A cryogenic sample repository

Abstract

The present invention discloses a deep cryogenic sample storage repository, which includes a storage repository. Multiple groups of sample storage tanks are arranged inside the storage repository. A gantry robotic arm device is arranged inside the storage repository. The gantry robotic arm device can perform operations such as opening and closing the lids, grasping the baskets, accessing the sample plate racks, and transporting the samples for the multiple groups of sample storage tanks. The storage repository is also provided with a tube picking area. The tube picking area can be docked with the gantry robotic arm device for transporting the transfer tanks, and the tube picking area can pick the sample tubes. The beneficial effects of the present invention are as follows: by arranging multiple groups of sample storage tanks inside the storage repository and cooperating with the gantry robotic arm device, classified storage can be conveniently carried out; the device can achieve full-automatic storage, eliminating various risks brought by manual storage; during the storage process, the sample tubes or transfer tanks can always be kept in a low-temperature environment, and the whole cold chain is maintained during tube picking; the device can greatly improve the efficiency of sample storage.

Description

Technical Field

[0001] The present invention relates to the technical field of sample storage, in particular to a cryogenic sample storage repository. Background Art

[0002] A biobank is a device for standardizing the collection, processing, and storage of biological macromolecules, cells, tissues, organs, etc. of healthy and diseased organisms. Before storage, biological samples need to be cryopreserved through a programmed cooling process and then stored in a liquid nitrogen container or a cryogenic refrigerator. For certain specific biological samples, their storage process requires full cold chain protection and needs to be in a cryogenic environment throughout the process to protect their biological activity and avoid damage caused by repeated freezing and thawing.

[0003] Existing storage repositories are all equipped with multiple cryogenic storage tanks in a fixed warehouse. When it is necessary to store or retrieve cryogenic tubes, workers enter the warehouse manually, find the corresponding cryogenic storage tank for storage, and store them manually; when storing biological samples, workers enter the warehouse, open the cryogenic storage tank, and put the cryogenic tubes from the transfer tank into the cryogenic storage tank; it should be further noted that when biological samples are initially extracted, they are placed in cryogenic tubes, and for convenient transfer and transportation, the cryogenic tubes are placed in transfer tanks. The existing technology for storing cryogenic tubes is manually operated and has many limitations: 1. During the manual storage process, the cryogenic tubes or transfer tanks are always in a non-low-temperature environment during storage, posing a greater risk of damage to biological samples; 2. When manually storing and entering the warehouse, it is necessary to first find the cryogenic storage tank belonging to the classification of biological samples and then store them. The efficiency is low, the labor cost is high, it is not easy to classify and store, and the risk is high; 3. When manually opening the cryogenic storage tank for storing cryogenic tubes, the opening size of the cryogenic storage tank must meet the operation requirements of people. This process of opening the cryogenic storage tank has a destructive impact on its own temperature. Taking the cryogenic storage tank as a liquid nitrogen tank as an example, the nitrogen consumption during such operation will be very large; 4. Manual storage is prone to the influence and cross-contamination of sample mutual movement, and the risk is high; 5. The existing warehouse setting method is not convenient for installation, transportation, and has poor on-site adaptability; 6. Subsequent maintenance and repair of the cryogenic storage warehouse are very inconvenient.

[0004] This method cannot ensure full cold chain protection during the entire process of storing or retrieving cryogenic tubes; it not only poses a great risk of damage to biological samples in the cryogenic tubes, but also seems to be inappropriate for certain specific biological samples with high requirements for full cold chain protection.

[0005] When it is necessary to transfer biological samples as a whole for classification, it is also very inconvenient; the cryogenic storage tank itself is relatively large, and it is also very inconvenient to set up and transport the cryogenic storage tank.

[0006] In short, the existing storage methods are not good, and manual storage is rather inconvenient, bringing inconvenience to users.

[0007] Therefore, the inventor designed a cryogenic sample storage repository. Summary of the Invention

[0008] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Simplifications or omissions may be made in this part, as well as in the abstract and title of the specification of this application, to avoid obscuring the purpose of this part, the abstract, and the title. However, such simplifications or omissions shall not be used to limit the scope of the present invention.

[0009] In view of the above problems existing in the above or prior art, the present invention is proposed.

[0010] Therefore, the purpose of the present invention is to provide a cryogenic sample storage repository that can achieve automated storage of samples, ensure full cold chain protection during the entire process of storage or retrieval of cryogenic tubes, and can be conveniently moved as a whole.

[0011] To solve the above technical problems, the present invention provides the following technical solution: A cryogenic sample storage repository, which includes a storage repository. Multiple groups of sample storage tanks are arranged inside the storage repository. A gantry robotic arm device is arranged inside the storage repository. The gantry robotic arm device can perform operations such as opening and closing the lids, grasping the baskets, accessing the sample plate racks, and transporting samples for the multiple groups of sample storage tanks. The storage repository is also provided with a tube picking area. The tube picking area can be docked with the gantry robotic arm device to transport the transfer tanks, and the tube picking area can pick tubes from the sample tubes.

[0012] As a preferred solution of the cryogenic sample storage repository of the present invention, wherein: The gantry robotic arm device includes a sliding frame mechanism and an operating mechanism; the sliding frame mechanism is slidably arranged inside the storage repository and is docked with multiple groups of sample storage tanks; the operating mechanism is arranged on the sliding frame mechanism, and the operating mechanism can move on the sliding frame mechanism; the operating mechanism can perform docking operations on the sample storage tanks.

