Multi-channel biomedical sample access transfer system

Abstract

A multi-channel biological medicine sample access transfer system, comprising a sample bottle access device, a sample bottle storage unit, a sealing mechanism, a gas conveying mechanism and a transition transfer mechanism, the sample bottle access device, the sample bottle storage unit, the sealing mechanism and the gas conveying mechanism are sequentially arranged from top to bottom, the sample bottle access device comprises a support, an access unit and an access driving mechanism, the access driving mechanism is arranged on the support, the access driving mechanism drives the sample bottle storage transfer channel or the sample bottle nest transfer channel on the access unit to be connected with the transition transfer mechanism, or drives the sample bottle warehouse transfer channel or the sample bottle return warehouse transfer channel to be connected with the sample bottle storage unit. The above-mentioned system is placed in the environment required by the sample bottle storage, and constitutes a closed sample bottle storage and access system. The system realizes the closed and efficient storage and batch rapid taking out of the sample in the ultra-low temperature environment.

Description

Multi-channel biomedical sample storage and transfer system Technical Field

[0001] This invention relates to a device for storing samples in the biomedical field, belonging to the field of biomedical sample storage technology. Background Technology

[0002] The quality of samples is primarily affected by storage temperature, humidity, and time. This is especially true for items with stringent storage requirements, where even minor changes in the storage environment can impact their quality. Some samples are hard-won, and their loss or spoilage can cause irreparable damage. The safe storage and management of samples is a critical issue that urgently needs to be addressed, particularly the scientific management of samples in laboratories, which is crucial for the rapid development and orderly operation of the entire laboratory. Currently, there is a lack of unified management standards for sample information, resulting in a fragmented approach that is incompatible with high-throughput drug screening and severely hinders drug development efficiency.

[0003] Samples generally need to be stored in a frozen or refrigerated environment, and will also be taken out of the frozen or refrigerated environment. In either case, the door of the refrigerated environment (such as a refrigerator or freezer) needs to be opened. Sometimes this is done frequently, which causes air convection between the inside and outside, causing fluctuations in the refrigerated environment (temperature, humidity, etc.) and affecting the stability of the storage environment.

[0004] Currently, storage methods still rely on traditional refrigerators or freezers. This process involves repeated freezing and humidity fluctuations, which can easily degrade samples. Furthermore, the need for extensive searching during storage increases the risk of samples being missed. Standardized procedures for sample characterization and usage records are also lacking. The quality of stored samples is primarily affected by storage temperature, humidity, and time. This is especially true for items with stringent storage requirements, where even minor changes in the storage environment can negatively impact their quality.

[0005] CN102303763A discloses a "Honeycomb Composite Rotary Sample Storage Device," which includes a vertical shaft, sample storage disks, and a disk drive mechanism. The sample storage disks are mounted parallel to each other on the same vertical shaft. Sample cells and sample transfer channels are distributed on the sample storage disks. Each sample storage disk is connected to a disk drive mechanism, and each disk drive mechanism is mounted on a bracket fixed to the bottom of the vertical shaft. The sample cells are arranged in a ring shape, with at least two rings, all concentric, and each ring has at least one sample transfer channel. While this device solves the shortcomings of current sample storage methods by allowing it to be placed in a sealed storage environment and utilizing refrigeration, pneumatic, sensing, barcode recognition, database management, and network communication technologies to achieve automatic sample storage and intelligent data management, it suffers from the problem that "the vertical shaft and sample storage disks cannot adapt to ultra-low temperature environments, and the disk drive mechanism, especially the electrical system, has limited temperature adaptability," thus preventing it from operating in ultra-low temperature environments. Summary of the Invention

[0006] This invention addresses the shortcomings of existing biomedical sample storage technologies by providing a multi-channel biomedical sample storage and transfer system that meets the needs for large-capacity, low-temperature environments, and rapid batch sample storage and retrieval.

[0007] The multi-channel biomedical sample storage and transfer system of the present invention adopts the following technical solution:

[0008] The system includes a sample bottle storage and retrieval device, a sample bottle storage unit, a sealing mechanism, a gas delivery mechanism, and a transition transfer mechanism; the sample bottle storage and retrieval device, the sample bottle storage unit, the sealing mechanism, and the gas delivery mechanism are arranged sequentially from top to bottom;

[0009] The sample bottle storage and retrieval device includes a support, a storage and retrieval unit, and a storage and retrieval drive mechanism. The storage and retrieval drive mechanism is mounted on the support (the storage and retrieval unit operates under the drive of the storage and retrieval drive mechanism). The storage and retrieval unit includes a sample bottle nesting mechanism, a sample bottle outbound transfer channel, an outbound high-pressure gas channel, a nesting drive mechanism, a sample bottle storage transfer channel, a sample bottle inbound transfer channel, a sample bottle return transfer channel, and a return high-pressure gas channel. The sample bottle outbound transfer channel, the outbound high-pressure gas channel, the sample bottle storage transfer channel, the sample bottle inbound transfer channel, the sample bottle return transfer channel, and the return high-pressure gas channel are all mounted on the sample bottle nesting mechanism, which is connected to the nesting drive mechanism. At least one storage and retrieval drive mechanism is provided, which drives the sample bottle storage transfer channel or the sample bottle inbound transfer channel to connect with the transition transfer mechanism (specifically, the sample bottle transfer channel within the transition transfer mechanism), or drives the sample bottle outbound transfer channel or the sample bottle return transfer channel to connect with the sample bottle storage unit (specifically, the storage tube within the sample bottle storage unit).

[0010] Furthermore:

[0011] The sample bottle nesting mechanism includes a transition tray, a tray frame, and a rotating shaft (splined shaft). The transition tray is mounted on the rotating shaft, and the rotating shaft is mounted on the tray frame. The transition tray includes a nesting tray with gear teeth on its outer circumference, and sample bottle nests are distributed axially through the tray surface. The nesting drive mechanism includes a support, a motor, and a drive gear. The motor is mounted on the support, and the drive gear is mounted on the motor shaft, meshing with the gear teeth on the nesting tray. The tray frame and support are both mounted on a bracket. The transition tray is driven to rotate via gear transmission. The high-pressure gas outlet channel and the sample bottle outlet transfer channel are symmetrically installed with the sample bottle nests, and the high-pressure gas return channel and the sample bottle return transfer channel are also symmetrically installed with the sample bottle nests.

[0012] The sample bottle nesting mechanism is equipped with an identification device on its tray.

[0013] The access drive mechanism includes a main drive mechanism and a secondary drive mechanism, with the secondary drive mechanism connected to the power output end of the main drive mechanism. The main drive mechanism employs a lead screw and nut pair moving mechanism. The secondary drive mechanism employs an electric telescopic gripper, including an electric telescopic frame and a gripper. The electric telescopic frame is connected to the power output end of the main drive mechanism, and the gripper is connected to the end of the electric telescopic frame.

[0014] The sample bottle storage unit adopts a bundled tube structure, including a sealed box. A refrigerant exchange port is provided on the side wall of the sealed box. Storage tubes are vertically distributed inside the sealed box. The storage tubes are fixed by tube plates at the upper and lower ends of the sealed box. Both the upper and lower ends of the storage tubes are open.

