A fully automated low-temperature modular storage system

Abstract

The application discloses a kind of full-automatic low-temperature modular storage systems, it is related to sample storage technical field, a kind of full-automatic low-temperature modular storage system includes operation control cabin, sample transmission cabin and storage cabin;Operation control cabin side is provided with multiple groups of storage cabin, sample transmission cabin is set on multiple groups of storage cabin, and is connected with operation control cabin, sample transmission cabin is connected with operation control cabin and multiple groups of storage cabin and can carry out sample transmission, storage cabin can pick tube to sample, and can support storage to sample in and out of warehouse, storage cabin can store sample.The beneficial effects of the present application are that one operation control cabin is used and connected with multiple storage cabins through the sample transmission cabin, which realizes the picking, transportation, access and other operations of the sample, realizes the full-automatic operation, and through one operation control cabin, the sample in and out of warehouse and access picking operation can be carried out with several storage cabins, which saves the cost of operation control cabin and improves the storage efficiency.

Description

Technical Field

[0001] This invention relates to the field of sample storage technology, and in particular to a fully automated low-temperature modular storage system. Background Technology

[0002] In the biomedical industry, ultra-low temperature freezers are used for storing biological samples. Biobanks are essential infrastructure for research in the medical and biological fields, allowing blood, stem cells, and immune cells to maintain their viability for extended periods through cryopreservation. The typical technique involves storing samples in cryovials, placing the cryovials in cryoprotective boxes, and then storing them in an ultra-low temperature freezer.

[0003] Current low-temperature freezers typically have one operating compartment and one storage compartment. While this method is convenient, it occupies a large space and incurs high costs for both the operating compartment and after-sales service. Furthermore, the storage efficiency of the storage compartment is relatively low. In addition, the tube picking process in the sample operating compartment is quite complex, making it impossible to pick tubes from large quantities of biological plates. The tube picking process is time-consuming and inefficient, and it also cannot handle large-scale inbound and outbound transfers or temporary storage.

[0004] To address this, the inventors designed a fully automated low-temperature modular storage system. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] In view of the problems existing in the above or prior art, the present invention is proposed.

[0007] Therefore, the purpose of this invention is to provide a fully automated low-temperature modular storage system, which enables an operation control chamber to interface with multiple storage chambers through a sample transfer chamber to perform sample picking, transfer, storage and retrieval operations, achieving fully automated operation. The operation control chamber can perform large-scale sample picking operations and partitioned large-scale storage of racks. The sample transfer chamber can interface with multiple sets of storage chambers to achieve bidirectional rack transfer, and the storage chambers can perform large-scale storage operations of rack samples.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: It includes an operation control cabin and multiple storage cabins; each storage cabin is equipped with a sample transmission channel, and the sample transmission channels of multiple storage cabins can be connected end-to-end to form a sample transmission cabin; the operation control cabin can dock with the sample transmission cabin, and receive or transfer storage and extraction targets in all storage cabins through the sample transmission cabin; the sample transmission cabin includes a transmission cabin body, and a bidirectional transmission mechanism is provided within the transmission cabin body, which can drive multiple sets of sample trays to move bidirectionally and dock with the operation control cabin and multiple sets of storage cabins.

[0009] As a preferred embodiment of the fully automated low-temperature modular storage system of the present invention, the system includes: multiple storage compartments docked on one side of the operation control compartment; a sample transfer compartment docked with the operation control compartment and the multiple storage compartments and capable of transferring samples; the operation control compartment can perform sample picking and transfer storage; and the multiple storage compartments can perform batch storage of samples.

[0010] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the operation control chamber includes a control chamber body, and a shovel docking mechanism and a tube picking mechanism are provided in the control chamber body; the shovel docking mechanism docks with the sample transfer chamber, and the shovel docking mechanism and the tube picking mechanism transfer the sample; the tube picking mechanism can pick the sample.

[0011] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the operation control compartment is further provided with a transfer storage mechanism, which is located below the tube picking mechanism. The scooping and docking mechanism can transfer samples between the transfer storage mechanism, the tube picking mechanism, and the sample transfer compartment. The transfer storage mechanism can perform rotatable inbound and outbound partition storage of the plate rack samples.

[0012] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the tube picking mechanism includes a tube picking component and a turntable component; the tube picking component is disposed above the turntable component, the turntable component can support the plate rack samples and can rotate, and the tube picking component can pick tubes from the samples on the plate rack on the turntable component.

[0013] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the turntable assembly includes a first rotating component and a second rotating component; the second rotating component is disposed below the first rotating component, and a hollow area is provided at the center of the first rotating component, and the tube-picking assembly can pick tubes from the plates and racks on the first rotating component and the second rotating component.

[0014] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the first rotating component includes a first turntable and a first driving module. The first turntable is annular, and multiple sets of plate rack slots are arranged on the circumference of the first turntable. The first driving module can drive the first turntable to rotate.

[0015] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the second rotating component includes a second rotating frame and a second driving module; the second driving module can drive the second rotating frame to rotate, and the second rotating frame can support multiple sets of second plate rack slots.

[0016] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the diameter of the second rotating frame is the same as the radius of the first rotating component, and at least one set of second plate rack slots on the second rotating frame can rotate to below the hollow area, and the tube picking assembly can pick the sample on the second rotating frame through the hollow area.

