A stereoscopic cryotube automated storage and transfer system

Abstract

The application relates to the technical field of storage devices, in particular to a three-dimensional cryopreservation box automatic storage and transfer system, which comprises a vertical cabinet and a transportation track arranged in the vertical cabinet, a cryopreservation box is clamped on the top of the transportation track, a propelling piece is arranged in the vertical cabinet, a transfer plate is arranged on the outer side of the propelling piece, a driving part is arranged at the bottom of the transfer plate, a connecting piece and a movable plate are in transmission connection on the outer side of the driving part, a suction system is fixed at the top of the transfer plate, a threaded rod is in rotary connection with the inner side of the cryopreservation box, a positioning plate is connected with the outer side of the threaded rod, an auxiliary piece is in rotary connection with the inner side of the positioning plate, and a valve piece is fixed at the bottom of the positioning plate, so that the pollution and frosting problems caused by manual operation or mechanical arm operation are solved.

Description

Technical Field

[0001] This invention relates to the field of storage device technology, specifically to an automated storage and transfer system for three-dimensional cryopreservation boxes. Background Technology

[0002] The automated storage and transfer system for cryopreservation boxes comprises cryopreservation cabinets and robotic arms. Through the integration of intelligent technology and precision mechanical design, it significantly optimizes the biosample management process. The system utilizes automated robotic arms (such as pallet transfer devices and stacker cranes) to achieve rapid positioning and batch transfer of cryopreservation boxes, reducing retrieval time to tens of seconds and greatly improving operational efficiency. Combined with conveyors and sorting equipment, it supports high-throughput simultaneous sample processing. The fully automated operation avoids manual contact with the liquid nitrogen environment, eliminating the risks of frostbite, sample contamination, and repeated freeze-thaw cycles. The system is equipped with dual cooling (two-stage cascade cooling + liquid nitrogen backup) and an automatic dehumidification device, maintaining a constant temperature environment from -150℃ to -196℃. An emergency start function handles unforeseen circumstances. Based on RFID / QR code technology, the system automatically records the entire lifecycle data of samples from warehousing to disposal, achieving precise traceability. The intelligent inventory management function monitors sample status in real time and automatically generates inventory reports, improving efficiency by over 90% compared to manual methods. The multi-layer automated shelving design maximizes vertical space utilization, increasing storage capacity per unit area by 3-5 times. Automated operation and maintenance reduces reliance on human labor and lowers liquid nitrogen consumption, while being compatible with various consumable specifications and having the potential to be expanded to AI-driven management.

[0003] Chinese patent CN219651654U discloses a three-dimensional automatic cryopreservation box storage device, including a shell, a lifting component, a storage component, and a drive component. Through the cooperation of the control module, the lifting component, the storage component, and the drive component, any storage box can be aligned with the lifting plate. By utilizing the forward and reverse rotation of the first and second tracks, the cryopreservation boxes on the lifting plate can be driven to move into the storage box, or the cryopreservation boxes in the storage box can be driven to move onto the lifting plate. This allows researchers to simply pick up or store the cryopreservation boxes at the pick-up and drop-off port, which is simple and convenient. It solves the problems of difficulty in locating and positioning cryopreservation boxes, frostbite and suffocation, and repeated freeze-thaw cycles of cells when storing cryopreservation boxes.

[0004] Existing technologies mostly involve moving cryopreservation boxes using automated robotic arms or manual labor. When accessing the internal containers of cryopreservation boxes, the lack of effective sealing design (such as simple opening operations) allows external humid air to easily penetrate the box, causing frost to form on the surface of the cryopreservation tubes. Although automated robotic arms can transfer cryopreservation boxes, they lack local isolation measures for single-tube access operations. Manual intervention in tube picking further increases the risk of sample exposure. Moreover, if there is no rapid sealing mechanism after the cryopreservation box is transferred to the work area, moisture will continue to seep in. The temperature and humidity control of cryopreservation cabinets mainly targets the overall environment inside the cabinet (such as a -80℃ air-cooled system), but cannot effectively handle the microenvironmental humidity inside the cryopreservation boxes. When the cryopreservation box is repeatedly opened, the water vapor accumulated inside the box is difficult to be removed in time by the cabinet's dehumidification system. At the same time, existing technologies do not integrate active dehumidification modules for the inside of the cryopreservation boxes (such as built-in moisture-absorbing materials or local airflow circulation), causing moisture to remain inside the box for a long time, affecting the performance of the cryopreservation tube sealing ring and exacerbating the risk of sample storage.

