Intelligent deep hypothermia biological sample storage cabinet

Abstract

The invention discloses an intelligent deep hypothermia biological sample storage cabinet, and belongs to the technical field of biological sample storage. The intelligent deep hypothermia biological sample storage cabinet comprises a storage cabinet body, an exchange cabin is arranged on one side of the storage cabinet body, a low-temperature storage cabin and a transfer assembly are arranged in the storage cabinet body, and the transfer assembly is used for grabbing samples and controlling the samples to be transferred between the exchange cabin and the low-temperature storage cabin. According to the intelligent deep hypothermia biological sample storage cabinet, through the human-computer interface, the transfer assembly, the sample storage rack and the push-out assembly, the full-automatic storage and taking process of samples is achieved, a user only needs to select operation types on an interface and provide necessary information, a system can automatically complete subsequent steps, the working efficiency is greatly improved, and the labor intensity of workers is reduced. By means of equipment such as a box gripper and a pipe gripper, samples of different types and sizes can be accurately gripped, and the accuracy of sample treatment is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of biological sample preservation, and particularly to an intelligent cryogenic biological sample storage cabinet. Background Art

[0002] In the fields of biomedical research, clinical diagnosis, and biobank management, etc., long-term preservation of biological samples (such as blood, tissue sections, cells, etc.) in a cryogenic environment is crucial for maintaining the activity and integrity of the samples. Traditional methods for storing biological samples mainly include using liquid nitrogen tanks or ultra-low temperature refrigerators. However, these traditional methods have some limitations.

[0003] Traditional storage devices usually require manual access to samples, which is not only time-consuming and laborious, but also increases the time for samples to be exposed to the external environment, possibly resulting in temperature fluctuations that affect sample quality; due to the lack of an effective management system, traditional storage methods are difficult to achieve efficient space utilization, prone to resource waste, and limit the storage capacity; although existing refrigeration equipment can reach extremely low temperatures, after frequent door openings or long-term operation, the temperature fluctuations are relatively large, which is a challenge for some biological samples that are extremely sensitive to temperature; in the traditional storage mode, the information recording of samples mainly relies on paper documents or simple spreadsheets, which are prone to errors and difficult to query, and it is difficult to meet the requirements for data accuracy and traceability in modern scientific research work; during the access process, if the operation is improper or the equipment fails, it may cause damage to the samples, such as cell rupture caused by centrifugal force and other problems. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent cryogenic biological sample storage cabinet. Through a human-machine interface, a transfer component, a sample storage rack, and a pushing component, the fully automatic access process of samples is realized. Users only need to select the operation type on the interface and provide the necessary information, and the system can automatically complete the subsequent steps, greatly improving the work efficiency and solving the problems mentioned in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: an intelligent cryogenic biological sample storage cabinet, including a storage cabinet body. An exchange chamber is provided on one side of the storage cabinet body. A cryogenic storage chamber and a transfer component are provided inside the storage cabinet body. The transfer component is used to grab samples and control the transfer of samples between the exchange chamber and the cryogenic storage chamber. A sample storage rack and a pushing component are provided inside the cryogenic storage chamber. The sample storage rack controls the samples to rotate to the sample channels on the cryogenic storage chamber, and the pushing component pushes the samples out.

[0006] Preferably, a nitrogen pipeline is provided on one side of the low-temperature storage chamber. The nitrogen pipeline outputs low-temperature nitrogen into the low-temperature storage chamber. The nitrogen pipeline is provided with evenly distributed nitrogen outlets to disperse the pressure of the nitrogen and avoid damage to the samples caused by the output nitrogen. A sample channel is provided on the side of the low-temperature storage chamber away from the nitrogen pipeline. Three sealed doors are vertically arranged on the sample channel. Each sealed door is controlled by an independent door-opening motor. According to the storage and retrieval positions of the samples, the corresponding sealed door is controlled to open, reducing the temperature loss in the low-temperature storage chamber and the influence of the external environment on the samples.

[0007] Preferably, the sample storage rack includes a bottom rotating rack, a top rotating rack, a first long rod, a second long rod, a support plate, and a top motor. The bottom rotating rack and the top rotating rack are cross-shaped structures arranged in a staggered manner. Among them, the four corners of the bottom rotating rack are fixedly connected with the first long rods, and the four corners of the top rotating rack are fixedly connected with the second long rods. The second long rods are arranged parallel to the first long rods. The second long rods and the first long rods are both provided with socket grooves, and the socket grooves on the second long rods and the first long rods correspond one by one. The socket grooves at the same height on the second long rods and the first long rods jointly socket the support plate. The bottom rotating rack and the top rotating rack are connected by the support plate. The central axis of the top rotating rack is fixedly connected with the output end of the top motor. The top motor is fixed on the top of the low-temperature storage chamber. The top rotating rack is driven to rotate by the top motor, and the support plate is driven to rotate by the first long rod. The bottom rotating rack and the top rotating rack rotate at the same frequency. Also, because the second long rod restricts the support plate from turning, the support plate rotates around the rotation center of the top rotating rack while keeping its own direction unchanged, reducing the influence of centrifugal force on the samples when the samples on the storage rack rotate.

[0008] Preferably, a storage rack is clamped on the support plate. The storage rack includes a rack body for placing single-tube biological samples and a rack body for placing boxed biological samples. Different rack bodies can be used to store different biological samples. Slots are opened on the storage rack, and the slots are matched with the first long rod and the second long rod. The position of the storage rack is fixed by inserting the slots into the first long rod and the second long rod. Limiting sliding grooves are opened on the support plate, and limiting sliding blocks matched with the limiting sliding grooves are fixedly connected to the lower surface of the storage rack. The limiting sliding blocks move in the limiting sliding grooves to limit the movement path of the storage rack. An iron sheet is provided at one end of the storage rack close to the opening of the slot. An RFID tag or a two-dimensional code is provided on each storage rack. An RFID reader is provided in the low-temperature storage chamber, which can identify the position of each storage rack. The system records the position of the storage rack and the sample information stored on each storage rack, so as to realize automatic, fast, and accurate access to samples.

