Deep hypothermia access equipment and access method for biological sample test tubes

Abstract

The invention provides profound hypothermia storage and taking equipment for biological sample test tubes, and belongs to the technical field of test tube storage and taking. Comprising a liquid nitrogen tank storage assembly, a cover plate assembly, a test tube box access in-out assembly, a camera assembly, a movable tray assembly and a test tube clamping jaw assembly, and the cover plate assembly, the test tube box access in-out assembly, the camera assembly, the movable tray assembly and the test tube clamping jaw assembly are all installed on the upper surface of the liquid nitrogen tank storage assembly. Through cooperation of the liquid nitrogen tank storage assembly, the cover plate assembly, the test tube box access in-out assembly, the camera assembly, the movable tray assembly and the test tube clamping jaw assembly, automation of test tube access is achieved, the sample storage efficiency can be remarkably improved, and the influence of human factors on the sample quality is reduced; the storage position can be accurately recognized, the whole process is controlled through accurate transmission, it is guaranteed that the test tubes are carried and positioned accurately, the accuracy of storage and taking of the test tubes is improved, and sample confusion and loss are avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of test tube access, and particularly relates to a cryogenic access device and access method for biological sample test tubes. Background Art

[0002] As a key resource in the fields of life science research, disease diagnosis and treatment, and drug R & D, the storage quality and efficiency of biological samples directly affect the reliability of scientific research results and the effectiveness of clinical applications. As a centralized storage and management place for biological samples, the biobank plays a crucial role in modern life science research. With the continuous deepening of life science research and the advent of the era of precision medicine, higher requirements have been put forward for the construction and management of biobanks.

[0003] Traditional biological sample storage methods mainly rely on manual operations, which have many drawbacks. The efficiency of manual sample access is low, making it difficult to meet the rapidly growing needs of large-scale biobanks. Frequent opening of storage devices for manual operations in a low-temperature environment can cause temperature fluctuations, affecting the activity and stability of samples. Manual operations are also prone to human errors, such as sample confusion and loss, reducing the traceability of samples and the accuracy of data. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a cryogenic access device and access method for biological sample test tubes, so as to solve the problems that the existing biological sample storage methods mainly rely on manual operations, making it difficult to meet the rapidly growing needs of large-scale biobanks, and manual operations are also prone to human errors, such as sample confusion and loss, reducing the traceability of samples and the accuracy of data.

[0006] (2) Technical Solutions

[0007] To solve the above technical problems, the present invention provides such a cryogenic access device for biological sample test tubes, which includes a liquid nitrogen tank storage component, a cover plate component, a test tube box access and exit component, a camera component, a moving tray component, and a test tube gripper component. The cover plate component, the test tube box access and exit component, the camera component, the moving tray component, and the test tube gripper component are all installed on the upper surface of the liquid nitrogen tank storage component;

[0008] The liquid nitrogen tank storage assembly is used for cryogenic storage of biological sample test tubes. The cover plate assembly is used to open and close the access port of the liquid nitrogen tank storage assembly. The test tube box access and egress assembly is used to place and remove the biological sample test tubes on the mobile tray assembly. The camera assembly is used to take pictures and identify the biological sample test tubes. The mobile tray assembly is used to move the biological sample test tubes to the access port of the liquid nitrogen tank storage assembly. The test tube clamping jaw assembly is used to store and remove the biological sample test tubes on the mobile tray assembly in the liquid nitrogen tank storage assembly.

[0009] Preferably, the liquid nitrogen tank storage assembly includes a liquid nitrogen tank body. An installation plate is fixedly connected to the upper surface of the liquid nitrogen tank body. A test tube inlet and outlet is provided on the upper surface of the liquid nitrogen tank body and penetrates through the upper surface of the installation plate. A rotary drive assembly is arranged on the upper surface of the liquid nitrogen tank body. The output end of the rotary drive assembly is located inside the liquid nitrogen tank body and is fixedly connected to a test tube placement plate. A plurality of test tube placement grooves are provided on the upper surface of the test tube placement plate. The rotary drive assembly is used to drive the test tube placement plate to rotate.

