Multi-channel automatic deep hypothermia biological sample storage device and system

Abstract

The invention relates to the technical field of biological sample deep hypothermia automatic storage, in particular to a multi-channel automatic deep hypothermia biological sample storage device and system which comprises a liquid nitrogen tank, a rotating cage assembly, a lifting mechanism and an air curtain protection device. The liquid nitrogen tank adopts an inclined opening design, and the rotating cage is controlled by a driving system to rotate, so that the lifting basket reaches a target station. The lifting mechanism is provided with double lifting towers which correspond to independent access windows respectively, and double-channel synchronous lifting is achieved through a motor lifting module. The air curtain protection device gasifies nitrogen through liquid nitrogen to form an air curtain barrier covering the window. The control device receives an instruction through the data acquisition module, the processing module analyzes the instruction to generate a control signal, and the execution module adopts a PLC controller to synchronously operate the driving system and the lifting mechanism, so that sequential coupling of rotation of the rotating cage and lifting of the lifting basket is realized. According to the system, through a spatially isolated dual-channel architecture and a parallel control algorithm, the biological sample in-out warehouse efficiency is remarkably improved, and meanwhile, the stability of a deep hypothermia environment is maintained.

Description

Technical Field

[0001] This invention relates to the field of automated cryogenic storage technology for biological samples, and in particular to a multi-channel automated cryogenic biological sample storage device and system. Background Technology

[0002] Cryogenic storage equipment is a device specifically designed for preserving biological samples under ultra-low temperature conditions. Its working principle relies on a refrigerant such as liquid nitrogen to maintain a stable internal environment within an extremely low temperature range, thereby effectively slowing down the biochemical degradation process of the sample by reducing the rate of molecular motion. The entry and exit operations reduce heat intrusion and maintain storage consistency by optimizing insulation design and temperature monitoring methods.

[0003] Existing cryogenic storage systems suffer from the following technical challenges: The single-channel serial operation mode creates a significant efficiency bottleneck in high-frequency storage scenarios within large biobanks. When an operator performs an outbound task, the inbound task must wait for the current operation to complete, resulting in low equipment utilization. For instance, in emergency clinical diagnosis or large-scale research sample screening, the single-channel design cannot support parallel multitasking; sample retrieval and archiving operations block each other, leaving personnel and equipment waiting, directly extending sample turnaround time and impacting research progress and clinical response speed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a multi-channel automated cryogenic biological sample storage device and system, solving the technical problem of low biological sample processing efficiency caused by the existing single-channel inlet / outlet design.

[0005] To solve the above-mentioned technical problems, the specific contents of the present invention are as follows: In a first aspect, the present invention provides a multi-channel automated cryogenic biological sample storage device and system, comprising an equipment device and a control device; the equipment device and the control device establish a communication connection; the equipment device includes a liquid nitrogen tank, a rotating cage assembly, a lifting mechanism, and an air curtain protection device. The liquid nitrogen tank is supported on the foundation by an outer shell. The liquid nitrogen tank includes an outer shell and a tank opening, which is located at an off-center position of the liquid nitrogen tank. The rotating cage assembly is fixedly installed at the center of the liquid nitrogen tank, and includes a rotating cage and multiple baskets. The baskets contain a rack for supporting cryopreservation boxes. The center of the rotating cage is connected to a drive system via a rotating shaft. The drive system includes a motor and a reducer. The motor is connected to the rotating shaft via the reducer. The drive system controls the rotation of the rotating cage through the rotating shaft so that the baskets reach the target workstation. The lifting mechanism is installed above the tank opening and includes two lifting towers. The two lifting towers are respectively located behind the first access window and the second access window. The first lifting tower corresponds to the first access window, and the second lifting tower corresponds to the second access window. The first lifting tower is equipped with a first motor lifting module, and the second lifting tower is equipped with a second motor lifting module. The first motor lifting module is connected to the lifting hook of the corresponding basket through a first chain, and the second motor lifting module is connected to the lifting hook of the corresponding basket through a second chain, so as to realize independent lifting of the two channels. The air curtain protection device is installed around the access window by a fixed frame and includes a gas guide pipe and an air curtain pipe. The lower end of the gas guide pipe extends into the liquid nitrogen in the liquid nitrogen tank, and the upper end is connected to the air curtain pipe through a T-junction. The air curtain pipe is arranged around the access window and is provided with ventilation holes to form an air curtain barrier at the access window. The control device is installed on the side of the liquid nitrogen tank via an electrical cabinet and includes a data acquisition module, a processing module, and an execution module. The data acquisition module is connected to a display via a signal line and is used to receive inbound and outbound instructions. The processing module is connected to the data acquisition module via a control bus and is used to parse the instructions and generate control signals. The execution module is implemented through a PLC controller and is connected to the processing module via a control cable. It is used to operate the drive system and the lifting mechanism according to the control signals, so that the two channels can perform inbound and outbound tasks in parallel.

[0006] Furthermore, in the multi-channel automated cryogenic biological sample storage device of the present invention, the lifting hook is located at the top of the basket and is connected to the end of the chain using a spherical mating structure. When the chain applies a lifting force through the lifting hook, the spherical mating structure adaptively adjusts the suspension angle of the basket, so that the basket is stably lifted in the vertical direction.

[0007] Furthermore, in the multi-channel automated cryogenic biological sample storage device of the present invention, the off-center design of the tank opening causes the central axis of the liquid nitrogen tank to be offset from the central axis of the tank opening, and the two lifting towers are symmetrically arranged above the tank opening with the center of the tank opening as the reference, forming a spatially isolated dual-channel architecture.

[0008] Furthermore, in the multi-channel automated cryogenic biological sample storage device of the present invention, the air curtain tube is arranged around the outer periphery of the first access window and the second access window by a support, the vent holes are evenly distributed inside the air curtain tube and the air outlet direction is towards the center of the window, and the gas guide tube transports the nitrogen generated by the vaporization of liquid nitrogen in the liquid nitrogen tank to the air curtain tube, forming a uniform air curtain covering the window through the vent holes.

[0009] Furthermore, in the multi-channel automated cryogenic biological sample storage device of the present invention, the control device further includes a display module, which is connected to the data acquisition module and is used to display the real-time rotation angle of the rotating cage and the layer position of the basket. The data acquisition module receives inbound and outbound instructions from external systems and performs format verification and priority identification on the instructions. The instruction parsing unit of the processing module extracts the sample code from the instruction and converts the sample code into the three-dimensional coordinates of the target basket in the rotating cage according to the preset mapping relationship. The three-dimensional coordinates include the number of rotations of the rotating cage, the number of basket layers, and the rack. The motion planning unit of the processing module calculates the shortest rotation path of the rotating cage based on the three-dimensional coordinates and generates corresponding rotation control parameters. At the same time, it generates the vertical displacement parameters of the lifting mechanism according to the number of basket layers. The synchronous control unit of the processing module sends the rotation control parameters to the motor and reducer of the drive system, synchronously sends the vertical displacement parameters to the first motor lifting module and the second motor lifting module, and injects a timing synchronization signal to couple the rotation of the rotating cage with the lifting action of the basket on the time axis. The execution module monitors the motor speed feedback signal and the position feedback signals of the first motor lifting module and the second motor lifting module in real time through the PLC controller, and dynamically adjusts the output torque and chain winding and unfolding speed to keep the basket stable during the lifting process. Once the basket reaches the target position, the execution module triggers the air curtain protection device to start, controls the air duct and air curtain pipe to form a continuous air curtain, and sends a task completion signal to the data acquisition module to update the inventory status.

[0010] Furthermore, in the multi-channel automated cryogenic biological sample storage device of the present invention, the processing module includes a coordinate analysis unit and a motion coordination unit; the coordinate analysis unit calculates the orientation coordinates of the target basket according to the entry and exit instructions; the motion coordination unit synchronously sends rotation signals to the drive system, lifting signals to a first motor lifting module and a second motor lifting module, so that the rotation of the rotating cage and the lifting action of the basket are continuously connected.

[0011] Furthermore, in the multi-channel automated cryogenic biological sample storage device of the present invention, the drive system includes a motor and a reducer. The output shaft of the motor is connected to the input shaft of the reducer, and the output shaft of the reducer is fixedly connected to the rotating shaft through a keyway to form a torque transmission chain.