[0013] As a preferred solution of the cryogenic sample storage repository of the present invention, wherein: The operating mechanism includes an operating frame. An opening lid assembly, a basket grasping assembly, a gripper assembly, and a shovel plate assembly are arranged on the operating frame; the opening lid assembly can grasp the lid of the sample storage tank, the basket grasping assembly can lift the basket inside the sample storage tank, the shovel plate assembly can shovel the plate rack inside the basket, and the gripper assembly can grasp the plate rack.

[0014] As a preferred embodiment of the cryogenic sample storage repository of the present invention, the following is provided: The lid-opening assembly includes a lid-opening support driving member and a telescopic lifting member; the lid-opening support driving member is arranged on the side of the operation frame, the telescopic lifting member can slide vertically on the lid-opening support driving member, and the telescopic lifting member can telescopically grasp the lid of the sample storage tank.

[0015] As a preferred embodiment of the cryogenic sample storage repository of the present invention, the following is provided: The basket grasping assembly can slide vertically on the operation frame, and the basket grasping assembly can grasp and lift the basket.

[0016] As a preferred embodiment of the cryogenic sample storage repository of the present invention, the following is provided: The shovel plate assembly includes a shovel plate driving support member and a shovel plate; the shovel plate driving support member is arranged at the inner bottom of the operation frame, the shovel plate is connected to the shovel plate driving support member, and the shovel plate driving support member can drive the shovel plate to extend and retract and shovel the plate rack in the basket.

[0017] As a preferred embodiment of the cryogenic sample storage repository of the present invention, the following is provided: The gripper assembly includes a first support frame, a second support frame, and a gripper sliding member; the first support frame is arranged on both sides of the operation frame, the second support frame is arranged on the first support frame, the second support frame can slide on the first support frame under the drive of a driver, the gripper sliding member can slide on the second support frame, and the gripper sliding member can lift to grasp the plate rack.

[0018] As a preferred embodiment of the cryogenic sample storage repository of the present invention, the following is provided: A transfer tank storage station and a lid storage rack are further arranged inside the bottom of the operation frame; the transfer tank storage station can store the transfer tank, and the lid storage rack can support and store the lids of the transfer tanks.

[0019] As a preferred embodiment of the cryogenic sample storage repository of the present invention, the following is provided: The tube picking area includes a docking mechanism, a tube picking mechanism, and a transportation mechanism; the docking mechanism is arranged on one side of the tube picking mechanism, the transportation mechanism is arranged below the tube picking mechanism, the transportation mechanism can transport the transfer tank; the docking mechanism can perform transfer tank docking and transportation between the tube picking mechanism and the gantry robotic arm device.

[0020] As a preferred embodiment of the cryogenic sample storage repository of the present invention, the following is provided: The tube picking mechanism includes a tube picking support plate, a tube picking sliding support frame, a plate rack and lid grasping assembly, and a sample tube grasping assembly; the tube picking support plate is provided with the tube picking sliding support frame, the tube picking sliding support frame can slide on the tube picking support plate, and the plate rack and lid grasping assembly and the sample tube grasping assembly are slidably arranged on the tube picking sliding support frame; the transportation mechanism can drive the transfer tank to move and dock with the plate rack and lid grasping assembly, and the plate rack and lid grasping assembly and the sample tube grasping assembly can perform operations such as grasping, opening the lid, grasping the plate rack, and selecting the sample tube on the transfer tank.

[0021] As a preferred embodiment of the cryogenic sample repository of the present invention, the following components are included: the plate rack and tank lid grasping assembly comprises a pick-up tube sliding member, a plate rack grasping lifting member, and a plate rack clamping portion; the pick-up tube sliding member is arranged on the pick-up tube sliding support frame and slides thereon, the plate rack grasping lifting member is arranged on the pick-up tube sliding member, the lower end of the plate rack grasping lifting member is provided with the plate rack clamping portion, the plate rack grasping lifting member can drive the plate rack clamping portion to lift, and the plate rack clamping portion can grasp the plate rack and the lid of the transfer tank.

[0022] As a preferred embodiment of the cryogenic sample repository of the present invention, the following component is included: the sample tube grasping assembly is arranged on the pick-up tube sliding member, and the pick-up tube sliding member can drive the sample tube grasping assembly to slide on the pick-up tube sliding support frame.

[0023] As a preferred embodiment of the cryogenic sample repository of the present invention, the following components are included: the sample tube grasping assembly comprises a sample tube driving lifting member, a sample tube grasping member, and an elastic push rod member; the lower end of the sample tube driving lifting member is connected to the sample tube grasping member, the elastic push rod member is arranged on the sample tube grasping member, the sample tube driving lifting member can drive the sample tube grasping member to lift, the sample tube grasping member can grasp the sample tube, and the elastic push rod member can hold the sample tubes around the grasped sample tube.

[0024] As a preferred embodiment of the cryogenic sample repository of the present invention, the following components are included: the transportation mechanism comprises a transportation support plate assembly, a first driving plate assembly, and a second driving plate assembly; the first driving plate assembly is arranged on the transportation support plate assembly, the second driving plate assembly is arranged on the first driving plate assembly, the transfer tank is arranged on the second driving plate assembly, the first driving plate assembly can move on the transportation support plate assembly, and the second driving plate assembly can move on the first driving plate assembly.

[0025] As a preferred embodiment of the cryogenic sample repository of the present invention, the following components are included: the pick-up tube support plate is provided with a pick-up tube groove and a code scanning assembly, liquid nitrogen is arranged in the pick-up tube groove, the sample plate rack can be placed in the pick-up tube groove, and the code scanning assembly can scan the code of the plate rack and the samples.

