An automated ultra-low temperature micro-positive pressure device and system thereof

Abstract

This invention relates to the field of biological sample storage technology and discloses an automated ultra-low temperature micro-positive pressure device and system, comprising: an upper frame and a lower frame; the upper frame includes a micro-positive pressure chamber, a motion module, a PSA nitrogen generation module, and an upper frame base; the micro-positive pressure chamber is disposed on the upper frame base, the motion module is installed inside the micro-positive pressure chamber, and the PSA nitrogen generation module is connected to the micro-positive pressure chamber through a first flange interface; the motion module integrates a cover gripping assembly, a hand gripping assembly, and a pipette tip assembly; the cover gripping assembly is used to grip the cover plate of the chamber or the transport box; the hand gripping assembly is used to grip the sample tray; and the pipette tip assembly is used to aspirate cryopreservation tubes. This invention constructs a micro-positive pressure inert environment, automates sample storage and retrieval, precisely controls temperature, monitors and adjusts in real time, improves the reliability and convenience of ultra-low temperature storage, and ensures the long-term stable preservation of biological samples.

Description

Technical Field

[0001] This invention relates to the field of biological sample storage technology, specifically to an automated ultra-low temperature micro-positive pressure device and system. Background Technology

[0002] Ultra-low temperature micro-positive pressure devices are used in the storage of environmentally sensitive materials such as biological samples and pharmaceutical products. Through ultra-low temperature environment and micro-positive pressure inert gas protection, they ensure that samples are not oxidized, frozen, damaged or contaminated during long-term storage. They are core equipment for scientific research, medical treatment and bioengineering.

[0003] Existing cryogenic storage equipment has significant drawbacks: it lacks a micro-positive pressure system and an inert gas supply system, relies on passive sealing and is susceptible to external moisture and oxygen penetration, leading to sample frost formation and oxidation failure; sample access depends on manual operation, which is inefficient and prone to damage due to human error; the refrigeration system has insufficient temperature control precision, and large temperature fluctuations affect sample activity; environmental parameter monitoring is lagging and cannot be adjusted in real time, resulting in poor storage stability. Although some equipment uses mechanical pumps or chemical desiccants to maintain the environment, the effect is limited and the maintenance cost is high, making it difficult to meet the requirements for long-term, high-stability storage. Therefore, an automated cryogenic micro-positive pressure device and its system are proposed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an automated cryogenic micro-positive pressure device and system to solve the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automated ultra-low temperature micro-positive pressure device, comprising: an upper frame and a lower frame; the upper frame includes a micro-positive pressure chamber, a motion module, a PSA nitrogen generation module, and an upper frame base, the micro-positive pressure chamber being disposed on the upper frame base, the motion module being installed inside the micro-positive pressure chamber, and the PSA nitrogen generation module being connected to the micro-positive pressure chamber through a first flange interface, thereby forming a stable micro-positive pressure inert environment, effectively isolating external moisture and oxygen, ensuring the long-term storage stability of samples, and solving the problem of sample deterioration caused by environmental fluctuations in traditional equipment; The motion module integrates a cover gripping assembly, a gripper assembly, and a suction head assembly. The cover gripping assembly is used to grip the cover of the compartment or the transport box. The gripper assembly is used to grip the sample rack. The suction head assembly is used to pick up cryopreservation tubes. Through the collaborative operation of a multi-axis robotic arm, complex operations are automated, significantly reducing the need for manual intervention and avoiding human error, thereby improving the safety and efficiency of sample processing. The suction head assembly includes a mounting base, a pneumatic suction cup or elastic gripper mounted on the mounting base, and a miniature cylinder that drives the pneumatic suction cup or elastic gripper to rise and fall. The suction head assembly is equipped with an anti-slip silicone head for picking up or holding cryopreservation tubes. The lower frame includes a refrigerator assembly and a refrigeration unit. The refrigerator assembly is located below the micro-positive pressure chamber. The refrigeration unit is connected to the refrigerator assembly through a liquid inlet pipe. Through a closed-loop refrigeration cycle system, precise temperature control is achieved to ensure that the sample is always in an ultra-low temperature state, which solves the shortcomings of traditional refrigeration equipment such as large temperature fluctuations and slow response. The bottom of the micro-positive pressure chamber is equipped with a chamber insulation cover, a molecular sieve assembly, a dew point sensor, a temperature sensor, and a photoelectric sensor. The PSA nitrogen generation module is used to separate nitrogen from the air, which is then purified and dried before being introduced into the micro-positive pressure chamber to create a micro-positive pressure inert environment. The dew point sensor and temperature sensor monitor the environmental parameters inside the chamber in real time, and the photoelectric sensor is used to detect the storage status of the cover and the sample.