[0017] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the tube picking assembly includes a moving module and a pipette module; the pipette module is disposed on the moving module, and the pipette module has multiple pipette heads; the moving module can drive the pipette module to move horizontally, the pipette module can move vertically, and the multiple pipette heads can simultaneously perform negative pressure aspiration on multiple sample tubes.

[0018] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the transfer storage mechanism includes an upper rotating cylinder assembly and a lower rotating cylinder assembly; the lower rotating cylinder assembly is located at the lower end of the upper rotating cylinder assembly, and the upper rotating cylinder assembly and the lower rotating cylinder assembly can rotate independently. The upper rotating cylinder assembly and the lower rotating cylinder assembly are provided with a plurality of plate frame holes, which can support the plate frame.

[0019] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the shovel docking mechanism includes a first shovel component and a second shovel component; the first shovel component and the second shovel component are arranged on both sides of the transfer storage mechanism and have the same structure; the first shovel component performs plate and rack shovel transfer with the transfer storage mechanism and the tube picking mechanism; the first shovel component performs plate and rack sample transfer with the sample transfer chamber, the tube picking mechanism and the transfer storage mechanism.

[0020] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the bidirectional transmission mechanism includes a first transmission component and a second transmission component; the second transmission component is disposed below the first transmission component, the first transmission component and the second transmission component have the same structure, and the first transmission component and the second transmission component can move in opposite directions respectively; the first transmission component and the second transmission component have the same structure and can drive multiple sets of sample racks to receive or transport sample racks.

[0021] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the first transmission component includes a transmission belt, a transmission rack, and a transmission drive module. The transmission belt is provided with multiple sets of limiting grooves, the transmission belt is set on the transmission rack, and the transmission drive module can drive the transmission belt.

[0022] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, it further includes a support frame, which is connected to the first transmission component and the second transmission component. Multiple support frames are provided, which can support the first transmission component and the second transmission component.

[0023] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the storage compartment includes a storage compartment body, and multiple sets of sample rack assemblies and extraction modules are arranged inside the storage compartment body; the sample rack assemblies can store the plates and racks, and the extraction modules can scoop up the plates and racks on the sample rack assemblies.

[0024] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the storage chamber body is also provided with multiple sets of access ports, and the extraction module receives or transports the sample transmission chamber through the access ports.

[0025] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, a moving channel is provided between the two sets of sample rack components, an extraction module is set in the moving channel, the access port is connected to the moving channel and the sample transmission chamber, the extraction module can move in the moving channel to scoop up the sample rack components, and the extraction module receives or transports the rack through the access port and the sample transmission chamber.

[0026] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the extraction module includes a sliding frame, a lifting frame is provided on the sliding frame, a rotating shovel module is provided on the lifting frame, the lifting frame can drive the rotating shovel module to move up and down, the rotating shovel module can shovel the plates on the sample rack assemblies on both sides, and the sliding frame can move horizontally on the sample rack assembly.

[0027] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, both the operation control compartment and the storage compartment are equipped with sealing door assemblies, which can open or seal the operation control compartment and the storage compartment.

[0028] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the sample transfer chamber further includes a tube picking rack and a tube picking distributor. A tube picking rack is mounted above the bidirectional transfer mechanism, and multiple sample plate rack slots are provided on the tube picking rack.

[0029] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, a tube picker is provided above the sample rack slot, which can pick and distribute sample tubes of the sample rack on the sample rack slot.

[0030] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, a gripper is also provided at the corresponding location of the tube picking rack tray, and the gripper can grab the sample plate rack.

[0031] As a preferred embodiment of the fully automated low-temperature modular storage system of the present invention, the operation control compartment further includes a dual-turntable assembly and a tube-picking distributor; the tube-picking distributor is disposed above the dual-turntable assembly. The dual-turntable assembly includes two sub-turntable assemblies, which are vertically arranged side by side above the transfer and storage mechanism; the two sub-turntable assemblies can rotate independently in the circumferential direction; the tube picker can move to pick samples from the sub-turntable assemblies.

[0032] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the tube picker includes a three-axis drive module, a suction tube, a delivery tube, and a conversion module; the three-axis drive module is equipped with a conversion module, and the suction tube and delivery tube are configured in multiple sets and connected to the conversion module. The multiple sets of suction tubes can simultaneously pick up multiple sample tubes and deliver them to the target sample box through the delivery tube.

[0033] As a preferred embodiment of the fully automatic low-temperature modular storage system of the present invention, the two sets of sub-turntable assemblies are provided with several sets of third plate rack holes, and the tube picker picks the sample tubes in the third plate rack holes.

[0034] The beneficial effects of this invention are as follows: This invention utilizes an operation control cabin and interfaces with multiple storage cabins through a sample transfer cabin to realize sample picking, transfer, storage and retrieval operations, achieving fully automated operation. One operation control cabin can interface with several storage cabins for sample entry / exit and sample picking operations, saving the cost of the operation control cabin and improving storage efficiency. The operation control cabin enables large-scale sample picking operations and partitioned large-scale storage of racks. The sample transfer cabin can interface with multiple sets of storage cabins to achieve bidirectional rack transfer, improving sample transfer efficiency. Furthermore, the storage cabins enable large-scale storage of rack samples. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of a fully automated low-temperature modular storage system.