[0010] Preferably, the rotary drive assembly includes a rotary platform base. A first motor and a second motor are installed on the rotary platform base. The test tube placement plate includes an upper placement plate and a lower placement plate. The output ends of the first motor and the second motor are respectively fixedly connected to the upper placement plate and the lower placement plate through an inner shaft and an outer shaft sleeved on the inner shaft. Left through holes and right through holes are respectively provided on the left and right sides of the upper placement plate. The left through hole is close to the outer side of the upper placement plate, and the right through hole is close to the middle of the upper placement plate.

[0011] Preferably, a plurality of support seats are fixedly connected to the circumferential surface of the lower surface of the liquid nitrogen tank body. Moving wheels are installed on the support seats and adjusting rods are threadedly connected. The bottom end of the adjusting rod is fixedly connected to a bearing plate, and an adjusting nut is fixedly connected to the outer surface of the adjusting rod.

[0012] Preferably, the cover plate assembly includes a first upright column fixedly connected to the upper surface of the installation plate. A third motor is installed on the first upright column and a first movable plate is slidably connected. The output end of the third motor is fixedly connected to a vertical lead screw, and the lead screw is threadedly connected to the first movable plate. A fourth motor is installed on the first movable plate, and the output end of the fourth motor is fixedly connected to an inlet and outlet cover plate corresponding to the test tube inlet and outlet.

[0013] Preferably, the test tube box access and egress assembly includes a support frame. A bellows is installed on the support frame. An opening is provided on the installation plate. The support frame is installed on the upper surface of the installation plate and is located at the opening.

[0014] Preferably, the camera assembly includes an installation frame fixedly connected to the lower surface of the installation plate and located at the opening. A shielding cover is fixedly connected inside the installation frame, and a shooting camera is installed inside the shielding cover.

[0015] Preferably, the mobile pallet assembly includes a fifth motor and a pulley installed at the front and rear ends of the left side of the mounting plate, a pallet frame is slidably arranged between the fifth motor and the pulley, a pallet slot is opened on the pallet frame, a synchronous belt is installed at the output end of the fifth motor, the other end of the synchronous belt is installed on the outer surface of the pulley, and the pallet frame is fixedly connected to the synchronous belt.

[0016] Preferably, the test tube clamp assembly includes a second column fixedly connected to the upper surface of the mounting plate, the top of the second column is fixedly connected to a crossbeam, a sixth motor is installed on the crossbeam and is slidably connected to the second movable plate, the output end of the sixth motor is fixedly connected to a transverse screw rod, the screw rod is threadedly connected to the second movable plate, the upper and lower sides of the front side of the second movable plate are respectively fixedly connected to an upper fixed plate and a lower fixed plate, the lower fixed plate is rotatably connected to a sleeve via a bearing, the interior of the sleeve is rotatably connected to a nut sleeve via a bearing, the interior of the nut sleeve is threadedly connected to a lifting screw, an electric clamp is installed at the bottom end of the lifting screw, the electric clamp is located above the test tube inlet and outlet, a seventh motor and an eighth motor are installed on the upper fixed plate, the output end of the seventh motor is connected to the sleeve through a belt transmission, and the output end of the eighth motor is connected to the nut sleeve through a belt transmission.

[0017] A method for storing and accessing biological sample tubes at a deep temperature, comprising the following steps:

[0018] Step 1: Move the mobile tray assembly to the test tube box storage and access assembly, and then place the test tube box on the mobile tray assembly through the test tube box storage and access assembly;

[0019] Step 2: Move the test tube box to the top of the camera assembly to take a picture and upload it to the system;

[0020] Step 3: The system determines that the test tube needs to be stored in the test tube placement slot of the test tube placement plate;

[0021] Step 4: Rotate the cover plate assembly to one side of the liquid nitrogen tank storage assembly to fully expose the test tube inlet and outlet of the liquid nitrogen tank storage assembly;

[0022] Step 5: Move the test tube clamp assembly to the top of the test tube, and then place the test tube into the corresponding test tube placement slot;

[0023] Step 6: The cover plate assembly is rotated to above the test tube inlet and outlet of the liquid nitrogen tank storage assembly, and the test tube inlet and outlet of the liquid nitrogen tank storage assembly are closed;

[0024] Step 7: When taking out the test tube, take the test tube in the test tube placement slot into the test tube box in the above manner and move it to the test tube box storage and access assembly for delivery.

