Tube box automatic storing and taking mechanism

Abstract

The present application relates to biological sample cryopreservation equipment technical field, especially to a kind of test tube box automatic access mechanism, including fixedly arranged in the support plate of liquid nitrogen tank top and the support truss being arranged on support plate, and the freezing rack assembly includes first freezing rack and second freezing rack, and first freezing rack and second freezing rack are spliced by locking component combination;Support plate is provided with horizontally arranged conveying module, and conveying module is provided with push module for supporting test tube box and also can push test tube box needing cryopreservation to freezing rack module on;It further includes movable plate, and movable plate is provided with unlocking assembly for locking component and push material assembly for pushing test tube box on freezing rack assembly to push module on to force unlocking;By setting first freezing rack and second freezing rack and the cooperation of above each mechanism, to realize the automatic access processing to the test tube loaded with biological sample, to greatly improve test tube box access efficiency.

Description

Technical Field

[0001] This invention relates to the field of biological sample cryopreservation equipment technology, and in particular to an automatic test tube box storage and retrieval mechanism. Background Technology

[0002] In the biomedical field, biological samples such as blood samples, vaccines, and bacterial / viral strains need to be stored in liquid nitrogen for long-term viability preservation. However, before cryopreservation of biological samples, they must first be placed in test tube boxes, and then multiple test tube boxes are placed one by one on a cryopreservation rack. After placing the specified number of test tube boxes, the cryopreservation rack can be placed into a liquid nitrogen tank for cryopreservation.

[0003] However, existing cryopreservation racks placed inside liquid nitrogen tanks are independently installed. When a cryopreservation rack needs to be removed from the liquid nitrogen tank for loading (i.e., test tube boxes), only one cryopreservation rack can be removed at a time, thus affecting the cryopreservation efficiency of the test tube boxes. Furthermore, existing cryopreservation equipment cannot achieve fully automated storage and retrieval of test tube boxes. Therefore, an automatic test tube box storage and retrieval mechanism is provided to solve the above-mentioned technical problems. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic test tube box storage and retrieval mechanism to address the shortcomings of existing technologies, thereby solving the technical problems that existing cryopreservation equipment can only retrieve one cryopreservation rack at a time and cannot achieve fully automatic storage and retrieval of test tube boxes.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] An automatic storage and retrieval mechanism for test tube boxes includes a support plate fixedly installed on the top of a liquid nitrogen tank and a support truss installed on the support plate. Several cryopreservation rack assemblies are placed inside the liquid nitrogen tank. Each cryopreservation rack assembly includes a first cryopreservation rack and a second cryopreservation rack, and the first cryopreservation rack and the second cryopreservation rack are spliced ​​and combined by locking components.

[0007] The support truss is horizontally and movably equipped with a double-stroke robotic arm and a single-stroke robotic arm that can extend downwards. The double-stroke robotic arm is equipped with a first robotic hand for gripping the first cryogenic rack, and the single-stroke robotic arm is equipped with a second robotic hand for gripping the second cryogenic rack.

[0008] The support plate is equipped with a horizontally arranged conveyor module, which is equipped with a pusher module for supporting the test tube box and pushing the test tube box that needs to be frozen to the cryopreservation rack module.

[0009] It also includes a movable plate, which is equipped with an unlocking component for applying force to the locking component to unlock it and a pushing component for pushing the test tube box placed on the cryopreservation rack assembly onto the pushing module.

[0010] The beneficial effects of this invention are as follows: When it is necessary to remove the cryopreservation rack assembly from the liquid nitrogen tank, the double-stroke robotic arm is controlled to move on the support truss until the first robotic arm is aligned with the first cryopreservation rack. The double-stroke robotic arm is then operated to move the first robotic arm downward to a specified height, and the first robotic arm is moved to clamp the top of the first cryopreservation rack. Finally, the double-stroke robotic arm is operated again, and the first robotic arm moves the first cryopreservation rack upward to remove it from the liquid nitrogen tank. The locking component causes the second cryopreservation rack to move upward simultaneously with the first cryopreservation rack.

[0011] During the removal process, the first cryopreservation rack moves intermittently upwards. During the intervals when the first cryopreservation rack stops rising, the pushing component operates to push the test tube boxes inside onto the pushing module. Then, the conveying module operates to drive the pushing module to move, thereby conveying the test tube boxes out of the mechanism, achieving automatic retrieval of the test tube boxes. After the first cryopreservation rack moves upwards until the locking component aligns with the unlocking component, the unlocking component operates to apply a relative force to the locking component, thereby unlocking it. After unlocking, the unlocking component supports the second cryopreservation rack. Through the cooperation of the dual-stroke robotic arm and the first robotic hand, the first cryopreservation rack is moved upwards to a certain height. Then, the dual-stroke robotic arm is controlled to move horizontally, thus removing the first cryopreservation rack from the second cryopreservation rack.

