Mechanical arm grabbing and moving control system and control method for Dewar tank

Abstract

The invention discloses a mechanical arm grabbing and moving control system for Dewar tanks. The mechanical arm grabbing and moving control system comprises a partition module, an information base module, an input module, a path generation module, a control module and a recording module. The invention further provides a mechanical arm grabbing and moving control method for the Dewar tank, and when the biological samples need to be stored or taken, the serial numbers of the biological samples are input through the input module, and the storage or taking function is selected; and the path generation module generates a storage path or a taking path according to the storage position or the position corresponding to the serial number of the biological sample, and controls the mechanical arm to move and grab the biological sample to realize storage or taking. According to the mechanical arm grabbing and moving control system for the Dewar tank and the control method, the mechanical arm is intelligently controlled to automatically grab biological samples, the internal space of the Dewar tank is reasonably planned, the biological samples needing to be stored for a long time are placed in the lower area, the utilization rate of the internal space of the Dewar tank is increased, and the working efficiency of the Dewar tank is improved. And the biological samples can be stored and taken more conveniently and orderly.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arm control, and in particular to a mechanical arm grasping movement control system and a control method for a dewar tank. Background Art

[0002] A dewar is a device used to store biological samples at ultra-low temperatures. In units that need to store a large number of biological samples, using a large dewar can effectively save energy and improve sample management efficiency compared to using multiple small dewars.

[0003] The existing method of using a dewar tank to store biological samples is to manually place the biological samples directly into the dewar tank without partitioning or classifying them, and the internal space of the dewar tank is not reasonably planned, resulting in low utilization of the internal space of the dewar tank and more troublesome and confusing when taking out the biological samples.

[0004] It can be seen that the existing technology still needs to be improved and enhanced. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a robotic arm grasping movement control system and control method for a Dewar jar, aiming to solve the technical problems in the prior art that the internal space of the Dewar jar is not reasonably planned, resulting in low space utilization and the removal of biological samples is troublesome and confusing.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A robot arm grasping and moving control system for a dewar tank, comprising:

[0008] A partitioning module is used to divide the interior of the dewar tank into areas according to the storage time of biological samples and establish a coordinate system;

[0009] An information base module, used to preset information corresponding to the biological sample number and store the information;

[0010] An input module, used to identify and input the number of the biological sample and select the storage or retrieval function;

[0011] A path generation module is used to match the biological sample number input by the input module with the information in the information library module and generate a path instruction for the robot arm to move;

[0012] A control module, used to control the robot arm to move according to the path instruction to store or take the biological sample;

[0013] The recording module is used to record the position occupancy information in the dewar tank and the access information of the biological samples into the information base module.

[0014] The described dewar tank robotic arm grasping mobile control system, wherein the partition module includes a first coordinate system, the first coordinate system corresponds to the positions of various areas divided inside the dewar tank, and the storage time intervals corresponding to the internal partitions of the dewar tank are gradually shortened from bottom to top.

[0015] The described Dewar tank robotic arm grasping mobile control system, wherein the partition module also includes a plurality of second coordinate systems, the plurality of second coordinate systems respectively correspond to the internal position of each area in the Dewar tank, and the number of the second coordinate systems is the same as the number of areas divided inside the Dewar tank.

[0016] The described Dewar tank robotic arm grasping mobile control system, wherein the information library module includes a storage duration information library, a biological sample size information library and a free position information library, the storage duration information library is used to preset and store codes of multiple different storage duration intervals and match with a first coordinate system, the biological sample size information library is used to preset and store codes of size information of different biological samples and match with a second coordinate system, and the free position information library is used to store coordinate information of all free positions in the Dewar tank.

[0017] The described Dewar tank mechanical arm grabbing movement control system, wherein the input module includes an automatic input module and a manual input module, the automatic input module includes a visual recognition device, and the manual input module includes a keyboard input device.