[0012] Furthermore, the multi-channel automated cryogenic biological sample storage device of the present invention further includes an electrical cabinet, which is fixed to the outer surface of the liquid nitrogen tank and has a power distribution circuit inside. The power distribution circuit is connected to a motor, a motor lifting module, and a second motor lifting module via cables.

[0013] Furthermore, in the multi-channel automated cryogenic biological sample storage device of the present invention, the lifting mechanism further includes a lifting tower bottom plate and an access window outer frame; the lifting tower bottom plate is welded and fixed to the edge of the tank opening, and the access window outer frame is embedded in the front of the lifting tower to form a rigid support structure; The execution module adopts a PLC controller, which has a built-in task scheduler. The task scheduler monitors the status of the two channels in real time. When it receives a parallel task instruction, it allocates an independent control thread to synchronously operate the first motor lifting module and the second motor lifting module.

[0014] Secondly, the present invention provides a multi-channel automated cryogenic biological sample storage system, applied to the multi-channel automated cryogenic biological sample storage device as described above, including a device and a control device; the device establishes a communication connection with the control device, and the control device controls the device to complete parallel dual-channel inbound and outbound storage. The control device includes a data acquisition module, a processing module, and an execution module; The data acquisition module receives inbound and outbound instructions via a display and performs format verification on the instructions; The processing module parses the instructions, extracts the sample codes, and determines the three-dimensional coordinates of the target basket in the rotating cage according to the preset mapping relationship, including the number of rotations, the number of basket layers, and the rack. The processing module calculates the shortest rotation path of the rotating cage, generates rotation control parameters, and generates vertical displacement parameters of the lifting mechanism based on the number of basket layers. The execution module sends rotation control parameters to the motor and reducer of the drive system through the PLC controller to control the rotation of the rotating cage, and synchronously sends vertical displacement parameters to the first motor lifting module and the second motor lifting module to control the chain to lift the basket. The execution module monitors the motor speed feedback and the position feedback of the first motor lifting module and the second motor lifting module in real time, and dynamically adjusts the torque and chain winding and unwinding speed to ensure stable lifting of the basket. Once the basket reaches the target position, the execution module triggers the air curtain protection device, controlling the air duct and air curtain pipe to form an air curtain barrier; The data acquisition module updates the inventory status and completes the inbound and outbound tasks.

[0015] Beneficial effects of this invention; This invention overcomes the technical limitations of existing single-channel serial operation modes through a dual-channel parallel architecture. The off-center design of the liquid nitrogen tank, combined with the symmetrical arrangement of the two lifting towers, forms a spatially isolated operation channel, enabling synchronous execution of inbound and outbound tasks. The rotational motion of the rotating basket assembly and the vertical lifting of the lifting mechanism employ a time-synchronized control algorithm, combined with an adaptive adjustment mechanism for the lifting hooks of the spherical fit structure, effectively avoiding motion interference and maintaining the stable posture of the basket. The air curtain protection device utilizes nitrogen generated from the vaporization of liquid nitrogen to form a continuous air curtain barrier, significantly reducing heat exchange losses during storage and retrieval operations. The multi-threaded task scheduler of the control device manages the dual-channel operation through independent control threads, combined with a real-time feedback adjustment mechanism, maximizing equipment utilization to its theoretical maximum, significantly improving the overall efficiency of biological sample turnover, while maintaining the stability of the cryogenic storage environment. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of a multi-channel automated cryogenic storage device.

[0018] Figure 2 This is a schematic diagram of the off-center liquid nitrogen tank structure of a multi-channel automated cryogenic inlet and outlet storage device.

[0019] Figure 3 This is a schematic diagram of the rotating drum assembly structure of a multi-channel automated cryogenic inbound and outbound storage device.

[0020] Figure 4 This is a schematic diagram of the basket assembly structure of a multi-channel automated cryogenic inbound and outbound storage device.

[0021] Figure 5 This is a schematic diagram of the external structure of an air curtain protection device for a multi-channel automated cryogenic storage equipment.

[0022] Figure 6 This is a schematic diagram of the structure of an air curtain protection device for a multi-channel automated cryogenic storage equipment without an outer casing.

[0023] Figure 7 This is a schematic diagram of the internal structure of an air curtain protection device for a multi-channel automated cryogenic storage equipment.

[0024] Figure 8 This is a schematic diagram of the air curtain protection device for a multi-channel automated cryogenic storage equipment.

[0025] Figure 9 This is a schematic diagram showing the connection between liquid nitrogen and the lifting device in a multi-channel automated cryogenic storage device.

[0026] Explanation of reference numerals in the attached drawings: 1-Liquid nitrogen tank, 11-Outer shell, 12-Tank opening, 13-Rotating cage, 14-Basket, 141-Plate rack, 142-Lifting hook, 15-Rotating shaft, 16-Tank head, 17-Motor, 18-Reducer, 2-Display, 3-Electrical cabinet, 4-Lifting mechanism, 401-Outer shell, 402-First access window, 403-Second access window, 404-Lifting tower bottom plate, 405-Gas duct, 406-Handle, 407-Access window outer frame, 408-Lifting tower, 409-First motor lifting module, 410-Second motor lifting module, 411-Air curtain pipe, 412-Chain, 413-Ventilation hole, 413-Tee. Detailed Implementation

[0027] To make the technical solution of the present invention clearer, the present invention will be clearly and completely described below with reference to specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. The present invention provided by various embodiments will be described in detail below with reference to the accompanying drawings. To better understand the purpose of the present invention, the present invention will be described in further detail below.

[0028] Please see Figures 1 to 9 The present invention provides a multi-channel automated cryogenic biological sample storage device, comprising an equipment device and a control device; the equipment device and the control device establish a communication connection; the equipment device includes a liquid nitrogen tank 1, a rotating cage assembly, a lifting mechanism 4, and an air curtain protection device; The liquid nitrogen tank 1 is supported on the foundation by the outer shell 11. The liquid nitrogen tank 1 includes the outer shell 11 and the tank opening 12, and the tank opening 12 is located at the off-center position of the liquid nitrogen tank 1. The rotating cage assembly is fixedly installed at the center of the liquid nitrogen tank 1, including a rotating cage 13 and multiple baskets 14. The baskets 14 contain a rack 141 for supporting cryopreservation boxes. The center of the rotating cage 13 is connected to a drive system via a rotating shaft 15. The drive system includes a motor 17 and a reducer 18. The motor 17 is connected to the rotating shaft 15 via the reducer 18. The drive system controls the rotation of the rotating cage 13 via the rotating shaft 15 to make the baskets 14 reach the target workstation. The lifting mechanism 4 is installed above the tank opening 12 and includes two lifting towers 408. The two lifting towers 408 are respectively positioned behind the access windows 402 and 403. The first lifting tower corresponds to the first access window 402, and the second lifting tower corresponds to the second access window 403. The first lifting tower is equipped with a first motor lifting module 409, and the second lifting tower is equipped with a second motor lifting module 410. The first motor lifting module 409 is connected to the lifting hook 142 of the corresponding basket 14 through a first chain, and the second motor lifting module 410 is connected to the lifting hook 142 of the corresponding basket 14 through a second chain, so as to realize independent lifting of the two channels. The air curtain protection device is installed around the access window by a fixing frame and includes an air guide pipe 405 and an air curtain pipe 411. The lower end of the air guide pipe 405 extends into the liquid nitrogen in the liquid nitrogen tank 1, and the upper end is connected to the air curtain pipe 411 through a three-way valve 414. The air curtain pipe 411 is arranged around the access window and is provided with a vent hole 413 to form an air curtain barrier in the access window. The control device is installed on the side of the liquid nitrogen tank 1 via an electrical cabinet 3, and includes a data acquisition module, a processing module, and an execution module. The data acquisition module is connected to the display 2 via a signal line and is used to receive inbound and outbound instructions. The processing module is connected to the data acquisition module via a control bus and is used to parse the instructions and generate control signals. The execution module is implemented by a PLC controller and is connected to the processing module via a control cable. It is used to operate the drive system and the lifting mechanism according to the control signals, so that the two channels can perform inbound and outbound tasks in parallel.

[0029] The multi-channel automated cryogenic biological sample storage device achieves efficient and safe sample management through the coordinated operation of the equipment and control system. The device uses a liquid nitrogen tank 1 as its core container, which is stably supported on the foundation by an outer shell 11. The tank opening 12 features an off-center design, providing an asymmetrical layout basis for dual-channel operation.