[0036] Figure 2This is a schematic diagram of the operation control compartment for a fully automated low-temperature modular storage system.

[0037] Figure 3 This is a schematic diagram of the interior of the operation control compartment of a fully automated low-temperature modular storage system.

[0038] Figure 4 This is a schematic diagram of the interior of the operation control compartment of a fully automated cryogenic modular storage system from another perspective.

[0039] Figure 5 This is another schematic diagram of the interior of the operation and control cabin of a fully automated low-temperature modular storage system.

[0040] Figure 6 for Figure 5 A schematic diagram of point F1 in the fully automated low-temperature modular storage system.

[0041] Figure 7 This is a schematic diagram of the first rotating component of a fully automated low-temperature modular storage system.

[0042] Figure 8 This is a schematic diagram of the second rotating component of a fully automated low-temperature modular storage system.

[0043] Figure 9 This is a schematic diagram of the scooping and docking mechanism for a fully automated low-temperature modular storage system.

[0044] Figure 10 This is a schematic diagram of the tube-picking component of a fully automated low-temperature modular storage system.

[0045] Figure 11 This is a schematic diagram of the scooping and docking mechanism for a fully automated low-temperature modular storage system.

[0046] Figure 12 This is a schematic diagram of the interior of the sample transfer chamber of a fully automated low-temperature modular storage system.

[0047] Figure 13 for Figure 12 Enlarged schematic diagram of F2 in the fully automated low-temperature modular storage system.

[0048] Figure 14 for Figure 12 Enlarged schematic diagram of F3 in the fully automated low-temperature modular storage system.

[0049] Figure 15 A three-dimensional schematic diagram of the storage compartment of a fully automated low-temperature modular storage system.

[0050] Figure 16 This is a schematic diagram of the storage compartment of a fully automated cryogenic modular storage system from another perspective.

[0051] Figure 17This is a schematic diagram of the interior of the storage compartment of a fully automated low-temperature modular storage system.

[0052] Figure 18 This is a schematic diagram of a sample rack component for a fully automated low-temperature modular storage system.

[0053] Figure 19 This is a schematic diagram of the extraction module of a fully automated low-temperature modular storage system.

[0054] Figure 20 for Figure 19 A schematic diagram of point F4 in the fully automated low-temperature modular storage system.

[0055] Figure 21 This is a schematic diagram of another embodiment of the sample transfer chamber for a fully automated low-temperature modular storage system.

[0056] Figure 22 This is a schematic diagram of another embodiment of the turntable assembly of a fully automated low-temperature modular storage system. Detailed Implementation

[0057] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0058] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0059] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments. Example 1

[0060] Reference Figures 1-5 This is the first embodiment of the present invention. This embodiment provides a fully automated low-temperature modular storage system, which includes an operation control chamber 1, a sample transfer chamber 2, and a storage chamber 3. The sample transfer chamber 2 is connected to multiple storage chambers 3 and a set of operation control chambers 1, so that one operation control chamber 1 can connect to several storage chambers 3, thereby saving the number of operation control chambers 1 and thus saving costs.

[0061] Specifically, it includes an operation control cabin 1, a sample transfer cabin 2, and a storage cabin 3. Multiple storage cabins 3 are provided on one side of the operation control cabin 1. The sample transfer cabin 2 is set on the multiple storage cabins 3 and connected to the operation control cabin 1. The sample transfer cabin 2 docks with the operation control cabin 1 and the multiple storage cabins 3 and can transfer samples. The storage cabins 3 can pick up samples and can support the entry and exit of samples for storage. The storage cabins 3 can store samples.

[0062] It should be noted that the operation control cabin 1 can simultaneously pick up multiple sets of sample tubes, thereby improving storage efficiency. It can also perform temporary large-scale inbound and outbound partitioned storage of the racks. The operation control cabin 1 can dock with the sample transfer cabin 2, which in turn docks with several sets of storage cabins 3. The sample transfer cabin 2 can simultaneously transport racks in and out of storage, improving storage and retrieval efficiency. The storage cabin 3 can receive racks from the sample transfer cabin 2 for storage, or it can place racks from the storage cabin 3 into the sample transfer cabin 2. The operation control cabin 1 can simultaneously receive or transport racks and perform temporary inbound and outbound partitioned storage.

[0063] In summary, by connecting the sample transfer chamber 2 with multiple storage chambers 3 and one operation control chamber 1, one operation control chamber 1 can connect to several storage chambers 3, thereby saving the number of operation control chambers 1, thus saving costs and improving the efficiency of storage, retrieval, transfer and tube picking. Example 2

[0064] Reference Figures 1-20 This is the second embodiment of the present invention. In the previous embodiment, the fully automated low-temperature modular storage system includes an operation control chamber 1, a sample transfer chamber 2, and a storage chamber 3. The sample transfer chamber 2 is connected to multiple storage chambers 3 and a set of operation control chambers 1, so that one operation control chamber 1 can connect to several storage chambers 3, thereby saving the number of operation control chambers 1 and thus saving costs.