[0026] As a preferred embodiment of the cryogenic sample repository of the present invention, the following components are included: the pick-up tube support plate is further provided with a temporary storage rack and a transfer tank temporary storage rack; the temporary storage rack is arranged on one side of the transfer tank temporary storage rack, the temporary storage rack can support the lid of the transfer tank, and the transfer tank temporary storage rack can store the transfer tank.

[0027] As a preferred embodiment of the cryogenic sample repository of the present invention, the following components are included: the docking mechanism comprises a docking driving assembly and a shovel tray transfer assembly; the shovel tray transfer assembly is arranged on the docking driving assembly, the docking driving assembly can drive the shovel tray transfer assembly to lift, and the shovel tray transfer assembly can shovel and transfer the transfer tank.

[0028] As a preferred embodiment of the cryogenic sample storage repository of the present invention, wherein: the shovel tray transfer assembly includes a docking shovel tray and a docking shovel tray drive; the docking shovel tray is arranged on the docking shovel tray drive, and the docking shovel tray drive can drive the docking shovel tray to extend and retract, and the docking shovel tray shovels the transfer tank.

[0029] As a preferred embodiment of the cryogenic sample storage repository of the present invention, wherein: a transfer window is opened on the storage repository, and the transfer window allows the transportation mechanism to drive the transfer tank to pass through.

[0030] As a preferred embodiment of the cryogenic sample storage repository of the present invention, wherein: a control mechanism is arranged on the storage repository, and the control mechanism can control the operation of the storage repository.

[0031] As a preferred embodiment of the cryogenic sample storage repository of the present invention, wherein: a refrigeration mechanism is also arranged on the storage repository, and the refrigeration mechanism can refrigerate the interior of the storage repository.

[0032] As a preferred embodiment of the cryogenic sample storage repository of the present invention, wherein: a frame assembly is arranged inside the storage repository, and the frame assembly can support the gantry robotic arm device.

[0033] The beneficial effects of the present invention: By arranging multiple groups of sample storage tanks in the storage repository and cooperating with the gantry robotic arm device, classified storage can be conveniently carried out; The device can achieve full-automatic storage, eliminating various risks brought by manual storage; During the storage process, the sample tube or transfer tank can always be kept in a low-temperature environment, and the whole process of cold chain is maintained during tube picking; When the device is storing, only an access opening that can satisfy the access of the transfer tank needs to be opened, avoiding the problem that opening a too large access opening destroys the temperature of the storage repository itself and causes a large consumption of liquid nitrogen; The device adopts automatic storage, which can avoid the influence and mutual contamination between samples during movement; The storage repository of the device can be conveniently transported and installed, and has strong on-site adaptability; The device can greatly improve the efficiency of sample storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts. Among them:

[0035] Figure 1 It is an overall schematic diagram of the cryogenic sample storage repository.

[0036] Figure 2 It is an internal schematic diagram of the cryogenic sample storage repository.

[0037] Figure 3Schematic diagram of the tube picking area of the cryogenic sample repository.

[0038] Figure 4 Schematic diagram of the tube picking sliding support frame of the cryogenic sample repository.

[0039] Figure 5 Partial schematic diagram of the tube picking sliding support frame of the cryogenic sample repository.

[0040] Figure 6 Schematic diagram of the tube picking mechanism of the cryogenic sample repository.

[0041] Figure 7 Partial exploded schematic diagram of the tube picking mechanism of the cryogenic sample repository.

[0042] Figure 8 Exploded schematic diagram of the plate rack clamping part of the cryogenic sample repository.

[0043] Figure 9 Partial exploded view of the sample tube grasping assembly of the cryogenic sample repository.

[0044] Figure 10 Schematic diagram of the transportation mechanism of the cryogenic sample repository.

[0045] Figure 11 Schematic diagram of the docking mechanism of the cryogenic sample repository.

[0046] Figure 12 For Figure 11 Enlarged view at F1 of the cryogenic sample repository.

[0047] Figure 13 Schematic diagram of the gantry robotic arm device of the cryogenic sample repository.

[0048] Figure 14 Schematic diagram of the sliding frame mechanism of the cryogenic sample repository.

[0049] Figure 15 Schematic diagram of the gantry robotic arm device of the cryogenic sample repository from another perspective.

[0050] Figure 16 Schematic diagram of the operating mechanism of the cryogenic sample repository.

[0051] Figure 17 Schematic diagram of the operating mechanism of the cryogenic sample repository from another perspective.

[0052] Figure 18 Schematic diagram of the gripper assembly of the cryogenic sample repository.

[0053] Figure 19 Schematic diagram of the gripper assembly of the cryogenic sample repository from another perspective.

[0054] Figure 20 Schematic diagram of the shovel plate assembly for a cryogenic sample storage repository.

[0055] Figure 21 Schematic diagram of the shovel plate assembly for a cryogenic sample storage repository. Specific embodiments

[0056] To make the above objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings of the specification.

[0057] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0058] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that can be included in at least one implementation of the present invention. The phrase "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an individual or alternative embodiment that is mutually exclusive with other embodiments.

[0059] Example 1, referring to Figures 1 to 3 , which is the first embodiment of the present invention. This embodiment provides a cryogenic sample storage repository, which includes a storage repository 1. Inside the storage repository 1, multiple groups of sample storage tanks 2 are provided. The row frame robotic arm device 3 can be used to access, transfer, etc. the samples in multiple groups of sample storage tanks 2, and sample tube picking and other operations can be performed through the sample tube picking area 4.