[0009] Preferably, a limiting component is further arranged at the end of the support plate. The limiting component is slidably connected to the support plate in the vertical direction. The limiting component includes a limiting strip and an elastic member. A connecting block protrudes from the end of the support plate. A connecting groove matching the connecting block is formed in the limiting strip. Bevels are arranged on both sides of the limiting strip. The bottom end of the bevel is flush with the top surface of the support plate through the elastic member. By using the limiting strip with bevels, the storage rack can be restricted on the support plate, preventing the storage rack from sliding out of the support plate when the support plate drives the storage rack to rotate, thereby ensuring the safety of sample storage.

[0010] Preferably, the limiting component further includes a trigger block and an elastic pin. The cross-section of the trigger block is T-shaped. The trigger block is slidably connected to the limiting strip along the working direction of the pushing component. The length of the horizontal part of the trigger block is greater than the width of the limiting strip. The elastic pin is slidably arranged in the connecting block. The axis of the elastic pin is perpendicular to the sliding direction of the trigger block. A locking groove is formed in the trigger block. The locking groove includes a locking position and an unlocking position. A vertical groove for the elastic pin to penetrate is formed in the limiting strip. The locking position is horizontally arranged. The unlocking position gradually extends upward obliquely along the end of the locking position. The groove depth of the locking position is greater than the groove depth of the unlocking position. The storage rack pushes the trigger block to switch the elastic pin between the locking position and the unlocking position of the locking groove. A reset spring piece is further arranged between the trigger block and the limiting strip. After the end face of the storage rack pushes the trigger block, the limiting strip can move downward and avoid the storage rack, thereby reducing mis-touch and improving the stability of the storage rack.

[0011] Preferably, the pushing component includes a fixed tube, a bottom motor, a first lead screw, a guide rod, a movable plate and an electric telescopic rod. The fixed tube is fixedly connected to the bottom of the low-temperature storage chamber. The outer wall of the fixed tube is sleeved with the bottom rotating frame for providing a supporting force for the bottom rotating frame. The bottom rotating frame rotates around the fixed tube. A bottom motor is arranged inside the fixed tube. The output end of the bottom motor penetrates through the top of the fixed tube and is fixedly connected to the lower end of the first lead screw. One side of the upper end of the fixed tube is fixedly connected to the guide rod. The movable plate is engaged with the first lead screw. The movable plate is sleeved with the guide rod. Under the action of the bottom motor, the first lead screw drives the movable plate to move up and down along the guide rod. Electric telescopic rods are symmetrically arranged on the upper surface of the movable plate. An electromagnet is arranged at the output end of the electric telescopic rod. When the movable plate drives the electric telescopic rod to move to the corresponding position of the support plate, the electric telescopic rod pushes out the energized electromagnet. The electromagnet adsorbs one end of the storage rack provided with an iron sheet and pushes the storage rack out of the support plate.

[0012] Preferably, on each storage rack, a straight sealing plate and an inclined sealing plate are sequentially arranged on both sides of the slot. A position recognition induction sheet is attached to the outer side of the straight sealing plate. Each position recognition induction sheet is provided with a unique identification code; There are two electric telescopic rods arranged side by side. Outer expansion push plates corresponding to the straight sealing plate and the inclined sealing plate are provided at the output ends of the two electric telescopic rods. The electromagnet is located on the outer side surface of the outer expansion push plate. A position sensor is installed between the two electric telescopic rods. The position sensor is used to identify the position identification sensing piece and obtain the coordinate information of the position where the position identification sensing piece is located. It further includes a microcontroller which is installed on the storage cabinet body. The position identification sensing piece and the position sensor are respectively electrically connected to the microcontroller. The row number information of the storage rack corresponding to the unique identification code and / or the sample information stored on the storage rack are preset in the microcontroller. The microcontroller is electrically connected to the bottom motor and is used to control the opening and closing of the bottom motor. When it is necessary to store or retrieve samples, the information of the storage rack corresponding to the sample to be stored or retrieved is determined in advance. The microcontroller controls the bottom motor to start and drive the movable plate to move on the guide rod. During the movement, the position sensor detects the information of each position identification sensing piece in real time and obtains the unique identification code information corresponding to each storage rack based on the position identification sensing piece. When the unique identification code information corresponding to the preset storage rack is matched, the microcontroller judges that the target position has been reached and controls the bottom motor to stop moving.

[0013] Preferably, the transfer assembly includes a vertical guide rail, a vertical slider, a horizontal motor, a double-layer guide rail, a box gripper and a tube gripper. The vertical slider is movably connected to the vertical guide rail. A horizontal motor is installed on the vertical slider. The horizontal motor controls the rotation and movement of the double-layer guide rail. The box gripper and the tube gripper which are separately controlled are respectively installed on the double-layer guide rail.

[0014] Preferably, one end of the double-layer guide rail is provided with a rotating shaft. The rotating shaft is movably connected to the vertical slider. One end of the rotating shaft is fixedly connected to the output end of the horizontal motor. The horizontal rotation of the double-layer guide rail is realized by controlling the horizontal motor, which is used for the transfer of samples between the storage rack and the exchange cabin. A box clamp lead screw is arranged on the upper layer of the double-layer guide rail. The box clamp lead screw meshes with the box gripper. A tube clamp lead screw is arranged on the lower layer of the double-layer guide rail. The tube clamp lead screw meshes with the tube gripper. One end of both the box clamp lead screw and the tube clamp lead screw is provided with a lead screw motor. Through the control of the lead screw motor, the box gripper and the tube gripper are respectively controlled to move along the double-layer guide rail. The box gripper and the tube gripper are respectively movably connected to the double-layer guide rail, and non-overlapping moving tracks for the box gripper and the tube gripper are arranged on the double-layer guide rail.