[0005] Therefore, the present invention provides a three-dimensional automated storage and transfer system for cryopreservation boxes that can prevent external moisture from entering and dehumidify the inside of the cryopreservation box. Summary of the Invention

[0006] To address the problems in existing technologies, such as the lack of protective measures when storing and retrieving containers inside cryovials, which allows outside air and moisture to enter the cryovials, and the insufficient dehumidification capacity of existing cryovial cabinets, a three-dimensional automated storage and transfer system for cryovials is designed.

[0007] The technical solution adopted by this invention to solve its technical problem is: a three-dimensional automated storage and transfer system for cryopreservation boxes, including a vertical cabinet and a transport rail installed inside it. The top of the transport rail holds the cryopreservation box. A pushing component is installed inside the cabinet, and a transfer plate is installed on the outside of the pushing component. A driving unit is installed at the bottom of the transfer plate, and a connecting component and a movable plate are connected to the outside of the driving unit. A suction system is fixed at the top of the transfer plate. A threaded rod is rotatably connected to the inside of the cryopreservation box, and a positioning plate is connected to the outside of the threaded rod. An auxiliary component is rotatably connected to the inside of the positioning plate, and a valve is fixed at the bottom of the positioning plate. The moving part includes a servo motor fixed to the bottom of the transfer plate and a clutch rod that slides and engages with the output end of the servo motor. The clutch rod, in conjunction with a telescopic rod fixed to its top, can change the power transmission object of the servo motor, allowing the servo motor to transfer the cryopreservation box via the movable plate or to move the positioning plate and change the position of the auxiliary component via the connecting parts and threaded rod. The positioning plate, in conjunction with the suction system, can remove moisture from the inside of the cryopreservation box, in conjunction with the auxiliary component, can remove moisture from the outside of the cryopreservation tube, and in conjunction with the drive part, can form an air curtain after the cryopreservation box is opened to prevent moisture from directly contacting the glass part of the cryopreservation tube.

[0008] Furthermore, a partition is fixed to the bottom of the transport rail, and a main motor is connected to the inner side of the transport rail via a drive shaft. A base plate is fixed to the top of the transport rail, and a base is slidably connected to the inner side of the base plate. A clamping plate is slidably engaged with the inner side of the base plate. A spring is fixed to one side of the clamping plate, and the other end of the spring is fixedly connected to the base. Springs are fixed to the inside of both sides of the base plate, and clamping plates are fixed to the other ends of the springs. The cryogenic storage box is located inside the clamping plate, and the side of the base closest to the vertical cabinet is in contact with the clamping plate.

[0009] Furthermore, the cryopreservation box includes a lid and a body. The body is located inside the clamping plate, and a threaded rod is rotatably connected to the inside of the body. The lid is detachably connected to the top of the body. A fixed rod is fixed to the bottom of the top wall of the lid, and a spring is fixed to the top of the top wall of the lid. The spring is located outside the fixed rod, and a sliding rod is fixed to the bottom of the spring. The sliding rod is slidably connected to the outside of the fixed rod, and a circular plate is fixed to the top of the sliding rod. A side plate is slidably engaged at the bottom of the top wall of the lid, and a locking rod is fixed to the outside of the sliding rod. The other end of the locking rod is slidably engaged to the inside of the side plate.

[0010] Furthermore, the propulsion component can raise or lower the height of the transfer plate, and it is configured as a combination of a motor and a lead screw or other device capable of providing vertical force.

[0011] Furthermore, the bevel gear set includes two meshing bevel gears.

[0012] Furthermore, the drive unit also includes a bracket, which is fixed to the bottom of the transfer plate. A servo motor is fixed to the bottom of the bracket, and a transmission component is rotatably connected to the bottom of the bracket. This component is configured as a combination of two pinions, a double gear, and two belts, or other devices capable of power transmission. A connector is fixed to the inside of the transmission component. One of the bevel gears is rotatably connected to the top of the bottom wall of the bracket. A threaded rod is rotatably connected to the bottom of the transfer plate. A movable plate is connected to the outside of the threaded rod through the threaded rod. Another bevel gear is fixed to the end of the threaded rod near the bracket.

[0013] Furthermore, a pipe is fixed to one side of the suction system.