[0018] The Dewar tank is used for a mechanical arm to grasp the mobile control system, wherein the number of the biological sample is formed by a combination of several English letters and Arabic numerals, wherein the Nth number corresponds to a code representing multiple storage time intervals, and the N+1th number corresponds to a code representing the size of different biological samples.

[0019] The described robot arm grabbing movement control system for the dewar jar includes a fixed path preset in the path generation module from the opening of the dewar jar to the designated starting position of the robot arm.

[0020] A method for controlling the grabbing movement of a Dewar jar by a mechanical arm, which includes the above-mentioned control system for grabbing movement of a Dewar jar by a mechanical arm, and also includes a storage control method and a retrieval control method;

[0021] The storage control method comprises the following steps:

[0022] A01. Select the storage function through the manual input module of the input module, and place the biological sample to be stored at the designated starting position;

[0023] A02, the automatic input module of the input module recognizes the serial number of the biological sample;

[0024] A03, the path generation module matches the number of the biological sample with the information of the information library module to generate the target storage location and the moving path of the robot arm to reach the target storage location;

[0025] A04, the control module generates a control instruction according to the moving path, controls the robot arm to grab the biological sample to be stored at the specified starting position, and moves it along the moving path to the target storage position for storage;

[0026] A05. The recording module records and stores the number and storage location of the biological sample;

[0027] A06, the robot arm moves in the opposite direction along the moving path and resets, waiting for the next grasping instruction;

[0028] The access control method comprises the following steps:

[0029] B01. Selecting a taking function and the number of the biological sample to be taken through the manual input module of the input module;

[0030] B02, the information base module retrieves the storage location of the biological sample to be taken;

[0031] B03, a path generation module generates a moving path for the robot arm to reach the location according to the storage location;

[0032] B04, the control module generates a control instruction according to the moving path, controls the robot arm to move to the storage position to grab the biological sample to be taken, and moves in the reverse direction along the moving path to the designated position;

[0033] B05. The recording module records and stores the number of the biological sample and the information that has been taken out;

[0034] B06. The robot arm resets and waits for the next grabbing instruction.

[0035] The method for controlling the movement of a Dewar tank by a mechanical arm is characterized in that step A03 comprises the following steps:

[0036] A301, the path generation module matches the Nth digit of the biological sample number with the code of the storage time interval in the information base module, determines the storage area of ​​the biological sample, and obtains the first coordinate value of the storage area from the first coordinate system;

[0037] A302, the path generation module matches the N+1th number of the biological sample number with the code of the biological sample size in the information base module, and determines the storage location of the biological sample in combination with the free position information base in the information base module, and obtains the second coordinate value of the storage location from the second coordinate system;

[0038] A303, a path generation module generates a first path according to the first coordinate value, and generates a second path according to the second coordinate value;

[0039] A304. The path generation module generates a return path for the robot arm after the robot arm stores the biological sample according to the first path and the second path.

[0040] The method for controlling the movement of a Dewar tank by a mechanical arm is characterized in that step B03 comprises the following steps:

[0041] B301, the recording module retrieves the position coordinates of the biological sample according to the input number of the biological sample to be taken;

[0042] B302, the path generation module generates a moving path for the robot arm to move to the position according to the position coordinates;

[0043] B303. The path generation module generates a return path after the robot arm grabs the biological sample according to the moving path.

[0044] Beneficial effects:

[0045] The present invention provides a control system for grabbing and moving a robot arm for a dewar tank, comprising a partition module, an information base module, an input module, a path generation module, a control module and a recording module. A control method for grabbing and moving a robot arm for a dewar tank is also provided. When a biological sample needs to be stored or retrieved, the number of the biological sample is input through the input module and the storage or retrieval function is selected. The path generation module generates a storage path or a retrieval path according to the storage location or the location corresponding to the number of the biological sample. The control module controls the robot arm to grab the biological sample and place it in the storage location according to the generated storage path, or controls the robot arm to enter the location of the biological sample according to the generated retrieval path to grab the biological sample and take it out of the dewar tank. The control system and control method for grabbing and moving a robot arm for a dewar tank realize automatic grabbing of biological samples through intelligent control of the robot arm, and reasonably plans the internal space of the dewar tank. The biological samples that need to be stored for a long time are placed in the lower area, and the biological samples with large sizes in the same area are stored in the lower area, which not only improves the space utilization rate inside the dewar tank, but also makes the storage and retrieval of biological samples more convenient and orderly. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A module connection structure diagram of a robot arm grabbing and moving control system for a dewar tank provided by the present invention;

