Sample cryogenic storage device

Abstract

The invention relates to the technical field of biological sample storage, particularly provides sample low-temperature storage equipment, and aims to solve the problems that the storage equipment cannot fully utilize the storage space and the refrigeration cost is high. In order to achieve the purpose, the sample low-temperature storage equipment comprises a cache library and a storage unit which are independent of each other, the storage unit comprises a plurality of storage libraries which are communicated with each other, the cache library is connected with the storage library located at the end, and cryopreservation boxes capable of mutually transferring samples can be arranged between the cache library and the storage library; the cache library can perform selection, code scanning and transfer operation on the cryopreservation boxes and / or cryopreservation tubes in the cryopreservation boxes, and the storage library is used for storing the cryopreservation boxes. According to the invention, the storage space can be increased in a limited space, the capacity requirement of a user is met, and the refrigeration cost is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of biological sample storage, and in particular provides a sample low-temperature storage device. Background Art

[0002] In the biomedical industry, ultra-low temperature automated equipment is required to store biological samples for freezing. The structure of the existing storage library includes a plurality of boxes connected to each other, each box is provided with a storage area and a buffer area, the storage area of ​​each box is used to store frozen boxes of biological samples, the buffer area in one box can be used to select and transport frozen boxes and / or frozen tubes in the frozen boxes, and the buffer areas in the remaining boxes can be used to select and transport frozen boxes. In the above structure, since storage areas and buffer areas are provided in each box, the area occupied by the storage area in the entire device will be reduced, and the number of samples stored will be reduced accordingly. In addition, each box is an independent cavity, and each box and the storage area and buffer area in each box are refrigerated separately, resulting in high refrigeration costs.

[0003] Accordingly, this field requires a new technical solution to solve the above technical problems. Summary of the Invention

[0004] The present invention aims to solve the above technical problems, namely, to solve the problems that existing storage devices cannot fully utilize storage space and have high refrigeration costs.

[0005] The present invention provides a sample low-temperature storage device, which includes a cache library and a storage unit that are independent of each other. The storage unit includes a plurality of storage libraries that are connected to each other. The cache library is connected to the storage library located at the end, and the two can transfer the freezing boxes of the samples to each other. The cache library can select, scan codes and transport the freezing boxes and / or the freezing tubes in the freezing boxes. The storage library is used to store the freezing boxes.

[0006] When the above technical solution is adopted, the cache and storage units are each independent closed cavities. There is one cache and multiple storage units, forming a series arrangement. Compared with the existing arrangement, it can increase the storage space within a limited space and make full and reasonable use of the space. The storage unit is set as a standard module. In actual application, it can be infinitely expanded according to user needs to meet user capacity requirements. The cache is individually refrigerated at a temperature of -30°C, and multiple interconnected storage units are centrally refrigerated at a temperature of -80°C. Compared with the existing arrangement, it saves cooling costs.

[0007] In a specific embodiment of the above-mentioned sample low-temperature storage device, a transmission channel is provided between the cache library and the storage library located at the end, the cache library is provided with a first pair of interfaces that can be communicated with the transmission channel, and the storage library located at the end is provided with a second pair of interfaces that can be communicated with the transmission channel, and the first pair of interfaces and / or the second pair of interfaces are provided with automatic doors that can control the connection and disconnection of the first pair of interfaces and / or the second pair of interfaces with the transmission channel.

[0008] In a specific embodiment of the above-mentioned sample low-temperature storage device, the automatic door includes a drive mechanism, a first connecting assembly, a first transmission assembly, a support and a door body. The drive mechanism, the first transmission assembly and the support are fixedly arranged on the storage body of the cache library and / or the storage library. The driving end of the drive mechanism is connected to the first transmission assembly, and the first connecting assembly is slidably arranged on the storage body. The door body is partially fixed to the first transmission assembly through the first connecting assembly. The door body is provided with a first track module and a second track module, the first connecting assembly is provided with a third track module, and the first connecting assembly of the support is provided with a fourth track module. The first track module cooperates with the third track module, and the second track module cooperates with the fourth track module. The door body and the first connecting assembly are first moved in a first direction along the set track toward the first pairing interface and / or the second pairing interface under the action of the drive mechanism and the transmission assembly, and then the door body is moved in a second direction along the set track, so that the door body closes the first pairing interface and / or the second pairing interface, wherein the second direction is a direction perpendicular to the first pairing interface and / or the second pairing interface.