[0015] The sealing mechanism includes a heat insulation frame and an upper partition, a middle partition, and a lower partition connected from top to bottom within the heat insulation frame. The upper partition has upper through holes with vent grooves engraved on their inner walls. The middle partition has circular through holes, each containing a sealing ball; the diameter of the circular through hole is larger than the diameter of the sealing ball. The lower partition has lower through holes. The diameter of the sealing ball is smaller than the inner diameter of the circular through hole but larger than the inner diameters of the upper and lower through holes. The distribution of the upper, circular, and lower through holes is consistent with the distribution of the storage tubes in the sample bottle storage unit. An arc-shaped spherical surface can be provided at the upper end of the lower through hole, with the diameter of the arc-shaped spherical surface not larger than the diameter of the sealing ball.

[0016] The gas delivery mechanism includes a frame, a gas delivery nozzle, a gas storage chamber, a gas delivery channel, and a transmission device. The transmission device is mounted on the frame, the gas storage chamber is connected to the transmission device, the gas delivery nozzle is connected to the gas storage chamber via a control valve, and the gas delivery channel is connected to the gas storage chamber. Gas is delivered into the gas storage chamber through the gas delivery channel. The transmission device drives the gas storage chamber to move, causing the gas delivery nozzle to align with the sealing mechanism (specifically, the lower through hole on the lower partition).

[0017] The transition transfer mechanism includes a sample bottle transfer channel, a sample bottle inlet / outlet, a transition transfer chamber, and a gas delivery pipe. The sample bottle transfer channel is connected above the transition transfer chamber. The transition transfer chamber contains a three-dimensional moving platform, a transition chamber, a sample bottle tray, and a transfer bracket. The transfer bracket is installed at the power output end of the three-dimensional moving platform. The transition chamber includes a frame and a tray. The tray is fixed in the frame, and the sample bottle tray is placed on the tray. The gas delivery pipe is located on the side wall of the transition chamber, with one end inside the chamber opposite the port of the sample bottle transfer channel, and the other end connected to a gas delivery mechanism (specifically, a gas delivery nozzle within the gas delivery mechanism). The sample bottle tray has a sample bottle placement hole on its body, and a transport slot at the bottom. The sample bottle placement hole is a stepped through-hole with a larger diameter at the top and a smaller diameter at the bottom. The sample bottle is placed at the top of the sample bottle placement hole, and the bottom of the hole is used for gas entry to blow the sample bottle out. The transfer tray is equipped with a transport claw, which has an air guide hole (when the sample bottle tray is placed on the transfer tray, the air guide hole corresponds to the sample bottle placement hole above it). When the sample bottle tray is transferred, the transport claw is inserted into the transport slot, and the gas enters the sample bottle placement hole through the through hole on the transport claw, blowing the sample bottle out.

[0018] The above system is placed in a temperature and humidity control chamber, or in other environments required for sample bottle storage. The temperature and humidity control chamber forms a sealed sample bottle storage and retrieval system. Sample bottles containing samples are stored in sample bottle storage units. The storage, retrieval, and preservation process of the sample bottles is completed through the combined action of the sample bottle storage and retrieval mechanism, sealing mechanism, gas supply mechanism, and transition transfer mechanism.

[0019] This invention has the following characteristics:

[0020] 1. Several sample bottle nests are set up on the transition tray, which can quickly and in batches temporarily store sample bottles.

[0021] 2. The transition pallet has a simple structure, is easy to manufacture, and has high positioning accuracy.

[0022] 3. Identification devices are installed on both sides of the sample bottle storage and retrieval unit, which can quickly and accurately obtain sample bottle information.

[0023] 4. The sample bottle storage and retrieval device has multiple channels arranged in its storage and retrieval unit, which can meet the needs of multiple sample bottles continuously entering and exiting the sample bottle nest, realizing the functions of rapid outbound, inbound, and return of sample bottles.

[0024] 5. The sample bottle entry transfer channel and the sample bottle storage transfer channel can be used separately as sample bottle retrieval and sample bottle storage channels, or they can be used together as sample bottle retrieval or sample bottle storage channels, thereby improving the speed of sample bottle retrieval or sample bottle storage.

[0025] 6. Multiple access drive mechanisms are set up, and a secondary drive mechanism is installed on the main drive mechanism, which can execute multiple target tasks at the same time, improve system efficiency, and enhance the system's flexibility.

[0026] 7. Placing the storage tube in a sealed box allows the sample vials to enjoy a unique temperature and humidity storage environment, meeting the environmental requirements for sample storage. At the same time, it can also create a lower storage temperature environment to meet the specific sample storage requirements.

[0027] 8. Placing the storage tube in a sealed box prevents heat leakage, facilitating the creation of a storage environment below -25°C. This allows the use of conventional materials, devices, components, and mechanisms, reducing equipment costs and improving safety and reliability. It meets the requirements for conventional actuators operating in environments above -25°C (>-25°C).

[0028] 9. The sealing mechanism relies on the mass of the sealing ball itself and the principle of universal gravitation to achieve autonomous and efficient sealing, thereby improving the stability and reliability of the system.

[0029] 10. The gas storage chamber in the gas transmission mechanism is equipped with multiple gas transmission pipes, which can drive multiple gas transmission pipes to move at one time, reducing the frequency of gas transmission pipe movement, improving efficiency, and achieving balanced distribution of gas source, reducing airflow fluctuations, and improving the stability of gas transmission.

[0030] 11. The transition and transfer mechanism is equipped with multiple trays and a three-dimensional moving platform, which allows the sample bottle tray to move in the X, Y, and Z axes.

[0031] 12. The sample bottle tray is equipped with sample bottle placement holes, which are stepped through holes, and the sample bottles are stored through pneumatic conveying.

[0032] 13. The bottom of the sample bottle tray is equipped with a transport slot, and the transfer bracket is equipped with transport claws. When the sample bottle tray is transferred, the transport claws are inserted into the transport slot, which realizes the safe and reliable transfer of sample bottles. Attached Figure Description

[0033] Figure 1 is a schematic diagram of the overall structure of the multi-channel biomedical sample storage and transfer system of the present invention.

[0034] Figure 2 is a schematic diagram of the sample bottle storage and retrieval device in this invention.

[0035] Figure 3 is a schematic diagram of the storage unit in the sample bottle storage and retrieval device.

[0036] Figure 4 is a schematic diagram of the sample bottle nesting mechanism in the sample bottle storage and retrieval device.

[0037] Figure 5 is a schematic diagram of the transition tray in the sample bottle nest mechanism.

[0038] Figure 6 is a schematic diagram of the tray frame in the sample bottle nesting mechanism.

[0039] Figure 7 is a schematic diagram of the nest drive mechanism in the sample bottle nest mechanism.

[0040] Figure 8 is a schematic diagram of the sample bottle transfer channel in this invention.

[0041] Figure 9 is a schematic diagram of the high-pressure gas channel in this invention.

[0042] Figure 10 is a schematic diagram of the arrangement of the access drive mechanism in this invention.

[0043] Figure 11 is a schematic diagram of the secondary drive mechanism in the access drive mechanism of the present invention.

[0044] Figure 12 is a schematic diagram of the sample bottle storage unit in this invention.

[0045] Figure 13 is a schematic diagram of the state of the sample bottles in the storage tube in the sample bottle storage unit.

[0046] Figure 14 is a schematic diagram of the sealing mechanism in this invention.

[0047] Figure 15 is a schematic diagram of the upper partition structure in the sealing mechanism.

[0048] Figure 16 is a schematic diagram of the middle partition structure in the sealing mechanism.

[0049] Figure 17 is a schematic diagram of the lower partition structure in the sealing mechanism.

[0050] Figure 18 is a schematic diagram of the gas delivery mechanism in this invention.

[0051] Figure 19 is a schematic diagram of the gas storage tank in the gas transmission mechanism.

[0052] Figure 20 is a schematic diagram of the transition mechanism in this invention.