[0014] Furthermore, the positioning plate has a main passage and a secondary passage inside, and the main passage and the secondary passage are connected. The inner side of the secondary passage has an air hole, and a water-locking component is fixed to the inner side of the positioning plate and the bottom of the main passage of the valve component.

[0015] Furthermore, the valve component includes a valve tube and a valve core. The valve tube is fixed to the bottom of the positioning plate, and a valve body is fixed to the bottom of the valve tube. A spring four is fixed to the inner side of the valve body, and the valve core is fixed to the other end of the spring four. The axis of the valve core is the same as the axis of the pipeline.

[0016] Furthermore, the auxiliary component includes two sets of connecting rods, each set of connecting rods being rotatably connected to the inner side of the positioning plate. A ring spring is fixed to the inner side of the same set of connecting rods. Support rods are fixed to the top and bottom of the positioning plate. An auxiliary plate is slidably engaged with the inner side of the connecting rods, and the auxiliary plate is slidably connected to the inner side of the support rods.

[0017] The beneficial effects of this invention are:

[0018] (1) The three-dimensional cryopreservation box automated storage and transfer system described in this invention adopts the design of a positioning plate and a suction system. The gas in the pre-cooling zone forms a closed air curtain inside the holes of the positioning plate, which effectively isolates the intrusion of external air and prevents sample contamination and water vapor from entering. With the help of the driving part and the auxiliary part, the positioning plate and the auxiliary plate move back and forth to disturb the airflow. The suction system quickly discharges the water-extracted gas, and the water-locking component efficiently adsorbs it, avoiding blockage of the gas channel or icing on the surface of the cryopreservation tube, reducing the risk of ice crystal formation. The application of air curtain anti-contamination and moisture control technology in the automated operation of the cryopreservation box not only solves the problems of contamination and frost caused by traditional manual operation, but also realizes precise environmental control and efficient sample management through intelligent means. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0022] Figure 3 This is a schematic diagram of the cross-sectional structure of the present invention;

[0023] Figure 4 This is a cross-sectional structural diagram of the present invention;

[0024] Figure 5 This is a three-dimensional structural diagram of the transport track of the present invention;

[0025] Figure 6 This is a three-dimensional structural diagram of the base plate of the present invention;

[0026] Figure 7 This is a three-dimensional structural diagram of the base of the present invention;

[0027] Figure 8 This is a cross-sectional schematic diagram of the base plate of the present invention;

[0028] Figure 9 This is a three-dimensional structural diagram of the cryopreservation box of the present invention;

[0029] Figure 10This is a cross-sectional structural diagram of the drive unit of the present invention;

[0030] Figure 11 for Figure 10 Enlarged view of point A;

[0031] Figure 12 for Figure 10 Enlarged view of point B;

[0032] Figure 13 This is a three-dimensional structural diagram of the drive unit of the present invention. Figure 1 ;

[0033] Figure 14 This is a three-dimensional structural diagram of the drive unit of the present invention. Figure 2 ;

[0034] Figure 15 This is a three-dimensional structural diagram of the box body of the present invention;

[0035] Figure 16 This is a three-dimensional structural diagram of the positioning plate of the present invention;

[0036] Figure 17 This is a cross-sectional schematic diagram of the positioning plate of the present invention;

[0037] Figure 18 This is a three-dimensional structural diagram of the side plate of the present invention;

[0038] Figure 19 This is a three-dimensional structural diagram of the auxiliary component of the present invention;

[0039] Figure 20 This is a three-dimensional structural diagram of the propulsion component of the present invention;

[0040] Figure 21 This is a schematic cross-sectional view of the transfer plate of the present invention. Figure 1 ;

[0041] Figure 22 This is a schematic cross-sectional view of the transfer plate of the present invention. Figure 2 .