[0065] Specifically, it includes an operation control cabin 1, a sample transfer cabin 2, and a storage cabin 3. Multiple storage cabins 3 are provided on one side of the operation control cabin 1. The sample transfer cabin 2 is set on the multiple storage cabins 3 and connected to the operation control cabin 1. The sample transfer cabin 2 docks with the operation control cabin 1 and the multiple storage cabins 3 and can transfer samples. The storage cabins 3 can pick up samples and can support the entry and exit of samples for storage. The storage cabins 3 can store samples.

[0066] It should be noted that the operation control cabin 1 can simultaneously pick up multiple sets of sample tubes, thereby improving storage efficiency. It can also perform temporary large-scale inbound and outbound partitioned storage of the racks. The operation control cabin 1 can dock with the sample transfer cabin 2, which in turn docks with several sets of storage cabins 3. The sample transfer cabin 2 can simultaneously transport racks in and out of storage, improving storage and retrieval efficiency. The storage cabin 3 can receive racks from the sample transfer cabin 2 for storage, or it can place racks from the storage cabin 3 into the sample transfer cabin 2. The operation control cabin 1 can simultaneously receive or transport racks and perform temporary inbound and outbound partitioned storage.

[0067] Furthermore, the operation control cabin 1 includes a control cabin body 11, and the control cabin body 11 is equipped with a shovel docking mechanism 12 and a tube picking mechanism 13; the shovel docking mechanism 12 docks with the sample transfer cabin 2, and the shovel docking mechanism 12 and the tube picking mechanism 13 transfer samples; the tube picking mechanism 13 can pick up samples.

[0068] It should be noted that the tube picking mechanism 13 can pick up and absorb multiple sets of sample tubes at the same time, which greatly improves the tube picking efficiency; the tube picking mechanism 13 can be supported by multiple sets of plates and is divided into upper and lower layers, thereby improving the tube picking efficiency.

[0069] It should be noted that the shovel docking mechanism 12 can shovel and transfer the plate rack sample, and the shovel docking mechanism 12 can dock with the sample transfer chamber 2 to realize the transfer of the sample.

[0070] Furthermore, the operation control cabin 1 is also equipped with a transfer storage mechanism 14, which is located below the tube picking mechanism 13. The scooping and docking mechanism 12 can transfer samples between the transfer storage mechanism 14, the tube picking mechanism 13, and the sample transfer cabin 2. The transfer storage mechanism 14 can perform rotatable inbound and outbound partition storage of the plate rack samples.

[0071] It should be noted that the transfer storage mechanism 14 can partition the rack for storage, can rotate independently, and can dock with the scoop docking mechanism 12.

[0072] It should be noted that the shovel docking mechanism 12 can transfer sample trays between the transfer storage mechanism 14, the tube picking mechanism 13, and the sample transfer chamber 2, thereby improving the transfer efficiency.

[0073] Furthermore, the tube-picking mechanism 13 includes a tube-picking assembly 131 and a turntable assembly 132; the tube-picking assembly 131 is disposed above the turntable assembly 132, the turntable assembly 132 can support the plate rack sample and can rotate, and the tube-picking assembly 131 can pick tubes from the sample on the plate rack on the turntable assembly 132.

[0074] It should be noted that the tube picking assembly 131 can move in the XYZ axis direction. The tube picking assembly 131 can simultaneously pick up and pick up multiple sets of sample tubes on the turntable assembly 132. The turntable assembly 132 can support multiple sets of plate frames and can rotate.

[0075] Furthermore, the turntable assembly 132 includes a first rotating member 1321 and a second rotating member 1322; the second rotating member 1322 is disposed below the first rotating member 1321, and the first rotating member 1321 has a hollow area 1323 in the center, and the tube picking assembly 131 can pick tubes from the plate frame on the first rotating member 1321 and the second rotating member 1322.

[0076] It should be noted that the first rotating component 1321 is annular, and a hollow area 1323 is provided in the middle of the first rotating component 1321. The tube picking assembly 131 can vertically pick up the sample tube on the second rotating component 1322 through the hollow area 1323. The tube picking assembly 131 can pick up the sample tube on the second rotating component 1322 and transfer it to the plate frame on the first rotating component 1321, realizing fully automatic tube picking operation.

[0077] Furthermore, the first rotating component 1321 includes a first turntable 13211 and a first driving module 13213. The first turntable 13211 is annular, and multiple sets of plate rack slots 13212 are provided on the circumference of the first turntable 13211. The first driving module 13213 can drive the first turntable 13211 to rotate.

[0078] It should be noted that the first drive module 13213 can drive the first turntable 13211 to rotate 360 ​​degrees, and the multiple sets of plate rack slots 13212 can receive the plate rack and temporarily store and support it.

[0079] Furthermore, the second rotating component 1322 includes a second rotating frame 13221 and a second driving module 13222; the second driving module 13222 can drive the second rotating frame 13221 to rotate, and the second rotating frame 13221 can support multiple sets of second plate rack slots 13223.

[0080] Preferably, the second rotating frame 13221 can support multiple sets of plate frames; in this embodiment, the second rotating frame 13221 is provided with two sets of second plate frame slots 13223. When the second rotating frame 13221 rotates, at least one set of plate frame samples is not blocked by the first turntable 13211, so that the unblocked plate frames can be picked up by the pipe picking assembly 131.

[0081] Preferably, the second drive module 13222 can drive the second rotating frame 13221 to rotate, so that while receiving the plate frame, the other side can be selected by the tube picking component.