[0012] At this time, the second robotic arm is positioned above the second cryopreservation rack. By operating the single-stroke robotic arm and the second robotic arm, the second cryopreservation rack is driven to move upward intermittently. During the intervals when the second cryopreservation rack stops rising, the pushing component is also operated to push the test tube boxes in the second cryopreservation rack onto the pushing module. With the intermittent upward movement of the second cryopreservation rack and the cooperation of the pushing component, the test tube boxes in the second cryopreservation rack are pushed out one by one, thereby realizing the automatic removal of test tube boxes from the first and second cryopreservation racks.

[0013] When test tube boxes need to be stored, they are first placed on the designated feeding position on the pushing module. Then, the conveying module is activated to drive the pushing module to align with the first or second cryopreservation rack that has been retrieved. The pushing module then pushes the test tube box onto the first or second cryopreservation rack, which is then placed into the liquid nitrogen tank, thus achieving automated storage and retrieval of the test tube boxes. By setting up the first and second cryopreservation racks and coordinating the aforementioned mechanisms, automated storage and retrieval of test tubes containing biological samples can be achieved without manual intervention, significantly improving the efficiency of test tube box storage and retrieval. This ensures stable storage and retrieval of test tube boxes even when dual cryopreservation racks are in place. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0015] Figure 2 This is a partial three-dimensional structural schematic diagram of the present invention.

[0016] Figure 3 This is a schematic diagram of the structure of the dual-stroke robotic arm, the single-stroke robotic arm, and the first drive module of the present invention.

[0017] Figure 4 This is a diagram showing the separation state of the first cryopreservation rack and the second cryopreservation rack of the present invention.

[0018] Figure 5 This is a schematic diagram of the locking component of the present invention.

[0019] Figure 6 This is a schematic diagram of the first part of the locking component of the present invention.

[0020] Figure 7 This is a schematic diagram of the second part of the locking component of the present invention.

[0021] Figure 8 This is a schematic diagram of the structure of the unlocking component and the pushing component of the present invention.

[0022] Figure 9 This is a schematic diagram of the unlocking part of the present invention.

[0023] Figure 10 This is a schematic diagram of the structure of the conveying module and the pushing module of the present invention.

[0024] The reference numerals in the figures include:

[0025] 4. Support plate; 501. Support truss; 601. Conveying module; 6011. Conveying guide rail; 6012. Sliding seat; 6013. Fifth lead screw; 6014. Third servo motor; 602. Pushing module; 6021. Loading frame; 6022. First slide rail; 6023. Test tube box placement area; 6024. Second slide rail; 6025. Pusher seat; 6026. Fixed seat; 6027. Fourth lead screw; 6028. Fourth servo motor 6029. Second transmission component; 605. First cryogenic rack; 606. Second cryogenic rack; 607. Storage position; 608. Limiting spring; 609. Fixing plate; 610. Connecting post; 611. Connecting hole; 612. First slide groove; 613. Sliding shaft; 614. Locking block; 615. Locking groove; 616. Inclined edge; 617. Guide shaft; 618. Spring; 619. Guide groove; 620. Baffle; 624. Insertion hole; 7. Liquid nitrogen tank;

[0026] 704. First movable frame; 705. First drive module; 7051. Linear support; 7052. First lead screw; 7053. Slider; 7054. First stepper motor; 706. Second movable frame; 707. Second drive module; 708. Double-stroke robotic arm; 7081. First linear module; 7082. Second linear module; 7083. First lifting seat; 709. Single-stroke robotic arm; 7091. Third linear module; 7092. Second lifting seat; 710. First robotic arm; 712. Second robotic arm;

[0027] 713. Third drive module; 714. Movable plate; 7141. Unlock slot; 715. Unlocking component; 7151. Sliding frame; 7152. First guide rail; 7153. Second stepper motor; 7154. Second lead screw; 7155. Second slide groove; 7156. Support block; 7157. Accommodating slot; 7158. Movable block; 7159. Top rod; 71510. Pin; 71511. Slide rod; 716. Pushing component; 7161. Fourth slide rail; 7162. Pushing frame; 7163. Fixing block; 7164. Third lead screw; 7165. Third stepper motor; 7166. First transmission component; 717. Limiting roller; 718. Third slide rail. Detailed Implementation

[0028] The following is a detailed description of an automatic test tube retrieval mechanism of the present invention with reference to the accompanying drawings.

[0029] like Figure 1-2As shown, an embodiment of the automatic test tube retrieval mechanism of the present invention includes a support plate 4 fixedly disposed on the top of a liquid nitrogen tank 7 and a support truss 501 disposed on the support plate 4. A tank lid is placed at the top opening of the liquid nitrogen tank 7 to cover it, and several cryopreservation rack assemblies are placed inside the liquid nitrogen tank 7. In order to realize the automatic removal of the cryopreservation rack assemblies from the liquid nitrogen tank 7, a first movable frame 704 capable of horizontal sliding and a first drive module 705 for driving the first movable frame 704 to slide are provided on the support truss 501. The system includes a second movable frame 706 that can slide horizontally and a second drive module 707 for driving the second movable frame 706 to slide. The sliding direction of the first movable frame 704 is perpendicular to the sliding direction of the second movable frame 706. Additionally, a downward-extending double-stroke robotic arm 708 is mounted on the second movable frame 706, and a first robotic hand 710 for gripping cryogenic rack assemblies is mounted on the double-stroke robotic arm 708. The double-stroke robotic arm 708 drives the first robotic hand 710 to move up and down to remove the cryogenic rack assemblies from the liquid nitrogen tank 7. A downward-extending single-stroke robotic arm 709 is also mounted on the second movable frame 706, and a second robotic hand 712 for handling tank lids is mounted on the single-stroke robotic arm 709. The single-stroke robotic arm 709 drives the second robotic hand 712 to move up and down.

