Tube picking operation control method of an automated workstation and automated workstation

Abstract

The present application relates to the field of biological medical technology, and specifically provides a tube picking operation control method of an automated workstation and the automated workstation, aiming at solving the problem that the tube picking structure in the existing intelligent biological sample library is all independent tube picking tables, and the biological samples in each automated refrigerator need to be transferred into the next device and transported to the tube picking table when being picked, the transmission efficiency is low, and the control process is complex. For this purpose, the tube picking operation control method comprises: obtaining a tube picking instruction for a target cryotube; judging a cryotube box where the target cryotube is located; based on the judgment result of the cryotube box where the target cryotube is located, selectively controlling the automated workstation to execute different tube picking modes. The present application is designed to set a tube picking mechanism only in one of the cryotube boxes, and the cryotubes in other cryotube boxes are all transported into the cryotube box where the tube picking mechanism is set to be picked, thereby reducing the operation process and simplifying the tube picking control process.

Description

Technical Field

[0001] This invention relates to the field of biomedical technology, specifically providing an automated workstation tube-picking operation control method and an automated workstation. Background Technology

[0002] In the biomedical industry, automated ultra-low temperature equipment is needed to store and cryopreserve biological samples. Information needs to be recorded when biological samples are entered or removed from the storage facility for effective management. Existing technology includes an intelligent biobank equipped with multiple automated freezers. These freezers are divided into models with tube-picking functions and models with box-picking functions. Automated carts carrying transport containers connect these freezers, enabling the transfer of cryopreservation boxes or tubes between them. This expands the biobank's capacity while reducing the risk of temperature reversion during sample handling.

[0003] However, the tube picking structures in intelligent biobanks all use independent tube picking stations. When biological samples in each automated refrigerator are picked, they need to be transferred to the next device and transported to the tube picking station. This results in low transfer efficiency, high cost, and complex control processes.

[0004] Therefore, the present invention needs to provide a new method for controlling the operation of an automated workstation and an automated workstation to solve the above-mentioned technical problems. Summary of the Invention

[0005] The present invention aims to solve the above-mentioned technical problems, namely, to solve the problems that the tube picking structure in the existing intelligent biobanks all adopts an independent tube picking station, and biological samples in each automated refrigerator need to be transferred to the next device and transported to the tube picking station when tube picking is performed, which results in low transfer efficiency, high cost, and complicated tube picking control process.

[0006] To this end, in a first aspect, the present invention provides a tube-picking operation control method for an automated workstation, the automated workstation comprising at least two interconnected cryogenic storage boxes, each cryogenic storage box storing cryogenic tubes, and the cryogenic storage boxes being transferable between the cryogenic storage boxes; the tube-picking operation control method comprising:

[0007] Obtain the tube picking command for the target cryopreservation box;

[0008] Determine the cryopreservation box where the target cryopreservation box is located;

[0009] Based on the determination result of the cryopreservation box where the target cryopreservation box is located, the automated workstation is selectively controlled to execute different tube picking modes.

[0010] In a specific implementation of the tube-picking operation control method of the above-mentioned automated workstation, a tube-picking area is provided in one of the cryogenic storage boxes, and a tube-picking mechanism is provided in the tube-picking area. The different tube-picking modes include direct tube-picking mode and indirect tube-picking mode.

[0011] The direct tube picking mode refers to controlling the tube picking mechanism inside the cryopreservation box to perform tube picking operations on the target cryopreservation box inside.

[0012] The indirect tube-picking mode refers to transferring the target cryopreservation box to the tube-picking area inside the cryopreservation box equipped with a tube-picking mechanism, and then controlling the tube-picking mechanism to perform tube-picking operations on the target cryopreservation box.

[0013] In a specific implementation of the tube-picking operation control method of the aforementioned automated workstation, the step of "selectively controlling the automated workstation to execute different tube-picking modes based on the judgment result of the cryopreservation box where the target cryopreservation box is located" specifically includes:

[0014] If the cryopreservation box containing the target cryopreservation box is a cryopreservation box equipped with a tube-picking mechanism, then control the automated workstation to execute the direct tube-picking mode; and / or

[0015] If the cryopreservation box containing the target cryopreservation box is a cryopreservation box without a tube-picking mechanism, then control the automated workstation to execute the indirect tube-picking mode.