[0042] In the diagram: 1. Vertical cabinet; 2. Transport rail; 21. Main motor; 22. Partition; 23. Base plate; 24. Base; 25. Clamping plate; 26. Pallet; 3. Freezer box; 31. Box cover; 311. Fixed rod; 312. Slide rod; 313. Side plate; 314. Circular plate; 315. Pallet; 32. Box body; 4. Pushing component; 5. Transfer plate; 6. Drive unit; 61. Bracket; 62. Telescopic rod; 63. Servo motor; 64. Bevel gear set; 65. Screw 67. Clutch lever; 68. Transmission component; 7. Connecting component; 8. Movable plate; 9. Suction system; 91. Pipeline; 11. Lead screw; 12. Positioning plate; 121. Main passage; 122. Shrinkage component; 123. Secondary passage; 124. Air hole; 13. Auxiliary component; 131. Connecting rod; 132. Ring spring; 133. Auxiliary plate; 134. Support rod; 135. Ball; 14. Valve component; 141. Valve body; 142. Valve core; 143. Valve pipe. Detailed Implementation

[0043] To make the technical means, technical features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0044] Example: Figures 1-22As shown, the automated storage and transfer system for three-dimensional cryopreservation boxes of the present invention includes a vertical cabinet 1 and a transport rail 2 disposed inside it. The top of the transport rail 2 holds a cryopreservation box 3. A pusher 4 is disposed inside the cabinet, and a transfer plate 5 is disposed outside the pusher 4. A drive unit 6 is disposed at the bottom of the transfer plate 5. A connecting piece 7 and a movable plate 8 are connected to the outside of the drive unit 6. A suction system 9 is fixed at the top of the transfer plate 5. The suction system 9 is a combination of two air compression pumps, one for extracting gas from the inside of the cryopreservation box 3 and the other for compressing gas and introducing it into the inside of the cryopreservation box 3. A threaded rod 65 is rotatably connected to the inside of the cryopreservation box 3. A positioning plate 12 is connected to the outside of the threaded rod 65. An auxiliary piece 13 is rotatably connected to the inside of the positioning plate 12. A valve piece 14 is fixed at the bottom of the positioning plate 12. The drive unit 6 includes a servo motor 63 fixed to the bottom of the transfer plate 5 and a servo motor 63 slidably engaged with the servo motor 64. The clutch lever 67 at the output end of the motor 63, in conjunction with the cylinder fixed to its top, can change the power transmission object of the servo motor 63, so that the servo motor 63 can transfer the cryopreservation box 3 through the movable plate 8 or move the positioning plate 12 to change the position of the auxiliary component 13 through the connecting piece 7 and the threaded rod 65. The positioning plate 12, in conjunction with the suction system 9, can extract water vapor from the inside of the cryopreservation box 3, in conjunction with the auxiliary component 13, can extract water vapor from the outside of the cryopreservation tube, and in conjunction with the drive unit 6, can form an air curtain after the cryopreservation box 3 is opened to prevent water vapor from directly contacting the glass part of the cryopreservation tube. Each area where the transport rail 2 and the transfer plate 5 are located is equipped with an independent temperature control module (such as liquid nitrogen spray cooling, electric heating compensation), and the temperature range is separated by the partition 22 to reduce cross thermal interference. Nitrogen nozzles are integrated in the track movement path to continuously inject high-purity dry nitrogen to form a positive pressure airflow to prevent external moisture from seeping in.

[0045] In this embodiment, the operator controls the telescopic rod 62 to retract, and the telescopic rod 62 drives the clutch rod 67 to move towards the side closer to the transfer plate 5, releasing the engagement between the output end of the servo motor 63 and the bevel gear set 64 and making the output end of the servo motor 63 engage with the transmission component 68, starting the servo motor 63, and the servo motor 63 drives the two lead screws 11 to rotate through the transmission component 68, causing the positioning plate 12 to reciprocate along the inner wall of the cryopreservation box 3. When the positioning plate 12 moves to the top, the servo motor 63 is turned off.

[0046] The staff opens one of the solenoid valves inside the pipe 91, controlling the suction system 9 to deliver the gas from the pre-cooling zone of the vertical cabinet 1 to the main passage 121 through the pipe and valve 14. The gas from the pre-cooling zone is then ejected through the vent 124 after passing through the auxiliary passage 123, forming an air curtain inside the hole of the positioning plate 12. This prevents outside air from entering the inside of the cryogenic chamber 3 after the cover 31 is opened, and the cryogenic chamber 3 is then sealed and closed.

