Mobile liquid nitrogen tank access device

Abstract

An embodiment of the present invention provides a mobile liquid nitrogen tank access device, which relates to the field of sample access in a biobank. It aims to improve the problems of easy injury to humans and easy inactivation of biological samples during the manual access process of liquid nitrogen tank access devices. It includes a liquid nitrogen tank, a storage disc, a storage tube strip, a clamping group, and a driving group; the storage tube strip is slidably arranged on the storage disc along the radial direction; a movable barrel is used to extend into or out of the liquid nitrogen tank; a push-pull assembly and a clamping jaw head are connected to the movable barrel; the push-pull assembly is used to pull the storage tube strip to move back and forth along the radial direction; the driving group is connected to the clamping group, and the driving group is used to drive the movable barrel to move up and down or rotate. The clamping group reaches the designated position for retrieving the cryopreservation tube in the liquid nitrogen tank through rotation and vertical movement, and then the push-pull assembly pulls the storage tube strip to move along the radial direction, and then the clamping jaw head on the clamping group clamps out the cryopreservation tube located in the storage tube strip, completing the tube retrieval process. This process does not require manual intervention, and biological samples are not easily inactivated.

Description

Technical Field

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

[0002] A biobank is an important basic facility in current medical and biological research. By cryopreservation, biological tissues such as blood, stem cells, and immune cells can maintain their activity for a long time. The conventional method is to store biological samples in a liquid nitrogen tank. A liquid nitrogen tank is a device specifically used to store liquid nitrogen. It utilizes the low-temperature characteristics of liquid nitrogen to provide an extremely low-temperature environment. Inside, it is isolated by insulating materials to reduce heat dissipation, and the internal air pressure is controlled through a gas discharge system to maintain the stable state of liquid nitrogen. Liquid nitrogen tanks can generally be divided into two types: liquid nitrogen storage tanks and liquid nitrogen transport tanks.

[0003] However, when taking out biological samples, it is necessary to open the liquid nitrogen tank. Usually, when personnel select samples, the speed is slow. During this period, the liquid nitrogen in the liquid nitrogen tank will diffuse outward along the open tank mouth, resulting in a large loss of liquid nitrogen. Moreover, the biological samples are exposed to the external normal-temperature environment for a long time, causing great harm to the biological samples. Repeating this process may damage the activity of the biological samples. At the same time, when personnel take biological samples, the low temperature of liquid nitrogen is likely to cause frostbite to the hands, posing a great safety hazard. Summary of the Invention

[0004] The objectives of the present invention include, for example, providing a mobile liquid nitrogen tank access device that can improve the problems of easy injury to personnel and easy inactivation of biological samples during the manual access process of a liquid nitrogen tank access device.

[0005] Embodiments of the present invention may be implemented as follows:

[0006] Embodiments of the present invention provide a mobile liquid nitrogen tank access device, including a liquid nitrogen tank, a storage disc, a tube storage strip, a clamping group, and a driving group. The storage disc is horizontally fixed inside the liquid nitrogen tank. The tube storage strip is provided with a plurality of tube storage grooves for storing cryogenic tubes at intervals along the length direction. The tube storage strip is slidably arranged on the storage disc along the radial direction. The clamping group includes a moving barrel, a pushing and pulling assembly, and a clamping jaw head. The moving barrel is used to extend into or out of the liquid nitrogen tank. The pushing and pulling assembly and the clamping jaw head are connected to the moving barrel. The pushing and pulling assembly is used to connect to or disengage from the tube storage strip. The pushing and pulling assembly is used to pull the tube storage strip to reciprocate along the radial direction, so that the cryogenic tube on the tube storage groove corresponds to the position of the clamping jaw head. The clamping jaw head is used to grab the cryogenic tube. The driving group is fixed on the top of the liquid nitrogen tank. The driving group is connected to the clamping group. The driving group is used to drive the moving barrel to move up and down or rotate, so that the pushing and pulling assembly corresponds to the position of the tube storage strip.

[0007] In addition, the mobile liquid nitrogen tank access device provided by the embodiments of the present invention may further have the following additional technical features:

[0008] Optionally, a circular opening is provided at the center of the top of the liquid nitrogen tank; a circular through-hole is provided in the middle of the storage disc; the circular opening and the circular through-hole are coaxially arranged and jointly used for the mobile barrel to extend in or out;

[0009] The mobile barrel includes a barrel body, a through-channel, and a sealing cover that are coaxially and sequentially fixed; the barrel body is fixed to the drive group; the push-pull assembly and the jaw head are fixed in the through-channel; the barrel body and the sealing cover are used to alternately seal and cooperate with the circular opening during the up-and-down movement of the mobile barrel.

[0010] Optionally, the through-channel penetrates the mobile barrel along the radial direction of the mobile barrel, and the through-channel is used for the storage tube strip to pass through;

[0011] The barrel body is provided with a tube storage channel and a barrel body groove, and the tube storage channel, the barrel body groove, and the through-channel are sequentially arranged and communicated along the axial direction of the mobile barrel; limiting sliding grooves are provided on both sides of the barrel body groove, and first electromagnets are respectively arranged in the two limiting sliding grooves;

[0012] The jaw head includes two semi-circular jaws, the two semi-circular jaws are arranged in the barrel body groove and are slidably matched with the limiting sliding grooves, first magnets are arranged on both of the two semi-circular jaws, and the two semi-circular jaws approach or separate from each other under the attraction or repulsion of the first electromagnet and the first magnet to clamp or release the cryogenic tubes on the storage tube strip passing through the through-channel; the tube storage channel is used for storing the cryogenic tubes extruded between the two semi-circular jaws under an external force.

[0013] Optionally, the push-pull assembly includes a push-pull member, a third motor, and a gear; the push-pull member is slidably arranged on one side of the through-channel, and the gear is arranged on the other side of the through-channel; the push-pull member is magnetically connected to the through-channel to attract or repel, the push-pull member is used to move up and down under the drive of the mobile barrel, and the push-pull member is magnetically connected to the storage tube strip to attract or repel, so that the push-pull member can pull the storage tube strip to reciprocate in a first stroke along the radial direction; the third motor is arranged in the through-channel, the third motor is connected to the gear, and the gear is used to mesh with the rack on the storage tube strip pulled in place by the push-pull member to drive the storage tube strip to reciprocate in a second stroke along the radial direction;

[0014] The first stroke is continuous with the second stroke, and the space between the push-pull member and the gear is for the storage tube strip to pass through.

[0015] Optionally, a chute is provided on one side wall of the through-channel, and a second electromagnet is provided in the chute; one end of the push-pull member is provided with a second magnet, and the other end of the push-pull member is provided with a third electromagnet; the push-pull member is slidably arranged in the chute, and the push-pull member is used to move out of or into the through-channel when the second electromagnet and the second magnet repel or attract each other, so as to pull the storage tube strip to move; the push-pull member is used to insert or pull out the storage tube strip under the action of the moving cylinder; the storage tube strip is provided with a third magnet, and the push-pull member is used to repel or attract the storage tube strip under the action of the third electromagnet and the third magnet.

