Intelligent biological sample low-temperature storage system

Abstract

This invention discloses an intelligent cryogenic storage system for biological samples, comprising an operating chamber, a transfer docking system, a gripping system, a mobile transport system, and a sample storage system. The transfer docking system can dock with the operating chamber. The gripping system can rotate and grip the transfer docking system and the mobile transport system. The gripping system and the mobile transport system are located within the operating chamber, and the mobile transport system can move within the operating chamber. The sample storage system is located below the operating chamber and can dock with the mobile transport system. The advantages of this invention are that it can automatically change different grippers to grip single cryovials or entire plates without the need for multiple robotic arms. This device eliminates the need for manual insertion or removal of biological samples, achieving automated storage and retrieval. Furthermore, all storage and retrieval occur within a sealed operating space, ensuring no impact on sample identification. The lifting cylinder assembly and the moving shaft assembly guarantee that the lifting cylinder assembly can move along the X and Y axes.

Description

Technical Field

[0001] This invention relates to the field of biological sample storage technology, and in particular to an intelligent low-temperature storage system for biological samples. Background Technology

[0002] Biological samples generally require cryogenic storage. Currently, most tissue, blood, DNA, bodily fluids, and protein samples are stored at -196°C in cryogenic liquid nitrogen tanks. Therefore, the insertion and removal of biological samples are done manually, which carries a high probability of error and the risk of frostbite. Furthermore, because the liquid nitrogen tank lid must be opened each time a sample is accessed, a large amount of water vapor is introduced, causing severe frost formation on the sample surface and hindering identification. As the storage of biological samples becomes increasingly important, automated storage is becoming essential.

[0003] Currently, there are some fully automated cryogenic biological sample storage devices, but they are complex in structure and expensive. They often require multiple robotic arms to pick up individual cryovials and grab trays, which increases costs and reduces operational efficiency. Moreover, conventional basket lifting mechanisms are fixed above the liquid nitrogen tank, which is inconvenient for emergency sample retrieval due to their lack of flexibility. Therefore, there is an urgent need for an intelligent cryogenic biological sample storage system. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above or prior art, the present invention is proposed.

[0006] Therefore, the purpose of this invention is to provide an intelligent cryogenic storage system for biological samples, which can automatically change different grippers to pick up individual cryovials or entire plates without the need for multiple robotic arms, greatly improving work efficiency. Furthermore, this device can achieve automated storage and retrieval without manual insertion or removal of biological samples. Moreover, the storage and retrieval of this device are all carried out in a sealed operating space, which will not cause frost and will not affect the identification of samples. The lifting cylinder assembly and the moving shaft assembly can ensure that the lifting cylinder assembly can move along the XY axis.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an intelligent biological sample cryogenic storage system, which includes an operating chamber, a transfer docking system, a gripping system, a mobile transport system, and a sample storage system;

[0008] The transfer docking system can dock with the operating chamber. The gripping system can rotate and grip the transfer docking system and the mobile transport system. The gripping system and the mobile transport system are located inside the operating chamber. The mobile transport system can move inside the operating chamber. The sample storage system is located below the operating chamber. The mobile transport system can dock with the sample storage system.

[0009] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the grasping system includes a robotic arm assembly, a tube-picking storage assembly, a gripper head assembly, and a barcode scanner.

[0010] The robotic arm assembly can be connected and replaced with the gripper head assembly. The robotic arm assembly drives the gripper head assembly to grab cryopreservation tubes in the transfer docking system and place them in the tube picking and storage assembly. The barcode scanner can be used to scan a single cryopreservation tube or an entire board rack.

[0011] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the transfer docking system includes a support chamber assembly, a sliding assembly, a door assembly, and a docking door assembly.

[0012] The sliding assembly can slide within the support compartment assembly, the hatch assembly can seal and close the support compartment assembly, and the docking door assembly is located within the operating chamber.

[0013] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the mobile handling system includes an opening assembly, a moving shaft assembly, a shovel assembly, and a lifting cylinder assembly.

[0014] The hatch opening assembly is located in the operating chamber. The moving shaft assembly can drive the shovel assembly and the lifting cylinder assembly to move. The side of the shovel assembly is connected to the lower side of the lifting cylinder assembly.

[0015] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the transfer docking system further includes a transfer tank, which is disposed above the sliding assembly, and the door assembly can close or open the support chamber assembly.

[0016] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the operating chamber includes a reference plate, a chamber shell, an observation window, and a maintenance panel opening;

[0017] A chamber shell is set above the reference plate, and an internal operating cavity is formed between the reference plate and the chamber shell. An observation window is set on the front end face of the chamber shell, and a maintenance plate opening is set on the top of the chamber shell.

[0018] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the sample storage system includes a tank assembly and a basket rotation assembly.

[0019] The hatch opening assembly can seal the tank assembly, and the tank assembly is equipped with a basket rotation assembly.

[0020] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the robotic arm assembly includes a rotating arm and a gripper fixing head;

[0021] The bottom of the rotating arm is fixed to the base plate. Multiple sets of rotating support shafts are set on the rotating arm. The rotating arm can move in multiple directions and angles under the drive of the multiple sets of rotating support shafts. The gripper fixing head is set at the front end of the rotating arm.

[0022] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the gripper assembly includes a support plate, a tube clamping head, a clamping plate frame head, and a quick-change head;

[0023] The support plate is positioned above the pipe-picking and storage assembly. Quick-change heads are connected to both the pipe clamping head and the clamping plate head. Two slots are provided on the support plate, in which the pipe clamping head and the clamping plate head are placed respectively. The gripper fixing head allows for quick replacement of the pipe clamping head or the clamping plate head using the quick-change head. The barcode scanner is mounted on the support plate.

[0024] As a preferred embodiment of the intelligent biological sample low-temperature storage system of the present invention, the system includes a tube picking storage component comprising a tube picking slot, a tube picking slot box, and a tube picking temporary storage rack.

[0025] The pipe picking slot box is connected to the reference plate. The pipe picking slot box has a pipe picking slot, and a pipe picking temporary storage rack is installed in the pipe picking slot.

[0026] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the support chamber assembly includes a square chamber, a front opening slot, and an upper opening slot.

[0027] The upper end face of the square compartment is connected and fixed to the lower end face of the reference plate. A front opening slot is provided inside the square compartment, and an upper opening slot is provided at the upper end of the square compartment.

[0028] As a preferred embodiment of the intelligent biological sample low-temperature storage system of the present invention, the sliding component includes a supporting slide rail plate, a first sliding plate, a first sliding connecting plate, a second sliding plate, a conveyor belt, a conveyor wheel, a first roller, a second roller, a sliding plate motor, a third drive shaft, and a third connector.

[0029] A supporting slide rail plate is set inside a square compartment. A first sliding plate is connected to a first roller. A first sliding connecting plate is connected to the first sliding plate. An opening groove is provided on the first sliding connecting plate. A conveyor wheel is set in the opening groove and connected to the first sliding connecting plate. Two sets of conveyor wheels are arranged in front and behind. The two sets of conveyor wheels are connected by a conveyor belt. A connecting block is provided on the conveyor belt. The connecting block is connected to a second sliding plate. A second roller is connected to the second sliding plate. The second roller can slide along the guide groove on the inner side of the first sliding plate. The second sliding plate is set on the upper side of the first sliding connecting plate. The sliding plate motor is connected to a third drive shaft through a pulley. A third connector is connected to the third drive shaft. The third connector is connected to the first sliding connecting plate.

