An intelligent deep-low temperature biological sample storage cabinet

Abstract

The present invention discloses an intelligent cryogenic biological sample storage cabinet, which belongs to the field of biological sample preservation technology. An intelligent cryogenic biological sample storage cabinet includes a storage cabinet body, an exchange cabin is provided on one side of the storage cabinet body, a cryogenic storage cabin and a transfer component are provided in the storage cabinet body, and the transfer component is used to grab samples and control the transfer of samples between the exchange cabin and the cryogenic storage cabin. The intelligent cryogenic biological sample storage cabinet proposed by the present invention realizes a fully automatic storage and retrieval process of samples through a human-machine interface, a transfer component, a sample storage rack and a push-out component. The user only needs to select the operation type on the interface and provide the necessary information, and the system can automatically complete the subsequent steps, which greatly improves work efficiency. By using equipment such as box grabbers and tube grabbers, it can accurately grab samples of different types and sizes to ensure the accuracy of sample processing.

Description

Technical Field

[0001] The present invention relates to the technical field of biological sample preservation, and in particular to an intelligent deep-low temperature biological sample storage cabinet. Background Art

[0002] In fields such as biomedical research, clinical diagnostics, and biobank management, long-term storage of biological samples (such as blood, tissue sections, and cells) at cryogenic temperatures is crucial for maintaining sample activity and integrity. Traditional methods for storing biological samples primarily involve using liquid nitrogen tanks or ultra-low temperature freezers, but these methods have limitations.

[0003] Traditional storage devices usually require manual storage and retrieval of samples, which is not only time-consuming and labor-intensive, but also increases the time that samples are exposed to the external environment, which may cause temperature fluctuations that affect sample quality. Due to the lack of an effective management system, traditional storage methods have difficulty achieving efficient space utilization, easily resulting in waste of resources and limiting storage capacity. Although existing freezing equipment can reach extremely low temperatures, the temperature fluctuates greatly after frequent door openings or long-term operation, which is a challenge for certain biological samples that are extremely sensitive to temperature. In traditional storage modes, sample information records mainly rely on paper documents or simple spreadsheets, which are prone to errors and difficult to query, and cannot meet the requirements of modern scientific research for data accuracy and traceability. During the storage and retrieval process, improper operation or equipment failure may cause damage to the sample, such as cell rupture caused by centrifugal force. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent deep-cold biological sample storage cabinet, which realizes the fully automatic storage and retrieval process of samples through a human-machine interface, transfer components, sample storage racks and ejection components. The user only needs to select the operation type on the interface and provide the necessary information, and the system can automatically complete the subsequent steps, greatly improving work efficiency and solving the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an intelligent deep-cold biological sample storage cabinet, comprising a storage cabinet body, an exchange cabin being provided on one side of the storage cabinet body, a low-temperature storage cabin and a transfer assembly being provided in the storage cabinet body, the transfer assembly being used to grab samples and control the transfer of samples between the exchange cabin and the low-temperature storage cabin, a sample storage rack and a pushing assembly being provided in the low-temperature storage cabin, the sample storage rack controlling the rotation of the sample to the sample channel on the low-temperature storage cabin, and the pushing assembly pushing the sample out.

[0006] Preferably, a nitrogen pipeline is provided on one side of the low-temperature storage cabin, and the nitrogen pipeline outputs low-temperature nitrogen into the low-temperature storage cabin. The nitrogen pipeline is provided with evenly distributed nitrogen outlets to disperse the pressure of the nitrogen and prevent the output nitrogen from damaging the sample. A sample channel is provided on the side of the low-temperature storage cabin away from the nitrogen pipeline. The sample channel is provided with three vertically distributed sealed doors. Each sealed door is controlled by an independent door opening motor. According to the storage and retrieval position of the sample, the corresponding sealed door is controlled to open, thereby reducing the temperature loss in the low-temperature storage cabin and the impact of the external environment on the sample.

[0007] The lifting mechanism comprises a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism of the lifting mechanism, a lifting mechanism of the lifting mechanism being further lifted than the lifting mechanism, and a lifting mechanism of the lifting mechanism being further lifted than the lifting mechanism.