[0047] Figure 2 A flowchart of a storage control method for a Dewar tank grabbing and moving control method provided by the present invention;

[0048] Figure 3A flowchart of a method for controlling the movement of a Dewar tank using a mechanical arm provided by the present invention;

[0049] Figure 4 A flowchart of step A03 of the method for controlling the movement of a Dewar tank using a mechanical arm provided by the present invention;

[0050] Figure 5 This is a flowchart of step B03 of the method for controlling the movement of a Dewar tank using a robotic arm for grabbing provided by the present invention. DETAILED DESCRIPTION

[0051] The present invention provides a control system and a control method for a robot arm grabbing movement of a dewar tank. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0052] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying 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 direction, and a specific direction structure and operation, and therefore, cannot be understood as a limitation on the present invention. In addition, "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0053] See also Figure 1 The present invention provides a control system for grabbing and moving a Dewar tank with a mechanical arm. In this embodiment, the control system is a control program set in a computer, which includes:

[0054] A partitioning module is used to divide the interior of the Dewar tank into regions according to the storage time of the biological samples and establish a coordinate system; in this embodiment, the internal space of the Dewar tank is divided into regions in the up and down directions according to the storage time required for the biological samples, and the storage time required for the biological samples stored in the regions from top to bottom gradually increases, that is, the longer the storage time, the closer the biological samples are stored to the bottom of the Dewar tank. A coordinate system is established in the internal space of the Dewar tank, with the center of the opening of the Dewar tank as the coordinate origin, the direction from the opening of the Dewar tank to the bottom of the Dewar tank as the positive direction of the coordinate system, and the position of each area is expressed by the coordinates. The position division is also set inside each area. The larger the size of the biological sample in the same area, the closer it is placed to the bottom, and a coordinate system is established. One area corresponds to one coordinate system, and the position within the area is expressed by the coordinates.

[0055] The information base module is used to preset the information corresponding to the biological sample number and store the information; in this embodiment, the partition coordinate system of the Dewar tank and the coordinate system within the area are preset in the information base, and the information expressed by each digit of the biological sample number is preset in the information base, and the coordinate system is associated with the number to form an information base module, so that the path generation module can retrieve matching information from it to generate a path for the robot arm to grab the biological sample.

[0056] The input module is used to identify and input the number of the biological sample and select the storage or retrieval function; in this embodiment, the input module includes an automatic input module and a manual input module, the automatic input module includes a visual recognition device, and the manual input module includes a keyboard input device. The automatic input module is used to visually identify the number of the biological sample before storing the biological sample; the manual input module is used for human-computer interaction, selecting the storage or retrieval function, and manually inputting the number of the biological sample to be taken before taking the biological sample.

[0057] The path generation module is used to match the biological sample number input by the input module with the information in the information library module, and generate the path instruction that the robot arm needs to move; in this embodiment, after the path generation module generates the path for the robot arm to move, the return path of the robot arm takes the original path and does not generate a new path, so as to avoid touching other biological samples and reduce the calculation amount of the control system.

[0058] The control module serves as a connecting bridge between the control system and the robotic arm, and is used to control the robotic arm to move according to path instructions to store or retrieve biological samples.

[0059] The recording module is used to record the position occupancy information in the Dewar tank and the storage and access information of the biological samples, so that the vacant positions can be found accurately and orderly when storing the biological samples, and the target biological samples can be found accurately when taking the biological samples.

