Biological sample cryopreservation device

Abstract

This invention relates to the field of biomedical storage technology, specifically providing a biological sample cryopreservation device. It aims to solve the problems of complex control processes, large space requirements, high costs, and compromised sample safety in existing biological sample cryopreservation facilities. To this end, the biological sample cryopreservation device of this invention includes a first chamber and a second chamber. Both the first and second chambers are provided with a storage area and a buffer area. The storage area is used to store cryopreservation boxes containing the biological samples. The buffer area in the first chamber enables the selection and transfer of cryopreservation boxes and / or cryovials within them. The buffer area in the second chamber enables the selection and transfer of cryopreservation boxes. This invention, through the cooperation of the first and second chambers, achieves the functions of selecting cryovials and boxes within each chamber, expanding the biological sample capacity while reducing space occupation, improving the efficiency of biological sample transfer, simplifying the biological sample handling process, and reducing costs.

Description

[0001] This application claims priority to Chinese patent application CN202320553966.2, filed on March 20, 2023, entitled “Biosample cryopreservation device”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of biomedical storage technology, specifically providing a biological sample cryopreservation device. Background Technology

[0003] In the biomedical industry, ultra-low temperature automated freezers are needed to store and cryopreserve biological samples. Information needs to be recorded when biological samples are entered or removed from the freezer for management purposes. Related technologies include intelligent biobanks equipped with multiple automated freezers, some with tube-picking functions and others with box-picking functions. Automated carts carrying transport containers connect these freezers, enabling the transfer of cryopreservation boxes and / or cryovials between them. This expands the biobank's capacity while reducing the risk of sample rewarming during sample handling. However, in implementing the embodiments of this disclosure, at least the following problems have been found in the related technologies:

[0004] During the transfer process, each biological sample needs to be transferred to the next device. The transfer of cryopreservation boxes and / or cryovials between multiple automated freezers is inefficient, the control process is complex, it occupies a large space, increases costs, and the safety of the samples cannot be guaranteed.

[0005] Therefore, the present invention needs to provide a new biological sample cryopreservation device to solve the above-mentioned technical problems. Summary of the Invention

[0006] The present invention aims to solve the above-mentioned technical problems, namely, to solve the problems that existing biological samples need to be transferred to the next device during the transfer process, the transfer efficiency of cryopreservation boxes and / or cryopreservation tubes between multiple automated refrigerators is low, the control process is complicated, the space occupied is large, the cost is high, and the safety of the samples cannot be guaranteed.

[0007] To this end, in a first aspect, the present invention provides a biological sample cryopreservation device, the biological sample cryopreservation device comprising a first chamber and a second chamber, wherein both the first chamber and the second chamber are provided with a storage area and a buffer area, the storage area being used to store the cryopreservation box of the biological sample;

[0008] The buffer area inside the first box is capable of selecting and transferring the cryopreservation boxes and / or the cryopreservation tubes inside the cryopreservation boxes; the buffer area inside the second box is capable of selecting and transferring the cryopreservation boxes.

[0009] The first box and the second box are interconnected, and the first box and the second box can transfer cryopreservation boxes to each other.

[0010] By employing the above technical solution, this invention utilizes a first box and a second box to store a large number of cryopreservation boxes and cryovials for biological samples, thereby expanding the storage capacity. Simultaneously, since the first box allows for both box and cryovial picking operations, while the second box only allows for box picking, when picking cryovials from the second box while the first and second boxes are connected, the cryopreservation boxes are transferred to the first box for selection. The cooperation between the first and second boxes enables the picking of cryovials and boxes from each box, expanding the biological sample capacity while reducing space occupation, improving the efficiency of biological sample transfer, simplifying the biological sample handling process, and reducing costs.

[0011] In a specific embodiment of the above-described biological sample cryopreservation device, the number of the second chamber is at least one, and the first chamber and the second chamber are arranged side by side and interconnected in sequence for transferring cryopreservation boxes between them; and / or

[0012] The storage area and the buffer area are both independent enclosed cavities. The storage area is provided with a transfer window that can communicate with the buffer area. The side wall of the first housing is provided with a first pick-and-place window that communicates with the buffer area inside. The side wall of the second housing is provided with a second pick-and-place window that communicates with the buffer area inside.

[0013] In a specific embodiment of the above-mentioned biological sample cryopreservation device, the biological sample cryopreservation device further includes a sample transfer conveyor line, which is located in the buffer area of ​​the first box and extends into the buffer area of ​​the second box. Cryopreservation boxes and / or cryopreservation tubes between the first box and the second box are transferred through the sample transfer conveyor line.

[0014] With the above technical solution, the cryopreservation boxes and / or cryopreservation tubes can be directly transferred between the first and second boxes using a sample transfer line. This eliminates the need for other transfer equipment to transfer the cryopreservation boxes and / or cryopreservation tubes between the two boxes, avoiding the risk of contact with the outside world and improving work efficiency.

[0015] In a specific embodiment of the above-mentioned biological sample cryopreservation device, the buffer area inside the first housing is provided with a first conveyor line, a second conveyor line, and a reading platform. One of the first and second conveyor lines is configured to transfer the cryopreservation box between the outside of the first housing and the buffer area, and the other is configured to transfer the cryopreservation box between the buffer area and the storage area. The reading platform is located between the first and second conveyor lines and is used to read the cryopreservation sample information of the cryopreservation box. The reading platform and the return position of the second conveyor line together form a selection position for selecting cryopreservation boxes or cryopreservation tubes.

[0016] When the above technical solution is adopted, during the selection of cryopreservation tubes at the selection position, the reading platform and the return position of the second conveyor line can be combined to form a tube picking position. The reading platform is used to place the sample cryopreservation box or the target cryopreservation box taken from the storage area, and the return position of the corresponding second conveyor line is used to place the target cryopreservation box or the sample cryopreservation box taken from the storage area. This allows the cryopreservation tubes in the sample cryopreservation box and the target cryopreservation box to be transferred to each other, avoiding the need to set up a separate tube picking position, reducing space occupation, and improving work efficiency.

