Ultralow-temperature biological storage equipment with intelligent access function

Abstract

The ultralow-temperature biological storage equipment comprises an equipment main body, and a grabbing mechanism, a low-temperature heat insulation storage tank and a multifunctional clamping manipulator are arranged on the equipment main body; a z-axis driving mechanism, an x-axis driving mechanism, a y-axis driving mechanism, an automatic door mechanism, a temporary placing support, a biological storage box code scanning mechanism, a biological test tube code scanning mechanism and a biological storage box placing cavity are further arranged. The grabbing mechanism grabs the storage unit from the low-temperature heat insulation storage tank to the position of the automatic door mechanism, and then the multifunctional clamping manipulator clamps the biological storage box from the position of the automatic door mechanism to the positions of the biological storage box code scanning mechanism and the biological test tube code scanning mechanism for scanning. And then the biological storage box is clamped to the biological storage box containing cavity through the multifunctional clamping mechanical arm, the needed biological test tube is taken out, the intelligent degree of the ultralow-temperature biological storage equipment is improved, and the use efficiency of the ultralow-temperature biological storage equipment is enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of biological storage equipment, and in particular, relates to an ultra-low temperature biological storage equipment capable of intelligent storage and access. Background Art

[0002] Ultra-low temperature biological storage equipment needs to store organisms including human organs and tissues, whole blood, plasma, serum, biological fluids, genes, seeds, stem cells or processed biological samples under ultra-low temperature conditions, and has strict requirements on the conditions of low-temperature insulated storage tanks. Therefore, it is required to store as many biological samples as possible in the low-temperature insulated storage tank of an ultra-low temperature biological storage equipment to save storage costs. Therefore, the vacuum insulated storage tank will be equipped with more storage units, and each storage unit will be equipped with many layers of sub-storage units. Therefore, the grabbing and transmission of the storage units, as well as the clamping of the biological storage boxes and biological test tubes are not intelligent at a high level. Therefore, it is necessary to design an ultra-low temperature biological storage device that can be intelligently accessed to improve the efficiency of the use of ultra-low temperature biological storage equipment. At the same time, the low-temperature insulated storage tanks currently used in traditional ultra-low temperature biological storage equipment basically adopt a rotating cage structure. For example, the patent application number is 202410246517.2, and the patent name is a patent application for a biological sample storage container for an ultra-low temperature biological storage device. The internal rotating cage structure and the biological sample storage container adopt a rotating access method to take or store biological samples. During the operation of the rotating cage structure of the biological sample storage container, if there is vibration, the rotating cage structure and the biological sample storage container are prone to misalignment, resulting in poor sealing. In addition, the rotating cage structure is prone to malfunction and abnormal noise when working in an ultra-low temperature state for a long time. Summary of the invention

[0003] In order to solve the above technical problems existing in the prior art, the present invention provides an ultra-low temperature biological storage device with intelligent access.

[0004] In order to solve the above technical problems, an ultra-low temperature biological storage device with intelligent access is provided, including a device body, on which a grasping mechanism, a low-temperature insulated storage tank and a multifunctional gripping manipulator are arranged, and a z-axis driving mechanism, an x-axis driving mechanism, a y-axis driving mechanism, an automatic door mechanism, a temporary placement bracket, a biological storage box scanning mechanism, a biological test tube scanning mechanism and a biological storage box placement cavity are also arranged; the grasping mechanism can be slid up and down and arranged on the z-axis driving mechanism, the z-axis driving mechanism can be slid left and right and arranged on the x-axis driving mechanism, the x-axis driving mechanism can be slid forward and backward and arranged on the y-axis driving mechanism, the multifunctional gripping manipulator is arranged at the biological storage box placement cavity position, the grasping mechanism grasps the storage unit in the low-temperature insulated storage tank to the automatic door mechanism position, the multifunctional gripping manipulator grips the biological storage box from the automatic door mechanism position to the biological storage box scanning mechanism and the biological test tube scanning mechanism position for scanning, and then the multifunctional gripping manipulator grips the biological storage box to the biological storage box placement cavity to take out the required biological test tube.