[0008] Preferably, a storage rack is engaged with the support plate, and the storage rack includes a rack for placing single-tube biological samples and a rack for placing boxed biological samples. Different racks can be used to store different biological samples. A slot is provided on the storage rack, and the slot matches the first long rod and the second long rod. The position of the storage rack is fixed by plugging with the first long rod and the second long rod through the slot. A limiting slide is provided on the support plate, and a limiting slider matching the limiting slide is fixedly connected to the lower surface of the storage rack. The limiting slider moves in the limiting slide to limit the movement path of the storage rack. An iron sheet is provided at one end of the storage rack close to the slot opening. Each storage rack is provided with an RFID tag or QR code, and an RFID card reader is provided in the low-temperature storage cabin to 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, thereby realizing automatic, fast and accurate retrieval of samples.

[0009] Preferably, the end of the support plate is also provided with a limit assembly, which is slidably connected to the support plate in the vertical direction, and the limit assembly includes a limit bar and an elastic member, a connecting block is protruding from the end of the support plate, and a connecting groove matching the connecting block is opened on the limit bar, and inclined surfaces are provided on both sides of the limit bar, and the bottom end of the inclined surface is flush with the top surface of the support plate through the elastic member. The limit bar with an inclined surface can be used to limit the storage rack to the support plate to prevent 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] The locking mechanism is configured to lock the locking cam of the locking cam and to lock the locking cam of the locking cam, wherein the locking mechanism is configured to lock the locking cam of the locking cam and to lock the locking cam of the locking cam.

[0011] Preferably, the pushing assembly includes a fixed tube, a bottom motor, a first 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 cabin, the outer wall of the fixed tube is socketed with the bottom rotating frame, for providing supporting force for the bottom rotating frame to rotate around the fixed tube, a bottom motor is provided inside the fixed tube, the output end of the bottom motor passes through the top of the fixed tube and is fixedly connected to the lower end of the first screw, one side of the upper end of the fixed tube is fixedly connected to the guide rod, the movable plate is meshed with the first screw, and the movable plate is socketed with the guide rod. Under the action of the bottom motor, the first screw drives the movable plate to move up and down along the guide rod, and an electric telescopic rod is symmetrically provided on the upper surface of the movable plate, and an electromagnet is provided 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, and the electromagnet adsorbs one end of the iron sheet provided on the storage rack and pushes the storage rack out from the support plate.

[0012] Preferably, each storage rack is provided with a straight sealing plate and an oblique sealing plate connected in sequence on both sides of the slot, and a position identification sensor sheet is affixed to the outer side of the straight sealing plate, and each position identification sensor sheet is provided with a unique identification code;

[0013] Two electric telescopic rods are arranged side by side, and the output ends of the two electric telescopic rods are provided with outward-expanding push plates corresponding to the straight sealing plate and the oblique sealing plate. The electromagnet is located on the outer side of the outward-expanding push plate. An in-position sensor is installed between the two electric telescopic rods, and the in-position sensor is used to identify the position recognition sensing piece and obtain the coordinate information of the position of the position recognition sensing piece;

[0014] The cabinet further comprises a microcontroller, the microcontroller being mounted on the cabinet body, the position identification sensor and the in-place sensor being electrically connected to the microcontroller respectively;

[0015] The microcontroller is preset with the storage rack number information corresponding to the unique identification code and / or the sample information stored on the storage rack.

[0016] The microcontroller is electrically connected to the bottom motor and is used to control the opening and closing of the bottom motor;

[0017] When samples need to be stored or accessed, the information of the storage rack corresponding to the sample to be accessed is determined in advance, and the microcontroller controls the bottom motor to start and drive the movable plate to move on the guide rod. During the movement, the in-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 determines that the target position has been reached and controls the bottom motor to stop moving.

[0018] 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 guide rail is movably connected to the vertical slider, and the vertical slider is installed with a horizontal motor. The horizontal motor controls the rotation of the double-layer guide rail, and the double-layer guide rail is respectively installed with separately controlled box grippers and tube grippers.