[0053] Figure 21 is a schematic diagram of the sample bottle transfer channel in the transition transfer mechanism.

[0054] Figure 22 is a schematic diagram of the transition transfer chamber in the transition transfer mechanism.

[0055] Figure 23 is a schematic diagram of the transition chamber in the transition transfer mechanism.

[0056] Figure 24 is a schematic diagram of the sample bottle tray in the transition transfer chamber.

[0057] Figure 25 is a schematic diagram of the transfer tray in the transition transfer compartment.

[0058] Figure 26 is a schematic diagram of the gas pipeline in the transition transfer chamber.

[0059] The components include: 1. Temperature and humidity control box, 2. Sample bottle storage and retrieval device, 3. Refrigeration control unit, 4. Sample bottle storage unit, 5. Self-sealing mechanism, 6. Gas delivery mechanism, and 7. Transition mechanism.

[0060] 21. Support; 22. Access unit; 23. Access drive mechanism;

[0061] 221. Identification device; 222. Sample bottle nesting mechanism; 223. Sample bottle outbound transfer channel; 224. Outbound high-pressure gas channel; 225. Nesting drive mechanism; 226. Sample bottle storage transfer channel; 227. Sample bottle inbound transfer channel; 228. Sample bottle return transfer channel; 229. Return high-pressure gas channel.

[0062] 2221. Transition tray; 2222. Tray frame; 2223. Sleeve; 2224. Splined shaft;

[0063] 22211. Nesting plate; 22212. Gear teeth; 22213. Sample bottle nest; 22214. Central spline hole;

[0064] 22221. Support plate; 22222. Center mounting hole; 22223. Identification device mounting hole; 22224. Sample bottle transfer channel opening; 22225. Sample bottle transfer channel opening; 22226. Identification device mounting hole;

[0065] 2251. Drive gear; 2252. Support; 2253. Motor;

[0066] 2231. Interface; 2232. Transfer pipe; 2233. Capture port;

[0067] 2241. Interface; 2242. Gas pipeline; 2243. Gas inlet;

[0068] 231. First access drive mechanism; 232. Second access drive mechanism; 233. Third access drive mechanism; 234. Fourth access drive mechanism;

[0069] 2311. Main drive mechanism; 2312. Secondary drive mechanism; 2313. Electric telescopic frame; 2314. Grab;

[0070] 41. Sealed box; 42. Storage tube; 43. Sample bottle; 411. Refrigeration medium exchange port;

[0071] 51. Insulation frame; 52. Upper partition; 53. Sealing ball; 54. Middle partition; 55. Lower partition; 521. Upper partition through hole; 522. Ventilation groove; 541. Middle partition channel; 551. Lower partition channel hole; 552. Arc-shaped spherical surface.

[0072] 61. Frame; 62. Gas delivery nozzle; 63. Control valve; 64. Gas storage tank; 65. Gas delivery channel; 66. Transmission device;

[0073] 641. Gas storage chamber; 642. Valve interface; 643. Gas supply interface;

[0074] 71. Sample bottle transfer channel; 72. Transition transfer chamber; 73. Rear cover; 74. Front cover; 75. Sample bottle storage port;

[0075] 711. Interface; 712. Transfer tube body; 713. Sample bottle inlet / outlet;

[0076] 721. Three-dimensional moving platform; 722. Transition chamber; 723. Sample bottle tray; 724. Transfer bracket; 725. Gas delivery pipe;

[0077] 7221. Shelf; 7222. Mounting hole; 7223. Pallet;

[0078] 7231. Sample bottle tray body; 7232. Sample bottle placement hole; 7233. Transfer slot;

[0079] 7241. Handling claw; 7242. Mounting surface; 7243. Air vent; 7244. Positioning platform;

[0080] 7251. Gas inlet, 7252. Gas pipe body, 7253. Gas inlet. Detailed Implementation

[0081] The multi-channel biomedical sample storage and transfer system of the present invention, as shown in Figure 1, includes a sample bottle storage and retrieval device 2, a refrigeration control unit 3, a sample bottle storage unit 4, a sealing mechanism 5, a gas supply mechanism 6, and a transition transfer mechanism 7. The sample bottle storage and retrieval device 2, the sample bottle storage unit 4, the sealing mechanism 5, and the gas supply mechanism 6 are connected sequentially from top to bottom. The transition transfer mechanism 7 is located on one side of the sample bottle storage unit 4 and interfaces with the sample bottle storage and retrieval device 2 and the gas supply mechanism 6. All components are housed within a temperature and humidity control chamber 1, or can be placed in other environments required for sample bottle storage. A sealed sample bottle storage and retrieval system is formed within the temperature and humidity control chamber 1, which contains the refrigeration control unit 3 (existing technology). The sample bottles 43 containing the samples are stored in the sample bottle storage unit 4. Through the combined action of the sample bottle storage and retrieval mechanism 2, the sealing mechanism 5, the gas supply mechanism 6, and the transition transfer mechanism 7, the storage, retrieval, and preservation process of the sample bottles is completed.

[0082] The following provides a detailed explanation of the specific structure and operation of each unit.

[0083] 1. Sample bottle storage and retrieval device

[0084] As shown in Figure 2, the sample bottle storage and retrieval device 2 includes a support 21, a storage and retrieval unit 22, and a storage and retrieval drive mechanism 23. The storage and retrieval drive mechanism 23 is mounted on the support 21, and the storage and retrieval unit 22 performs related tasks under the drive of the storage and retrieval drive mechanism 23.

[0085] As shown in Figure 3, the storage and retrieval unit 22 includes a sample bottle nesting mechanism 222, a sample bottle outbound transfer channel 223, an outbound high-pressure gas channel 224, a nesting drive mechanism 225, a sample bottle storage transfer channel 226, a sample bottle inbound transfer channel 227, a sample bottle return transfer channel 228, and a return high-pressure gas channel 229. An identification device 221 is installed on the sample bottle nesting mechanism 222. The sample bottle nesting mechanism 222 is connected to the nesting drive mechanism 225, which drives the sample bottle nesting mechanism 222. The sample bottle nesting mechanism 222 is equipped with interfaces for docking with the sample bottle outbound transfer channel 223, the high-pressure gas channels (including the outbound high-pressure gas channel 224 and the return high-pressure gas channel 229), the sample bottle storage transfer channel 226, the sample bottle inbound transfer channel 227, and the sample bottle return channel 228.

[0086] The structure of the sample bottle nest mechanism 222 is shown in Figure 4, including a transition tray 2221, a tray frame 2222, and a splined shaft 2224. The transition tray 2221 is mounted on the splined shaft 2224, and both ends of the splined shaft 2224 are mounted on the tray frame 2222 via sleeves 2223. The transition tray 2221 rotates with the splined shaft 2224 on the tray frame 2222. The structure of the transition tray 2221 is shown in Figure 5, including a nest tray 22211. Gear teeth 22212 are provided on the outer circumference of the nest tray 22211. Sample bottle nests 22213 are distributed axially through the tray surface of the nest tray 22211. A central splined hole 22214 is provided on the nest tray 22211 for mounting the splined shaft 2224. As shown in Figure 6, the tray frame 2222 is groove-shaped, with protective plates 22221 on both sides. Each protective plate 22221 has a central mounting hole 22222. One protective plate 22221 has a sample bottle transfer channel opening 22225 and an identification device mounting hole 22226, while the other protective plate has an identification device mounting hole 22223 and a sample bottle transfer channel opening 22224. The identification device 221 is mounted on the tray frame 2222 through the identification device mounting hole 22226. Identification devices 221 are installed on both sides of the tray frame 2222, but their installation positions differ, although their functions are the same. This ensures that the sample bottle information can be identified. For example, if the identification code is on the bottle cap and the sample bottle is facing differently, the identification device 221 on one side will always be able to identify it. The identification device 221 can be an existing QR code reader, RFID reader, etc., which can accurately identify QR codes and RFID tags on the sample bottle 43. The drive gear 2251 of the nest drive mechanism 225 meshes with the gear teeth 22212, driving the rotating transition tray 2221 to rotate. The identification device 221 is an existing QR code reader, RFID reader, etc., which can accurately identify the QR codes and RFID tags on the sample bottle 43.