[0082] Furthermore, the diameter of the second rotating frame 13221 is the same as the radius of the first rotating component 1321. At least one set of second plate rack slots 13223 on the second rotating frame 13221 can rotate to the bottom of the hollow area 1323. The tube picking assembly 131 can pick the sample on the second rotating frame 13221 through the hollow area 1323.

[0083] Furthermore, the tube-picking assembly 131 includes a moving module 1311 and a straw module 1312; the straw module 1312 is disposed on the moving module 1311, and the straw module 1312 is provided with multiple straw heads 1313. The moving module 1311 can drive the straw module 1312 to move horizontally, and the straw module 1312 can move vertically. The multiple straw heads 1313 can simultaneously perform negative pressure suction on multiple sample tubes.

[0084] It should be noted that the pipette module 1312 is connected to a negative pressure suction system, and multiple sample tubes can be suctioned simultaneously through the multiple pipette heads on the pipette module 1312.

[0085] It should be noted that the moving module 1311 can drive the straw module 1312 to move horizontally, including movement in the X and Y axes. The straw module 1312 can also move vertically, thus achieving movement in the X, Y, and Z axes.

[0086] Furthermore, the transfer storage mechanism 14 includes an upper rotating cylinder assembly 141 and a lower rotating cylinder assembly 142; the lower rotating cylinder assembly 142 is disposed at the lower end of the upper rotating cylinder assembly 141, and the upper rotating cylinder assembly 141 and the lower rotating cylinder assembly 142 can rotate independently. The upper rotating cylinder assembly 141 and the lower rotating cylinder assembly 142 are provided with a plurality of plate frame holes 143, which can support the plate frame.

[0087] Preferably, the upper rotating cylinder assembly 141 and the lower rotating cylinder assembly 142 can rotate separately. The upper rotating cylinder assembly 141 and the lower rotating cylinder assembly 142 can temporarily store a large number of racks. The upper rotating cylinder assembly 141 and the lower rotating cylinder assembly 142 can store the rack samples that are entering the warehouse and the rack samples that are leaving the warehouse, respectively, to achieve partitioned storage.

[0088] Furthermore, the shovel docking mechanism 12 includes a first shovel component 121 and a second shovel component 122; the first shovel component 121 and the second shovel component 122 are arranged on both sides of the transfer storage mechanism 14 and have the same structure. The first shovel component 121 performs plate and frame shovel transfer with the transfer storage mechanism 14 and the tube picking mechanism 13; the first shovel component 121 performs plate and frame sample transfer with the sample transfer chamber 2, the tube picking mechanism 13 and the transfer storage mechanism 14.

[0089] It should be noted that the first scooping component 121 and the second scooping component 122 have the same structure and the same principle. Both the first scooping component 121 and the second scooping component 122 can transfer the plate frame, thereby improving the transfer efficiency of the plate frame.

[0090] refer to Figures 12-15 In the first embodiment of the sample transfer chamber 2, the sample transfer chamber 2 includes a transfer chamber body 21, and a bidirectional transfer mechanism 22 is provided inside the transfer chamber body 21. The bidirectional transfer mechanism 22 can drive multiple sets of sample plate racks to move bidirectionally and dock with the operation control chamber 1 and multiple sets of storage chambers 3.

[0091] It should be noted that the bidirectional transmission mechanism 22 can simultaneously realize the inbound and outbound operations of the racks, thereby greatly improving the efficiency of transfer and transmission.

[0092] Furthermore, the bidirectional transmission mechanism 22 includes a first transmission component 221 and a second transmission component 222; the second transmission component 222 is disposed below the first transmission component 221, the first transmission component 221 and the second transmission component 222 have the same structure, and the first transmission component 221 and the second transmission component 222 can move in opposite directions respectively; the first transmission component 221 and the second transmission component 222 have the same structure and can drive multiple sets of sample trays to receive or transport sample trays.

[0093] Furthermore, the first transmission component 221 includes a transmission belt 2211, a transmission frame 2213, and a transmission drive module 2214. The transmission belt 2211 is provided with multiple sets of limiting grooves 2212. The transmission belt 2211 is disposed on the transmission frame 2213. The transmission drive module 2214 can drive the transmission belt 2211.

[0094] Preferably, the transmission drive module 2214 can drive the transmission belt 2211 to move, and multiple sets of limiting grooves 2212 can support the plate frame, thereby realizing the transportation of the plate frame.

[0095] Furthermore, it also includes a support frame 223, which is connected to the first transmission component 221 and the second transmission component 222. Multiple support frames 223 are configured to support the first transmission component 221 and the second transmission component 222.

[0096] It should be noted that the first transmission component 221 and the second transmission component 222 can be one that receives board racks from multiple storage compartments 3 and transmits them to the operation control compartment 1; the other can be one that receives board racks on the operation control compartment 1 and transmits them to the inside of the storage compartment 3, thereby realizing the simultaneous transmission of sample board racks and improving the transmission efficiency.

[0097] refer to Figure 21 In a second embodiment of the sample transfer chamber 2, the sample transfer chamber 2 also includes a tube picker plate 23 and a tube picker distributor. The tube picker plate 23 is mounted above the bidirectional transfer mechanism 22, and multiple sample plate rack slots 24 are provided on the tube picker plate 23.