[0030] The rotating cage assembly is vertically installed at the center of the liquid nitrogen tank 1. The rotating cage 13 is rigidly connected to the drive system via a rotating shaft 15. The drive system includes a motor 17 and a reducer 18. The output shaft of the motor 17 and the input shaft of the reducer 18 are connected by a flange. The output shaft of the reducer 18 transmits torque to the rotating shaft 15 via a flat key. Multiple baskets 14 are distributed circumferentially along the rotating cage 13. Each basket 14 has a nested rack 141 inside to hold cryopreservation boxes. When the motor 17 starts, it reduces speed and increases torque through the reducer 18, driving the rotating shaft 15 to rotate the rotating cage 13, so that the target basket 14 is precisely aligned with the lifting position.

[0031] The lifting mechanism 4 is fixed above the tank opening 12 by a steel structure support and includes two independently operating lifting towers 408. The first lifting tower corresponds to the first access window 402, and the second lifting tower corresponds to the second access window 403. The two lifting towers 408 are arranged symmetrically with the center line of the tank opening 12 as the reference. The first lifting tower is equipped with a first motor lifting module 409, and the second lifting tower is equipped with a second motor lifting module 410. Each motor lifting module is connected to the lifting hook 142 at the top of the basket 14 via a chain 412. The lifting hook 142 adopts a spherical fit structure, which can adaptively adjust the suspension angle of the basket 14 when the chain 412 applies a lifting force.

[0032] An air curtain protection device is installed around the access window via angle steel brackets. The lower end of the vent pipe 405 is immersed in the liquid nitrogen in the liquid nitrogen tank 1, and the upper end is connected to the air curtain pipe 411 via a tee 414. The air curtain pipe 411 is arranged along the edge of the access window, and ventilation holes 413 are evenly opened on its inner side. When the nitrogen gas generated by the vaporization of liquid nitrogen rises through the vent pipe 405 to the air curtain pipe 411, it forms a vertically downward air curtain barrier through the ventilation holes 413.

[0033] The control device is installed on the side of the liquid nitrogen tank 1 via electrical cabinet 3. The data acquisition module is connected to the display 2 via an RS485 signal line to receive operation commands in real time. The processing module communicates with the data acquisition module via a CAN bus, parses the commands, and generates control signals. The execution module uses a PLC controller, which is connected to the processing module via a shielded control cable and outputs control signals to the drive system and lifting mechanism. When the system receives a parallel inbound / outbound command, the two motor lifting modules can operate synchronously, controlling the lifting action of the corresponding basket 14 respectively, realizing dual-channel independent operation.

[0034] Through precise coordination of its mechanical structure and control system, the device significantly improves the efficiency of biological sample storage and retrieval while ensuring a low-temperature preservation environment. The rotational positioning of the rotating cage 13 and the vertical movement of the lifting tower 408 are controlled synchronously in a time sequence to avoid motion interference. An air curtain protection device automatically activates during storage and retrieval operations, effectively preventing external air from entering the tank. The power distribution circuit inside the electrical cabinet 3 provides independent power supply circuits for each actuator, ensuring the reliability of multi-channel operation.

[0035] Specifically, in the multi-channel automated cryogenic biological sample storage device of the present invention, the lifting hook 142 is set on the top of the basket 14 and is connected to the end of the chain 412 by a spherical mating structure. When the chain 412 applies a lifting force through the lifting hook 142, the spherical mating structure adaptively adjusts the suspension angle of the basket 14 so that the basket 14 is stably lifted in the vertical direction.

[0036] The lifting hook 142, as a key connecting component between the basket 14 and the lifting mechanism 4, has a spherical fit structure whose design directly affects the lifting stability of the basket 14 in the cryogenic environment of the liquid nitrogen tank 1. The lifting hook 142 is fixed to the center of the top of the basket 14 by a flange and forms a ball joint with the connector at the end of the chain 412.

[0037] When the first motor lifting module 409 or the second motor lifting module 410 is activated, the chain 412 begins to apply a vertical lifting force. Due to possible slight deviations in the rotational positioning of the rotating cage 13, the basket 14 is prone to horizontal offset during the initial lifting phase. At this time, the spherical mating structure plays an adaptive adjustment role: a slight play is maintained between the hemispherical groove of the chain 412 connector and the ball head of the lifting hook 142, allowing the basket 14 to perform self-balancing adjustments within a range of ±3° at the moment of force application. This dynamic adjustment mechanism automatically aligns the center of gravity axis of the basket 14 with the vertical force direction of the chain 412.

[0038] During the continuous lifting process, the spherical mating structure eliminates accumulated motion errors through a three-dimensional degree-of-freedom compensation mechanism. When the basket 14 passes through the interlayer guide track of the rotating cage 13, the PTFE pad between the ball head and the groove provides lubrication, ensuring flexible rotation while avoiding direct metal-to-metal friction. The limiting pin inside the lifting hook 142 and the guide groove of the chain 412 connector form a sliding pair, converting the rotational degree of freedom of the spherical structure into controllable axial movement, preventing the basket 14 from circumferentially swaying during lifting.

[0039] When the basket 14 is raised to the target height, the bottom of the ball head of the lifting hook 142 contacts the conical positioning sleeve on the outer frame 407 of the access window, and the final precise positioning is completed by utilizing the self-centering principle of the conical surface. During the lifting process, the spherical mating structure, through its mechanical self-adaptive characteristics, ensures that the basket 14 always maintains a vertical posture, avoiding scratching against the inner wall of the rotating cage 13, while reducing the additional torque load on the motor lifting module.

[0040] This mechanical adaptive scheme complements the grating ruler positioning of the PLC control system, significantly improving system robustness while ensuring positioning accuracy. Practical applications show that this structure can effectively compensate for dimensional changes caused by thermal expansion and contraction, and adapt to the material deformation characteristics in a liquid nitrogen environment at -196℃.

[0041] Specifically, in the multi-channel automated cryogenic biological sample storage device of the present invention, the off-center design of the can opening 12 causes the central axis of the liquid nitrogen tank 1 to be offset from the central axis of the can opening 12, and two lifting towers 408 are symmetrically arranged above the can opening 12 with the center of the can opening 12 as the reference, forming a spatially isolated dual-channel architecture.

[0042] The offset design of the tank opening 12 achieves axial deviation by radially offsetting the center point of the tank opening 12 relative to the geometric center point of the liquid nitrogen tank 1. This offset layout creates an asymmetrical distribution of the inner space of the liquid nitrogen tank 1, providing the physical conditions for dual-channel operation. The offset direction is coordinated with the installation orientation of the lifting mechanism 4, ensuring that the opening area of ​​the tank opening 12 can accommodate the parallel operating space of the two lifting towers 408.

[0043] Two lifting towers 408 are symmetrically arranged with the center point of the tank opening 12 as the reference point, with the first and second lifting towers located on either side of the center line of the tank opening 12. The base of the lifting tower 408 is fixedly connected to the edge of the tank opening 12 through the lifting tower base plate 404, forming a stable support system. This symmetrical layout keeps the first access window 402 and the second access window 403 spatially independent, avoiding mechanical interference during operation.

[0044] The spatially isolated dual-channel architecture is achieved through the offset design of the tank opening 12 and the symmetrical arrangement of the lifting tower 408. When the first motor lifting module 409 lifts the corresponding basket 14 via the first chain, the second motor lifting module 410 can simultaneously operate the other basket 14 via the second chain. The working areas of the two channels are physically separated within the plane of the tank opening 12, effectively preventing cross-contamination of airflow during the entry and exit process.

[0045] The specific implementation of the off-center design involves tilting the opening plane of the tank opening 12 at an angle to the axis of the liquid nitrogen tank 1, causing the center point of the tank opening 12 to translate towards the side wall of the liquid nitrogen tank 1. This structure makes the internal volume distribution of the liquid nitrogen tank 1 more conducive to the rotational balance of the rotating cage 13, while providing better lever arm support for the lifting mechanism 4. The translation amount is designed according to the diameter-to-height ratio of the liquid nitrogen tank 1 to balance storage capacity and operational convenience.

[0046] In actual operation, when the system performs dual-channel parallel tasks, the off-center design ensures that the airflow fields of the first access window 402 and the second access window 403 are independent of each other. The air curtain protection device's air curtain pipes 411 are respectively arranged around the two access windows, forming a local air curtain barrier. This spatial isolation design significantly reduces heat exchange losses when the two channels are operating simultaneously, maintaining the internal temperature stability of the liquid nitrogen tank 1.