[0009] In a specific embodiment of the above-mentioned sample low-temperature storage device, the first connecting component includes a first connecting member and a pressing member, the first connecting member is slidably arranged on the storage body, the first connecting member and the pressing member are fixed so that part of the first transmission component can be clamped and fixed between the first connecting member and the pressing member, and the third track module is arranged on the first connecting member.

[0010] When adopting the above technical solution, by setting up two sets of track modules to cooperate with each other, when the automatic door is closed, the door body can press the first interface along the set track in a direction perpendicular to the first interface, so that the door body and the warehouse body are tightly fitted, with high sealing pressure and good sealing effect. When the automatic door is opened, the door body can move away from the first interface along the set track in a direction perpendicular to the first interface, separating the door body from the warehouse body, avoiding friction and noise between the door body and the warehouse body during movement, resulting in wear and affecting the sealing performance. In addition, the automatic door has a reasonable overall operating trajectory, a simple structure, easy operation, and an overall small footprint.

[0011] In a specific embodiment of the above-mentioned sample low-temperature storage device, the storage unit further includes a transport mechanism, which is disposed in the storage bin and configured to be able to perform a transport operation of the cryopreservation boxes between adjacent storage bins.

[0012] In a specific embodiment of the above-mentioned sample low-temperature storage device, a freezing rack and a grabbing device are provided in the storage warehouse, the freezing rack is configured to store the freezing box, the grabbing device includes a three-axis module and a shovel plate assembly, the driving end of the three-axis module is connected to the shovel plate assembly to drive the shovel plate assembly to move along the XYZ direction in the storage warehouse, thereby enabling the shovel plate assembly to realize the transfer operation of the freezing box between the freezing rack and the transmission mechanism.

[0013] In a specific embodiment of the above-mentioned sample low-temperature storage device, the three-axis module includes a first connecting plate, a second connecting plate, a first linear drive mechanism, a second linear drive mechanism and a third linear drive mechanism. The first linear drive mechanism is fixedly arranged on the top of the storage library, and the first connecting plate is slidably arranged on the top of the storage library. The driving end of the first linear drive mechanism is connected to the first connecting plate to drive the first connecting plate to move along the X direction in the storage library, the second connecting plate is slidably arranged on the bottom of the first connecting plate, the second linear drive mechanism is fixedly arranged on the first connecting plate, and the driving end of the second linear drive mechanism is connected to the second connecting plate to drive the second connecting plate to move along the Y direction in the storage library. The third linear drive mechanism is fixedly arranged on the second connecting plate, and the driving end of the third linear drive mechanism is connected to the shovel plate assembly to drive the shovel plate assembly to move along the Z direction in the storage library.

[0014] In a specific embodiment of the above-mentioned sample low-temperature storage equipment, the grasping device also includes a rotating module, which is arranged on the second connecting plate, and the driving end of the rotating module is connected to the shovel plate assembly to drive the shovel plate assembly to rotate horizontally in the storage library.

[0015] In a specific embodiment of the above-mentioned sample low-temperature storage device, the rotating module includes a rotating drive member, a rotating transmission assembly, a turntable, a connecting rod and a connecting member. The rotating drive member is fixedly arranged on the second connecting plate, and the driving end of the rotating drive member is connected to the first end of the rotating transmission assembly, and the second end of the rotating transmission assembly is connected to the turntable. The turntable is rotatably arranged at the bottom of the second connecting plate, and the driving end of the third linear driving mechanism passes through and is rotatably connected to the turntable. The connecting rod is vertically fixed at an eccentric position of the turntable, and the first end of the connecting member is slidably arranged on the connecting rod, and the second end of the connecting member is rotatably arranged at the driving end of the third linear driving mechanism. The second end of the connecting member is also connected to the shovel plate assembly.

[0016] When using this technical solution, the gripping device can achieve XYZ movement and horizontal rotation, compatibility with multiple directions, improving the flexibility of sample placement and retrieval. It can also take into account the left and right and upper and lower extreme positions, thereby correspondingly expanding the storage range. In addition, the gripping device centrally locates the power components at the top of the storage body, separating the power and storage areas. This reduces the impact of power component heat on stored samples and reduces the space occupied, thereby increasing storage space.