[0030] The cryopreservation rack assembly includes a first cryopreservation rack 605 and a second cryopreservation rack 606, which are joined together by a locking component. This allows the first cryopreservation rack 605 and the second cryopreservation rack 606 to be placed into the liquid nitrogen tank 7 simultaneously, or to be removed from the liquid nitrogen tank 7 simultaneously, greatly improving the efficiency of storing test tube boxes. Furthermore, after removal, when it is necessary to separate the first cryopreservation rack 605 and the second cryopreservation rack 606, a relative force is applied to the locking component to unlock it, thereby separating the first cryopreservation rack 605 and the second cryopreservation rack 606.

[0031] Specifically, when it is necessary to remove the cryopreservation rack assembly from the liquid nitrogen tank 7, the first drive module 705 is first operated to drive the first movable frame 704 to move on the support truss 501. Then, the second drive module 707 is operated to drive the second movable frame 706 to move on the first movable frame 704, thereby adjusting the position of the second robotic arm 712 to be directly above the tank lid. Subsequently, the single-stroke robotic arm 709 is operated to drive the second robotic arm 712 to move downward to a specified height. Then, the second robotic arm 712 is operated to clamp the tank lid. The single-stroke robotic arm 709 and the second drive module 707 are operated again to transport the tank lid to the designated location for storage. At this time, the first robotic arm 710 is positioned above the opening of the liquid nitrogen tank 7. Then, the first drive module 705 drives the first movable frame 704 to move, so that the first robotic arm 710 is aligned with the cryogenic rack assembly inside the liquid nitrogen tank 7 (there are multiple cryogenic rack assemblies inside the liquid nitrogen tank 7, so alignment needs to be adjusted). The double-stroke robotic arm 708 is run to move the first robotic arm 710 downward to a specified height, and the first robotic arm 710 is run to clamp the top of the first cryogenic rack 605. Finally, the double-stroke robotic arm 708 is run again, and the first robotic arm 710 moves the first cryogenic rack 605 upward to remove it from the liquid nitrogen tank 7. At the same time, the locking component moves the second cryogenic rack 606 upward, thus completing the automatic material handling of the cryogenic rack assembly.

[0032] After removing the cryopreservation rack assembly, in order to unlock the locking mechanism and remove the test tube box from the cryopreservation rack assembly, this access mechanism also includes a third slide rail 718 (e.g., on the support plate 4) mounted on the support plate 4. Figure 7 (as shown) and a movable plate 714 slidably mounted on the third slide rail 718, the movable plate 714 having an unlocking slot 7141 for making way for the cryopreservation rack assembly (as shown). Figure 7 (As shown); during the process of the first robotic arm 710 removing the cryopreservation rack assembly from the liquid nitrogen tank 7, the cryopreservation rack assembly passes through the unlocking slot 7141, and when the cryopreservation rack assembly is removed to a designated height, the locking part on the cryopreservation rack assembly is placed at the unlocking slot 7141; in addition, the support plate 4 is movably mounted on the support plate 4 via the third slide rail 718 to make way for the tank lid, so that the tank lid can be removed from or placed back in the opening of the liquid nitrogen tank 7. In order to drive the movable plate 714 to slide on the third slide rail 718, the support plate 4 is provided with a third drive module 713 for driving the movable plate 714 to move. By running the third drive module 713, the movable plate 714 is driven to slide automatically on the third slide rail 718.

[0033] Furthermore, the movable plate 714 is provided with an unlocking component 715 for applying force to the locking component to unlock it and a pushing component 716 for pushing out the test tube boxes placed in the storage position 607. With the mechanical cooperation of the dual-stroke robotic arm 708 and the first robotic hand 710, the first cryopreservation rack 605 in the liquid nitrogen tank 7 is taken out. During the removal process, the first cryopreservation rack 605 moves upward intermittently, and the second cryopreservation rack 606 moves upward together. During the interval when the first cryopreservation rack 605 stops rising, the pushing component 716 is operated to push the test tube boxes in the first cryopreservation rack 605 to the designated position. With the intermittent upward movement of the first cryopreservation rack 605 and the cooperation of the pushing component 716, the test tube boxes in the first cryopreservation rack 605 are pushed out one by one. After all the test tube boxes in the first cryopreservation rack 605 are pushed out and the second cryopreservation rack 606 is moved upward to a designated height, the locking component aligns with the unlocking component 715. The unlocking component 715 is then activated to apply a relative force to the locking component, unlocking it. Simultaneously, the unlocking component 715 supports the second cryopreservation rack 606. The dual-stroke robotic arm 708 and the first robotic hand 710 work together to move the first cryopreservation rack 605 upward to a certain height. Then, the second drive module 707 is activated to move the second movable rack 706, thus removing the first cryopreservation rack 605 from the second cryopreservation rack 606. The process involves unlocking and separating the paired cryopreservation rack components. At this time, the second robotic arm 712 is positioned above the second cryopreservation rack 606. By operating the single-stroke robotic arm 709 and the second robotic arm 712, the second cryopreservation rack 606 is moved upward intermittently. During the intervals when the second cryopreservation rack 606 stops rising, the pusher component 716 is also operated to push the test tube boxes inside the second cryopreservation rack 606 to the designated position. With the intermittent upward movement of the second cryopreservation rack 606 and the cooperation of the pusher component 716, the test tube boxes inside the second cryopreservation rack 606 are pushed out one by one, thereby automatically removing the test tube boxes from the first cryopreservation rack 605 and the second cryopreservation rack 606.