[0019] Preferably, one end of the double-layer guide rail is provided with a rotating shaft, which is movably connected to the vertical slider, and one end of the rotating shaft is fixedly connected to the output end of the horizontal motor. The double-layer guide rail is controlled by the horizontal motor to realize horizontal rotation, which is used for the flow of samples between the storage rack and the exchange cabin. The upper layer of the double-layer guide rail is provided with a box clamp screw, which is engaged with the box gripper, and the lower layer of the double-layer guide rail is provided with a tube clamp screw, which is engaged with the tube gripper. One end of the box clamp screw and the tube clamp screw are both provided with a screw motor, which is controlled by the screw motor to control the box gripper and the tube gripper to move along the double-layer guide rail respectively. The box gripper and the tube gripper are respectively movably connected to the double-layer guide rail, and the double-layer guide rail is provided with non-overlapping moving tracks for the box gripper and the tube gripper.

[0020] Preferably, the tube gripper is provided with a transverse guide rail, and the motor of the transverse guide rail drives the tube gripper to move in a direction perpendicular to the length of the double-layer guide rail, so as to adjust the tube gripper to grasp single-tube biological samples at different positions on the biological plate rack, and the tube gripper motor drives the tube gripper to grasp a single-tube biological sample.

[0021] 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 cabin is provided on the storage cabinet body on one side of the human-machine interface, and the transfer component is provided between the exchange cabin and the low-temperature storage cabin.

[0022] Preferably, an entrance and exit connected to the storage cabinet body is provided at the upper end of the exchange cabin, and a flip cover is provided at the entrance and exit. The cover is flipped by a motor to realize the closing and opening of the entrance and exit. A conveyor belt is provided at the bottom of the exchange cabin, and the conveyor belt is used to deliver the temporary sample storage box to the exchange station of the exchange cabin. A lifting platform is provided on the exchange station of the exchange cabin, and the lifting platform is used to lift the temporary sample storage box to the position of the entrance and exit, so as to facilitate the transfer component to take samples from or place samples in the temporary sample storage box.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The intelligent cryogenic biological sample storage cabinet proposed in this invention implements a fully automated sample storage and retrieval process through a human-machine interface, transfer assembly, sample storage rack, and ejection assembly. Users only need to select the operation type and provide the necessary information on the interface, and the system automatically completes the subsequent steps, greatly improving work efficiency. Devices such as cassette and tube grippers can accurately grasp samples of different types and sizes, ensuring accurate sample processing. High-precision temperature sensors monitor the ambient temperature in real time, helping to protect sensitive biological samples from temperature fluctuations. The three sealed doors allow for individual opening of the doors according to specific needs, reducing temperature loss within the cryogenic storage chamber during each operation. The sample storage rack design ensures that the support plate maintains its orientation during rotation, thereby reducing potential damage to samples caused by centrifugal force. Each storage rack is equipped with an RFID tag or QR code. When used in conjunction with an RFID card reader, the position of each storage rack and the sample information within can be monitored and tracked in real time, enhancing the security and transparency of sample management. The vertical rails, double-layer rails, cassette and tube grippers all adopt a modular design, facilitating maintenance, upgrades, and customized solutions for specific needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is the overall structural diagram of the intelligent deep-cold biological sample storage cabinet of the present invention;

[0026] Figure 2This is a structural diagram of the connection between the exchange cabin and the transfer assembly of the present invention;

[0027] Figure 3 This is a structural diagram of the connection between the low-temperature storage cabin and the transfer assembly of the present invention;

[0028] Figure 4 This is a diagram showing the internal structure of the low-temperature storage cabin of the present invention;

[0029] Figure 5 This is a structural diagram of the sample storage rack of the present invention;

[0030] Figure 6 This is a structural diagram of the connection between the sample storage rack and the ejection assembly of the present invention;

[0031] Figure 7 This is a structural diagram of the launch components of the present invention;

[0032] Figure 8 This is a structural diagram of a storage rack for storing single-tube biological samples according to the present invention;

[0033] Figure 9 This is a structural diagram of a storage rack for storing boxed biological samples according to the present invention;

[0034] Figure 10 It is a structural diagram of the transfer assembly of the present invention;

[0035] Figure 11 This is a structural diagram of a double-layer guide rail of the present invention;

[0036] Figure 12 This is a structural diagram of the position limiting component of the present invention;

[0037] Figure 13 This is a cross-sectional view of the position limiting assembly of the present invention;

[0038] Figure 14 It is a partial cross-sectional view of the limiting component of the present invention.