[0060] The invention discloses a robot arm grabbing and moving control system for a dewar jar, which realizes automatic grabbing of biological samples by intelligently controlling the robot arm, rationally plans the internal space of the dewar jar, places biological samples that need to be stored for a long time in the lower area, and stores biological samples with large sizes in the same area at the lower area, thereby improving the space utilization rate inside the dewar jar and making the storage and use of biological samples more convenient and orderly.

[0061] The described Dewar's jar robot arm grabbing mobile control system, wherein the partition module includes a first coordinate system, the first coordinate system corresponds to the position of each area divided inside the Dewar's jar, and the storage time interval corresponding to the internal partition of the Dewar's jar gradually shortens from bottom to top. In this embodiment, the origin of the first coordinate system is the center of the Dewar's jar opening, and the internal space of the Dewar's jar is divided into upper and lower layers according to the storage time of the biological sample. Each layer can be provided with one or more storage areas. The middle position of each area is expressed by the first coordinate system, and each area is coded with capital letters in English, such as the position coordinates of area A are A(X A , Y A , Z A ). When storing biological samples, biological samples that need to be stored for a long time are placed in the lower layer area, and biological samples that need to be stored for a short time are placed on the upper layer, because biological samples with a short storage time will be taken out earlier. This planning and placement makes it more convenient to take biological samples.

[0062] The described Dewar's jar robot arm grabbing mobile control system, wherein the partition module also includes a plurality of second coordinate systems, the plurality of second coordinate systems respectively correspond to the internal positions of the various regions in the Dewar's jar, and the number of second coordinate systems is the same as the number of regions divided inside the Dewar's jar. In this embodiment, the origin of the second coordinate system is the middle of the bottom of the region, and the position division is also performed in each region, and the biological samples are layered up and down according to their size. The first layer is the bottom layer in the same region, and at least one storage position is set on the same layer. The middle position of each position is expressed by the second coordinate system, and each layer is coded with lowercase English letters, such as the coordinate of the third position of the first layer is a(x a3 ,y a3 ,z a3 ). When storing biological samples, biological samples with larger sizes are placed at the lower level in the area to make the storage of biological samples more orderly and convenient for access.

[0063] The described Dewar tank mechanical arm grabbing mobile control system, wherein the information library module includes a storage time information library, a biological sample size information library and a free position information library, the storage time information library is used to preset and store codes of multiple different storage time intervals and match with the first coordinate system, the biological sample size information library is used to preset and store codes of size information of different biological samples and match with the second coordinate system, and the free position information library is used to store the coordinate information of all free positions in the Dewar tank. In this embodiment, the storage time interval can be divided into 1 month, 3 months, 6 months, 1 year, etc., and each time interval is matched with the internal partition of the Dewar tank, that is, each time interval can use the English capital letters corresponding to the internal area of ​​the Dewar tank as the code, so when the number representing the storage time in the identification number of the biological sample is identified, the storage time information library can match the corresponding storage area. The size of biological samples is divided into intervals according to the size of the sample box, and each size interval is matched with the layers in each area, that is, each size interval can use the English lowercase letters corresponding to the layers in the area as codes. Therefore, when the number representing the sample size in the identification number of the biological sample is identified, the biological sample size information library can match the corresponding storage level. The free position information library saves the vacant position information of the biological sample in the Dewar tank, so that when storing biological samples, it can accurately find the appropriate empty space for storage and avoid misplacing.

[0064] In the described Dewar tank robotic arm grabbing mobile control system, the number of the biological sample is formed by a combination of several English letters and Arabic numerals, wherein the Nth number corresponds to a code representing a plurality of storage time intervals, and the N+1th number corresponds to a code representing the size of different biological samples. In this embodiment, the information library module pre-sets the meaning of the Nth and N+1th numbers of the biological sample number and their association with the coordinate system, so as to facilitate matching the number to determine the pick-up and placement position of the biological sample.

