Full-automatic biological sample storing and taking system and control method thereof

Abstract

The invention relates to the technical field of biology, in particular to a full-automatic biological sample storing and taking system and a control method thereof.The full-automatic biological sample storing and taking system comprises a refrigerator module, a sample box taking and placing module, a transferring module, a sample sorting module and a biological sample receiving and sending module; the refrigerator module is used for storing various biological sample boxes; the sample box taking and placing module is used for taking and placing a corresponding first sample box from the refrigerator module based on the control instruction; the transfer module is used for transporting the first sample box to the sample sorting module or the sample box taking and placing module; the sample sorting module is used for sorting the samples in the first sample box into empty sample boxes to obtain target sample boxes or sorting the samples from external sample boxes into the first sample box; and the biological sample receiving and sending module is used for outputting the sorted target sample box or inputting an external sample box. Therefore, automatic management of the whole process from sample storage, sampling, transferring, sorting to final output is achieved, the efficiency and quality of biological sample treatment are greatly improved, and human errors are reduced.

Description

Technical Field

[0001] The present invention relates to the field of biotechnology, and in particular to a fully automatic biological sample access system and a control method thereof. Background Art

[0002] Biological samples include cells, tissues, blood, body fluids, etc. These samples play a key role in disease diagnosis, drug development, genetic research, etc. For example, in clinical diagnosis, accurate acquisition and analysis of biological samples can help doctors detect diseases in a timely manner and develop effective treatment plans; in the process of drug development, a large number of biological samples need to be tested and screened to determine the effectiveness and safety of the drugs.

[0003] In recent years, automation technology has been widely used in various fields. Automated biological sample grabbing systems can achieve high-precision, high-efficiency, and high-reliability sample processing, and have the advantages of improving accuracy and consistency, improving efficiency, and reducing biosafety risks.

[0004] Most of the existing high-precision and high-performance biological sample grabbing systems use robots for storage and retrieval. These robots are usually expensive, which is a big burden for some small laboratories or research institutions. The maintenance cost is high. The maintenance of the system requires professional technicians and specific accessories, and the maintenance cost is high. Summary of the invention

[0005] The purpose of the present invention is to provide a fully automatic biological sample storage and retrieval system and a control method thereof, aiming to use a relatively simple mechanical structure to achieve full-process automated management from sample storage, sampling, transportation, sorting to final output, greatly improving the efficiency and quality of biological sample processing and reducing human errors.

[0006] To achieve the above-mentioned object, in a first aspect, the present invention provides a fully automatic biological sample storage and retrieval system, comprising a refrigerator module, a sample box retrieval module, a transport module, a sample sorting module, and a biological sample receiving and distributing module; The refrigerator module is used to store a variety of biological sample boxes; The sample box taking and placing module is used to take and place the corresponding first sample box from the refrigerator module based on the control instruction; The transport module is used to transport the first sample box to the sample sorting module or the sample box picking and placing module; The sample sorting module is used to sort the samples in the first sample box into an empty sample box to obtain a target sample box or to sort the samples from an external sample box into the first sample box; The biological sample receiving and distributing module is used to output a sorted target sample box or input an external sample box.

[0007] The refrigerator module includes a refrigerator body, a rotating frame and a plurality of placing turntables. The rotating frame is rotatably arranged in the refrigerator body, and the plurality of placing turntables are fixed to the rotating frame for placing a variety of biological sample boxes in layers.

[0008] Wherein, the refrigerator module also includes an emergency door, and the emergency door is arranged on one side of the refrigerator body.

[0009] Among them, the rotating frame has an angle encoding unit, and the angle encoding unit is used to encode based on the rotation angle of the rotating frame. The refrigerator body is provided with a position detection unit corresponding to the multiple placement turntables. The position detection unit is used to detect the moving position of the sample box placement module, and the control unit positions the biological sample box on the placement turntable based on the moving position and the rotation angle.

[0010] The control unit is further used to count the number of remaining samples after taking and placing samples in the biological sample box at corresponding positions.

[0011] The sample box taking and placing module comprises a lifting platform, on which a sample box clamp is arranged, and the lifting platform is used to drive the sample box clamp to move to a specified height to grab the sample box.