[0017] In a specific embodiment of the above-mentioned biological sample cryopreservation device, a first robotic arm is also provided in the buffer area inside the first box. The first robotic arm is located above the first conveyor line and the second conveyor line. The first robotic arm is configured to transfer cryopreservation boxes and / or cryopreservation tubes between the first conveyor line, the second conveyor line, the reading platform and the sample transfer conveyor line.

[0018] In a specific embodiment of the above-mentioned biological sample cryopreservation device, the first robotic arm includes a tube holder, a box holder, and a three-way movement drive mechanism. The three-way movement drive mechanism is configured to drive the tube holder and the box holder to move along the XYZ axis directions respectively. The tube holder is used to hold cryopreservation tubes, and the box holder is used to hold cryopreservation boxes.

[0019] With the above technical solution, a three-way drive mechanism can be used to drive the pipe picker and the box picker to move along the XYZ axis directions respectively, which reduces the volume of the overall structure and occupies less space.

[0020] In a specific embodiment of the above-mentioned biological sample cryopreservation device, a pressing mechanism is provided in both the buffer area of ​​the first box near the reading platform and the part near the second conveyor line. The pressing mechanism is used to apply force to the cryopreservation box for positioning when selecting cryopreservation tubes, so that the cryopreservation box does not move during the tube picking process.

[0021] When the above technical solution is adopted, when selecting cryopreservation tubes, the pressing mechanism applies force to the cryopreservation boxes on the corresponding reading platform and the cryopreservation boxes in the retraction position on the second conveyor line to position the cryopreservation boxes, so that the cryopreservation boxes do not move when picking tubes, thus ensuring the success of tube picking.

[0022] In a specific embodiment of the above-mentioned biological sample cryopreservation device, the pressing mechanism includes a driving component, a support frame, and a first sliding plate. The support frame is fixed in the buffer area of ​​the first box, the driving component is disposed on the support frame, the first sliding plate is slidably connected to the support frame, and a clamp is fixed at one end of the first sliding plate. The driving component drives the first sliding plate to perform reciprocating linear motion to drive the clamp to clamp the cryopreservation box or detach from the cryopreservation box.

[0023] When the above technical solution is adopted, the first slide is driven by the drive component to move the gripper. During the movement, the gripper can clamp the cryopreservation box, thereby achieving the purpose of not moving the cryopreservation box when picking the tube. Moreover, the gripper clamps the side wall of the cryopreservation box, which is suitable for cryopreservation boxes of different heights and has a wider range of applications.

[0024] In a specific embodiment of the above-mentioned biological sample cryopreservation device, both the reading platform and the second conveyor line are provided with placement slots for placing cryopreservation boxes. One end of the first slide plate is provided with a notch. The clamp includes two spring pieces, which are respectively fixed on opposite side walls within the notch. A clamping opening is formed between the two spring pieces. As the two spring pieces move towards the cryopreservation box along with the first slide plate, they are squeezed by the cryopreservation box to generate elastic force so that the clamping opening clamps the cryopreservation box.

[0025] In a specific embodiment of the above-mentioned biological sample cryopreservation device, the buffer area inside the second box is provided with a second robotic arm and a third conveyor line located above the sample transfer conveyor line. The third conveyor line is configured to transfer the cryopreservation box between the outside of the second box and the buffer area, and between the buffer area and the storage area. A barcode reader is installed on the third conveyor line. The second robotic arm is located on one side of the third conveyor line and is configured to transfer the cryopreservation box between the third conveyor line and the sample transfer conveyor line.

[0026] With the above technical solution, a second robotic arm is installed in the second box, which can transfer the cryopreservation box between the third conveyor line and the sample transfer conveyor line, realizing the mutual transfer of the cryopreservation box in multiple boxes without contact with the outside world during transfer, thus improving safety and transfer efficiency. Attached Figure Description

[0027] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0028] Figure 1 This is a schematic diagram of the overall structure of the biological sample cryopreservation device provided by the present invention;

[0029] Figure 2 yes Figure 1 A schematic diagram of the components arranged in the buffer area after the first and second boxes are combined;

[0030] Figure 3 This is a schematic diagram of the combination of sample transfer lines, a second robotic arm, and a third transfer line within the two second-box buffer zones.

[0031] Figure 4 This is a schematic diagram of the sample transfer and delivery line.

[0032] Figure 5 This is a schematic diagram of the structure of the first load stage;

[0033] Figure 6 This is a schematic diagram of the second robotic arm;

[0034] Figure 7 This is a schematic diagram of the internal structure of the buffer area within the first box;

[0035] Figure 8 yes Figure 7 Another structural diagram from another angle;

[0036] Figure 9 This is a schematic diagram of the structure of the first conveyor line;

[0037] Figure 10 yes Figure 9 Another structural diagram from a different angle;

[0038] Figure 11 This is a schematic diagram of the pressing mechanism;

[0039] Figure 12 Figure 11 A magnified view of part A in the image;

[0040] Figure 13 This is a schematic diagram of the box-picking gripper;

[0041] Figure 14 This is a schematic diagram of the pipe-picking clamp.

[0042] List of reference numerals in the attached diagram:

[0043] 1. First housing; 2. Second conveyor line; 3. First conveyor line; 31. First support; 32. Second slide plate; 33. Second loading platform; 34. First horizontal moving mechanism; 341. Second motor; 342. Second rack; 343. First slide rail; 35. Second horizontal moving mechanism; 351. Chain; 352. Sprocket; 4. Code reading platform; 41. Third loading platform; 42. Second support; 5. Pressing mechanism; 51. First slide plate; 52. Support frame; 53. Clamp; 54. Drive assembly; 541. Fourth motor; 542. Fourth rack; 543. Fourth gear; 6. Three-way moving drive mechanism; 61. First-way drive mechanism; 62. Second-way drive mechanism; 63. Third-way drive mechanism; 7. Sample transfer conveyor line; 71. First loading platform; 711. Support rod; 712. Placement slot; 72. Combined slide rail; 73. First 731. Driver; 732. First motor; 733. Combined rack; 734. First gear; 8. Second robotic arm; 81. Tray; 82. Support plate; 83. First directional movement mechanism; 831. First moving plate; 832. Fifth rack; 833. Fifth motor; 84. Second directional movement mechanism; 841. Sixth motor; 842. Second moving plate; 843. Sixth rack; 85. Third directional movement mechanism; 851. Base plate; 852. Connecting frame; 853. Retraction drive mechanism; 8531. Seventh gear; 8532. Eighth gear; 8533. First connecting rod; 8534. Second connecting rod; 8535. Slide; 9. Third conveyor line; 10. Box holder; 11. Pipe holder; 12. Second pick-up and put-down window; 13. Second box; 14. Connecting channel; 15. Second transfer port; 16. First pick-up and put-down window; 17. Transfer window. Detailed Implementation