[0034] To facilitate the transport of the retrieved test tube boxes, a horizontally arranged transport module 601 is provided on the support plate 4. The transport module 601 includes a pusher module 602 for supporting the test tube boxes and pushing them onto the cryopreservation rack module. When the first robotic arm 710 intermittently moves the first cryopreservation rack 605 upwards, the pusher module 602 aligns with the first cryopreservation rack 605, and then the pusher assembly 716 is activated to move the test tube boxes within the first cryopreservation rack 605. The tubes are pushed onto the push module 602, and finally the conveying module 601 is run to drive the push module 602 to move, thereby conveying the removed test tube boxes and sending them out of the mechanism. When the second robotic arm 712 drives the second cryopreservation rack 606 to move upward intermittently, the push assembly 716 is run again to push the test tube boxes in the second cryopreservation rack 606 onto the push module 602, so that all the cryopreservation racks on the first cryopreservation rack 605 and the second cryopreservation rack 606 can be removed. In addition, when it is necessary to store test tube boxes, the test tube boxes are first placed on the designated pushing position on the pushing module 602, and then the conveying module 601 is run to drive the pushing module 602 to align with the first cryopreservation rack 605 or the second cryopreservation rack 606 that has been taken out. Then the pushing module 602 is run to push the test tube boxes to the storage position 607 on the first cryopreservation rack 605 or the second cryopreservation rack 606, and then the first cryopreservation rack 605 or the second cryopreservation rack 606 is placed into the liquid nitrogen tank 7 to realize the automatic storage and processing of test tube boxes.

[0035] like Figure 3 As shown, the dual-stroke robotic arm 708 includes a first linear module 7081 mounted on a second movable frame 706 and arranged vertically, and a second linear module 7082 arranged vertically on the first linear module 7081. The first linear module 7081 drives the second linear module 7082 to move up and down. A first lifting seat 7083 is provided on the second linear module 7082, and the second linear module 7082 drives the first lifting seat 7083 to move up and down. A first robotic arm 710 is mounted on the first lifting seat 7083. When the first linear module 7081 drives the second linear module 7082 to move downward, the second linear module 7082 also drives the first lifting seat 7083 to move downward. The first lifting seat 7083 then moves downward along with the first robotic arm 710, thereby removing the cryogenic rack assembly placed in the liquid nitrogen tank 7.

[0036] Furthermore, the single-stroke robotic arm 709 includes a third linear module 7091 mounted vertically on the second movable frame 706. A second lifting seat 7092 is mounted on the third linear module 7091. The third linear module 7091 drives the second lifting seat 7092 to move up and down. The second robotic arm 712 is mounted on the second lifting seat 7092. By operating the third linear module 7091 to drive the second lifting seat 7092 to move up and down, the second robotic arm 712 moves up and down together, sliding and engaging with the second movable frame 706 on the first movable frame 704 to achieve the handling of the can lid.

[0037] The first drive module 705 includes a linear support seat 7051 mounted on a support truss 501. A first lead screw 7052, rotatably mounted on the linear support seat 7051, has an axial direction aligned with the sliding direction of the first movable frame 704. A slider 7053 is fixedly mounted on the first movable frame 704 and threadedly connected to the first lead screw 7052. A first stepper motor 7054 is mounted on the support truss 501 to drive the first lead screw 7052 to rotate. Activating the first stepper motor 7054 drives the first lead screw 7052 to rotate, which in turn drives the first movable frame 704 to slide on the support truss 501 via the slider 7053. The first drive module 705, the second drive module 707, and the third drive module 713 have identical structures and operate in the same manner.

[0038] like Figure 4-5 As shown, both the first cryopreservation rack 605 and the second cryopreservation rack 606 are provided with a number of storage positions 607 for placing test tube boxes, and each storage position 607 is provided with a pair of limiting springs 608 for clamping the test tube boxes. After the test tube box is pushed onto the storage position 607, the limiting springs 608 clamp the test tube box, thereby limiting the test tube box and making the test tube box more stably placed on the storage position 607.