[0047] Specifically, in the multi-channel automated cryogenic biological sample storage device of the present invention, the air curtain tube 411 is arranged around the outer periphery of the first access window 402 and the second access window 403 by a support, the vent holes 413 are evenly distributed inside the air curtain tube 411 and the air outlet direction is towards the center of the window, and the air guide tube 405 transports the nitrogen generated by the vaporization of liquid nitrogen in the liquid nitrogen tank 1 to the air curtain tube 411, forming a uniform air curtain covering the window through the vent holes 413.

[0048] The air curtain protection device is fixed in a ring along the outer contour of the first access window 402 and the second access window 403 by angle steel brackets. The mounting base of the brackets is selected at the position of the reinforcing rib of the outer frame 407 of the access window, and a stable support frame is formed by bolt connection. The air curtain tube 411 adopts a ring hollow tube structure, which is sleeved on the inside of the bracket and is equidistant from the edge of the window.

[0049] Ventilation holes 413 are arranged in an array inside the air curtain tube 411, with the hole axes forming a specific angle with the window plane. This angle design allows the nitrogen flow streams to converge in front of the window, and the annular structure of the air curtain tube 411 ensures that the airflow coverage is complete without dead zones. The lower end of the gas guide tube 405 is submerged below the liquid nitrogen level in the liquid nitrogen tank 1, and the upper end uses a three-way valve 414 to distribute the airflow.

[0050] When liquid nitrogen naturally vaporizes to produce nitrogen gas, the gas rises along the vent pipe 405 and is split into two air curtain pipes 411 via the three-way valve 414. After the nitrogen gas forms a stable pressure within the pipe cavity, it is ejected from the vent hole 413, with the ejection direction pointing towards the central axis of the window. The airflow forms a dynamic air curtain barrier in front of the window, and the flow characteristics of the air curtain prevent outside air from directly penetrating it.

[0051] In actual operation, the air curtain protection device is activated immediately when access windows 402 or 403 are opened. Nitrogen gas is extracted from inside liquid nitrogen tank 1, maintaining the same temperature as the tank's internal environment to prevent heat exchange caused by temperature differences. The continuous flow of the air curtain effectively blocks external hot and humid air while preventing the escape of internal cool air.

[0052] The annular structure design of the air curtain pipe 411 ensures uniform airflow distribution, with each vent 413 exhibiting a essentially consistent flow rate. The insertion depth of the air guide pipe 405 is calculated to guarantee that the liquid nitrogen vaporization capacity meets the requirements for simultaneous operation of both channels. The air curtain system operates synchronously with the lifting mechanism 4, activating only during storage and retrieval actions, thus achieving energy-efficient operation.

[0053] This air curtain protection mechanism, combined with the tank's sealing structure, provides dual protection, significantly improving the equipment's operational reliability in high-temperature and high-humidity environments. The physical isolation provided by the air curtain also reduces frost buildup during operation, maintaining the cleanliness of the window area.

[0054] Specifically, the multi-channel automated cryogenic biological sample storage device of the present invention further includes a display module in the control device. The display module is connected to the data acquisition module and is used to display the real-time rotation angle of the rotating cage 13 and the layer position of the basket 14. The data acquisition module receives inbound and outbound instructions from external systems and performs format verification and priority identification on the instructions. The instruction parsing unit of the processing module extracts the sample code in the instruction and converts the sample code into the three-dimensional coordinates of the target basket 14 in the rotating cage 13 according to the preset mapping relationship. The three-dimensional coordinates include the number of rotations of the rotating cage, the number of basket layers, and the rack 141. The motion planning unit of the processing module calculates the shortest rotation path of the rotating cage 13 based on the three-dimensional coordinates and generates the corresponding rotation control parameters. At the same time, it generates the vertical displacement parameters of the lifting mechanism 4 according to the number of basket layers. The synchronous control unit of the processing module sends the rotation control parameters to the motor 17 and reducer 18 of the drive system, synchronously sends the vertical displacement parameters to the first motor lifting module 409 and the second motor lifting module 410, and injects a timing synchronization signal to couple the rotation of the rotating cage with the lifting action of the basket on the time axis. The execution module monitors the speed feedback signal of motor 17 and the position feedback signals of the first motor lifting module 409 and the second motor lifting module 410 in real time through the PLC controller, and dynamically adjusts the output torque and the speed of chain 412 to keep the basket 14 stable during the lifting process. When the basket 14 reaches the target position, the execution module triggers the air curtain protection device to start, controls the air duct 405 and the air curtain pipe 411 to form a continuous air curtain, and sends a task completion signal to the data acquisition module to update the inventory status.

[0055] The control device achieves precise execution of inbound and outbound commands through a modular architecture. The display module is integrated into the touch interface of display 2 and establishes a data connection with the data acquisition module. When the operator inputs a sample access command on the interface, the data acquisition module verifies the command format, excludes illegal characters or out-of-bounds parameters, and simultaneously labels the command with priority tags based on the urgency of the task.

[0056] After receiving a verified instruction, the instruction parsing unit extracts the feature identifiers from the sample code. A pre-defined mapping table is stored in the non-volatile memory of the electrical cabinet 3, recording the correspondence between the sample code and the coordinate system of the rotating cage 13. The parsing unit converts the sample code into three-dimensional coordinate parameters using a lookup table, including the number of rotations required for the rotating cage 13, the ring number of the target basket 14, and the layer of the shelf 141 within the basket.

[0057] The motion planning unit calculates the optimal motion path based on the three-dimensional coordinate parameters. For the rotation path of the rotating cage 13, the algorithm calculates the rotation angles in both clockwise and counterclockwise directions and selects the direction with the smaller angle as the shortest path. At the same time, based on the target number of layers in the basket 14, the algorithm calculates the length of the chain 412 that the motor lifting module needs to drive, and generates the corresponding pulse control parameters.

[0058] The synchronization control unit employs a timestamp mechanism to achieve multi-axis motion synchronization. Simultaneously, it sends rotation control pulses to motor 17 and lifting commands to the first motor lifting module 409 and the second motor lifting module 410, embedding synchronization timing markers within the control commands. This design couples the rotational motion of the swivel cage 13 with the lifting action of the basket 14 in the time dimension, avoiding mechanical interference.

[0059] The PLC controller of the execution module acquires the speed signal of motor 17 in real time through the encoder interface, and reads the position feedback of the motor lifting module through the grating ruler. When a motion deviation is detected, the PID control algorithm dynamically adjusts the output torque, adjusts the motor speed through the frequency converter, and fine-tunes the chain 412 winding and unwinding speed through the servo driver, so that the basket 14 maintains a stable posture during the lifting process.

[0060] When basket 14 reaches the target position, the position sensor sends a position signal to the execution module. The PLC controller then triggers the air curtain protection device to start, controlling the nitrogen flow rate in the air duct 405 via a solenoid valve, so that the air curtain pipe 411 forms a continuous air curtain barrier. The task completion signal is updated to the inventory database via the data acquisition module, completing the control process.

[0061] The control scheme effectively resolves motion conflicts during dual-channel parallel operation through multi-level data verification and motion planning. The data flow between modules is clear, and the exception handling mechanism is robust, ensuring system reliability while improving operational efficiency.

[0062] Specifically, the multi-channel automated cryogenic biological sample storage device of the present invention includes a processing module comprising a coordinate analysis unit and a motion coordination unit; the coordinate analysis unit calculates the orientation coordinates of the target basket 14 according to the entry and exit instructions; the motion coordination unit synchronously sends rotation signals to the drive system and lifting signals to a first motor lifting module 409 and a second motor lifting module 410, so that the rotation of the rotating cage and the lifting action of the basket are continuously connected.

[0063] The processing module achieves precise motion control through the coordinated operation of the coordinate analysis unit and the motion coordination unit. The coordinate analysis unit receives verified instructions from the data acquisition module and performs feature recognition on the sample codes in the instructions. The system's preset mapping table is stored in the control unit memory of the electrical cabinet 3, which establishes the correspondence between sample codes and the spatial positions of the rotating cage 13.