[0015] Preferably, a transverse guide rail is provided on the tube gripper clip. The motor of the transverse guide rail drives the tube gripper clip to move in a direction perpendicular to the length direction of the double-layer guide rail, so as to adjust the tube gripper clip to grasp single-tube biological samples at different positions on the biological plate rack. The tube gripper clip motor drives the tube gripper clip to grasp a single single-tube biological sample.

[0016] Preferably, a human-machine interface is provided on the storage cabinet body for controlling the storage and retrieval of samples in the storage cabinet body. An exchange chamber is provided on the storage cabinet body on one side of the human-machine interface, and the transfer assembly is arranged at a position between the exchange chamber and the low-temperature storage chamber.

[0017] Preferably, an access opening communicating with the storage cabinet body is provided at the upper end of the exchange chamber. The access opening is provided with a flip cover plate, and the cover plate is controlled by a motor to flip to realize the closing and opening of the access opening. A conveyor belt is provided at the bottom of the exchange chamber, and the conveyor belt is used to send the temporary sample storage box to the exchange station of the exchange chamber. A lifting platform is provided at the exchange station of the exchange chamber, and the lifting platform is used to lift the temporary sample storage box to the position of the access opening, so as to facilitate the transfer assembly to sample from or place samples in the temporary sample storage box.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: An intelligent cryogenic biological sample storage cabinet proposed by the present invention realizes the fully automatic access process of samples through a human-machine interface, a transfer assembly, a sample storage rack and a pushing-out assembly. The user only needs to select the operation type on the interface and provide necessary information, and the system can automatically complete the subsequent steps, greatly improving the work efficiency. By using equipment such as box gripper clips and tube gripper clips, it is possible to accurately grasp different types and sizes of samples, ensuring the accuracy of sample processing. High-precision temperature sensors are used to monitor the ambient temperature in real time, which helps to protect sensitive biological samples from the influence of temperature fluctuations. The design of three sealed doors allows the corresponding doors to be opened separately according to specific needs, reducing the temperature loss in the low-temperature storage chamber during each operation. The design of the sample storage rack enables the support plate to maintain its direction unchanged during rotation, thus reducing the potential damage to the samples caused by centrifugal force. Each storage rack is equipped with an RFID tag or a QR code, and when used in combination with an RFID reader, it can realize the real-time monitoring and tracking of the position of each storage rack and the sample information inside, enhancing the security and transparency of sample management. The vertical guide rail, double-layer guide rail, box gripper clip and tube gripper clip, etc. all adopt modular design, which is convenient for maintenance, upgrade and customization of solutions according to specific requirements. Description of the Drawings

[0019] Figure 1 It is the overall structure diagram of the intelligent cryogenic biological sample storage cabinet of the present invention; Figure 2 It is the connection structure diagram of the exchange chamber and the transfer assembly of the present invention; Figure 3 Structural diagram of the connection between the low-temperature storage cabin and the transfer component of the present invention; Figure 4 Internal structural diagram of the low-temperature storage cabin of the present invention; Figure 5 Structural diagram of the sample storage rack of the present invention; Figure 6 Structural diagram of the connection between the sample storage rack and the pushing-out component of the present invention; Figure 7 Structural diagram of the pushing-out component of the present invention; Figure 8 Structural diagram of the storage rack for storing single-tube biological samples of the present invention; Figure 9 Structural diagram of the storage rack for storing boxed biological samples of the present invention; Figure 10 Structural diagram of the transfer component of the present invention; Figure 11 Structural diagram of the double-layer guide rail of the present invention; Figure 12 Structural diagram of the limit component of the present invention; Figure 13 Cross-sectional view of the limit component of the present invention; Figure 14 Partial cross-sectional view of the limit component of the present invention.

[0020] In the figure: 1. Storage cabinet body; 11. Human-machine interface; 12. Exchange cabin; 121. Cover plate; 122. Conveyor belt; 123. Lifting platform; 2. Low-temperature storage cabin; 21. Nitrogen pipeline; 22. Sample channel; 23. Sealed door; 231. Door-opening motor; 3. Transfer component; 31. Vertical guide rail; 311. Vertical motor; 312. Vertical lead screw; 313. Guide rail body; 32. Vertical slider; 33. Horizontal motor; 34. Double-layer guide rail; 341. Rotating shaft; 342. Box clamp lead screw; 343. Tube clamp lead screw; 35. Box gripper; 36. Tube gripper; 361. Horizontal guide rail; 4. Sample storage rack; 41. Bottom turntable; 42. Top turntable; 43. First long rod; 431. Socket groove; 44. Second long rod; 45. Support plate; 451. Limit chute; 46. Top motor; 5. Pushing-out component; 51. Fixed tube; 52. Bottom motor; 53. First lead screw; 54. Guide rod; 55. Movable plate; 56. Electric telescopic rod; 561. Electromagnet; 6. Storage rack; 61. Slot; 62. Inclined sealing plate; 63. Straight sealing plate; 7. Limit component; 71. Limit strip; 711. Connection groove; 712. Vertical groove; 72. Elastic member; 73. Connection block; 74. Trigger block; 75. Elastic pin; 76. Locking groove; 761. Locking position; 762. Unlocking position; 77. Reset spring piece. Detailed implementation manners

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] In order to solve the problem that existing traditional storage devices usually require manual access to samples, which is not only time-consuming and laborious, but also increases the time for samples to be exposed to the external environment, and may cause temperature fluctuations to affect the quality of samples, please refer to Figures 1-14 , the following technical solutions are provided in this embodiment: Embodiment 1: An intelligent cryogenic biological sample storage cabinet, including a storage cabinet body 1. A human-machine interface 11 is arranged on the storage cabinet body 1 for controlling the storage and retrieval of samples in the storage cabinet body 1. An exchange cabin 12 is arranged on the storage cabinet body 1 on one side of the human-machine interface 11. A cryogenic storage cabin 2 and a transfer component 3 are arranged in the storage cabinet body 1. The transfer component 3 is arranged at a position between the exchange cabin 12 and the cryogenic storage cabin 2 for grasping samples and controlling the transfer of samples between the exchange cabin 12 and the cryogenic storage cabin 2.