[0039] The locking mechanism includes a fixing plate 609 disposed on the top of the second cryopreservation rack 606, and several vertically arranged connecting posts 610 disposed on the bottom of the first cryopreservation rack 605. The fixing plate 609 has connecting holes 611 for inserting the connecting posts 610. Inside the fixing plate 609 are a pair of locking parts for locking the connecting posts 610 placed in different connecting holes 611. The locking parts are symmetrically arranged, and the unlocking directions of the two locking parts are opposite to each other. After the connecting posts 610 on the first cryopreservation rack 605 are inserted into the connecting holes 611 on the fixing plate 609, the locking parts automatically lock the connecting posts 610, thus locking the first cryopreservation rack... The first cryopreservation rack 605 and the second cryopreservation rack 606 are spliced ​​together, so that the first cryopreservation rack 605 and the second cryopreservation rack 606 can be placed into the liquid nitrogen tank 7 at the same time, or the first cryopreservation rack 605 and the second cryopreservation rack 606 can be taken out from the liquid nitrogen tank 7 at the same time, which greatly improves the efficiency of storing test tube boxes. Furthermore, after taking them out, when it is necessary to separate the first cryopreservation rack 605 and the second cryopreservation rack 606, the locking parts on both sides are applied with relative force by the unlocking component 715, so that the locking parts on both sides are unlocked at the same time, so that the connecting post 610 can disengage from the connecting hole 611, thus completing the separation of the first cryopreservation rack 605 and the second cryopreservation rack 606.

[0040] like Figure 6-7 As shown, the locking part includes a pair of first sliding grooves 612 arranged parallel to each other in the fixing plate 609. A sliding shaft 613 is slidably provided in each first sliding groove 612. Each connecting post 610 is provided with a slot 615. A locking block 614 that can be locked into the slot 615 is provided on the sliding shaft 613. Part of the locking block 614 is placed in the connecting hole 611. After the connecting post 610 is fully inserted into the connecting hole 611, the locking block 614 is locked into the slot 615, thus locking the connecting post 610. When unlocking is required, the sliding shaft 613 is pressed from the opening of the first sliding groove 612, so that the locking block 614 is disengaged from the slot 615.

[0041] However, in order to automatically lock the connecting post 610, one end of the sliding shaft 613 is a pressing end, and the other end is provided with a guide shaft 617 aligned with its axial direction. The diameter of the guide shaft 617 is smaller than the diameter of the sliding shaft 613. A guide groove 619 is provided inside the first slide groove 612 for the guide shaft 617 to slide. A spring 618 is wound around the guide shaft 617, and the spring 618 is placed inside the first slide groove 612. After applying force to the pressing end of the sliding shaft 613 through the opening of the first slide groove 612, The sliding shaft 613, carrying the locking block 614, slides within the first slide groove 612, while the guide shaft 617 slides within the guide groove 619. The spring 618 is compressed, and then the connecting post 610 is inserted into the connecting hole 611. Force is then applied to the sliding shaft 613, and under the action of the compression spring 618, the sliding shaft 613 and the locking block 614 are pushed back to their original positions, causing the locking block 614 to engage with the locking groove 615, thus securing the connecting post 610 and completing the splicing of the first cryogenic rack 605 and the second cryogenic rack 606. Additionally, the clamping part includes a baffle 620 fixedly mounted on the side of the fixing plate 609, used to simultaneously block the pressing ends of the sliding shafts 613 on both sides, preventing the sliding shafts 613 from disengaging from the first slide groove 612.

[0042] Preferably, the bottom end of the connecting post 610 is hemispherical, and a beveled edge 616 is provided on the top surface of the locking block 614 to contact the bottom end of the connecting post 610. When the connecting post 610 is inserted into the connecting hole 611, the bottom end of the connecting post 610 contacts the beveled edge 616. Then, a downward force is applied to the connecting post 610, and the bottom end of the connecting post 610 slides on the beveled edge 616, thereby pushing the locking block 614 to move closer to the spring 618. The locking block 614 slides with the sliding shaft 613 to compress the spring 618. When the connecting post 610 moves downward to disengage from the beveled edge 616 and the locking block 614 is aligned with the locking groove 615, the locking block 614 and the sliding shaft 613 are pushed back to their original positions under the action of the compression spring 618, so that the locking block 614 is locked into the locking groove 615, thereby locking the connecting post 610.

[0043] like Figure 8-9As shown, the unlocking assembly 715 includes a pair of unlocking parts symmetrically arranged on the movable plate 714. The unlocking parts are located on both sides of the unlocking slot 7141 to apply force to the sliding shaft 613. The unlocking part includes a support block 7156 fixedly mounted on the movable plate 714. The support block 7156 is provided with a receiving groove 7157, and a movable block 7158 that can slide towards or away from the unlocking slot 7141 is provided in the receiving groove 7157. The movable block 7158 is provided with a pair of push rods 7159 for pushing different sliding shafts 613 respectively. After the movable blocks 7158 on both sides of the unlocking slot 7141 are driven to move towards each other, the push rods 7159 on both sides push all the sliding shafts 613 in the fixed plate 609, so that the locking blocks 614 on the sliding shafts 613 disengage from the locking grooves 615 on the connecting post 610.