[0060] Specifically, it includes a storage repository 1. Multiple groups of sample storage tanks 2 are arranged inside the storage repository 1. A row frame robotic arm device 3 is arranged inside the storage repository 1. The row frame robotic arm device 3 can perform operations such as opening and closing the lids, grasping the baskets, accessing the sample plate racks, and transferring the samples for multiple groups of sample storage tanks 2. The storage repository 1 is also provided with a sample tube picking area 4. The sample tube picking area 4 can be docked with the row frame robotic arm device 3 to transfer the transfer tank 91, and the sample tube picking area 4 can pick the sample tubes.

[0061] Preferably, the gantry robotic arm device 3 can move within the repository 1 and can operate on each set of sample storage tanks 2 within the repository 1. The gantry robotic arm device 3 can open the lids of the sample storage tanks 2, grab the baskets within the sample storage tanks 2, and scoop the plate racks within the baskets, and grab them into the transfer tank. By docking the pipetting area 4 with the gantry robotic arm device 3, the transfer of the transfer tank can be realized, and the pipetting area 4 can be used to pipette the plate racks and sample tubes within the transfer tank, and the pipetting area 4 can also transport the transfer tank outside the repository 1.

[0062] In summary, by arranging multiple sets of sample storage tanks 2 within the repository 1 in the present invention, classification storage can be conveniently carried out in cooperation with the gantry robotic arm device 3; this device can achieve full-automatic storage, eliminating various risks brought by manual storage; during the storage process of this device, the sample tubes or transfer tanks can always be kept in a low-temperature environment, and the whole process of cold chain is maintained during pipetting, and the storage efficiency is greatly improved through automatic control.

[0063] Example 2, refer to Figures 1 to 21 , which is the second embodiment of the present invention. In the previous embodiment, the cryogenic sample storage repository includes the repository 1, and multiple sets of sample storage tanks 2 are arranged inside the repository 1. The gantry robotic arm device 3 can be used to access, transfer, etc. the samples of the multiple sets of sample storage tanks 2, and the pipetting area 4 can be used to perform operations such as pipetting the samples.

[0064] Specifically, it includes the repository 1, multiple sets of sample storage tanks 2 are arranged inside the repository 1, a gantry robotic arm device 3 is arranged inside the repository 1, and the gantry robotic arm device 3 can perform operations such as opening and closing the lids, grabbing the baskets, accessing and storing the sample plate racks, and transporting the samples of the multiple sets of sample storage tanks 2. A pipetting area 4 is also arranged in the repository 1, and the pipetting area 4 can be docked with the gantry robotic arm device 3 to transport the transfer tank 91, and the pipetting area 4 can pipette the sample tubes.

[0065] Preferably, refer to Figure 2 、 Figures 13 to 21 , the gantry robotic arm device 3 can move within the repository 1 and can operate on each set of sample storage tanks 2 within the repository 1. The gantry robotic arm device 3 can open the lids of the sample storage tanks 2, grab the baskets within the sample storage tanks 2, and scoop the plate racks within the baskets, and grab them into the transfer tank. By docking the pipetting area 4 with the gantry robotic arm device 3, the transfer of the transfer tank can be realized, and the pipetting area 4 can be used to pipette the plate racks and sample tubes within the transfer tank, and the pipetting area 4 can also transport the transfer tank outside the repository 1.

[0066] Further, the gantry robot arm device 3 includes a sliding frame mechanism 31 and an operating mechanism 32; the sliding frame mechanism 31 is slidably arranged inside the storage repository 1 and is docked with multiple groups of sample storage tanks 2; the operating mechanism 32 is arranged on the sliding frame mechanism 31 and can move on the sliding frame mechanism 31; the operating mechanism 32 can perform docking operations on the sample storage tanks 2.

[0067] Preferably, the sliding frame mechanism 31 can drive the operating mechanism 32 to slide inside the storage repository 1, and the operating mechanism 32 can dock with multiple groups of sample storage tanks 2, facilitating a series of operations such as opening the lid and grasping.

[0068] Further, the operating mechanism 32 includes an operating frame 321, and an opening lid assembly 322, a basket grasping assembly 323, a gripper assembly 324, and a shovel plate assembly 325 are arranged on the operating frame 321; the opening lid assembly 322 can grasp the lid of the sample storage tank 2, the basket grasping assembly 323 can lift the basket inside the sample storage tank 2, the shovel plate assembly 325 can shovel the plate rack inside the basket, and the gripper assembly 324 can grasp the plate rack.

[0069] Preferably, the operating frame 321 can slide on the sliding frame mechanism 31, so as to facilitate the opening lid assembly 322, the basket grasping assembly 323, and the gripper assembly 324 on the operating frame 321 to operate on different sample storage tanks 2.

[0070] Preferably, through the settings of the sliding frame mechanism 31 and the operating frame 321, the opening lid assembly 322, the basket grasping assembly 323, and the gripper assembly 324 can achieve full coverage operation on the sample storage tanks 2 inside the storage repository 1.

[0071] Further, the opening lid assembly 322 includes an opening lid support driving member 3221 and a telescopic lifting member 3222; the opening lid support driving member 3221 is arranged on the side of the operating frame 321, the telescopic lifting member 3222 can slide vertically on the opening lid support driving member 3221, and the telescopic lifting member 3222 can telescopically grasp the lid of the sample storage tank 2.

[0072] Preferably, the sample storage tank 2 can drive the telescopic lifting member 3222 to lift and lower, and the telescopic lifting member 3222 is used to grasp the lid of the sample storage tank 2.