[0030] The transfer tank is mounted on the first sliding connecting plate and / or the second sliding plate.

[0031] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the door assembly includes a transfer door, a connecting rod, a transfer door drive motor, a transfer lead screw, a transfer slider, and a transfer door support frame.

[0032] The transfer door support frame is located on the front end of the square compartment, and the transfer door drive motor is located on the side end of the square compartment. The transfer door drive motor is connected to the transfer screw, and the transfer slider is connected to the transfer screw. The height of the transfer door drive motor is higher than the height of the transfer door. The transfer door support frame is provided with a vertical slot. The transfer slider and the transfer door are connected by a connecting rod that passes through the vertical slot and is connected to the transfer slider and the transfer door.

[0033] As a preferred embodiment of the intelligent biological sample low-temperature storage system of the present invention, the docking door assembly includes a channel opening, a rotating door, a rotating door motor, a rotating door motor shaft, a rotating door base, and a top cover temporary storage slot.

[0034] The passageway is set on the reference plate and is aligned with the opening of the upper opening slot. The rotating door base is fixed to the upper surface of the reference plate. A round hole is provided on the rotating door base, and the rotating door motor shaft is set in the round hole. One end of the rotating door motor shaft is connected to the rotating door motor. The rotating door is connected and fixed to the rotating door motor shaft. The rotating door can cover the passageway. A temporary storage slot for the upper cover is provided on the reference plate and is located on one side of the passageway.

[0035] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the opening component includes a storage door, a storage door motor, a storage door motor shaft, and a storage door motor base.

[0036] The storage compartment door motor is connected to the storage compartment door motor shaft, the storage compartment door motor base supports the storage compartment door motor shaft, the storage compartment door is connected and fixed to the storage compartment door motor shaft, and the storage compartment door motor base is fixedly connected to the upper surface of the reference plate.

[0037] As a preferred embodiment of the intelligent biological sample low-temperature storage system of the present invention, the moving axis assembly includes an X-axis guide rail, a first sliding plate, a Y-axis guide rail, an X-axis motor, an X-axis motor slide rail, a Y-axis motor, a Y-axis drive rod, a second sliding plate, a first connecting plate, a second connecting plate, a first connector, a second connector, and an X-axis drive rod.

[0038] An X-axis guide rail is mounted on a base plate. A first slide plate is mounted on top of the X-axis guide rail. An X-axis pulley is installed inside the X-axis guide rail, and the X-axis pulley is connected to the bottom of the first slide plate. A Y-axis guide rail is mounted on the slide plate, and a Y-axis pulley is installed inside the Y-axis guide rail. A second slide plate is mounted above the Y-axis guide rail, and the Y-axis pulley is connected to the bottom of the second slide plate. A second connecting plate is mounted on the side of the second slide plate, and a Y-axis motor is mounted on the second connecting plate. The Y-axis motor is connected to a Y-axis drive rod, and the Y-axis drive rod is connected to a first connector. The first connector is connected to the second slide plate. An X-axis motor is connected to the upper surface of the base plate, and the X-axis motor is connected to the X-axis drive rod via a pulley. A second connector is connected to the X-axis drive rod. A first connecting plate is connected to the side of the second connecting plate, and the first connecting plate is connected to the second connector.

[0039] As a preferred embodiment of the intelligent biological sample low-temperature storage system of the present invention, the lifting cylinder assembly includes a lifting cylinder shell, a heat insulation board, a copper foam evaporator, a fixed upper plate, a basket drive motor, a basket guide rail, a basket slider, a basket gripper, a transfer port, a counterweight, and a counterweight guide rail.

[0040] The basket drive motor is located on the upper side of the lifting cylinder shell. An insulation board is installed inside the lifting cylinder shell, and a copper foam evaporator is installed inside the insulation board. A fixed upper plate is installed at the upper end of the copper foam evaporator. A counterweight guide rail is installed on the side of the lifting cylinder shell. The counterweight and the counterweight guide rail are slidably connected. A basket guide rail is installed on the inner side of the insulation board. The lifting cylinder shell, the insulation board, and the copper foam evaporator are all provided with transfer ports.

[0041] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the shovel assembly includes a shovel motor, a shovel push plate, a push port, and a push frame.

[0042] The pusher frame is connected to the upper surface of the second slide plate. The pusher frame has a slot. The shovel motor is connected to the shovel pusher plate through the drive rod. The shovel pusher plate can be connected to the transfer port through the push port.

[0043] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, the tank assembly includes a double vacuum tank, a liquid nitrogen valve, a liquid nitrogen supply head, rotating support wheels, and a basket inlet and outlet.

[0044] The double vacuum tank has a basket inlet / outlet on the top, a liquid nitrogen valve on the outer side of the double vacuum tank, a liquid nitrogen supply head on the inner side of the double vacuum tank, and a rotating support wheel on the bottom side of the double vacuum tank; the storage compartment door can open or close the basket inlet / outlet.

[0045] As a preferred embodiment of the intelligent biological sample low-temperature storage system of the present invention, the basket rotation assembly includes a turntable shaft, a turntable, a turntable groove, a turntable motor, a basket, a storage tank, and a basket track.

[0046] The turntable motor is mounted on the base plate and connected to the turntable shaft. The turntable is connected to the turntable shaft. The turntable has a vertical turntable groove that can accommodate a basket. The basket has a storage slot and a basket track on its side. The turntable is housed inside a double vacuum tank.

[0047] As a preferred embodiment of the intelligent biological sample cryogenic storage system of the present invention, it further includes a display screen and a supporting shell;

[0048] A display screen is located on the side of the door assembly, and a supporting shell is located on the outer side of the operating chamber and the sample storage system.

[0049] The beneficial effects of this invention are as follows: This invention connects the transport container to the operating chamber through a transfer docking system, uses a gripping system to pick up cryopreservation tubes or whole plates of cryopreservation tubes from the transport container, and docks with a mobile transport system to transfer the cryopreservation tubes or whole plates of cryopreservation tubes to the sample storage system. The sample storage system is equipped with liquid nitrogen, which can effectively preserve biological samples. Attached Figure Description

[0050] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0051] Figure 1 This is a three-dimensional schematic diagram of an intelligent biological sample cryogenic storage system.

[0052] Figure 2 A three-dimensional schematic diagram of the operating chamber of an intelligent biological sample cryogenic storage system.

[0053] Figure 3 A three-dimensional schematic diagram of the hidden chamber shell and supporting shell of an intelligent biological sample cryogenic storage system.

[0054] Figure 4A three-dimensional schematic diagram of a hidden sample storage system for intelligent biological sample cryogenic storage.

[0055] Figure 5 This is a magnified view of point F1 in the intelligent biological sample cryogenic storage system.

[0056] Figure 6 This is a schematic diagram of the transfer and docking system for an intelligent biological sample cryogenic storage system.

[0057] Figure 7 A top cross-sectional view of the square chamber of an intelligent biological sample cryogenic storage system.

[0058] Figure 8 An enlarged view of the robotic arm component of an intelligent biological sample cryogenic storage system.

[0059] Figure 9 An enlarged view of the tube-picking storage component of an intelligent biological sample cryogenic storage system.