[0044] Additionally, the fixed plate 609 has insertion holes 624 on both sides near the top rod 7159, and the movable block 7158 has a pin 71510 that can be inserted into the insertion holes 624. Before the top rod 7159 contacts the sliding shaft 613, the pin 71510 is first inserted into the insertion hole 624, so that after the locking block 614 disengages from the locking slot 615, the top rod 7159 and the pin 71510 can support the second cryogenic rack 606, so that the first robotic arm 710 can drive it. The first cryopreservation rack 605 moves upward to remove itself from the second cryopreservation rack 606. Furthermore, when the push rod 7159 does not apply force to the sliding shaft 613, part of the pin 71510 is inserted into the insertion hole 624, which also supports the second cryopreservation rack 606, so that the second robot arm 712 can grip the second cryopreservation rack 606. It also facilitates the subsequent re-insertion of the connecting post 610 at the bottom of the first cryopreservation rack 605 into the connecting hole 611 to achieve the splicing of the two.

[0045] To drive the movable blocks 7158 on both sides to move towards the unlocking slot 7141, a vertically arranged slide rod 71511 is provided at the bottom of the movable block 7158. A horizontally arranged first guide rail 7152 is provided on the movable plate 714, and the length direction of the first guide rail 7152 is perpendicular to the movement direction of the movable block 7158. A sliding frame 7151 is slidably provided on the first guide rail 7152. A pair of second sliding grooves 7155 are provided on the sliding frame 7151, and the slide rods 71511 on both sides are respectively placed in different second sliding grooves 7155. The sliding frame 7151 moves back and forth to push the slide rods 71511 on both sides closer or further apart through the second sliding grooves 7155 on both sides. The slide rods 71511 on both sides then drive the movable blocks 7158 on both sides of the unlocking slot 7141 to move closer or further apart, so as to unlock the first cryogenic rack 605 and the second cryogenic rack 606. To drive the sliding frame 7151 to slide on the first guide rail 7152, a second stepper motor 7153 is mounted on the movable plate 714, and a second lead screw 7154 is provided on the output shaft of the second stepper motor 7153, with its axial direction aligned with the sliding direction of the sliding frame 7151. The second lead screw 7154 is threadedly connected to the sliding frame 7151. By activating the second stepper motor 7153 to drive the second lead screw 7154 to rotate, the sliding frame 7151 is driven to slide back and forth on the first guide rail 7152, thereby driving the movable blocks 7158 on both sides to move closer to or further away from each other. Additionally, several limiting rollers 717 are provided around the unlocking slot 7141 to limit the movement of the cryopreservation rack assembly. Under the action of the limiting rollers 717, the cryopreservation rack assembly is kept vertically upward or downward during the process of the first robotic arm 710 taking the cryopreservation rack assembly out of or into the liquid nitrogen tank 7. Furthermore, the sliding shaft 613 is always aligned with the top rod 7159, which improves the unlocking efficiency.

[0046] Furthermore, the pusher assembly 716 includes a fourth slide rail 7161 disposed on the movable plate 714, and the length direction of the fourth slide rail 7161 is parallel to the length direction of the first guide rail 7152. A pusher rack 7162 for pushing out test tube boxes placed on the storage position 607 is slidably provided on the fourth slide rail 7161. By driving the pusher rack 7162 to move back and forth on the fourth slide rail 7161, the test tube boxes on the first cryopreservation rack 605 and the second cryopreservation rack 606 are pushed out one by one, realizing automatic feeding. To drive the pusher 7162 to slide, a fixed block 7163 is provided on the movable plate 714, and a third lead screw 7164, whose axial direction is parallel to the length direction of the fourth slide rail 7161, is rotatably mounted on the fixed block 7163. The third lead screw 7164 is threadedly connected to the pusher 7162. A third stepper motor 7165 is mounted on the movable plate 714, and the output shaft of the third stepper motor 7165 is connected to the end of the third lead screw 7164 through a first transmission member 7166. When the third stepper motor 7165 is started, it drives the third lead screw 7164 to rotate through the first transmission member 7166, thereby driving the pusher 7162 to slide on the fourth slide rail 7161 towards the test tube box, pushing it away from the storage position 607.

[0047] like Figure 10 As shown, the conveying module 601 includes a horizontally arranged conveying guide rail 6011 mounted on the support plate 4. A sliding seat 6012 is provided on the conveying guide rail 6011, and a pushing module 602 is disposed on the sliding seat 6012. Under the action of the sliding seat 6012, the pushing module 602 moves back and forth on the conveying guide rail 6011 to convey the test tube box to the alignment cryopreservation rack assembly, thereby pushing the test tube box onto the cryopreservation rack assembly through the pushing module 602. In order to drive the sliding seat 6012 to slide automatically on the conveying guide rail 6011, a fifth lead screw 6013 is provided in the conveying guide rail 6011, the length direction of which is consistent with the sliding direction of the sliding seat 6012. The fifth lead screw 6013 is threadedly connected to the sliding seat 6012. A third servo motor 6014 is provided at one end of the sliding seat 6012, and the output shaft of the third servo motor 6014 is fixedly connected to one end of the fifth lead screw 6013. After placing the test tube box requiring cryopreservation on the pusher position of the pusher module 602, the third servo motor 6014 is started to drive the fifth lead screw 6013 to rotate, thereby driving the sliding seat 6012 to slide automatically on the conveyor rail 6011. The sliding seat 6012 moves together with the pusher module 602 to transport the test tube box to the alignment cryopreservation rack assembly.