[0012] Wherein, the transfer module includes a mobile platform, on which a carrying platform is arranged. The carrying platform is used to place the sample box grasped by the sample box clamp and rotate to one side of the sample sorting module through the mobile platform.

[0013] Among them, the sample sorting module includes a three-axis sample box sorter, a sample box carrying table, and a three-axis sample tube sorter. The three-axis sample box sorter is used to grab the sample box and place it on the sample box carrying table, and the three-axis sample tube sorter is used to grab samples from the sample box and put them into the empty sample box.

[0014] Wherein, the sample box carrying platform has a plurality of sample box clamping mechanisms, and the sample box clamping mechanisms are used to clamp the sample box.

[0015] In a second aspect, the present invention also provides a control method for a fully automatic biological sample storage and access system, comprising: placing biological sample boxes of various types into a refrigerator module; Obtaining a control instruction, and taking and placing a first sample box corresponding to the control instruction from the refrigerator module; Transporting the first sample box to the sample sorting module; The samples in the first sample box are sorted into an empty sample box to obtain a target sample box.

[0016] In the fully automatic biological sample storage and retrieval system and control method thereof of the present invention, in this embodiment, the refrigerator module is the core storage area of ​​the entire system, and is designed to store various types of biological sample boxes. The internal environment of the refrigerator module is strictly controlled to ensure that the samples are kept in the best condition during storage and to avoid sample deterioration or damage caused by temperature fluctuations or other external factors. The module can adapt to sample boxes of different types and sizes, providing flexible and diverse storage solutions.

[0017] The sample box taking and placing module accurately takes out the designated first sample box from the refrigerator module or puts the processed sample box back into the refrigerator module according to the instructions issued by the control system. After the sampling is completed, the transport module safely and quickly transports the first sample box from the refrigerator module to the sample sorting module.

[0018] After arriving at the sorting area, the sample sorting module accurately transfers the samples in the first sample box to a new empty sample box according to preset standards or experimental requirements to form a final target sample box.

[0019] Finally, the sorted target sample boxes will be sent to the biological sample receiving and sending module. The module will output the processed sample boxes to researchers or laboratory technicians, and can also receive new sample boxes to prepare for the next cycle of processing. In order to ensure the safety and traceability of the samples, the receiving and sending module is usually equipped with a barcode scanner or other form of identification reading device to achieve full tracking management of each sample box.

[0020] Through the seamless collaboration among the above modules, the fully automatic biological sample storage and retrieval system can realize the full process automated management from sample storage, sampling, transportation, sorting to final output, greatly improving the efficiency and quality of biological sample processing and reducing human errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a structural diagram of the fully automatic biological sample storage and retrieval system of the present invention.

[0023] Figure 2 yes Figure 1 A partial enlargement of detail A.

[0024] Figure 3 It is a structural diagram of the refrigerator module and the sample box taking and placing module of the present invention.

[0025] Figure 4 It is a cross-sectional structural diagram of a refrigerator module of the present invention.

[0026] Figure 5 It is a structural diagram of the sample sorting module and the biological sample receiving and discharging module of the present invention.

[0027] Figure 6 It is a partial structural diagram of the sample sorting module of the present invention.

[0028] Figure 7 It is a flow chart of a control method of a fully automatic biological sample access system of the present invention.

[0029] Refrigerator module 101, sample box taking and placing module 102, transfer module 103, sample sorting module 104, biological sample receiving and discharging module 105, refrigerator body 106, rotating frame 107, placement turntable 108, emergency door opening 109, angle encoding unit 110, position detection unit 111, lifting platform 112, sample box clamp 113, moving platform 114, supporting platform 115, three-axis sample box sorter 116, sample box supporting platform 117, three-axis sample tube sorter 118, sample box clamping mechanism 119. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0031] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. Example

[0032] See also Figure 1 to Figure 6The present invention provides a fully automatic biological sample storage and retrieval system, including a refrigerator module 101, a sample box taking and placing module 102, a transfer module 103, a sample sorting module 104 and a biological sample receiving and discharging module 105; the refrigerator module 101 is used to store a variety of biological sample boxes; the sample box taking and placing module 102 is used to take and place the corresponding first sample box from the refrigerator module 101 based on a control instruction; the transfer module 103 is used to transport the first sample box to the sample sorting module 104 or the sample box taking and placing module 102; the sample sorting module 104 is used to sort the sample in the first sample box into an empty sample box to obtain a target sample box or to sort the sample from an external sample box to the first sample box; the biological sample receiving and discharging module 105 is used to output the sorted target sample box or input an external sample box.