[0098] It should be noted that the tube-lifting tray 23 can also rotate on the bidirectional transmission mechanism 22. The tube-lifting tray 23 can support multiple sets of biological plate racks. The bidirectional transmission mechanism 22 can drive the tube-lifting tray 23 for transportation, realizing transportation docking between the operation control cabin 1 and the storage cabin 3.

[0099] It should be noted that the bidirectional transmission mechanism 22 can be set with two vertical layers to ensure that outbound and inbound operations do not interfere with each other, thereby improving transportation efficiency.

[0100] Furthermore, a tube picker is provided above the sample tray slot 24, which can pick and distribute sample tubes from the sample tray on the sample tray slot 24.

[0101] It should be noted that a plate rack is provided in the sample plate rack slot 24. The tube picking distributor above can be used to pick up the sample tubes in multiple sample plate rack slots 24, so that multiple sample plate rack slots 24 can perform tube picking and pre-picking operations on each other.

[0102] Furthermore, a gripper is also provided at the corresponding location of the tube picker plate 23, which can grab the sample plate frame.

[0103] It should be noted that by setting up grippers, multiple sets of plates on the pipe-lifting rack 23 can be gripped as a whole.

[0104] Furthermore, the storage compartment 3 includes a storage compartment body 31, and multiple sets of sample rack assemblies 32 and extraction modules 33 are provided inside the storage compartment body 31; the sample rack assemblies 32 can store the plates and racks, and the extraction modules 33 can scoop out the plates and racks on the sample rack assemblies 32.

[0105] Furthermore, the storage compartment body 31 is also equipped with multiple access ports 34, through which the extraction module 33 receives or transports the sample transmission compartment 2 to the sample transmission compartment 2.

[0106] Furthermore, a moving channel 35 is provided between the two sets of sample rack components 32, and the extraction module 33 is located in the moving channel 35. The access port 34 is connected to the moving channel 35 and the sample transfer chamber 2. The extraction module 33 can move in the moving channel 35 to scoop up the sample rack components 32. The extraction module 33 receives or transports the rack through the access port 34 and the sample transfer chamber 2.

[0107] It should be noted that the extraction module 33 can move in the moving channel 35, and the extraction module 33 can scoop or place the plates on the sample rack assemblies 32 on both sides.

[0108] It should be noted that a set of extraction modules 33 and sample rack assemblies 32 on both sides form a storage area, and multiple storage areas are provided inside the storage compartment body 31, thereby improving the efficiency of storage and retrieval.

[0109] Furthermore, the extraction module 33 includes a sliding frame 331, a lifting frame 332 is provided on the sliding frame 331, and a rotating shovel module 333 is provided on the lifting frame 332. The lifting frame 332 can drive the rotating shovel module 333 to move up and down. The rotating shovel module 333 can shovel the plates on the sample rack assemblies 32 on both sides. The sliding frame 331 can move horizontally on the sample rack assembly 32.

[0110] Preferably, the sliding frame 331 can drive the lifting frame 332 and the rotating shovel module 333 to move in the moving channel 35. The lifting frame 332 can drive the rotating shovel module 333 to move vertically. The rotating shovel module 333 can rotate circumferentially and can horizontally extend and retract to shovel the plates on the sample rack assembly 32. By rotating the rotating shovel module 333, it can shovel the plates on the sample rack assemblies 32 on both sides, thereby improving the efficiency of storage and retrieval.

[0111] Furthermore, both the operation control compartment 1 and the storage compartment 3 are equipped with sealing door assemblies 4, which can open or seal the operation control compartment 1 and the storage compartment 3.

[0112] It should be noted that by setting the sealing door assembly 4, the internal panels of the operation control compartment 1 and storage compartment 3 can be manually transferred quickly, and the internal components can be quickly inspected and repaired when the equipment malfunctions.

[0113] It should be noted that the reference Figure 22 In another embodiment of the turntable assembly 132, the operation control cabin 1 also includes a dual turntable assembly 15 and a pipe-picking distributor; the pipe-picking distributor is disposed above the dual turntable assembly 15. The dual turntable assembly 15 includes two sub-turntable assemblies 151, which are vertically arranged side by side above the transfer and storage mechanism 14; the two sub-turntable assemblies 151 can rotate independently in the circumferential direction; the tube picker can move to pick samples on the sub-turntable assemblies 151.

[0114] It should be noted that the two sets of sub-turntable assemblies 151 are arranged vertically, and each set can rotate independently; the structure of the sub-turntable assembly 151 is the same as the structure of the first rotating component 1321.

[0115] Furthermore, the tube dispenser includes a three-axis drive module, a suction tube, a delivery tube, and a conversion module; the three-axis drive module is equipped with a conversion module, and the suction tube and delivery tube are configured in multiple sets and connected to the conversion module. Multiple sets of suction tubes can simultaneously suction multiple sample tubes and deliver them to the target sample box via the delivery tube.

[0116] Furthermore, the two sets of sub-turntable assemblies 151 are provided with several sets of third plate holder holes 152, and the tube picker picks the sample tubes in the third plate holder holes 152.

[0117] It should be noted that the three-axis drive module can drive the suction tube, the delivery tube, and the conversion module to move in the XYZ three-axis directions. There can be six suction tubes and two delivery tubes. The suction tubes can simultaneously suction six sample tubes in the sample box. The suction sample tubes are converted by the conversion module and can be delivered to the target sample box through the delivery tube.