[0005] Furthermore, the grabbing mechanism includes a mounting bracket, a driving electromagnet, a plurality of grabbing claws and a center positioning shaft, and the driving electromagnet, the plurality of grabbing claws and the center positioning shaft are all arranged on the mounting bracket. The driving electromagnet drives the plurality of grabbing claws to grab the storage unit, and the driving electromagnet also drives the center positioning shaft to dock and position the storage unit to prevent the storage unit from shaking during access or transportation.

[0006] Furthermore, the grabbing claw includes a grabbing head and a driving seat, the grabbing head is pivotally set on the mounting bracket, and the grabbing head and the driving seat are connected by a driving rod; the center positioning shaft is set at the output end of the driving electromagnet, the driving seat is slidably sleeved on the center positioning shaft, and a locking part is set at one end of the center positioning shaft close to the driving electromagnet, and a driving spring is set between the locking part and the driving seat.

[0007] Furthermore, a movable clamping head is arranged on the clamping head via a rotating shaft, and a plurality of compression springs are arranged between the movable clamping head and the clamping head.

[0008] Furthermore, the low-temperature insulated storage tank is provided with a plurality of storage units, a storage tank body and a cover body; the cover body is arranged at the upper end of the storage tank body and forms a storage space, the cover body is provided with a plurality of storage placement openings, the cross-section of the storage placement openings is an inverted trapezoidal shape with a larger upper portion and a smaller lower portion, the storage unit is arranged in the storage placement opening, and the storage unit is tightly fitted with the storage placement opening.

[0009] Furthermore, the storage unit is provided with a grabbing opening, a positioning and fixing hole is provided at the center of the grabbing opening, and a plurality of layers of sub-storage units are provided at the lower end of the storage unit, and the sub-storage units are used to store the biological storage boxes.

[0010] Furthermore, the entrance of the storage placement port is square in shape, and the angle between the inclined edge of the storage placement port and the axis is between 1° and 2°.

[0011] Furthermore, the multifunctional gripping manipulator is provided with a base, a first movable joint, a second movable joint, a third movable joint, a fourth movable joint and a reversing joint; a reversing motor is provided between the fourth movable joint and the reversing joint, a gripping manipulator assembly is provided at the output end of the reversing joint, the gripping manipulator assembly is provided with a manipulator bracket, a biological storage box gripping manipulator is provided at one end of the manipulator bracket, a biological test tube gripping manipulator is provided at the other end of the manipulator bracket, the biological storage box gripping manipulator is used to clamp the biological storage box, and the biological test tube gripping manipulator is used to clamp the biological test tube after reversing.

[0012] Furthermore, an adjustment motor is provided between the reversing joint and the clamping mechanism, and the adjustment motor is used to adjust the radial angle of the clamping mechanism.

[0013] Furthermore, a first rotating motor is arranged between the base and the first movable joint, a second rotating motor is arranged between the first movable joint and the second movable joint, a third rotating motor is arranged between the second movable joint and the third movable joint, and a fourth rotating motor is arranged between the third movable joint and the fourth movable joint.

[0014] The present invention relates to an ultra-low temperature biological storage device capable of intelligent storage and access, comprising a device body, on which a grabbing mechanism, a low temperature heat insulation storage tank and a multifunctional gripping manipulator are arranged, and a z-axis driving mechanism, an x-axis driving mechanism, a y-axis driving mechanism, an automatic door mechanism, a temporary placement bracket, a biological storage box code scanning mechanism, a biological test tube code scanning mechanism and a biological storage box placement cavity are also arranged. The grabbing mechanism grabs the storage unit in the low temperature heat insulation storage tank to the position of the automatic door mechanism, and then the multifunctional gripping manipulator grips the biological storage box from the position of the automatic door mechanism to the position of the biological storage box code scanning mechanism and the biological test tube code scanning mechanism for scanning, and then the multifunctional gripping manipulator grips the biological storage box to the biological storage box placement cavity to take out the required biological test tube, thereby improving the intelligence level of the ultra-low temperature biological storage device and enhancing the use efficiency of the ultra-low temperature biological storage device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 and Figure 2 This is a schematic diagram of the three-dimensional structure of the ultra-low temperature biological storage device;