[0033] In this embodiment, the refrigerator module 101 is the core storage area of ​​the entire system, and is designed to store various types of biological sample boxes. The internal environment of the refrigerator module 101 is strictly controlled to ensure that the samples remain in the best condition during storage and to avoid sample deterioration or damage caused by temperature fluctuations or other external factors. The module can adapt to sample boxes of different types and sizes, providing flexible and diverse storage solutions.

[0034] During the sampling process, the sample box taking and placing module 102 accurately takes out the designated first sample box from the refrigerator module 101 or puts the processed sample box back into the refrigerator module 101 according to the instructions issued by the control system. After the sampling is completed, the transport module 103 safely and quickly transports the first sample box from the refrigerator module 101 to the sample sorting module 104.

[0035] After arriving at the sorting area, the sample sorting module 104 accurately transfers the samples in the first sample box to a new empty sample box according to preset standards or experimental requirements to form a final target sample box.

[0036] Finally, the sorted target sample boxes will be sent to the biological sample receiving and sending module 105. The module will output the processed sample boxes to researchers or laboratory technicians, and can also receive new sample boxes to prepare for the next cycle of processing. In order to ensure the safety and traceability of the samples, the receiving and sending module is usually equipped with a barcode scanner or other form of identification reading device to achieve full tracking management of each sample box.

[0037] During the sample storage process, the biological sample receiving and discharging module 105 inputs the sample into an external sample box, and then into the sample sorting module 104, sorts the sample from the external sample box into a first sample box, and then places the first sample box on the transfer module 103, moves to one side of the sample box placement module 102 through the transfer module 103, and then places the first sample box into the refrigerator module 101 for storage.

[0038] Through the seamless collaboration among the above modules, the fully automatic biological sample storage and retrieval system can realize the full process automated management from sample storage, sampling, transportation, sorting to final output, greatly improving the efficiency and quality of biological sample processing and reducing human errors.

[0039] The refrigerator module 101 includes a refrigerator body 106, a rotating frame 107 and a plurality of placement turntables 108. The rotating frame 107 is rotatably disposed in the refrigerator body 106. The plurality of placement turntables 108 are fixed to the rotating frame 107 for placing a variety of biological sample boxes in layers.

[0040] The refrigerator body 106 is the basic structure of the entire module. The refrigerator body 106 provides the necessary low temperature environment to ensure that the biological samples remain stable during the entire storage period. Its internal space is optimized to meet the storage requirements of sample boxes of different sizes and types.

[0041] The rotating frame 107 is an innovative design element, which is installed inside the refrigerator body 106 and can rotate freely around the central axis. This design allows the sample box to change its position relative to the pick-and-place module by rotating the rotating frame 107 without changing the opening and closing state of the refrigerator door, thereby simplifying the pick-and-place operation process and improving work efficiency.

[0042] The placing turntable 108 is fixed on the rotating frame 107 to form a multi-layer structure, and each layer can independently store a certain number of biological sample boxes. In this way, the refrigerator module 101 can not only accommodate more sample boxes, but also quickly adjust the position of the sample boxes as needed, so as to achieve efficient sample management and access.

[0043] The refrigerator module 101 further includes an emergency door 109 , which is disposed on one side of the refrigerator body 106 .

[0044] In order to enhance the safety of the system and cope with emergencies, the refrigerator module 101 is also provided with an emergency door opening 109 function, which is arranged on one side of the refrigerator body 106. When the system encounters a failure or an emergency, the staff can quickly open the refrigerator through the emergency door opening 109 to deal with the internal problems or take out the urgently needed samples in time.

[0045] The rotating frame 107 has an angle encoding unit 110, and the angle encoding unit 110 is used to encode based on the rotation angle of the rotating frame 107. The refrigerator body 106 is provided with a position detection unit 111 corresponding to the multiple placement turntables 108. The position detection unit 111 is used to detect the moving position of the sample box placement module 102. The control unit positions the biological sample box on the placement turntable 108 based on the moving position and the rotation angle.