[0025] Beneficial Effects

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] In the above solution, the automatic access of test tubes is realized through the cooperation of the liquid nitrogen tank storage component, the cover plate component, the test tube box access and exit component, the camera component, the mobile tray component and the test tube gripper component, which can significantly improve the efficiency of sample storage, reduce the impact of human factors on sample quality. At the same time, by taking pictures with the camera component, the storage position can be accurately identified. The whole process is controlled by precise transmission to ensure the accurate handling and positioning of test tubes, improve the accuracy of test tube access, and avoid sample confusion and loss.

[0028] In the above solution, by setting two test tube placement plates, more test tubes can be stored. At the same time, the upper placement plate and the lower placement plate are respectively controlled by the first motor and the second motor to rotate. Through the cooperation of the left through hole and the right through hole, the lower placement plate can be filled with test tubes, improving the storage capacity of the liquid nitrogen tank body and better meeting the rapidly growing needs of large-scale biobanks. Description of the Drawings

[0029] Figure 1 Schematic three-dimensional structure diagram of a cryogenic access device for biological sample test tubes.

[0030] Figure 2 Schematic top view structure diagram of a cryogenic access device for biological sample test tubes.

[0031] Figure 3 Schematic front sectional structure diagram of a cryogenic access device for biological sample test tubes.

[0032] Figure 4 Schematic structure diagram of the rotation drive component of a cryogenic access device for biological sample test tubes.

[0033] Figure 5 Schematic structure diagram of the test tube placement plate of a cryogenic access device for biological sample test tubes.

[0034] Figure 6 Schematic structure diagram of the mobile tray component of a cryogenic access device for biological sample test tubes.

[0035] Figure 7 Schematic structure diagram of the test tube gripper component of a cryogenic access device for biological sample test tubes.

[0036] Figure 8 Schematic bottom view structure diagram of the test tube gripper component of a cryogenic access device for biological sample test tubes.

[0037] Figure 9 Schematic structure diagram of the support seat of a cryogenic access device for biological sample test tubes.

[0038] The labels in the attached drawings are as follows: 1. Liquid nitrogen tank storage component; 2. Cover plate component; 3. Test tube box access and egress component; 4. Camera component; 5. Mobile tray component; 6. Test tube gripper component; 101. Liquid nitrogen tank body; 102. Mounting plate; 103. Test tube inlet and outlet; 104. Rotation drive component; 105. Test tube placement plate; 106. Test tube placement groove; 107. Support base; 108. Movable wheel; 109. Adjusting rod; 110. Bearing plate; 111. Adjusting nut; 1041. Rotation platform base; 1042. First motor; 1043. Second motor; 1051. Upper placement plate; 1052. Lower placement plate; 1053. Left through hole; 1054. Right through hole; 201. First column; 202. Third motor; 203. First movable plate; 204. Fourth motor; 205. Inlet and outlet cover plate; 301. Support frame; 302. Bellows; 303. Opening; 401. Mounting frame; 402. Shielding cover; 403. Shooting camera; 501. Fifth motor; 502. Pulley; 503. Tray frame; 504. Tray groove; 505. Synchronous belt; 601. Second column; 602. Cross beam; 603. Second movable plate; 604. Upper fixing plate; 605. Lower fixing plate; 606. Sleeve; 607. Nut sleeve; 608. Lifting screw rod; 609. Electric gripper; 610. Seventh motor; 611. Eighth motor; 612. Sixth motor. Detailed implementation mode

[0039] An embodiment of the present invention provides a cryogenic access device for biological sample test tubes, including a liquid nitrogen tank storage component 1, a cover plate component 2, a test tube box access and egress component 3, a camera component 4, a mobile tray component 5 and a test tube gripper component 6. The cover plate component 2, the test tube box access and egress component 3, the camera component 4, the mobile tray component 5 and the test tube gripper component 6 are all installed on the upper surface of the liquid nitrogen tank storage component 1;

[0040] The liquid nitrogen tank storage component 1 is used for cryogenic storage of biological sample test tubes. The cover plate component 2 is used to open and close the access port of the liquid nitrogen tank storage component 1. The test tube box access and egress component 3 is used to place and take out biological sample test tubes on the mobile tray component 5. The camera component 4 is used to take pictures and identify biological sample test tubes. The mobile tray component 5 is used to move biological sample test tubes to the access port of the liquid nitrogen tank storage component 1. The test tube gripper component 6 is used to store and take out biological sample test tubes on the mobile tray component 5 in the liquid nitrogen tank storage component 1.