[0006] Preferably, the bottom of the micro-positive pressure chamber is further provided with a chamber cover storage area and a transfer box cover storage area, wherein the transfer box cover storage area is used to store the cover plate of the transfer box.

[0007] Preferably, the PSA nitrogen generation module includes a pressure swing adsorption unit and a purification unit. The purification unit is filled with an adsorbent for removing moisture and impurities from the nitrogen gas stream, and the pressure of the treated nitrogen gas is controlled within the range of 20Pa-100Pa.

[0008] Preferably, the refrigerator assembly includes a refrigerator body and a top cover disposed on the top of the refrigerator body. The refrigerator body has a liquid inlet, and the liquid inlet pipe is connected to the liquid inlet. The refrigerator body is provided with a multi-mesh plate, which is made of aluminum alloy and has microchannels for refrigerant to flow inside. Alternatively, a serpentine refrigeration pipe is attached to its bottom surface, and the serpentine refrigeration pipe is connected to the liquid inlet pipe to form a refrigeration circuit. The multi-mesh plate is equipped with a plate clamp transfer fixture. The multi-mesh plate divides the internal space of the refrigerator body into 3-5 independent storage areas. Each storage area is equipped with a corresponding aluminum tube and plate clamp transfer fixture. The aluminum tube is located below the multi-mesh plate and is in thermal contact with the multi-mesh plate. The interior or bottom of the multi-mesh plate is fitted with a refrigeration flow channel that communicates with the liquid inlet pipe.

[0009] Preferably, the motion module is a multi-axis robotic arm structure, which drives the cover gripping assembly, gripper assembly and suction head assembly to move in three-dimensional space to cover all operating positions in the micro-positive pressure chamber.

[0010] Preferably, multiple photoelectric sensors are provided, located around the compartment cover storage area, the transfer box cover storage area, and the plate clamp transfer fixture, respectively, for detecting whether the top cover and sample plate rack are accurately picked up and placed in place.

[0011] Preferably, the side wall or bottom of the micro-positive pressure chamber is provided with a second flange interface, which is used to connect an external detection pipeline or a backup gas source interface.

[0012] Preferably, the upper frame base is located at the bottom edge of the micro-positive pressure chamber, which supports the micro-positive pressure chamber and is fixedly connected to the lower frame. A wiring channel for laying sensor cables is formed between the upper frame base and the chamber insulation cover.

[0013] An automated ultra-low temperature micro-positive pressure device based on the above includes: a control module, a PSA nitrogen generation module, a motion control module, and a refrigeration module; the motion control module is used to drive the motion module, the cap gripping assembly, the gripper assembly, and the suction head assembly as described in the claims; the refrigeration module is used to drive the refrigeration unit. Through a modular control system, precise linkage and intelligent scheduling of each component are achieved, further improving the reliability and maintainability of the device and solving the problems of complex control logic and difficult maintenance in traditional equipment.

[0014] Preferably, the control module is connected to the dew point sensor, temperature sensor, and photoelectric sensor respectively to form a closed-loop feedback control system. It controls the start and stop of the PSA nitrogen generator module to adjust the pressure and dew point value in the micro-positive pressure chamber. Based on the feedback value of the dew point sensor, it adjusts the opening degree of the solenoid valve and the gas replenishment frequency of the PSA nitrogen generator module. Based on the feedback signal of the photoelectric sensor, the motion control module controls the gripper assembly to place the sample plate holder on the plate clamp transfer fixture and controls the suction head assembly to move the sample into the aluminum tube.