[0046] The control unit is also used to count the number of remaining samples after taking and placing samples in the biological sample box at corresponding positions.

[0047] The angle encoding unit 110 is mounted on the rotating frame 107 and can monitor and record the rotation angle of the rotating frame 107 in real time. The unit usually uses a high-precision absolute encoder to provide accurate rotation angle data. The encoder converts the rotation angle into a digital signal and transmits it to the control unit. In this way, the control unit can know the precise position of the rotating frame 107 at any time, providing basic data for the subsequent sample box positioning.

[0048] The position detection units 111 are installed at multiple key positions of the refrigerator body 106, corresponding to the placement turntable 108. These units usually use photoelectric sensors or laser rangefinders, which can accurately detect the current position of the sample box pick-up and placement module 102. The position detection unit 111 transmits the detected position information to the control unit to help the control unit determine the specific position of the sample box pick-up and placement module 102 relative to the placement turntable 108.

[0049] The control unit receives data from the angle encoding unit 110 and the position detection unit 111, and calculates the precise position of each biological sample box placed on the turntable 108 through an algorithm. Based on this position information, the control unit instructs the lifting platform 112 and the sample box clamping claw 113 of the sample box picking and placing module 102 to accurately move to the position of the target sample box to perform the grabbing or placing operation.

[0050] The control unit is also used to count the number of remaining samples after taking and placing samples in the biological sample box at the corresponding position. Specifically: After the sample box pick-up and placement module 102 completes the pick-up and placement operation, the control unit will automatically update the number of remaining samples in the sample box. In the process of taking and placing the sample box, the control unit uses a visual recognition system or sensor to identify the number and position of samples in the sample box. After the pick-up and placement operation is completed, the control unit updates the records in the database based on the actual number of samples taken and placed, ensuring that the system always has the latest sample inventory information. The control unit can generate a detailed statistical report showing the current status of each sample box, including sample type, quantity, pick-up and placement time, etc., to facilitate user query and management.

[0051] The sample box taking and placing module 102 includes a lifting platform 112 , on which a sample box clamp 113 is disposed. The lifting platform 112 is used to drive the sample box clamp 113 to move to a specified height to grab the sample box.

[0052] The lifting platform 112 can freely move in the vertical direction to adapt to the storage positions of sample boxes at different heights. The movement of the lifting platform 112 is driven by a precision servo motor to ensure that each movement can achieve extremely high accuracy and stability.

[0053] The sample box gripper 113 is mounted on the lifting platform 112 and is used to grab and release the sample box. The gripper is designed with multiple sensors to detect the size and shape of the sample box to ensure that the sample box is not damaged during the grabbing process. In addition, the gripper has a certain degree of flexibility and can quickly switch between sample boxes of different sizes.

[0054] The transport module 103 includes a mobile platform 114, on which a carrying platform 115 is arranged, and the carrying platform 115 is used to place the sample box grasped by the sample box clamp 113, and rotate to one side of the sample sorting module 104 through the mobile platform 114. The length of the transport module 103 can be adjusted according to actual requirements, and different numbers of refrigerators and sorting and grasping mechanisms are connected to form a biological sample library. There is an automatic sliding door at the connection, and the sliding door can be closed when the module is not in operation to maintain a dust-free environment inside.

[0055] The mobile platform 114 is the main part of the transfer module 103. It can move freely on the horizontal plane to transport the sample box from the pick-and-place module to the sample sorting module 104. The movement of the mobile platform 114 is controlled by a stepper motor and a guide rail system to ensure stability and accuracy during movement. The carrier 115 is installed on the mobile platform 114 and is used to temporarily place the sample box grasped by the sample box clamp 113. The carrier 115 is designed with an anti-slip surface to prevent the sample box from slipping during movement. When the mobile platform 114 reaches one side of the sample sorting module 104, the carrier 115 can accurately place the sample box at the designated position.

[0056] The sample sorting module includes a three-axis sample box sorter 116, a sample box carrier 117, and a three-axis sample tube sorter 118. The three-axis sample box sorter 116 is used to grab the sample box and place it on the sample box carrier 117, and the three-axis sample tube sorter 118 is used to grab samples from the sample box and put them into an empty sample box.