[0047] Specifically, a partition 22 is fixed to the bottom of the transport rail 2. A main motor 21 is connected to the inner side of the transport rail 2 via a drive shaft. A base plate 23 is fixed to the top of the transport rail 2. A base 24 is slidably connected to the inner side of the base plate 23. A clamping plate 25 is slidably engaged with the inner side of the base 24. A spring 1 is fixed to one side of the clamping plate 25, and the other end of the spring 1 is fixedly connected to the base 24. Springs 22 are fixed inside both sides of the base plate 23, and a clamping plate 26 is fixed to the other end of the springs 22. The cryogenic box 3 is located inside the clamping plate 25. The side of the base 24 closest to the vertical cabinet 1 is in contact with the clamping plate 26. The cryogenic box 3 includes a lid 31. The box body 32 is located inside the clamping plate 25. The threaded rod 65 is rotatably connected to the inside of the box body 32. The box cover 31 is detachably connected to the top of the box body 32. A fixed rod 311 is fixed to the bottom of the top wall of the box cover 31. A spring 3 is fixed to the top of the top wall of the box cover 31. The spring 3 is located outside the fixed rod 311. A sliding rod 312 is fixed to the bottom of the spring 3. The sliding rod 312 is slidably connected to the outside of the fixed rod 311. A circular plate 314 is fixed to the top of the sliding rod 312. A side plate 313 is slidably engaged with the bottom of the top wall of the box cover 31. A locking rod 315 is fixed to the outside of the sliding rod 312. The other end of the locking rod 315 is slidably engaged with the inside of the side plate 313.

[0048] In this embodiment, the operator pulls the handle on the top of the lid 31, causing the lid 31 to press the semi-circular plate 314 into the side wall of the box body 32, thus separating the lid 31 from the box body 32. During this process, the spring pushes the slide rod 312 away from the lid 31, and the slide rod 312 drives the three side plates 313 away from each other through the locking rod 315. Then, the operator aligns the axis of the cryopreservation tube containing the material with the axis of the three auxiliary plates 133 of the same auxiliary component 13 and moves it towards the bottom of the box body 32. The cryopreservation tube pushes the three auxiliary plates 133 away from their axis. When the top of the cryopreservation tube's cap is aligned with the top of the box body 32 and... After the bottom of the cryopreservation tube is located at the bottom of the two sets of auxiliary plates 133, the two sets of auxiliary plates 133 clamp the cryopreservation tube under the contraction force of the ring spring 132. The staff put the box cover 31 back to its original position according to the actual situation. During this process, the cryopreservation tube pushes the slide rod 312 to squeeze the spring and move towards the side of the box cover 31 under the action of the auxiliary plate 133. The slide rod 312 drives the locking rod 315 to move so that the side plate 313 is close to the cryopreservation tube. When the box cover 31 is returned to its original position, the top of the bottom wall of the side plate 313 contacts the bottom of the cryopreservation tube cap and does not contact the glass part of the cryopreservation tube body, thus completing the boxing of the cryopreservation tube.

[0049] Specifically, a partition plate 22 is fixed to the bottom of the transport rail 2, and a main motor 21 is connected to the inner side of the transport rail 2 via a drive shaft. A base plate 23 is fixed to the top of the transport rail 2, and a base 24 is slidably connected to the inner side of the base plate 23. A clamping plate 25 is slidably engaged with the inner side of the base 24. A spring 1 is fixed to one side of the clamping plate 25, and the other end of the spring 1 is fixedly connected to the base 24. A second spring is fixed inside both sides of the base plate 23, and a clamping plate 26 is fixed to the other end of the spring 2. The cryogenic box 3 is located inside the clamping plate 25, and the side of the base 24 closest to the vertical cabinet 1 is in contact with the clamping plate 26.

[0050] In this embodiment, the main motor 21 can drive the annular guide rail to rotate, thereby moving the base plate 23 and the base 24.

[0051] Specifically, the propulsion component 4 can raise or lower the height of the transfer plate 5, and it is configured as a combination of a motor and a lead screw or other device capable of providing vertical force.

[0052] In this embodiment, the operator uses the controller to operate the pusher 4, moving the transfer plate 5 to the side closer to the top of the vertical cabinet 1, while simultaneously controlling the electric door of the vertical cabinet 1 to open. When the transfer plate 5 contacts the bottom of the electric door, the cryogenic box 3 is moved out of the vertical cabinet 1, and the pusher 4 is controlled to stop working.