[0015] Compared with the prior art, the present invention provides an automated cryogenic micro-positive pressure device and system, which has the following beneficial effects: This invention, through the cooperation of a PSA nitrogen generation module and a micro-positive pressure chamber, establishes a micro-positive pressure inert environment within the chamber. This environment offers advantages such as isolating moisture and oxygen, preventing sample frost and oxidation, and solving the problem of sample failure caused by environmental contamination in traditional ultra-low temperature storage equipment. By integrating a cap-gripping assembly, a gripper assembly, and a pipette tip assembly into a motion module, fully automated sample storage and retrieval is achieved, improving efficiency and reducing human error, thus solving the problems of time-consuming and inaccurate manual operations. Furthermore, the cooperation of a refrigeration unit and a refrigerator assembly enables precise ultra-low temperature control, maintaining sample viability and addressing the issue of temperature fluctuations affecting sample quality. Through real-time monitoring and feedback from dew point sensors, temperature sensors, and photoelectric sensors, combined with intelligent control of the control module, closed-loop control of environmental parameters is achieved. This provides advantages such as rapid response to anomalies and guaranteed storage stability, solving the problem that traditional equipment cannot adjust environmental parameters in real time. The overall device, through modular design and intelligent control, improves the reliability and convenience of ultra-low temperature micro-positive pressure storage, meeting the long-term preservation needs of environmentally sensitive materials such as biological samples. Attached Figure Description

[0016] Figure 1 This is a perspective view of the overall structure of the present invention; Figure 2 This is a cross-sectional view of the micro-positive pressure chamber structure of the present invention; Figure 3 This is a perspective view of the motion module structure of the present invention; Figure 4 This is a perspective view of the cover gripping assembly of the present invention; Figure 5 This is a perspective view of the gripper assembly of the present invention; Figure 6 This is a top view of the upper frame base of the present invention; Figure 7 This is a perspective view of the refrigerator component of the present invention; Figure 8 This is a top view of the refrigerator assembly of the present invention; Figure 9 This is a schematic diagram of the system of the present invention.

[0017] In the diagram: 1. Micro-positive pressure chamber; 2. PSA nitrogen generator module; 3. Refrigerator assembly; 4. Lid gripper assembly; 5. Hand gripper assembly; 6. Motion module; 7. Suction head assembly; 8. Upper frame base; 9. Chamber cover storage area; 10. Chamber insulation cover; 11. Transfer box cover storage area; 12. First flange interface; 13. Second flange interface; 14. Dew point sensor; 15. Temperature sensor; 16. Molecular sieve assembly; 17. Refrigerator body; 18. Top cover; 19. Refrigeration unit; 20. Liquid inlet pipe; 21. Liquid inlet; 22. Plate clamp transfer fixture; 23. Multi-mesh plate; 24. Aluminum tube; 25. Photoelectric sensor. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0019] This invention provides a technical solution: an automated cryogenic micro-positive pressure device. Please refer to [link / reference]. Figures 1-9 The system includes an upper frame and a lower frame. The upper frame includes a micro-positive pressure chamber 1, a motion module 6, a PSA nitrogen generator module 2, and an upper frame base 8. The micro-positive pressure chamber 1 is mounted on the upper frame base 8, and the motion module 6 is installed inside the micro-positive pressure chamber 1. The PSA nitrogen generator module 2 is connected to the micro-positive pressure chamber 1 through a first flange interface 12. The motion module 6 integrates a cover gripping assembly 4, a gripper assembly 5, and a suction head assembly 7. The suction head assembly 7 includes a mounting base, a pneumatic suction cup or elastic gripper mounted on the mounting base, and a miniature cylinder for driving the pneumatic suction cup or elastic gripper to rise and fall. The suction head assembly 7 is equipped with an anti-slip silicone head for sucking up or gripping cryopreservation tubes. The cover gripping assembly 4 is used to grip the cover of the chamber cover storage area 9 or the transfer box cover storage area 11. The sample holder assembly 5 is used to grasp the sample plate rack, and the pipette assembly 7 is used to aspirate cryopreservation tubes. The lower frame includes a refrigerator assembly 3 and a refrigeration unit 19. The refrigerator assembly 3 is located below the micro-positive pressure chamber 1, and the refrigeration unit 19 is connected to the refrigerator assembly 3 through a liquid inlet pipe 20. The bottom of the micro-positive pressure chamber 1 is equipped with a chamber insulation cover 10, a molecular sieve assembly 16, a dew point sensor 14, a temperature sensor 15, and a photoelectric sensor 25. The PSA nitrogen generation module 2 is used to separate nitrogen from the air, which is purified and dried before being introduced into the micro-positive pressure chamber 1 to form a micro-positive pressure inert protective environment inside the chamber 1. The dew point sensor 14 and the temperature sensor 15 monitor the environmental parameters inside the chamber in real time, and the photoelectric sensor 25 is used to detect the storage status of the cover plate and the sample. The micro-positive pressure chamber 1 is a double-layer stainless steel vacuum insulation structure with polished inner walls. The PSA nitrogen generation module 2 is connected to the top of the chamber through the first flange interface 12. After purification, nitrogen is injected through the evenly distributed vents on the top of the chamber, forming laminar flow protection from top to bottom. Through the cooperation of the micro-positive pressure chamber 1 and the PSA nitrogen generation module 2, a micro-positive pressure inert environment of 20Pa-100Pa is formed inside the chamber, effectively isolating external moisture and oxygen from entering and preventing sample frost and oxidation. Combined with the real-time monitoring of the dew point sensor 14 and the temperature sensor 15, the ultra-high stability of the storage environment is ensured, eliminating the need for an external nitrogen source, reducing usage costs and safety hazards.