[0016] In a specific embodiment of the pipe-picking operation control method of the aforementioned automated workstation, the cryogenic storage box is provided with a pick-up and drop-off window, and an electric door is installed on the pick-up and drop-off window. The pipe-picking operation control method further includes:

[0017] Before performing the tube-picking operation, determine whether the electric door on the cryo-box equipped with the tube-picking mechanism can be started normally.

[0018] Based on the judgment result of whether the electric door on the cryo-box equipped with the tube picking mechanism can be started normally, the cryo-tubes are selectively controlled to enter and exit through the pick-up and drop-off window on the cryo-box or through the pick-up and drop-off window on the adjacent cryo-box.

[0019] In a specific implementation of the tube-picking operation control method of the aforementioned automated workstation, the step of "selectively controlling the cryopreservation tube to enter or exit through the pick-up / placement window on the cryopreservation box or through the pick-up / placement window on a cryopreservation box adjacent to the cryopreservation box, based on the judgment result of whether the electric door on the cryopreservation box equipped with the tube-picking mechanism can be started normally" specifically includes:

[0020] If the electric door on the cryo-case equipped with the tube-picking mechanism can be started normally, then the cryo-tubes are controlled to enter and exit through the loading / unloading window on the cryo-case; and / or

[0021] If the electric door on the cryo-box equipped with the tube-picking mechanism fails to start normally, the cryo-tubes are controlled to enter and exit through the retrieval window on the cryo-box adjacent to the cryo-box.

[0022] In a specific embodiment of the tube-picking operation control method of the above-mentioned automated workstation, the automated workstation further includes a transfer mechanism that extends into each of the cryogenic storage boxes. The transfer mechanism is configured to transfer cryogenic boxes between the cryogenic storage boxes. The step of "transferring the target cryogenic storage box to the tube-picking area in the cryogenic storage box equipped with the tube-picking mechanism" specifically includes:

[0023] The transfer mechanism is activated to transfer the target cryopreservation box to the tube-picking area inside the cryopreservation box, which is equipped with a tube-picking mechanism.

[0024] In a specific implementation of the tube-picking operation control method of the above-mentioned automated workstation, the transfer mechanism includes a slide rail, a load platform, and a driver. The slide rail extends into each of the cryopreservation chambers, and the load platform is slidably connected to the slide rail. The load platform is used to place biological samples, and the driver drives the load platform to move along the trajectory of the slide rail.

[0025] In a specific implementation of the tube-picking operation control method of the above-mentioned automated workstation, the cryogenic box includes a buffer area and a storage area. The storage area is used to store the cryogenic boxes. The tube-picking mechanism is set in the buffer area of ​​the cryogenic box, and the transfer mechanism extends into the buffer area of ​​each of the cryogenic boxes.

[0026] In a specific implementation of the tube-picking operation control method of the above-mentioned automated workstation, adjacent cryogenic storage boxes are connected by a connecting channel, and the transfer mechanism passes through the connecting channel.

[0027] In a second aspect, the present invention also provides an automated workstation, including a controller configured to execute the pipe-picking operation control method of the automated workstation as described in any of the above technical solutions.

[0028] With the above technical solution, the cryovials designed in this invention can be interconnected. Only one cryovial is equipped with a tube-picking mechanism. When picking tubes from cryovials in other cryovials, they are all transferred to the cryovial with the tube-picking mechanism. This achieves the tube-picking function, reduces the manufacturing cost of the automated workstation, and reduces the number of steps and improves transfer efficiency by having both cryovials transferred and tube-picking performed within the cryovial. This simplifies the tube-picking control process and also reduces the risk of biological sample infection. After tube picking is completed and the cryovial needs to be sent out, the cryovial is sent out directly from the pick-and-place window of the cryovial without having to be transferred to the cryovial containing the target cryovial, which helps to improve work efficiency. Attached Figure Description

[0029] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0030] Figure 1 This is a flowchart of the main steps of the pipe-picking operation control method for the automated workstation provided by the present invention;

[0031] Figure 2 This is a detailed flowchart of the pipe-picking operation control method for the automated workstation provided by the present invention. Detailed Implementation

[0032] 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.