[0023] Specifically, an access opening communicating with the storage cabinet body 1 is opened at the upper end of the exchange cabin 12. A flip cover plate 121 is arranged at the access opening. The cover plate 121 is controlled to flip by a motor to realize the closing and opening of the access opening. A conveyor belt 122 is arranged at the bottom of the exchange cabin 12. The conveyor belt 122 is used to send the temporary sample storage box to the exchange station of the exchange cabin 12. Correspondingly, a lifting platform 123 is arranged at the exchange station of the exchange cabin 12. The lifting platform 123 is used to lift the temporary sample storage box to the position of the access opening, facilitating the transfer component 3 to take samples from or place samples in the temporary sample storage box.

[0024] A sample storage rack 4 and a pushing component 5 are arranged in the cryogenic storage cabin 2. The pushing component 5 is arranged at the middle position of the sample storage rack 4. A nitrogen pipeline 21 is arranged on one side of the cryogenic storage cabin 2. The nitrogen pipeline 21 outputs low-temperature nitrogen into the cryogenic storage cabin 2 to provide a suitable environment for cryogenic storage in the cryogenic storage cabin 2. Uniformly distributed nitrogen outlets are arranged on the nitrogen pipeline 21 to disperse the pressure of nitrogen and avoid damage to samples caused by the output nitrogen. A sample channel 22 is arranged on the side of the cryogenic storage cabin 2 away from the nitrogen pipeline 21. Three sealing doors 23 are arranged vertically on the sample channel 22. Each sealing door 23 is controlled by an independent door-opening motor 231. According to the storage and retrieval positions of samples, the corresponding sealing door 23 is controlled to open, reducing the temperature loss in the cryogenic storage cabin 2 and the influence of the external environment on samples.

[0025] In the low-temperature storage chamber 2, high-precision temperature sensors such as thermocouples, RTDs, thermistors or digital temperature sensors are used to monitor the temperature of the environment or the target object in real time. The data collected by the sensors will be sent to a microcontroller or a single-chip microcomputer for processing. These devices can run preset algorithms to analyze the data, and based on the comparison between the current temperature and the set target temperature, decide whether adjustment is needed. Based on the instructions issued by the control system, nitrogen input is started or stopped to maintain an ideal temperature level.

[0026] The sample storage rack 4 includes a bottom turntable 41, a top turntable 42, a first long rod 43, a second long rod 44, a support plate 45 and a top motor 46. The bottom turntable 41 and the top turntable 42 are cross structures arranged in a staggered manner. Among them, the four corners of the bottom turntable 41 are fixedly connected with the first long rod 43, and the four corners of the top turntable 42 are fixedly connected with the second long rod 44. The second long rod 44 is arranged parallel to the first long rod 43. Both the second long rod 44 and the first long rod 43 are provided with socket grooves 431. The socket grooves 431 on the second long rod 44 and the first long rod 43 correspond one by one, and the socket grooves 431 at the same height of the second long rod 44 and the first long rod 43 jointly socket the support plate 45. The bottom turntable 41 and the top turntable 42 are connected through the support plate 45. The central axis of the top turntable 42 is fixedly connected with the output end of the top motor 46. The top motor 46 is fixed on the top of the low-temperature storage chamber 2. The top turntable 42 is driven to rotate by the top motor 46, and the support plate 45 is driven to rotate by the first long rod 43. The bottom turntable 41 and the top turntable 42 rotate at the same frequency. Also, because the second long rod 44 restricts the support plate 45 from turning, the support plate 45 rotates around the rotation center of the top turntable 42 while maintaining its own direction unchanged, reducing the influence of centrifugal force on the samples when the samples on the storage rack 6 rotate.

[0027] The storage rack 6 is clamped on the support plate 45. The storage rack 6 includes a rack body for placing single-tube biological samples and a rack body for placing boxed biological samples. Different rack bodies can be used to store different biological samples. The storage rack 6 is provided with slots 61, and the slots 61 match the first long rod 43 and the second long rod 44. By inserting the slots 61 into the first long rod 43 and the second long rod 44, the position of the storage rack 6 is fixed. The support plate 45 is provided with limit sliding grooves 451, and the lower surface of the storage rack 6 is fixedly connected with limit sliding blocks that match the limit sliding grooves 451. The limit sliding blocks move in the limit sliding grooves 451 to limit the movement path of the storage rack 6. One end of the storage rack 6 close to the opening of the slot 61 is provided with an iron sheet. Each storage rack 6 is provided with an RFID tag or a two-dimensional code. An RFID reader is arranged in the low-temperature storage chamber 2, which can identify the position of each storage rack 6. The system records the position of the storage rack 6 and the sample information stored on each storage rack 6, so as to realize automatic, fast and accurate access to samples.