[0039] 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. Sealing door; 231. Door opening motor; 3. Transfer assembly; 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 axis; 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 rotating rack; 42. Top Rotating frame; 43. First long rod; 431. Socket groove; 44. Second long rod; 45. Support plate; 451. Limit slide groove; 46. Top motor; 5. Push-out assembly; 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. Oblique sealing plate; 63. Straight sealing plate; 7. Limiting assembly; 71. Limiting strip; 711. Connecting groove; 712. Vertical groove; 72. Elastic member; 73. Connecting block; 74. Trigger block; 75. Elastic pin; 76. Locking groove; 761. Locking position; 762. Unlocking position; 77. Reset spring. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] To solve the problem that traditional storage devices usually require manual access to samples, which is not only time-consuming and labor-intensive, but also increases the time that samples are exposed to the external environment, which may cause temperature fluctuations and affect sample quality, please refer to Figures 1-14 , this embodiment provides the following technical solutions:

[0042] Embodiment 1: An intelligent deep-cold biological sample storage cabinet includes a storage cabinet body 1. A human-machine interface 11 is provided 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 provided on the storage cabinet body 1 on one side of the human-machine interface 11. A low-temperature storage cabin 2 and a transfer component 3 are provided in the storage cabinet body 1. The transfer component 3 is arranged between the exchange cabin 12 and the low-temperature storage cabin 2, and is used to grab samples and control the transfer of samples between the exchange cabin 12 and the low-temperature storage cabin 2.

[0043] Specifically, an entrance and exit connected to the storage cabinet body 1 is provided at the upper end of the exchange cabin 12, and a flip cover 121 is provided at the entrance and exit. The cover 121 is flipped by a motor to realize the closing and opening of the entrance and exit. A conveyor belt 122 is provided at the bottom of the exchange cabin 12. The conveyor belt 122 is used to deliver the temporary sample storage box to the exchange station of the exchange cabin 12. Correspondingly, a lifting platform 123 is provided on 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 entrance and exit, so as to facilitate the transfer component 3 to take samples from or place samples in the temporary sample storage box.

[0044] A sample storage rack 4 and an ejection assembly 5 are provided in the low-temperature storage cabin 2. The ejection assembly 5 is provided in the middle position of the sample storage rack 4. A nitrogen pipe 21 is provided on one side of the low-temperature storage cabin 2. The nitrogen pipe 21 outputs low-temperature nitrogen to the low-temperature storage cabin 2 to provide a suitable environment for low-temperature storage in the low-temperature storage cabin 2. The nitrogen pipe 21 is provided with evenly distributed nitrogen outlets to disperse the pressure of the nitrogen to prevent the output nitrogen from damaging the sample. A sample channel 22 is provided on the side of the low-temperature storage cabin 2 away from the nitrogen pipe 21. Three vertically distributed sealed doors 23 are provided on the sample channel 22. Each sealed door 23 is controlled by an independent door opening motor 231. According to the storage and retrieval position of the sample, the corresponding sealed door 23 is controlled to open, thereby reducing the temperature loss in the low-temperature storage cabin 2 and the influence of the external environment on the sample.

[0045] High-precision temperature sensors, such as thermocouples, RTDs, thermistors or digital temperature sensors, are used in the cryogenic storage cabin 2 to monitor the temperature of the environment or target objects in real time. The data collected by the sensors will be sent to a microcontroller or single-chip microcomputer for processing. These devices can run preset algorithms to analyze the data and decide whether adjustment is needed based on the comparison between the current temperature and the set target temperature. Based on the instructions issued by the control system, the nitrogen input is started or stopped to maintain the ideal temperature level.