[0073] Preferably, the telescopic lifting member 3222 is provided with a spring thereon and a magnetic attraction assembly at the lower end, and the lid of the sample storage tank 2 is extracted or placed by magnetic attraction.

[0074] Further, the basket grasping assembly 323 can slide vertically on the operating frame 321, and the basket grasping assembly 323 can grasp and lift the basket.

[0075] Preferably, the basket gripping assembly 323 can lift the basket in the sample storage tank 2 and lift it into the operation frame 321. By driving the lifting of the basket by the basket gripping assembly 323, the plate racks on each layer of the basket can be shoveled by the shovel plate assembly 325. Similarly, the plate racks can also be sent into each layer of the basket by the shovel plate assembly 325.

[0076] Further, the shovel plate assembly 325 includes a shovel plate driving and supporting member 3251 and a shovel plate 3252; the shovel plate driving and supporting member 3251 is arranged at the inner bottom of the operation frame 321, the shovel plate 3252 is connected to the shovel plate driving and supporting member 3251, and the shovel plate driving and supporting member 3251 can drive the shovel plate 3252 to expand and contract and shovel the plate racks in the basket.

[0077] Preferably, the shovel plate driving and supporting member 3251 drives the shovel plate 3252 to expand and contract, so that the shovel plate 3252 enters the basket, and then in cooperation with the lifting of the basket, the shovel plate 3252 can quickly shovel the plate racks.

[0078] Further, the gripper assembly 324 includes a first support frame 3241, a second support frame 3242, and a gripper sliding member 3243; the first support frame 3241 is arranged on both sides of the operation frame 321, the second support frame 3242 is arranged on the first support frame 3241, the second support frame 3242 can slide on the first support frame 3241 under the drive of a driver, the gripper sliding member 3243 can slide on the second support frame 3242, and the gripper sliding member 3243 can lift to grip the plate racks.

[0079] Preferably, through the arrangement of the first support frame 3241 and the second support frame 3242, the gripper sliding member 3243 can move horizontally and vertically, so as to move the gripper sliding member 3243 within a certain range.

[0080] Preferably, the gripper assembly 324 can grip the lid of the transfer tank. Through the gripper assembly 324, the plate racks in the shovel plate assembly 325 and the transfer tank can be gripped, so as to deposit the plate racks into the basket or the transfer tank and wait for the next operation.

[0081] Further, a transfer tank storage station 326 and a lid storage rack 327 are also arranged inside the bottom of the operation frame 321; the transfer tank storage station 326 can store the transfer tank 91, and the lid storage rack 327 can support and store the lids of the transfer tank 91.

[0082] Preferably, the transfer tank can be supported and placed through the transfer tank storage station 326. By arranging the lid storage rack 327, it is convenient for the gripper assembly 324 to grip the lid of the transfer tank and temporarily place it on the lid storage rack 327.

[0083] Further, referring to Figures 2 to 12 , the pipe picking area 4 includes a docking mechanism 41, a pipe picking mechanism 42, and a transportation mechanism 43. The docking mechanism 41 is disposed on one side of the pipe picking mechanism 42, and the transportation mechanism 43 is disposed below the pipe picking mechanism 42. The transportation mechanism 43 can transfer the transfer tank 91. The docking mechanism 41 can perform the docking and transportation of the transfer tank 91 between the pipe picking mechanism 42 and the gantry robot device 3.

[0084] Preferably, by providing the docking mechanism 41, the transfer tank 91 can be docked and transmitted between the pipe picking mechanism 42 and the gantry robot device 3, facilitating the transfer of the transfer tank. The sample can be kept warm in the cold chain through the transfer tank.

[0085] Preferably, the transportation mechanism 43 can perform telescopic movement, receive the transfer tank outside the storage library 1, and also transfer the transfer tank on the pipe picking mechanism 42 to the outside of the storage library 1.

[0086] Preferably, the pipe picking mechanism 42 can respectively receive the transfer tanks on the transportation mechanism 43 and the docking mechanism 41. Similarly, the pipe picking mechanism 42 can also convey the transfer tanks into the transportation mechanism 43 and the docking mechanism 41.

[0087] Further, the pipe picking mechanism 42 includes a pipe picking support plate 421, a pipe picking sliding support frame 422, a plate rack and tank lid grasping assembly 423, and a sample tube grasping assembly 424. The pipe picking support plate 421 is provided with the pipe picking sliding support frame 422. The pipe picking sliding support frame 422 can slide on the pipe picking support plate 421. The plate rack and tank lid grasping assembly 423 and the sample tube grasping assembly 424 are slidably arranged on the pipe picking sliding support frame 422. The transportation mechanism 43 can drive the transfer tank 91 to move and dock with the plate rack and tank lid grasping assembly 423. The plate rack and tank lid grasping assembly 423 and the sample tube grasping assembly 424 can perform operations such as grasping, opening the lid, grasping the plate rack, and selecting the sample tube on the transfer tank 91.

[0088] Preferably, the pipe picking sliding support frame 422 can drive the plate rack and tank lid grasping assembly 423 and the sample tube grasping assembly 424 to move along the track on the pipe picking support plate 421, thus facilitating docking with the transportation mechanism 43 and the docking mechanism 41.

[0089] Furthermore, the frame and lid grasping assembly 423 includes a pick tube slider 4231, a frame grasping lifting member 4232, and a frame clamping portion 4233; the pick tube slider 4231 is disposed on the pick tube sliding support frame 422 and slides on the pick tube sliding support frame 422. A frame grasping lifting member 4232 is provided on the pick tube slider 4231. A frame clamping portion 4233 is provided at the lower end of the frame grasping lifting member 4232. The frame grasping lifting member 4232 can drive the frame clamping portion 4233 to lift and lower, and the frame clamping portion 4233 can grasp the frame and the transfer tank lid.