[0087] As shown in Figure 7, the nest drive mechanism 225 includes a support 2252, a motor 2253, and a drive gear 2251. The motor 2253 is mounted on the support 2252, and the drive gear 2251 is mounted on the shaft of the motor 2253. The drive gear 2251 meshes with the gear teeth 22212 on the nest tray 22211, driving the transition tray 2221 to rotate through gear transmission. Both the tray frame 2222 and the support 2252 are mounted on the bracket 21.

[0088] The sample bottle outbound transfer channel 223, sample bottle storage transfer channel 226, sample bottle nesting transfer channel 227, and sample bottle return transfer channel 228 have the same structure, as shown in Figure 8. They include a transfer pipe 2232 and interfaces 2231 and capture ports 2233 located at both ends of the transfer pipe 2232. Interface 2231 connects to a channel opening 22225 on a side guard plate 22221 of the tray frame 2222, and its position corresponds to the sample bottle nests 22213 on the transition tray 2221. The sample bottle nests 22213 on the transition tray 2221 and the channel openings 22223, 22224, 22225, and 22226 on the side guard plates of the tray frame 2222 are all distributed on a circle of the same radius. The capture port 2233 connects to the upper port of the storage tube 42 via the storage and retrieval drive mechanism 23. The high-pressure gas channel 224 for outbound and the high-pressure gas channel 229 for return have the same structure, as shown in Figure 9. The high-pressure gas channel 224 for outbound includes a gas pipe 2242 and interfaces 2241 and gas inlets 2243 located at both ends of the gas pipe 2242.

[0089] There are four sets of storage and retrieval drive mechanisms 23, as shown in Figure 10. These are the first storage and retrieval drive mechanism 231, the second storage and retrieval drive mechanism 232, the third storage and retrieval drive mechanism 233, and the fourth storage and retrieval drive mechanism 234. These four drive mechanisms can be used to drive the sample bottle outbound transfer channel 223, the sample bottle storage transfer channel 226, the sample bottle inbound transfer channel 227, and the sample bottle return transfer channel 228, respectively, so that they reach the predetermined positions. Taking the first storage and retrieval drive mechanism 231 as an example, its structure is described in Figure 11. It includes a main drive mechanism 2311 and a secondary drive mechanism 2312. The secondary drive mechanism 2312 is connected to the power output end of the main drive mechanism 2311. The main drive mechanism 2311 adopts a lead screw and nut pair moving mechanism. The lead screw is mounted on the bracket 21 and connected to the drive motor, and the nut is connected to the lead screw. The secondary drive mechanism 2312 adopts an electric telescopic gripper, which is existing technology. It includes an electric telescopic frame 2313 and a gripper 2314. The electric telescopic frame 2313 is connected to a nut in the main drive mechanism, and the gripper 2314 is connected to the end of the electric telescopic frame 2313.

[0090] The high-pressure gas outlet channel 224, the sample bottle outlet transfer channel 223, the sample bottle storage transfer channel 226, the sample bottle nesting transfer channel 227, the sample bottle return transfer channel 228, and the return high-pressure gas channel 229 are all installed on the corresponding interfaces of the support plate 22221 (see Figure 6). The sample bottle outlet transfer channel 223 is connected to the sample bottle transfer channel opening 22225, and the sample bottle storage transfer channel 226 is connected to the sample bottle transfer channel opening 22224. The high-pressure gas outlet channel 224 and the sample bottle outlet transfer channel 223 are respectively installed on each side plate 22221 of the tray rack 2222, symmetrically installed with the sample bottle nest 22213. The high-pressure gas return channel 229 and the sample bottle return transfer channel 228 are respectively installed on each side plate 22221 of the tray rack 2222, symmetrically installed with the sample bottle nest 22213.

[0091] The sample bottle entry transfer channel 227 and the sample bottle storage transfer channel 226 can be used individually or together as channels for retrieving or storing sample bottles, thus improving the speed of sample bottle retrieval or storage. Similarly, the sample bottle exit transfer channel 223 and the sample bottle return transfer channel 228 have similar functions and can be used individually or together. The upper port of the sample bottle storage transfer channel 226 is connected to the tray rack 2222 and enters the sample bottle nest 22213. Sample bottles 43 enter the sample bottle nest 22213 via the sample bottle storage transfer channel 226. Electric control valves are installed in the exit high-pressure gas channel 224, sample bottle exit transfer channel 223, sample bottle storage transfer channel 226, sample bottle entry transfer channel 227, sample bottle return transfer channel 228, and return high-pressure gas channel 229 to determine the destination path of the sample bottles.

[0092] The operation process of the above-mentioned sample bottle storage and retrieval device is as follows.

[0093] The nest drive mechanism 225 drives the transition tray 2221 to rotate via gear transmission from the drive gear 2251 and gear teeth 22212. When retrieving sample bottle 43, the second access drive mechanism 232 drives the sample bottle storage transfer channel 226 (or the third access drive mechanism drives the sample bottle nest transfer channel 227) to dock with the sample bottle transfer channel 71 in the transition transfer mechanism 7.

[0094] Sample bottle 43 enters sample bottle nest 22213 through sample bottle storage transfer channel 226 (or / and sample bottle nesting transfer channel 227). When sample bottle 43 passes through the identification area of ​​identification device 221, the information of sample bottle 43 is captured, and it is determined whether the sample bottle 43 is the sample bottle to be taken.

[0095] Since the high-pressure gas channel 224 and the sample bottle outbound transfer channel 223 are symmetrically installed on both sides of the sample bottle nest 22213, when the identification device 221 determines that the sample bottle 43 is the sample bottle to be retrieved, when the sample bottle nest 22213 where the sample bottle 43 is located rotates to the position of the high-pressure gas channel 224, the control valve in the high-pressure gas channel 224 opens, blowing the sample bottle 43 from the sample bottle nest 22213 into the sample bottle outbound transfer channel 223. The sample bottle outbound transfer channel 223, driven by the first storage and retrieval drive mechanism 231 (or the sample bottle return transfer channel 228, driven by the fourth storage and retrieval drive mechanism 234), connects with the sample bottle transfer channel 71 in the transition transfer mechanism 7, and enters the transition transfer mechanism 7 through the sample bottle transfer channel 71. The outbound process is completed in the transition transfer mechanism 7 (see the subsequent description of the transition transfer mechanism 7 for details), and the sample bottle is retrieved by the transition transfer mechanism 7.

[0096] When the identification device 221 determines that the sample bottle 43 is not the sample bottle 43 to be retrieved, when the sample bottle nest 22213 where the sample bottle 43 is located moves to the position of the return high-pressure gas channel 229, the control valve of the return high-pressure gas channel 229 is opened, blowing the sample bottle 43 from the sample bottle nest 22213 into the sample bottle return transfer channel 228. The fourth storage and retrieval drive mechanism 234 drives the sample bottle return transfer channel 228 to connect with the upper port of the corresponding storage tube 42, and enters the return process.