[0064] The coordinate analysis unit employs a hierarchical analysis algorithm. First, it identifies the location identifier in the sample code to determine the circumferential position of the target basket 14 within the rotating cage 13. Next, it analyzes the layer code to calculate the number of rotations required for the rotating cage 13 and the radial layer number where the target basket 14 is located. Finally, it extracts the frame 141 and determines the specific frame position parameters within the basket 14 through analog-to-digital conversion. The analysis process incorporates a verification mechanism to validate the reasonableness of the calculated three-dimensional coordinates.

[0065] After receiving the three-dimensional coordinate data output by the coordinate analysis unit, the motion coordination unit initiates the multi-axis linkage control program. For the rotation control of the rotating cage 13, the unit generates pulse signals and sends them to the motor 17 and reducer 18 of the drive system. The signals include the direction indicator, speed parameters, and target angle values. At the same time, lifting commands are sent to the first motor lifting module 409 and the second motor lifting module 410, specifying the extension and retraction length and speed curve of the chain 412.

[0066] The motion coordination unit employs a time synchronization algorithm to ensure continuous motion. Simultaneously with sending the rotation signal, a delayed trigger pulse is injected into the lifting mechanism 4, ensuring that the lifting motion of the basket 14 and the rotation of the rotating cage 13 are synchronized. The unit dynamically adjusts the command transmission rhythm by monitoring the feedback signals from each actuator in real time, eliminating motion lag caused by mechanical inertia.

[0067] When the rotating drum 13 reaches the target angle, the motion coordination unit immediately sends a lifting command. This linkage mechanism allows the basket 14 to begin lifting the instant the rotating drum 13 comes to a stop, effectively reducing waiting time between processes. During the control process, the unit continuously compares the deviation between the actual motion trajectory and the planned path, maintaining motion accuracy through closed-loop adjustment.

[0068] The motion coordination unit also features an anomaly handling function. When an abnormal motor speed (17) or jamming of the lifting mechanism (4) is detected, the unit immediately suspends subsequent command transmission and sends an alarm signal to the execution module. This protection mechanism prevents system malfunction due to a single point of failure, improving the safety of equipment operation.

[0069] Specifically, the multi-channel automated cryogenic biological sample storage device of the present invention includes a drive system comprising a motor 17 and a reducer 18. The output shaft of the motor 17 is connected to the input shaft of the reducer 18, and the output shaft of the reducer 18 is fixedly connected to the rotating shaft 15 via a keyway to form a torque transmission chain.

[0070] The drive system transmits power through the cooperation of motor 17 and reducer 18. The output shaft of motor 17 is coaxially connected to the input shaft of reducer 18 via a flange, and the output shaft of reducer 18 is fixedly fitted to the keyway of rotating shaft 15 via a flat key. This connection method ensures that torque is smoothly transmitted from motor 17 to rotating shaft 15 via reducer 18.

[0071] When the control device sends a start command, the motor 17 begins to rotate, and the output shaft drives the input shaft of the reducer 18 to rotate. The gear set inside the reducer 18 converts the high-speed rotation into a low-speed, high-torque output, and the output shaft transmits the torque to the rotating shaft 15 via a key. The rotating shaft 15 is rigidly connected to the rotating cage 13 via a flange, driving the rotating cage 13 to rotate within the liquid nitrogen tank 1.

[0072] The design focus of the torque transmission chain is on the fitting precision of the connecting components. The output shaft of motor 17 and the input shaft of reducer 18 adopt a transition fit, and the mating surfaces are precision machined to eliminate transmission backlash. The keyed connection between the output shaft of reducer 18 and the rotating shaft 15 adopts a standard tolerance fit, and the contact surfaces of the flat key and the keyway are evenly stressed to avoid stress concentration that could lead to keyway deformation.

[0073] In actual operation, when the rotating drum 13 needs to position a specific basket 14, the drive system receives a pulse signal to control the rotation angle of the motor 17. The reduction ratio of the reducer 18 is calculated and matched to ensure that the rotation accuracy of the rotating drum 13 meets the positioning requirements of the basket 14. The support bearing of the rotating shaft 15 is a deep groove ball bearing, which can withstand radial loads and allow axial thermal expansion.

[0074] The rigidity of the transmission chain has been optimized, and the mounting surfaces of the motor 17 and reducer 18 are machined as a single unit to ensure the alignment accuracy of the shaft system. The connecting flanges of the rotating shaft 15 and the rotating cage 13 are equipped with locating stops to eliminate accumulated assembly errors. This structure enables the drive system to maintain stable transmission performance even at -196℃.

[0075] The drive system is also equipped with an overload protection mechanism. When the rotation of the rotating drum 13 is obstructed, the current of the motor 17 increases, triggering the protection circuit, immediately cutting off the power supply and sending a fault signal to the control device. This design prevents mechanical parts from being damaged by overload and improves system reliability.

[0076] Specifically, the multi-channel automated cryogenic biological sample storage device of the present invention further includes an electrical cabinet 3, which is fixed to the surface of the outer shell 11 of the liquid nitrogen tank 1 and has a power distribution circuit inside. The power distribution circuit is connected to a motor 17, a motor lifting module 409, and a second motor lifting module 410 via cables.

[0077] Electrical cabinet 3 is fixed to the outer shell 11 of liquid nitrogen tank 1 by mounting brackets, maintaining a safe distance from the tank to avoid the low-temperature area. The interior of electrical cabinet 3 adopts a layered layout, with the upper layer being the control unit installation area and the lower layer being the power distribution area. The power distribution circuit includes a main circuit breaker, branch fuses, and contactor groups, with the main circuit connected via copper busbars.

[0078] The main input cable of the power distribution circuit is connected to a three-phase 380V power supply, and after passing through the main circuit breaker, it is divided into three independent branches. The first branch is connected to the motor 17 through a frequency converter, providing variable power for the rotation of the rotating cage 13. The second and third branches are connected to the first motor lifting module 409 and the second motor lifting module 410, respectively, and each branch is equipped with an independent overload protector.

[0079] Shielded twisted-pair cable is used for control signal transmission, and signal lines and power lines are laid separately to reduce electromagnetic interference. An internal grounding busbar is installed in electrical cabinet 3, where all equipment casing grounding wires converge. Dust filters are installed on the cabinet's ventilation openings, and a temperature-controlled fan is installed inside to maintain a suitable operating temperature.

[0080] When the system starts, the main circuit breaker closes, and the power distribution circuit supplies power to each actuator. The contactor group opens and closes according to the instructions of the PLC controller, realizing the start and stop control of motor 17 and the lifting module. The branch fuses melt quickly in the event of a short circuit, protecting the electrical equipment.

[0081] The door panel of electrical cabinet 3 is equipped with status indicator lights and an emergency stop button, facilitating operator monitoring of equipment operation. Internal cabling uses terminal blocks for connections, with clearly labeled wire numbers for easy maintenance and repair. This power distribution scheme provides stable power for dual-channel parallel operation and also features comprehensive electrical protection functions.

[0082] Specifically, the multi-channel automated cryogenic biological sample storage device includes a lifting mechanism 4 that further includes a lifting tower bottom plate 404 and an access window frame 407. The lifting tower bottom plate 404 is welded and fixed to the edge of the tank opening 12, and the access window frame 407 is embedded in the front of the lifting tower 408 to form a rigid support structure. The execution module adopts a PLC controller, which has a built-in task scheduler. The task scheduler monitors the status of the two channels in real time. When it receives a parallel task instruction, it allocates an independent control thread to synchronously operate the first motor lifting module 409 and the second motor lifting module 410.

[0083] The bottom plate 404 of the lifting tower adopts a ring-shaped steel plate structure and is continuously fillet welded to the edge of the tank opening 12. The welding bevel is processed according to standard specifications to ensure the penetration depth. The upper surface of the bottom plate 404 of the lifting tower has mounting and positioning holes, which are connected to the base flange of the lifting tower 408 by high-strength bolts. The outer frame 407 of the access window is made of aluminum alloy profile, with reinforcing ribs inside the frame, and is fixed to the front mounting plate of the lifting tower 408 by countersunk screws.

[0084] When the lifting mechanism 4 is under load, the lifting tower base plate 404 transmits the vertical force to the reinforcing ring of the tank opening 12, and the welded joint bears the shear stress. The embedded structure of the access window frame 407 makes the window assembly and the lifting tower 408 an integral unit, and a rubber sealing strip is provided on the contact surface between the frame and the lifting tower 408 to prevent the cold bridge effect. This rigid support system can effectively suppress vibration during the lifting process and provide a stable foundation for dual-channel operation.