[0044] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0045] It should be noted that in the description of this invention, terms such as "upper," "lower," "inner," and "outer," which indicate direction or positional relationships, are based on the direction or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the relevant devices or elements must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, ordinal numbers such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] Currently, biological samples need to be transferred to the next device during the transfer process. The transfer of cryopreservation boxes and / or cryovials between multiple automated freezers is inefficient, the control process is complex, it occupies a large space, increases costs, and the safety of the samples cannot be guaranteed.

[0048] To solve the above technical problems, first refer to Figure 1 The present invention provides a biological sample cryopreservation device, which includes a first box 1 and a second box 13. Both the first box 1 and the second box 13 are provided with a storage area and a buffer area. The storage area is used to store the cryopreservation box of the biological sample.

[0049] The buffer area inside the first box 1 is capable of selecting and transferring cryopreservation boxes and / or cryopreservation tubes inside the cryopreservation boxes; the buffer area inside the second box 13 is capable of selecting and transferring cryopreservation boxes.

[0050] The first box 1 and the second box 13 are interconnected, and cryopreservation boxes can be transferred between them. The cryopreservation boxes are used to hold cryopreservation tubes, which are conveniently stored in the storage area.

[0051] In the above embodiments, the number of second boxes 13 is at least one. The first box 1 and the second box 13 are arranged side by side and interconnected for transferring cryopreservation boxes. Regarding the arrangement of the first box 1 and the second box 13, it is understood that the second boxes 13 can be located on one side of the first box 1 simultaneously, or on different sides of the first box 1. For example, some second boxes 13 are located on one side of the first box 1, and other second boxes 13 are located on the other side of the first box 1. Therefore, without departing from the basic principles of the present invention, the arrangement can be flexibly set according to actual usage needs. Figure 1 In the first box 1, the second box 13 is located on one side of the first box 1. The first box 1 is connected to the adjacent second box 13, and the adjacent second boxes 13 are interconnected.

[0052] Specifically, the storage area and the buffer area are both independent enclosed cavities, each with its own independent cooling system. The storage area uses hydrocarbon cooling to maintain a temperature of -80°C, while the buffer area uses hydrocarbon air cooling to maintain a temperature of -25°C. The cooling temperature can be flexibly adjusted according to requirements. The storage area has a transfer window 17 that communicates with the buffer area. The side wall of the first housing 1 has a first retrieval window 16 that communicates with the buffer area inside, and the side wall of the second housing 13 has a second retrieval window 12 that communicates with the interior of the buffer area. Electric doors are installed on the transfer window 17, the first retrieval window 16, and the second retrieval window 12. The structure of the electric doors is prior art known to those skilled in the art and will not be described in detail here. Figure 1 In this configuration, the first retrieval window 16 is located on the side wall of the first housing 1 away from the second housing 13, and the second retrieval window 12 is located on the front wall of the second housing 13, that is, on the side wall of the buffer area away from the storage area. The location of the first retrieval window 16 is designed according to the distribution of the second housing 13. If the second housing 13 is distributed on both sides of the first housing 1, then the first retrieval window 16 is located on the front wall of the first housing 1, that is, on the side wall of the buffer area of ​​the first housing 1 away from the storage area.

[0053] The storage area is equipped with double-row shelves and a robotic arm. The double-row shelves have multiple storage positions, each adapted to a cryopreservation box. This facilitates the retrieval and placement of cryopreservation boxes within the storage positions on the double-row shelves. The double-row shelf configuration increases storage capacity, thereby further increasing the capacity of the biological sample cryopreservation device. For example, biological samples requiring cryopreservation are stored in cryovials, multiple cryovials are integrated and stored in cryopreservation boxes, and then the cryopreservation boxes are placed in the storage positions. The robotic arm is installed in the middle of the double-row shelves for retrieving and placing cryopreservation boxes from the storage positions on both sides. This reduces the travel distance of the robotic arm when retrieving and placing frozen samples. The specific structure of the robotic arm is prior art known to those skilled in the art and will not be described in detail here.

[0054] In one embodiment, see Figure 2 , Figure 3 and Figure 4 The biological sample cryopreservation device also includes a sample transfer line 7, which is located in the buffer area of ​​the first housing 1 and extends into the buffer area of ​​the second housing 13. Cryopreservation boxes and / or cryopreservation tubes between the first housing 1 and the second housing 13 are transferred via the sample transfer line 7. The sample transfer line 7 runs through the entire first housing 1 and the second housing 13.

[0055] Specifically, the sample transfer and conveying line 7 includes a combined slide rail 72, a first load platform 71, a combined rack 732, a first gear 733, and a first motor 731. The first load platform 71 is used to place cryopreservation boxes. The first load platform 71 is slidably connected to the combined slide rail. One end of the first load platform 71 is fixed with the first motor 731. The output shaft of the first motor 731 is connected to the first gear 733, which is connected to the combined rack 732. The first motor 731 drives the first gear 733 to rotate, causing the first load platform 71 to move on the combined slide rail 72, which is used to transfer cryopreservation boxes between the first box 1 and the second box 13. The combined slide rail 72 is formed by splicing multiple rail segments, and the combined rack 732 is also formed by splicing multiple first rack segments. Each rail segment and each first rack segment corresponds to a box, which facilitates the splicing between second boxes 13. When expanding storage capacity, only a second box 13 needs to be added. At this time, the rails and first racks in the added second box 13 are spliced ​​together to realize the transfer of cryopreservation boxes between different boxes. Each rail segment and each rack segment is fixed in the corresponding first box 1 or second box 13. The rail in the first box 1 is fixedly connected to one end of the rail in the adjacent second box 13, and the other end of the rail in the second box 13 is fixedly connected to the rail in another adjacent second box 13, and so on, to realize the splicing and fixing of the combined slide rail 72. Similarly, the combined rack 732 is fixed in the same way.