[0017] In a specific embodiment of the above-mentioned sample low-temperature storage device, two groups of freezing racks are provided, and the two groups of freezing racks are respectively arranged on the left and right sides of the grasping device, and the freezing racks are provided with multiple storage locations arranged in a matrix. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0019] Figure 1 It is a schematic diagram of the overall structure of the sample low-temperature storage device of the present invention;

[0020] Figure 2 It is a schematic diagram of the installation of the automatic door in the cache in the sample low-temperature storage device of the present invention;

[0021] Figure 3 It is a schematic structural diagram of the automatic door of the present invention;

[0022] Figure 4 is a top view of the automatic door of the present invention;

[0023] Figure 5 yes Figure 4 Sectional view in the AA direction;

[0024] Figure 6 It is a schematic diagram of the structure inside the storage library in the sample low-temperature storage device of the present invention;

[0025] Figure 7 It is a schematic structural diagram of the first direction of the grasping device of the present invention;

[0026] Figure 8 It is a schematic structural diagram of the gripping device of the present invention in the second direction;

[0027] Figure 9 It is a schematic structural diagram of the gripping device of the present invention in the third direction;

[0028] Wherein: 1. Cache library; 11. Library body; 12. First pair of interfaces;

[0029] 2. First repository;

[0030] 3. Second repository;

[0031] 4. The third repository;

[0032] 5. Automatic door; 51. Driving mechanism; 511. Motor; 512. Second driving wheel; 513. Second driven wheel; 514. Second transmission member; 515. Rotating shaft; 52. First connecting assembly; 521. First connecting member; 5211. Third track module; 522. Pressing member; 53. First transmission assembly; 531. First driving wheel; 532. First driven wheel; 533. First transmission member; 534. Mounting seat; 54. Support member; 541. Fourth track module; 55. Door body; 551. First track module; 552. Second track module; 56. Slider; 57. Slide rail;

[0033] 6. Grabbing device; 61. First connecting plate; 62. Second connecting plate; 63. First linear drive mechanism; 631. First drive member; 632. First screw rod; 633. First support seat; 64. Second linear drive mechanism; 641. Second drive member; 642. Second screw rod; 643. Second support seat; 644. Connecting arm; 65. Third linear drive mechanism; 651. Third drive member; 652. Third screw rod; 653. Third support seat; 66. Rotary drive member; 67. Rotary transmission assembly; 671. First gear; 672. Second gear; 68. Rotary disk; 69. Connecting member; 691. Slide seat; 692. Third connecting plate; 610. Connecting rod; 611. Shovel assembly;

[0034] 7. Freezing rack;

[0035] 8. Cryobox;

[0036] 9. Transmission mechanism. DETAILED DESCRIPTION

[0037] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are intended only to illustrate the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art may adjust these embodiments as needed to suit specific applications.

[0038] It should be noted that, in the description of the present invention, terms such as "inner" and "outer" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is for ease of description only and does not indicate or imply that the relevant devices or components must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, ordinal numbers such as "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0040] like Figure 1 As shown, the sample low-temperature storage device of the present invention includes a cache library 1 and a storage unit. The storage unit includes a plurality of storage libraries that are interconnected. The cache library 1 is connected to the storage library located at the end and the two can transfer sample freezing boxes 8 to each other. The cache library 1 can select, scan and transport the freezing boxes 8 and / or the freezing tubes in the freezing boxes 8. The storage library is used to store the freezing boxes 8. Exemplarily, the storage unit includes a first storage library 2, a second storage library 3 and a third storage library 4. The first storage library 2, the second storage library 3 and the third storage library 4 are connected in sequence and communicate with each other. The first storage library 2 is connected to the cache library 1.

[0041] Continue as Figure 1 As shown, the cache bank 1 and the storage unit are each independent closed cavities. There is one cache bank 1 and multiple storage banks, forming a serial arrangement. Compared with the existing arrangement, it can increase the storage space within a limited space and make full and reasonable use of the space. The storage bank is set as a standard module. In actual application, it can be infinitely expanded according to user needs to meet user capacity requirements. The cache bank 1 is individually refrigerated at a temperature of -30°C, and multiple interconnected storage banks are centrally refrigerated at a temperature of -80°C. Compared with the existing arrangement, it saves cooling costs.

[0042] like Figure 1 and2 As shown, a transmission channel (not shown in the figure) is provided between the cache 1 and the first storage 2. The transmission channel is configured to be able to transmit the frozen storage box 8. For example, a first transmission track is provided in the transmission channel. The cache 1 is provided with a first docking port 12 that can communicate with the transmission channel, and the storage located at the end is provided with a second docking port (not shown in the figure) that can communicate with the transmission channel. The first docking port 12 is provided with an automatic door 5 that can control the connection and disconnection between the first docking port 12 and the transmission channel. It should be noted that although the above description is based on the automatic door 5 being provided on the first docking port 12, this is not restrictive. Those skilled in the art can also provide the automatic door 5 on the second docking port as needed, or provide the automatic door 5 on both the first docking port 12 and the second docking port. The above adjustments are all within the scope of protection of the present invention. In addition, the transmission channel described above can also be omitted, so that the side wall of the cache 1 is shared with the side wall of the first storage 2, and the first docking port 12 is provided on the side wall.