[0060] Figure 10 A three-dimensional schematic diagram of the lifting cylinder assembly of an intelligent biological sample cryogenic storage system.

[0061] Figure 11 A schematic diagram of the disassembly of the lifting cylinder assembly for an intelligent biological sample cryogenic storage system.

[0062] Figure 12 A three-dimensional schematic diagram of the tank components of an intelligent biological sample cryogenic storage system.

[0063] Figure 13 This is a cross-sectional view of the tank assembly of an intelligent cryogenic storage system for biological samples.

[0064] Figure labels;

[0065] Operating chamber, 100; Transfer and docking system, 200; Gripping system, 300; Moving and transporting system, 400; Sample storage system, 500; Robotic arm assembly, 301; Tube picking and storage assembly, 320; Gripper head assembly, 330; Barcode scanner, 340; Support chamber assembly, 210; Sliding assembly, 250; Door assembly, 230; Docking door assembly, 240; Opening assembly, 410; Moving shaft assembly, 420; Shovel plate assembly, 450; Lifting cylinder assembly, 460; Transfer tank, 280; Base plate, 110; Chamber shell, 120; Observation window, 130; Maintenance panel opening, 140; Tank body assembly, 510; Basket rotation Component, 520; Rotating arm, 311; Gripper fixing head, 312; Support plate, 331; Pipe clamping head, 332; Clamping plate frame head, 333; Quick change head, 334; Pipe picking groove, 321; Pipe picking groove box, 322; Pipe picking temporary storage rack, 323; Support slide rail plate, 251; First sliding plate, 252; First sliding connecting plate, 253; Second sliding plate, 254; Conveyor belt, 255; Conveyor wheel, 256; First roller, 267; Second roller, 268; Sliding plate motor, 269; Third drive shaft, 270; Third connector, 271; Transfer door, 231; Connecting rod, 232; Transfer door drive motor, 233; Transfer 234; Lead screw, 235; Transfer slider, 236; Transfer door support frame, 236; Channel opening, 241; Revolving door, 242; Revolving door motor, 243; Upper cover temporary storage slot, 244; Storage compartment door, 411; Storage compartment door motor, 403; X-axis guide rail, 421; First slide plate, 422; Y-axis guide rail, 423; X-axis motor, 424; X-axis motor slide rail, 425; Y-axis motor, 426; Y-axis drive rod, 427; Second slide plate, 428; First connecting plate, 429; Second connecting plate, 430; First connector, 431; Second connector, 432; X-axis drive rod, 433; Lifting cylinder outer shell, 461; Insulation board 462; Copper foam evaporator; 463; Fixed upper plate; 464; Basket drive motor; 465; Basket guide rail; 466; Basket slider; 467; Basket gripper; 468; Transfer port; 469; Shovel motor; 451; Shovel pusher plate; 452; Push port; 453; Pusher frame; 454; Double vacuum tank; 511; Liquid nitrogen valve; 512; Liquid nitrogen supply head; 513; Rotating support wheel; 514; Basket inlet and outlet; 515; Turntable shaft; 521; Turntable; 527; Turntable groove; 522; Turntable motor; 523; Basket; 524; Storage tank; 525; Display screen; 600; Support shell; 700; Detailed Implementation

[0066] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0067] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0068] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0069] Example 1

[0070] Reference Figures 1-3 This is the first embodiment of the present invention, which provides an intelligent biological sample cryogenic storage system, comprising an operating chamber 100, a transfer docking system 200, a gripping system 300, a mobile transport system 400, and a sample storage system 500. The operating chamber 100 can accommodate the gripping system 300 and the mobile transport system 400. After the transfer docking system 200 docks with the operating chamber 100, the gripping system 300 can retrieve and place cryopreservation tubes from the transfer docking system 200 and the mobile transport system 400. After the mobile transport system 400 docks with the sample storage system 500, it can store and retrieve individual cryopreservation tubes or entire plates of cryopreservation tubes.

[0071] Specifically, it includes an operating chamber 100, a transfer and docking system 200, a gripping system 300, a mobile transport system 400, and a sample storage system 500.

[0072] The transfer docking system 200 can dock with the operating chamber 100. The gripping system 300 can rotate and grip the transfer docking system 200 and the mobile transport system 400. The gripping system 300 and the mobile transport system 400 are located inside the operating chamber 100. The mobile transport system 400 can move within the operating chamber 100. The sample storage system 500 is located below the operating chamber 100. The mobile transport system 400 can dock with the sample storage system 500.

[0073] In summary, this invention uses a transfer docking system 200 to dock the transport container with the operating chamber 100, and a gripping system 300 to grasp cryopreservation tubes or whole plates of cryopreservation tubes in the transport container. It then docks with a mobile transport system 400 to transfer the cryopreservation tubes or whole plates of cryopreservation tubes to the sample storage system 500. The sample storage system 500 is equipped with liquid nitrogen, which can effectively preserve biological samples.

[0074] Example 2

[0075] Reference Figures 1-13 This is the second embodiment of the present invention. In the previous embodiment, the intelligent biological sample cryopreservation system comprises an operating chamber 100, a transfer docking system 200, a gripping system 300, a mobile transport system 400, and a sample storage system 500. The operating chamber 100 can accommodate the gripping system 300 and the mobile transport system 400. After the transfer docking system 200 docks with the operating chamber 100, the gripping system 300 can retrieve and place cryopreservation tubes from the transfer docking system 200 and the mobile transport system 400. After the mobile transport system 400 docks with the sample storage system 500, it can store and retrieve individual cryopreservation tubes or entire plates of cryopreservation tubes.

[0076] Specifically, it includes an operating chamber 100, a transfer and docking system 200, a gripping system 300, a mobile transport system 400, and a sample storage system 500.

[0077] The transfer docking system 200 can dock with the operating chamber 100. The gripping system 300 can rotate and grip the transfer docking system 200 and the mobile transport system 400. The gripping system 300 and the mobile transport system 400 are located inside the operating chamber 100. The mobile transport system 400 can move within the operating chamber 100. The sample storage system 500 is located below the operating chamber 100. The mobile transport system 400 can dock with the sample storage system 500.

[0078] Furthermore, the gripping system 300 includes a robotic arm assembly 310, a tube picking and storage assembly 320, a gripper head assembly 330, and a barcode scanner 340;

[0079] The robotic arm assembly 310 can be connected and replaced with the gripper head assembly 330. The robotic arm assembly 310 drives the gripper head assembly 330 to grab the cryopreservation tubes in the transfer docking system 200 and place them in the tube picking and storage assembly 320. The barcode scanner 340 can be used to scan a single cryopreservation tube or an entire board frame.

[0080] Furthermore, the transfer and docking system 200 includes a support compartment assembly 210, a sliding assembly 250, a hatch assembly 230, and a docking door assembly 240;

[0081] The sliding assembly 250 can slide within the support compartment assembly 210, the hatch assembly 230 can seal and close the support compartment assembly 210, and the docking door assembly 240 is located within the operating chamber 100.

[0082] Furthermore, the mobile handling system 400 includes an opening assembly 410, a moving shaft assembly 420, a shovel assembly 450, and a lifting cylinder assembly 460;

[0083] The hatch opening assembly 410 is installed in the operating chamber 100. The moving shaft assembly 420 can drive the shovel assembly 450 and the lifting cylinder assembly 460 to move. The side of the shovel assembly 450 is connected to the lower side of the lifting cylinder assembly 460.