[0016] Optionally, the push-pull member includes a sliding member and a push-pull rod. The sliding member is slidably arranged in the chute. The second magnet is fixed at one end of the sliding member to cooperate with the second electromagnet. The push-pull rod is fixed to the other end of the sliding member; the push-pull rod is used to insert into or withdraw from the storage tube strip under the drive of the moving cylinder; the third electromagnet is fixed at the end of the push-pull rod.

[0017] Optionally, a rack is arranged along the length direction on one side of the storage tube strip, and a long strip hole is arranged along the length direction on the other side of the storage tube strip; the rack is used to mesh with the gear, the long strip hole is in plug-in and pull-out cooperation with the push-pull member, and the long strip hole and the push-pull member repel or attract each other through magnetic connection.

[0018] Optionally, the number of the storage discs is multiple, and the multiple storage discs are fixedly arranged in the liquid nitrogen tank at intervals along the height direction of the liquid nitrogen tank; each storage disc is provided with a plurality of sliding grooves extending radially, and each sliding groove slidably arranges one storage tube strip, and each sliding groove is arranged in the same radial direction as the corresponding other sliding groove along the radial direction, so that the storage tube strip can move between the two sliding grooves arranged in the same radial direction.

[0019] Optionally, the end of the sliding groove far away from the circular through-hole is bent and extended and fixed with a fourth electromagnet; the storage tube strip is made of a soft material; a fourth magnet is arranged at the end of the storage tube strip far away from the circular through-hole, and the storage tube strip moves towards the direction of the circular through-hole to reset under the repulsive action of the fourth electromagnet and the fourth magnet.

[0020] Optionally, the driving group includes a first motor, a screw rod, a support frame, a second motor and a moving plate; the support frame is fixed on the top of the liquid nitrogen tank, the screw rod is rotatably arranged in the support frame in the vertical direction, the first motor is fixed on the support frame, and the first motor is connected to the screw rod; the moving plate is slidably arranged in the support frame in the vertical direction, and the moving plate is threadedly connected to the screw rod; the moving round barrel is fixed to the moving plate; the first motor is used to drive the screw rod to rotate, so as to drive the moving plate and the moving round barrel to reciprocate synchronously in the vertical direction, so as to drive the moving round barrel to extend into or out of the liquid nitrogen tank.

[0021] The beneficial effects of the mobile liquid nitrogen tank access device according to the embodiments of the present invention include, for example:

[0022] A mobile liquid nitrogen tank access device includes a liquid nitrogen tank, a storage disc, a storage tube strip, a clamping group and a driving group. The storage disc is horizontally fixed in the liquid nitrogen tank; a plurality of storage tube grooves for storing cryopreservation tubes are arranged at intervals along the length direction of the storage tube strip, and the storage tube strip is slidably arranged on the storage disc in the radial direction; the clamping group includes a moving round barrel, a pushing and pulling assembly and a clamping jaw head, and the moving round barrel is used to extend into or out of the liquid nitrogen tank; the pushing and pulling assembly and the clamping jaw head are connected to the moving round barrel; the pushing and pulling assembly is used to connect to or disengage from the storage tube strip, and the pushing and pulling assembly is used to pull the storage tube strip to reciprocate in the radial direction, so that the cryopreservation tube on the storage tube groove corresponds to the position of the clamping jaw head; the clamping jaw head is used to grab the cryopreservation tube; the driving group is fixed on the top of the liquid nitrogen tank, the driving group is connected to the clamping group, and the driving group is used to drive the moving round barrel to move up and down or rotate, so that the pushing and pulling assembly corresponds to the position of the storage tube strip.

[0023] The clamping group reaches the designated position in the liquid nitrogen tank to pick up the cryopreservation tube through rotation and up and down movement, and then through the cooperation between the pushing and pulling assembly, the storage disc, the storage tube strip and the cryopreservation tube, the storage tube strip is pulled to move radially, and then the clamping jaw head on the clamping group picks up the cryopreservation tube located in the storage tube strip, completing the process of picking up the tube. This process does not require manual intervention, avoiding human injury, and the biological sample will not be exposed to the external normal temperature environment for a long time and is not easily inactivated. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. 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, without creative efforts, other related drawings can also be obtained based on these drawings.

[0025] Figure 1 It is the front view of the overall structure of the mobile liquid nitrogen tank access device provided by the embodiments of the present invention;

[0026] Figure 2 The right view of the drive group and the clamping group of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0027] Figure 3 The front view of the support frame of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0028] Figure 4 The front view of the moving plate of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0029] Figure 5 The right view of the moving cylinder of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0030] Figure 6 The bottom view of the moving cylinder of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0031] Figure 7 The sectional view of the moving cylinder of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0032] Figure 8 The bottom view of the moving cylinder, the clamping jaw head and the push-pull member of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0033] Figure 9 The right view of the clamping jaw head of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0034] Figure 10 The right view of the push-pull member of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0035] Figure 11 The front view of the support cylinder, the storage disc and the liquid nitrogen tank of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0036] Figure 12 The front view of the support cylinder of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0037] Figure 13 The top view of the storage disc of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0038] Figure 14 The top view of the storage tube rack of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0039] Figure 15 The front view of the cryopreservation tube of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0040] Figure 16 Front view of the liquid nitrogen tank of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0041] Figure 17 Front view of the drive group, clamping group, support cylinder, storage disc, storage tube rack, and cryopreservation tube of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0042] Figure 18 View of the first state of the clamping group, storage disc, storage tube rack, and cryopreservation tube of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0043] Figure 19 View of the second state of the clamping group, storage disc, storage tube rack, and cryopreservation tube of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0044] Figure 20 View of the third state of the clamping group, storage disc, storage tube rack, and cryopreservation tube of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0045] Figure 21 View of the fourth state of the clamping group, storage disc, storage tube rack, and cryopreservation tube of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention;

[0046] Figure 22 View of the fifth state of the clamping group, storage disc, storage tube rack, and cryopreservation tube of the mobile liquid nitrogen tank access device provided by the embodiment of the present invention.