[0043] like Figure 3-Figure 5 As shown, the automatic door 5 includes a driving mechanism 51, a first connecting assembly 52, a first transmission assembly 53, a support member 54 and a door body 55. The driving mechanism 51, the first transmission assembly 53 and the support member 54 are fixedly arranged on the storage body 11 of the cache storage 1. The driving end of the driving mechanism 51 is connected to the first transmission assembly 53. The first connecting assembly 52 is slidably arranged on the storage body 11. The door body 55 is partially fixed to the first transmission assembly 53 through the first connecting assembly 52. ​​The door body 55 is provided with a first track module 551 and a second track module 552. A third track module 5211 is provided on a connecting assembly 52, and a fourth track module 541 is provided on a supporting member 54. The first track module 551 cooperates with the third track module 5211, and the second track module 552 cooperates with the fourth track module 541. The door body 55 and the first connecting assembly 52 are first moved in a first direction along a predetermined track toward the first docking port 12 under the action of the driving mechanism 51 and the first transmission assembly 53. The door body 55 is then moved in a second direction along the predetermined track, thereby closing the first docking port 12. The first direction is parallel to the first docking port 12, and the second direction is perpendicular to the first docking port 12.

[0044] In one possible implementation, Figure 3 and Figure 4 As shown, the first connecting component 52, the first transmission component 53 and the support member 54 are respectively provided in two groups, and the two groups of the first connecting component 52, the first transmission component 53 and the support member 54 are respectively located on the left and right sides of the door body 55, and the first connecting component 52 and the support member 54 are located between the door body 55 and the first transmission component 53, and the support member 54 is arranged close to the door body 55.

[0045] In one possible implementation, Figure 3 As shown, the drive mechanism 51 includes a motor 511 (servo motor, stepper motor, etc.), a second transmission assembly and a rotating shaft 515. The second transmission assembly includes a second driving wheel 512, a second driven wheel 513 and a second transmission member 514. The driving end of the motor 511 is connected to the second driving wheel 512, the second driven wheel 513 is fixed on the rotating shaft 515, and the second transmission member 514 is sleeved between the second driving wheel 512 and the second driven wheel 513. Both ends of the rotating shaft 515 pass through the support member 54 and are rotatably disposed on the support member 54. The first transmission assembly 53 includes a first driving wheel 531, a first driven wheel 532, a first transmission member 533 and a mounting seat 534. The first driving wheel 531 is fixed to the end of the rotating shaft 515, the first driven wheel 532 is rotatably disposed on the mounting seat 534, the mounting seat 534 is fixed to the storage body 11, and the first transmission member 533 is sleeved between the first driving wheel 531 and the first driven wheel 532. The first transmission assembly 53 is symmetrically arranged on the left and right sides of the door body 55. To ensure that the driving mechanism 51 can evenly transmit the driving force to the first transmission assembly 53, the second driven wheel 513 is preferably fixed in the middle of the rotating shaft 515. Specifically, the motor 511 drives the rotating shaft 515 to rotate through the second transmission assembly. The rotating shaft 515 transmits power to the first transmission assembly 53 connected to its two ends. Under the action of the first connecting assembly 52, the rotating shaft 515 drives the door body 55 along the support member 54 away from the first docking port 12 or toward the first docking port 12, thereby realizing the opening and closing of the automatic door 5.

[0046] In one possible implementation, Figure 3 As shown, the first connecting assembly 52 includes a first connecting member 521 and a pressing member 522. The first connecting member 521 is slidably disposed on the storage body 11. The first connecting member 521 and the pressing member 522 are fixed so that the first transmission member 533 can be clamped and fixed between the first connecting member 521 and the pressing member 522. To ensure that the first connecting member 521 can slide in a direction parallel to the storage body 11, a slider 56 is provided at the bottom of the first connecting member 521. A slide rail 57 that cooperates with the slider 56 is provided on the storage body 11. The slider 56 is slidably disposed on the slide rail 57.