[0056] When the sample transfer and conveying line 7 is working, the first motor 731 is started. The first motor 731 drives the first gear 733 to rotate. Under the action of the first gear 733 meshing with the combined rack 732, the first load platform slides along the trajectory of the combined slide rail 72.

[0057] In addition, the first load stage 71 is provided with a placement slot 712 for placing cryopreservation boxes. For details, please refer to... Figure 5 The four corners of the first load platform 71 are respectively fixed with support rods 711, and the top of the support rods 711 is fixed with a stop block. The inner side of the four stop blocks forms a placement groove 712, so as to place the cryopreservation box in the placement groove 712 to prevent the cryopreservation box from falling off the support rods 711. However, in order to make it easy to put the cryopreservation box in, there is a gap between the stop block and the cryopreservation box.

[0058] This invention utilizes the sample transfer conveyor line 7 to directly transfer cryopreservation boxes between the first box 1 and the second box 13, eliminating the need for other transfer equipment, thus avoiding the risk of contact with the outside world and improving work efficiency.

[0059] In one embodiment, see Figure 7The buffer area inside the first housing 1 is equipped with a first conveyor line 3, a second conveyor line 2, and a reading platform. One of the first conveyor line 3 and the second conveyor line 2 is configured to transfer the cryopreservation box between the outside of the first housing 1 and the buffer area, and the other is configured to transfer the cryopreservation box between the buffer area and the storage area. The reading platform is located between the first conveyor line 3 and the second conveyor line 2 and is used to read the frozen sample information of the cryopreservation box. The reading platform and the return position of the second conveyor line 2 together form a selection position for selecting cryopreservation boxes or cryopreservation tubes.

[0060] In the first embodiment, the first conveyor line 3 is configured to transfer the cryopreservation box between the outside of the first housing 1 and the buffer area, and the second conveyor line 2 is configured to transfer the cryopreservation box between the buffer area and the storage area.

[0061] In another specific embodiment, the second conveyor line 2 is configured to transfer the cryopreservation box between the outside of the first housing 1 and the buffer area, and the first conveyor line 3 is configured to transfer the cryopreservation box between the buffer area and the storage area.

[0062] The following explanations will be based on the example of the first conveyor line 3 being configured to transfer the cryopreservation box between the outside of the first housing 1 and the buffer area, and the second conveyor line 2 being configured to transfer the cryopreservation box between the buffer area and the storage area.

[0063] Specifically, see Figure 9 and Figure 10 The first conveyor line 3 and the second conveyor line 2 have the same structure. The first conveyor line 3 includes a first support 31, a second slide plate 32, a first horizontal moving mechanism 34, a second horizontal moving mechanism 35, and a second load platform 33. The first support 31 is fixed on the side wall of the buffer area inside the first box 1. The second slide plate 32 is slidably connected to the first support 31. The first horizontal moving mechanism 34 drives the second slide plate 32 to move horizontally in a straight line. The second horizontal moving mechanism 35 is set on the second slide plate 32. The second load platform 33 is slidably connected to the second slide plate 32. During the movement of the second slide plate 32, the second horizontal moving mechanism 35 can drive the second load platform 33 to move relative to the second slide plate 32, which increases the horizontal movement distance of the second load platform 33. This allows the second load platform 33 to extend into the outside of the first box 1 through the first pick-up and drop-off window 16. After retraction, the overall volume of the first conveyor line 3 is small, realizing the transfer of cryopreservation boxes while occupying less space and reducing the space occupancy rate.

[0064] The first horizontal moving mechanism 34 includes a second motor 341, a first slide rail 343, a second rack 342, and a second gear. The second motor 341 is fixed to the first bracket 31, the first slide rail 343 is slidably connected to the first bracket 31, the second slide plate 32 is fixed to the first slide rail 343, the second rack 342 is fixed to the side wall of the second slide plate 32, and the output shaft of the second motor 341 is fixed with a second gear that meshes with the second rack 342. By driving the second gear to rotate through the second motor 341, the second slide plate 32 can move horizontally in a straight line.

[0065] The second horizontal moving mechanism 35 includes a chain 351 and two sprockets 352. The two sprockets 352 are rotatably connected to both ends of the second slide plate 32. The chain 351 is sleeved on the sprockets 352, and the second slide plate 32 passes through the inside of the chain 351, so that part of the chain 351 is above the second slide plate 32 and part of the chain 351 is below the second slide plate 32. A connecting block is fixed on the lower chain 351, and the connecting block is fixedly connected to the first bracket 31. During the horizontal linear movement of the second slide plate 32, it drives the sprockets 352 to move forward. The sprockets 352 rotate in cooperation with the chain 351. The upper part of the chain 351 drives the second load platform 33 to move linearly relative to the second slide plate 32, thereby achieving the purpose of increasing the movement distance of the second load platform 33, while also reducing space occupation and manufacturing costs.

[0066] Additionally, see Figure 7 The reading platform includes a second support 42, a third load platform 41, and a barcode reader. The third load platform 41 is fixed on the second support 42, and the second support 42 is fixed inside the first housing 1. The barcode reader is located above the third load platform 41 and is fixedly connected to the second support 42. It should be noted that the specific structure of the barcode reader is prior art known to those skilled in the art, and this application only utilizes its function, so it will not be described in detail here.

[0067] It should also be noted that the second load platform 33 and the third load platform 41 have the same structure as the first load platform 71. The retraction position on the second conveyor line 2 refers to the position where the second load platform 33 retracts into the buffer area and corresponds to the third load platform 41.

[0068] In the above embodiment, when performing the cryopreservation tube selection operation, the reading platform and the return position of the second conveyor line 2 can be combined to form a tube picking position. The reading platform is used to place the sample cryopreservation box or the target cryopreservation box taken from the storage area. Correspondingly, the return position of the second conveyor line 2 is used to place the target cryopreservation box taken from the storage area. This allows the cryopreservation tubes in the sample cryopreservation box and the target cryopreservation box to be transferred to each other, avoiding the need to set up a separate tube picking position, reducing space occupation, and improving work efficiency.