[0048] In addition, the push module 602 includes a material frame 6021 fixedly mounted on the sliding seat 6012 and a first slide rail 6022 mounted on the support plate 4. The length direction of the first slide rail 6022 is consistent with the sliding direction of the sliding seat 6012. The bottom of the material frame 6021 is slidably mounted on the first slide rail 6022, so that the material frame 6021 moves more stably when the sliding seat 6012 drives the material frame 6021 to move. The material frame 6021 is provided with a test tube box placement area 6023, and the material frame 6021 has a test tube box placement area 6023. 1 is provided with a pusher seat 6025 for pushing the test tube box placed in the test tube box placement area 6023 away from the material frame 6021, so as to push the test tube box onto the cryopreservation rack assembly; specifically, a second slide rail 6024 is provided on the material frame 6021, and the length direction of the second slide rail 6024 is perpendicular to the length direction of the first slide rail 6022. The pusher seat 6025 is slidably disposed on the second slide rail 6024, and under the action of the second slide rail 6024, the pusher seat 6025 can slide freely on the material frame 6021. To drive the pusher seat 6025 to move, a fixed seat 6026 is provided on the loading frame 6021, and a fourth lead screw 6027 is rotatably provided on the fixed seat 6026 with its axial direction aligned with the length direction of the second slide rail 6024. The fourth lead screw 6027 is threadedly connected to the pusher seat 6025. In addition, a fourth servo motor 6028 is mounted on the loading frame 6021, and the output shaft of the fourth servo motor 6028 is connected to one end of the fourth lead screw 6027 through a second transmission member 6029. When the fourth servo motor 6028 is started, the fourth lead screw 6027 is driven to rotate through the second transmission member 6029, thereby driving the pusher seat 6025 to slide automatically on the loading frame 6021, thereby automatically pushing the test tube box placed in the test tube box placement area 6023 away from the loading frame 6021.

[0049] In summary, the present invention possesses the excellent characteristics described above, which enhances its effectiveness in use compared to previous technologies, making it a highly practical product.

[0050] The above description is only a preferred embodiment of the present invention. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the present invention. The content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automatic test tube retrieval mechanism, characterized in that: It includes a support plate (4) fixedly installed on the top of the liquid nitrogen tank (7) and a support truss (501) installed on the support plate (4). Several cryopreservation rack assemblies are placed inside the liquid nitrogen tank (7). The cryopreservation rack assembly includes a first cryopreservation rack (605) and a second cryopreservation rack (606). The first cryopreservation rack (605) and the second cryopreservation rack (606) are spliced ​​together by locking components. The support truss (501) is horizontally and movably provided with a double-stroke robotic arm (708) and a single-stroke robotic arm (709) that can extend downwards. The double-stroke robotic arm (708) is equipped with a first robotic hand (710) for gripping the first cryogenic rack (605), and the single-stroke robotic arm (709) is equipped with a second robotic hand (712) for gripping the second cryogenic rack (606). A horizontally arranged conveying module (601) is provided on the support plate (4), and a pushing module (602) is provided on the conveying module (601) for supporting the test tube box and pushing the test tube box that needs to be frozen to the cryopreservation rack module. It also includes a movable plate (714), which is provided with an unlocking component (715) for applying force to the locking component to unlock it and a pushing component (716) for pushing the test tube box placed on the cryopreservation rack assembly onto the pushing module (602). The locking component includes a fixing plate (609) disposed on the top of the second cryopreservation rack (606), and a plurality of vertically arranged connecting posts (610) disposed at the bottom of the first cryopreservation rack (605). The fixing plate (609) is provided with connecting holes (611) for inserting the connecting posts (610). Inside the fixing plate (609) is a pair of locking parts for locking the connecting posts (610) placed in different connecting holes (611). The locking parts are symmetrically arranged, and the unlocking directions of the two locking parts are opposite to each other. The clamping part includes a pair of first sliding grooves (612) arranged parallel to each other in the fixed plate (609). A sliding shaft (613) is slidably provided in each first sliding groove (612). Each connecting post (610) is provided with a slot (615), and a locking block (614) that can be engaged into the slot (615) is provided on the sliding shaft (613). Part of the locking block (614) is placed in the connecting hole (611). One end of the sliding shaft (613) is a pressing end, and the other end is provided with a guide shaft (617) aligned with its axial direction. The diameter of 617 is smaller than that of the sliding shaft (613). A guide groove (619) for sliding the guide shaft (617) is provided inside the first slide groove (612). A spring (618) is wound around the guide shaft (617) and the spring (618) is placed inside the first slide groove (612). The clamping part also includes a baffle (620) fixedly disposed on the side of the fixing plate (609). The baffle (620) is used to simultaneously block the pressing ends of the sliding shafts (613) on both sides to prevent the sliding shafts (613) from disengaging from the first slide groove (612).