[0047] In one possible implementation, Figure 3-Figure 5As shown, the first track module 551 provided on the door body 55 is configured as a first roller, and the third track module 5211 provided on the first connecting member 521 is configured as a first track groove. The first roller cooperates with the first track groove. Two first rollers are provided on each of the left and right sides of the door body 55, respectively, distributed at the front and rear ends. Accordingly, the first track groove on each side of the first connecting member 521 is provided with two sections. The first track groove is inclined, and its inclination direction is upwardly inclined toward the direction of the first docking port 12. The first rollers distributed at the front and rear ends can respectively roll on the corresponding first track grooves. The second track module 552 provided on the door body 55 is configured as a second roller, and the third track module 5211 provided on the support member 54 is configured as a second track groove. The second roller cooperates with the second track groove. One second roller is provided on each of the left and right sides of the door body 55. Accordingly, the second track groove on each side of the support member 54 is provided with a section. The second track groove includes a connected horizontal section and an inclined section, and the inclined section is inclined downwardly away from the connection direction of the horizontal section.

[0048] Specifically, when the automatic door 5 is closed, the drive mechanism 51 drives the first transmission assembly 53, so that the first transmission member 533 in turn drives the first connecting member 521 and the door body 55 to move horizontally toward the first docking port 12. At this time, the first roller is at the top of the first track groove and abuts against the inner edge of the first track groove, and the second roller slides horizontally along the horizontal section of the second track groove. When the door body 55 moves to the top of the first docking port 12, the second roller slides downward along the inclined section of the second track groove. Since the first connecting member 521 is always in a horizontal sliding state, a downward force is applied to the door body 55. Accordingly, the first roller slides downward along the first track groove. At this time, the first roller slides to its bottom along the first track groove and abuts against the inner edge of the first track groove, thereby causing the door body 55 to press the first docking port 12 downward in a direction perpendicular to the first docking port 12, thereby closing the first docking port 12. When the automatic door 5 is opened, the above operation can be reversed. It should be noted that, for ease of understanding and description, the above-mentioned inclination direction of the first track groove and the inclination direction of the second track groove are based on Figure 3 Taking the direction shown in as an example, in actual application, the tilt direction will change accordingly with the installation position of the automatic door 5.

[0049] In the above structure, by setting up two sets of track modules to cooperate with each other, when the automatic door 5 is closed, the door body 55 can press the first docking interface 12 along the set track in a direction perpendicular to the first docking interface 12, so that the door body 55 and the storage body 11 are tightly fitted, with high sealing pressure and good sealing effect. When the automatic door 5 is opened, the door body 55 can move away from the first docking interface 12 along the set track in a direction perpendicular to the first docking interface 12, so that the door body 55 and the storage body 11 are separated, avoiding friction and noise between the door body 55 and the storage body 11 during movement, resulting in wear and affecting the sealing. In addition, the overall operating trajectory of the automatic door 5 is reasonable, the structure is simple, the operation is convenient, and the overall footprint is small.

[0050] like Figure 6-Figure 9 As shown, the storage unit further includes a transport mechanism 9, which is arranged between adjacent storage bins. The transport mechanism 9 is configured to be able to transfer the frozen boxes 8 between adjacent storage bins. For example, the transport mechanism 9 is configured as a transport platform. A freezing rack 7 and a gripping device 6 are provided in the storage bin. The freezing rack 7 is configured to be able to store the frozen boxes 8. The gripping device 6 includes a three-axis module, a rotation module, and a shovel assembly 611. The driving end of the three-axis module is connected to the shovel assembly 611 to be able to drive the shovel assembly 611 to move in the XYZ directions in the storage bin. The driving end of the rotation module is connected to the shovel assembly 611 to be able to drive the shovel assembly 611 to rotate horizontally in the storage bin, thereby enabling the shovel assembly 611 to realize the transfer operation of the frozen boxes 8 between the freezing rack 7 and the transport mechanism 9.

[0051] In one possible implementation, Figure 1 and Figure 6 As shown, when the frozen box 8 in the third storage warehouse 4 is transferred to the cache warehouse 1, the grasping device 6 of the third storage warehouse 4 is first controlled to place the frozen box 8 on the transmission mechanism 9 between the third storage warehouse 4 and the second storage warehouse 3, and then the grasping device 6 of the second storage warehouse 3 is controlled to place the frozen box 8 on the transmission mechanism 9 between the second storage warehouse 3 and the first storage warehouse 2, and finally the grasping device 6 of the first storage warehouse 2 is controlled to place the frozen box 8 on the first transmission track in the transmission channel, and the frozen box 8 is transferred to the cache warehouse 1 through the first transmission track.

[0052] It should be noted that, although the above description is made in conjunction with the transmission mechanism 9 being arranged between adjacent storage bins, this is not restrictive. When the gripping device 6 adopts a conventional three-axis module structure, since this structure does not occupy the bottom space of the storage bin, those skilled in the art can also set the transmission mechanism 9 through the entire storage unit. The transmission mechanism 9 is set as a second transmission track. The transmission mechanism 9 can directly transmit the frozen box 8 in any storage bin to the transmission channel, and transfer the frozen box 8 to the cache 1 through the transmission channel.