[0047] Icon: 100 - drive group; 110 - first motor; 120 - screw; 130 - support frame; 131 - first hole; 132 - limit slideway; 140 - second motor; 150 - first shaft; 160 - moving plate; 161 - second hole; 162 - third hole; 200 - clamping group; 210 - moving cylinder; 211 - cylinder body; 212 - fourth hole; 213 - pipe clamping groove; 2131 - pipe storage channel; 2132 - cylinder body groove; 2133 - limit chute; 214 - through channel; 215 - fifth hole; 216 - sixth hole; 217 - T-shaped chute; 218 - baffle; 219 - sealing cover; 220 - clamping jaw head; 221 - semi-circular clamping jaw; 222 - protrusion; 230 - push-pull member; 231 - T-shaped member; 232 - convex plate; 233 - push-pull rod; 240 - gear; 250 - second shaft; 260 - third motor; 300 - support cylinder; 310 - square through hole; 400 - storage disc; 410 - circular through hole; 420 - curved slideway; 500 - storage tube strip; 510 - storage tube groove; 520 - long strip hole; 530 - rack; 600 - cryopreservation tube; 610 - tube cap; 700 - liquid nitrogen tank; 710 - limit square groove; 720 - opening; 730 - limit ring. Detailed implementation manners

[0048] 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. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. Components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying 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.

[0050] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0051] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the products of the invention are 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 indicated devices or elements must have specific orientations, be constructed and operated in specific orientations, and thus should not be construed as limiting the present invention.

[0052] In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0053] It should be noted that the features in the embodiments of the present invention can be combined with each other without conflict.

[0054] The following Figures 1 to 22 will describe in detail the mobile liquid nitrogen tank access device provided in this embodiment.

[0055] Please refer to Figure 1 、 Figure 2 and Figure 17, an embodiment of the present invention provides a mobile liquid nitrogen tank access device, including a liquid nitrogen tank 700, a storage disc 400, a storage tube strip 500, a clamping group 200 and a driving group 100. The storage disc 400 is horizontally fixed inside the liquid nitrogen tank 700; the storage tube strip 500 is provided with a plurality of storage tube grooves 510 for storing cryopreservation tubes 600 at intervals along the length direction, and the storage tube strip 500 is slidably arranged on the storage disc 400 along the radial direction; the clamping group 200 includes a moving barrel 210, a push-pull assembly and a clamping jaw head 220. The moving barrel 210 is used to extend into or out of the liquid nitrogen tank 700; the push-pull assembly and the clamping jaw head 220 are connected to the moving barrel 210; the push-pull assembly is used to connect to or disengage from the storage tube strip 500, and the push-pull assembly is used to pull the storage tube strip 500 to reciprocate along the radial direction, so that the cryopreservation tube 600 on the storage tube groove 510 corresponds to the position of the clamping jaw head 220; the clamping jaw head 220 is used to grab the cryopreservation tube 600; the driving group 100 is fixed on the top of the liquid nitrogen tank 700, the driving group 100 is connected to the clamping group 200, and the driving group 100 is used to drive the moving barrel 210 to move up and down or rotate, so that the push-pull assembly corresponds to the position of the storage tube strip 500.

[0056] The driving group 100 drives the clamping group 200 to move up and down to extend into or out of the liquid nitrogen tank 700, and drives the clamping group 200 to rotate so that the clamping group 200 corresponds to the position of the storage tube strip 500. The clamping group 200 pulls the storage tube strip 500 to reciprocate along the radial direction of the storage disc 400, and pulls the cryopreservation tube 600 to move to the lower part of the clamping jaw head 220 in turn for clamping. The push-pull assembly and the storage tube strip 500 can cooperate to pull the storage tube strip 500 to move. After the push-pull assembly disengages from the storage tube strip 500, they each reset.

[0057] In the initial state, the cryopreservation tube 600 is stored in the storage tube groove 510 of the storage tube strip 500, and the driving group 100 and the clamping group 200 are located outside the liquid nitrogen tank 700. When taking a tube, the driving group 100 drives the clamping group 200 to move downward, driving the moving barrel 210 to extend into the liquid nitrogen tank 700, and then drives the clamping group 200 to rotate so that the push-pull assembly corresponds to the position of the storage tube strip 500 and pulls the storage tube strip 500 to move radially, pulling the storage tube strip 500 to the lower part of the clamping jaw head 220, so that the clamping jaw head 220 corresponds to the position of the cryopreservation tube 600 on the storage tube groove 510. Then, the driving group 100 drives the clamping group 200 to move downward, and the cryopreservation tube 600 is grabbed by the clamping jaw head 220. After grabbing one cryopreservation tube 600, the push-pull assembly continues to pull the storage tube strip 500 to move, so that the clamping jaw head 220 grabs the cryopreservation tubes 600 on the storage tube strip 500 in turn. After the clamping is completed, the driving group 100 drives the clamping group 200 to move upward out of the liquid nitrogen tank 700 to complete the clamping.

[0058] The clamping group 200 reaches the designated position of the cryotube 600 in the liquid nitrogen tank 700 through rotation and vertical movement. Then, through the cooperation between the pushing and pulling assembly and the storage disc 400, the storage tube strip 500, and the cryotube 600, the storage tube strip 500 is pulled to move radially. Furthermore, the jaw head 220 on the clamping group 200 clamps out the cryotube 600 located in the storage tube strip 500, completing the tube-taking process. This process does not require manual intervention, avoiding human injury, and the biological sample will not be exposed to the external normal temperature environment for a long time and is not easily inactivated.

[0059] Referring to Figure 1 、 Figure 3 and Figure 4 , in this embodiment, the driving group 100 includes a first motor 110, a screw 120, a support frame 130, a second motor 140, and a moving plate 160; the support frame 130 is fixed on the top of the liquid nitrogen tank 700, the screw 120 is rotatably arranged vertically in the support frame 130, the first motor 110 is fixed on the support frame 130, and the first motor 110 is connected to the screw 120; the moving plate 160 is slidably arranged vertically on the support frame 130, and the moving plate 160 is threadedly connected to the screw 120; the moving cylinder 210 is fixed to the moving plate 160; the first motor 110 is used to drive the screw 120 to rotate, so as to drive the moving plate 160 and the moving cylinder 210 to reciprocate synchronously in the vertical direction, so as to drive the moving cylinder 210 to extend into or out of the liquid nitrogen tank 700.

[0060] The driving group 100 is located above the whole, and the driving group 100 plays a transmission role. The driving group 100 further includes a first shaft 150. The first motor 110 provides power. The screw 120 is located below the first motor 110, and the screw 120 is fixedly connected to the motor shaft of the first motor 110; Referring to Figure 3 as shown, the support frame 130 is a rectangular frame with a hollow interior, including: a first hole 131, a limiting slideway 132; the first hole 131 is located at the upper end of the main body of the support frame 130, the bottom end of the screw 120 passes through the first hole 131 and extends into the support frame 130, and the first hole 131 is rotatably connected to the screw 120; the limiting slideway 132 is located below the first hole 131, inside the support frame 130, and the limiting slideway 132 plays a limiting role; Referring to Figure 2 as shown, the second motor 140 is located in front of the first motor 110, and the second motor 140 provides power; the first shaft 150 is located below the second motor 140, and the first shaft 150 is fixedly connected to the motor shaft of the second motor 140; the moving plate 160 is located below the second motor 140, and the second motor 140 is limited on the moving plate 160 (not shown in the figure), and the rear end of the moving plate 160 is slidably limited by the limiting slideway 132; Referring to Figure 4As shown, the moving plate 160 includes a second hole 161 and a third hole 162. The second hole 161 is located at the front end of the main body of the moving plate 160. The third hole 162 is located at the rear end of the main body of the moving plate 160. A thread is provided inside the third hole 162, and the third hole 162 is in driving cooperation with the screw 120. Refer to Figure 1 As shown, the clamping group 200 is located below the moving plate 160, and the driving group 100 can control the movement and rotation of the clamping group 200.