[0118] It should be noted that by rotating the conversion module, the order in which sample tubes are ejected from the ejection port can be arranged in a queue; it should also be noted that the tube picker is not shown in the diagram.

[0119] It should be noted that the transit storage mechanism 14 adopts a batch outbound and inbound rotating pallet design with two layers of pallets, and outbound and inbound are independent. It can hold up to 104 81-well sample boxes, of which 48 boxes are inbound and 56 boxes are outbound. Two empty box turntables for picking tubes are set on the top of the tube-picking refrigerator. A tube-picking terminal is set at one of the stations of each sub-turntable assembly 151, which can connect to the tube-picking distributor and deliver the sample tubes blown out by the tube-picking distributor to the target empty box. The built-in scooping and docking mechanism 12 is responsible for transferring sample boxes on the conveyor track, the empty box picker turntable, the inbound stack, and the outbound stack. The scooping and docking mechanism 12 can send the sample box from the storage pallet into the transmission track to realize the whole box storage; In complex pipe picking and outbound tasks, the pipe picking mechanism or pipe picking distributor and scooping docking mechanism 12 can work simultaneously, and empty boxes can be switched while picking pipes; The empty box turntable is equipped with a batch barcode scanner, which can scan empty boxes in batches. This system is equipped with multiple source box barcode scanners, which can scan the source boxes in batches after the tube picking is completed; The double-door design makes it easy to put in / take out sample boxes and facilitates maintenance of the tube picker.

[0120] This invention utilizes an operation control cabin 1 and interfaces with multiple storage cabins 3 via a sample transfer cabin 2 to achieve sample picking, transfer, storage, and retrieval operations, realizing fully automated operation. The operation control cabin 1 can interface with several storage cabins 3 for sample entry / exit and sample picking operations, saving the cost of the operation control cabin 1 and improving storage efficiency. The operation control cabin 1 enables large-scale sample picking operations and partitioned large-scale storage of racks. The sample transfer cabin 2 interfaces with multiple sets of storage cabins 3 to achieve bidirectional rack transfer, improving sample transfer efficiency. Furthermore, the storage cabins 3 enable large-scale storage of rack samples.

[0121] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0122] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0123] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0124] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A fully automated low-temperature modular storage system, characterized in that: It includes an operation control cabin (1) and multiple storage cabins (3); the storage cabins are equipped with sample transmission channels, and the sample transmission channels of the multiple storage cabins (3) can be connected end to end to form a sample transmission cabin (2); the operation control cabin (1) can dock with the sample transmission cabin (2), and receive or transfer the storage extraction targets in all storage cabins (3) through the sample transmission cabin (2); The sample transmission chamber (2) includes a transmission chamber body (21), and a bidirectional transmission mechanism (22) is provided inside the transmission chamber body (21). The bidirectional transmission mechanism (22) can drive multiple sets of sample plate racks to move bidirectionally and dock with the operation control chamber (1) and multiple sets of storage chambers (3).

2. The fully automated low-temperature modular storage system as described in claim 1, characterized in that: The operation control cabin (1) is connected to a plurality of storage chambers (3) on one side. The sample transmission chamber (2) is connected to the operation control cabin (1) and the plurality of storage chambers (3) and can transmit samples. The operation control cabin (1) can pick up samples and transfer them for storage. The plurality of storage chambers (3) can store samples in batches.

3. The fully automated low-temperature modular storage system as described in claim 2, characterized in that: The operation control cabin (1) includes a control cabin body (11), and the control cabin body (11) is provided with a scooping docking mechanism (12) and a transfer storage mechanism (14). The shovel docking mechanism (12) is located between the sample transmission chamber (2) and the transfer storage mechanism (14). The shovel docking mechanism (12) docks with the sample transmission chamber (2) and the transfer storage mechanism (14) for transfer. The transfer storage mechanism (14) can perform rotatable entry and exit partition storage of the plate rack samples.

4. The fully automated low-temperature modular storage system as described in claim 3, characterized in that: It also includes a tube-picking mechanism (13), which is located above the transfer storage mechanism (14). The tube-picking mechanism (13) can pick up the sample tube, and the shovel docking mechanism (12) can transfer the sample between the transfer storage mechanism (14), the tube-picking mechanism (13), and the sample transfer chamber (2).

5. The fully automated low-temperature modular storage system as described in claim 4, characterized in that: The tube-picking mechanism (13) includes a tube-picking assembly (131) and a turntable assembly (132); the tube-picking assembly (131) is disposed above the turntable assembly (132), the turntable assembly (132) can support the plate rack sample and can rotate, and the tube-picking assembly (131) can pick tubes from the sample on the plate rack on the turntable assembly (132).

6. The fully automated low-temperature modular storage system as described in claim 5, characterized in that: The turntable assembly (132) includes a first rotating component (1321) and a second rotating component (1322); the second rotating component (1322) is located below the first rotating component (1321), and a hollow area (1323) is provided in the center of the first rotating component (1321). The tube-picking assembly (131) can pick tubes from the plate frame on the first rotating component (1321) and the second rotating component (1322).