[0053] like Figure 7-Figure 9 As shown, the three-axis module includes a first connecting plate 61, a second connecting plate 62, a first linear drive mechanism 63, a second linear drive mechanism 64 and a third linear drive mechanism 65. The first linear drive mechanism 63 is fixedly arranged on the top of the storage library, and the first connecting plate 61 is slidably arranged on the top of the storage library. The driving end of the first linear drive mechanism 63 is connected to the first connecting plate 61 to drive the first connecting plate 61 to move along the X direction in the storage library. The second connecting plate 62 is slidably arranged at the bottom of the first connecting plate 61. The second linear drive mechanism 64 is fixedly arranged on the first connecting plate 61. The driving end of the second linear drive mechanism 64 is connected to the second connecting plate 62 to drive the second connecting plate 62 to move along the Y direction in the storage library. The third linear drive mechanism 65 is fixedly arranged on the second connecting plate 62. The driving end of the third linear drive mechanism 65 is connected to the shovel plate assembly 611 to drive the shovel plate assembly 611 to move along the Z direction in the storage library.

[0054] In some embodiments, the first linear drive mechanism 63 includes a first drive member 631, a first screw rod 632, and a first support seat 633. The first drive member 631 is fixedly mounted on the storage body 11 of the storage, and the driving end of the first drive member 631 is connected to one end of the first screw rod 632. The first support seat 633 is fixedly mounted on the first connecting plate 61. The first screw rod 632 passes through the first support seat 633 and is threadedly connected thereto. The other end of the first screw rod 632 is rotatably mounted on the storage body 11. The first drive member 631 drives the first screw rod 632 to rotate, thereby driving the first support seat 633 to move horizontally relative to the first screw rod 632, thereby driving the first connecting plate 61 to move along the X direction within the storage.

[0055] In some embodiments, the second linear drive mechanism 64 includes a second drive member 641, a second screw rod 642, a second support seat 643, and a connecting arm 644. The second drive member 641 and the second support seat 643 are fixedly mounted on the first connecting plate 61. The driving end of the second drive member 641 is connected to one end of the second screw rod 642, and the other end of the second screw rod 642 is rotatably mounted on the second support seat 643. The first connecting plate 61 is provided with a sliding hole. One end of the connecting arm 644 is threadedly connected to the second screw rod 642, and the other end of the connecting arm 644 passes through the sliding hole and is connected to the end of the second connecting plate 62. The second drive mechanism 51 drives the second screw rod 642 to rotate, thereby driving the connecting arm 644 to move horizontally relative to the second screw rod 642, thereby driving the second connecting plate 62 to move horizontally relative to the first connecting plate 61, thereby achieving movement of the second connecting plate 62 along the Y direction within the storage reservoir.

[0056] In some embodiments, the third linear drive mechanism 65 includes a third drive member 651, a third screw rod 652, and a third support base 653. The third drive member 651 is fixedly mounted on the second connecting plate 62. The driving end of the third drive member 651 is connected to one end of the third screw rod 652. The third screw rod 652 is vertically disposed and passes through the second connecting plate 62. The other end of the third screw rod 652 extends to the bottom of the storage body 11 and is rotatably connected thereto. The third support base 653 is threadedly connected to the third screw rod 652, and the shovel disc assembly 611 is connected to the third support base 653. The third drive member 651 drives the third screw rod 652 to rotate, thereby driving the third support base 653 to move vertically relative to the third screw rod 652, thereby driving the shovel disc assembly 611 to move along the Z direction within the storage body.

[0057] It should be noted that the specific structural forms of the first linear drive mechanism 63, the second linear drive mechanism 64, and the third linear drive mechanism 65 are not limited to the "drive member + lead screw" structure described above. Alternatively, structures such as "drive member + sprocket chain" or "drive member + rack and pinion" may be employed, and all such adjustments are within the scope of protection of the present invention. Furthermore, the aforementioned drive members may employ servo motors 511, stepper motors 511, or the like.