[0028] The pushing component 5 includes a fixed tube 51, a bottom motor 52, a first lead screw 53, a guide rod 54, a movable plate 55 and an electric telescopic rod 56. The fixed tube 51 is fixedly connected to the bottom of the low-temperature storage chamber 2. The outer wall of the fixed tube 51 is sleeved with the bottom rotating frame 41 to provide a supporting force for the bottom rotating frame 41. The bottom rotating frame 41 rotates around the fixed tube 51. A bottom motor 52 is arranged inside the fixed tube 51. The output end of the bottom motor 52 penetrates through the top of the fixed tube 51 and is fixedly connected to the lower end of the first lead screw 53. One side of the upper end of the fixed tube 51 is fixedly connected to the guide rod 54. The movable plate 55 is engaged with the first lead screw 53 and is sleeved with the guide rod 54. Under the action of the bottom motor 52, the first lead screw 53 drives the movable plate 55 to move up and down along the guide rod 54. Electric telescopic rods 56 are symmetrically arranged on the upper surface of the movable plate 55. The output end of the electric telescopic rod 56 is provided with an electromagnet 561. When the movable plate 55 drives the electric telescopic rod 56 to move to the position corresponding to the support plate 45, the electric telescopic rod 56 pushes out the energized electromagnet 561. The electromagnet 561 adsorbs one end of the storage rack 6 provided with an iron sheet and pushes the storage rack 6 out of the support plate 45. The extending direction of the electric telescopic rod 56 corresponds to the direction of the sample channel 22. The pushed storage rack 6 extends out from the sample channel 22. At this time, it is convenient for the transfer component 3 to perform access operations on the storage rack 6.

[0029] In order to ensure that the position of the storage rack 6 can be accurately located during the process of accessing samples, the present invention sets a positioning and tracking scheme for quickly locking the storage rack 6 that needs to access samples. Specifically, on each storage rack 6, a straight sealing plate 63 and an inclined sealing plate 62 that are sequentially connected are respectively arranged on both sides of the slot 61. A position recognition induction sheet is attached to the outer side surface of the straight sealing plate 63. The position recognition induction sheet can be recognized by the in-place sensor and the position of the corresponding storage rack 6 can be obtained during the recognition process. Each position recognition induction sheet is provided with a unique identification code. Through this unique identification code, the basic information of the corresponding storage rack 6 can be obtained, such as the row number of the storage rack 6. The row number described in the present invention is the row number for each storage rack 6. Each storage rack 6 corresponds to a unique row number. When a sample needs to be placed on the storage rack 6, the corresponding sample information and the unique identification code of this storage rack 6 will be bundled. In this way, when the storage rack 6 is found, it is equivalent to finding the corresponding sample.

[0030] There are two electric telescopic rods 56 arranged side by side. The output ends of the two electric telescopic rods 56 both include outward-expanded push plates corresponding to the straight sealing plate 63 and the inclined sealing plate 62. The electromagnet 561 is located on the outer side surface of the outward-expanded push plate. An in-place sensor is installed between the two electric telescopic rods 56. The in-place sensor can be fixed to a certain outer wall of the electric telescopic rod 56 and can move in the direction of expansion and contraction along with the expansion and contraction process of the electric telescopic rod 56. The in-place sensor is used to recognize the position recognition induction sheet and obtain the coordinate information of the position where the position recognition induction sheet is located; It further includes a microcontroller installed on the storage cabinet body 1. The position recognition induction sheet and the in-place sensor are electrically connected to the microcontroller respectively, and the microcontroller can obtain the position information detected by the in-place sensor; The row number information of the storage rack 6 corresponding to the unique identification code and / or the sample information stored on the storage rack 6 are preset in the microcontroller. In this way, after obtaining the position information detected by the in-place sensor, the row number information of the storage rack 6 corresponding to the unique identification code can be retrieved based on the unique identification code, so as to determine the corresponding storage rack 6; The microcontroller is electrically connected to the bottom motor 52 for controlling the opening and closing of the bottom motor 52; when it is necessary to access samples, the information of the storage rack 6 corresponding to the samples to be accessed is determined in advance. The microcontroller controls the bottom motor 52 to start and drive the movable plate 55 to move on the guide rod 54. During the movement, the in-place sensor detects the information of each position recognition induction sheet in real time, and obtains the unique identification code information corresponding to each storage rack 6 based on the position recognition induction sheet. When the unique identification code information corresponding to the preset storage rack 6 is matched, the microcontroller determines that the target position has been reached and controls the bottom motor 52 to stop moving.

[0031] The technical effects of the above technical solution are as follows: By setting the in-place sensor, the position recognition induction sheet and the unique identification code, when it is necessary to access samples, during the process of driving the electric telescopic rod 56 to move up and down by the bottom motor 52, it can be detected in real time by the in-place sensor whether it has reached the position of the storage rack 6 that needs to be reached. Only when it is detected that the preset position of the storage rack 6 has been reached, the microcontroller can control the bottom motor 52 to stop moving in time to ensure that the position of the electric telescopic rod 56 is directly opposite to the straight sealing plate 63 and the inclined sealing plate 62 on the storage rack 6. When storing samples, this intelligent control can quickly find the storage rack 6 to ensure accurate placement position. When taking samples, this intelligent control can ensure that the samples taken are completely accurate, avoiding errors.

[0032] The transfer component 3 includes a vertical guide rail 31, a vertical slider 32, a horizontal motor 33, a double-layer guide rail 34, a box gripper 35 and a tube gripper 36. The vertical slider 32 is movably connected to the vertical guide rail 31. The horizontal motor 33 is installed on the vertical slider 32, and the horizontal motor 33 controls the rotation and movement of the double-layer guide rail 34. The box gripper 35 and the tube gripper 36 which are separately controlled are installed on the double-layer guide rail 34. Specifically, the vertical guide rail 31 includes a vertical motor 311, a vertical lead screw 312 and a guide rail body 313. The vertical slider 32 is sleeved on the guide rail body 313, and the vertical slider 32 is engaged with the vertical lead screw 312. The vertical motor 311 drives the vertical lead screw 312 to rotate to control the vertical slider 32 to move up and down along the guide rail body 313, so as to control the up and down movement of the sample.