[0057] The three-axis sample box sorter 116 is a multi-degree-of-freedom robotic arm that can move flexibly in three-dimensional space. Its main function is to grab the sample box from the carrier 115 of the transfer module 103 and place it on the sample box carrier 117. The sample box carrier 117 is an important component in the sample sorting module 104, which is used to temporarily store the sample boxes to be sorted. The three-axis sample tube sorter 118 is also a multi-degree-of-freedom robotic arm, which is specially used to grab a single sample tube from a sample box and put it into an empty sample box. The sorter is equipped with highly sensitive sensors and precise grabbing tools, which can quickly and accurately complete the sample sorting task.

[0058] Specifically, the transfer module 103 delivers the sample box to the vicinity of the sample box carrier 117, and the three-axis sample box sorter 116 clamps it and places it on the carrier 115. The door is opened and closed to put in an empty sample box, and then it is sent to the sample sorting module, and the three-axis sample box sorter 116 clamps it and places it in the second position. The three-axis sample tube sorter 118 clamps the sample tube on the sample box to the sample box at the second position. After the sample tube sorting is completed, the three-axis sample box sorter 116 clamps the sample box at the second position to the platform and delivers it to the user.

[0059] The sample box carrying platform 117 has a plurality of sample box clamping mechanisms 119 , and the sample box clamping mechanisms 119 are used to clamp the sample box.

[0060] During the process of clamping the sample tube, the sample tube box may not be separated due to freezing or small gaps. A clamping mechanism moves along the guide rod, and a spring on the clamping mechanism ensures that the clamping force is constant, ensuring that the sample tube and the sample box can be separated smoothly. A sample box clamping mechanism 119 is installed at each sample box position on the sample box carrier 117. These clamping mechanisms can automatically adjust the force to ensure that the sample box remains stable during the sorting process and prevent the sample box from shifting or falling due to vibration or movement. The design of the clamping mechanism takes into account the different sizes and materials of the sample boxes, and has good compatibility and adaptability.

[0061] Through these carefully designed modules, the fully automatic biological sample storage and retrieval system can realize the full process automation management from the retrieval to the sorting of sample boxes, which greatly improves the efficiency and accuracy of biological sample processing and reduces the errors caused by human operation. Example

[0062] See also Figure 7 The present invention also provides a control method for a fully automatic biological sample access system, comprising: S201: placing various types of biological sample boxes into the refrigerator module 101; First, prepare various types of biological sample boxes, which contain various biological samples, such as blood, tissues, cells, etc. Affix a unique barcode or RFID tag to each sample box so that the system can accurately identify and track the information of each sample box. Place the labeled sample boxes on the placement turntable 108 of the refrigerator module 101. The placement turntable 108 can be arranged in layers according to the type and quantity of the sample boxes to ensure that each sample box has a suitable position. The placement position and related information of each sample box, such as sample type, collection date, storage conditions, etc., are recorded by the control system.

[0063] S202 obtains a control instruction, and takes and places a first sample box corresponding to the control instruction from the refrigerator module 101; The control system receives control instructions from the user or the host computer, and the instructions contain the unique identification information of the sample box to be taken and placed. According to the identification information in the instructions, the control system calls the angle encoding unit 110 and the position detection unit 111 of the refrigerator module 101 to calculate the specific position of the target sample box. The control system commands the lifting platform 112 of the sample box taking and placing module 102 to move to the specified height, and the sample box clamp 113 accurately grabs the target sample box according to the calculated position. After the sample box clamp 113 grabs the sample box, it is verified by the built-in sensor to ensure that the grab is successful and the sample box is intact.

[0064] S203 transports the first sample box to the sample sorting module 104; The sample box pick-and-place module 102 places the captured sample box on the carrier 115 of the transport module 103. The control system commands the mobile platform 114 to start and smoothly transport the sample box on the carrier 115 to one side of the sample sorting module 104. After the transport module 103 arrives at the designated position, the control system confirms the placement position of the sample box through the position detection unit 111 to ensure the accuracy of subsequent operations.

[0065] S204 sorts the samples in the first sample box into an empty sample box to obtain a target sample box.

