding rack (510) is provided with a first magnet, and the first magnet is used to attractively connect or repulsively disconnect from the moving group (300); the first folding rack (510) is provided with a plurality of first card positions, and the second folding rack (520) is provided with a plurality of second card positions, and the first card positions and the second card positions are both used to store cryotubes (600).

2. The foldable liquid nitrogen tank access device according to claim 1, characterized in that: The rotary cover assembly (100) comprises a first cover (130), a second cover (140), a first ratchet structure, a second ratchet structure and a first motor (110); the first cover (130) is rotatably arranged on the second cover (140); the first motor (110) and the first cover (130) are connected via the first ratchet structure; the first motor (110) and the second cover (140) are connected via the second ratchet structure; the first motor (110) is used to drive the first cover (130) to rotate in the forward direction, or the first motor (110) is used to drive the second cover (140) to rotate in the reverse direction; The opening comprises a first opening (132) opened on the first cover (130) and a second opening (142) opened on the second cover (140); the first opening (132) and the second opening (142) are used to correspond or stagger positions during the rotation of the first cover (130) and the second cover (140) so that the openings are opened or closed.

3. The foldable liquid nitrogen tank storage and access device according to claim 1, Features: The lifting group (200) comprises a vertical plate (120), a second motor (210), a first gear (220), a first rack (230) and a lifting block (240); the vertical plate (120) is fixed to the rotary cover group (100) and is located on one side of the opening; the first rack (230) is fixed to the vertical plate (120) in a vertical direction; the lifting block (240) and the second motor (210) are respectively slidably connected to the vertical plate (120) in a vertical direction and are respectively located on the first rack (230). on both sides; the first gear (220) is meshed with the first rack (230), one end of the first gear (220) is transmission-connected to the second motor (210), and the other end of the first gear (220) is rotationally connected to the lifting block (240); the second motor (210) is used to drive the lifting block (240) to rise or fall along the first rack (230); the lifting block (240) is provided with a first electromagnet, and the first electromagnet is used to attract and connect with the storage rack (500) or repel and detach.

4. The foldable liquid nitrogen tank storage and access device according to claim 3, Features: The moving group (300) comprises a first driving mechanism and a second driving mechanism; the first driving mechanism is fixed on the vertical plate (120), the second driving mechanism is connected to the first driving mechanism, and the second driving mechanism is connected to the tube taking group (400); the first driving mechanism is used to drive the second driving mechanism and the tube taking group (400) to move in a horizontal direction, and the second driving mechanism is used to drive the tube taking group (400) to move in a vertical direction, so that the tube taking group (400) corresponds to the position of the storage rack (500) lifted into place.

5. The foldable liquid nitrogen tank access device according to claim 4, characterized in that: The first driving mechanism includes a support frame (310), a third motor (320), a second gear (330), a second rack (340), and a sliding frame (350); the second driving mechanism includes a fourth motor (360) and a third gear (370); the support frame (310) is fixed to the vertical plate (120), the second rack (340) is fixed on the support frame (310) in the horizontal direction, the sliding frame (350) and the third motor (320) are slidably connected to the support frame (310) in the horizontal direction, the second gear (330) meshes with the second rack (340), one end of the second gear (330) is drivingly connected to the third motor (320), and the other end of the second gear (330) is rotatably connected to the sliding frame (350); the third motor (320) is used to drive the sliding frame (350) to move along the second rack (340); the fourth motor (360) and the third gear (370) are fixed on the sliding frame (350), and the fourth motor (360) is drivingly connected to the third gear (370); the tube picking group (400) is slidably arranged on the sliding frame (350) in the vertical direction, the tube picking group (400) is provided with a third rack (420), the third gear (370) meshes with the third rack (420), and the fourth motor (360) drives the tube picking group (400) to move in the vertical direction.

6. The foldable liquid nitrogen tank access device according to claim 5, characterized in that: A T-shaped chute (311) extending in the horizontal direction is provided at the bottom of the support frame (310); a T-shaped protrusion (351) is provided at the top of the sliding frame (350); the sliding frame (350) is located at the bottom of the support frame (310), and the T-shaped protrusion (351) is slidably engaged with the T-shaped chute (311).

7. The foldable liquid nitrogen tank access device according to claim 5, characterized in that: The tube picking group (400) includes a tube picking frame (410) and a plurality of clamping jaws (430); the tube picking frame (410) is slidably arranged on the sliding frame (350) in the vertical direction; the tube picking frame (410) is provided with a plurality of storage grooves (412), each storage groove (412) is provided with a clamping jaw chute (413), and a second electromagnet is provided in the clamping jaw chute (413); the clamping jaw (430) is provided with a second magnet, the clamping jaw (430) is assembled in the clamping jaw chute (413), and the second electromagnet is used to drive the clamping jaw (430) to move out of or into the clamping jaw chute (413) during the energization process.

8. The foldable liquid nitrogen tank access device according to claim 7, characterized in that: The jaw (430) includes a jaw protrusion (431) and a chuck (432), and the chuck (432) is fixed to one side of the jaw protrusion (431); the jaw protrusion (431) is used for sliding cooperation with the jaw chute (413), the chuck (432) is provided with a jaw opening, and the chuck (432) is used for opening or closing when the jaw opening is stressed.

9. The folding liquid nitrogen tank access device according to claim 1, characterized in that: The folding liquid nitrogen tank access device further includes a plurality of partitions (700); the plurality of partitions (700) are arranged at intervals in the liquid nitrogen tank (800), and the partitions (700) are provided with long chutes (720) extending in the vertical direction; one side of the first folding frame (510) is provided with a first cylindrical protrusion (512), and one side of the second folding frame (520) is provided with a second cylindrical protrusion (523); the first cylindrical protrusion (512) and the second cylindrical protrusion (523) are slidably connected in the long chute (720), and the first cylindrical protrusion (512) and the second cylindrical protrusion (523) are used for folding or unfolding the first folding frame (510) and the second folding frame (520) during the process of sliding along the long chute (720).

Images