[0020] The bottom of the micro-positive pressure chamber 1 is also provided with a chamber cover storage area 9 and a transfer box cover storage area 11, the transfer box cover storage area 11 is used to store the cover plate of the transfer box; The compartment cover storage area 9 and the transfer box cover storage area 11 are both groove structures set on the compartment insulation cover 10. The bottom of the groove is provided with an anti-slip silicone pad to securely place the top cover 18 or the transfer box cover and prevent displacement during movement. The compartment cover storage area 9 and the transfer box cover storage area 11 provide dedicated temporary storage space for the top cover 18 of the refrigerator component 3 and the transfer box cover, avoiding contamination or loss caused by random placement of the cover. At the same time, in conjunction with the cover gripping component 4, the automatic storage and retrieval of the cover is realized, improving the standardization and efficiency of the operation.

[0021] PSA nitrogen generation module 2 includes a pressure swing adsorption unit and a purification unit. The purification unit is filled with an adsorbent to remove moisture and impurities from the nitrogen gas stream. The pressure of the treated nitrogen gas is controlled within the range of 20Pa-100Pa. The pressure swing adsorption unit uses a carbon molecular sieve adsorption tower to adsorb oxygen through pressure changes; the purification unit is filled with a mixture of activated alumina and molecular sieve adsorbent to further remove trace amounts of moisture and oil mist from the nitrogen gas, and a pressure reducing valve is installed at the outlet to control the pressure; the PSA nitrogen generation module 2 has a built-in pressure swing adsorption unit and purification unit, which can efficiently separate high-purity nitrogen gas from the air and deeply remove moisture and impurities, ensuring that the gas introduced into the micro-positive pressure chamber 1 is dry and clean, maintaining a stable dew point in the chamber, and providing reliable inert gas protection for the sample.

[0022] The refrigerator assembly 3 includes a refrigerator body 17 and a top cover 18 disposed on the top of the refrigerator body 17. The multi-mesh plate 23 is made of high thermal conductivity aluminum alloy and has microchannels for refrigerant flow inside, or a serpentine refrigerant tube is attached to its bottom surface. The serpentine refrigerant tube is connected to the liquid inlet pipe 20 to form a refrigeration circuit. The refrigerator body 17 has a liquid inlet 21, and the liquid inlet pipe 20 is connected to the liquid inlet 21. The refrigerator body 17 is provided with a multi-mesh plate 23 inside, and a plate clamp transfer fixture 22 is provided on the multi-mesh plate 23. The multi-mesh plate 23 divides the internal space of the refrigerator body 17 into 3-5 independent storage areas. Each storage area is equipped with a corresponding aluminum tube 24 and a plate clamp transfer fixture 22. The aluminum tube 24 is disposed below the multi-mesh plate 23 and is in thermal contact with the multi-mesh plate 23. The multi-mesh plate 23 has a refrigerant flow channel connected to the liquid inlet pipe 20 attached to its inside or bottom. The multi-mesh plate 23 is made of aluminum alloy with an anodized surface, and the mesh corresponds one-to-one with the plate clamp. The aluminum tube 24 is embedded below the multi-mesh plate 23 and fits into the refrigeration circuit connected to the liquid inlet pipe 20 to achieve rapid cooling. The refrigerator assembly 3 is divided into 3-5 independent storage areas by the multi-mesh plate 23, which can realize the classification and management of different samples. The aluminum tube 24 is connected to the refrigeration unit 19 through the liquid inlet pipe 20 and the liquid inlet 21 to ensure that each storage area can be cooled evenly. The plate clamp transfer fixture 22 provides a precise transition platform for sample transfer.