[0084] Furthermore, the transfer docking system 200 also includes a transfer tank 280, which is located above the sliding assembly 250, and the hatch assembly 230 can close or open the support cabin assembly 210.

[0085] Furthermore, the operating chamber 100 includes a reference plate 110, a chamber shell 120, an observation window 130, and a maintenance panel opening 140;

[0086] A chamber housing 120 is provided above the reference plate 110, and an internal operating cavity is formed between the reference plate 110 and the chamber housing 120. An observation window 130 is provided on the front end face of the chamber housing 120, and a maintenance plate opening 140 is provided above the chamber housing 120.

[0087] Preferably, the observation window 130 allows observation of the operation process of the internal operating cavity, and the reserved maintenance port 140 allows for easy access for maintenance when internal components malfunction.

[0088] Furthermore, the sample storage system 500 includes a tank assembly 510 and a basket rotation assembly 520;

[0089] The hatch opening assembly 410 can seal the tank assembly 510, and the tank assembly 510 is equipped with a basket rotating assembly 520.

[0090] Furthermore, the robotic arm assembly 310 includes a rotating arm 311 and a gripper fixing head 312;

[0091] The bottom of the rotating arm 311 is fixed to the base plate 110. Multiple sets of rotating support shafts are provided on the rotating arm 311. The rotating arm 311 can move in multiple directions and angles under the drive of the multiple sets of rotating support shafts. The gripper fixing head 312 is located at the front end of the rotating arm 311.

[0092] Preferably, the rotating arm 311 is composed of multiple rotating shafts, which allows the rotating arm 311 to rotate in any direction. The front end of the rotating arm 311 is fixedly installed with a gripper fixing head 312. The gripper fixing head 312 can be installed with a pipe clamping head 332 or a clamping plate frame head 333. It is only necessary to connect the gripper fixing head 312 with the quick-change head 334.

[0093] Furthermore, the gripper assembly 330 includes a support plate 331, a pipe clamping head 332, a clamping plate frame head 333, and a quick-change head 334;

[0094] The support plate 331 is positioned above the pipe-picking storage assembly 320. A quick-change head 334 is connected above both the pipe clamping head 332 and the clamping plate head 333. The support plate 331 has two slots, in which the pipe clamping head 332 and the clamping plate head 333 are placed respectively. The gripper fixing head 312 can quickly replace the pipe clamping head 332 or the clamping plate head 333 using the quick-change head 334. The barcode scanner 340 is positioned on the support plate 331.

[0095] Preferably, a quick-change head 334 is fixedly installed above both the tube clamping head 332 and the clamping plate head 333, and the gripper fixing head 312 can be quickly connected to the quick-change head 334; the tube clamping head 332 can be used to grip a single tube biological sample, while the clamping plate head 333 can grip a whole plate of biological samples or other items that need to be gripped.

[0096] Furthermore, the tube picking storage component 320 includes a tube picking slot 321, a tube picking slot box 322, and a tube picking temporary storage rack 323;

[0097] The pipe picking box 322 is connected to the reference plate 110. The pipe picking box 322 has a pipe picking slot 321, and a pipe picking temporary storage rack 323 is provided in the pipe picking slot 321.

[0098] Preferably, the support plate 331 is set on the upper end face of the tube picking slot box 322 and fixedly connected. Similarly, the support plate 331 has the same slot as the tube picking slot 321, and the support plate 331 extends outward and has three slots in the extended part. The middle slot is used to place the barcode scanner 340. The barcode scanner 340 can scan and retrieve single tube cryopreservation tubes, whole plate cryopreservation plates, or other biological samples. The slots on the front and rear sides of the barcode scanner 340 are used to place the tube clamping head 332 and the plate clamping head 333. When needed, the gripper fixing head 312 is directly fixed to the quick-change head 334 to replace the tube clamping head 332 or the plate clamping head 333.

[0099] Preferably, the tube picking box 322 is fixed to the base plate 110 by bolts or other fasteners. The tube picking box 322 has a tube picking slot 321 inside, and a tube picking temporary storage rack 323 is provided inside the tube picking slot 321. The tube picking temporary storage rack 323 can hold both single tube biological samples and whole plate biological samples. The tube picking temporary storage rack 323 is mainly used for temporary storage of biological samples.

[0100] Furthermore, the support cabin assembly 210 includes a square cabin 211, a front opening slot 212, and an upper opening slot 213;

[0101] The upper end face of the square compartment 211 is connected and fixed to the lower end face of the reference plate 110. A front opening slot 212 is provided inside the square compartment 211, and an upper opening slot 213 is provided at the upper end of the square compartment 211.

[0102] Furthermore, the sliding assembly 250 includes a supporting slide rail plate 251, a first sliding plate 252, a first sliding connecting plate 253, a second sliding plate 254, a conveyor belt 255, a conveyor wheel 256, a first roller 267, a second roller 268, a sliding plate motor 269, a third drive shaft 270, and a third connector 271.

[0103] A support slide rail plate 251 is installed inside a square compartment 211. A first sliding plate 252 is connected to a first roller 267. A first sliding connecting plate 253 is connected to the first sliding plate 252. An opening groove is provided on the first sliding connecting plate 253. A conveyor wheel 256 is installed in the opening groove and connected to the first sliding connecting plate 253. Two sets of conveyor wheels 256 are arranged in the front and rear. The two sets of conveyor wheels 256 are connected by a conveyor belt 255. A connecting block is provided on the conveyor belt 255. The connecting block is connected to a second sliding plate 254. A second roller 268 is connected to the second sliding plate 254. The second roller 268 can slide along the guide groove on the inner side of the first sliding plate 252. The second sliding plate 254 is located on the upper side of the first sliding connecting plate 253. A sliding plate motor 269 is connected to a third drive shaft 270 through a pulley. A third connector 271 is connected to the third drive shaft 270. The third connector 271 is connected to the first sliding connecting plate 253.

[0104] Preferably, the support slide rail 251 is disposed on the upper end surface of the bottom plate of the square compartment 211, and two sets of support slide rail 251 are symmetrically arranged. Multiple sets of first rollers 267 are fixedly connected to the inner bottom of the first sliding plate 252, and the outer bottom of the support slide rail 251 is provided with a recessed first roller groove to accommodate the movement of the multiple sets of first rollers 267. The first sliding plates 252 are symmetrically arranged, and the two sets of first sliding plates 252 are fixedly connected by a first sliding connecting plate 253. The first sliding connecting plate 253 is provided with an opening groove, and two sets of front and rear transmission wheels 256 are disposed in the opening groove. The two sets of conveyor wheels 256 are connected by a conveyor belt 255. A connecting block is fixedly installed on the conveyor belt 255. The connecting block is fixedly connected to the bottom of the second sliding plate 254 by bolts or other fasteners. Multiple sets of second rollers 268 are fixedly connected to both sides of the bottom of the second sliding plate 254. The second rollers 268 are provided with second roller recesses at opposite positions on the inner side of the first sliding plate 252. The multiple sets of second rollers 268 can slide in the second roller recesses, so that the second sliding plate 254 can slide on the first sliding connecting plate 253.