[0016] Figure 3-Figure 5 It is a schematic diagram of the three-dimensional structure of the grabbing mechanism for ultra-low temperature biological storage equipment;

[0017] Figure 6 It is a schematic diagram of the cross-sectional structure of the grabbing mechanism AA for ultra-low temperature biological storage equipment;

[0018] Figure 7 A schematic diagram of a structure for hiding a mounting bracket for a grabbing mechanism of an ultra-low temperature biological storage device;

[0019] Figure 8 This is a schematic diagram of the three-dimensional structure of a low-temperature insulated storage tank for ultra-low temperature biological storage equipment;

[0020] Fig. 9 It is a schematic diagram of the BB cross-sectional structure of a low-temperature insulated storage tank for ultra-low temperature biological storage equipment;

[0021] Fig.10 is a schematic diagram of the storage unit structure;

[0022] Fig.11 It is a schematic diagram of the structure of the grabbing mechanism and the biological storage unit used in the ultra-low temperature biological storage equipment;

[0023] Fig.12 A schematic diagram of the three-dimensional structure of a multifunctional gripping manipulator for ultra-low temperature biological storage equipment;

[0024] Fig.13 This is an enlarged schematic diagram of the C-section position of the multifunctional gripping manipulator for ultra-low temperature biological storage equipment;

[0025] Fig.14 This is an enlarged schematic diagram of the D part of the multifunctional gripping robot used in ultra-low temperature biological storage equipment. DETAILED DESCRIPTION

[0026] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. As mentioned throughout the specification and claims, "including" is an open term and should be interpreted as "including but not limited to". The subsequent description of the specification is a preferred embodiment of the present invention, but the description is for the purpose of illustrating the general principles of the present invention and is not intended to limit the scope of the present invention. The scope of protection of the present invention shall be determined as defined in the attached claims.

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings, but this is not intended to limit the present invention.

[0028] Example

[0029] like Figure 1-2As shown, for the convenience of observation and description, the sealing cover of the device body is hidden in the accompanying drawings. The present application provides an ultra-low temperature biological storage device with intelligent access, including a device body 12, on which a gripping mechanism 1, a low-temperature insulated storage tank 2 and a multifunctional gripping manipulator 3 are arranged, and a z-axis driving mechanism 4, an x-axis driving mechanism 5, a y-axis driving mechanism 6, an automatic door mechanism 7, a temporary placement bracket 8, a biological storage box scanning mechanism 9, a biological test tube scanning mechanism 10 and a biological storage box placement chamber 11 are also arranged; the gripping mechanism 1 can be slid up and down on the z-axis driving mechanism 4, the z-axis driving mechanism 4 can be slid left and right on the x-axis driving mechanism 5, and the x-axis driving mechanism 5 can be The forward and backward sliding is arranged on the y-axis driving mechanism 6, the multifunctional gripping manipulator 3 is arranged at the biological storage box placement cavity 11, the grasping mechanism 1 grasps the storage unit 2a on the low-temperature insulated storage tank 2 to the automatic door mechanism 7 position, and the automatic door mechanism 7 can be automatically closed and opened according to the access situation, the multifunctional gripping manipulator 3 grips the biological storage box 2a4 from the automatic door mechanism 7 position to the biological storage box code scanning mechanism 9 and the biological test tube code scanning mechanism 10 position for scanning, and then the multifunctional gripping manipulator 3 grips the biological storage box 2a4 to the biological storage box placement cavity 11 to take out the required biological test tube 2a4-1.