[0053] After suction is completed, the suction system 9 is turned off. The propulsion component 4 is controlled to move the transfer plate 5 to the electric door corresponding to the required temperature freezing zone (the space where each transport rail 2 is located). Then, the telescopic rod 62 is controlled to engage the output end of the servo motor 63 with the bevel gear set 64, so that the servo motor 63 rotates forward to move the base plate into the inside of the base plate 23. The pneumatic valve is controlled to reverse to release the engagement between the movable plate 8 and the base plate. The servo motor 63 is controlled to reverse to restore the movable plate 8 to its original position. Then, the electric door is closed to avoid the material being affected by water vapor freezing.

[0054] Specifically, the drive unit 6 also includes a bracket 61, which is fixed to the bottom of the transfer plate 5. A servo motor 63 is fixed to the bottom of the bracket 61. A transmission component 68 is rotatably connected to the bottom of the bracket 61. The transmission component 68 is configured as a combination of two pinions, a double gear, and two belts, or other devices that can transmit power. A connector 7 is fixed to the inside of the transmission component 68. One of the bevel gears is rotatably connected to the top of the bottom wall of the bracket 61. A threaded rod 65 is rotatably connected to the bottom of the transfer plate 5. A movable plate 8 is connected to the outside of the threaded rod 65. Another bevel gear is fixed to one end of the threaded rod 65 near the bracket 61.

[0055] In this embodiment, the operator controls the extension of the telescopic rod 62 and simultaneously controls the opening of the electric door of the corresponding temperature layer of the vertical cabinet 1. The telescopic rod 62 drives the clutch rod 67 to move towards the side closer to the bottom of the bracket 61, so that the output end of the servo motor 63 engages with the bevel gear set 64. The servo motor 63 rotates forward, and the output of the servo motor 63 drives the threaded rod 65 to rotate forward through the clutch rod 67 and the bevel gear set 64. The threaded rod 65 drives the movable plate 8 to move towards the side closer to the base 24. When the movable plate 8 contacts the clamping plate 26, it squeezes the clamping plate 26 and moves it into the inner side of the base plate 23, causing the spring 2 to be compressed. When the side of the movable plate 8 close to the base plate 23 contacts the base 24, the operator controls the pneumatic valve inside the movable plate 8 to rotate, so that the base 24 and the movable plate 8 engage. Then, the operator controls the servo motor 63 to rotate in reverse, so that the threaded rod 65 rotates in reverse and drives the movable plate 8 back to its original position. The movable plate 8 drives the base 24 and the cryogenic box 3 on top of it to the top of the transfer plate 5 through the pneumatic valve, closing the electric door of that temperature layer.

[0056] Specifically, a pipe 91 is fixed on one side of the suction system 9. A main passage 121 is opened inside the positioning plate 12, and a secondary passage 123 is opened inside the positioning plate 12. The main passage 121 and the secondary passage 123 are connected. An air hole 124 is opened on the inner side of the secondary passage 123. The angle of the air hole 124 can be determined according to the actual situation. A water-locking component is fixed on the inner side of the positioning plate 12. The water-locking component is set as a filter structure made of molecular sieve (zeolite), thermally responsive hydrogel or metal-organic framework (MOFs). It can efficiently adsorb water molecules in the air, but it cannot effectively release water by relying on 0°C or sub-zero temperature alone. Additional energy (such as heating) is required to trigger the desorption process. The valve component 14 is located at the bottom of the main passage 121.

[0057] In this embodiment, the operator controls the propulsion component 4 to reverse and move the cryopreservation box 3 back to the pre-cooling area of ​​the vertical cabinet 1 (the space where the transfer plate 5 is located inside the vertical cabinet 1). At the same time, the operator closes the electric door of the vertical cabinet 1 and opens the servo motor 63 to move the positioning plate 12. The positioning plate 12 drives the auxiliary plate 133 to move. Due to the effect of the sphere 135, the auxiliary plate 133 has a small contact area and low friction with the cryopreservation tube. By controlling the suction system 9 to suck the air inside the cryopreservation box 3, the water that has been released from the cryopreservation tube due to the decrease in ambient temperature is separated from the cryopreservation tube. When the water moves to the inside of the water-locking component, it is absorbed by the water-locking component, avoiding blockage of the gas channel. In this process, the absence of fixed contact points greatly reduces the number of crystallization points and can dehumidify the cryopreservation tube itself.

[0058] Specifically, the valve component 14 includes a valve tube 143 and a valve core 142. The valve tube 143 is fixed to the bottom of the positioning plate 12. A valve body 141 is fixed to the bottom of the valve tube 143. A spring four is fixed to the inner side of the valve body 141. The valve core 142 is fixed to the other end of the spring four. The axis of the valve core 142 is the same as the axis of the pipeline 91.