[0090] Preferably, the pick tube slider 4231 can move on the pick tube sliding support frame 422, facilitating the pick tube slider 4231 to drive the frame and lid grasping assembly 423 and the sample tube grasping assembly 424 to open the lid and perform pick tube operations, enabling it to move within a certain range.

[0091] Furthermore, the sample tube grasping assembly 424 is disposed on the pick tube slider 4231, and the pick tube slider 4231 can drive the sample tube grasping assembly 424 to slide on the pick tube sliding support frame 422.

[0092] Furthermore, the sample tube grasping assembly 424 includes a sample tube driving lifting member 4241, a sample tube grasping member 4242, and an elastic push rod member 4243; the lower end of the sample tube driving lifting member 4241 is connected to the sample tube grasping member 4242. An elastic push rod member 4243 is provided on the sample tube grasping member 4242. The sample tube driving lifting member 4241 can drive the sample tube grasping member 4242 to lift and lower. The sample tube grasping member 4242 can grasp the sample tube, and the elastic push rod member 4243 can hold the sample tubes around the grasped sample tube.

[0093] Preferably, the sample tube can be directly grasped by the sample tube grasping member 4242 without using the methods of vacuum suction or ejector pin jacking + top three-jaw clamping. And the elastic push rod member 4243 can hold the sample tubes around the grasped sample tube to prevent the sample tube grasping member 4242 from taking out other sample tubes that do not require pick tube operations.

[0094] Preferably, the gripper of the sample tube grasping member 4242 can be set to four jaws to directly grasp the cryogenic tube from the four gaps around the cryogenic tube, greatly reducing the size of the sample tube grasping assembly 424, reducing costs, and improving efficiency;

[0095] Further, the transportation mechanism 43 includes a transportation support plate assembly 431, a first drive plate assembly 432, and a second drive plate assembly 433. The first drive plate assembly 432 is disposed on the transportation support plate assembly 431, the second drive plate assembly 433 is disposed on the first drive plate assembly 432, and a transfer tank 91 is disposed on the second drive plate assembly 433. The first drive plate assembly 432 can move on the transportation support plate assembly 431, and the second drive plate assembly 433 can move on the first drive plate assembly 432.

[0096] Preferably, by providing the first drive plate assembly 432 and the second drive plate assembly 433, the telescopic length is increased, two-stage telescoping is achieved, and the applicability is wider.

[0097] Preferably, the first drive plate assembly 432 can drive the second drive plate assembly 433 and the transfer tank to move on the transportation support plate assembly 431. When the telescopic length needs to be increased again, the second drive plate assembly 433 can further telescope on the basis of the telescoping of the first drive plate assembly 432, so that the transfer tank extends out of the storage repository 1.

[0098] Further, a pipe picking support plate 421 is provided with a pipe picking groove 425 and a code scanning component 428. Liquid nitrogen is provided in the pipe picking groove 425. A sample plate rack can be placed in the pipe picking groove 425, and the code scanning component 428 can scan the plate rack and the samples.

[0099] Preferably, by providing the pipe picking groove 425, the plate rack can be placed in the pipe picking groove 425, and the liquid nitrogen is used to keep the pipe picking groove 425 warm and refrigerated, which is convenient for maintaining the ultra-low temperature environment of the sample tube during pipe picking.

[0100] By providing the code scanning component 428, the plate rack or the sample tube can be scanned and identified for registration of incoming and outgoing storage.

[0101] Further, the pipe picking support plate 421 is further provided with a temporary storage rack 426 and a transfer tank temporary storage rack 427. The temporary storage rack 426 is disposed on one side of the transfer tank temporary storage rack 427. The temporary storage rack 426 can support the lid of the transfer tank, and the transfer tank temporary storage rack 427 can store the transfer tank.

[0102] Further, the docking mechanism 41 includes a docking drive component 411 and a shovel tray transfer component 412. The shovel tray transfer component 412 is disposed on the docking drive component 411. The docking drive component 411 can drive the shovel tray transfer component 412 to lift, and the shovel tray transfer component 412 can shovel and transfer the transfer tank 91.

[0103] Furthermore, the shovel tray transfer assembly 412 includes a docking shovel tray 4121 and a docking shovel tray drive 4122. The docking shovel tray 4121 is arranged on the docking shovel tray drive 4122. The docking shovel tray drive 4122 can drive the docking shovel tray 4121 to expand and contract, and the docking shovel tray 4121 shovels the transfer tank 91.

[0104] Furthermore, a transfer window 5 is provided on the storage repository 1, and the transfer window 5 allows the transport mechanism 43 to drive the transfer tank 91 to pass through.

[0105] Furthermore, a control mechanism 6 is provided on the storage repository 1. The control mechanism 6 can control the operation of the storage repository 1, and the control mechanism 6 can be controlled by a display screen.

[0106] Furthermore, a refrigeration mechanism 7 is also provided on the storage repository 1. The refrigeration mechanism 7 can refrigerate the interior of the storage repository 1.

[0107] Furthermore, a frame assembly 8 is arranged inside the storage repository 1. The frame assembly 8 can support the gantry robotic arm device 3.