[0033] One end of the double-layer guide rail 34 is provided with a rotating shaft 341. The rotating shaft 341 is movably connected to the vertical slider 32. One end of the rotating shaft 341 is fixedly connected to the output end of the horizontal motor 33. The double-layer guide rail 34 is controlled by the horizontal motor 33 to achieve horizontal rotation, which is used for the transfer of samples between the storage rack 6 and the exchange chamber 12. A cassette clamping lead screw 342 is arranged on the upper layer of the double-layer guide rail 34. The cassette clamping lead screw 342 meshes with the cassette gripper 35. A tube clamping lead screw 343 is arranged on the lower layer of the double-layer guide rail 34. The tube clamping lead screw 343 meshes with the tube gripper 36. One end of each of the cassette clamping lead screw 342 and the tube clamping lead screw 343 is provided with a lead screw motor. Controlled by the lead screw motors, the cassette gripper 35 and the tube gripper 36 are respectively controlled to move along the double-layer guide rail 34. The cassette gripper 35 and the tube gripper 36 are respectively movably connected to the double-layer guide rail 34, and non-overlapping moving tracks for the cassette gripper 35 and the tube gripper 36 are arranged on the double-layer guide rail 34, so that the cassette gripper 35 and the tube gripper 36 will not obstruct each other when moving. The cassette gripper 35 itself controls the grasping and releasing actions through a motor. The cassette gripper 35 is used to grasp the bio-plate rack or boxed samples. When the single-tube biological samples are stored in the bio-plate rack grasped by the cassette gripper 35, the tube gripper 36 is used to grasp the samples. A transverse guide rail 361 is arranged on the tube gripper 36. The motor of the transverse guide rail 361 drives the tube gripper 36 to move in a direction perpendicular to the length direction of the double-layer guide rail 34, which is used to adjust the tube gripper 36 to grasp the single-tube biological samples at different positions on the bio-plate rack. The motor of the tube gripper 36 drives the tube gripper 36 to grasp a single single-tube biological sample.

[0034] Working process: Process of storing samples: The user selects the "store" function through the man-machine interface 11, inputs or scans the sample information to be stored. The system records the sample information, designates a suitable position on the storage rack 6, places the temporary storage box containing the sample on the conveyor belt 122 at the bottom of the exchange cabin 12, and the system automatically conveys it to the exchange station. The lifting platform 123 lifts the temporary storage box to the position of the access opening. The motor controls the flipping cover plate 121 to open the access opening. The vertical guide rail 31 and the horizontal motor 33 in the transfer assembly 3 work together to position above the temporary storage box. The cassette gripper 35 or the tube gripper 36 selectively grabs the sample or its container according to the sample type. The corresponding storage rack 6 rotates to the position corresponding to the sample channel 22, and the sealing door 23 is opened. The transfer assembly 3 carries the sample and moves it to the sample channel 22. The pushing assembly 5 is activated. The electromagnet 561 adsorbs one end of the target storage rack 6 and pushes it into the sample channel 22. The transfer assembly 3 precisely places the sample at the designated position on the storage rack 6. The storage rack 6 is pulled back to its original position, and the transfer assembly 3 returns to its initial position. The cover plate 121 closes the access opening; Process of taking out samples: The user selects the "take out" function through the man-machine interface 11 and provides the sample information to be taken out. The system searches for the storage rack 6 where the sample is located and its specific position. The top motor 46 drives the storage rack 6 to rotate to the position corresponding to the sample channel 22. The bottom motor 52 drives the pushing assembly 5 to push the corresponding storage rack 6 into the sample channel 22. The transfer assembly 3 moves to the position where the sample is located, accurately grabs the sample using the cassette gripper 35 or the tube gripper 36. The sample is brought back to the exchange cabin 12. The lifting platform 123 descends. The conveyor belt 122 sends the temporary storage box out of the exchange cabin 12. The user takes out the temporary storage box containing the sample, and the whole process ends. The cover plate 121 closes again to maintain the low-temperature environment.

[0035] Embodiment 2: The difference from Embodiment 1 lies in reference Figures 12-14 : A limit assembly 7 is further provided at the end of the support plate 45. The limit assembly 7 is slidably connected to the support plate 45 in the vertical direction. The limit assembly 7 includes a limit bar 71 and an elastic member 72. The elastic member 72 uses a compression spring, so that the top end face of the limit bar 71 is higher than the support surface of the support plate 45. A connecting block 73 protrudes from the end of the support plate 45. A connecting groove 711 matching the connecting block 73 is formed on the limit bar 71. The limit bar 71 slides up and down through the connecting block 73 and the connecting groove 711. Both sides of the limit bar 71 are provided with inclined surfaces. The bottom ends of the inclined surfaces are flush with the top surface of the support plate 45 through the elastic member 72. When the two ends of the storage rack 6 approach the inclined surfaces of the limit bar 71, the storage rack 6 pushes the limit bar 71 to move downward through the inclined surfaces, so that the storage rack 6 can be smoothly pushed out; When the storage rack 6 is located on the support plate 45, the limit bar 71 pushes the storage rack 6 and restricts the storage rack 6 on the support plate 45, preventing the storage rack 6 from sliding out of the support plate 45 when the support plate 45 drives the storage rack 6 to rotate, thereby ensuring the safety of sample storage.

[0036] The limiting component 7 further includes a trigger block 74 and an elastic pin 75. The cross-section of the trigger block 74 is T-shaped. A cavity for accommodating the trigger block 74 is provided inside the limiting strip 71, so that the trigger block 74 can be slidably connected inside the limiting strip 71 along the working direction of the pushing component 7. The length of the horizontal part of the trigger block 74 is greater than the width of the limiting strip 71, and the inclination direction of the end face of the horizontal part of the trigger block 74 is the same as the inclination direction of the limiting strip 71. The vertical part of the trigger block 74 is located inside the limiting strip 71. When the limiting strip 71 is in the limiting state, the end face of the horizontal part of the trigger block 74 facing the storage rack 6 protrudes from the side wall of the limiting strip 71.