[0061] Refer to Figure 1 、 Figure 5 、 Figure 11 、 Figure 16 , in this embodiment, a circular opening 720 is provided at the center of the top of the liquid nitrogen tank 700; a circular through-hole 410 is provided in the middle of the storage disc 400; the circular opening 720 and the circular through-hole 410 are coaxially arranged and jointly used for the moving cylinder 210 to extend into or out of; the moving cylinder 210 includes a cylinder body 211, a through-channel 214 and a sealing cover 219 that are coaxially and sequentially fixed; the cylinder body 211 is fixed to the driving group 100; the pushing and pulling assembly and the jaw head 220 are fixed in the through-channel 214; the cylinder body 211 and the sealing cover 219 are used to alternately seal and cooperate with the circular opening 720 during the up and down movement of the moving cylinder 210.

[0062] The cylinder body 211, the through-channel 214 and the sealing cover 219 are arranged in sequence from top to bottom. The cylinder body 211 is located at the upper end of the main body of the moving cylinder 210. The cylinder body 211 is in rotational cooperation with the second hole 161, so that the moving plate 160 can drive the moving cylinder 210 to move up and down together. A fourth hole 212 is located in the middle of the cylinder body 211, and the fourth hole 212 is fixedly connected to the first shaft 150.

[0063] In the initial state, the sealing cover 219 is in sealing cooperation with the circular opening 720. During the process that the driving group 100 drives the moving cylinder 210 to move downward into the liquid nitrogen tank 700 to clamp the freezing tube 600, the sealing cover 219 is located in the circular through-hole 410 of the liquid nitrogen tank 700, and the cylinder body 211 is in sealing cooperation with the circular opening 720. During the process of taking out the freezing tube 600, the circular opening 720 of the liquid nitrogen tank 700 is always covered, so there will be no situation of a large amount of liquid nitrogen loss. The sealing cover 219 is located below the through-channel 214, and a sealing ring (not shown in the figure) is installed on the circumferential surface of the sealing cover 219 to improve the sealing effect.

[0064] Refer to Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 And Figure 9, in this embodiment, the through-channel 214 penetrates the moving barrel 210 along the radial direction of the moving barrel 210, and the through-channel 214 is used for the storage tube strip 500 to pass through; the barrel body 211 is provided with a tube storage channel 2131 and a barrel body groove 2132, the tube storage channel 2131, the barrel body groove 2132, and the through-channel 214 are arranged and communicated in sequence along the axial direction of the moving barrel 210; limiting sliding grooves 2133 are arranged on both sides of the barrel body groove 2132, and first electromagnets are respectively arranged on the two limiting sliding grooves 2133; the jaw head 220 includes two semi-circular jaws 221, the two semi-circular jaws 221 are arranged in the barrel body groove 2132 and are slidably matched with the limiting sliding grooves 2133, first magnets are arranged on both of the two semi-circular jaws 221, and the two semi-circular jaws 221 approach or separate from each other under the action of the mutual attraction or repulsion between the first electromagnet and the first magnet, so as to clamp or release the cryopreservation tube 600 on the storage tube strip 500 penetrating into the through-channel 214; the tube storage channel 2131 is used for storing the cryopreservation tube 600 extruded from between the two semi-circular jaws 221 under an external force.

[0065] The barrel body 211 is provided with a fourth hole 212 and a tube clamping groove 213. The tube clamping groove 213 is located on one side inside the moving barrel 210, and the tube clamping groove 213 functions to clamp and store the cryopreservation tube 600. The tube clamping groove 213 includes a tube storage channel 2131, a barrel body groove 2132, and a limiting sliding groove 2133. The tube storage channel 2131 is located above the main body of the tube clamping groove 213 and on one side inside the moving barrel 210, and the tube storage channel 2131 is used for storing the cryopreservation tube 600. The barrel body groove 2132 is located at the bottom end of the tube storage channel 2131 and is mutually penetrated. The limiting sliding grooves 2133 are located on both sides inside the barrel body groove 2132, the limiting sliding grooves 2133 are U-shaped structures recessed towards both sides, and first electromagnets are installed on the outer circumferential surfaces of the limiting sliding grooves 2133. The through-channel 214 is located below the tube clamping groove 213, and the through-channel 214 penetrates through from front to back; a fifth hole 215 is located below the through-channel 214; a sixth hole 216 is located above the fifth hole 215 and on one side of the bottom of the tube clamping groove 213, and the centers of the sixth hole 216 and the fifth hole 215 are on the same vertical line.

[0066] Refer to Figure 8 As shown, the jaw head 220 is installed in the barrel body groove 2132; Refer to Figure 9As shown, the gripper head 220 includes: semi-circular grippers 221 and protrusions 222; the semi-circular grippers 221 are located in the barrel body groove 2132, and two semi-circular grippers 221 are symmetrically arranged left and right. The semi-circular grippers 221 are in the shape of a minor arc. When the gripper head 220 is installed in the barrel body groove 2132, the two semi-circular grippers 221 will maintain a certain distance to facilitate clamping the cryogenic tube 600; the protrusions 222 are located on one side of the semi-circular grippers 221, and the protrusions 222 cooperate with the limit sliding grooves 2133 for sliding. The limit sliding grooves 2133 are adapted to the protrusions 222 to prevent the protrusions 222 from falling off. A first magnet (not shown in the figure) is installed on the outer end face of the protrusions 222.

[0067] When the first electromagnet is energized in the forward direction, the first electromagnet repels the first magnet, and the two semi-circular grippers 221 approach each other to clamp the cryogenic tube 600. When the first electromagnet is energized in the reverse direction, the first electromagnet attracts the first magnet, and the two semi-circular grippers 221 move away from each other to release the cryogenic tube 600.