[0033] 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.

[0034] 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.

[0035] The tube-picking structures in existing intelligent biobanks all use independent tube-picking stations. When biological samples in each automated refrigerator are picked, they need to be transferred to the next device and then transported to the tube-picking station. This process is inefficient, costly, and involves complex control procedures.

[0036] To address the aforementioned technical problems, this invention provides an automated workstation comprising at least two interconnected cryogenic chambers. Each cryogenic chamber stores cryogenic boxes containing cryogenic tubes. Cryogenic boxes can be transferred between the cryogenic chambers. Each cryogenic chamber has a retrieval window equipped with an electric door. The automated workstation also includes a transfer mechanism extending into each cryogenic chamber, configured to transfer cryogenic boxes between them. One cryogenic chamber contains a tube-picking area with a tube-picking mechanism. Each cryogenic chamber includes a buffer area and a storage area. The storage area stores cryogenic boxes, and the tube-picking mechanism is located in the buffer area. The transfer mechanism extends into the buffer areas of each cryogenic chamber. Adjacent cryogenic chambers are connected via a connecting channel, through which the transfer mechanism passes.

[0037] Specifically, the transfer mechanism includes a slide rail, a loading stage, and a actuator. The slide rail extends into each cryopreservation unit and is fixed inside the unit by a support frame. The loading stage is slidably connected to the slide rail, and biological samples are placed on it. The actuator moves the loading stage along the track of the slide rail. The actuator includes a motor, a rack, and a gear. The motor is fixed to the end of the loading stage, and a gear meshing with the rack is fixed to the motor's output shaft. The rack is located on one side of the slide rail and is fixedly connected to the support frame. During operation, the motor starts, driving the gear to rotate. The gear and rack work together to move the loading stage along the track of the slide rail, thus transferring biological samples between the cryopreservation units.

[0038] The cryovial picking mechanism includes a robotic arm, a barcode reading platform, and a picking table. The barcode reading platform is used to read the sample information of the cryovial and place the sample cryovial. The picking table is used to place the target cryovial. The robotic arm picks the cryovials from the sample cryovial into the target cryovial, or vice versa. The target cryovial refers to the cryovial stored in the cryopreservation box, and the sample cryovial refers to the cryovial brought into the cryopreservation facility from outside for exchanging cryovials with the target cryovial. The barcode reading platform includes a barcode reader and a placement table. The placement table is used to place the cryovial, and the barcode reader is used to read the sample information of the cryovial. It should be noted that the robotic arm, barcode reader, and picking table are prior art known to those skilled in the art, and therefore will not be described in detail again.

[0039] In addition, each cryopreservation facility is equipped with robotic arms for placing biological samples on or removing them from the loading platform for transfer to other locations. Since the robotic arms used for transferring biological samples are prior art known to those skilled in the art, they will not be described in detail here.

[0040] Additionally, first refer to Figure 1 This invention provides a pipe-picking operation control method for an automated workstation, the pipe-picking operation control method comprising:

[0041] S1, obtain the tube picking command for the target cryopreservation box;

[0042] S2, determine the cryopreservation box where the target cryopreservation box is located;

[0043] In the above steps, since only one cryogenic container is equipped with a tube-picking mechanism in this application and no tube-picking mechanism is installed in other cryogenic containers, the cryogenic containers in other cryogenic containers need to be transferred to the cryogenic container equipped with the tube-picking mechanism before tube picking can be performed. Therefore, when the tube picking instruction is received, it is necessary to determine the cryogenic container where the target cryogenic container is located, that is, it is necessary to determine whether it needs to be transferred through a transfer mechanism.

[0044] S3, based on the judgment result of the cryopreservation box where the target cryopreservation box is located, selectively controls the automated workstation to execute different tube picking modes.