[0046] The sample storage rack 4 includes 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 a staggered 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 socket groove 431. The second long rod 44 corresponds to the socket groove 431 on the first long rod 43 one by one, and the socket grooves at the same height of the second long rod 44 and the first long rod 43 are arranged in parallel with the first long rod 43. The groove 431 is jointly sleeved with a support plate 45, which connects the bottom turntable 41 and the top turntable 42 through the support plate 45, and the central axis of the top turntable 42 is fixedly connected to the output end of the top motor 46. The top motor 46 is fixed on the top of the low-temperature storage chamber 2, and 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, and because the second long rod 44 limits the support plate 45 from turning, the support plate 45 maintains its own direction unchanged and rotates around the rotation center of the top turntable 42, reducing the influence of centrifugal force on the sample when the sample on the storage rack 6 rotates.

[0047] A storage rack 6 is engaged with the support plate 45. The storage rack 6 includes a rack for placing single-tube biological samples and a rack for placing boxed biological samples. Different racks can be used to store different biological samples. 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. By plugging the slot 61 into the first long rod 43 and the second long rod 44, the position of the storage rack 6 is fixed. A limiting slide 451 is provided on the support plate 45. A limiting slider matching the limiting slide 451 is fixedly connected to the lower surface of the storage rack 6. The limiting slider moves in the limiting slide 451 to limit the movement path of the storage rack 6. An iron sheet is provided at one end of the storage rack 6 near the opening of the slot 61. Each storage rack 6 is provided with an RFID tag or a QR code. An RFID card reader is provided 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, thereby realizing automatic, fast and accurate retrieval of samples.

[0048] The ejection assembly 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 support for the bottom rotating frame 41. The bottom rotating frame 41 rotates around the fixed tube 51. The bottom motor 52 is provided inside the fixed tube 51. The output end of the bottom motor 52 passes 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 the movable plate 55 is sleeved with the guide rod 54. Under the action of 52, the first lead screw 53 drives the movable plate 55 to move up and down along the guide rod 54. The upper surface of the movable plate 55 is symmetrically provided with an electric telescopic rod 56, and 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 corresponding position of the support plate 45, the electric telescopic rod 56 pushes out the energized electromagnet 561, and the electromagnet 561 adsorbs one end of the iron sheet on the storage rack 6 and pushes the storage rack 6 out from the support plate 45. The extension direction of the electric telescopic rod 56 corresponds to the direction of the sample channel 22, and the pushed out storage rack 6 extends out from the sample channel 22, which facilitates the transfer component 3 to perform access operations on the storage rack 6.

[0049] In order to ensure that the position of the storage rack 6 can be accurately located during the process of storing and accessing samples, the present invention provides a positioning tracking solution for quickly locking the storage rack 6 where the sample needs to be accessed. Specifically, 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. The outer side of the straight sealing plate 63 is affixed with a position identification sensor. The position identification sensor can be identified by the in-position sensor and obtain the position of the corresponding storage rack 6 during the identification process. Each position identification sensor is provided with a unique identification code, and the basic information of the corresponding storage rack 6, such as the row number of the storage rack 6, can be obtained through this unique identification code. The row number described in the present invention is a row number for each storage rack 6, and 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 the storage rack 6 will be bundled, so that when the storage rack 6 is found, it is equivalent to finding the corresponding sample.

[0050] Two electric telescopic rods 56 are arranged side by side. The output ends of the two electric telescopic rods 56 each include an outward-expanding push plate corresponding to the straight sealing plate 63 and the oblique sealing plate 62. 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. The in-position sensor can be fixed to an outer wall of the electric telescopic rod 56 and can move in the direction of extension and contraction as the electric telescopic rod 56 is extended and contracted. The in-position sensor is used to identify the position identification sensor piece and obtain the coordinate information of the position of the position identification sensor piece.

[0051] It also includes a microcontroller, which is installed on the storage cabinet body 1. The position recognition sensor 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;

[0052] 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. In this way, after obtaining the position information detected by the position 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 to determine the corresponding storage rack 6.

[0053] The microcontroller is electrically connected to the bottom motor 52 and is used to control the opening and closing of the bottom motor 52. When samples need to be stored or accessed, the information of the storage rack 6 corresponding to the sample to be stored or accessed is pre-determined, and 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 sensor in real time, and obtains the unique identification code information corresponding to each storage rack 6 based on the position identification sensor. 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.