[0023] The motion module 6 is a multi-axis robotic arm structure. The multi-axis robotic arm structure drives the cover gripping assembly 4, the gripper assembly 5 and the suction head assembly 7 to move in three-dimensional space to cover all operating positions in the micro-positive pressure chamber 1. The multi-axis robotic arm structure is an XYZ three-axis linear module. The X-axis and Y-axis modules are installed on the top sides of the micro-positive pressure chamber 1, and the Z-axis module is installed at the intersection of the XY axes. The ends are respectively connected to the cover gripping assembly 4, the gripper assembly 5, and the suction head assembly 7. The motion module 6 adopts a multi-axis robotic arm structure, which can drive the cover gripping assembly 4, the gripper assembly 5, and the suction head assembly 7 to move precisely in three-dimensional space, covering all operating positions in the micro-positive pressure chamber 1. It realizes the full automation of actions such as sample storage and retrieval and cover transfer, and greatly improves the operating efficiency and accuracy.

[0024] Multiple photoelectric sensors 25 are installed, located around the compartment cover storage area 9, the transfer box cover storage area 11, and the plate clamp transfer fixture 22, respectively, to detect whether the top cover 18 and the sample plate rack are accurately picked up and placed in place. The photoelectric sensor 25 is a through-beam photoelectric switch, with the transmitting end and receiving end installed on both sides of the compartment cover storage area 9, the transfer box cover storage area 11, and the plate clamp transfer fixture 22, respectively. When the top cover 18 or the sample plate rack blocks the light, it outputs a positioning signal. Multiple photoelectric sensors 25 monitor the storage status of the top cover 18 and the sample plate rack, and provide real-time feedback on whether the retrieval and placement are in place, avoiding sample damage or operation failure caused by positional deviation. Together with the motion module 6, it realizes closed-loop control, ensuring the reliability and safety of the entire storage and retrieval process.

[0025] The side wall or bottom of the micro-positive pressure chamber 1 is also provided with a second flange interface 13, which is used to connect an external detection pipeline or a backup gas source interface. The second flange interface 13 is a KF-type vacuum flange, installed on the side wall of the micro-positive pressure chamber 1. It can be connected to an external dew point meter or pressure gauge via a hose, or to a spare nitrogen cylinder as an emergency gas source in case of PSA nitrogen generation module 2 failure. The second flange interface 13 provides an external detection and emergency gas replenishment interface for the micro-positive pressure chamber 1, which facilitates the periodic calibration of the dew point sensor 14 and temperature sensor 15. At the same time, in case of PSA nitrogen generation module 2 malfunction, the micro-positive pressure inside the chamber can be maintained by the spare gas source, ensuring the continuity and safety of sample storage.

[0026] The upper frame base 8 is located at the bottom edge of the micro-positive pressure chamber 1, which is used to support the micro-positive pressure chamber 1 and is fixedly connected to the lower frame. A wiring channel for laying sensor cables is formed between the upper frame base 8 and the chamber insulation cover 10. The upper frame base 8 is welded from aluminum alloy profiles, with a hollow interior forming a wiring channel. Waterproof connectors are provided at both ends of the channel. The sensor cables enter the wiring channel through the reserved holes in the cabin insulation cover 10 and are finally led out to the control module. The upper frame base 8 not only supports the micro-positive pressure chamber 1 and is fixedly connected to the lower frame, but the wiring channel between it and the cabin insulation cover 10 also realizes the concealed layout of the sensor cables, avoiding tangling or damage caused by exposed cables, making the internal structure of the device neater and facilitating maintenance and repair.