[0041] Such as Figures 1-4As shown, in this embodiment, the liquid nitrogen tank storage assembly 1 includes a liquid nitrogen tank body 101. Liquid nitrogen is provided inside the liquid nitrogen tank body 101 for cryogenic storage of the inserted test tubes. A mounting plate 102 is fixedly connected to the upper surface of the liquid nitrogen tank body 101. A test tube inlet and outlet 103 is provided on the upper surface of the liquid nitrogen tank body 101 for accessing the test tubes. A label readable by the camera assembly 4 is provided on the test tube. The test tube inlet and outlet 103 penetrates the upper surface of the mounting plate 102. A rotary drive assembly 104 is provided on the upper surface of the liquid nitrogen tank body 101. The output end of the rotary drive assembly 104 is located inside the liquid nitrogen tank body 101 and is fixedly connected to a test tube placement plate 105. A plurality of test tube placement slots 106 are provided on the upper surface of the test tube placement plate 105. The rotary drive assembly 104 is used to drive the test tube placement plate 105 to rotate.

[0042] By starting the rotary drive assembly 104 to drive the test tube placement plate 105 to rotate, the test tube placement slots 106 on the test tube placement plate 105 are moved to the test tube inlet and outlet 103, so that a plurality of test tube placement slots 106 on the test tube placement plate 105 can be filled.

[0043] As Figure 3 、 Figure 4 and Figure 5 As shown in [relevant figures], in this embodiment, the rotary drive assembly 104 includes a rotary platform base 1041. A first motor 1042 and a second motor 1043 are installed on the rotary platform base 1041. The test tube placement plate 105 includes an upper placement plate 1051 and a lower placement plate 1052. The output ends of the first motor 1042 and the second motor 1043 are respectively fixedly connected to the upper placement plate 1051 and the lower placement plate 1052 through an inner shaft and an outer shaft sleeved on the inner shaft. Left through holes 1053 and right through holes 1054 are respectively provided on the left and right sides of the upper placement plate 1051. The left through hole 1053 is close to the outer side of the upper placement plate 1051, and the right through hole 1054 is close to the middle of the upper placement plate 1051.

[0044] With such a setting, there are an upper placement plate 1051 and a lower placement plate 1052 inside the liquid nitrogen tank body 101, which can store more test tubes. At the same time, the upper placement plate 1051 and the lower placement plate 1052 are respectively controlled by the first motor 1042 and the second motor 1043 to rotate. By cooperating with the left through hole 1053 and the right through hole 1054, the lower placement plate 1052 can be filled with test tubes, improving the storage capacity of the liquid nitrogen tank body 101.

[0045] As Figure 1 and Figure 9As shown in the figure, in this embodiment, a plurality of support seats 107 are fixedly connected to the circumference of the lower surface of the liquid nitrogen tank body 101. A moving wheel 108 is installed on the support seat 107 and a regulating rod 109 is threadedly connected thereto. The bottom end of the regulating rod 109 is fixedly connected to a bearing plate 110, and a regulating nut 111 is fixedly connected to the outer surface of the regulating rod 109.

[0046] By setting it in this way, a tool can be used to rotate the regulating nut 111 to adjust the distance between the bearing plate 110 and the liquid nitrogen tank body 101, making the cryogenic access device more stable when placed. When the whole needs to be moved, the moving wheels 108 are made to contact the ground, and the transfer is very convenient.