[0068] After clamping one cryogenic tube 600, the next cryogenic tube 600 moves to the lower part of the gripper head 220. At this time, the cryogenic tube 600 clamped by the gripper head 220 overlaps the cryogenic tube 600 to be clamped. Then, by driving the gripper head 220 to move downward, the cryogenic tube 600 located below squeezes the cryogenic tube 600 between the gripper heads 220 into the storage tube channel 2131, and the cryogenic tube 600 located below enters the gripper head 220 for clamping. The clamped cryogenic tubes 600 are sequentially squeezed into the storage tube channel 2131. When it is necessary to take out the cryogenic tube 600, it can be taken out by separating the two gripper heads 220 from each other.

[0069] Refer to Figure 2 、 Figure 6 、 Figure 7 And Figure 8 In this embodiment, the push-pull assembly includes a push-pull member 230, a third motor 260, and a gear 240; the push-pull member 230 is slidably arranged on one side of the through-channel 214, and the gear 240 is arranged on the other side of the through-channel 214; the push-pull member 230 is magnetically connected to the through-channel 214 to attract or repel, and the push-pull member 230 is used to move up and down under the drive of the moving barrel 210. The push-pull member 230 is magnetically connected to the storage tube strip 500 to attract or repel, so that the push-pull member 230 can pull the storage tube strip 500 to make a reciprocating movement in the first stroke along the radial direction; the third motor 260 is arranged in the through-channel 214, and the third motor 260 is connected to the gear 240. The gear 240 is used to mesh with the rack 530 on the storage tube strip 500 pulled in place by the push-pull member 230 to drive the storage tube strip 500 to make a reciprocating movement in the second stroke along the radial direction; the first stroke and the second stroke are continuous, and the space between the push-pull member 230 and the gear 240 is used for the storage tube strip 500 to pass through.

[0070] Refer toFigure 2 As shown, the gear 240 is located on one side of the push-pull member 230 and inside the inner side of the through-channel 214; the second shaft 250 is located on one side of the push-pull member 230, the second shaft 250 is fixedly connected to the gear 240, and the height of the gear 240 is greater than the height of the cryogenic tube 600; the third motor 260 is located below the gear 240, and the motor shaft of the third motor 260 is fixedly connected to the second shaft 250.

[0071] The push-pull member 230 moves out of the through-channel 214 under the magnetic repulsion, corresponding to the position of the storage tube strip 500. The driving group 100 drives the moving barrel 210 and the push-pull member 230 to move downward, and the push-pull member 230 is inserted into the storage tube strip 500; the push-pull member 230 moves back into the through-channel 214 under the magnetic attraction, thereby pulling the storage tube strip 500 to move towards the through-channel 214 until the gear 240 meshes with the rack 530 of the storage tube strip 500, and then the gear 240 drives the storage tube strip 500 to continue moving, and successively moves the cryogenic tubes 600 on the storage tube slots 510 below the gripper head 220 for gripping. During reset, the push-pull member 230 moves outward under the magnetic repulsion between it and the through-channel 214, and drives the storage tube strip 500 to reset through the magnetic attraction between the push-pull member 230 and the storage tube strip 500. After the storage tube strip 500 is reset, the driving group 100 drives the push-pull member 230 to move upward, the push-pull member 230 disengages from the storage tube strip 500, and then uses the same method to drive the push-pull member 230 to reset.

[0072] Referring to Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 10 , in this embodiment, a sliding groove is provided on one side wall of the through-channel 214, and a second electromagnet is provided in the sliding groove; a second magnet is provided at one end of the push-pull member 230, and a third electromagnet is provided at the other end of the push-pull member 230; the push-pull member 230 is slidably provided in the sliding groove, and the push-pull member 230 is used to move out of or into the through-channel 214 when the second electromagnet and the second magnet repel or attract each other, so as to pull the storage tube strip 500 to move; the push-pull member 230 is used to insert into or pull out of the storage tube strip 500 under the action of the moving barrel 210; the storage tube strip 500 is provided with a third magnet, and the push-pull member 230 is used to repel or attract the storage tube strip 500 under the action of the third electromagnet and the third magnet.

[0073] The through-channel 214 is provided with a fifth hole 215, a sixth hole 216, a T-shaped sliding groove 217, and a baffle 218. The sliding groove is a T-shaped sliding groove 217, the T-shaped sliding groove 217 is located below the tube clamping groove 213 and on one side wall of the through-channel 214, and the second electromagnet is installed on the rear end face of the T-shaped sliding groove 217. The baffle 218 is located at the inner front end of the T-shaped sliding groove 217, and the baffle 218 plays a limiting role. Referring to Figure 8As shown, the push-pull member 230 is located below the jaw head 220.

[0074] Referring to Figure 10 , in this embodiment, the push-pull member 230 includes a sliding member and a push-pull rod 233. The sliding member is slidably disposed in the chute, and the second magnet is fixed to one end of the sliding member to cooperate with the second electromagnet. The push-pull rod 233 is fixed to the other end of the sliding member. The push-pull rod 233 is used to insert or withdraw from the storage tube strip 500 under the drive of the moving cylinder 210. The third electromagnet is fixed to the end of the push-pull rod 233.

[0075] Referring to Figure 10 As shown, the sliding member includes a T-shaped member 231 and a convex plate 232. The T-shaped member 231 is slidably engaged with the T-shaped chute 217, and the second magnet is mounted on the rear end surface of the T-shaped member 231. The convex plate 232 is located at the rear end of the T-shaped member 231, and the convex plate 232 cooperates with the baffle 218 for limiting, so that the push-pull member 230 cannot rush out of the T-shaped chute 217. The push-pull rod 233 is located on one side of the bottom end of the T-shaped member 231, and a third electromagnet (not shown in the figure) is mounted on the end surface of the push-pull rod 233 facing the moving cylinder 210.

[0076] Referring to Figure 1 , Figure 14 and Figure 15 , in this embodiment, a rack 530 is provided along the length direction on one side of the storage tube strip 500, and a long slot 520 is provided along the length direction on the other side of the storage tube strip 500. The rack 530 is used to engage with the gear 240, and the long slot 520 is in plug-in and unplugging cooperation with the push-pull member 230, and the long slot 520 and the push-pull member 230 are mutually repelled or attracted through magnetic connection.

[0077] The rack 530 is used to engage or disengage from the gear 240. The long slot 520 is used for the push-pull rod 233 to insert or withdraw, so as to be able to drive the storage tube strip 500 to move synchronously.

[0078] Referring to Figure 14 As shown, the storage tube strip 500 includes a storage tube groove 510, a long slot 520, and a rack 530. The storage tube grooves 510 are equidistantly arranged on the surface of the storage tube strip 500. The long slot 520 is located on one side of the storage tube groove 510, and the long slot 520 penetrates through the storage tube strip 500 up and down. The long slot 520 cooperates with the push-pull rod 233, and a third magnet (not shown in the figure) is mounted at one end of the long slot 520 close to the circular through hole 410. The rack 530 is located on the side of the storage tube groove 510 away from the long slot 520, and the rack 530 is in transmission cooperation with the gear 240. Referring to Figure 1 As shown, the cryopreservation tube 600 is placed in the storage tube groove 510 in the storage tube strip 500. Referring to Figure 15 As shown, the cryopreservation tube 600 includes a tube cap 610. The tube cap 610 is located at the upper end of the main body of the cryopreservation tube 600, and the tube cap 610 plays a sealing role.