[0069] In one embodiment, see Figure 7 and Figure 8 The buffer area inside the first housing 1 is also equipped with a first robotic arm. The first robotic arm is located above the first conveyor line 3 and the second conveyor line 2. The first robotic arm is configured to transfer cryopreservation boxes and / or cryopreservation tubes between the first conveyor line 3, the second conveyor line 2, the reading platform and the sample transfer conveyor line 7.

[0070] Optionally, see Figure 8 , Figure 13 and Figure 14 The first robotic arm includes a tube gripper 11, a box gripper 10, and a three-way movement drive mechanism 6. The three-way movement drive mechanism 6 is configured to drive the tube gripper 11 and the box gripper 10 to move along the XYZ axis directions respectively. The tube gripper 11 is used to grip cryopreservation tubes, and the box gripper 10 is used to grip cryopreservation boxes.

[0071] Specifically, the three-directional movement drive mechanism 6 includes a first-directional drive mechanism 61, a second-directional drive mechanism 62, and two third-directional drive mechanisms 63. The first-directional drive mechanism 61 drives the second-directional drive mechanism 62 and the two third-directional drive mechanisms 63 to move together in the X-axis direction (in... Figure 8 The middle refers to the lateral movement), and the second position drive mechanism 62 drives the third position drive mechanism 63 to move in the Y-axis direction (in the middle). Figure 8 The middle refers to the longitudinal direction of movement. Two third-party position drive mechanisms 63 are respectively connected to the box-picking gripper 10 and the pipe-picking gripper 11. The third-party position drive mechanism 63 drives the corresponding box-picking gripper 10 or pipe-picking gripper 11 to move along the Z-axis direction (in the middle). Figure 8 (The "middle" refers to vertical movement). The number of second-position drive mechanisms 62 can be one or two. When there is one, the second-position drive mechanism 62 jointly drives the two third-position drive mechanisms 63 to move; when there are two, each of the two second-position drive mechanisms 62 drives one third-position drive mechanism to move. The first-position drive mechanism 61, the second-position drive mechanism 62, and the third-position drive mechanism 63 can be electric modules or rack and pinion drive mechanisms. Regarding the specific structure, this application does not impose specific limitations and allows for flexible design without departing from the basic principles of this application. Furthermore, the structure of electric modules utilizing the lead screw principle is prior art to those skilled in the art and will not be described in detail here.

[0072] For example, when the first directional drive mechanism 61 is a gear and rack drive mechanism, it specifically includes a third bracket, a third gear, a third rack, a third motor, and a second slide rail. The third bracket is fixed to the inner wall of the first housing 1. The second slide rail and the third rack are both fixed to the third bracket. The first slider is slidably connected to the second slide rail. The third motor is fixed to the first slider. The output shaft of the third motor is fixed to the third gear. The third gear meshes with the third rack. The third motor drives the third gear to rotate, thereby realizing the sliding of the first slider along the second slide rail. A fourth bracket is fixed to the first slider. The fourth bracket is perpendicular to the third bracket. A second directional drive mechanism 62 is connected to each of the two side walls of the fourth bracket. The second directional drive mechanism 62 has the same structure as the first directional drive mechanism 61. The third directional drive mechanism 63 adopts an electric module. In this case, an electric module is fixed to the first slider on the second directional drive mechanism 62. The slider on the electric module is fixed to its corresponding box holder 10 or pipe holder 11. The box holder 10 and the pipe holder 11 are located on both sides of the fourth bracket.

[0073] It should be noted that the specific structures of the box holder 10 and the tube holder 11 are existing technologies for those skilled in the art, and will not be described in detail here.

[0074] In one embodiment, see Figure 7 , Figure 11 and Figure 12 The buffer area inside the first housing 1, near the reading platform and near the second conveyor line 2, is equipped with a pressing mechanism 5. The pressing mechanism 5 is used to apply force to the cryopreservation box to position it when selecting cryopreservation tubes, so that the cryopreservation box does not move during the tube picking process.

[0075] In this invention, during tube picking, the pressing mechanism 5 applies force to the cryopreservation box on the corresponding reading platform and the cryopreservation box on the second conveyor line 2 to position the cryopreservation box, so that the cryopreservation box does not move with the cryopreservation tube during tube picking. This avoids the case where the cryopreservation box sticks to the cryopreservation tube due to frost, which would cause the cryopreservation box to move with the cryopreservation tube during tube picking and lead to tube picking failure, thus ensuring the success of tube picking.

[0076] In one embodiment, the pressing mechanism 5 includes a drive assembly 54, a support frame 52, and a first slide plate 51. The support frame 52 is fixed in the buffer area of ​​the first housing 1. The drive assembly 54 is disposed on the support frame 52. The first slide plate 51 is slidably connected to the support frame 52. A clamp 53 is fixed to one end of the first slide plate 51. The drive assembly 54 drives the first slide plate 51 to perform reciprocating linear motion to drive the clamp 53 to clamp the cryopreservation box or detach from the cryopreservation box.

[0077] Specifically, the drive assembly 54 includes a fourth motor 541, a fourth rack 542, and a fourth gear 543. The fourth motor 541 is fixed to the support frame 52, the fourth rack 542 is fixed to the first slide plate 51, and the fourth gear 543 is fixed to the output shaft of the fourth motor 541. The fourth gear 543 meshes with the fourth rack 542, and the fourth motor 541 drives the fourth gear 543 to rotate, thereby causing the fourth rack 542 to drive the first slide plate 51 to perform reciprocating linear motion. Of course, it is understood that the specific structure of the drive assembly 54 is not limited to the structure described above, and can be flexibly designed according to actual requirements without departing from the basic principles of the present invention.

[0078] The present invention utilizes a drive component 54 to drive the first slide plate 51 to move the gripper 53. During the movement, the gripper 53 can clamp the cryopreservation box, thereby achieving the purpose of preventing the cryopreservation box from moving when picking the tube. Moreover, the gripper 53 clamps the side wall of the cryopreservation box, which is suitable for cryopreservation boxes of different heights and has a wider range of applications.