[0058] like Figure 7-Figure 9As shown, the rotary module includes a rotary drive member 66, a rotary transmission assembly 67, a rotary disk 68, a connecting rod 610, and a connecting member 69. The rotary drive member 66 is fixedly mounted on the second connecting plate 62. The driving end of the rotary drive member 66 is connected to the first end of the rotary transmission assembly 67. The second end of the rotary transmission assembly 67 is connected to the rotary disk 68. The rotary disk 68 is rotatably mounted on the bottom of the second connecting plate 62. The third screw rod 652 passes through and is rotatably connected to the rotary disk 68. Two connecting rods 610 are provided. The two connecting rods 610 are vertically arranged and fixed at eccentric positions of the rotary disk 68. The connecting member 69 includes a slide 691 and a third connecting plate 692. The slide 691 is slidably mounted on the connecting rod 610. The first end of the third connecting plate 692 is fixedly mounted on the slide 691. The second end of the third connecting plate 692 is rotatably mounted on the third support seat 653. The shovel assembly 611 is fixedly mounted on the second end of the third connecting plate 692. The rotary drive member 66 transmits power to the rotary disk 68 via the rotary transmission assembly 67, driving the rotary disk 68 to rotate relative to the second connecting plate 62 and the third screw rod 652. The rotary disk 68 then drives the connecting rod 610 to rotate. The connecting rod 610 drives the third connecting plate 692 to rotate relative to the third support seat 653, thereby driving the shovel assembly 611 to rotate relative to the third support seat 653, thereby achieving horizontal rotation of the shovel assembly 611 within the storage. When the third linear drive mechanism 65 drives the shovel assembly 611 to move in the Z direction within the storage, because the third connecting plate 692 is connected to the slide 691 and the third support seat 653 respectively, the third support seat 653 moves vertically relative to the third screw rod 652, and the slide 691 also moves vertically relative to the connecting rod 610.

[0059] In one possible embodiment, the rotary transmission assembly 67 includes a first gear 671 and a second gear 672 that are meshed with each other. The first gear 671 is rotatably disposed at the bottom of the second connecting plate 62. The first gear 671 is connected to the driving end of the rotary drive member 66, and the second gear 672 is fixedly disposed on the turntable 68. Of course, the specific structural form of the rotary transmission assembly 67 is not limited to the "gear + gear" structural form introduced above. For example, structures such as "sprocket + chain" and "conveyor belt + conveyor wheel" can also be used. The above adjustments are all within the scope of protection of the present invention. In addition, the rotary drive member 66 described above adopts a servo motor 511, a stepper motor 511, etc.

[0060] In the above structure, the gripping device 6 is capable of X, Y, and Z directional movement and horizontal rotation, providing multi-directional support and enhancing sample placement flexibility. It also accommodates both left and right, as well as upper and lower extreme positions, thereby expanding the storage range. Furthermore, the gripping device 6 centrally locates its power components at the top of the storage body 11, separating the power and storage areas. This reduces the impact of power component heat generation on stored samples, reduces space usage, and correspondingly increases storage capacity.

[0061] like Figure 6 As shown, two groups of freezing racks 7 are provided. The two groups of freezing racks 7 are respectively provided on the left and right sides of the grasping device 6 . The freezing racks 7 are provided with a plurality of storage locations arranged in a matrix.

[0062] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A sample low temperature storage device, characterized in that: The sample low-temperature storage device includes a cache library (1) and a storage unit that are independent of each other. The storage unit includes a plurality of storage libraries that are connected to each other. The cache library (1) is connected to the storage library located at the end and the freezing box (8) of the sample can be transferred between the two. The cache library (1) can select, scan and transport the freezing box (8) and / or the freezing tube in the freezing box (8). The storage library is used to store the freezing box (8).

2. The sample low temperature storage device according to claim 1, characterized in that: A transmission channel is provided between the cache library (1) and the storage library located at the end, the cache library (1) is provided with a first pair of interfaces (12) capable of communicating with the transmission channel, the storage library located at the end is provided with a second pair of interfaces capable of communicating with the transmission channel, and the first pair of interfaces (12) and / or the second pair of interfaces are provided with an automatic door (5) capable of controlling the connection and disconnection between the first pair of interfaces (12) and / or the second pair of interfaces and the transmission channel.