[0085] The PLC controller of the execution module adopts a multi-core processor architecture, and the task scheduler runs a real-time operating system. When the system receives inbound and outbound commands simultaneously, the task scheduler creates two independent threads, which are respectively bound to the control tasks of the first motor lifting module 409 and the second motor lifting module 410. Each thread independently maintains a motion parameter stack, including target coordinates, velocity curves, and acceleration parameters.

[0086] The task scheduler achieves microsecond-level time synchronization through a hardware timer, sending phase-aligned pulse signals to the two motor lifting modules. Mutex locks are used between threads to prevent resource conflicts; when any thread times out, the scheduler immediately starts a backup thread and records a fault code. This parallel control mechanism enables true synchronous operation between the two channels, improving system throughput.

[0087] In actual operation, when the task scheduler detects that the first access window 402 is executing an outbound task, it can still simultaneously allocate an inbound task thread to the second access window 403. The two threads independently access the device status data in shared memory, achieving safe read and write operations through a semaphore mechanism. This design overcomes the bottleneck of existing single-task queues, allowing device utilization to reach its theoretical maximum.

[0088] Secondly, the present invention provides a multi-channel automated cryogenic biological sample storage system, applied to the aforementioned multi-channel automated cryogenic biological sample storage device, comprising an equipment device and a control device; the equipment device establishes a communication connection with the control device, and the control device controls the equipment device to complete parallel entry and exit of the storage through dual channels. The control device includes a data acquisition module, a processing module, and an execution module; The data acquisition module receives in / out instructions via the display 2 and performs format verification on the instructions; The processing module parses the instructions, extracts the sample codes, and determines the three-dimensional coordinates of the target basket 14 in the rotating cage 13 according to the preset mapping relationship, including the number of rotating cage turns, the number of basket layers, and the rack 141. The processing module calculates the shortest rotation path of the rotating basket 13, generates rotation control parameters, and generates vertical displacement parameters of the lifting mechanism 4 according to the number of basket layers. The execution module sends rotation control parameters to the motor 17 and reducer 18 of the drive system through the PLC controller to control the rotation of the rotating cage 13, and synchronously sends vertical displacement parameters to the first motor lifting module 409 and the second motor lifting module 410 to control the chain 412 to lift the basket 14. The execution module monitors the speed feedback of the motor 17 and the position feedback of the motor lifting modules 409 and 410 in real time, and dynamically adjusts the torque and the speed of chain 412 to make the basket 14 lift stably. When the basket 14 reaches the target position, the execution module triggers the air curtain protection device and controls the air duct 405 and the air curtain pipe 411 to form an air curtain barrier. The data acquisition module updates the inventory status and completes the inbound and outbound tasks.

[0089] The multi-channel automated cryogenic biological sample storage system coordinates the equipment through a control device to complete parallel dual-channel inbound and outbound operations. The data acquisition module is integrated into the touch interface of display 2. After the operator inputs the sample storage / retrieval command, the module performs syntax analysis and semantic verification on the command format, eliminating illegal characters or out-of-bounds parameter errors. The system automatically assigns priority tags based on task urgency, allowing high-priority tasks to be inserted into the current job queue.

[0090] After receiving a verified instruction, the instruction parsing unit of the processing module initiates the sample code feature extraction program. A pre-defined mapping table is stored in the non-volatile memory of the electrical cabinet 3, establishing a spatial correspondence between the sample code and the coordinate system of the rotating basket 13. The parsing unit quickly locates the target data using a hash algorithm, converting the sample code into three-dimensional coordinate parameters, including the number of rotations required for the rotating basket 13, the ring number of the target basket 14, and the layer of the shelf 141 within the basket.

[0091] The motion planning unit calculates the optimal motion trajectory based on three-dimensional coordinate parameters. For the rotation path of the rotating cage 13, the algorithm uses Dijkstra's algorithm to evaluate the rotation angles in both clockwise and counterclockwise directions, selecting the direction with the shorter path as the motion trajectory. Simultaneously, based on the target layer height of the basket 14, the algorithm calculates the extension and retraction length of the chain 412 that the motor lifting module needs to drive, and generates the corresponding pulse width modulation parameters.

[0092] The PLC controller of the execution module sends rotation control parameters to the drive system via the PROFIBUS bus. Motor 17 and reducer 18 initiate rotation after receiving pulse signals, while vertical displacement parameters are synchronously transmitted to the first motor lifting module 409 and the second motor lifting module 410 via the CAN bus. The controller incorporates a PID control algorithm, real-time acquisition of encoder feedback speed signals and grating ruler position data, and dynamically adjusts the output torque and chain 412 winding / unwinding speed.

[0093] When basket 14 is raised to the target height, the position sensor sends a position signal to the PLC controller. The execution module immediately triggers the air curtain protection device to start, controlling the opening of the solenoid valve of the air duct 405 through the digital output module, so that the air curtain pipe 411 forms a uniform nitrogen barrier. The task completion signal is uploaded to the warehouse management system via the data acquisition module to update the sample position status in the inventory database.

[0094] The control flow adopts an event-driven architecture, with asynchronous communication between modules achieved through message queues. Dual-channel independent control threads use semaphores to ensure mutual exclusion of resource access, avoiding operational conflicts. This design enables the system to process inbound and outbound tasks in parallel, significantly improving the turnover efficiency of biological samples.

[0095] A multi-channel automated cryogenic biological sample storage device overcomes the efficiency bottleneck of existing single-channel serial operation modes through a dual-channel parallel operation design. The device centers on a liquid nitrogen tank 1, which is fixed to the foundation by an outer shell 11. The tank opening 12 employs an off-center design to provide an asymmetrical layout for the dual channels. A rotating cage assembly is vertically mounted at the center of the liquid nitrogen tank 1. The rotating cage 13 is connected to a drive system via a rotating shaft 15. The drive system includes a motor 17 and a reducer 18. The motor 17 drives the rotating shaft 15, causing the rotating cage 13 to rotate, via the reducer 18. Multiple baskets 14 are distributed circumferentially along the rotating cage 13. Each basket 14 contains a shelf 141 for holding cryopreservation boxes.

[0096] The lifting mechanism 4 is installed above the tank opening 12 and includes two independently operating lifting towers 408. The first lifting tower corresponds to the first access window 402, and the second lifting tower corresponds to the second access window 403. The two lifting towers 408 are arranged symmetrically around the center of the tank opening 12. The first lifting tower is equipped with a first motor lifting module 409, and the second lifting tower is equipped with a second motor lifting module 410. Each motor lifting module is connected to the lifting hook 142 at the top of the basket 14 via a chain 412. The lifting hook 142 adopts a spherical fit structure, which adaptively adjusts the suspension angle of the basket 14 when the chain 412 applies a lifting force.

[0097] The air curtain protection device forms an air curtain barrier through the gas guide pipe 405 and the air curtain pipe 411. The lower end of the gas guide pipe 405 extends into the liquid nitrogen in the liquid nitrogen tank 1, and the upper end is connected to the air curtain pipe 411 through a tee 414. The air curtain pipe 411 is provided with vent holes 413 around the access window. When the access window is opened, nitrogen gas is extracted from the inside of the liquid nitrogen tank 1 to form a continuous air curtain, preventing the intrusion of external air.

[0098] The control device achieves intelligent management through electrical cabinet 3. The data acquisition module receives inbound and outbound instructions through display 2 and performs format verification and priority identification on the instructions. After parsing the instructions, the processing module extracts the sample code and converts it into the three-dimensional coordinates of the target basket 14 in the rotating cage 13 according to the mapping relationship, including the number of rotations, the number of basket layers, and the rack 141. The motion planning unit calculates the shortest rotation path of the rotating cage 13 and generates control parameters, and simultaneously generates the vertical displacement parameters of the lifting mechanism 4.

[0099] The execution module employs a PLC controller, which sends rotational control parameters to motor 17 and reducer 18 via a PROFIBUS bus, and simultaneously sends vertical displacement parameters to the first motor lifting module 409 and the second motor lifting module 410 via a CAN bus. The PLC controller monitors the speed feedback of motor 17 and the position feedback of the motor lifting modules in real time, dynamically adjusting the output torque and the chain 412's retraction and extension speed. When the basket 14 reaches the target position, the air curtain protection device is triggered, and the inventory status is updated.