[0047] As Figure 1 and Figure 2 As shown in the figure, in this embodiment, the cover plate assembly 2 includes a first upright column 201 fixedly connected to the upper surface of the mounting plate 102. A third motor 202 is installed on the first upright column 201 and a first movable plate 203 is slidably connected thereto. A guide rail is installed inside the first upright column 201, and a slider corresponding to the guide rail is installed on the first movable plate 203. The output end of the third motor 202 is fixedly connected to a vertical lead screw, and the lead screw is threadedly connected to the first movable plate 203. A fourth motor 204 is installed on the first movable plate 203, and the output end of the fourth motor 204 is fixedly connected to an inlet / outlet cover plate 205 corresponding to the test tube inlet / outlet 103. The inlet / outlet cover plate 205 is made of foam material, and the inlet / outlet cover plate 205 has the functions of rotation and lifting.

[0048] The third motor 202 drives the first movable plate 203 to move upward along the first upright column 201. During the movement of the first movable plate 203, it can drive the fourth motor 204 and the inlet / outlet cover plate 205 to move upward and open the test tube inlet / outlet 103. Then, the fourth motor 204 is started to drive the inlet / outlet cover plate 205 to rotate to one side, so that the test tube inlet / outlet 103 is completely exposed, facilitating the access of test tubes from the liquid nitrogen tank body 101.

[0049] As Figure 1 and Figure 6 As shown in the figure, in this embodiment, the test tube box access and exit assembly 3 includes a support frame 301. A bellows 302 is installed on the support frame 301. An opening 303 is formed in the mounting plate 102, and the support frame 301 is installed on the upper surface of the mounting plate 102 and is located at the opening 303.

[0050] As Figure 6 and Figure 7 As shown in the figure, in this embodiment, the camera assembly 4 includes a mounting frame 401 fixedly connected to the lower surface of the mounting plate 102 and located at the opening 303. A shielding cover 402 is fixedly connected inside the mounting frame 401, and a shooting camera 403 is installed inside the shielding cover 402.

[0051] When the test tube box moves directly above the camera assembly 4, it can take pictures and upload them to the system, so as to judge through the system which test tube placement slot 106 on which layer of the test tube placement plate 105 the test tube should be placed, or judge the position of which test tube placement slot 106 on which layer of the test tube placement plate 105 the taken-out test tube is located.

[0052] As Figure 1 and Figure 6 shown, in this embodiment, the moving tray assembly 5 includes a fifth motor 501 and a pulley 502 installed at the front and rear ends on the left side of the mounting plate 102. A tray frame 503 is slidably arranged between the fifth motor 501 and the pulley 502. A tray groove 504 is formed on the tray frame 503. The output end of the fifth motor 501 is equipped with a synchronous belt 505. The other end of the synchronous belt 505 is installed on the outer surface of the pulley 502. The tray frame 503 is fixedly connected to the synchronous belt 505. A slider is installed on the lower surface of the tray frame 503, and a guide rail corresponding to the slider is installed on the upper surface of the mounting plate 102.

[0053] Driven by the fifth motor 501, the pulley 502 and the synchronous belt 505 rotate. During the rotation of the synchronous belt 505, it can drive the tray frame 503 and the tray groove 504 to move to the test tube box access and exit assembly 3, and the transfer is very convenient.

[0054] As Figure 7 and Figure 8As shown, in this embodiment, the test tube clamp assembly 6 includes a second column 601 fixedly connected to the upper surface of the mounting plate 102, the top of the second column 601 is fixedly connected to a crossbeam 602, a sixth motor 612 is installed on the crossbeam 602 and is slidably connected to a second movable plate 603, a guide rail is installed inside the crossbeam 602, a slider corresponding to the guide rail is installed on the second movable plate 603, a transverse screw rod is fixedly connected to the output end of the sixth motor 612, the screw rod is threadedly connected to the second movable plate 603, an upper fixed plate 604 and a lower fixed plate 605 are respectively fixedly connected to the upper and lower sides of the front side of the second movable plate 603, a sleeve 606 is rotatably connected to the lower fixed plate 605 through a bearing, a nut sleeve 607 is rotatably connected to the inside of the sleeve 606 through a bearing, a lifting screw 608 is threadedly connected to the inside of the nut sleeve 607, and the front and rear sides of the lifting screw 608 Guide grooves are provided on both sides, and guide blocks corresponding to the guide grooves are fixedly connected to the lower fixed plate 605 to prevent the lifting screw 608 from rotating with the nut sleeve 607. An electric clamp 609 is installed at the bottom end of the lifting screw 608. The electric clamp 609 has a force control function and can accurately control the clamping force to avoid excessive or insufficient force. The clamping force is sensed in real time and adjusted according to the set value. Common methods include PID control based on negative feedback, fuzzy control and neural network control. The electric clamp 609 is located above the test tube inlet and outlet 103. The seventh motor 610 and the eighth motor 611 are installed on the upper fixed plate 604. The output end of the seventh motor 610 is connected to the sleeve 606 through a belt, and the output end of the eighth motor 611 is connected to the nut sleeve 607 through a belt. The lifting, rotation and translation of the electric clamp 609 can be realized by three motors.