[0059] In this embodiment, during the process of the cryopreservation box 3 moving to the top of the transfer plate 5, after the box body 32 contacts the connector 7, the cross cone plate is compressed and the spring fixed at its bottom moves into the inner side of the transfer plate 5. Finally, when the lead screw 11 is aligned with the cross cone plate, the cross cone plate moves to the inside of the bottom end of the lead screw 11, so that the cross cone plate and the threaded rod 65 are engaged. The pipeline pushes the valve core 142 to move, and the valve core 142 compresses the spring, so that the valve pipe 143 and the pipeline are connected.

[0060] Specifically, the auxiliary component 13 includes two sets of connecting rods 131. Each set of connecting rods 131 is rotatably connected to the inner side of the positioning plate 12. A ring spring 132 is fixed to the inner side of the same set of connecting rods 131. Support rods 134 are fixed to the top and bottom of the positioning plate 12. An auxiliary plate 133 is slidably engaged with the inner side of the connecting rods 131. The auxiliary plate 133 is slidably connected to the inner side of the support rods 134.

[0061] In this embodiment, the staff can select the ring spring 132 according to the actual situation, so that the auxiliary component 13 moves downward without pulling the cryopreservation tube.

[0062] Working principle: Initial state as follows Figures 1-22As shown, the operator controls the extension rod 62 to extend and simultaneously controls the electric door of the corresponding temperature layer of the vertical cabinet 1 to open. The operator controls the servo motor 63 to move the base 24 and the cryogenic chamber 3 on top of it to the top of the transfer plate 5, and then closes the electric door of that temperature layer. The operator controls the pusher 4 to move the transfer plate 5 towards the side closer to the top of the vertical cabinet 1, simultaneously controlling the electric door of the vertical cabinet 1 to open and move the cryogenic chamber 3 out of the vertical cabinet 1. The operator controls the extension rod 62 to retract, starts the servo motor 63 to move the positioning plate 12 to the top, and then closes the servo motor 63. The operator controls the suction system 9 to spray gas from the pre-cooling zone of the vertical cabinet 1 through the air vents 124, forming an air curtain inside the holes of the positioning plate 12 to prevent outside air from entering the inside of the cryogenic chamber 3 after the lid 31 is opened. After the cryogenic chamber 3 is closed, the operator pulls the handle on the top of the lid 31 to separate the lid 31 from the cabinet body 32. The cryopreservation tubes containing materials are moved towards the bottom of the box 32. The two sets of auxiliary plates 133 clamp the cryopreservation tubes under the contraction force of the ring spring 132. The staff puts the box cover 31 back to its original position according to the actual situation, completing the packing of the cryopreservation tubes. Then, the staff controls the pusher 4 to reverse and move the cryopreservation box 3 back to the pre-cooling area of ​​the vertical cabinet 1. While closing the electric door of the vertical cabinet 1, the staff opens the servo motor 63 to move the positioning plate 12. The positioning plate 12 drives the auxiliary plate 133 to move. The staff controls the suction system 9 to evacuate the air inside the cryopreservation box 3. After the suction is completed, the staff closes the suction system 9 and controls the pusher 4 to move the transfer plate 5 to the electric door corresponding to the required temperature freezing area. Then, the staff controls the telescopic rod 62 to engage the servo motor 63 and the bevel gear set 64, so that the servo motor 63 rotates forward and moves the base plate into the inside of the bottom plate 23. The staff controls the pneumatic valve to reverse and controls the servo motor 63 to reverse, so that the movable plate 8 returns to its original position.