[0027] Based on the above-mentioned automated cryogenic micro-positive pressure device, please refer to... Figures 1-9 It includes: a control module, a PSA nitrogen generation module 2, a motion control module and a refrigeration module; the motion control module is used to drive the motion module 6, the cap gripping assembly 4, the gripper assembly 5 and the suction head assembly 7 in claim 1, and the refrigeration module is used to drive the refrigeration unit 19; The control module is a PLC controller, the motion control module is a servo driver, and the refrigeration module is a variable frequency compressor controller. The PLC is connected to the servo driver via a Profinet bus and communicates with the variable frequency compressor controller via RS485, receiving sensor signals and sending control commands. Through the coordinated work of the control module, motion control module, and refrigeration module, the system achieves centralized control of the motion module 6, the cover gripping assembly 4, the gripper assembly 5, the suction head assembly 7, and the refrigeration unit 19. Each module has a clear division of labor, ensuring the precise execution of each action of the device and the stable control of the refrigeration temperature.

[0028] The control module is connected to the dew point sensor 14, temperature sensor 15 and photoelectric sensor 25 respectively to form a closed-loop feedback control system. It controls the start and stop of the PSA nitrogen generator module 2 to adjust the pressure and dew point value in the micro-positive pressure chamber 1. It adjusts the opening degree of the solenoid valve and the gas replenishment frequency of the PSA nitrogen generator module 2 according to the feedback value of the dew point sensor 14. The motion control module controls the gripper assembly 5 to place the sample plate holder on the plate clamp transfer fixture 22 according to the feedback signal of the photoelectric sensor 25, and controls the suction head assembly 7 to move the sample into the aluminum tube 24. The control module incorporates a PID control algorithm to adjust the opening of the solenoid valve of the PSA nitrogen generator module 2 based on the feedback value from the dew point sensor 14. The motion control module employs closed-loop position control, correcting the end positions of the gripper assembly 5 and the suction head assembly 7 based on the signal from the photoelectric sensor 25. The control module dynamically adjusts the start and stop of the PSA nitrogen generator module 2 and the movement of the motion module 6 based on the feedback signals from the dew point sensor 14 and the photoelectric sensor 25, achieving precise control of the cabin environment and closed-loop positioning for sample storage and retrieval. This ensures accurate transfer of samples between the plate clamp transfer fixture 22 and the aluminum tube 24, improving the system's intelligence level.

[0029] This scheme: First, the PSA nitrogen generation module 2 is activated, which separates nitrogen from the air, purifies and dries it, and then introduces it into the micro-positive pressure chamber 1 through the first flange interface 12, maintaining the pressure inside the chamber at 20Pa-100Pa. The dew point sensor 14 and temperature sensor 15 monitor the chamber environment in real time, and the control module adjusts the nitrogen generation rate based on the monitoring data. At the same time, the refrigeration unit 19 delivers refrigerant to the aluminum pipe 24 inside the refrigerator body 17 through the liquid inlet pipe 20 and liquid inlet port 21, so that the area of ​​the multi-mesh plate 23 reaches ultra-low temperature.

[0030] During sample storage and retrieval, the motion module 6 drives the lid gripping assembly 4 to remove the top cover 18 of the refrigerator body 17 from the compartment cover storage area 9. The gripper assembly 5 grabs the sample tray from the multi-mesh plate 23 and transfers it to the tray clamping transfer fixture 22. After the photoelectric sensor 25 detects the positioning, the suction head assembly 7 picks up the cryopreservation tube and transfers it into the aluminum tube 24. After the operation is completed, the lid gripping assembly 4 resets the top cover 18. Throughout the process, the molecular sieve assembly 16 assists in adsorbing trace amounts of moisture in the compartment, ensuring that the samples are stored stably for a long time in a dry, inert, and ultra-low temperature environment.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automated cryogenic micro-positive pressure device, characterized in that, include: Top frame and bottom frame; The upper frame includes a micro-positive pressure chamber (1), a motion module (6), a PSA nitrogen generator module (2), and an upper frame base (8). The micro-positive pressure chamber (1) is disposed on the upper frame base (8), the motion module (6) is installed inside the micro-positive pressure chamber (1), and the PSA nitrogen generator module (2) is connected to the micro-positive pressure chamber (1) through the first flange interface (12). The motion module (6) integrates a cover gripping assembly (4), a gripper assembly (5), and a suction head assembly (7). The cover gripping assembly (4) is used to grip the cover of the compartment cover storage area (9) or the transfer box cover storage area (11). The gripper assembly (5) is used to grip the sample plate rack. The suction head assembly (7) is used to suck up the cryopreservation tube. The lower frame includes a refrigerator assembly (3) and a refrigeration unit (19). The refrigerator assembly (3) is located below the micro-positive pressure chamber (1). The refrigeration unit (19) is connected to the refrigerator assembly (3) through a liquid inlet pipe (20). The bottom of the micro-positive pressure chamber (1) is provided with a chamber insulation cover (10), a molecular sieve assembly (16), a dew point sensor (14), a temperature sensor (15) and a photoelectric sensor (25). The PSA nitrogen generation module (2) is used to separate nitrogen from the air, which is then purified and dried before being introduced into the micro-positive pressure chamber (1). The dew point sensor (14) and temperature sensor (15) monitor the environmental parameters inside the chamber in real time. The photoelectric sensor (25) is used to detect the storage status of the cover plate and the sample.