[0054] The technical effect of the above technical solution is as follows: by providing an in-place sensor, a position identification sensor, and a unique identification code, when it is necessary to store or retrieve samples, while the bottom motor 52 drives the electric telescopic rod 56 to move up and down, the in-place sensor can be used to detect in real time whether the position of the storage rack 6 to be reached is reached. Only when it is detected that the preset storage rack 6 position has been reached, the microcontroller can control the bottom motor 52 to stop the movement in time, ensuring that the position of the electric telescopic rod 56 can be directly opposite the straight sealing plate 63 and the oblique sealing plate 62 on the storage rack 6. When it is necessary to store samples, this intelligent control can quickly find the storage rack 6 to ensure that the placement position is accurate. When taking samples, this intelligent control can ensure that the samples taken are completely accurate to avoid errors.

[0055] The transfer assembly 3 includes a vertical guide rail 31, a vertical slider 32, a horizontal motor 33, a double-layer guide rail 34, a box grab 35 and a tube grab 36. The vertical guide rail 31 is movably connected to the vertical slider 32, and the horizontal motor 33 is installed on the vertical slider 32. The horizontal motor 33 controls the rotation of the double-layer guide rail 34. The double-layer guide rail 34 is respectively installed with separately controlled box grab 35 and tube grab 36. 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 socketed with 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, controls the vertical slider 32 to move up and down along the guide rail body 313, and controls the up and down movement of the sample.

[0056] One end of the double-layer guide rail 34 is provided with a rotating shaft 341, which is movably connected to the vertical slider 32, and one end of the rotating shaft 341 is fixedly connected to the output end of the horizontal motor 33. The horizontal motor 33 controls the double-layer guide rail 34 to realize horizontal rotation, which is used for the sample to flow between the storage rack 6 and the exchange cabin 12. The upper layer of the double-layer guide rail 34 is provided with a box clamp screw 342, which engages with the box grasping clamp 35, and the lower layer of the double-layer guide rail 34 is provided with a tube clamp screw 343, which engages with the tube grasping clamp 36. One end of the box clamp screw 342 and the tube clamp screw 343 are both provided with screw motors, which are controlled by the screw motors to control the box grasping clamp 35 and the tube grasping clamp 36 to move along the double-layer guide rail 34 respectively. 36 are movably connected to the double-layer guide rails 34 respectively, and the double-layer guide rails 34 are provided with non-overlapping moving tracks of the box grasping clamp 35 and the tube grasping clamp 36. The box grasping clamp 35 and the tube grasping clamp 36 will not hinder each other when moving. The box grasping clamp 35 itself is controlled by a motor to control the grasping and releasing action. The box grasping clamp 35 is used to grasp the biological plate rack or boxed samples. When the biological plate rack grasped by the box grasping clamp 35 contains a single tube biological sample, the sample is grasped by the tube grasping clamp 36. A transverse guide rail 361 is provided on the tube grasping clamp 36. The motor of the transverse guide rail 361 drives the tube grasping clamp 36 to move in a direction perpendicular to the length of the double-layer guide rails 34, so as to adjust the tube grasping clamp 36 to grasp the single tube biological sample at different positions on the biological plate rack. The motor of the tube grasping clamp 36 drives the tube grasping clamp 36 to grasp a single single tube biological sample.

[0057] Working process: Sample storage process: The user selects the "save" function through the human-machine interface 11, and enters or scans the sample information to be stored. The system records the sample information and specifies a suitable storage rack 6 position. The temporary storage box containing the sample is placed on the conveyor belt 122 at the bottom of the exchange cabin 12. The system automatically transports it to the exchange station. The lifting platform 123 lifts the temporary storage box to the entrance and exit position. The motor controls the flip cover 121 to open the entrance and exit. The vertical guide rail 31 and the horizontal motor 33 in the transfer component 3 work together to position above the temporary storage box. The box 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 corresponding position of the sample channel 22, and the sealed door 23 is opened. The transfer component 3 carries the sample to the sample channel 22, and the push-out component 5 is started. The electromagnet 561 adsorbs one end of the target storage rack 6 and pushes it out. Out to the sample channel 22, the transfer component 3 accurately places the sample at the designated position on the storage rack 6, the storage rack 6 is pulled back to its original position, the transfer component 3 returns to its initial position, and the cover 121 closes the entrance and exit; sample removal process: the user selects the "remove" function through the human-machine interface 11 and provides the sample information to be removed. The system searches for the storage rack 6 and the specific position where the sample is located. 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 push-out component 5 to push the corresponding storage rack 6 into the sample channel 22. The transfer component 3 moves to the position where the sample is located and uses the box gripper 35 or the tube gripper 36 to accurately grab the sample. The sample is brought back to the exchange cabin 12, the lifting platform 123 descends, and 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. The whole process ends and the cover 121 is closed again to maintain a low temperature environment.