[0100] The system achieves time synchronization between the rotation of the rotating cage and the lifting of the basket through the coordinated use of mechanical structure and control algorithms. Dual-channel independent control threads allocate resources via a task scheduler to avoid motion interference. This design allows for parallel processing of inbound and outbound tasks, significantly improving the turnover efficiency of biological samples while maintaining the internal temperature stability of liquid nitrogen tank 1.

[0101] This invention addresses the efficiency bottleneck of single-channel serial operation through a dual-channel parallel architecture. The opening 12 of the liquid nitrogen tank 1 is designed with an offset, causing the central axis of the liquid nitrogen tank 1 to deviate from the central axis of the opening 12, creating physical space for dual-channel operation. Two lifting towers 408 are symmetrically arranged with the center of the opening 12 as a reference. The first lifting tower corresponds to the first access window 402, and the second lifting tower corresponds to the second access window 403, forming spatially isolated dual-operation channels.

[0102] The lifting mechanism 4 is equipped with an independently driven first motor lifting module 409 and a second motor lifting module 410. When the system receives parallel tasks, the synchronous control unit of the processing module synchronously sends vertical displacement parameters to the two motor lifting modules. The first motor lifting module 409 operates the corresponding basket 14 through the first chain, while the second motor lifting module 410 operates the other basket 14 through the second chain, realizing true dual-channel independent lifting.

[0103] The task scheduler of the control device adopts a multi-threaded architecture. When a parallel inbound / outbound command is received, the scheduler allocates independent control threads to manage the operation tasks of the first access window 402 and the second access window 403 respectively. The two threads coordinate resources through a semaphore mechanism to avoid motion interference. This design allows inbound tasks to complete without waiting for outbound tasks to finish, significantly reducing equipment idle time.

[0104] The rotation control and lifting action of the rotating cage 13 adopt a timing synchronization algorithm. When the processing module sends the rotation control parameters to the drive system, it simultaneously injects a delayed trigger signal into the lifting mechanism 4, so that the rotation of the rotating cage 13 and the lifting of the basket 14 are coupled on the time axis. The shortest rotation path calculated by the motion planning unit further optimizes the operating efficiency of the equipment.

[0105] An air curtain protection device provides environmental protection for parallel operation of the two channels. The air duct 405 delivers nitrogen from the liquid nitrogen tank 1 to the air curtain pipe 411, forming independent air curtain barriers at the two access windows through the vent 413. This design prevents cross-contamination of airflow during simultaneous operation of the two channels and maintains the internal temperature stability of the liquid nitrogen tank 1.

[0106] The spherical fit structure of the lifting hook 142 enhances the system's robustness. When the chain 412 applies a lifting force, the spherical structure adaptively adjusts the suspension angle of the basket 14 to compensate for any minor deviations in the rotational positioning of the rotating cage 13. This mechanical adaptive characteristic complements the grating ruler positioning of the PLC control system, ensuring stability during high-speed operation of the dual channels.

[0107] The system overcomes the technical limitations of the existing single-channel serial operation mode by coordinating spatially isolated dual-channel architecture, independently driven lifting mechanism, multi-threaded control algorithm, and adaptive mechanical structure, realizing parallel processing of biological sample entry and exit processes and effectively solving the technical problem of low processing efficiency.

[0108] Embodiment 1 of the present invention: A multi-channel automated cryogenic biological sample storage device demonstrates its advantages in the daily operation of a large-scale biobank. When the system simultaneously receives outbound and inbound commands, the data acquisition module verifies the command format through the interface of display 2, identifying the outbound task as high priority. The command parsing unit of the processing module extracts the outbound sample code and maps it to the coordinates of the second-layer basket 14 of the third rotation of the rotating cage 13, while simultaneously parsing the inbound sample code corresponding to the position of the fourth-layer basket 14 of the fifth rotation of the rotating cage 13. The motion planning unit calculates that the shortest path is for the rotating cage 13 to rotate two clockwise rotations, generates rotation control parameters, and sends them to the motor 17 and reducer 18, while simultaneously generating the vertical displacement parameters of the lifting mechanism 4. The PLC controller of the execution module drives the rotating cage 13 to rotate via the PROFIBUS bus, and simultaneously sends a lifting command to the first motor lifting module 409 via the CAN bus to control the outbound basket 14 to rise, and sends a descending command to the second motor lifting module 410 to control the inbound basket 14 to descend. The two baskets 14 operate synchronously through the first access window 402 and the second access window 403, respectively. The gas duct 405 of the air curtain protection device extracts nitrogen from the liquid nitrogen tank 1 and forms an air curtain barrier through the vent 413 of the air curtain pipe 411. This process reduces sample turnaround time by approximately 50% compared to single-channel serial operation.

[0109] Embodiment 2 of the present invention: In an emergency clinical diagnosis scenario, the system demonstrates rapid response capabilities. When emergency samples need to be urgently retrieved while research samples need to be simultaneously retrieved, the task scheduler allocates independent threads for parallel processing. The coordinate analysis unit maps the emergency sample codes to the top basket 14 of the first loop of the rotating cage 13, and the research samples correspond to the bottom basket 14 of the eighth loop of the rotating cage 13. The motion planning unit uses a reverse path algorithm to calculate that the optimal path is for the rotating cage 13 to rotate counterclockwise by half a loop. The synchronous control unit sends pulse signals to the drive system to control the positioning of the rotating cage 13, and simultaneously sends high-speed lifting parameters to the first motor lifting module 409 and constant-speed descent parameters to the second motor lifting module 410. The spherical fit structure of the lifting hook 142 adaptively adjusts the posture of the basket 14 during high-speed lifting, and the chain 412's retraction and extension speed is dynamically adjusted based on feedback from the grating ruler. When the emergency basket 14 reaches the retrieval window, the annular airflow distribution of the air curtain pipe 411 effectively blocks the intrusion of external hot air. This parallel processing mechanism reduces the time for emergency sample acquisition to one-third of that of a single-channel system, while maintaining the regular sample storage process without interruption.

[0110] Embodiment 3 of the present invention: The system demonstrates its architectural advantages when handling batch access to heterogeneous samples. When it is necessary to access cryopreservation boxes of different specifications simultaneously, the processing module automatically adjusts the motion trajectory according to the adaptation parameters of the rack 141. For the basket 14 in the high-frequency access area, the motion planning unit uses a progressive acceleration algorithm to reduce the impact of starting and stopping the rotating cage 13; for the basket 14 in the low-temperature storage area, a uniform motion algorithm is used to maintain temperature stability. The power distribution circuit of the electrical cabinet 3 provides independent voltage regulation for the motor 17 and the motor lifting modules 409 and 410. When the first access window 402 performs high-frequency sample screening, the second access window 403 can perform archiving operations. The reinforcing rib structure of the access window frame 407 suppresses vibration transmission and improves the distribution of dynamic loads at the welded joints of the tower base plate 404. This adaptive capability enables the system to maintain high throughput under mixed workloads and avoids efficiency fluctuations caused by task differences in existing equipment.

[0111] Embodiment 4 of the present invention: The maintainability of the system during long-term operation is achieved through modular design. When it is necessary to replace the basket 14 on a specific floor of the rotating drum 13, the maintenance personnel input maintenance commands through the display 2, and the processing module controls the rotation of the rotating drum 13 to align the target area with the access window. The chain 412 of the lifting mechanism 4 adopts a quick-release design, and the maintenance personnel can operate the inspection door of the access window outer frame 407 through the handle 406. The three-way structure 414 of the air curtain protection device allows for segmented disassembly and cleaning, and the insertion depth of the air duct 405 is adjustable to optimize the air curtain flow. The terminal blocks of the electrical cabinet 3 are clearly marked with wire numbers, and the modular fuses of the power distribution circuit support hot replacement. This design reduces equipment maintenance time by approximately 40%, significantly improving the operational continuity of the biobank.