[0045] In the above embodiments, each cryopreservation box is assigned a number, which distinguishes whether the cryopreservation box containing the target cryopreservation box is equipped with a tube-picking mechanism, facilitating the subsequent execution of the tube-picking mode. Of course, although the above description uses a numbering system to distinguish each cryopreservation box, those skilled in the art will understand that this does not limit the scope of protection of the present invention, and other methods can be used for differentiation.

[0046] In one embodiment, different pipe-picking modes include direct pipe-picking mode and indirect pipe-picking mode;

[0047] The direct tube picking mode refers to controlling the tube picking mechanism inside the cryopreservation box to pick the target cryopreservation box inside. Since the target cryopreservation box is located inside the cryopreservation box equipped with the tube picking mechanism, the tube picking operation can be performed directly after the target cryopreservation box enters the tube picking platform, without the need for a transfer mechanism.

[0048] The indirect tube-picking mode refers to transferring the target cryopreservation box to the tube-picking area within a cryopreservation box equipped with a tube-picking mechanism, and then controlling the tube-picking mechanism to perform the tube-picking operation on the target cryopreservation box. The indirect tube-picking mode is for situations where the target cryopreservation box is not stored in a cryopreservation box equipped with a tube-picking mechanism, but rather in another cryopreservation box. In this case, tube picking can only be performed by transferring the target cryopreservation box to a cryopreservation box equipped with the tube-picking mechanism via a transfer mechanism.

[0049] In one embodiment, see Figure 2 Step S3, "selectively controlling the automated workstation to execute different tube-picking modes based on the judgment result of the cryopreservation box where the target cryopreservation box is located," specifically includes:

[0050] S31, If ​​the cryopreservation box containing the target cryopreservation box is a cryopreservation box equipped with a tube-picking mechanism, then control the automated workstation to execute the direct tube-picking mode;

[0051] S32, if the cryopreservation box containing the target cryopreservation box is a cryopreservation box without a tube-picking mechanism, then control the automated workstation to execute the indirect tube-picking mode.

[0052] In the above embodiment, the tube-picking mechanism is set in only one cryogenic storage box. When tubes are picked from cryogenic boxes in other cryogenic storage boxes, they need to be transferred to the cryogenic storage box with the tube-picking mechanism for tube picking. Therefore, when the target cryogenic box stored in the cryogenic storage box with the tube-picking mechanism is picked, the direct tube picking mode is executed, while when the target cryogenic box stored in other cryogenic storage boxes is picked, the indirect tube picking mode is executed. Through these two tube picking modes, the tube picking operation of the entire automated workstation is realized. Since the tube picking mechanism is set in only one cryogenic storage box, the manufacturing cost of the automated workstation is reduced.

[0053] In one embodiment, the pipe-picking operation control method further includes:

[0054] Before performing the tube-picking operation, determine whether the electric door on the cryo-box equipped with the tube-picking mechanism can be started normally;

[0055] Based on the judgment result of whether the electric door on the cryo-case equipped with the tube picking mechanism can be started normally, the cryo-case is selectively controlled to enter and exit through the pick-up and drop-off window on the cryo-case or through the pick-up and drop-off window on the adjacent cryo-case.

[0056] In one embodiment, the step of "selectively controlling the cryopreservation tubes to enter and exit through the retrieval window on the cryopreservation box or through the retrieval window on a cryopreservation box adjacent to the cryopreservation box, based on the determination result of whether the electric door on the cryopreservation box equipped with the tube-picking mechanism can be started normally" specifically includes:

[0057] If the electric door on the cryo-box equipped with the tube-picking mechanism can be started normally, then the cryo-tubes will be controlled to enter and exit through the pick-up and drop-off window on the cryo-box.

[0058] If the electric door on a cryo-box equipped with a tube-picking mechanism fails to start properly, the cryo-tubes will be controlled to enter and exit through the retrieval window on a cryo-box adjacent to that cryo-box.