[0108] It should be noted that the cryogenic sample storage repository can provide a low-temperature environment of -20°C for the storage repository through the refrigeration mechanism 7, ensuring a full-chain cold transfer environment after the sample enters the cold storage. The sample storage tank is a liquid nitrogen cryogenic sample storage environment, and the main storage environment is preferably between -130°C and -196°C. It realizes an automated storage repository for accessing biological samples, meets the storage requirements of different biological samples or reproductive samples, and stores them in a cryogenic environment, greatly improving the access volume and efficiency.

[0109] In summary, by arranging multiple groups of sample storage tanks 2 inside the storage repository 1 and cooperating with the gantry robotic arm device 3, classification storage can be conveniently carried out; this device can achieve full automation storage, eliminating various risks brought by manual storage; during the storage process of this device, the sample tube or transfer tank can always be in a low-temperature environment, and the full-chain cold chain is maintained during tube picking; when storing with this device, only an access opening that can accommodate the transfer tank needs to be opened, avoiding the problem of excessive opening of the access opening damaging the temperature of the storage repository itself and causing a large consumption of liquid nitrogen; this device adopts automated storage, which can avoid the influence and mutual contamination between the samples during movement; the storage repository 1 of this device can be conveniently transported and installed, and has strong on-site adaptability; this device can greatly improve the efficiency of sample storage.

[0110] Importantly, it should be noted that the construction and arrangement of the present application shown in multiple different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who refer to this disclosure should readily understand that many modifications are possible without materially departing from the novel teachings and advantages of the subject matter described in this application (e.g., changes in the dimensions, scales, structures, shapes and proportions of various elements, as well as parameter values (such as temperature, pressure, etc.), installation arrangements, use of materials, colors, orientations, etc.). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature, number or position of discrete elements may be altered or changed. Accordingly, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means-plus-function" clause is intended to cover the structures that perform the recited function described herein, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present invention. Accordingly, the present invention is not limited to a particular embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0111] In addition, in order to provide a concise description of the exemplary embodiments, all features of the actual embodiments may not be described (i.e., those features that are not relevant to the currently contemplated best mode of carrying out the present invention or those features that are not relevant to the implementation of the present invention).

[0112] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous specific implementation decisions may be made. Such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from this disclosure, without undue experimentation, such development efforts will be a routine task of design, manufacturing and production.

[0113] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention may be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. A cryogenic sample repository, characterized in that: It includes a repository (1) with multiple groups of sample storage tanks (2) arranged therein. A gantry robot device (3) is arranged in the repository (1). The gantry robot device (3) can perform operations such as opening and closing the lids, grasping the baskets, accessing the sample plate racks, and transporting samples for the multiple groups of sample storage tanks (2). The repository (1) is also provided with a tube picking area (4). The tube picking area (4) can be docked with the gantry robot device (3) to transport the transfer tank (91), and the tube picking area (4) can pick tubes for the sample tubes. The gantry robot device (3) includes a sliding frame mechanism (31) and an operating mechanism (32). The sliding frame mechanism (31) is slidably arranged inside the repository (1) and is docked with the multiple groups of sample storage tanks (2). The operating mechanism (32) is arranged on the sliding frame mechanism (31), and the operating mechanism (32) can move on the sliding frame mechanism (31). The operating mechanism (32) can perform docking operations on the sample storage tanks (2). The operating mechanism (32) includes an operating frame (321), on which an opening cover assembly (322), a basket grasping assembly (323), a gripper assembly (324), and a shovel plate assembly (325) are arranged. The opening cover assembly (322) can grasp the lid of the sample storage tank (2). The basket grasping assembly (323) can lift the basket inside the sample storage tank (2). The shovel plate assembly (325) can shovel the plate rack in the basket, and the gripper assembly (324) can grasp the plate rack. The tube picking area (4) includes a docking mechanism (41), a tube picking mechanism (42), and a transportation mechanism (43). The docking mechanism (41) is arranged on one side of the tube picking mechanism (42), and the transportation mechanism (43) is arranged below the tube picking mechanism (42). The transportation mechanism (43) can transport the transfer tank (91). The docking mechanism (41) can dock and transport the transfer tank (91) between the tube picking mechanism (42) and the gantry robot device (3).

2. The cryogenic sample repository according to claim 1, characterized in that: The opening cover assembly (322) includes an opening cover support driving part (3221) and a telescopic lifting part (3222). The opening cover support driving part (3221) is arranged on the side of the operating frame (321), and the telescopic lifting part (3222) can slide vertically on the opening cover support driving part (3221). The telescopic lifting part (3222) can telescopically grasp the lid of the sample storage tank (2).

3. The deep cryogenic sample repository according to claim 1, wherein: The basket grasping assembly (323) can slide vertically on the operating frame (321), and the basket grasping assembly (323) can grasp and lift the basket.

4. The cryogenic sample repository according to claim 1, wherein: The shovel plate assembly (325) includes a shovel plate drive support (3251) and a shovel plate (3252); the shovel plate drive support (3251) is arranged at the inner bottom of the operation frame (321), the shovel plate (3252) is connected to the shovel plate drive support (3251), and the shovel plate drive support (3251) can drive the shovel plate (3252) to expand and contract and scoop up the plate rack in the basket.

5. The deep cryogenic sample repository according to claim 1, characterized in that: The gripper assembly (324) includes a first support frame (3241), a second support frame (3242), and a gripper slider (3243); the first support frame (3241) is arranged on both sides of the operation frame (321), the second support frame (3242) is arranged on the first support frame (3241), the second support frame (3242) can slide on the first support frame (3241) under the drive of a driver, the gripper slider (3243) can slide on the second support frame (3242), and the gripper slider (3243) can lift to grab the plate rack.