[0079] In one embodiment, both the third load platform 41 of the reading platform and the second load platform 33 on the second conveyor line 2 are provided with placement slots 712 for placing cryopreservation boxes. One end of the first slide plate 51 has a notch. The clamp 53 includes two spring pieces, which are respectively fixed to opposite side walls within the notch, forming a clamping opening between them. As the two spring pieces move towards the cryopreservation box along with the first slide plate 51, they are compressed by the cryopreservation box, generating elastic force to clamp the cryopreservation box. The placement slots 712 prevent the cryopreservation boxes from falling out. A gap exists between the placement slots 712 and the cryopreservation boxes to facilitate insertion. To ensure successful tube picking, the cryopreservation boxes do not move with the cryopreservation tubes during tube picking; therefore, the cryopreservation boxes need to be fixed in place during tube picking. Two spring clips form a clamping opening. The first slide plate 51 drives the clamping opening closer to the cryopreservation box, causing part of the cryopreservation box to enter the clamping opening. Under the blocking action of the placement groove 712, the cryopreservation box squeezes the spring clips. The two spring clips generate elastic force and act on the cryopreservation box, achieving the purpose of clamping and fixing the cryopreservation box. At the same time, the manufacturing cost of the clamp 53 is low.

[0080] Of course, it is understood that the structure of the gripper 53 is not limited to the structure described above. Other structures can be selected without departing from the basic principles of the present invention. For example, the gripper 53 can be used to hold the gripper in the form of a suction cup. However, the structure described above is the preferred embodiment of this application. The structure is simple and the manufacturing cost is low.

[0081] Specifically, such as Figure 12As shown, both the notch and the clamping opening are V-shaped, the spring is also V-shaped, and the cryopreservation box is rectangular. One side of the spring is fixed to the first sliding plate 51, while the other side is free within the notch. As the first sliding plate 51 moves towards the cryopreservation box, the corner of the cryopreservation box inserts into the clamping opening, and the free side of the spring is compressed, thus generating a clamping force on the cryopreservation box and achieving the purpose of clamping the cryopreservation box. In addition, the clamp 53 clamps the adjacent two side walls of the cryopreservation box, and there is no limitation on the height of the cryopreservation box, making it suitable for cryopreservation boxes of different heights and thus having a wider range of applications.

[0082] It is understood that the shape of the clamping opening, spring clip, and notch is not specifically limited in this application, and can be flexibly set according to actual usage needs without departing from the basic principles of the present invention.

[0083] In one embodiment, Figure 3 and Figure 6 The buffer area inside the second housing 13 is equipped with a second robotic arm 8 and a third conveyor line 9 located above the sample transfer conveyor line 7. The third conveyor line 9 is configured to transfer cryopreservation boxes between the outside of the second housing 13 and the buffer area, as well as between the buffer area and the storage area. A barcode reader (not shown in the figure) is installed on the third conveyor line 9. The second robotic arm 8 is located on one side of the third conveyor line 9 and is configured to transfer cryopreservation boxes between the third conveyor line 9 and the sample transfer conveyor line 7. The structure of the third conveyor line 9 is the same as that of the first conveyor line 3, and will not be described in detail here. The barcode reader is located above the third conveyor line 9 and is fixedly connected to the support of the third conveyor line 9.

[0084] Specifically, the second robotic arm 8 includes a support plate 82, a tray 81, a first directional movement mechanism 83, a second directional movement mechanism 84, and a third directional movement mechanism 85. The support plate 82 is fixed to the inner wall of the second housing 13. The first directional movement mechanism 83 is mounted on the support plate 82, and the first directional movement mechanism 83 drives the second directional movement mechanism 84 to move along the Y-axis (in... Figure 6 The middle direction is the longitudinal direction), and the second direction movement is connected to the third-party position movement mechanism 85 to drive the third-party position movement mechanism 85 to move along the Z-axis direction (in the longitudinal direction). Figure 6 The middle is the vertical direction), and the third-party position moving mechanism 85 can drive the tray 81 to lift the cryopreservation box along the X-axis direction (in the vertical direction). Figure 6 The device moves horizontally to place or remove the cryopreservation box from the loading platform of the third conveyor line 9.

[0085] For example, the first directional moving mechanism 83 includes a fifth motor 833, a fifth rack 832, a fifth gear, and a first moving plate 831. The first moving plate 831 is slidably connected to the support plate 82, the fifth rack 832 is fixed to the support plate 82, the fifth motor 833 is fixed to the first moving plate 831, and a fifth gear that meshes with the fifth rack 832 is fixed on the output shaft of the fifth motor 833. The fifth motor 833 drives the fifth gear to rotate so that the first moving plate 831 moves.

[0086] The second directional moving mechanism 84 includes a second moving plate 842, a sixth motor 841, a sixth rack 843, and a sixth gear. The second moving plate 842 is slidably connected to the first moving plate 831. The sixth motor 841 is fixed on the second moving plate 842. The output shaft of the sixth motor 841 is fixed with a sixth gear that meshes with the sixth rack 843. The sixth rack 843 is fixed on the first moving plate 831. The sixth motor 841 drives the sixth gear to rotate so that the second moving plate 842 moves up and down.

[0087] The third-position moving mechanism 85 includes a connecting frame 852, a base plate 851, and a shrinkage driving mechanism 853. The base plate 851 is fixedly connected to the second moving plate 842 through the connecting frame 852. A tray 81 is slidably connected to the base plate 851. The shrinkage driving mechanism 853 is set on the base plate 851 and can push the tray 81 closer to or away from the third conveyor line 9. The tray 81 is used to place cryopreservation boxes.