[0065] The described control system for grabbing and moving the robot arm of the dewar jar includes a fixed path preset in the path generation module from the opening of the dewar jar to the designated starting position of the robot arm. In this embodiment, whether storing or taking biological samples, the robot arm needs to go back and forth between a designated position and the opening of the dewar jar. Therefore, this fixed path can be pre-set in the control system to reduce the amount of calculation of the control system.

[0066] In some other embodiments, if multiple dewar tanks are provided, it is necessary to establish a third coordinate system for the positions of the multiple dewar tanks. The third coordinate system takes the position of the robotic arm as the origin. The multiple dewar tanks are classified according to the different types of biological samples stored and corresponding codes are set. The code can be replaced by numbers or letters, and the code and corresponding information are preset in the information library module.

[0067] A method for controlling the grabbing movement of a Dewar jar by a mechanical arm, which includes the above-mentioned control system for grabbing movement of a Dewar jar by a mechanical arm, and also includes a storage control method and a retrieval control method;

[0068] See also Figure 2 , the storage control method comprises the following steps:

[0069] A01. Select the storage function through the manual input module of the input module, and place the biological sample to be stored at the designated starting position. When placing the biological sample, the number of the biological sample needs to be aligned with the automatic input module so that the automatic input module can accurately identify the number;

[0070] A02, the automatic input module of the input module identifies the number of the biological sample, converts the identified image signal into a digital signal and transmits it to the path generation module;

[0071] A03, the path generation module matches the number of the biological sample with the information of the information library module, generates the target storage position and the moving path of the robot arm to reach the target storage position, that is, the first coordinate value of the target area is first determined by matching the number I information, and then the second coordinate value of the specific storage position in the target area is determined, and then a first path from the specified starting position to the first coordinate value and a second path from the first coordinate value to the second coordinate value are generated;

[0072] A04. The control module generates a control instruction according to the moving path, controls the robot arm to grab the biological sample to be stored at the specified starting position, and moves it to the target storage position along the moving path for storage, so as to automatically store the biological sample in the Dewar tank;

[0073] A05. The recording module records and stores the number and storage location of the biological sample, and records and stores the moving path, so that the moving path can be retrieved when the biological sample is taken;

[0074] A06, the robot arm moves in the opposite direction along the moving path, exits the dewar tank and resets, waiting for the next grabbing instruction;

[0075] See also Figure 3 , the access control method comprises the following steps:

[0076] B01. Selecting a taking function and a number of a biological sample to be taken through a manual input module of an input module, and the number is transmitted to a path generation module;

[0077] B02. The path generation module retrieves the storage location of the biological sample to be taken from the information base module by matching the number; in this embodiment, the moving path of the biological sample when it is stored can also be retrieved from the information base module;

[0078] B03. The path generation module generates a moving path for the robot arm to reach the storage location according to the storage location. In this embodiment, the path generation module uses the moving path when the biological sample is stored as the moving path when it is taken out this time.

[0079] B04. The control module generates a control instruction according to the moving path, controls the robot arm to move to the storage position to grab the biological sample to be taken, and moves in the opposite direction along the moving path to the designated position; in this embodiment, the designated position where the biological sample is grabbed and placed is the same as the designated starting position when the biological sample is stored, thereby reducing the control complexity of the control system on the robot arm;

[0080] B05. The recording module records and stores the number of the biological sample and the information of the sample that has been taken out. The position of the biological sample that has been taken out is classified as an empty position and recorded in the empty position information library so that the position can be used again when other biological samples are stored later.

[0081] B06. The robot arm resets and waits for the next grabbing instruction.