3. The sample low temperature storage device according to claim 2, characterized in that: The automatic door (5) comprises a driving mechanism (51), a first connecting assembly (52), a first transmission assembly (53), a support member (54) and a door body (55); the driving mechanism (51), the first transmission assembly (53) and the support member (54) are fixedly arranged on the cache (1) and / or the storage body (11); the driving end of the driving mechanism (51) is connected to the first transmission assembly (53); the first connecting assembly (52) is slidably arranged on the storage body (11); the door body (55) is partially fixed to the first transmission assembly (53) through the first connecting assembly (52); a first track module (551) and a second track module (552) are arranged on the door body (55); the first connecting assembly (52) is provided with a third track module (521); and the second track module (553) is provided on the door body (55). 11), a fourth track module (541) is provided on the first connecting component (52) of the support member (54), the first track module (551) cooperates with the third track module (5211), and the second track module (552) cooperates with the fourth track module (541), firstly, the door body (55) and the first connecting component (52) are moved in a first direction along the set track toward the first pairing interface (12) and / or the second pairing interface under the action of the driving mechanism (51) and the transmission component, and then the door body (55) is moved in a second direction along the set track, thereby causing the door body (55) to close the first pairing interface (12) and / or the second pairing interface, wherein the second direction is a direction perpendicular to the first pairing interface (12) and / or the second pairing interface.

4. The sample low temperature storage device according to claim 3, characterized in that: The first connecting component (52) includes a first connecting member (521) and a pressing member (522), the first connecting member (521) is slidably arranged on the storage body (11), the first connecting member (521) and the pressing member (522) are fixed so that part of the first transmission component (53) can be clamped and fixed between the first connecting member (521) and the pressing member (522), and the third track module (5211) is arranged on the first connecting member (521).

5. The sample low temperature storage device according to claim 1, characterized in that: The storage unit further comprises a transport mechanism (9), which is arranged in the storage bin and configured to be capable of carrying out a transport operation of the freezing boxes (8) between adjacent storage bins.

6. The sample low temperature storage device according to claim 5, characterized in that: A freezing rack (7) and a grabbing device (6) are provided in the storage bin. The freezing rack (7) is configured to store the freezing box (8). The grabbing device (6) includes a three-axis module and a shovel assembly (611). The driving end of the three-axis module is connected to the shovel assembly (611) so as to drive the shovel assembly (611) to move along the XYZ directions in the storage bin, thereby enabling the shovel assembly (611) to realize the transfer operation of the freezing box (8) between the freezing rack (7) and the transmission mechanism (9).

7. The sample low temperature storage device according to claim 6, characterized in that: The three-axis module comprises a first connecting plate (61), a second connecting plate (62), a first linear drive mechanism (63), a second linear drive mechanism (64) and a third linear drive mechanism (65), wherein the first linear drive mechanism (63) is fixedly arranged on the top of the storage, the first connecting plate (61) is slidably arranged on the top of the storage, the driving end of the first linear drive mechanism (63) is connected to the first connecting plate (61) to drive the first connecting plate (61) to move along the X direction in the storage, and the second connecting plate (62) is slidably arranged on the top of the storage. At the bottom of the first connecting plate (61), the second linear drive mechanism (64) is fixedly arranged on the first connecting plate (61), and the driving end of the second linear drive mechanism (64) is connected to the second connecting plate (62) to drive the second connecting plate (62) to move along the Y direction in the storage bin. The third linear drive mechanism (65) is fixedly arranged on the second connecting plate (62), and the driving end of the third linear drive mechanism (65) is connected to the shovel plate assembly (611) to drive the shovel plate assembly (611) to move along the Z direction in the storage bin.

8. The sample low temperature storage device according to claim 7, characterized in that: The gripping device (6) further comprises a rotating module, which is arranged on the second connecting plate (62), and a driving end of the rotating module is connected to the shovel disc assembly (611) so as to be able to drive the shovel disc assembly (611) to rotate horizontally in the storage bin.

9. The sample low temperature storage device according to claim 8, characterized in that: The rotary module comprises a rotary drive member (66), a rotary transmission assembly (67), a rotary disk (68), a connecting rod (610) and a connecting member (69); the rotary drive member (66) is fixedly arranged on the second connecting plate (62); the driving end of the rotary drive member (66) is connected to the first end of the rotary transmission assembly (67); the second end of the rotary transmission assembly (67) is connected to the rotary disk (68); and the rotary disk (68) is rotatably arranged on the second connecting plate (62). The bottom of the third linear drive mechanism (65) is provided with a driving end which passes through and is rotatably connected to the turntable (68). The connecting rod (610) is vertically fixed at an eccentric position of the turntable (68). The first end of the connecting member (69) is slidably provided on the connecting rod (610). The second end of the connecting member (69) is rotatably provided on the driving end of the third linear drive mechanism (65). The second end of the connecting member (69) is also connected to the shovel assembly (611).

10. The sample low temperature storage device according to claim 6, characterized in that: The freezing racks (7) are provided in two groups, and the two groups of freezing racks (7) are respectively provided on the left and right sides of the grabbing device (6). The freezing racks (7) are provided with a plurality of storage locations arranged in a matrix.

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