[0030] When working, Figure 1 and Figure 2As shown, the z-axis driving motor 4a provided in the z-axis driving mechanism 4 drives the grasping mechanism 1 to move up and down, the x-axis driving motor provided in the x-axis driving mechanism 5 can drive the z-axis driving mechanism 4 and the grasping mechanism 1 to move left and right, and the y-axis driving motor provided in the y-axis driving mechanism 6 can drive the x-axis driving mechanism 5, the z-axis driving mechanism 4 and the grasping mechanism 1 to move forward and backward, thereby driving the grasping mechanism 1 to move up and down, left and right, and forward and backward above the low-temperature insulated storage tank 2 through the z-axis driving mechanism 4, the x-axis driving mechanism 5 and the y-axis driving mechanism 6 to grasp the storage unit 2a that needs to be grasped, and transport the storage unit 2a to the position of the automatic door mechanism 7, and further by the multifunctional gripping manipulator 3 horizontally The biological storage box 2a4 stored on the clamping storage unit 2a is placed on the temporary placement bracket 8, and the multifunctional clamping manipulator 3 vertically clamps the biological storage box 2a4 to the biological storage box code scanning mechanism 9 to scan and check the number of the biological storage box 2a4. The multifunctional clamping manipulator 3 further clamps the biological storage box 2a4 to the biological test tube code scanning mechanism 10 to scan and check the biological test tube 2a4-1 placed on the biological storage box 2a4. The multifunctional clamping manipulator 3 further clamps the biological storage box 2a4 to the biological storage box placement cavity 11, and finally the multifunctional clamping manipulator 3 clamps the biological test tube 2a4-1 to be taken out after the code scanning and verification. When storing, the process can be reversed. Therefore, the intelligent access level of the ultra-low temperature biological storage equipment can be improved through the above-mentioned settings, which facilitates the access of the biological storage box 2a4 and the biological test tube 2a4-1.

[0031] Preferably, Figure 3-7 As shown, the grabbing mechanism 1 includes a mounting bracket 1a, a driving electromagnet 1b, a plurality of grabbing claws 1c and a center positioning shaft 1d. The driving electromagnet 1b, the plurality of grabbing claws 1c and the center positioning shaft 1d are all arranged on the mounting bracket 1a. The driving electromagnet 1b drives the center positioning shaft 1d to dock and position with the storage unit. At the same time, the driving electromagnet 1b also drives the plurality of grabbing claws 1c to grab, so as to prevent the storage unit from shaking during access or transportation, thereby improving the reliability of the ultra-low temperature biological storage device in grabbing and transporting the intelligent storage unit 2a.

[0032] More preferably, the grabbing claw 1c includes a grabbing head 1c1 and a driving seat 1c3, the grabbing head 1c1 is pivotally set on the mounting bracket 1a, and the grabbing head 1c1 and the driving seat 1c3 are connected by a driving rod 1c2; the center positioning shaft 1d is set at the output end of the driving electromagnet 1b, and the driving seat 1c3 is slidably sleeved on the center positioning shaft 1d, and the center positioning shaft 1d is provided with a locking part 1b1 at one end close to the driving electromagnet 1b, and a driving spring 1e is provided between the locking part 1b1 and the driving seat 1c3.

[0033] During the grabbing process of the storage unit 2a, the driving electromagnet 1b drives the central positioning shaft 1d to move and position the storage unit 2a. During this process, the driving spring 1e drives the driving seat 1c3 to move synchronously, and then the driving seat 1c3 drives the card gripping head 1c1 to expand outwards through the driving rod 1c2 to grab the storage unit 2a. The method of using the driving spring 1e to drive the card gripping head 1c1 to expand outwards to grab the storage unit can play a grabbing buffering role while ensuring the stability of the grabbing work, preventing the card gripping head 1c1 from causing impact damage to the grabbing mouth 2a1 of the storage unit 2a during the grabbing process, thereby improving the use performance.

[0034] More preferably, the gripping head 1c1 is further provided with a movable clamping head 1c4 via a rotating shaft 1c5, and a plurality of compression springs 1c6 are provided between the movable clamping head 1c4 and the gripping head 1c1. The clamping head 1c4 is movably provided on the gripping head 1c1, and by providing a compression spring 1c6 between the clamping head 1c4 and the gripping head 1c1, the contact surface between the clamping head 1c4 and the wall of the gripping opening 2a can be effectively adjusted, thereby enhancing the gripping adaptability of the gripping head 1c1.