[0097] When sample bottle 43 needs to be stored in sample bottle storage unit 4 (during storage), the second access drive mechanism 232 drives the sample bottle storage transfer channel 226 (or the third access drive mechanism drives the sample bottle nest transfer channel 227) to dock with the sample bottle transfer channel 71 in the transition transfer mechanism 7. The sample bottle enters the sample bottle storage transfer channel 226 and / or the sample bottle nest transfer channel 227 from the transition transfer mechanism 7, and then enters the sample bottle nest 22213. When the sample bottle 43 is rotated to the position of the return high-pressure gas channel 229, the control valve of the return high-pressure gas channel 229 is opened, blowing the sample bottle 43 from the sample bottle nest 22213 into the sample bottle return transfer channel 228. The fourth access drive mechanism 234 drives the sample bottle return transfer channel 228 to dock with the upper port of the corresponding storage tube 42 to carry out the storage process.

[0098] The first access drive mechanism 231, the second access drive mechanism 232, the third access drive mechanism 233, and the fourth access drive mechanism 234 drive the sample bottle outbound transfer channel 223, the sample bottle storage transfer channel 226, the sample bottle inbound transfer channel 227, and the sample bottle return transfer channel 228 to the predetermined positions according to the optimal path principle (the drive mechanism and the channel are not in a one-to-one correspondence), and cooperate to complete the outbound, inbound, and return tasks.

[0099] 2. Sample bottle storage unit

[0100] As shown in Figure 12, the sample bottle storage unit 4 adopts a bundled tube structure, including a sealed box 41. A refrigerant exchange port 411 is provided on the side wall of the sealed box 41. Storage tubes 42 are vertically distributed inside the sealed box 41. The storage tubes 42 are fixed by tube plates at both ends of the sealed box 41 (the tube plates have holes with the same outer diameter as the storage tubes 42). Both ends of the storage tubes 42 are open. The storage tubes 42 are used to store sample bottles 43, as shown in Figure 13. The functions of the sealed box 41 are: firstly, to provide the sample storage unit with an independent and stable temperature and humidity environment, the temperature of which can be below -25℃; and secondly, to isolate the sample storage unit 4 from other mechanisms or units, giving it its own exclusive temperature and humidity environment.

[0101] 3. Sealing mechanism

[0102] As shown in Figure 14, the sealing mechanism 5 includes a heat insulation frame 51 and an upper partition 52, a middle partition 54, a lower partition 55 and a sealing ball 53 connected together from top to bottom.

[0103] As shown in Figure 15, the upper partition 52 has upper through holes 521 distributed on it, and multiple venting grooves 522 are engraved on the inner wall of the upper through holes. The diameter of the upper through holes 521 is smaller than the diameter of the sealing ball 53, which serves to restrict the sealing ball 53. The outer diameter of the venting groove 522 is approximately the same as the diameter of the circular through hole 541 of the middle partition, which is the channel for high-pressure gas to enter the storage pipe 42.

[0104] As shown in Figure 16, the partition plate 54 has through holes 541 distributed on it, and a sealing ball 53 is installed inside the through hole 541. The diameter of the through hole 541 is larger than the diameter of the sealing ball 53, which is the suspension area of ​​the sealing ball and also the channel through which high-pressure gas flows.

[0105] As shown in Figure 17, the lower partition 55 has lower through holes 551 distributed on it, and the lower partition 55 has a rounded chamfer to form an arc-shaped spherical surface 552. The diameter of the arc-shaped spherical surface 552 is not greater than the diameter of the sealing ball 53. When the sealing ball 53 loses the external pressure, it falls into the spherical arc surface 552 by its own weight, sealing the lower through holes 551. The diameter of the sealing ball 53 is greater than the inner diameter of the through holes 551.

[0106] The distribution of the upper through hole 521, the round through hole 541 and the lower through hole 551 is consistent with the distribution of the storage tubes in the sample bottle storage unit (coaxial top and bottom, one-to-one correspondence).

[0107] 4. Gas transmission mechanism

[0108] As shown in Figures 18 and 19, the gas delivery mechanism 6 includes a frame 61, a gas delivery nozzle 62, a control valve 63, a gas storage chamber 64, a gas delivery channel 65, and a transmission device 66. The gas storage chamber 641 is equipped with multiple valve ports 642 and one gas delivery port 643. The transmission device 66 is mounted on the frame 61 and employs a screw-nut pair moving mechanism. The screw is mounted on the frame 61, and the nut is connected to the screw. The gas storage chamber 64 is connected to the nut. The gas delivery nozzle 62 is connected to the valve ports 642 of the gas storage chamber 64 via the control valve 63. The gas delivery channel 65 is connected to the gas delivery port 643 of the gas storage chamber 64, and the gas delivery channel 65 delivers high-pressure gas into the gas storage chamber 64. The transmission device 66 drives the gas storage chamber 64 to move.

[0109] The working principle of the above sealing mechanism and gas delivery mechanism is as follows:

[0110] Under the control of the transmission mechanism 66, the gas delivery nozzle 62 aligns with a row of lower through holes 551 on the lower partition 55. High-pressure gas enters one or more through holes 551 on the lower partition 55 through the gas delivery nozzle 62. Under the action of the high-pressure gas, the sealing ball 53 is suspended in the corresponding middle channel 541 of the middle partition 54, and the sealing effect fails. The high-pressure gas then enters one or more storage tubes 42 through the corresponding venting groove 522 on the upper partition 52, pushing the sample bottle 43 in the storage tube 42 upward. When the pressure is released, the sealing ball 53 falls into the arc-shaped spherical surface 552 of the lower partition 55 by its own gravity, achieving a self-sealing effect. The sealing ball 53 must have a sufficiently high density so that it cannot suspend without the action of high-pressure gas flow.

[0111] 5. Transitional / Relocation Agency

[0112] As shown in Figure 20, the transition transfer mechanism 7 includes a sample bottle transfer channel 71 and a transition transfer chamber 72. The sample bottle transfer channel 71 is connected above the transition transfer chamber 72. The rear of the transition transfer chamber 72 is provided with a rear cover plate 73, and the front is provided with an openable front cover plate 74. The front cover plate 74 is provided with a sample bottle storage port 75.

[0113] As shown in Figure 21, the sample bottle transfer channel 71 has interfaces 711 and sample bottle inlets / outlets 713 at both ends of the transfer tube 712. The transfer tube 712 enters the transition chamber 722 through the mounting hole 7222. The interface 711 connects to the capture port 2233 of the outgoing sample bottle transfer channel 223 in the sample bottle storage and retrieval device 2, or it can connect to the sample bottle storage transfer channel 226 or the sample bottle nesting transfer channel 227 (when the sample bottle 43 is stored, it enters the sample bottle nest 22213 through the sample bottle storage transfer channel 226 or the sample bottle nesting transfer channel 227). The sample bottle 43 enters and exits the transition transfer chamber 72 through the sample bottle inlet / outlet 713. The sample bottle 43 is transferred between the transition transfer mechanism 7 and the sample bottle storage and retrieval device 2 through the sample bottle transfer channel 71.