[0105] Preferably, the third sliding shaft supports the third drive shaft 270, and the third connector 271 is connected to the third drive shaft 270. When the third drive shaft 270 rotates forward and backward, it can drive the third connector 271 to move back and forth. The third drive shaft 270 can be a lead screw or other transmission device. It is sufficient for the third drive shaft 270 to rotate to drive the third connector 271 to move back and forth. The third connector 271 is fixedly connected to the bottom of the first sliding connecting plate 253. The sliding plate motor 269 can drive the third drive shaft 270 on the side to rotate through the pulley, providing power to the third drive shaft 270.

[0106] The transfer tank 280 is mounted on the first sliding connecting plate 253 and / or the second sliding plate 254.

[0107] Preferably, the transfer tank 280 can be placed on the second sliding plate 254, or on the first sliding connecting plate 253, or both.

[0108] Furthermore, the door assembly 230 includes a transfer door 231, a connecting rod 232, a transfer door drive motor 233, a transfer screw 234, a transfer slider 235, and a transfer door support frame 236;

[0109] The transfer door support frame 236 is fixedly installed on the front end face of the square compartment 211, and the transfer door drive motor 233 is fixedly installed on the side end face of the square compartment 211. The transfer door drive motor 233 is connected to the transfer screw 234, and the transfer slider 235 is connected to the transfer screw 234. The height of the transfer door drive motor 233 is higher than the height of the transfer door 231. The transfer door support frame 236 is provided with a vertical slot. The transfer slider 235 and the transfer door 231 are connected by a connecting rod 232 passing through the vertical slot and connecting to the transfer slider 235 and the transfer door 231.

[0110] It should be noted that the transfer door support frame 236 is fixedly installed on the front end face of the square compartment 211. The transfer door support frame 236 has corresponding slots to facilitate the entry of the transfer tank 280 into the square compartment 211. The end of the transfer door 231 connected to the square compartment 211 is fixed by a pin, ensuring that the transfer door 231 can rotate along the pin, thereby closing with the transfer door support frame 236, thus sealing the square compartment 211. One end of the connecting rod 232 is connected to the transfer door 231, and the other end is connected to the transfer slider. Connect 235. The position of the transfer door drive motor 233 is higher than the horizontal position of the transfer door 231. In this way, the connecting rod 232 will be higher at one end of the transfer slider 235 and lower at one end of the transfer door 231. The forward and reverse rotation of the transfer door drive motor 233 can drive the transfer screw 234 to rotate. The rotation of the transfer screw 234 will drive the transfer slider 235 to move back and forth. The transfer slider 235 will drive the connecting rod 232, thereby driving the transfer door 231 to open or close the square compartment 211 around the pin.

[0111] It should be noted that when the transfer door 231 is in the horizontal position, it can be used to support the first sliding plate 252, the first sliding connecting plate 253, and the second sliding plate 254. After the first sliding plate 252, the first sliding connecting plate 253, and the second sliding plate 254 enter the square compartment 211, the transfer door 231 can close or open the square compartment 211 along the pin.

[0112] Furthermore, the docking door assembly 240 includes a channel opening 241, a rotating door 242, a rotating door motor 243, a rotating door motor shaft, a rotating door base, and a top cover storage slot 244;

[0113] The passage opening is set on the reference plate 110 and is aligned with the opening position of the upper opening slot 213. The rotating door base is fixed to the upper surface of the reference plate 110. A round hole is provided on the rotating door base, and the rotating door motor shaft is set in the round hole. One end of the rotating door motor shaft is connected to the rotating door motor 243. The rotating door 242 is connected and fixed to the rotating door motor shaft. The rotating door 242 can cover the passage opening 241. A top cover temporary storage slot 244 is provided on the reference plate 110 and is located on one side of the passage opening 241.

[0114] Preferably, the reference plate 110 has a channel opening 241, and the channel opening 241 is located directly above the upper opening slot 213. The rotating door motor 243 can drive the rotating door motor shaft to rotate, and the rotating door motor shaft drives the rotating door 242 to rotate. The rotating door 242 can be placed into the channel opening 241 to achieve closure, or the channel opening 241 can be opened. The upper cover of the transfer tank 280 can be stored in the upper cover temporary storage slot 244. The rotating arm 311 and the gripper fixing head 312 drive the clamping head 332 or the clamping plate frame head 333 to open the upper cover of the transfer tank 280 and place it into the upper cover temporary storage slot 244.

[0115] Furthermore, the opening assembly 410 includes a storage compartment door 411, a storage compartment door motor 403, a storage compartment door motor shaft, and a storage compartment door motor base;

[0116] Storage compartment door motor 403 is connected to storage compartment door motor shaft, storage compartment door motor base supports storage compartment door motor shaft, storage compartment door 411 is connected and fixed to storage compartment door motor shaft, and storage compartment door motor base is fixedly connected to the upper end face of reference plate 110.

[0117] Preferably, the storage compartment door motor 403 can drive the storage compartment door motor shaft to rotate, and the storage compartment door motor shaft can drive the storage compartment door 411 to rotate. The reference plate 110 has a storage compartment passage opening, and the storage compartment door 411 can open or close the basket inlet / outlet 515 through the storage compartment passage opening.

[0118] Furthermore, the movable axis assembly 420 includes an X-axis guide rail 421, a first slide plate 422, a Y-axis guide rail 423, an X-axis motor 424, an X-axis motor slide rail 425, a Y-axis motor 426, a Y-axis drive rod 427, a second slide plate 428, a first connecting plate 429, a second connecting plate 430, a first connector 431, a second connector 432, and an X-axis drive rod 433;

[0119] X-axis guide rail 421 is fixedly mounted on reference plate 110. First slide plate 422 is mounted above X-axis guide rail 421. X-axis pulleys are installed inside X-axis guide rail 421. Multiple sets of X-axis pulleys are fixedly connected and mounted below first slide plate 422. Two sets of Y-axis guide rails 423 are mounted on slide plate 422. Y-axis pulleys are installed inside Y-axis guide rails. Second slide plate 428 is mounted above Y-axis guide rails 423. Y-axis pulleys are connected and mounted below second slide plate 428. Second connecting plate 430 is fixedly mounted on the side of second slide plate 428. A Y-axis motor is installed on the reference plate 110. The Y-axis motor is connected to the Y-axis drive rod 427. A first connector 431 is connected to the Y-axis drive rod 427. The first connector 431 is connected to the second slide plate 428. An X-axis motor 424 is connected to the upper surface of the reference plate 110. The X-axis motor 424 is connected to the X-axis drive rod 433 via a pulley. A second connector 432 is connected to the X-axis drive rod 433. A first connecting plate 429 is connected to the side end of the second connecting plate 430. The first connecting plate 429 and the second connector 432 are fixedly connected.

[0120] Preferably, the X-axis guide rails 421 are symmetrically arranged in two sets. The bottom sides of the first slide plate 422 are provided with X-axis pulleys corresponding to the X-axis guide rails 421. The X-axis base can support the X-axis drive rod 433. The X-axis motor 424 is connected to the X-axis drive rod 433 through a pulley. The X-axis motor can drive the X-axis drive rod 433 to rotate. The X-axis drive rod 433 drives the second connector 432 to move. The second connector 432 drives the first connecting plate 429 to move.