[0055] The technical solution access method provided by the present invention is as follows:

[0056] Step 1: Start the fifth motor 501 to drive the pulley 502 and the synchronous belt 505 to rotate. During the rotation process, the synchronous belt 505 can drive the tray rack 503 and the tray slot 504 to move to the test tube box storage and access assembly 3, and then place the test tube box on the tray slot 504 of the tray rack 503 through the test tube box storage and access assembly 3;

[0057] Step 2: Move the test tube box to the top of the camera assembly 4 to take a picture and upload it to the system;

[0058] Step 3: The system determines which layer of the test tube placement plate 105 in which test tube placement slot 106 the test tube needs to be placed;

[0059] Step 4: Start the third motor 202 to drive the first movable plate 203 to move upward along the first column 201. During the movement of the first movable plate 203, it can drive the fourth motor 204 and the inlet and outlet cover plate 205 to move upward and open the test tube inlet and outlet 103. Then start the fourth motor 204 to drive the inlet and outlet cover plate 205 to rotate to one side, so that the test tube inlet and outlet 103 is completely exposed;

[0060] Step 5: Start the rotation drive assembly 104 to drive the test tube placement plate 105 to rotate, so that the test tube placement groove 106 stored on the test tube placement plate 105 moves to the test tube inlet and outlet 103. Then start the sixth motor 612 to drive the second movable plate 603 to move along the cross beam 602. During the movement of the second movable plate 603, it can drive the electric gripper 609 to move above the test tube. Then start the eighth motor 611 to drive the nut sleeve 607 to rotate. During the rotation of the nut sleeve 607, it can make the lifting screw 608 and the electric gripper 609 move downward to the test tube and clamp it. Then move the electric gripper 609 to place the test tube into the corresponding test tube placement groove 106;

[0061] Step 6: Start the fourth motor 204 to drive the inlet and outlet cover plate 205 to rotate above the test tube inlet and outlet 103. Then start the third motor 202 to drive the first movable plate 203 to move downward along the first column 201. During the movement of the first movable plate 203, it can drive the fourth motor 204 and the inlet and outlet cover plate 205 to close the test tube inlet and outlet 103;

[0062] Step 7: When taking out the test tube, follow the above method to take out the test tube in the test tube placement groove 106 into the test tube box and move it to the test tube box access and exit assembly 3 to be sent out.

[0063] Specifically:

[0064] Move the tray assembly 5 to the test tube box access and exit assembly 3, and then place the test tube box on the tray assembly 5 through the test tube box access and exit assembly 3;

[0065] Move the test tube box directly above the camera assembly 4 to take a photo and upload it to the system. The system determines which test tube placement plate 105 and which test tube placement groove 106 position the taken-out test tube is in;

[0066] The cover plate assembly 2 rotates to one side of the liquid nitrogen tank storage assembly 1, so that the test tube inlet and outlet 103 of the liquid nitrogen tank storage assembly 1 is completely exposed;

[0067] The test tube gripper assembly 6 moves above the test tube, and then takes out the test tube in the test tube placement groove 106 into the test tube box;

[0068] The cover plate assembly 2 rotates above the test tube inlet / outlet 103 of the liquid nitrogen tank storage assembly 1, and closes the test tube inlet / outlet 103 of the liquid nitrogen tank storage assembly 1;

[0069] The moving tray assembly 5 moves the test tubes in the test tube box to the test tube box access and exit assembly 3, and takes pictures and uploads them to the system through the camera assembly 4 and then sends them out.