[0059] In the above embodiments, when the electric door on the cryogenic storage box equipped with the tube-picking mechanism can be activated normally, the cryogenic tubes can directly enter and exit through the pick-and-place window. That is, when transporting the cryogenic tubes into the cryogenic storage box for storage, they can enter through this pick-and-place window, and then be selected and placed into the target cryogenic storage box by the tube-picking mechanism for storage. Alternatively, the cryogenic tubes can be selected from the target cryogenic storage box and sent out through the pick-and-place window to the outside of the cryogenic storage box. When tube picking is needed, the cryogenic tubes directly enter and exit the cryogenic storage box equipped with the tube-picking mechanism, reducing transfer time and thus improving work efficiency. Of course, if the electric door on the cryogenic storage box equipped with the tube-picking mechanism is damaged, in order not to affect the normal operation of tube picking, they can enter and exit through the pick-and-place window on an adjacent cryogenic storage box.

[0060] Regarding the entry and exit of cryopreservation tubes through the access windows on adjacent cryopreservation boxes, the cryopreservation boxes are assigned numbers sequentially from smallest to largest Arabic numerals, from the first segment to the last segment. When there are adjacent cryopreservation boxes on both sides of a cryopreservation box equipped with a tube-lifting mechanism, the electric door on the adjacent cryopreservation box with a number greater than the number of the cryopreservation box equipped with the tube-lifting mechanism is first checked to see if it can start normally. If it can start normally, it starts normally. If it cannot start normally, the electric door on the adjacent cryopreservation box with a number less than the number of the cryopreservation box equipped with the tube-lifting mechanism is checked to see if it can start normally. If it can start normally, it starts normally. If it cannot start normally, a prompt message indicating that it cannot start normally is displayed.

[0061] Therefore, it can be seen that the cryogenic storage box is equipped with a display screen, which is used to display various information, such as a prompt message indicating that the electric door cannot be started, or a number indicating that the electric door is in the started state.

[0062] In one embodiment, the step of "transferring the target cryopreservation box to the tube-picking area within a cryopreservation box equipped with a tube-picking mechanism" specifically includes:

[0063] The control transfer mechanism is activated to transfer the target cryopreservation box to the tube-picking area inside the cryopreservation box equipped with a tube-picking mechanism.

[0064] In the above embodiments, a transfer mechanism is used to transfer cryopreservation boxes between various cryopreservation boxes. This allows cryopreservation boxes from other cryopreservation boxes without a picking mechanism to be transferred to cryopreservation boxes with a picking mechanism for picking during the process. The transfer is done directly within the cryopreservation boxes without the need for intermediate equipment, which improves the transfer efficiency.

[0065] In a second aspect, the present invention also provides an automated workstation, including a controller configured to execute a pipe-picking operation control method for the automated workstation as described in any of the above technical solutions.

[0066] In the various embodiments and extended implementations described above, the cryovials designed in this invention are interconnected, with a tube-picking mechanism installed only in one of the cryovials. When tube picking is required from the cryovials in other cryovials, they are all transferred to the cryovial with the tube-picking mechanism. This achieves the tube-picking function while reducing the manufacturing cost of the automated workstation. Moreover, since both the transfer of cryovials and tube picking are performed within the cryovial, the operation process is reduced, the transfer efficiency is improved, the tube-picking control process is simplified, and the risk of biological sample infection is reduced. After tube picking is completed and the cryovial needs to be sent out, the cryovial is sent out directly from the pick-and-place window of the cryovial without having to be transferred to the cryovial containing the target cryovial, which helps to improve work efficiency.

[0067] 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 method for controlling the operation of a pipe-picking machine in an automated workstation, characterized in that, The automated workstation includes at least two interconnected cryopreservation boxes, each containing a cryopreservation container for holding cryopreservation tubes. Cryopreservation containers can be transferred between the cryopreservation boxes. The tube-picking operation control method includes: Obtain the tube picking command for the target cryopreservation box; Determine the cryopreservation box where the target cryopreservation box is located; Based on the determination result of the cryopreservation box where the target cryopreservation box is located, the automated workstation is selectively controlled to execute different tube picking modes; The cryogenic storage box is equipped with a retrieval window, and the retrieval window is fitted with an electric door. The tube-picking operation control method further includes: Before performing the tube-picking operation, determine whether the electric door on the cryo-box equipped with the tube-picking mechanism can be started normally. Based on the judgment result of whether the electric door on the cryo-box equipped with the tube picking mechanism can be started normally, the cryo-box is selectively controlled to enter and exit through the pick-up and drop-off window on the cryo-box or through the pick-up and drop-off window on the adjacent cryo-box. The step of "selectively controlling the cryopreservation tubes to enter and exit through the retrieval window on the cryopreservation box or through the retrieval window on a cryopreservation box adjacent to the cryopreservation box, based on the judgment result of whether the electric door on the cryopreservation box equipped with the tube-picking mechanism can be started normally" specifically includes: If the electric door on the cryo-box equipped with the tube-picking mechanism fails to start normally, the cryo-tubes are controlled to enter and exit through the retrieval window on the cryo-box adjacent to the cryo-box.