2. The automated cryogenic micro-positive pressure device according to claim 1, characterized in that: The bottom of the micro-positive pressure chamber (1) is also provided with a chamber cover storage area (9) and a transfer box cover storage area (11), the transfer box cover storage area (11) being used to store the cover plate of the transfer box.

3. The automated cryogenic micro-positive pressure device according to claim 1, characterized in that: The PSA nitrogen generation module (2) includes a pressure swing adsorption unit and a purification unit. The purification unit is filled with an adsorbent for removing moisture and impurities from the nitrogen gas stream.

4. The automated cryogenic micro-positive pressure device according to claim 1, characterized in that: The refrigerator assembly (3) includes a refrigerator body (17) and a top cover (18) disposed on the top of the refrigerator body (17). The refrigerator body (17) is provided with a liquid inlet (21), and the liquid inlet pipe (20) is connected to the liquid inlet (21). The refrigerator body (17) is provided with a perforated plate (23) inside, and a plate clamp transfer fixture (22) is provided on the perforated plate (23). The perforated plate (23) divides the internal space of the refrigerator body (17) into 3-5 independent storage areas. Each storage area is equipped with a corresponding aluminum tube (24) and a plate clamp transfer fixture (22).

5. The automated cryogenic micro-positive pressure device according to claim 1, characterized in that: The motion module (6) is a multi-axis manipulator structure, which drives the cover gripper assembly (4), gripper assembly (5) and suction head assembly (7) to move in three-dimensional space.

6. An automated cryogenic micro-positive pressure device according to claim 4, characterized in that: Multiple photoelectric sensors (25) are provided, located around the compartment cover storage area (9), the transfer box cover storage area (11), and the plate clamp transfer fixture (22), respectively, to detect whether the top cover (18) and the sample plate rack are picked up and placed in place.

7. An automated cryogenic micro-positive pressure device according to claim 1, characterized in that: The side wall or bottom of the micro-positive pressure chamber (1) is also provided with a second flange interface (13), which is used to connect an external detection pipeline or a backup gas source interface.

8. An automated cryogenic micro-positive pressure device according to claim 1, characterized in that: The upper frame base (8) is located at the bottom edge of the micro-positive pressure chamber (1) and is used to support the micro-positive pressure chamber (1) and is fixedly connected to the lower frame. A wiring channel for laying sensor cables is formed between the upper frame base (8) and the chamber insulation cover (10).

9. An automated cryogenic micro-positive pressure system, based on an automated cryogenic micro-positive pressure device as described in any one of claims 1-8, characterized in that, include: Control module, PSA nitrogen generator module (2), motion control module and refrigeration module; The motion control module is used to drive the motion module (6), the cover gripping assembly (4), the gripper assembly (5) and the suction head assembly (7), and the refrigeration module is used to drive the refrigeration unit (19).

10. An automated cryogenic micro-positive pressure system according to claim 9, characterized in that: The control module is connected to the dew point sensor (14), temperature sensor (15) and photoelectric sensor (25) respectively, and controls the start and stop of the PSA nitrogen generation module (2) to adjust the pressure and dew point value in the micro-positive pressure chamber (1); The motion control module controls the gripper assembly (5) to place the sample plate holder on the plate clamp transfer fixture (22) based on the feedback signal from the photoelectric sensor (25), and controls the suction head assembly (7) to move the sample into the aluminum tube (24).

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