[0088] The retraction drive mechanism 853 includes a seventh motor, a first connecting rod 8533, a second connecting rod 8534, a slide groove 8535, a seventh gear 8531, and an eighth gear 8532. The seventh motor is fixed on the base plate 851, and the seventh gear 8531 is fixed on the output shaft of the seventh motor. The eighth gear 8532 is rotatably connected to the base plate 851. The seventh motor drives the eighth gear 8532 to rotate through the seventh gear 8531. One end of the first connecting rod 8533 is fixed to the center of the eighth gear 8532, and the other end of the first connecting rod 8533 is rotatably connected to the second connecting rod 8534. The second connecting rod 8534 is located below the first connecting rod 8533, and the other end of the second connecting rod 8534 is rotatably connected to a roller. The roller is inserted into the slide groove 8535, which is slidably connected to the base plate 851. The tray 81 is fixedly connected to the slide groove 8535. The eighth gear 8532 drives the first connecting rod 8533 to rotate, causing the second connecting rod 8534 to rotate as well, while pushing the chute 8535 to move the tray 81 closer to or away from the third conveyor line 9.

[0089] It should be noted that the structures of the first position moving mechanism 83, the second position moving mechanism 84, and the third position moving mechanism 85 are not limited to the above examples, and can be flexibly set without departing from the basic principles of the present invention.

[0090] The present invention provides a second robotic arm 8 inside the second housing 13, which can transfer the cryopreservation box between the third conveyor line 9 and the sample transfer conveyor line 7, realizing the mutual transfer of the cryopreservation box within multiple housings without contact with the outside world during transfer, thus improving safety and transfer efficiency.

[0091] Additionally, a first transfer port is provided on the side wall adjacent to the second box 13 on the first box 1, and a second transfer port 15 is provided on the two opposite side walls of the second box 13. The first transfer port and the second transfer port 15, as well as the second transfer ports 15, are connected by a connecting channel 14, through which the sample transfer conveyor line 7 passes. The connecting channel 14 can be, but is not limited to, made of foam material. After the connecting channel 14 is inserted into the corresponding first or second transfer port 15 on both sides, foam material is filled into the gap between the connecting channel 14 and the transfer port to seal it, thereby achieving a sealing function between the transfer ports of adjacent boxes. This method is simple to install and easy to operate. At the same time, there is an additional second transfer port 15 on the second box 13 at the end. The second transfer port 15 is detachably fixed to the second box 13 by a sealing plate to seal it. When it is necessary to expand the storage capacity by adding a second box 13, simply remove the sealing plate to connect with the newly added second box 13.

[0092] In this application, in the example where the sample cryopreservation box enters the storage area of ​​the first housing 1 after being picked up by the tube, the specific operation is as follows: the electric door of the first pick-up window 16 opens, and the second load platform 33 on the first conveyor line 3 extends to the outside of the first pick-up window 16. The sample cryopreservation box is placed on the second load platform 33 manually or by a robot, and then the sample cryopreservation box is transferred to the buffer area inside the first housing 1 via the first conveyor line 3. At this time, the electric door of the first pick-up window 16 closes. Simultaneously, the electric door of the transfer window 17 in the storage area opens, and the second load platform 33 on the second conveyor line 2 extends into the storage area. The target cryopreservation box is taken out from the storage position by a robotic arm and placed on the second load platform 33. Then, the second conveyor line 2 transfers the target box to the buffer area and it is located at the return position of the second conveyor line 2. The electric door of the transfer window 17 closes. The first robotic arm is activated, moving the sample cryopreservation box holder 10. The holder places the target cryopreservation box on the reading platform for barcode reading, then places it back on the second load table 33 of the second conveyor line 2. The first robotic arm then moves the holder 10 to hold the sample cryopreservation box and place it on the reading platform for barcode reading. Simultaneously, the pressing mechanism 5 is activated to position the cryopreservation box. Then, the first robotic arm moves the tube-picking holder 11 to pick up the cryopreservation tubes from the sample cryopreservation box and place them into the target cryopreservation box. After tube picking is completed, the electric door of the transfer window 17 opens, and the second conveyor line 2 returns the target cryopreservation box to the storage area. After the second conveyor line 2 retracts, the electric door closes. Simultaneously, the first robotic arm moves the holder 10 to place the empty sample cryopreservation box onto the second load table 33 of the first conveyor line 3. The electric door of the first pick-and-place window 16 opens, and the first conveyor line 3 transports the empty sample cryopreservation box out. After the first conveyor line 3 retracts, the electric door closes, completing the tube picking operation.

[0093] In the example where the sample cryopreservation box enters the storage area of ​​the second box 13 after being picked up from the first box 1, the specific operation is as follows: the electric door of the first pick-up window 16 opens, and the second loading platform 33 on the first conveyor line 3 extends to the outside of the first pick-up window 16. The sample cryopreservation box is placed on the second loading platform 33 manually or by a robot, and then transferred to the buffer area inside the first box 1 via the first conveyor line 3. At this time, the electric door of the first pick-up window 16 closes. Simultaneously, the electric door of the transfer window 17 in the storage area of ​​the second box 13 opens, and the second loading platform 33 on the third conveyor line 9 extends into the storage area. The robotic arm places the target cryopreservation box on the second loading platform 33, and then the third conveyor line 9 retracts, and the electric door of the transfer window 17 closes. The second robotic arm 8 is activated to transfer the target cryopreservation box on the third conveyor line 9 to the sample transfer conveyor line 7. The sample transfer conveyor line 7 then transports the target cryopreservation box into the first box 1. The first robotic arm then places the target cryopreservation box on the reading platform for code reading and places it on the second load table 33 of the second conveyor line 2. The first robotic arm then drives the box picker 10 to hold the sample cryopreservation box and place it on the reading platform for code reading. At the same time, the box pressing mechanism 5 is activated to position the cryopreservation box. Then, the first robotic arm drives the tube picker 11 to pick the cryopreservation tubes on the sample cryopreservation box into the target cryopreservation box. After the sample collection is completed, the first robotic arm places the target cryopreservation box on the sample transfer conveyor line 7, which then transports the target cryopreservation box back to the buffer area of ​​the second housing 13. The second robotic arm 8 then transfers the target cryopreservation box to the third conveyor line 9, which transports it back. At the same time, the first robotic arm moves the sample collection box holder 10 to place the empty sample cryopreservation box onto the second load platform 33 of the first conveyor line 3. The electric door of the first pick-and-place window 16 opens, and the first conveyor line 3 transports the empty sample cryopreservation box out. After the first conveyor line 3 retracts, the electric door closes, completing the sample collection operation.