[0079] Refer to Figure 11 and Figure 13 In this embodiment, the number of storage discs 400 is multiple, and the multiple storage discs 400 are fixedly arranged in the liquid nitrogen tank 700 at intervals along the height direction of the liquid nitrogen tank 700; each storage disc 400 is provided with a plurality of sliding grooves extending radially, and each sliding groove slidably arranges a storage tube strip 500, and each sliding groove is arranged in the same radial direction as the corresponding other sliding groove along the radial direction, so that the storage tube strip 500 can move between two sliding grooves arranged in the same radial direction.

[0080] During the process of the push-pull rod 233 pulling a storage tube strip 500 to move, it can move to another sliding groove with an opposite position, and the two storage tube strips 500 symmetrically arranged along the radial direction avoid each other by using the sliding grooves during the radial movement. After the clamping is completed, the push-pull rod 233 drives the storage tube strip 500 extending out of the sliding groove to reset, and the storage tube strip 500 retracting into the sliding groove resets by relying on the magnetic repulsion between the storage tube strip 500 and the sliding groove, that is, the repulsive effect of the fourth electromagnet and the fourth magnet mentioned below.

[0081] Refer to Figure 11 , the mobile liquid nitrogen tank access device further includes a support cylinder 300, and the support cylinder 300 plays a supporting role and is located in the middle of the liquid nitrogen tank 700; refer to Figure 12 As shown, the support cylinder 300 includes a square through hole 310; the square through hole 310 is located on the circumferential surface of the main body of the support cylinder 300, the square through hole 310 is a through square hole, there are twenty in one layer, and six layers are evenly arranged, and the number is determined according to actual needs; refer to Figure 11 As shown, the storage disc 400 is located outside the support cylinder 300, the storage disc 400 is fixed on the support cylinder 300, and is evenly arranged in the liquid nitrogen tank 700 at equal intervals.

[0082] Refer to Figure 1 and Figure 13 , in this embodiment, one end of the sliding groove far from the circular through hole 410 is bent and extended and fixed with a fourth electromagnet; the material of the storage tube strip 500 is a soft material; a fourth magnet is arranged at one end of the storage tube strip 500 far from the circular through hole 410, and the storage tube strip 500 moves in the direction of the circular through hole 410 to reset under the repulsive effect of the fourth electromagnet and the fourth magnet.

[0083] Refer to Figure 13 As shown, the storage disc 400 includes a circular through hole 410 and a curved sliding groove 420; the circular through hole 410 is located in the middle of the main body of the storage disc 400 and is used for placing the support cylinder 300; the curved sliding groove 420 is circumferentially arranged outside the circular through hole 410, the bottom end surface of the curved sliding groove 420 is kept horizontal with the lower end surface of the square through hole 310, and a fourth electromagnet (not shown in the figure) is installed at the end of the curved part of the curved sliding groove 420. Refer toFigure 1 As shown, the storage tube strip 500 is installed on the storage disc 400. The storage tube strip 500 is made of rubber. A fourth magnet is installed at one end of the storage tube strip 500 close to the bent part of the bent slideway 420, and the magnet at the rear end of the storage tube strip 500 is in repulsive cooperation with the magnet on the end of the bent part of 420. Under normal circumstances, since the two magnets are at a certain distance, the storage tube strip 500 will not move towards the circular through-hole 410 due to the repulsive force. However, when the magnet at the rear end of the storage tube strip 500 approaches the magnet on the end of the bent part of the bent slideway 420, a repulsive force will be generated (not shown in the figure).

[0084] Refer to Figure 16 , the liquid nitrogen tank 700 includes a limiting square groove 710, a circular opening 720, and a limiting ring 730; the limiting square groove 710 is located at the upper end of the main body of the liquid nitrogen tank 700, and the limiting square groove 710 limits the support frame 130; the circular opening 720 is located in the middle of the main body of the liquid nitrogen tank 700. When the cryopreservation tube 600 is not being accessed, the circular opening 720 is sealed in cooperation with the sealing cover 219. When the cryopreservation tube 600 is being accessed, the circular opening 720 is in cooperation with the moving barrel 210 to prevent excessive liquid nitrogen in the liquid nitrogen tank 700 from escaping from the liquid nitrogen tank 700; the limiting ring 730 is located inside the main body of the liquid nitrogen tank 700, and the limiting ring 730 plays a role in supporting and fixing the support barrel 300.

[0085] According to a mobile liquid nitrogen tank access device provided by this embodiment, the working principle of the mobile liquid nitrogen tank access device is as follows:

[0086] In the initial state, refer to Figure 1 As shown, at this time, the sealing cover 219 coincides with the circular opening 720 for sealing. When the cryopreservation tube 600 needs to be taken out, the first motor 110 is started. The first motor 110 drives the screw 120 to rotate. The rotation of the screw 120 drives the moving plate 160 to move downward, and then drives the first shaft 150 to move downward, so that the entire clamping group 200 moves downward. The sealing cover 219 is separated from the circular opening 720, and the moving barrel 210 moves to the circular opening 720. The moving barrel 210 cooperates with the circular opening 720 to prevent excessive liquid nitrogen from escaping. The second motor 140 is started. The second motor 140 drives the first shaft 150 and the moving barrel 210 to rotate in sequence, and then the second electromagnet in the T-shaped chute 217 is energized to generate repulsion, so that the electromagnet in the T-shaped chute 217 and the second magnet at the rear end of the push-pull member 230 generate a repulsive force, thereby pushing the push-pull member 230 forward until the push-pull rod 233 moves directly above the long hole 520 where the cryopreservation tube 600 to be taken out is located. Refer to Figure 17 As shown; stop starting the second motor 140, and then cut off the power supply of the second electromagnet in the T-shaped chute 217. At this time, the clamping group 200 continues to move downward until the push-pull rod 233 enters the long hole 520. Refer to Figure 18As shown; stop starting the first motor 110, reverse the power supply of the second electromagnet in the T-shaped chute 217 to attract each other, so that the second electromagnet in the T-shaped chute 217 and the second magnet at the rear end of the push-pull member 230 generate an attractive force, thereby causing the push-pull member 230 to move backward, and the push-rod 233 pulls the storage tube strip 500 to move in the direction close to the other storage tube strip 500 until the rack 530 meshes with the gear 240, refer to Figure 19 As shown; then cut off the power supply of the second electromagnet in the T-shaped chute 217. At this time, start the third motor 260. The third motor 260 drives the second shaft 250 and the gear 240 to rotate. The gear 240 meshes with the rack 530 to drive, so that the storage tube strip 500 continues to move in the direction close to the other storage tube strip 500 on the opposite side. When the storage tube strip 500 moves in the direction close to the other storage tube strip 500 on the opposite side, it squeezes the storage tube strip 500 on the opposite side, causing the storage tube strip 500 on the opposite side to retreat. When the frozen tube 600 to be taken out moves directly below the jaw head 220, start the first motor 110 to drive the entire clamping group 200 to move downward, so that the jaw head 220 coincides with the tube cap 610, refer to Figure 20 As shown; stop starting the first motor 110, energize the first electromagnet on the limit chute 2133, so that the first electromagnet on the limit chute 2133 and the first magnet on the protrusion 222 generate a repulsive force, thereby pushing the semi-circular jaw 221 to squeeze the tube cap 610 inward to fix the frozen tube 600. Then start the first motor 110 to make the entire clamping group 200 move upward. The jaw head 220 drives the frozen tube 600 to move upward until it moves to a position where it does not prevent the frozen tube 600 below from being taken out, and then stop starting the first motor 110, refer to Figure 21 As shown; then if it is still necessary to take out the next frozen tube 600, start the third motor 260, so that the storage tube strip 500 continues to move in the direction close to the other storage tube strip 500 on the opposite side until the next frozen tube 600 is aligned with the jaw head 220 vertically. Then stop starting the third motor 260, reverse the power supply of the first electromagnet on the limit chute 2133 to attract each other, so that the first electromagnet on the limit chute 2133 and the first magnet on the protrusion 222 generate an attractive force, thereby causing the jaw head 220 to move to both sides, releasing the restriction on the first frozen tube 600. Since the first frozen tube 600 is directly above the second frozen tube 600 to be taken out, the first frozen tube 600 will not fall, but remains directly above the second frozen tube 600. At this time, start the first motor 110 to make the entire clamping group 200 move downward. The first frozen tube 600 is squeezed upward by the frozen tube 600 below and enters the storage tube channel 2131, refer to Figure 22As shown in the figure; the jaw head 220 continues to move downward until the jaw head 220 coincides with the second cryotube 600, then stop starting the first motor 110. Next, repeat the process of taking out the jaw head 220, and the second cryotube 600 can be taken out. After taking out all the cryotubes 600 to be taken on the storage tube strip 500, start the third motor 260 to make the storage tube strip 500 move away from the opposite storage tube strip 500 on the other side. The storage tube strip 500 on the opposite side is released from the limit as the storage tube strip 500 moves. Also, due to the repulsive force of the fourth electromagnet at the end of the bending slideway 420 where the rear end of the storage tube strip 500 on the opposite side is located, it returns to its original position. The storage tube strip 500 continues to move away from the storage tube strip 500 on the other side until the gear 240 disengages from the rack 530. At this time, stop starting the third motor 260, and then energize the second electromagnet in the T-shaped chute 217 to repel, so that the second electromagnet in the T-shaped chute 217 and the second magnet at the rear end of the push-pull member 230 generate a repulsive force, thereby pushing the push-pull member 230 to move forward. And at this time, energize the third electromagnet on the push rod 233 to attract, so that the electromagnet on the push rod 233 generates an attractive force on the third magnet on the long slot 520. Therefore, when the push-pull member 230 moves away from the storage tube strip 500 on the other side, the storage tube strip 500 follows and moves to the right until the storage tube strip 500 retracts to its original position. At this time, cut off the power supply of the third electromagnet on the push rod 233 to release the restriction on the storage tube strip 500, and then start the first motor 110 to make the clamping group 200 move upward as a whole. After the push rod 233 disengages from the long slot 520, then energize the second electromagnet in the T-shaped chute 217 to attract, so that the second electromagnet in the T-shaped chute 217 and the second magnet at the rear end of the push-pull member 230 generate an attractive force, thereby making the push-pull member 230 move to the left to its original position. The clamping group 200 continues to move upward until the sealing cover 219 coincides with the circular opening 720, and the whole process ends, and the cryotube 600 is successfully taken out.

[0087] A mobile liquid nitrogen tank access device provided in this embodiment has at least the following advantages:

[0088] The clamping group 200 reaches the designated position for taking out the cryotube 600 in the liquid nitrogen tank 700 through rotation and vertical movement. Then, through the cooperation between the push-pull assembly and the storage disc 400, the storage tube strip 500, and the cryotube 600, the storage tube strip 500 is pulled to move radially. Furthermore, the jaw head 220 on the clamping group 200 clamps out the cryotube 600 located in the storage tube strip 500 to complete the tube-taking process. This process does not require manual intervention, avoiding human injury, and the biological samples will not be exposed to the external normal temperature environment for a long time and are not easily inactivated.

[0089] The barrel body 211 and the sealing cover 219 are used to be hermetically fitted with the circular opening 720 alternately during the up and down movement of the moving barrel 210. During the process of taking out the cryotube 600, the opening 720 of the liquid nitrogen tank 700 is always covered, so there will be no situation of a large amount of liquid nitrogen loss.

[0090] Through the cooperation among the clamping group 200, the supporting barrel 300, the storage disc 400, the cryotube strip 500, and the cryotube 600, the problems existing in the existing liquid nitrogen tank 700 access equipment, such as the danger during manual access, the easy inactivation of biological samples, and the large amount of liquid nitrogen loss, are solved.