[0114] As shown in Figure 22, the transition transfer chamber 72 is internally equipped with a three-dimensional moving platform 721, a transition chamber 722, a sample bottle tray 723, a transfer bracket 724, and a gas supply pipe 725. The three-dimensional moving platform 721 is existing technology and is installed inside the transition chamber 722. The transfer bracket 724 is installed at the power output end of the three-dimensional moving platform 721 and is driven by the three-dimensional moving platform 721 to move in three dimensions (up / down, left / right, and forward / backward) to reach the desired position. The sample bottle tray 723 is placed on a pallet 7223 within the transition chamber 722. As shown in Figure 23, the transition chamber 722 includes a frame 7221 and a pallet 7223. The upper end of the frame 7221 has mounting holes 7222 for the sample bottle transfer channel 71, which are connected to the sample bottle transfer channel 71. The pallets 7223 are horizontally arranged and fixed within the frame 7221 for temporarily storing the sample bottle trays 723. The gas delivery pipe 725 is installed on the side wall of the transition chamber 722 (specifically, on the rear cover plate 73). One end of the gas delivery pipe 725 is positioned directly below the sample bottle inlet / outlet 713 of the sample bottle transfer channel 71 inside the transition chamber 722. The distance between the gas delivery pipe 725 and the sample bottle transfer channel 71 is equal to the height of the sample bottle tray 723. The other end of the gas delivery pipe 725 is connected to a gas delivery nozzle 62 in the gas delivery mechanism 6.

[0115] As shown in Figure 24, the sample bottle tray 723 has a sample bottle placement hole 7232 on the sample bottle tray body 7231, and a transport groove 7233 is provided at the bottom of the sample bottle tray body 7231. The sample bottle placement hole 7232 is a stepped through hole with a larger diameter at the top and a smaller diameter at the bottom. The sample bottle 43 is placed at the top, and the bottom is used to support the sample bottle 43 and allow gas to enter, blowing the sample bottle 43 out.

[0116] As shown in Figure 25, the transfer bracket 724 includes a transport claw 7241, a mounting surface 7242, and a positioning platform 7244. One side of the transport claw 7241 is the positioning platform 7244, used to restrict the placement position of the sample bottle tray 7231. The lower bottom surface of the positioning platform 7244 is the mounting surface 7242, used to connect with the three-dimensional moving platform 721. The transport claw 7241 is provided with a vent 7243, which corresponds to the sample bottle placement hole 7232 on the sample bottle tray 7231, ensuring that gas passage is not obstructed even when the sample bottle placement hole 7232 is directly below the transport claw 7241. When the sample bottle tray 723 is placed on the transfer bracket 7244, the transport claw 7241 will block the sample bottle placement hole 7232 on the sample bottle tray 7231 above it. The purpose of the vent 7243 is to allow gas to enter the sample bottle placement hole 7232 through the vent 7243. The transport claw 7241 is inserted into the transport slot 7233 at the bottom of the sample bottle tray 723, lifting the sample bottle tray 7231 and moving it in three dimensions within the transition chamber 722 along with the three-dimensional moving platform 721.

[0117] As shown in Figure 26, the gas supply pipe 725 has gas inlets 7251 and gas inlets 7253 at both ends of the gas supply pipe body 7252. The gas supply pipe body 7252 is mounted on the rear cover plate 73, and the gas inlets 7251 are located directly below the sample bottle inlet / outlet 713. The distance between the gas inlet 7251 and the sample bottle inlet / outlet 713 is the same as the height of the sample bottle tray 723 (the height of the transport claw 7241 is the same as the height of the transport slot 7233). The gas inlet 7253 is connected to a gas nozzle 62 in the gas supply mechanism 6.

[0118] The operation process of the aforementioned transition mechanism 7 is as follows.

[0119] Sample bottles 43 are placed in sample bottle placement holes 7232 on sample bottle tray 723. Sample bottle tray 723 enters and exits the transition mechanism 7 through sample bottle storage port 75, and the three-dimensional moving platform 721 realizes the transportation of sample bottle tray 723 between sample bottle pick-up and drop port 75 and shelf 7221.

[0120] When sample bottles 43 enter the outbound process, they enter the sample bottle transfer channel 71 through the capture port 2233 of the sample bottle outbound transfer channel 223. Sample bottles 43 continuously emerge from the sample bottle inlet / outlet 713. The sample bottle tray 723, driven by the three-dimensional moving platform 721, continuously moves, allowing empty sample bottle placement holes 7232 to receive the sample bottles 43 emerging from the inlet / outlet 713, placing each sample bottle 43 into its designated hole. When the sample bottle tray 723 is full of sample bottles 43, or when the number of sample bottles 43 retrieved meets the requirement (the sample bottle tray 723 is not yet full), the three-dimensional moving platform 721 temporarily places the sample bottle tray 723 onto the pallet 7223, or moves it out of the transition mechanism 7 through the sample bottle storage port 75, completing the outbound task.

[0121] When sample bottles 43 need to be stored in sample bottle storage unit 4 (during storage), sample bottles 43 are first placed in sample bottle placement holes 7232. Sample bottle trays 723 are placed into transition transfer chambers 72 through sample bottle storage openings 75 and placed on pallets 7223. The three-dimensional moving platform 721 drives the transport claws 7241 into the transport slots 7233 at the bottom of the sample bottle trays 723. To improve the speed at which sample bottle trays 723 enter the transition transfer mechanism 7, if too many sample bottle trays 723 are stored at once, they can be placed on pallets 7223 first. After all the sample bottle trays 723 to be stored have entered the transition transfer mechanism 7, the three-dimensional moving platform 721 drives the sample bottle trays 723 to move to a predetermined position (sample bottle inlet / outlet 713). The second access drive mechanism 232 drives the sample bottle storage and transfer channel 226 (or the third access drive mechanism drives the sample bottle nesting and transfer channel 227) to connect with the interface 711 of the sample bottle transfer channel 71 in the transition transfer mechanism 7. At this time, the gas inlet 7251 of the gas supply pipe 725, the sample bottle placement hole 7232 on the sample bottle tray 723 where the corresponding sample bottle 43 is placed, and the sample bottle inlet / outlet 713 of the sample bottle transfer channel 71 are aligned. The control valve 63 that controls the gas supply nozzle 62 connected to the gas supply pipe 725 is opened, and high-pressure gas is blown through the gas supply interface 7253 of the gas supply pipe 725 to the sample bottle placement hole 7232, blowing the sample bottle 43 in the sample bottle placement hole 7232 into the sample bottle transfer channel 71. If the sample bottle placement hole 7232 is directly below the transport claw 7241, the gas blown from the gas inlet 7253 of the gas supply pipe 725 enters the sample bottle placement hole 7232 directly or through the gas guide hole 7243, blowing the sample bottle out of the sample bottle placement hole 7232 and into the sample bottle transfer channel 71. In this way, the sample bottles 43 are pneumatically transported one by one through the sample bottle transfer channel 71 to the sample bottle storage transfer channel 226 and / or the sample bottle nesting transfer channel 227, and then into the sample bottle nest 22213. Finally, the warehousing process is carried out according to the warehousing process described in the sample bottle storage and retrieval device 2.

[0122] The overall operation process of the multi-channel biomedical sample storage and transfer system of the present invention is as follows.

[0123] When a specific sample bottle 43 needs to be retrieved, the gas delivery nozzle 62, under the control of the transmission device 66, aligns with a row of lower through holes 551 on the lower partition 55 of the sealing mechanism 5 corresponding to the lower port of the storage tube 42 where the sample bottle 43 is located. It then opens one or more control valves 63 according to instructions, delivering high-pressure gas to the corresponding storage tube 42. At this time, the second retrieval drive mechanism 232 drives the sample bottle storage transfer channel 226 (or the third retrieval drive mechanism drives the sample bottle nesting transfer channel 227) to align with the upper port of the corresponding storage tube 42, and the sample bottle 43 enters the sample bottle storage transfer channel 226 (or the sample bottle nesting transfer channel 227) from the storage tube 42.