[0082] See also Figure 4 The method for controlling the movement of a Dewar tank by a mechanical arm is characterized in that step A03 comprises the following steps:

[0083] A301, the path generation module matches the Nth digit of the biological sample number with the code of the storage time interval in the information base module, determines the storage area of ​​the biological sample, and obtains the first coordinate value of the storage area from the first coordinate system;

[0084] A302, the path generation module matches the N+1th number of the biological sample number with the code of the biological sample size in the information base module, and determines the storage location of the biological sample in combination with the free position information base in the information base module, and obtains the second coordinate value of the storage location from the second coordinate system;

[0085] A303, the path generation module generates a first path according to the first coordinate value, and generates a second path according to the second coordinate value, the first path is a moving path from the opening of the Dewar tank to the first coordinate value, and the second path is a moving path from the first coordinate value to the second coordinate value; the complete path of the robotic arm when storing the biological sample is composed of a fixed path, the first path and the second path in sequence, that is, from the specified starting position to the opening of the Dewar tank, then to the position of the first coordinate value, and finally to the position of the second coordinate value;

[0086] A304. The path generation module generates a return path for the robot arm after the robot arm stores the biological sample according to the first path and the second path. In this embodiment, the return path is composed of the second path, the first path and the fixed path in sequence.

[0087] See also Figure 5 The method for controlling the movement of a Dewar tank by a mechanical arm is characterized in that step B03 comprises the following steps:

[0088] B301. The recording module retrieves the position coordinates of the biological sample according to the input number of the biological sample to be taken; in this embodiment, the storage path of the biological sample can also be retrieved as the moving path for taking the biological sample;

[0089] B302, the path generation module generates a moving path for the robot arm to move to the position according to the position coordinates; in this embodiment, the moving path for the robot arm to move to the Dewar tank to grab the biological sample is composed of a fixed path, a first path and a second path in sequence;

[0090] B303. The path generation module generates a return path after the robot arm grabs the biological sample according to the moving path. In this embodiment, the return path after the robot arm grabs the biological sample is composed of the second path, the first path and the fixed path in sequence.

[0091] In summary, the present invention inputs the number of the biological sample through the input module and selects the storage or retrieval function. The path generation module generates a storage path or a retrieval path according to the storage location or the location corresponding to the number of the biological sample. The control module controls the mechanical arm to grab the biological sample and place it in the storage location according to the generated storage path, or controls the mechanical arm to enter the location of the biological sample according to the generated retrieval path to grab the biological sample and take it out of the dewar tank. The control system and control method for the mechanical arm grabbing movement of the dewar tank realizes automatic grabbing of biological samples through intelligent control of the mechanical arm, and reasonably plans the internal space of the dewar tank. The biological samples that need to be stored for a long time are placed in the lower area, and the biological samples with large sizes in the same area are stored in the lower area, which not only improves the space utilization rate inside the dewar tank, but also makes the storage and retrieval of biological samples more convenient and orderly.

[0092] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all these changes or substitutions should fall within the protection scope of the claims attached to the present invention.

Claims

1. A robot arm grabbing and moving control system for a dewar tank, characterized in that: include: A partitioning module is used to divide the interior of the dewar tank into areas according to the storage time of biological samples and establish a coordinate system; An information base module, used to preset information corresponding to the biological sample number and store the information; An input module, used to identify and input the number of the biological sample and select the storage or retrieval function; A path generation module is used to match the biological sample number input by the input module with the information in the information library module and generate a path instruction for the robot arm to move; A control module, used to control the robot arm to move according to the path instruction to store or take the biological sample; The recording module is used to record the position occupancy information in the dewar tank and the access information of the biological samples into the information base module.

2. The robot arm grabbing and moving control system for a Dewar tank according to claim 1 is characterized in that: The partition module includes a first coordinate system, which corresponds to the positions of various areas divided inside the dewar tank. The storage time intervals corresponding to the internal partitions of the dewar tank are gradually shortened from bottom to top.

3. The robot arm grabbing and moving control system for a Dewar tank according to claim 2 is characterized in that: The partition module also includes a plurality of second coordinate systems, which correspond to and express the internal positions of the various regions in the dewar tank, and the number of the second coordinate systems is the same as the number of regions divided inside the dewar tank.