[0121] Preferably, the Y-axis drive rod 427 and the X-axis drive rod 433 can be lead screws, and the first connector 431 and the second connector 432 are connected to the lead screws to realize the forward and backward movement of the first connector 431 and the second connector 432.

[0122] Furthermore, the lifting cylinder assembly 460 includes a lifting cylinder shell 461, an insulation board 462, a foamed copper evaporator 463, a fixed upper plate 464, a basket drive motor 465, a basket guide rail 466, a basket slider 467, a basket gripper 468, a transfer port 469, a counterweight, and a counterweight guide rail.

[0123] The basket drive motor 465 is located on the upper side of the lifting cylinder shell 461. The lifting cylinder shell 461 is equipped with a heat insulation plate 462, which is fixedly connected to the inner side of the lifting cylinder shell 461. The heat insulation plate 462 is equipped with a copper foam evaporator 463, and a fixing plate 464 is provided at the upper end of the copper foam evaporator 463. The fixing plate 464 can fix the copper foam evaporator 463. The side of the lifting cylinder shell 461 is equipped with a counterweight guide rail, and the counterweight and the counterweight guide rail are slidably connected. The inner side of the heat insulation plate 462 is equipped with a basket guide rail 466. The lifting cylinder shell 461, the heat insulation plate 462, and the copper foam evaporator 463 are all provided with transfer ports 469. The transfer ports 469 on the copper foam evaporator 463 are not shown in the figure. The gears on the basket drive motor 465 and the basket guide rail 466 (not shown in the figure) are connected by a chain. The gears on the basket guide rail 466 are located below the basket guide rail 466. The basket slider 467 is fixedly connected to the chain and the basket gripper 468. When the basket drive motor 465 rotates, it drives the chain to rotate, thereby driving the basket slider 467 to rise and fall. The basket slider 467 is equipped with pulleys, which can move up and down along the basket guide rail 466 during the lifting and lowering process.

[0124] Furthermore, the shovel assembly 450 includes a shovel motor 451, a shovel pusher plate 452, a pusher port 453, and a pusher frame 454;

[0125] The pusher frame 454 is fixedly connected to the upper surface of the second slide plate 428. The side of the pusher frame 454 is connected to the outer shell 461 of the lifting cylinder. The pusher frame 454 has a slot, and the pusher plate 452 is installed in the slot. The shovel motor 451 is connected to the shovel pusher plate 452 through the drive rod. The shovel pusher plate 452 can be connected to the transfer port 469 through the push port 453.

[0126] Furthermore, the tank assembly 510 includes a double vacuum tank 511, a liquid nitrogen valve 512, a liquid nitrogen supply head 513, a rotating support wheel 514, and a basket inlet / outlet 515;

[0127] The double vacuum tank 511 has a basket inlet / outlet 515 on its upper part, a liquid nitrogen valve 512 on its outer side, a liquid nitrogen supply head 513 on its inner side, and a rotating support wheel 514 on its bottom side. The storage compartment door 411 can open or close the basket inlet / outlet 515.

[0128] Preferably, the liquid nitrogen supply head 513 can be controlled by the liquid nitrogen valve 512 to supply liquid nitrogen to the dual vacuum tank 511.

[0129] Furthermore, the basket rotation assembly 520 includes a turntable shaft 521, a turntable 527, a turntable groove 522, a turntable motor 523, a basket 524, a storage groove 525, and a basket track;

[0130] The turntable motor 523 is mounted on the base plate 110. The turntable motor 523 is connected to the turntable shaft 521. The turntable 527 is connected to the turntable shaft 521. The turntable 527 has a vertical turntable groove 522. The turntable groove 522 can accommodate the basket 524. The basket 524 is provided with a storage slot 525. The side of the basket 524 is provided with a basket track. The turntable 527 is located inside the double vacuum tank 511.

[0131] Preferably, the turntable motor 523 can control the turntable shaft 521 to move within the dual vacuum tank 511, and the turntable shaft 521 can drive the turntable 527 to move. The turntable 527 has multiple sets of turntable slots 522 vertically, and multiple sets of baskets 524 can be set in the multiple sets of turntable slots 522. Multiple sets of multi-layer storage slots 525 are set in the baskets 524. The storage slots 525 can accommodate single cryopreservation tubes or whole plate cryopreservation tubes or store other biological samples.

[0132] Furthermore, it also includes a display screen 600 and a supporting housing 700;

[0133] A display screen is provided on the side of the door assembly 230, and a supporting shell is provided on the outer side of the operating chamber 100 and the sample storage system 500.

[0134] Ideally, the entire operating system can be controlled and commands can be issued via the display screen 600.

[0135] The complete usage process is as follows:

[0136] The transfer docking system 200 operates as follows: First, the transfer tank 280 is placed on the first sliding connecting plate 253. The transfer tank 280 can also be placed on the second sliding plate 254, or both the first and second sliding plates 253 and 254 can be used. Then, the sliding plate motor 269 drives the third drive shaft 270 to rotate via a pulley. Simultaneously, the rotation drives the third connector 271 to move. The third connector 271 drives the first sliding connecting plate 253 to move, and the second sliding plate 254, located on the first sliding connecting plate 253, also moves accordingly. The first sliding connecting plate 253 drives the first sliding plate 252... The first roller 267 moves along the recessed first roller groove on the support slide rail plate 251, thereby transporting the transfer tank 280 into the square compartment 211. Then, the transfer door drive motor 233 can be started, which drives the transfer screw 234 to rotate. The transfer screw 234 drives the transfer slider 235 to move, and the transfer slider 235 drives the connecting rod 232 to move. The connecting rod 232 drives the transfer door 231 to close along the pin and the transfer door support frame 236, thereby sealing the square compartment 211. After sealing, the rotating door motor 243 can be used to drive the rotating door 242 away from the passage opening 241.

[0137] The gripping system operates as follows: The rotating arm 311 drives the gripper fixing head 312 to first install the tube clamping head 332 or the clamping plate head 333 via the quick-change head 334 to grip open the top cover of the transport container 280 and place the top cover into the top cover temporary storage slot 244. Then, depending on whether the biological sample in the transport container 280 is a single-tube cryopreservation tube or a whole plate cryopreservation tube, if it is a single-tube cryopreservation tube, the gripper fixing head 312 will switch to the tube clamping head 332 via the quick-change head 334 to grip the single tube. If it is a whole plate sample, the gripper fixing head 312 will switch to the clamping plate head 333 via the quick-change head 334 to grip it. After gripping, it is placed on the barcode scanner 340 for scanning and registration. Then, the rotating arm 311 temporarily places the biological sample into the tube picking temporary storage rack 323.