[0037] The elastic pin 75 is slidably arranged in the connecting block 73. The axial direction of the elastic pin 75 is the same as the length direction of the limiting strip 71 and is perpendicular to the sliding direction of the trigger block 74. A locking groove 76 is provided on the trigger block 74. The locking groove 76 includes a locking position 761 and an unlocking position 762. A vertical groove 712 for the elastic pin 75 to penetrate is provided in the limiting strip 71. The length direction of the locking position 761 is horizontally arranged. The extending direction of the unlocking position 762 gradually slopes upward from the end of the locking position 761. The height of the unlocking position 762 is the same as the direction of the vertical groove 712. The groove depth of the locking position 761 is greater than the groove depth of the unlocking position 762. When the elastic pin 75 is located in the locking position 761, a step for restricting between the locking position 761 and the unlocking position 762 is formed between the locking position 761 and the unlocking position 762. The end face of the elastic pin 75 is in a frustum shape, and the axial height of the frustum is slightly greater than the height of the step to prevent the elastic pin 75 from being completely stuck. A reset spring piece 77 is further provided between the limiting strip 71 and the trigger block 74, so that after the trigger block 74 is triggered, the trigger block 74 is reset by the reset spring piece 77.

[0038] When the storage rack 6 is not pushed out, the end of the elastic pin 75 is stuck in the locking position 761; during the process of pushing out the storage rack 6, the end face of the storage rack 6 first contacts the end face of the horizontal part of the trigger block 74. The storage rack 6 pushes the trigger block 74 to move in the length direction of the locking position 761 until the end face of the horizontal part of the trigger block 74 is flush with the side wall of the limiting strip 71. At this time, the end of the elastic pin 75 enters the unlocking position 762; the storage rack 6 continues to move forward, and the limiting strip 71 moves downward along the direction of the connecting groove 711. Through the vertical groove 712, the elastic pin 75 can move in the limiting strip 71. The end face of the elastic pin 75 moves in the inclined direction in the unlocking position 762 until the storage rack 6 presses the top surface of the limiting strip 71 down to be flush with the plate surface of the support plate 45; during the process of recycling the storage rack 6, the above process is completed by the pushing component 7. After the end face of the storage rack 6 pushes the trigger block 74, the limiting strip 71 can move downward and avoid the limiting strip 71, thereby reducing false touches and improving the stability of the storage rack 6.

[0039] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0040] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. An intelligent cryogenic biological sample storage cabinet, comprising a storage cabinet body (1) and a storage rack (6), characterized in that: An exchange chamber (12) is arranged on one side of the storage cabinet body (1), a low-temperature storage chamber (2) and a transfer assembly (3) are arranged in the storage cabinet body (1), the transfer assembly (3) is used to grab samples and control the transfer of samples between the exchange chamber (12) and the low-temperature storage chamber (2), a sample storage rack (4) and a push-out assembly (5) are arranged in the low-temperature storage chamber (2), a sample channel (22) is arranged on the low-temperature storage chamber (2), the sample storage rack (4) controls the sample to rotate to the sample channel (22), the push-out assembly (5) pushes the sample out, and a limit assembly (7) is arranged on the sample storage rack (4), the limit assembly (7) comprises a limit bar (71), an elastic member (72), a trigger block (74), an elastic pin (75), a locking position (761) and an unlocking position (762), and the trigger block (74) switches between the locking position (761) and the unlocking position (762) through the elastic pin (75) to achieve positioning and unlocking of the storage rack (6).

2. The intelligent cryogenic biological sample storage cabinet according to claim 1, characterized in that: A nitrogen pipeline (21) is provided on one side of the low-temperature storage chamber (2), and a sample channel (22) is provided on a side of the low-temperature storage chamber (2) away from the nitrogen pipeline (21). Three vertically distributed sealed doors (23) are provided on the sample channel (22), and each sealed door (23) is controlled by an independent door opening motor (231).

3. The intelligent cryogenic biological sample storage cabinet according to claim 1 is characterized in that: The sample storage rack (4) comprises a bottom rotating rack (41), a top rotating rack (42), a first long rod (43), a second long rod (44), a support plate (45) and a top motor (46). The bottom rotating rack (41) and the top rotating rack (42) are cross structures arranged in an offset manner, wherein the first long rod (43) is fixedly connected to the four corners of the bottom rotating rack (41), and the second long rod (44) is fixedly connected to the four corners of the top rotating rack (42). The second long rod (44) is arranged in parallel with the first long rod (43). Both the second long rod (44) and the first long rod (43) are provided with a sleeve groove (431). The second long rod (44) corresponds to the sleeve groove (431) on the first long rod (43) one by one, and the sleeve groove (431) at the same height of the second long rod (44) and the first long rod (43) is sleeved with a support plate (45). The central axis of the top rotating rack (42) is fixedly connected to the output end of the top motor (46).

4. The intelligent cryogenic biological sample storage cabinet according to claim 3 is characterized by: The end of the support plate (45) is further provided with a limit assembly (7), the limit assembly (7) being slidably connected to the support plate (45) in a vertical direction, a connection block (73) being protrudingly provided on the end of the support plate (45), a connection groove (711) matching the connection block (73) being provided on the limit strip (71), both sides of the limit strip (71) being provided with inclined surfaces, the bottom ends of the inclined surfaces being flush with the top surface of the support plate (45) via the elastic member (72).

5. The intelligent cryogenic biological sample storage cabinet according to claim 4, characterized in that: The trigger block (74) has a T-shaped cross section. The trigger block (74) is slidably connected to the limit strip (71) along the working direction of the ejection assembly (5). The transverse length of the trigger block (74) is greater than the width of the limit strip (71). The elastic pin (75) is slidably arranged in the connection block (73). The axis of the elastic pin (75) is perpendicular to the sliding direction of the trigger block (74). The trigger block (74) is provided with a locking groove (76). The locking groove (76) includes a locking position (761) and an unlocking position (762). The limit strip (71) is provided with a locking groove (761). A vertical slot (712) is provided for the elastic pin (75) to pass through, the locking position (761) is arranged horizontally, the unlocking position (762) gradually extends upward along the end of the locking position (761), the slot depth of the locking position (761) is greater than the slot depth of the unlocking position (762), the storage rack (6) pushes the trigger block (74) to switch the elastic pin (75) between the locking position (761) and the unlocking position (762) of the locking slot (76), and a reset spring sheet (77) is further provided between the trigger block (74) and the limit strip (71).