[0066] The three-axis sample box sorter 116 of the sample sorting module 104 grabs the first sample box from the carrier 115 and places it on the sample box carrier 117. The clamping mechanism on the sample box carrier 117 is automatically activated to fix the sample box in an appropriate position to prevent displacement during the sorting process. The three-axis sample tube sorter 118 starts working, grabs sample tubes from the first sample box one by one, and places the sample tubes into empty sample boxes according to preset sorting rules. After sorting is completed, the new sample box is the target sample box. The control system records the information of the target sample box, including sample type, quantity, sorting time, etc. The control system commands the transfer module 103 to transport the target sample box back to the refrigerator module 101 and place it in the designated storage location to complete the entire access process.

[0067] Through the above steps, the fully automatic biological sample storage and retrieval system can realize the full process automated management from storage, retrieval to sorting of sample boxes, greatly improving the efficiency and accuracy of biological sample processing, reducing the errors caused by human operation, and providing strong support for scientific research and clinical applications.

[0068] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. Fully automatic biological sample storage and retrieval system, characterized in that: It includes refrigerator module, sample box taking and placing module, transport module, sample sorting module and biological sample receiving and distributing module; The refrigerator module is used to store a variety of biological sample boxes; The sample box taking and placing module is used to take and place the corresponding first sample box from the refrigerator module based on the control instruction; The transfer module; Used to transport the first sample box to the sample sorting module or the sample box picking and placing module; The sample sorting module is used to sort the samples in the first sample box into an empty sample box to obtain a target sample box or to sort the samples from an external sample box into the first sample box; The biological sample receiving and distributing module is used to output a sorted target sample box or input an external sample box.

2. The fully automatic biological sample storage and retrieval system according to claim 1, characterized in that: The refrigerator module comprises a refrigerator body, a rotating frame and a plurality of placing turntables. The rotating frame is rotatably arranged in the refrigerator body. The plurality of placing turntables are fixed to the rotating frame and are used for placing a variety of biological sample boxes in layers.

3. The fully automatic biological sample storage and retrieval system according to claim 2, characterized in that: The refrigerator module also includes an emergency door, which is arranged on one side of the refrigerator body.

4. The fully automatic biological sample storage and retrieval system according to claim 3, characterized in that: The rotating frame has an angle encoding unit, which is used to encode based on the rotation angle of the rotating frame. The refrigerator body is provided with a position detection unit corresponding to the multiple placement turntables. The position detection unit is used to detect the moving position of the sample box placement module. The control unit positions the biological sample box on the placement turntable based on the moving position and the rotation angle.

5. The fully automatic biological sample storage and retrieval system according to claim 4, characterized in that: The control unit is also used to count the number of remaining samples after taking and placing samples in the biological sample box at corresponding positions.

6. The fully automatic biological sample storage and retrieval system according to claim 5, characterized in that: The sample box taking and placing module comprises a lifting platform, on which a sample box clamp is arranged, and the lifting platform is used to drive the sample box clamp to move to a specified height to grab the sample box.

7. The fully automatic biological sample storage and retrieval system according to claim 6, characterized in that: The transfer module includes a mobile platform, on which a carrying platform is arranged. The carrying platform is used to place the sample box grasped by the sample box clamp and is rotated to one side of the sample sorting module through the mobile platform.

8. The fully automatic biological sample storage and retrieval system according to claim 7, characterized in that: The sample sorting module includes a three-axis sample box sorter, a sample box carrying platform, and a three-axis sample tube sorter. The three-axis sample box sorter is used to grab the sample box and place it on the sample box carrying platform, and the three-axis sample tube sorter is used to grab samples from the sample box and put them into the empty sample box.

9. The fully automatic biological sample storage and retrieval system according to claim 8, characterized in that: The sample box carrying platform has a plurality of sample box clamping mechanisms, and the sample box clamping mechanisms are used to clamp the sample box.

10. A control method for a fully automatic biological sample storage and access system, using the fully automatic biological sample storage and access system according to claim 1, It is characterized in that Includes: placing various types of biological sample boxes into the refrigerator module; Obtaining a control instruction, and taking and placing a first sample box corresponding to the control instruction from the refrigerator module; Transporting the first sample box to the sample sorting module; The samples in the first sample box are sorted into an empty sample box to obtain a target sample box.

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