[0035] More preferably, the grabbing claws 1c are provided in three groups, and the three groups of grabbing claws 1c are evenly distributed radially along the central positioning axis 1d.

[0036] More preferably, a limiting step 1d1 is further provided on the central positioning shaft 1d, and the driving seat 1c3 is limited by the limiting step 1d1 to prevent the grasping claw 1c from grasping the storage unit 2 too far and the grasping head 1c1 from grasping too tightly.

[0037] More preferably, Figure 8-10 As shown, the low-temperature insulated storage tank 2 is provided with a plurality of storage units 2a, a storage tank body 2b and a cover body 2c; the cover body 2c is arranged at the upper end of the storage tank body 2b, and forms a storage space 2b1, the storage space 2b1 is used to fill with refrigeration liquid nitrogen, so that the storage space 2b1 is maintained at a low temperature of -196°C, and the cover body 2c is provided with a plurality of storage placement ports 2c1, the cross-section of the storage placement port 2c1 is an inverted trapezoidal shape with a larger upper portion and a smaller lower portion, the storage unit 2a is arranged in the storage placement port 2c1, and the storage unit 2a is tightly matched with the storage placement port 2c1.

[0038] like Fig. 9 and Fig.10 As shown, since the cross-section of the storage placement port 2c1 is an inverted trapezoidal shape, the upper end matching portion 2a5 of the storage unit 2a and the storage placement port 2c1 adopt a conical surface matching method. Under the action of gravity, the storage unit 2a matches the storage placement port 2c1 more tightly, which more effectively ensures the sealing of the storage unit 2a and the storage placement port 2c1 and improves the sealing effect.

[0039] like Figure 1 and Fig. 9 As shown, during the biological storage process, the storage space 2b1 is used to fill with refrigerated liquid nitrogen to keep the storage space 2b1 at a low temperature of -196°C, and all storage units 2a are stored at low temperatures. At the upper end of the low-temperature insulated storage tank 2, the gripping mechanism 1, the z-axis drive mechanism 4, the x-axis drive mechanism 5 and the y-axis drive mechanism 6 are arranged in the space, and the temperature is kept at about -20°C for a long time under the condition of sealing of the automatic door mechanism 7. Therefore, the gripping mechanism 1, the z-axis drive mechanism 4, the x-axis drive mechanism 5 and the y-axis drive mechanism 6 will not have any abnormal phenomena during long-term operation, which can effectively ensure the taking and placing operations of the storage unit 2a, and improve the intelligent storage efficiency of ultra-low temperature biological storage equipment.

[0040] Preferably, the entrance of the storage placement port 2c1 is square in shape, and the storage placement port 2c1 is square in shape. At the same time, the upper position of the matching storage unit 2a is also square in shape, which is convenient for determining the direction when taking out or placing, easy for positioning, and improves the convenience of access.

[0041] More preferably, the included angle 2c2 between the inclined edge of the storage opening 2c1 and the axis is between 1° and 2°.

[0042] More preferably, Fig.10 As shown, the storage unit 2a is provided with a gripping opening 2a1, a positioning and fixing hole 2a2 is provided at the center of the gripping opening 2a1, and a plurality of layers of sub-storage units 2a3 are provided at the lower end of the storage unit 2a, and the sub-storage units 2a3 are used to store biological storage boxes 2a4.

[0043] More preferably, the storage tank body 2b is a double-layer insulation structure, and a vacuum insulation cavity is formed between the double-layer insulation structures. Thus, the double-layer insulation structure is conducive to maintaining the storage space 2b1 of the low-temperature insulated storage tank at a low temperature of -196°C for a long time.