[0070] All technical features in this embodiment can be freely combined according to actual needs.

[0071] The above embodiments are preferred implementation solutions of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the technical solution is within the protection scope of the present invention.

Claims

1. A cryogenic storage and retrieval device for biological sample test tubes, characterized in that: The invention comprises a liquid nitrogen tank storage component (1), a cover component (2), a test tube box storage and access component (3), a camera component (4), a movable tray component (5) and a test tube clamping claw component (6), wherein the cover component (2), the test tube box storage and access component (3), the camera component (4), the movable tray component (5) and the test tube clamping claw component (6) are all mounted on the upper surface of the liquid nitrogen tank storage component (1); The liquid nitrogen tank storage component (1) is used to perform deep cryogenic storage on biological sample test tubes; the cover plate component (2) is used to open and close the access port of the liquid nitrogen tank storage component (1); the test tube box access in-and-out component (3) is used to place biological sample test tubes on and take them out from the movable tray component (5); the camera component (4) is used to take photos and identify the biological sample test tubes; the movable tray component (5) is used to move the biological sample test tubes to the access port of the liquid nitrogen tank storage component (1); and the test tube clamping claw component (6) is used to store the biological sample test tubes on the movable tray component (5) in and take them out from the liquid nitrogen tank storage component (1).

2. The deep cryogenic storage and retrieval device for biological sample test tubes according to claim 1, characterized in that: The liquid nitrogen tank storage assembly (1) comprises a liquid nitrogen tank body (101), the upper surface of the liquid nitrogen tank body (101) is fixedly connected to a mounting plate (102), the upper surface of the liquid nitrogen tank body (101) is provided with a test tube inlet and outlet (103), the test tube inlet and outlet (103) penetrates the upper surface of the mounting plate (102), the upper surface of the liquid nitrogen tank body (101) is provided with a rotation drive assembly (104), the output end of the rotation drive assembly (104) is located inside the liquid nitrogen tank body (101) and is fixedly connected to a test tube placement plate (105), the upper surface of the test tube placement plate (105) is provided with a plurality of test tube placement grooves (106), and the rotation drive assembly (104) is used to drive the test tube placement plate (105) to rotate.

3. The cryogenic storage and retrieval device for biological sample test tubes according to claim 2, wherein the rotating drive assembly (104) comprises a rotating platform base (1041), and a first motor (1042) and a second motor (1043) are installed on the rotating platform base (1041); the test tube placement plate (105) comprises an upper placement plate (1051) and a lower placement plate (1052); the output ends of the first motor (1042) and the second motor (1043) are respectively fixedly connected to the upper placement plate (1051) and the lower placement plate (1052) through an inner shaft and an outer shaft sleeved on the inner shaft; a left through hole (1053) and a right through hole (1054) are respectively opened on the left and right sides of the upper placement plate (1051); the left through hole (1053) is close to the outer side of the upper placement plate (1051), and the right through hole (1054) is close to the middle of the upper placement plate (1051).

4. The deep cryogenic storage and retrieval device for biological sample test tubes according to claim 3, characterized in that: A plurality of support seats (107) are fixedly connected to the circumference of the lower surface of the liquid nitrogen tank body (101); a moving wheel (108) is installed on the support seat (107) and an adjusting rod (109) is threadedly connected thereto; a pressure plate (110) is fixedly connected to the bottom end of the adjusting rod (109); and an adjusting nut (111) is fixedly connected to the outer surface of the adjusting rod (109).

5. The deep cryogenic storage and retrieval device for biological sample test tubes according to claim 2, characterized in that: The cover plate assembly (2) comprises a first column (201) fixedly connected to the upper surface of the mounting plate (102); a third motor (202) is mounted on the first column (201) and is slidably connected to a first movable plate (203); an output end of the third motor (202) is fixedly connected to a vertical screw rod, and the screw rod is threadedly connected to the first movable plate (203); a fourth motor (204) is mounted on the first movable plate (203); and an output end of the fourth motor (204) is fixedly connected to an inlet and outlet cover plate (205) corresponding to the test tube inlet and outlet (103).