[0094] Both the first box 1 and the second box 13 can be independently selected for box picking. Taking the first box 1 as an example, the sample cryopreservation box is transferred to the buffer area by the first conveyor line 3. The first robotic arm places the sample cryopreservation box on the reading platform for barcode reading, and then the first robotic arm transfers the sample cryopreservation box to the second conveyor line 2. The second conveyor line 2 transports the sample cryopreservation box to the storage area, completing the box picking operation. When transporting the cryopreservation box to the storage area or from the storage area to the outside of the box, the cryopreservation box can enter or exit through the first pick-and-place window 16 or exit through the second pick-and-place window 12, depending on the actual situation.

[0095] This invention utilizes a first and a second housing to store a large number of cryopreservation boxes and cryovials for biological samples, thereby expanding capacity. Since the first housing allows for both box and tube picking, while the second housing only allows for box picking, when picking cryovials from the second housing while the first and second housings are connected, the cryopreservation boxes are transferred to the first housing for selection. The cooperation between the first and second housings enables both box and tube picking within each housing, expanding biological sample capacity while reducing space occupation, improving biological sample transfer efficiency, simplifying the biological sample handling process, and reducing costs. The transfer of cryopreservation boxes between housings is achieved through a sample transfer conveyor line within the housing, ensuring the safety of the biological samples and improving work efficiency.

[0096] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A biological sample cryopreservation device, characterized in that, The biological sample cryopreservation device includes a first box and a second box, both of which are provided with a storage area and a buffer area. The storage area is used to store the cryopreservation box of the biological sample. The buffer area inside the first box is capable of selecting and transferring the cryopreservation boxes and cryopreservation tubes inside the cryopreservation boxes; the buffer area inside the second box is capable of selecting and transferring the cryopreservation boxes. The number of the second box is at least one, and the first box and the second box are arranged side by side and connected to each other in sequence for transferring the cryopreservation boxes to each other; The first housing has a first retrieval window on its side wall that communicates with the buffer area inside, and the second housing has a second retrieval window on its side wall that communicates with the inside. Both the first and second boxes can be independently picked up. When the frozen boxes are transported to the storage area or from the storage area to the outside of the box, the frozen boxes can be taken out through the first or second pick-up window. When selecting the cryopreservation boxes in the second box, the cryopreservation boxes are transferred to the first box for selection. The biological sample cryopreservation device also includes a sample transfer conveyor line, which is located in the buffer area of ​​the first box and extends into the buffer area of ​​the second box. The cryopreservation boxes between the first box and the second box are transferred through the sample transfer conveyor line. The first box has a first transfer port on the side wall adjacent to the second box, and the two opposite side walls of the second box have second transfer ports respectively. The first transfer port and the second transfer port are all connected by a connecting channel, and the sample transfer conveyor line passes through the connecting channel.

2. The biological sample cryopreservation device according to claim 1, characterized in that, The storage area and the cache area are both independent closed cavities, and the storage area is provided with a transfer window that can communicate with the cache area.

3. The biological sample cryopreservation device according to claim 2, characterized in that, The buffer area inside the first housing is equipped with a first conveyor line, a second conveyor line, and a reading platform. One of the first and second conveyor lines is configured to transfer the cryopreservation box between the outside of the first housing and the buffer area, and the other is configured to transfer the cryopreservation box between the buffer area and the storage area. The reading platform is located between the first and second conveyor lines and is used to read the frozen sample information of the cryopreservation box. The reading platform and the return position of the second conveyor line together form a selection position for selecting cryopreservation boxes or cryopreservation tubes.

4. The biological sample cryopreservation device according to claim 3, characterized in that, The buffer area inside the first box is also equipped with a first robotic arm, which is located above the first conveyor line and the second conveyor line. The first robotic arm is configured to transfer cryopreservation boxes and / or cryopreservation tubes between the first conveyor line, the second conveyor line, the reading platform and the sample transfer conveyor line.

5. The biological sample cryopreservation device according to claim 4, characterized in that, The first robotic arm includes a tube gripper, a box gripper, and a three-way movement drive mechanism. The three-way movement drive mechanism is configured to drive the tube gripper and the box gripper to move along the XYZ axes, respectively. The tube gripper is used to grip cryopreservation tubes, and the box gripper is used to grip cryopreservation boxes.

6. The biological sample cryopreservation device according to claim 3, characterized in that, The buffer area inside the first box is equipped with a pressing mechanism at the part near the reading platform and at the part near the second conveyor line. The pressing mechanism is used to apply force to the corresponding cryopreservation box for positioning when selecting cryopreservation tubes, so that the cryopreservation box does not move during the tube picking process.

7. The biological sample cryopreservation device according to claim 6, characterized in that, The pressing mechanism includes a drive component, a support frame, and a first sliding plate. The support frame is fixed in the buffer area of ​​the first box. The drive component is disposed on the support frame. The first sliding plate is slidably connected to the support frame. A clamp is fixed at one end of the first sliding plate. The drive component drives the first sliding plate to perform reciprocating linear motion to drive the clamp to clamp the cryopreservation box or detach from the cryopreservation box.

8. The biological sample cryopreservation device according to claim 7, characterized in that, Both the reading platform and the second conveyor line are provided with placement slots for placing cryopreservation boxes. One end of the first slide plate is provided with a notch. The clamp includes two spring pieces, which are respectively fixed on opposite side walls inside the notch. A clamping opening is formed between the two spring pieces. As the two spring pieces move towards the cryopreservation box along with the first slide plate, they are squeezed by the cryopreservation box to generate elastic force so that the clamping opening clamps the cryopreservation box.

9. The biological sample cryopreservation device according to claim 1, characterized in that, The second housing contains a buffer area equipped with a second robotic arm and a third conveyor line located above the sample transfer conveyor line. The third conveyor line is configured to transfer cryopreservation boxes between the outside of the second housing and the buffer area, and between the buffer area and the storage area. A barcode reader is installed on the third conveyor line. The second robotic arm is located on one side of the third conveyor line and is configured to transfer cryopreservation boxes between the third conveyor line and the sample transfer conveyor line.

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