Claims

1. A multi-channel automated cryogenic biological sample storage device, characterized in that, It includes equipment and control devices; the equipment and control devices establish a communication connection; the equipment and control devices include a liquid nitrogen tank (1), a rotating cage assembly, a lifting mechanism (4), and an air curtain protection device; The liquid nitrogen tank (1) is supported on the foundation by the outer shell (11). The liquid nitrogen tank (1) includes the outer shell (11) and the tank opening (12). The tank opening (12) is located at the off-center position of the liquid nitrogen tank (1). The rotating cage assembly is fixedly installed at the center of the liquid nitrogen tank (1), including a rotating cage (13) and multiple baskets (14). The baskets (14) contain a rack (141) for carrying cryopreservation boxes. The center of the rotating cage (13) is connected to a drive system via a rotating shaft (15). The drive system includes a motor (17) and a reducer (18). The motor (17) is connected to the rotating shaft (15) via the reducer (18). The drive system controls the rotating cage (13) to rotate via the rotating shaft (15) so that the baskets (14) reach the target workstation. The lifting mechanism (4) is installed above the tank opening (12) and includes two lifting towers (408). The two lifting towers (408) are respectively located behind the first access window (402) and the second access window (403). The first lifting tower corresponds to the first access window (402), and the second lifting tower corresponds to the second access window (403). The first lifting tower is equipped with a first motor lifting module (409), and the second lifting tower is equipped with a second motor lifting module (410). The first motor lifting module (409) is connected to the lifting hook (142) of the corresponding basket (14) through a first chain, and the second motor lifting module (410) is connected to the lifting hook (142) of the corresponding basket (14) through a second chain, so as to realize independent lifting of the two channels. The air curtain protection device is installed around the access window by a fixing frame and includes an air guide pipe (405) and an air curtain pipe (411). The lower end of the air guide pipe (405) extends into the liquid nitrogen in the liquid nitrogen tank (1), and the upper end is connected to the air curtain pipe (411) through a tee (414). The air curtain pipe (411) is arranged around the access window and is provided with a vent hole (413) to form an air curtain barrier in the access window. The control device is installed on the side of the liquid nitrogen tank (1) via an electrical cabinet (3), and includes a data acquisition module, a processing module and an execution module. The data acquisition module is connected to the display (2) via a signal line and is used to receive inbound and outbound instructions. The processing module is connected to the data acquisition module via a control bus and is used to parse instructions and generate control signals. The execution module is implemented by a PLC controller and is connected to the processing module via a control cable. It is used to operate the drive system and the lifting mechanism according to the control signals, so that the two channels can perform inbound and outbound tasks in parallel.

2. The multi-channel automated cryogenic biological sample storage device according to claim 1, characterized in that, The lifting hook (142) is set on the top of the basket (14) and is connected to the end of the chain (412) using a spherical mating structure. When the chain (412) applies a lifting force through the lifting hook (142), the spherical mating structure adaptively adjusts the suspension angle of the basket (14) so ​​that the basket (14) is stably lifted in the vertical direction.

3. The multi-channel automated cryogenic biological sample storage device according to claim 1, characterized in that, The off-center design of the tank opening (12) causes the central axis of the liquid nitrogen tank (1) to be offset from the central axis of the tank opening (12). Two lifting towers (408) are symmetrically arranged above the tank opening (12) with the center of the tank opening (12) as the reference, forming a spatially isolated dual-channel architecture.

4. The multi-channel automated cryogenic biological sample storage device according to claim 1, characterized in that, The air curtain tube (411) is arranged around the outer periphery of the first access window (402) and the second access window (403) by a bracket. The vent holes (413) are evenly distributed inside the air curtain tube (411) and the air outlet direction is towards the center of the window. The air guide tube (405) transports the nitrogen generated by the vaporization of liquid nitrogen in the liquid nitrogen tank (1) to the air curtain tube (411) and forms a uniform air curtain covering the window through the vent holes (413).

5. The multi-channel automated cryogenic biological sample storage device according to claim 1, characterized in that, The control device also includes a display module, which is connected to the data acquisition module and is used to display the real-time rotation angle of the rotating cage (13) and the layer position of the basket (14); The data acquisition module receives inbound and outbound instructions from external systems and performs format verification and priority identification on the instructions. The instruction parsing unit of the processing module extracts the sample code in the instruction and converts the sample code into the three-dimensional coordinates of the target basket (14) in the rotating cage (13) according to the preset mapping relationship. The three-dimensional coordinates include the number of rotations of the rotating cage, the number of basket layers and the rack (141). The motion planning unit of the processing module calculates the shortest rotation path of the rotating cage (13) based on the three-dimensional coordinates and generates the corresponding rotation control parameters. At the same time, it generates the vertical displacement parameters of the lifting mechanism (4) according to the number of basket layers. The synchronous control unit of the processing module sends the rotation control parameters to the motor (17) and reducer (18) of the drive system, synchronously sends the vertical displacement parameters to the first motor lifting module (409) and the second motor lifting module (410), and injects a timing synchronization signal to couple the rotation of the rotating cage with the lifting action of the basket on the time axis. The execution module monitors the speed feedback signal of the motor (17) and the position feedback signal of the first motor lifting module (409) and the second motor lifting module (410) in real time through the PLC controller, and dynamically adjusts the output torque and the chain (412) retraction and extension speed to keep the basket (14) stable in posture during the lifting process; When the basket (14) reaches the target position, the execution module triggers the air curtain protection device to start, controls the air duct (405) and the air curtain pipe (411) to form a continuous air curtain, and sends a task completion signal to the data acquisition module to update the inventory status.

6. The multi-channel automated cryogenic biological sample storage device according to claim 1, characterized in that, The processing module includes a coordinate analysis unit and a motion coordination unit; the coordinate analysis unit calculates the orientation coordinates of the target basket (14) according to the entry and exit instructions; the motion coordination unit synchronously sends rotation signals to the drive system, lifting signals to a first motor lifting module (409) and a second motor lifting module (410), so that the rotation of the rotating cage and the lifting action of the basket are continuously connected.

7. The multi-channel automated cryogenic biological sample storage device according to claim 1, characterized in that, The drive system includes a motor (17) and a reducer (18). The output shaft of the motor (17) is connected to the input shaft of the reducer (18). The output shaft of the reducer (18) is fixedly connected to the rotating shaft (15) through a keyway to form a torque transmission chain.

8. The multi-channel automated cryogenic biological sample storage device according to claim 1, characterized in that, The equipment also includes an electrical cabinet (3), which is fixed to the surface of the outer shell (11) of the liquid nitrogen tank (1). The electrical cabinet (3) is equipped with a power distribution circuit inside. The power distribution circuit is connected to the motor (17), a motor lifting module (409), and a second motor lifting module (410) via cables.

9. The multi-channel automated cryogenic biological sample storage device according to claim 1, characterized in that, The lifting mechanism (4) also includes a lifting tower base plate (404) and an access window frame (407); the lifting tower base plate (404) is welded and fixed to the edge of the tank opening (12), and the access window frame (407) is embedded in the front of the lifting tower (408) to form a rigid support structure; The execution module adopts a PLC controller. The PLC controller has a built-in task scheduler. The task scheduler monitors the status of the two channels in real time. When it receives a parallel task instruction, it allocates an independent control thread to synchronously operate the first motor lifting module (409) and the second motor lifting module (410).

10. A multi-channel automated cryogenic biological sample storage system, applied to the multi-channel automated cryogenic biological sample storage device as described in any one of claims 1 to 9, characterized in that, It includes equipment and control devices; the equipment and control devices establish a communication connection, and the control devices control the equipment and control devices to complete parallel entry and exit of the warehouse through dual channels; The control device includes a data acquisition module, a processing module, and an execution module; The data acquisition module receives inbound and outbound instructions through the display (2) and performs format verification on the instructions; The processing module parses the instructions, extracts the sample code, and determines the three-dimensional coordinates of the target basket (14) in the rotating cage (13) according to the preset mapping relationship, including the number of rotating cages, the number of basket layers and the rack (141). The processing module calculates the shortest rotation path of the rotating cage (13), generates rotation control parameters, and generates vertical displacement parameters of the lifting mechanism (4) according to the number of basket layers. The execution module sends rotation control parameters to the motor (17) and reducer (18) of the drive system through the PLC controller, controls the rotation of the rotating cage (13), and synchronously sends the vertical displacement parameters to the first motor lifting module (409) and the second motor lifting module (410), controls the chain (412) to lift the basket (14). The execution module monitors the speed feedback of the motor (17) and the position feedback of the first motor lifting module (409) and the second motor lifting module (410) in real time, and dynamically adjusts the torque and the speed of chain (412) to make the basket (14) lift stably. When the basket (14) reaches the target position, the execution module triggers the air curtain protection device and controls the air duct (405) and the air curtain pipe (411) to form an air curtain barrier; The data acquisition module updates the inventory status and completes the inbound and outbound tasks.

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