[0058] Example 2: The difference from Example 1 is that Figure 12-14 The end of the support plate 45 is also provided with a limit assembly 7, which 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, which ensures that the top end surface of the limit bar 71 is higher than the support surface of the support plate 45. A connecting block 73 is protruded from the end of the support plate 45. The limit bar 71 is provided with a connecting groove 711 that matches the connecting block 73. 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, and the bottom end of the inclined surface is flush with the top surface of the support plate 45 through the elastic member 72. When the two ends of the storage rack 6 are close to the inclined surface of the limit bar 71, the storage rack 6 pushes the limit bar 71 downward through the inclined surface, so that the storage rack 6 can be pushed out smoothly; when the storage rack 6 is located on the support plate 45, the limit bar 71 pushes the storage rack 6 and limits the storage rack 6 to the support plate 45, preventing the storage rack 6 from sliding out from the support plate 45 when the support plate 45 drives the storage rack 6 to rotate, thereby ensuring the safety of sample storage.

[0059] Limiting assembly 7 also includes a trigger block 74 and an elastic pin 75. Trigger block 74 has a T-shaped cross-section. A cavity for accommodating trigger block 74 is provided within limiting bar 71, allowing trigger block 74 to slide within limiting bar 71 along the operating direction of ejection assembly 7. The transverse portion of trigger block 74 is longer than the width of limiting bar 71, and the end face of the transverse portion of trigger block 74 is inclined in the same direction as limiting bar 71. The vertical portion of trigger block 74 is located within limiting bar 71. When limiting bar 71 is in the limiting state, the transverse portion of trigger block 74 protrudes from the side wall of limiting bar 71, facing the end face of storage rack 6.

[0060] The elastic pin 75 is slidably disposed in the connecting block 73. The axial direction of the elastic pin 75 is aligned with the length direction of the limiting strip 71 and is perpendicular to the sliding direction of the trigger block 74. The trigger block 74 is provided with a locking groove 76, which includes a locking position 761 and an unlocking position 762. The limiting strip 71 is provided with a vertical groove 712 for the elastic pin 75 to pass through. The length direction of the locking position 761 is horizontal, and the extending direction of the unlocking position 762 is gradually inclined upward from the end of the locking position 761. The height of the unlocking position 762 is aligned with the vertical groove 712, and 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 is formed between the locking position 761 and the unlocking position 762 to limit the locking position 761 to the unlocking position 762. The end surface of the elastic pin 75 is a platform, and the axial height of the platform 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 limit bar 71 and the trigger block 74 , so that after the trigger block 74 is triggered, the reset spring piece 77 is used to reset the trigger block 74 .

[0061] 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 the storage rack 6 out, the end face of the storage rack 6 first contacts the end face of the transverse portion of the trigger block 74, and 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 transverse portion of the trigger block 74 is flush with the side wall of the limit bar 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 limit bar 71 moves downward along the direction of the connecting groove 711 When the locking cam 75 is in the unlocked position, the locking cam 762 is in the unlocked position, and the locking cam 763 is in the unlocked position, and the locking cam 764 is in the unlocked position, and the locking cam 764 is in the unlocked position, and the locking cam 763 is in the unlocked position, and the locking cam 764 is in the unlocked position, and the locking cam 763 is in the unlocked position, and the locking cam 764 is in the unlocked position, and the locking cam 764 is in the unlocked position, and the locking cam 764 is in the unlocked position,