[0138] The operation process of the mobile handling system 400 and the sample storage system 500 is as follows: First, the lifting cylinder assembly 460 is moved to a position that does not affect the opening of the storage compartment door 411 by the moving shaft assembly 420. Then, the storage compartment door motor 403 drives the storage compartment door 411 to open. After opening, the moving shaft assembly 420 aligns the lifting cylinder assembly 460 with the basket inlet / outlet 515 on the double vacuum tank 511. Then, the turntable shaft 521 inside the double vacuum tank 511 begins to rotate under the drive of the turntable motor 523. The basket 524 inside the tray 522 also begins to rotate. When the system determines which storage slot 525 inside the basket 524 is empty, it aligns the empty basket 524 in the tray 522 with the basket inlet / outlet 515 and then stops rotating. Next, the gears on the basket drive motor 465 and the basket guide rail 466 are connected via a chain. The basket slider 467 is fixedly connected to the chain. Then, the basket gripper 468 grips the upper end of the basket 524, and the basket drive motor 465 drives the chain via the gears from... The lifting basket slider 467 is raised, which in turn raises the basket 524. The lifting basket slider 467 rises along the basket guide rail 466. When the basket 524 is fully inside the copper foam evaporator 463, the copper foam evaporator 463 sprays liquid nitrogen to ensure that the sample inside the basket 524 remains at a deep cryogenic state. The insulation plate 462 provides insulation. The gripper fixing head 312 on the rotating arm 311 can quickly replace the clamping head 332 or the clamping plate bracket head 333 via the quick-change head 334. Then, the cryopreservation tubes or cryopreservation tube racks temporarily placed in the tube storage rack 323 are picked up and placed on the shovel push plate 452 in the push rack 454. The shovel motor 451 pushes the single tube biological sample or whole plate biological sample on the shovel push plate 452 through the push port 453 and the transfer port 469 to the storage slot 525 on the basket 524. After placement, the basket 524 can be placed into the double vacuum tank 511, and the storage door motor 403 drives the storage door 411 to close.

[0139] In summary, this invention uses a transfer docking system 200 to dock the transport container with the operating chamber 100, and a gripping system 300 to grasp cryopreservation tubes or whole plates of cryopreservation tubes in the transport container. It then docks with a mobile transport system 400 to transfer the cryopreservation tubes or whole plates of cryopreservation tubes to the sample storage system 500. The sample storage system 500 is equipped with liquid nitrogen, which can effectively preserve biological samples.

[0140] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0141] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0142] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0143] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An intelligent cryogenic storage system for biological samples, characterized in that: It includes an operating chamber (100), a transfer and docking system (200), a gripping system (300), a mobile transport system (400), and a sample storage system (500). The transfer docking system (200) can dock with the operating chamber (100), the gripping system (300) can rotate and grip the transfer docking system (200) and the mobile transport system (400), the gripping system (300) and the mobile transport system (400) are located in the operating chamber (100), the mobile transport system (400) can move in the operating chamber (100), the sample storage system (500) is located below the operating chamber (100), and the mobile transport system (400) can dock with the sample storage system (500); The transfer docking system (200) can dock with the operating chamber (100), the gripping system (300) can rotate and grip the transfer docking system (200) and the mobile transport system (400), the gripping system (300) and the mobile transport system (400) are located in the operating chamber (100), the mobile transport system (400) can move in the operating chamber (100), the sample storage system (500) is located below the operating chamber (100), and the mobile transport system (400) can dock with the sample storage system (500); The gripping system (300) includes a robotic arm assembly (310), a tube picking and storage assembly (320), a gripper head assembly (330), and a barcode scanner (340). The robotic arm assembly (310) can be connected and replaced with the gripper head assembly (330). The robotic arm assembly (310) drives the gripper head assembly (330) to grab the cryopreservation tubes in the transfer docking system (200) and place them in the tube picking and storage assembly (320). The barcode scanner (340) can be used to scan a single cryopreservation tube or an entire board frame. The transfer and docking system (200) includes a support cabin assembly (210), a sliding assembly (250), a hatch assembly (230), and a docking door assembly (240). The sliding assembly (250) can slide within the support cabin assembly (210), the hatch assembly (230) can seal and close the support cabin assembly (210), and the docking door assembly (240) is disposed within the operating chamber (100); The mobile handling system (400) includes an opening assembly (410), a moving shaft assembly (420), a shovel assembly (450), and a lifting cylinder assembly (460). The hatch opening assembly (410) is disposed in the operating chamber (100), and the moving shaft assembly (420) can drive the shovel assembly (450) and the lifting cylinder assembly (460) to move. The side of the shovel assembly (450) is connected to the lower side of the lifting cylinder assembly (460). The gripper assembly (330) includes a support plate (331), a pipe clamping head (332), a clamping plate frame head (333), and a quick-change head (334); The support plate (331) is disposed above the tube picking and storage assembly (320). A quick-change head (334) is connected above both the tube clamping head (332) and the clamping plate head (333). Two slots are opened on the support plate (331), and the tube clamping head (332) and the clamping plate head (333) are respectively placed in the slots. The robotic arm assembly (310) can quickly replace the tube clamping head (332) or the clamping plate head (333) using the quick-change head (334). The barcode scanner (340) is disposed on the support plate (331). The tube picking storage component (320) includes a tube picking slot (321), a tube picking slot box (322), and a tube picking temporary storage rack (323). The pipe picking box (322) is connected to the reference plate (110). The pipe picking box (322) has a pipe picking slot (321) inside, and a pipe picking temporary storage rack (323) is provided inside the pipe picking slot (321). The opening assembly (410) includes a storage door (411), a storage door motor (403), a storage door motor shaft, and a storage door motor base; The storage compartment door motor (403) is connected to the storage compartment door motor shaft, the storage compartment door motor base supports the storage compartment door motor shaft, the storage compartment door (411) is connected and fixed to the storage compartment door motor shaft, and the storage compartment door motor base is fixedly connected to the upper surface of the reference plate (110). The moving axis assembly (420) includes an X-axis guide rail (421), a first slide plate (422), a Y-axis guide rail (423), an X-axis motor (424), an X-axis motor slide rail (425), a Y-axis motor (426), a Y-axis drive rod (427), a second slide plate (428), a first connecting plate (429), a second connecting plate (430), a first connector (431), a second connector (432), an X-axis drive rod (433), and a reference plate (110). The X-axis guide rail (421) is mounted on the reference plate (110). The first slide plate (422) is mounted on the upper side of the X-axis guide rail (421). An X-axis pulley is mounted inside the X-axis guide rail (421). The X-axis pulley is connected and mounted below the first slide plate (422). A Y-axis guide rail (423) is mounted on the slide plate (422). A Y-axis pulley is mounted inside the Y-axis guide rail. The second slide plate (428) is mounted above the Y-axis guide rail (423). The Y-axis pulley is connected and mounted below the second slide plate (428). A second connecting plate (430) is mounted on the side of the second slide plate (428). A Y-axis pulley is mounted on the second connecting plate (430). The Y-axis motor (426) is connected to the Y-axis drive rod (427). The Y-axis drive rod (427) is connected to a first connector (431). The first connector (431) is connected to a second slide plate (428). The upper surface of the reference plate (110) is connected to an X-axis motor (424). The X-axis motor (424) is connected to the X-axis drive rod (433) via a pulley. The X-axis drive rod (433) is connected to a second connector (432). The side end of the second connecting plate (430) is connected to a first connecting plate (429). The first connecting plate (429) is connected to the second connector (432). The lifting cylinder assembly (460) includes a lifting cylinder shell (461), a heat insulation board (462), a copper foam evaporator (463), a fixed upper plate (464), a basket drive motor (465), a basket guide rail (466), a basket slider (467), a basket gripper (468), a transfer port (469), a counterweight, and a counterweight guide rail; The basket drive motor (465) is located on the upper side of the lifting cylinder shell (461). The lifting cylinder shell (461) is provided with a heat insulation board (462). The heat insulation board (462) is provided with a copper foam evaporator (463). The upper end of the copper foam evaporator (463) is provided with a fixed upper plate (464). The side of the lifting cylinder shell (461) is provided with a counterweight guide rail. The counterweight and the counterweight guide rail are slidably connected. The inner side of the heat insulation board (462) is provided with a basket guide rail (466). The lifting cylinder shell (461), the heat insulation board (462), and the copper foam evaporator (463) are all provided with a transfer port (469). The shovel assembly (450) includes a shovel motor (451), a shovel pusher plate (452), a pusher port (453), and a pusher frame (454). The pusher frame (454) is connected to the upper surface of the second slide plate (428). The pusher frame (454) has a slot. The shovel motor (451) is connected to the shovel push plate (452) through a drive rod. The shovel push plate (452) can be connected to the transfer port (469) through the push port (453).