[0091] The above is only the specific implementation manner 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 those skilled in the art within the technical scope disclosed by the present invention should be covered within 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 mobile liquid nitrogen tank access device, characterized in that, Comprising: A liquid nitrogen tank (700); A storage disc (400), which is horizontally fixed inside the liquid nitrogen tank (700); A tube storage strip (500), along the length direction of which a plurality of tube storage grooves (510) for storing cryotubes (600) are arranged at intervals, and the tube storage strip (500) is slidably arranged on the storage disc (400) in the radial direction; A clamping group (200), the clamping group (200) includes a moving cylinder (210), a pushing and pulling assembly and a clamping jaw head (220), the moving cylinder (210) is used to extend into or out of the liquid nitrogen tank (700); the pushing and pulling assembly and the clamping jaw head (220) are connected to the moving cylinder (210); the pushing and pulling assembly is used to connect to or disengage from the tube storage strip (500), and the pushing and pulling assembly is used to pull the tube storage strip (500) to reciprocate in the radial direction, so that the cryotubes (600) on the tube storage grooves (510) are in position corresponding to the clamping jaw head (220); the clamping jaw head (220) is used to grab the cryotubes (600); And a driving group (100), the driving group (100) is fixed on the top of the liquid nitrogen tank (700), the driving group (100) is connected to the clamping group (200), and the driving group (100) is used to drive the moving cylinder (210) to move up and down or rotate, so that the pushing and pulling assembly is in position corresponding to the tube storage strip (500); A circular opening (720) is arranged at the center of the top of the liquid nitrogen tank (700); a circular through hole (410) is arranged in the middle of the storage disc (400); the circular opening (720) and the circular through hole (410) are coaxially arranged and are jointly used for the moving cylinder (210) to extend into or out of; The moving cylinder (210) includes a cylinder body (211), a through channel (214) and a sealing cover (219) which are coaxially and sequentially fixed; the cylinder body (211) is fixed to the driving group (100); the pushing and pulling assembly and the clamping jaw head (220) are fixed in the through channel (214); the cylinder body (211) and the sealing cover (219) are used to alternately seal and cooperate with the circular opening (720) during the up and down movement of the moving cylinder (210); The through channel (214) penetrates the moving cylinder (210) in the radial direction of the moving cylinder (210), and the through channel (214) is used for the tube storage strip (500) to pass through; The cylinder body (211) is provided with a tube storage channel (2131) and a cylinder body groove (2132), the tube storage channel (2131), the cylinder body groove (2132) and the through channel (214) are sequentially arranged and communicated along the axial direction of the moving cylinder (210); limiting sliding grooves (2133) are arranged on both sides of the cylinder body groove (2132), and first electromagnets are respectively arranged on the two limiting sliding grooves (2133); The push-pull assembly includes a push-pull member (230), a third motor (260), and a gear (240); the push-pull member (230) is slidably disposed on one side of the through-channel (214), and the gear (240) is disposed on the other side of the through-channel (214); the push-pull member (230) is magnetically connected to the through-channel (214) to attract or repel, and the push-pull member (230) is configured to move up and down under the drive of the moving barrel (210). The push-pull member (230) is magnetically connected to the storage tube strip (500) to attract or repel, so that the push-pull member (230) can pull the storage tube strip (500) to reciprocate in a first stroke along the radial direction; the third motor (260) is disposed in the through-channel (214), the third motor (260) is connected to the gear (240), and the gear (240) is configured to engage with a rack (530) on the storage tube strip (500) pulled in place by the push-pull member (230) to drive the storage tube strip (500) to reciprocate in a second stroke along the radial direction; The first stroke and the second stroke are continuous, and the space between the push-pull member (230) and the gear (240) is for the storage tube strip (500) to pass through.

2. The mobile liquid nitrogen tank access device according to claim 1, wherein: The jaw head (220) includes two semi-circular jaws (221), the two semi-circular jaws (221) are disposed in the barrel body groove (2132) and are slidably engaged with the limit sliding groove (2133). Both of the two semi-circular jaws (221) are provided with first magnets, and the two semi-circular jaws (221) approach or separate from each other under the attraction or repulsion of the first electromagnet and the first magnet to clamp or release the cryogenic tube (600) on the storage tube strip (500) penetrating into the through-channel (214); the storage tube channel (2131) is for storing the cryogenic tube (600) extruded between the two semi-circular jaws (221) under an external force.

3. The mobile liquid nitrogen tank access device according to claim 1, wherein: One side wall of the through-channel (214) is provided with a sliding groove, and the sliding groove is provided with a second electromagnet; one end of the push-pull member (230) is provided with a second magnet, and the other end of the push-pull member (230) is provided with a third electromagnet; the push-pull member (230) is slidably arranged in the sliding groove, and the push-pull member (230) is used for moving out of or into the through-channel (214) when the second electromagnet and the second magnet repel or attract each other, so as to pull the storage tube strip (500) to move; the push-pull member (230) is used for being inserted into or pulled out of the storage tube strip (500) under the action of the moving cylinder (210); the storage tube strip (500) is provided with a third magnet, and the push-pull member (230) is used for repelling or attracting the storage tube strip (500) under the action of the third electromagnet and the third magnet.

4. The mobile liquid nitrogen tank access device according to claim 3, wherein: The push-pull member (230) comprises a sliding member and a push-pull rod (233), the sliding member is slidably arranged in the sliding groove, the second magnet is fixed at one end of the sliding member to cooperate with the second electromagnet, and the push-pull rod (233) is fixed to the other end of the sliding member; the push-pull rod (233) is used for being inserted into or withdrawn from the storage tube strip (500) driven by the moving cylinder (210); the third electromagnet is fixed at the end of the push-pull rod (233).

5. The mobile liquid nitrogen tank access device according to claim 1, wherein: One side of the storage tube strip (500) is provided with a rack (530) along the length direction, and the other side of the storage tube strip (500) is provided with a long hole (520) along the length direction; the rack (530) is used for meshing with the gear (240), the long hole (520) is in plug-in fit with the push-pull member (230), and the long hole (520) and the push-pull member (230) are mutually repelled or attracted through magnetic connection.

6. The mobile liquid nitrogen tank access device according to any one of claims 1-5, wherein: The number of the storage discs (400) is multiple, and the multiple storage discs (400) are fixedly arranged in the liquid nitrogen tank (700) at intervals along the height direction of the liquid nitrogen tank (700); each storage disc (400) is provided with a plurality of sliding grooves extending radially, and each sliding groove slidably arranges one storage tube strip (500), and each sliding groove is arranged in the same radial direction as the corresponding other sliding groove along the radial direction, so that the storage tube strip (500) can move between two sliding grooves arranged in the same radial direction.

7. The mobile liquid nitrogen tank access device according to claim 6, wherein: One end of the slideway away from the circular through hole (410) is bent and extended, and a fourth electromagnet is fixed thereto; the material of the storage tube strip (500) is a soft material; a fourth magnet is arranged at one end of the storage tube strip (500) away from the circular through hole (410), and the storage tube strip (500) moves towards the direction of the circular through hole (410) under the repulsive force of the fourth electromagnet and the fourth magnet to reset.

8. The mobile liquid nitrogen tank access device according to any one of claims 1-5, characterized in that: The driving group (100) includes a first motor (110), a screw rod (120), a support frame (130), a second motor (140) and a moving plate (160); the support frame (130) is fixed on the top of the liquid nitrogen tank (700), the screw rod (120) is rotatably arranged in the support frame (130) in the vertical direction, the first motor (110) is fixed on the support frame (130), and the first motor (110) is connected to the screw rod (120); the moving plate (160) is slidably arranged in the support frame (130) in the vertical direction, and the moving plate (160) is threadedly connected to the screw rod (120); the moving cylinder (210) is fixed to the moving plate (160); the first motor (110) is used to drive the screw rod (120) to rotate, so as to drive the moving plate (160) and the moving cylinder (210) to reciprocate synchronously in the vertical direction, so as to drive the moving cylinder (210) to extend into or out of the liquid nitrogen tank (700).

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