[0124] The transition tray 2221 is driven to rotate continuously by the nest drive mechanism 225. The sample bottle 43 enters the sample bottle nest 22213 through the sample bottle storage and transfer channel 226. The identification device 221 captures the information of the sample bottle 43 and determines whether the sample bottle 43 is the sample bottle 43 to be taken.

[0125] When the identification device 221 determines that the sample bottle 43 is the sample bottle to be retrieved, and the sample bottle nest 22213 containing the sample bottle 43 rotates to the position of the high-pressure gas channel 224, the valve of the high-pressure gas channel 224 opens, blowing the sample bottle 43 from the sample bottle nest 22213 into the sample bottle outbound transfer channel 223. The sample bottle then enters the transition transfer mechanism 7 via the sample bottle transfer channel 71, where the outbound process is completed. At this time, the first drive mechanism 231 drives the grabbing port 2233 of the sample bottle outbound transfer channel 223 to connect with the interface 711 of the sample bottle transfer channel 71.

[0126] When the identification device 221 determines that the sample bottle 43 is not the sample bottle 43 to be retrieved, when the sample bottle nest 22213 where the sample bottle 43 is located moves to the position of the return high-pressure gas channel 229, the return high-pressure gas channel 229 opens the valve and blows the sample bottle 43 from the sample bottle nest 22213 into the sample bottle return transfer channel 228 to enter the return process. At this time, the fourth drive mechanism 234 drives the sample bottle return transfer channel 228 to connect with the upper port of the corresponding storage tube 42.

[0127] When sample bottle 43 needs to be stored in sample bottle storage unit 4 (during warehousing), the sample bottle 43 is first moved into sample bottle nest 22213 according to the operation process described in the transition transfer mechanism 7. Then, the warehousing process is carried out according to the warehousing process described in the sample bottle storage and retrieval device 2.

[0128] Specific embodiments are given below.

[0129] 1. Sample bottle storage unit

[0130] Temperature chamber 1 is designed to be 1200mm long, 1200mm wide, and 1800mm high, with a 50mm thick insulation layer, and is equipped with a temperature and humidity control system.

[0131] The sample bottle storage unit 4 is designed to be 1000mm long, 800mm wide, and 1000mm high. The storage tubes are made of acrylic round tubes with an inner diameter of Φ20mm, an outer diameter of Φ24mm, and a length of 900mm. The upper and lower tube plates are 1000mm long, 800mm wide, and 10mm thick, made of acrylic. Each tube has 33 stepped holes evenly distributed along its long side and 25 stepped holes evenly distributed along its short side, for a total of 825 stepped holes. The hole spacing is 30mm. The large hole of the stepped hole is Φ24mm, and the small hole is Φ20mm. First, the storage tubes are inserted one by one into the Φ24mm holes of the lower tube plate, then the storage tubes are inserted one by one into the Φ24mm holes of the upper tube plate and secured. The storage tube bundle is now complete. An insulation layer with a thickness of 50mm is installed around the longitudinal perimeter of the storage tube bundle. Four Φ100 cooling medium exchange holes are left on two symmetrical sides, with a spacing of 400mm between the holes on the same side, for installing cooling medium exchange ports. The sample bottle storage unit is now complete.

[0132] 2. Sample bottle storage and retrieval device

[0133] Transition tray design. A disc is fabricated with a thickness of 20mm in the Φ300mm-Φ320mm region as the tooth thickness, milled with 38 teeth. In the Φ200mm-Φ300mm region, the thickness is 40mm, with 30 evenly distributed Φ20mm holes at Φ250mm to serve as sample bottle nests. In the Φ60mm-Φ200mm region, the thickness is 20mm, with 6 Φ40mm holes drilled on a Φ140mm base circle to reduce weight. Within the Φ60mm region, with a thickness of 41mm, a boss for mounting the shaft is created. A spline hole is made to mate with the spline shaft, with an outer diameter of Φ36mm and a center hole of Φ30mm.

[0134] The bracket guard plate design features an upper circular section (Φ296mm) that matches the transition tray and includes a Φ50mm mounting hole at its center. The lower section is trapezoidal, with a base width of 200mm and a thickness of 10mm, and six evenly distributed Φ10mm mounting holes. The total height of the bracket guard plate is 320mm, its thickness is 61mm, and it has a 41mm cavity in the center for mounting the transition tray. Multiple holes with a Φ250mm base circle are arranged on the sides for mounting identification devices and related channels.

[0135] Assemble the transition tray onto the support plate using a splined shaft and sleeve, completing the sample bottle nest mechanism. Then, install the corresponding channels and identification devices in their respective positions within the sample bottle nest mechanism, and engage them with the drive gear to complete the disc-type sample bottle storage and retrieval mechanism.

[0136] The sample bottle storage and retrieval system is completed by installing the tray-type sample bottle storage and retrieval mechanism and drive system on the corresponding bracket.

[0137] 3. Sample bottle storage unit

[0138] The temperature and humidity control box 1 is designed to be 1200mm long, 1200mm wide, and 1800mm high, with a 50mm thick insulation layer, and is equipped with a temperature and humidity control system.

[0139] The sample bottle storage unit 4 is designed to be 1000mm long, 800mm wide, and 1000mm high. The storage tubes are made of acrylic round tubes with an inner diameter of Φ20mm, an outer diameter of Φ24mm, and a length of 900mm. The upper and lower tube plates are 1000mm long, 800mm wide, and 10mm thick, made of acrylic. Each tube has 33 stepped holes evenly distributed along its long side and 25 stepped holes evenly distributed along its short side, for a total of 825 stepped holes. The hole spacing is 30mm. The large hole of the stepped hole is Φ24mm, and the small hole is Φ20mm. First, the storage tubes are inserted one by one into the Φ24mm holes of the lower tube plate, then the storage tubes are inserted one by one into the Φ24mm holes of the upper tube plate and secured. The storage tube bundle is now complete. An insulation layer with a thickness of 50mm is installed around the longitudinal perimeter of the storage tube bundle. Four Φ100 cooling medium exchange holes are left on two symmetrical sides, with a spacing of 400mm between the holes on the same side, for installing cooling medium exchange ports. The sample bottle storage unit is now complete.

[0140] 4. Fabrication of sealing mechanism 5

[0141] 1) Make an insulation frame with dimensions of 1000*800*35mm and an insulation layer thickness of 50mm.

[0142] 2) The upper partition is 1000mm long, 800mm wide and 10mm thick, made of engineering plastic, with 825 ventilation slots and through holes evenly distributed, corresponding one-to-one with the 825 holes of the storage unit tube bundle. The center distance of the outer hole is 140mm from the edge line, the inner diameter of the through hole is Φ10mm, the ventilation slot size is 15*2mm, and there are 6 evenly distributed ventilation slots.

[0143] 3) The pneumatic channel is 1000mm long, 800mm wide, and 15mm thick. It is made of engineering plastic and has 825 ventilation slots and holes that correspond one-to-one with the 825 holes on the upper partition. The center of the outer hole is 140mm from the edge line and the diameter of the hole is Φ15mm.

[0144] 4) The lower partition is 1000mm long, 800mm wide, and 10mm thick. It is made of stainless steel and has 825 ventilation slots and holes that correspond one-to-one with the 825 holes in the upper and middle partitions. The center of the outer hole is 140mm from the edge line, the diameter of the hole is Φ10mm, and the rounded chamfer is R2.

[0145] 5) The diameter of the sealing ball is Φ12mm.

[0146] 6) Install the lower partition, sealing ball, middle partition, and upper partition into the heat insulation frame in sequence, and connect them together with fasteners to complete the assembly of the sealing mechanism.