[0044] like Fig.11As shown, the upper end of the biological storage unit 2a is provided with a grabbing opening 2a1, and the center of the grabbing opening 2a1 is provided with a positioning and fixing hole 2a2. The lower end of the storage unit 2a is provided with several layers of sub-storage units 2a3, and each sub-storage unit 2a3 is placed with a biological storage box 2a4, so that the entire storage unit 2a has a relatively high height. When it is necessary to grab the storage unit 2a, the grabbing mechanism 1 moves downward as a whole, and the several card grasping heads 1c1 provided therein are extended into the grabbing opening 2a1, and the driving electromagnet 1b also drives the central positioning shaft 1d to extend into the positioning and fixing hole 2a2 to complete the docking and positioning of the storage unit 2a. At the same time, the driving electromagnet 1b drives the card grasping head 1c1 of the grabbing claw 1c to expand outward to grab the grabbing opening 2a1, and complete the grabbing work of the storage unit 2a. Therefore, the storage unit 2a is positioned and fixed by the central positioning axis 1d in the grasping mechanism, and the storage unit 2a is grasped by a plurality of grasping heads 1c1, thereby solving the problem of the storage unit 2a being easily shaken during access or transportation, and improving the stability of the storage unit 2a grasping and transportation process.

[0045] More preferably, Figure 12-14 As shown, the multifunctional gripping manipulator 3 is provided with a base 3a, a first movable joint 3b, a second movable joint 3c, a third movable joint 3d, a fourth movable joint 3e and a reversing joint 3f; a reversing motor is provided between the fourth movable joint 3e and the reversing joint 3f, a gripping manipulator assembly 3g is provided at the output end of the reversing joint 3f, the gripping manipulator assembly 3g is provided with a manipulator bracket 3g1, a biological storage box gripping manipulator 3g2 is provided at one end of the manipulator bracket 3g1, a biological test tube gripping manipulator 3g3 is provided at the other end of the manipulator bracket 3g1, the biological storage box gripping manipulator 3g2 is used to clamp the biological storage box, and the biological test tube gripping manipulator 3g3 is used to grip the biological test tube after reversing.

[0046] like Figure 1 and Fig.12As shown, when removing the storage unit 2a, the biological storage box 2a4 must first be clamped by the biological storage box clamping manipulator 3g2 provided in the clamping manipulator assembly 3g and moved to the biological storage box code scanning mechanism 9 and the biological test tube code scanning mechanism 10 to automatically scan and identify the biological storage box 2a4 and the biological test tube 2a4-1 respectively, and then further clamped into the biological storage box placement cavity 11 to specifically take and place the biological test tube 2a4-1. At this time, a reversing motor can be provided between the fourth active joint 3e and the reversing joint 3f to drive the manipulator bracket 3g1 to rotate 180°, and then the required biological test tube 2a4-1 is clamped by the biological test tube clamping manipulator 3g3. Thus, the clamping robot assembly 3g is provided with a robot bracket 3g1, and a biological storage box clamping robot 3g2 and a biological test tube clamping robot 3g3 are respectively provided at both ends of the robot bracket 3g1. Finally, a reversing motor is provided between the fourth active joint 3e and the reversing joint 3f to complete the switching between the biological storage box clamping robot 3g2 and the biological test tube clamping robot 3g3. At the same time, it has the function of clamping the biological storage box 2a4 and the biological test tube 2a4-1, thereby improving the use function of the clamping robot assembly 3g.

[0047] Preferably, an adjustment motor is provided between the reversing joint 3f and the clamping mechanism 3g, and the adjustment motor is used to adjust the radial angle of the clamping mechanism 3g. The clamping angle of the clamping mechanism 3g is adjusted by the adjustment motor, thereby enhancing the flexibility of the clamping mechanism 3g and realizing the clamping of the biological storage box 2a4 and the biological test tube 2a4-1 at any angle and position.

[0048] More preferably, Fig.12 and Fig.13 As shown, the biological storage box clamping manipulator 3g2 is provided with a first clamping electromagnet 3g2-1, and a pair of clamping arms 3g2-2 are provided at the output end of the first clamping electromagnet 3g2-1.