2. The automatic test tube retrieval mechanism according to claim 1, characterized in that: The support truss (501) is provided with a first movable frame (704) that can slide horizontally and a first drive module (705) for driving the first movable frame (704) to slide. The first movable frame (704) is provided with a second movable frame (706) that can slide horizontally and a second drive module (707) for driving the second movable frame (706) to slide. The sliding direction of the first movable frame (704) is perpendicular to the sliding direction of the second movable frame (706).

3. The automatic test tube retrieval mechanism according to claim 2, characterized in that: The dual-stroke robotic arm (708) includes a vertically arranged first linear module (7081), and a vertically arranged second linear module (7082) is provided on the first linear module (7081). The first linear module (7081) is used to drive the second linear module (7082) to move up and down. A first lifting seat (7083) is provided on the second linear module (7082). The second linear module (7082) is used to drive the first lifting seat (7083) to move up and down. A first robotic arm (710) is installed on the first lifting seat (7083).

4. The automatic test tube retrieval mechanism according to claim 2, characterized in that: The single-stroke robotic arm (709) includes a third linear module (7091) arranged vertically on a second movable frame (706), a second lifting seat (7092) is provided on the third linear module (7091), the third linear module (7091) is used to drive the second lifting seat (7092) to move up and down, and a second robotic arm (712) is mounted on the second lifting seat (7092).

5. The automatic test tube retrieval mechanism according to claim 1, characterized in that: The unlocking assembly (715) includes a pair of unlocking parts symmetrically arranged on a movable plate (714). The movable plate (714) has unlocking slots (7141) for making way for the cryopreservation rack assembly. The unlocking parts are positioned on both sides of the unlocking slots (7141) to apply force to the sliding shaft (613). The unlocking part includes a support block (7156) fixedly mounted on the movable plate (714). The support block (7156) has a receiving groove (7157), and in the receiving groove... (7157) is provided with a movable block (7158) that can slide toward or away from the unlocking slot (7141). The movable block (7158) is provided with a pair of push rods (7159) for pushing different sliding shafts (613) respectively. The fixed plate (609) is provided with insertion holes (624) on both sides near the push rods (7159). The movable block (7158) is provided with a pin (71510) that can be inserted into the insertion hole (624).

6. The automatic test tube retrieval mechanism according to claim 5, characterized in that: A vertically arranged slide rod (71511) is provided at the bottom of the movable block (7158), and a horizontally arranged first guide rail (7152) is provided on the movable plate (714). The length direction of the first guide rail (7152) is perpendicular to the movement direction of the movable block (7158). A sliding frame (7151) is slidably provided on the first guide rail (7152), and a pair of second slide grooves (7155) are provided on the sliding frame (7151). The slide rods (71511) on both sides are respectively placed in different second slide grooves. Inside the groove (7155), the sliding frame (7151) moves back and forth to push the sliding rods (71511) on both sides closer or further apart by passing through the second sliding grooves (7155) on both sides; a second stepper motor (7153) is installed on the movable plate (714), and a second lead screw (7154) is provided on the output shaft of the second stepper motor (7153) with the axial direction consistent with the sliding direction of the sliding frame (7151), and the second lead screw (7154) is threadedly connected to the sliding frame (7151).

7. The automatic test tube retrieval mechanism according to claim 1, characterized in that: The push module (602) includes a loading frame (6021) fixedly mounted on the conveying module (601). The loading frame (6021) is provided with a test tube box placement area (6023), and a pusher seat (6025) is provided on the loading frame (6021) for pushing the test tube box placed in the test tube box placement area (6023) onto the cryopreservation rack assembly. A fixed seat (6026) is also provided on the loading frame (6021), and a fourth lead screw (6027) is rotatably provided on the fixed seat (6026) with its axial direction aligned with the length direction of the second slide rail (6024). The fourth lead screw (6027) is threadedly connected to the pusher seat (6025). A fourth servo motor (6028) is mounted on the loading frame (6021), and the output shaft of the fourth servo motor (6028) is connected to one end of the fourth lead screw (6027) through a second transmission member (6029).

8. The automatic test tube retrieval mechanism according to claim 7, characterized in that: The pusher assembly (716) includes a fourth slide rail (7161) disposed on the movable plate (714), and the length direction of the fourth slide rail (7161) is parallel to the length direction of the first guide rail (7152). The fourth slide rail (7161) is slidably provided with a pusher (7162) for pushing test tube boxes placed on the cryopreservation rack assembly to the test tube box placement position (6023). The movable plate (714) is provided with a fixed block (7163), and a third lead screw (7164) is rotatably disposed on the fixed block (7163) with its axis parallel to the length direction of the fourth slide rail (7161). The third lead screw (7164) is threadedly connected to the pusher (7162). The movable plate (714) is equipped with a third stepper motor (7165), and the output shaft of the third stepper motor (7165) is connected to the end of the third lead screw (7164) through a first transmission member (7166).

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