2. The intelligent biological sample cryogenic storage system as described in claim 1, characterized in that: The transfer docking system (200) also includes a transfer tank (280), which is located above the sliding assembly (250), and the hatch assembly (230) can close or open the support cabin assembly (210).

3. The intelligent biological sample cryogenic storage system as described in claim 1, characterized in that: The operating chamber (100) includes a reference plate (110), a chamber shell (120), an observation window (130), and a maintenance panel opening (140). A chamber shell (120) is provided above the reference plate (110), and an internal operating cavity is formed between the reference plate (110) and the chamber shell (120). An observation window (130) is provided on the front end face of the chamber shell (120), and a maintenance plate opening (140) is provided above the chamber shell (120).

4. The intelligent biological sample cryogenic storage system as described in claim 1, characterized in that: The sample storage system (500) includes a tank assembly (510) and a basket rotation assembly (520). The hatch opening assembly (410) can seal the tank assembly (510), and the tank assembly (510) is provided with a basket rotating assembly (520).

5. The intelligent biological sample cryogenic storage system as described in claim 1, characterized in that: The robotic arm assembly (310) includes a rotating arm (311) and a gripper fixing head (312). The bottom of the rotating arm (311) is fixed to the reference plate (110). Multiple sets of rotating support shafts are provided on the rotating arm (311). The rotating arm (311) can move in multiple directions and angles under the drive of the multiple sets of rotating support shafts. The gripper fixing head (312) is provided at the front end of the rotating arm (311).

6. The intelligent biological sample cryogenic storage system as described in claim 2, characterized in that: The support cabin assembly (210) includes a square cabin (211), a front opening slot (212), and an upper opening slot (213). The upper end face of the square compartment (211) is connected and fixed to the lower end face of the reference plate (110). A front opening groove (212) is provided inside the square compartment (211), and an upper opening groove (213) is provided at the upper end of the square compartment (211).

7. The intelligent biological sample cryogenic storage system as described in claim 6, characterized in that: The sliding assembly (250) includes a supporting slide rail plate (251), a first sliding plate (252), a first sliding connecting plate (253), a second sliding plate (254), a conveyor belt (255), a conveyor wheel (256), a first roller (267), a second roller (268), a sliding plate motor (269), a third drive shaft (270), and a third connector (271); The supporting slide rail plate (251) is installed inside the square compartment (211). The first sliding plate (252) is connected to the first roller (267), and the first sliding connecting plate (253) is connected to the first sliding plate (252). The first sliding connecting plate (253) is provided with an opening groove. The conveyor wheel (256) is installed in the opening groove and connected to the first sliding connecting plate (253). Two sets of the conveyor wheels (256) are arranged in front and behind, and the two sets of conveyor wheels (256) are connected by a conveyor belt (255). The conveyor belt (255) is provided with a connecting block. The connecting block is connected to the second sliding plate (254), and the second sliding plate (254) is connected to a second roller (268). The second roller (268) can slide along the guide groove on the inner side of the first sliding plate (252). The second sliding plate (254) is located on the upper side of the first sliding connecting plate (253). The sliding plate motor (269) is connected to the third drive shaft (270) through a pulley. The third drive shaft (270) is connected to a third connector (271), and the third connector (271) is connected to the first sliding connecting plate (253). The transfer tank (280) is disposed on the first sliding connecting plate (253) and / or the second sliding plate (254).

8. The intelligent biological sample cryogenic storage system as described in claim 6, characterized in that: The door assembly (230) includes a transfer door (231), a connecting rod (232), a transfer door drive motor (233), a transfer screw (234), a transfer slider (235), and a transfer door support frame (236). The transfer door support frame (236) is located on the front end face of the square compartment (211), the transfer door drive motor (233) is located on the side end face of the square compartment (211), the transfer door drive motor (233) is connected to the transfer screw (234), the transfer slider (235) is connected to the transfer screw (234), the height of the transfer door drive motor (233) is higher than the height of the transfer door (231), the transfer door support frame (236) is provided with a vertical slot, the transfer slider (235) is connected to the transfer door (231), and the connecting rod (232) passes through the vertical slot and is connected to the transfer slider (235) and the transfer door (231).

9. The intelligent biological sample cryogenic storage system as described in claim 6, characterized in that: The docking door assembly (240) includes a channel opening (241), a rotating door (242), a rotating door motor (243), a rotating door motor shaft, a rotating door base, and a top cover storage slot (244). The passage opening is set on the reference plate (110) and is aligned with the opening position of the upper opening slot (213). The rotating door base is fixed to the upper surface of the reference plate (110). A circular hole is provided on the rotating door base. The rotating door motor shaft is set in the circular hole. One end of the rotating door motor shaft is connected to the rotating door motor (243). The rotating door (242) is connected and fixed to the rotating door motor shaft. The rotating door (242) can cover the passage opening (241). A cover storage slot (244) is provided on the reference plate (110). The cover storage slot (244) is located on one side of the passage opening (241).

10. The intelligent biological sample cryogenic storage system as described in claim 4, characterized in that: The tank assembly (510) includes a double vacuum tank (511), a liquid nitrogen valve (512), a liquid nitrogen supply head (513), a rotating support wheel (514), and a basket inlet / outlet (515). The double vacuum tank (511) has a basket inlet / outlet (515) on its upper side. A liquid nitrogen valve (512) is provided on the outer side of the double vacuum tank (511). A liquid nitrogen supply head (513) is provided on the inner side of the double vacuum tank (511). A rotating support wheel (514) is provided on the bottom side of the double vacuum tank (511). The storage compartment door (411) can open or close the basket inlet / outlet (515).

11. The intelligent biological sample cryogenic storage system as described in claim 10, characterized in that: The basket rotating assembly (520) includes a turntable shaft (521), a turntable (527), a turntable groove (522), a turntable motor (523), a basket (524), a storage groove (525), and a basket track; The turntable motor (523) is mounted on the reference plate (110). The turntable motor (523) is connected to the turntable shaft (521). The turntable (527) is connected to the turntable shaft (521). The turntable (527) has a vertical turntable groove (522). The turntable groove (522) can accommodate a basket (524). The basket (524) has a storage slot (525). The side of the basket (524) has a basket track. The turntable (527) is mounted inside the double vacuum tank (511).

12. The intelligent biological sample cryogenic storage system as described in claim 1, characterized in that: It also includes a display screen (600) and a supporting housing (700); A display screen is provided on the side of the door assembly (230), and a supporting shell (700) is provided on the outer side of the operating chamber (100) and the sample storage system (500).

Images