[0049] More preferably, Fig.12 and Fig.14 As shown, the biological test tube gripping manipulator 3g3 is provided with a second gripping electromagnet 3g3-1, and the second gripping electromagnet 3g3-1 is provided with a plurality of columnar gripping heads 3g3-2. Since the biological test tube 2a4-1 is a tubular structure, and the distances between the plurality of biological test tubes 2a4-1 are relatively close, and a small gap is formed between them, it is more convenient for the biological test tube gripping manipulator 3g3 to grip the biological test tube 2a4-1, and preferably, 4 columnar gripping heads 3g3-2 are provided, and the gripping of the biological test tube 2a4-1 is controlled by the second gripping electromagnet 3g3-1.

[0050] More preferably, a first rotating motor is arranged between the base 3a and the first movable joint 3b, a second rotating motor is arranged between the first movable joint 3b and the second movable joint 3c, a third rotating motor is arranged between the second movable joint 3c and the third movable joint 3d, and a fourth rotating motor is arranged between the third movable joint 3d and the fourth movable joint 3e.

[0051] like Fig.12 As shown, the first movable joint 3b can be driven by the first rotating motor to rotate 360° along the axis of the base 3a, thereby the first movable joint 3b can be arbitrarily adjusted on the base 3a. Similarly, the second movable joint 3c can be arbitrarily adjusted on the first movable joint 3b by the second rotating motor, the third movable joint 3d can be arbitrarily adjusted on the second movable joint 3c by the third rotating motor, and the fourth movable joint 3e can be arbitrarily adjusted on the third movable joint 3d by the fourth rotating motor. Therefore, the setting of the first rotating motor to the fourth rotating motor can make the clamping robot assembly 3g realize adjustment at any angle and any position, so as to better complete the clamping work of the biological storage box 2a4 and the biological test tube 2a4-1.

[0052] The above description shows and describes the preferred embodiments of the present invention, but as mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. And the changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. An ultra-low temperature biological storage device capable of intelligent storage and access, comprising a device body (12), characterized in that: The device body (12) is provided with a gripping mechanism (1), a low-temperature heat-insulating storage tank (2) and a multifunctional gripping manipulator (3), and is also provided with a z-axis driving mechanism (4), an x-axis driving mechanism (5), a y-axis driving mechanism (6), an automatic door mechanism (7), a temporary placement bracket (8), a biological storage box code scanning mechanism (9), a biological test tube code scanning mechanism (10) and a biological storage box placement chamber (11); the gripping mechanism (1) can be slidably arranged on the z-axis driving mechanism (4) up and down, the z-axis driving mechanism (4) can be slidably arranged on the x-axis driving mechanism (5) left and right, and the x-axis driving mechanism (5) can be slidably arranged on the The multifunctional gripping manipulator (3) is arranged on a y-axis driving mechanism (6), the multifunctional gripping manipulator (3) is arranged at a position of a biological storage box placement cavity (11), the gripping mechanism (1) grips a storage unit (2a) in a low-temperature heat-insulating storage tank (2) to a position of an automatic door mechanism (7), the multifunctional gripping manipulator (3) grips a biological storage box (2a4) from the position of the automatic door mechanism (7) to a position of a biological storage box code scanning mechanism (9) and a biological test tube code scanning mechanism (10) for scanning, and then the multifunctional gripping manipulator (3) grips the biological storage box (2a4) to the biological storage box placement cavity (11) to take out a desired biological test tube (2a4-1).

2. The ultra-low temperature biological storage device with intelligent access according to claim 1, characterized in that: The grabbing mechanism (1) comprises a mounting bracket (1a), a driving electromagnet (1b), a plurality of grabbing claws (1c) and a central positioning shaft (1d); the driving electromagnet (1b), the plurality of grabbing claws (1c) and the central positioning shaft (1d) are all arranged on the mounting bracket (1a); the driving electromagnet (1b) drives the plurality of grabbing claws (1c) to grab the storage unit; at the same time, the driving electromagnet (1b) also drives the central positioning shaft (1d) to dock and position with the storage unit, thereby preventing the storage unit from shaking during access or transportation.