[0063] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vertical automated storage and transfer system for cryogenic storage boxes, comprising a vertical cabinet and a transport track arranged inside it, characterized in that: The top of the transport track clamps the cryopreservation box, the inside of the cabinet is provided with a propelling piece, the outside of the propelling piece is provided with a transfer plate, the bottom of the transfer plate is provided with a driving part, the outside of the driving part is drivingly connected with a connecting piece and a movable plate, the top of the transfer plate is fixed with a suction system, one side of the suction system is fixed with a pipeline, the inside of the cryopreservation box is rotatably connected with a lead screw, the outside of the lead screw is connected with a positioning plate, the inside of the positioning plate is rotatably connected with an auxiliary piece, the bottom of the positioning plate is fixed with a valve piece, the valve piece comprises a valve pipe and a valve core, the valve pipe is fixed to the bottom of the positioning plate, the bottom of the valve pipe is fixed with a valve body, the inside of the valve body is fixed with a spring four, the bottom of the transport track is fixed with a partition plate, the inside of the transport track is connected with a main motor through a transmission shaft, the bottom of the transport track is fixed with a partition plate, the top of the transport track is fixed with a bottom plate, the inside of the bottom plate is slidingly connected with a base, the inside of the base is slidingly connected with a clamping plate, one side of the clamping plate is fixed with a spring one, the cryopreservation box is located inside the clamping plate, the inside of the positioning plate is provided with a main passage, the inside of the positioning plate is provided with a secondary passage, the inside of the secondary passage is provided with an air hole, the valve core is fixed to the other end of the spring four, the shaft center of the valve core is same as the shaft center of the pipeline, the inside of the positioning plate is fixed with a water locking piece. The driving part comprises a servo motor fixed to the bottom of the transfer plate and a clutch rod slidingly connected to the output end of the servo motor, the clutch rod cooperates with the telescopic rod fixed to the top of the clutch rod to change the power transmission object of the servo motor, so that the servo motor transfers the cryopreservation box through the movable plate or moves the positioning plate through the connecting piece and the lead screw to change the position of the auxiliary piece. The positioning plate can separate the water vapor inside the cryopreservation box through cooperation with the suction system, separate the water vapor outside the cryopreservation tube through cooperation with the auxiliary piece, and form an air curtain to resist the water vapor from directly contacting the glass part of the cryopreservation tube after the cryopreservation box is opened through cooperation with the driving part. The auxiliary piece comprises two groups of connecting rods, each group of connecting rods is rotatably connected to the inside of the positioning plate, the inside of the connecting rods of the same group is fixed with an annular spring, the top and bottom of the positioning plate are fixed with support rods, the inside of the connecting rods is slidingly connected with auxiliary plates, and the auxiliary plates are slidingly connected to the inside of the support rods.

2. A system for automated storage and transfer of multi-well freezing boxes according to claim 1, wherein: The other end of the spring one is fixedly connected with the base, the side of the base close to the vertical cabinet is attached to the clamping plate, the inside of the two sides of the bottom plate is fixed with a spring two, and the other end of the spring two is fixed with a clamping plate.

3. A system for automated storage and transfer of multi-well freezing boxes according to claim 2, wherein: The cryopreservation box comprises a box cover and a box body, the box body is located inside the clamping plate, the lead screw is rotatably connected to the inside of the box body, the box cover is detachably connected to the top of the box body, the top wall of the box cover is fixed with a positioning rod at the bottom, the top wall of the box cover is fixed with a spring three at the top, the spring three is located outside the positioning rod, the bottom of the spring three is fixed with a sliding rod, the sliding rod is slidingly connected to the outside of the positioning rod, the top of the sliding rod is fixed with a circular plate, the top wall of the box cover is slidingly connected with a side plate at the bottom, the outside of the sliding rod is fixed with a clamping rod, and the other end of the clamping rod is slidingly connected to the inside of the side plate.

4. The automated storage and retrieval system of multi-level solid-state cryogenic storage boxes according to claim 1, wherein: The propelling piece can raise or lower the height of the transfer plate, which is provided with a combination of a motor and a lead screw or other devices that can provide vertical force.

5. A system for automated storage and transfer of multi-well freezing boxes according to claim 4, wherein: The driving part further comprises a support fixed to the bottom of the transfer plate, a servo motor fixed to the bottom of the support, a transmission member rotatably connected to the bottom of the support, a connecting member fixed to the inner side of the transmission member, one bevel gear rotatably connected to the top of the bottom wall of the support, a threaded rod rotatably connected to the bottom of the transfer plate, a movable plate threadedly connected to the outer side of the threaded rod, and another bevel gear fixed to one end of the threaded rod close to the support.

6. A system for automated storage and transfer of multi-level storage boxes according to claim 5, wherein: The transmission member is in the form of a combination of two pinions, a double gear and two rulers, or other devices capable of transmitting power.

7. A three-dimensional automated storage and retrieval system of cryogenic storage boxes according to claim 1, characterized in that: The main passage and the auxiliary passage are in communication, and the valve member is installed at the bottom of the main passage.

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