6. The intelligent cryogenic biological sample storage cabinet according to claim 3 is characterized by: The support plate (45) is engaged with a storage rack (6), a slot (61) is provided on the storage rack (6), the slot (61) matches the first long rod (43) and the second long rod (44), a limiting slide groove (451) is provided on the support plate (45), a limiting slider matching the limiting slide groove (451) is fixedly connected to the lower surface of the storage rack (6), and an iron sheet is provided at one end of the storage rack (6) close to the opening of the slot (61).

7. The intelligent cryogenic biological sample storage cabinet according to claim 6, characterized in that: The ejection assembly (5) comprises a fixed tube (51), a bottom motor (52), a first lead screw (53), a guide rod (54), a movable plate (55) and an electric telescopic rod (56); the fixed tube (51) is fixedly connected to the bottom of the low-temperature storage chamber (2); the outer wall of the fixed tube (51) is sleeved with the bottom rotating frame (41); the bottom motor (52) is arranged inside the fixed tube (51); the output end of the bottom motor (52) is fixedly connected to the lower end of the first lead screw (53); one side of the upper end of the fixed tube (51) is fixedly connected to the guide rod (54); the movable plate (55) is meshed with the first lead screw (53); the movable plate (55) is sleeved with the guide rod (54); the upper surface of the movable plate (55) is symmetrically provided with electric telescopic rods (56); and the output end of the electric telescopic rod (56) is provided with an electromagnet (561).

8. The intelligent cryogenic biological sample storage cabinet according to claim 7, characterized in that: Each storage rack (6) is provided with a straight sealing plate (63) and an oblique sealing plate (62) connected in sequence on both sides of the slot (61), and a position identification sensor sheet is affixed to the outer side of the straight sealing plate (63), and each position identification sensor sheet is provided with a unique identification code; Two electric telescopic rods (56) are arranged side by side, and the output ends of the two electric telescopic rods (56) are each provided with an outward-expanding push plate corresponding to the straight sealing plate (63) and the oblique sealing plate (62), and the electromagnet (561) is located on the outer side of the outward-expanding push plate. An in-position sensor is installed between the two electric telescopic rods (56), and the in-position sensor is used to identify the position identification sensing sheet and obtain the coordinate information of the position of the position identification sensing sheet; It also includes a microcontroller, the microcontroller is mounted on the storage cabinet body (1), and the position identification sensor and the in-place sensor are respectively electrically connected to the microcontroller; The microcontroller is preset with the row number information of the storage rack (6) corresponding to the unique identification code and / or the sample information stored on the storage rack (6), The microcontroller is electrically connected to the bottom motor (52) and is used to control the start and stop of the bottom motor (52); When it is necessary to store or access a sample, the information of the storage rack (6) corresponding to the sample to be stored or accessed is pre-determined, the microcontroller controls the bottom motor (52) to start and drive the movable plate (55) to move on the guide rod (54), during the movement, the in-position sensor detects the information of each position identification sensing sheet in real time, and obtains the unique identification code information corresponding to each storage rack (6) based on the position identification sensing sheet, and when the unique identification code information corresponding to the preset storage rack (6) is matched, the microcontroller determines that the target position has been reached, and controls the bottom motor (52) to stop moving.

9. The intelligent cryogenic biological sample storage cabinet according to claim 1, characterized in that: The transfer assembly (3) comprises a vertical guide rail (31), a vertical slider (32), a horizontal motor (33), a double-layer guide rail (34), a box gripper (35) and a tube gripper (36); the vertical guide rail (31) is movably connected to the vertical slider (32); the vertical slider (32) is equipped with a horizontal motor (33); the horizontal motor (33) controls the rotation of the double-layer guide rail (34); the double-layer guide rail (34) is respectively equipped with a box gripper (35) and a tube gripper (36) that are individually controlled; a rotating shaft (341) is provided at one end of the double-layer guide rail (34); the rotating shaft (341) is movably connected to the vertical slider (32); one end of the rotating shaft (341) is connected to the horizontal motor (33); The output end is fixedly connected, the upper layer of the double-layer guide rail (34) is provided with a box clamp lead screw (342), the box clamp lead screw (342) is meshed with the box grabbing clamp (35), the lower layer of the double-layer guide rail (34) is provided with a tube clamp lead screw (343), the tube clamp lead screw (343) is meshed with the tube grabbing clamp (36), one end of each of the box clamp lead screw (342) and the tube clamp lead screw (343) is provided with a lead screw motor, through the control of the lead screw motor, the box grabbing clamp (35) and the tube grabbing clamp (36) are respectively controlled to move along the double-layer guide rail (34), a transverse guide rail (361) is provided on the tube grabbing clamp (36), and the motor of the transverse guide rail (361) drives the tube grabbing clamp (36) to move along the length direction perpendicular to the double-layer guide rail (34).

10. The intelligent cryogenic biological sample storage cabinet according to claim 1, characterized in that: The storage cabinet body (1) is provided with a human-machine interface (11), and an exchange cabin (12) is provided on the storage cabinet body (1) on one side of the human-machine interface (11). An entrance and exit communicating with the storage cabinet body (1) are provided at the upper end of the exchange cabin (12), and a flip cover plate (121) is provided at the entrance and exit. A conveyor belt (122) is provided at the bottom of the exchange cabin (12), and the conveyor belt (122) is used to deliver a temporary sample storage box to an exchange station of the exchange cabin (12). A lifting platform (123) is provided at the exchange station of the exchange cabin (12).

Images