4. The robot arm grabbing and moving control system for a Dewar tank according to claim 3 is characterized in that: The information library module includes a storage time information library, a biological sample size information library and a free position information library. The storage time information library is used to preset and store codes of multiple different storage time intervals and match them with the first coordinate system. The biological sample size information library is used to preset and store codes of size information of different biological samples and match them with the second coordinate system. The free position information library is used to store the coordinate information of all free positions in the Dewar tank.

5. The robot arm grabbing and moving control system for a Dewar tank according to claim 4 is characterized in that: The input module includes an automatic input module and a manual input module. The automatic input module includes a visual recognition device, and the manual input module includes a keyboard input device.

6. The robot arm grabbing and moving control system for a Dewar tank according to claim 4, characterized in that: The number of the biological sample is formed by a combination of several English letters and Arabic numerals, wherein the Nth number corresponds to a code representing multiple storage time intervals, and the N+1th number corresponds to a code representing the size of different biological samples.

7. The robot arm grabbing and moving control system for a Dewar tank according to claim 6 is characterized in that: The invention comprises a fixed path preset in the path generation module for the robot arm from the opening of the dewar tank to the designated starting position.

8. A method for controlling the movement of a robot arm for grabbing a dewar tank, characterized in that: A robot arm grasping and moving control system for a Dewar tank as claimed in any one of claims 1 to 7, and also comprising a storage control method and a retrieval control method; The storage control method comprises the following steps: A01. Select the storage function through the manual input module of the input module, and place the biological sample to be stored at the designated starting position; A02, the automatic input module of the input module recognizes the serial number of the biological sample; A03, the path generation module matches the number of the biological sample with the information of the information library module to generate the target storage location and the moving path of the robot arm to reach the target storage location; A04, the control module generates a control instruction according to the moving path, controls the robot arm to grab the biological sample to be stored at the specified starting position, and moves it along the moving path to the target storage position for storage; A05. The recording module records and stores the number and storage location of the biological sample; A06, the robot arm moves in the reverse direction along the moving path and resets, waiting for the next grasping instruction; The access control method comprises the following steps: B01. Selecting a taking function and the number of the biological sample to be taken through the manual input module of the input module; B02, the information base module retrieves the storage location of the biological sample to be taken; B03, a path generation module generates a moving path for the robot arm to reach the location according to the storage location; B04, the control module generates a control instruction according to the moving path, controls the robot arm to move to the storage position to grab the biological sample to be taken, and moves in the reverse direction along the moving path to the designated position; B05. The recording module records and stores the number of the biological sample and the information that has been taken out; B06. The robot arm resets and waits for the next grabbing instruction.

9. The method for controlling the grabbing movement of a Dewar tank by a mechanical arm according to claim 8, characterized in that: Step A03 includes the following steps: A301, the path generation module matches the Nth digit of the biological sample number with the code of the storage time interval in the information base module, determines the storage area of ​​the biological sample, and obtains the first coordinate value of the storage area from the first coordinate system; A302, the path generation module matches the N+1th number of the biological sample number with the code of the biological sample size in the information base module, and determines the storage location of the biological sample in combination with the free position information base in the information base module, and obtains the second coordinate value of the storage location from the second coordinate system; A303, a path generation module generates a first path according to the first coordinate value, and generates a second path according to the second coordinate value; A304. The path generation module generates a return path for the robot arm after the robot arm stores the biological sample according to the first path and the second path.

10. The method for controlling the grabbing movement of a Dewar tank robot arm according to claim 9, characterized in that: Step B03 includes the following steps: B301, the recording module retrieves the position coordinates of the biological sample according to the input number of the biological sample to be taken; B302, the path generation module generates a moving path for the robot arm to move to the position according to the position coordinates; B303. The path generation module generates a return path after the robot arm grabs the biological sample according to the moving path.

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