2. The pipe-picking operation control method of the automated workstation according to claim 1, characterized in that, One of the cryogenic storage boxes is equipped with a tube-picking area, and the tube-picking area is equipped with a tube-picking mechanism. The different tube-picking modes include a direct tube-picking mode and an indirect tube-picking mode. The direct tube picking mode refers to controlling the tube picking mechanism inside the cryopreservation box to perform tube picking operations on the target cryopreservation box inside. The indirect tube-picking mode refers to transferring the target cryopreservation box to the tube-picking area inside the cryopreservation box equipped with a tube-picking mechanism, and then controlling the tube-picking mechanism to perform tube-picking operations on the target cryopreservation box.

3. The pipe-picking operation control method of the automated workstation according to claim 2, characterized in that, The step of "selectively controlling the automated workstation to execute different tube-picking modes based on the judgment result of the cryopreservation box where the target cryopreservation box is located" specifically includes: If the cryopreservation box containing the target cryopreservation box is a cryopreservation box equipped with a tube-picking mechanism, then control the automated workstation to execute the direct tube-picking mode; and / or If the cryopreservation box containing the target cryopreservation box is a cryopreservation box without a tube-picking mechanism, then control the automated workstation to execute the indirect tube-picking mode.

4. The pipe-picking operation control method of the automated workstation according to claim 1, characterized in that, The step of "selectively controlling the cryopreservation tubes to enter and exit through the retrieval window on the cryopreservation box or through the retrieval window on a cryopreservation box adjacent to the cryopreservation box, based on the determination result of whether the electric door on the cryopreservation box equipped with the tube-picking mechanism can be started normally" further includes: If the electric door on the cryo-box equipped with the tube-picking mechanism can be started normally, the cryo-tubes are controlled to enter and exit through the pick-and-place window on the cryo-box.

5. The pipe-picking operation control method of the automated workstation according to claim 2, characterized in that, The automated workstation also includes a transfer mechanism that extends into each of the cryogenic containers. The transfer mechanism is configured to transfer cryogenic containers between the cryogenic containers. The step of "transferring the target cryogenic container to the tube-picking area within the cryogenic container equipped with a tube-picking mechanism" specifically includes: The transfer mechanism is activated to transfer the target cryopreservation box to the tube-picking area inside the cryopreservation box, which is equipped with a tube-picking mechanism.

6. The pipe-picking operation control method of the automated workstation according to claim 5, characterized in that, The transfer mechanism includes a slide rail, a load stage, and a driver. The slide rail extends into each of the cryopreservation boxes, and the load stage is slidably connected to the slide rail. The load stage is used to place biological samples, and the driver drives the load stage to move along the trajectory of the slide rail.

7. The pipe-picking operation control method for an automated workstation according to claim 5, characterized in that, The cryogenic box includes a buffer area and a storage area. The storage area is used to store the cryogenic boxes. The tube picking mechanism is located in the buffer area of ​​the cryogenic box, and the transfer mechanism extends into the buffer area of ​​each cryogenic box.

8. The pipe-picking operation control method of the automated workstation according to claim 5, characterized in that, The adjacent cryogenic storage boxes are connected by a connecting channel, and the transfer mechanism passes through the connecting channel.

9. An automated workstation, comprising a controller, characterized in that, The controller is configured to execute the pipe-picking operation control method of the automated workstation as described in any one of claims 1-8.

Images