3. The ultra-low temperature biological storage device with intelligent access according to claim 2, characterized in that: The grabbing claw (1c) comprises a grabbing head (1c1) and a driving seat (1c3); the grabbing head (1c1) is pivotally arranged on the mounting bracket (1a), and the grabbing head (1c1) and the driving seat (1c3) are connected by a driving rod (1c2); the central positioning shaft (1d) is arranged at the output end of the driving electromagnet (1b), and the driving seat (1c3) is slidably sleeved on the central positioning shaft (1d); a locking portion (1b1) is arranged at one end of the central positioning shaft (1d) close to the driving electromagnet (1b), and a driving spring (1e) is arranged between the locking portion (1b1) and the driving seat (1c3).

4. The ultra-low temperature biological storage device with intelligent access according to claim 2 or 3, characterized in that: The gripping head (1c1) is also provided with a movable clamping head (1c4) via a rotating shaft (1c5), and a plurality of compression springs (1c6) are provided between the movable clamping head (1c4) and the gripping head (1c1).

5. The ultra-low temperature biological storage device capable of intelligent storage and access according to claim 1 or 2, characterized in that: The low-temperature insulated storage tank (2) is provided with a plurality of storage units (2a), a storage tank body (2b) and a cover body (2c); the cover body (2c) is arranged at the upper end of the storage tank body (2b) and forms a storage space (2b1); the cover body (2c) is provided with a plurality of storage placement openings (2c1); the cross section of the storage placement openings (2c1) is an inverted trapezoidal shape with a larger upper portion and a smaller lower portion; the storage unit (2a) is arranged in the storage placement opening (2c1), and the storage unit (2a) and the storage placement opening (2c1) are tightly matched.

6. The ultra-low temperature biological storage device capable of intelligent storage and access according to claim 5, characterized in that: The storage unit (2a) is provided with a grabbing opening (2a1), a positioning and fixing hole (2a2) is provided at the center of the grabbing opening (2a1), and a plurality of layers of sub-storage units (2a3) are provided at the lower end of the storage unit (2a), and the sub-storage units (2a3) are used to store biological storage boxes (2a4).

7. The ultra-low temperature biological storage device capable of intelligent access according to claim 5, characterized in that: The entrance of the storage placement opening (2c1) is in a square shape, and the angle (2c2) between the inclined side of the storage placement opening (2c1) and the axis is between 1° and 2°.

8. The ultra-low temperature biological storage device capable of intelligent storage and access according to claim 5, characterized in that: The multifunctional gripping manipulator (3) is provided with a base (3a), a first movable joint (3b), a second movable joint (3c), a third movable joint (3d), a fourth movable joint (3e) and a reversing joint (3f); characterized in that a reversing motor is provided between the fourth movable joint (3e) and the reversing joint (3f); a gripping manipulator assembly (3g) is provided at the output end of the reversing joint (3f); the gripping manipulator assembly (3g) is provided with a manipulator support (3g1); a biological storage box gripping manipulator (3g2) is provided at one end of the manipulator support (3g1); a biological test tube gripping manipulator (3g3) is provided at the other end of the manipulator support (3g1); the biological storage box gripping manipulator (3g2) is used to grip the biological storage box; and the biological test tube gripping manipulator (3g3) is used to grip the biological test tube after reversing.

9. The ultra-low temperature biological storage device capable of intelligent storage and access according to claim 8, characterized in that: An adjustment motor is provided between the reversing joint (3f) and the clamping mechanism (3g), and the adjustment motor is used to adjust the radial angle of the clamping mechanism (3g).

10. The ultra-low temperature biological storage device capable of intelligent storage and access according to claim 8 or 9, characterized in that: A first rotating motor is arranged between the base (3a) and the first movable joint (3b), a second rotating motor is arranged between the first movable joint (3b) and the second movable joint (3c), a third rotating motor is arranged between the second movable joint (3c) and the third movable joint (3d), and a fourth rotating motor is arranged between the third movable joint (3d) and the fourth movable joint (3e).

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