[0147] The refrigeration control unit, gas delivery mechanism, sealing mechanism, sample bottle storage unit, sample bottle storage and retrieval transition chamber, and sample bottle storage and retrieval mechanism are assembled into one unit through auxiliary connectors and placed in the temperature control mechanism. Then, the relevant actuators are installed separately, and a multi-channel sample bottle laying and gripping storage and retrieval system is assembled.

[0148] 5. Transition and transfer mechanism 7

[0149] 1) Front cover, designed to be 1000*1200*10mm, with a 300*100mm opening in the center.

[0150] 2) Transition compartment, designed to be 1000*1200*300mm, with a Φ22mm hole centered at the top.

[0151] 3) The rear cover plate is designed to be 1000*1200*10mm, with a Φ12mm hole centered 30mm from the bottom.

[0152] 4) Pallet, designed to be 200*140*10mm.

[0153] 5) Tray, designed to be 140*240*40mm, with 45 sample bottle placement holes evenly distributed. The placement holes are stepped holes, with the upper part having a dimension of Φ=20mm and a depth of 30mm, and the lower part having a dimension of Φ10mm and a depth of 10mm. On the other side, there are two symmetrical 30*5mm slots with a spacing of 140mm.

[0154] 6) The transfer bracket is designed in a 200*150mm "U" shape. At the bottom of the "U" shape, a 200*10*20mm boss is created to restrict the tray's position. The claws are 140mm long, 30mm wide, and 5mm thick, with a 140mm distance between the two claws (corresponding to the tray's groove). Five Φ10mm holes are drilled on each claw, their positions corresponding to the tray's horizontal holes. A 30*50*20mm boss is created on the bottom edge of the "U" shape for connection to the 3D moving platform.

[0155] 7) Install the pallet and the three-dimensional moving platform onto the transition chamber in sequence, connect the transfer bracket to the three-dimensional moving platform, and connect the front cover plate and the rear cover plate to the transition chamber. The transition transfer mechanism is now complete.

Claims

1. A multi-channel biomedical sample storage and transfer system, characterized in that, The system includes a sample bottle storage and retrieval device, a sample bottle storage unit, a sealing mechanism, a gas supply mechanism, and a transition transfer mechanism; these components are arranged sequentially from top to bottom. The sample bottle storage and retrieval device includes a support, a storage and retrieval unit, and a storage and retrieval drive mechanism, with the drive mechanism mounted on the support. The storage and retrieval unit includes a sample bottle nest mechanism, a sample bottle outbound transfer channel, an outbound high-pressure gas channel, a nest drive mechanism, a sample bottle storage transfer channel, a sample bottle inbound transfer channel, a sample bottle return transfer channel, and a return high-pressure gas channel. The outbound transfer channel, outbound high-pressure gas channel, sample bottle storage transfer channel, sample bottle inbound transfer channel, sample bottle return transfer channel, and return high-pressure gas channel are all located on the sample bottle nest mechanism, which is connected to the nest drive mechanism. At least one storage and retrieval drive mechanism is provided to drive the sample bottle storage transfer channel or sample bottle nesting transfer channel to dock with the transition transfer mechanism, or to drive the sample bottle outbound transfer channel or sample bottle return transfer channel to dock with the sample bottle storage unit. The sample bottle nesting mechanism includes a transition tray, a tray frame, and a rotating shaft. The transition tray is mounted on the rotating shaft, and the rotating shaft is mounted on the tray frame. The transition tray includes a nesting tray with gear teeth on its outer circumference. Sample bottle nests are distributed axially through the tray surface. The nesting drive mechanism includes a support, a motor, and a drive gear. The motor is mounted on the support, and the drive gear is mounted on the motor shaft. The drive gear meshes with the gear teeth on the nesting tray. The tray frame and the support are both mounted on a bracket. The outbound high-pressure gas channel and the sample bottle outbound transfer channel are symmetrically installed with the sample bottle nests, and the return high-pressure gas channel and the sample bottle return transfer channel are symmetrically installed with the sample bottle nests.

2. The multi-channel biomedical sample storage and transfer system according to claim 1, characterized in that, The sample bottle nesting mechanism is equipped with an identification device on its tray.

3. The multi-channel biomedical sample storage and transfer system according to claim 1, characterized in that, The access drive mechanism includes a main drive mechanism and a secondary drive mechanism, with the secondary drive mechanism connected to the power output end of the main drive mechanism. The main drive mechanism employs a lead screw and nut pair moving mechanism. The secondary drive mechanism employs an electric telescopic gripper, including an electric telescopic frame and a gripper. The electric telescopic frame is connected to the power output end of the main drive mechanism, and the gripper is connected to the end of the electric telescopic frame.

4. The multi-channel biomedical sample storage and transfer system according to claim 1, characterized in that, The sample bottle storage unit adopts a bundled tube structure, including a sealed box. A refrigerant exchange port is provided on the side wall of the sealed box. Storage tubes are vertically distributed inside the sealed box. The storage tubes are fixed by tube plates at the upper and lower ends of the sealed box. Both the upper and lower ends of the storage tubes are open.

5. The multi-channel biomedical sample storage and transfer system according to claim 1, characterized in that, The sealing mechanism includes a heat insulation frame and an upper partition, a middle partition, and a lower partition connected together from top to bottom within the heat insulation frame. The upper partition has upper through holes, and the inner wall of the upper through holes is engraved with ventilation grooves. The middle partition has round through holes, and a sealing ball is installed in the round through holes. The diameter of the round through holes is larger than the diameter of the sealing ball. The lower partition has lower through holes. The diameter of the sealing ball is smaller than the inner diameter of the round through holes but larger than the inner diameters of the upper and lower through holes. The distribution of the upper through holes, round through holes, and lower through holes is consistent with the distribution of the storage tubes in the sample bottle storage unit.

6. The multi-channel biomedical sample storage and transfer system according to claim 1, characterized in that, The gas delivery mechanism includes a frame, a gas delivery nozzle, a control valve, a gas storage chamber, a gas delivery channel, and a transmission device. The transmission device is mounted on the frame, the gas storage chamber is connected to the transmission device, the gas delivery nozzle is connected to the gas storage chamber through the control valve, and the gas delivery channel is connected to the gas storage chamber.

7. The multi-channel biomedical sample storage and transfer system according to claim 1, characterized in that, The transition transfer mechanism includes a sample bottle transfer channel, a sample bottle inlet / outlet, a transition transfer chamber, and a gas delivery pipe. The sample bottle transfer channel is connected above the transition transfer chamber. The transition transfer chamber contains a three-dimensional moving platform, a transition chamber, a sample bottle tray, and a transfer bracket. The transfer bracket is installed at the power output end of the three-dimensional moving platform. The transition chamber includes a frame and a tray. The tray is fixed in the frame, and the sample bottle tray is placed on the tray. The gas delivery pipe is located on the side wall of the transition chamber. One end of the gas delivery pipe inside the transition chamber is opposite to the port of the sample bottle transfer channel, and the other end of the gas delivery pipe is connected to the gas delivery mechanism.

8. The multi-channel biomedical sample storage and transfer system according to claim 7, characterized in that, The sample bottle tray has sample bottle placement holes on the sample bottle tray body and a transport groove at the bottom of the sample bottle tray body; the sample bottle placement holes are stepped through holes with a larger diameter at the top and a smaller diameter at the bottom.

9. The multi-channel biomedical sample storage and transfer system according to claim 7, characterized in that, The transfer bracket is equipped with a transport claw, and the transport claw is equipped with an air guide hole.

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