6. The deep cryogenic storage and retrieval device for biological sample test tubes according to claim 5, characterized in that: The test tube box storage and access assembly (3) comprises a support frame (301), an accordion cover (302) is installed on the support frame (301), an opening (303) is opened on the mounting plate (102), and the support frame (301) is installed on the upper surface of the mounting plate (102) and is located at the opening (303).

7. The deep cryogenic storage and retrieval device for biological sample test tubes according to claim 6, characterized in that: The camera assembly (4) comprises a mounting frame (401) fixedly connected to the lower surface of the mounting plate (102) and located at the opening (303); a shielding cover (402) is fixedly connected to the interior of the mounting frame (401); and a shooting camera (403) is installed inside the shielding cover (402).

8. The deep cryogenic storage and retrieval device for biological sample test tubes according to claim 2, characterized in that: The mobile pallet assembly (5) comprises a fifth motor (501) and a pulley (502) mounted at the front and rear ends of the left side of the mounting plate (102); a pallet frame (503) is slidably arranged between the fifth motor (501) and the pulley (502); a pallet slot (504) is provided on the pallet frame (503); a synchronous belt (505) is installed at the output end of the fifth motor (501); the other end of the synchronous belt (505) is mounted on the outer surface of the pulley (502); and the pallet frame (503) is fixedly connected to the synchronous belt (505).

9. The deep cryogenic storage and retrieval device for biological sample test tubes according to claim 8, characterized in that: The test tube clamp assembly (6) comprises a second column (601) fixedly connected to the upper surface of the mounting plate (102); the top of the second column (601) is fixedly connected to a crossbeam (602); a sixth motor (612) is installed on the crossbeam (602) and is slidably connected to a second movable plate (603); an output end of the sixth motor (612) is fixedly connected to a transverse screw rod, the screw rod is threadedly connected to the second movable plate (603); an upper fixed plate (604) and a lower fixed plate (605) are respectively fixedly connected to the upper and lower sides of the front side of the second movable plate (603); the lower fixed plate (605) is rotatably connected to the second movable plate (603) via a bearing. A sleeve (606) is provided, wherein the interior of the sleeve (606) is rotatably connected to a nut sleeve (607) via a bearing, wherein the interior of the nut sleeve (607) is threadedly connected to a lifting screw (608), wherein an electric clamp (609) is installed at the bottom end of the lifting screw (608), wherein the electric clamp (609) is located above the test tube inlet and outlet (103), wherein a seventh motor (610) and an eighth motor (611) are installed on the upper fixed plate (604), wherein the output end of the seventh motor (610) is transmission-connected to the sleeve (606) via a belt, and wherein the output end of the eighth motor (611) is transmission-connected to the nut sleeve (607) via a belt.

10. A method for storing and accessing a biological sample test tube at a low temperature, comprising the device for storing and accessing a biological sample test tube at a low temperature according to any one of claims 1 to 9, characterized in that: The following steps are also included: Step 1: The mobile tray assembly (5) is moved to the test tube box storage and access assembly (3), and then the test tube box is placed on the mobile tray assembly (5) through the test tube box storage and access assembly (3); Step 2: Move the test tube box to the top of the camera assembly (4) to take a picture and upload it to the system; Step 3: The system determines that the test tube needs to be stored in the test tube placement slot (106) of the test tube placement plate (105); Step 4: The cover plate assembly (2) is rotated to one side of the liquid nitrogen tank storage assembly (1) so that the test tube inlet and outlet (103) of the liquid nitrogen tank storage assembly (1) is completely exposed; Step 5: The test tube clamp assembly (6) moves to the top of the test tube, and then places the test tube into the corresponding test tube placement slot (106); Step 6: The cover plate assembly (2) is rotated to above the test tube inlet and outlet (103) of the liquid nitrogen tank storage assembly (1), and the test tube inlet and outlet (103) of the liquid nitrogen tank storage assembly (1) is closed; Step 7: When taking out the test tube, the test tube in the test tube placement slot (106) is taken out into the test tube box and moved to the test tube box storage and access assembly (3) for delivery according to the above method.

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