6. The cryogenic sample repository according to claim 1, wherein: A transfer tank storage station (326) and a tank cover storage rack (327) are further arranged inside the bottom of the operation frame (321); the transfer tank storage station (326) can store the transfer tank (91), and the tank cover storage rack (327) can support and store the tank cover of the transfer tank (91).

7. The cryogenic sample repository according to any one of claims 1 to 6, characterized in that: The tube picking mechanism (42) includes a tube picking support plate (421), a tube picking sliding support frame (422), a plate rack and tank cover grabbing assembly (423), and a sample tube grabbing assembly (424); the tube picking sliding support frame (422) is arranged on the tube picking support plate (421), the tube picking sliding support frame (422) can slide on the tube picking support plate (421), the plate rack and tank cover grabbing assembly (423) and the sample tube grabbing assembly (424) are slidably arranged on the tube picking sliding support frame (422); the transportation mechanism (43) can drive the transfer tank (91) to move and dock with the plate rack and tank cover grabbing assembly (423), and the plate rack and tank cover grabbing assembly (423) and the sample tube grabbing assembly (424) can perform operations of grabbing, opening the lid, grabbing the plate rack, and picking the sample tube on the transfer tank (91).

8. The cryogenic sample repository according to claim 7, wherein: The plate rack and tank cover grabbing assembly (423) includes a tube picking slider (4231), a plate rack grabbing lifting member (4232), and a plate rack clamping portion (4233); the tube picking slider (4231) is arranged on the tube picking sliding support frame (422) and slides on the tube picking sliding support frame (422), the plate rack grabbing lifting member (4232) is arranged on the tube picking slider (4231), the lower end of the plate rack grabbing lifting member (4232) is provided with the plate rack clamping portion (4233), the plate rack grabbing lifting member (4232) can drive the plate rack clamping portion (4233) to lift, and the plate rack clamping portion (4233) can grab the plate rack and the tank cover of the transfer tank.

9. The cryogenic sample repository according to claim 8, wherein: The sample tube gripping assembly (424) is arranged on the tube picking slider (4231), and the tube picking slider (4231) can drive the sample tube gripping assembly (424) to slide on the tube picking sliding support frame (422).

10. The deep cryogenic sample repository according to claim 9, characterized in that: The sample tube gripping assembly (424) includes a sample tube driving and lifting member (4241), a sample tube gripping member (4242), and an elastic push rod member (4243); the lower end of the sample tube driving and lifting member (4241) is connected to the sample tube gripping member (4242), the elastic push rod member (4243) is arranged on the sample tube gripping member (4242), the sample tube driving and lifting member (4241) can drive the sample tube gripping member (4242) to lift, the sample tube gripping member (4242) can grip the sample tube, and the elastic push rod member (4243) can hold the sample tubes around the gripped sample tube.

11. The deep cryogenic sample repository according to claim 7, characterized in that: The transportation mechanism (43) includes a transportation support plate assembly (431), a first driving plate assembly (432), and a second driving plate assembly (433); the first driving plate assembly (432) is arranged on the transportation support plate assembly (431), the second driving plate assembly (433) is arranged on the first driving plate assembly (432), a transfer tank (91) is arranged on the second driving plate assembly (433), the first driving plate assembly (432) can move on the transportation support plate assembly (431), and the second driving plate assembly (433) can move on the first driving plate assembly (432).

12. The deep cryogenic sample repository according to claim 8, characterized in that: A tube picking groove (425) and a code scanning assembly (428) are arranged on the tube picking support plate (421), liquid nitrogen is arranged in the tube picking groove (425), a sample plate rack can be placed in the tube picking groove (425), and the code scanning assembly (428) can scan the code of the plate rack and the samples.

13. The deep cryogenic sample repository according to claim 8, wherein: A temporary storage rack (426) and a transfer tank temporary storage rack (427) are also arranged on the tube picking support plate (421); the temporary storage rack (426) is arranged on one side of the transfer tank temporary storage rack (427), the temporary storage rack (426) can support the lid of the transfer tank, and the transfer tank temporary storage rack (427) can store the transfer tanks.

14. The cryogenic sample repository according to claim 7, wherein: The docking mechanism (41) includes a docking driving assembly (411) and a shovel tray transfer assembly (412); the shovel tray transfer assembly (412) is arranged on the docking driving assembly (411), the docking driving assembly (411) can drive the shovel tray transfer assembly (412) to lift, and the shovel tray transfer assembly (412) can shovel and transfer the transfer tank (91).

15. The cryogenic sample repository according to claim 14, characterized in that: The shovel tray transfer assembly (412) includes a docking shovel tray (4121) and a docking shovel tray driving member (4122); the docking shovel tray (4121) is arranged on the docking shovel tray driving member (4122), the docking shovel tray driving member (4122) can drive the docking shovel tray (4121) to expand and contract, and the docking shovel tray (4121) shovels the transfer tank (91).

16. The deep cryogenic sample repository according to claim 7, characterized in that: A transfer window (5) is provided on the repository (1), and the transfer window (5) allows a transportation mechanism (43) to drive a transfer tank (91) to pass through.

17. The cryogenic sample repository according to claim 8, wherein: A control mechanism (6) is provided on the repository (1), and the control mechanism (6) can control the operation of the repository (1).

18. The cryogenic sample repository according to claim 8, wherein: A refrigeration mechanism (7) is further provided on the repository (1), and the refrigeration mechanism (7) can refrigerate the interior of the repository (1).

19. The cryogenic sample repository according to claim 8, wherein: A frame assembly (8) is provided inside the repository (1), and the frame assembly (8) can support the gantry robotic arm device (3).

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