[0062] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0063] While the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes, modifications, substitutions, and alterations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. An intelligent cryogenic biological sample storage cabinet, comprising a cabinet body (1) and a storage rack (6), characterized in that: An exchange chamber (12) is provided on one side of the storage cabinet body (1), a low-temperature storage chamber (2) and a transfer assembly (3) are provided 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 provided in the low-temperature storage chamber (2), a sample channel (22) is provided on the low-temperature storage chamber (2), the sample storage rack (4) controls the sample to rotate to the sample channel (22), and the push-out assembly (5) pushes the sample out, a limiting assembly (7) is provided on the sample storage rack (4), the limiting assembly (7) includes a limiting 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 realize the positioning and unlocking of the storage rack (6); The sample storage rack (4) includes 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 a staggered 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 socket groove (431). The second long rod (44) corresponds to the socket groove (431) on the first long rod (43) one by one, and the socket grooves (431) at the same height of the second long rod (44) and the first long rod (43) are commonly socketed 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); The end of the support plate (45) is further provided with a limiting assembly (7), the limiting assembly (7) is slidably connected to the support plate (45) in the vertical direction, a connecting block (73) is convexly provided on the end of the support plate (45), and a connecting groove (711) matching the connecting block (73) is provided on the limiting strip (71), and both sides of the limiting strip (71) are provided with inclined surfaces, and the bottom end of the inclined surface is flush with the top surface of the support plate (45) through the elastic member (72); The cross section of the trigger block (74) is T-shaped. The trigger block (74) is slidably connected to the limit bar (71) along the working direction of the ejection component (5). The transverse length of the trigger block (74) is greater than the width of the limit bar (71). The elastic pin (75) is slidably arranged in the connecting block (73). The axis of the elastic pin (75) 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). The limit bar (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, and 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). A reset spring (77) is also provided between the trigger block (74) and the limit bar (71).

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 cabin (2), and a sample channel (22) is provided on a side of the low-temperature storage cabin (2) away from the nitrogen pipeline (21). Three vertically distributed sealing doors (23) are provided on the sample channel (22), and each sealing door (23) is controlled by an independent door opening motor (231).

3. The intelligent cryogenic biological sample storage cabinet according to claim 1, characterized in that: 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 (451) is provided on the support plate (45), a limiting slider matching the limiting slide (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).

4. The intelligent cryogenic biological sample storage cabinet according to claim 3, characterized in that: The ejection assembly (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). The bottom motor (52) is provided 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 engaged 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 an electric telescopic rod (56). The output end of the electric telescopic rod (56) is provided with an electromagnet (561).

5. The intelligent cryogenic biological sample storage cabinet according to claim 4, characterized in that: On each storage rack (6), two sides of the slot (61) are provided with a straight sealing plate (63) and an oblique sealing plate (62) connected in sequence, and the outer side of the straight sealing plate (63) is affixed with a position identification sensor sheet, 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 provided with outward-expanding push plates 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 recognition sensing piece and obtain the coordinate information of the position of the position recognition sensing piece; It also includes a microcontroller, which is mounted on the storage cabinet body (1), and the position recognition sensor and the in-place sensor are electrically connected to the microcontroller respectively; 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 opening and closing of the bottom motor (52); When a sample needs to be stored or accessed, the information of the storage rack (6) corresponding to the sample to be stored or accessed is predetermined, the microcontroller controls the bottom motor (52) to start and drives the movable plate (55) to move on the guide rod (54), and during the movement, the in-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 (6) based on the position identification sensing piece. 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.

6. The intelligent cryogenic biological sample storage cabinet according to claim 1, characterized in that: The transfer assembly (3) includes a vertical guide rail (31), a vertical slider (32), a horizontal motor (33), a double-layer guide rail (34), a box grabbing clamp (35) and a tube grabbing clamp (36), wherein 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), and the double-layer guide rail (34) is respectively equipped with a box grabbing clamp (35) and a tube grabbing clamp (36) that are individually controlled, and 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), and 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 engaged 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 engaged with the tube grabbing clamp (36), one end of the box clamp lead screw (342) and the tube clamp lead screw (343) are provided with a lead screw motor, which is controlled by the lead screw motor to control the box grabbing clamp (35) and the tube grabbing clamp (36) to move along the double-layer guide rail (34), and 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).

7. 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 (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).

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