7. The fully automated low-temperature modular storage system as described in claim 6, characterized in that: The first rotating component (1321) includes a first turntable (13211) and a first driving module (13213). The first turntable (13211) is annular, and multiple sets of plate rack slots (13212) are provided on the circumference of the first turntable (13211). The first driving module (13213) can drive the first turntable (13211) to rotate.

8. The fully automated low-temperature modular storage system as described in claim 6, characterized in that: The second rotating component (1322) includes a second rotating frame (13221) and a second driving module (13222); the second driving module (13222) can drive the second rotating frame (13221) to rotate, and the second rotating frame (13221) can support multiple sets of second plate rack slots (13223).

9. The fully automated low-temperature modular storage system as described in claim 8, characterized in that: The diameter of the second rotating frame (13221) is the same as the radius of the first rotating component (1321). The second rotating frame (13221) has at least one set of second plate rack slots (13223) that can rotate to the bottom of the hollow area (1323). The tube picking assembly (131) can pick tubes from the sample on the second rotating frame (13221) through the hollow area (1323).

10. The fully automated low-temperature modular storage system as described in claim 5, characterized in that: The tube-picking assembly (131) includes a moving module (1311) and a straw module (1312); the straw module (1312) is disposed on the moving module (1311), and the straw module (1312) is provided with multiple straw heads (1313). The moving module (1311) can drive the straw module (1312) to move horizontally, and the straw module (1312) can move vertically. The multiple straw heads (1313) can simultaneously perform negative pressure suction on multiple sample tubes.

11. The fully automated low-temperature modular storage system as described in claim 4, characterized in that: The transfer storage mechanism (14) includes an upper rotating cylinder assembly (141) and a lower rotating cylinder assembly (142); the lower rotating cylinder assembly (142) is located at the lower end of the upper rotating cylinder assembly (141), and the upper rotating cylinder assembly (141) and the lower rotating cylinder assembly (142) can rotate independently. The upper rotating cylinder assembly (141) and the lower rotating cylinder assembly (142) are provided with a plurality of plate frame holes (143), and the plate frame holes (143) can support the plate frame.

12. The fully automated low-temperature modular storage system as described in claim 4, characterized in that: The shovel docking mechanism (12) includes a first shovel assembly (121) and a second shovel assembly (122); the first shovel assembly (121) and the second shovel assembly (122) are arranged on both sides of the transfer storage mechanism (14) and have the same structure. The first shovel assembly (121) performs plate and frame shovel transfer with the transfer storage mechanism (14) and the tube picking mechanism (13); the second shovel assembly (122) performs plate and frame sample transfer with the sample transfer chamber (2), the tube picking mechanism (13) and the transfer storage mechanism (14).

13. The fully automated low-temperature modular storage system as described in claim 1, characterized in that: The bidirectional transmission mechanism (22) includes a first transmission component (221) and a second transmission component (222); the second transmission component (222) is disposed below the first transmission component (221). The first transmission component (221) and the second transmission component (222) have the same structure. The first transmission component (221) and the second transmission component (222) can move in opposite directions respectively. The first transmission component (221) and the second transmission component (222) have the same structure and can drive multiple sets of sample racks to receive or transport sample racks.

14. The fully automated low-temperature modular storage system as described in claim 13, characterized in that: The first transmission component (221) includes a transmission belt (2211), a transmission frame (2213), and a transmission drive module (2214). The transmission belt (2211) is provided with multiple sets of limiting grooves (2212). The transmission belt (2211) is set on the transmission frame (2213). The transmission drive module (2214) can drive the transmission belt (2211).

15. The fully automated low-temperature modular storage system as described in claim 13, characterized in that: It also includes a support frame (223), which is connected to the first transmission component (221) and the second transmission component (222). The support frame (223) is configured in multiple sets and can support the first transmission component (221) and the second transmission component (222).

16. The fully automated low-temperature modular storage system as described in claim 1, characterized in that: The sample transfer chamber (2) also includes a tube picker plate (23) and a tube picker distributor. The tube picker plate (23) is mounted above the bidirectional transfer mechanism (22), and multiple sample plate rack slots (24) are provided on the tube picker plate (23).

17. The fully automated low-temperature modular storage system as described in claim 16, characterized in that: A tube picker is provided above the sample plate rack slot (24), which can pick and distribute the sample tubes of the sample plate rack on the sample plate rack slot (24).

18. The fully automated low-temperature modular storage system as described in claim 16, characterized in that: A gripper is also provided at the corresponding location of the tube picker plate (23), which can grab the sample plate frame.

19. The fully automated low-temperature modular storage system as described in any one of claims 1 to 12, characterized in that: The storage compartment (3) includes a storage compartment body (31), and multiple sample rack assemblies (32) and extraction modules (33) are provided inside the storage compartment body (31); the sample rack assembly (32) can store the plate rack, and the extraction module (33) can scoop out the plate rack on the sample rack assembly (32).

20. The fully automated low-temperature modular storage system as described in claim 19, characterized in that: The storage compartment body (31) is also provided with multiple access ports (34), and the extraction module (33) receives or transports the plate rack to the sample transmission compartment (2) through the access ports (34).

21. The fully automated low-temperature modular storage system as described in claim 20, characterized in that: A moving channel (35) is provided between the two sets of sample rack assemblies (32). The extraction module (33) is located in the moving channel (35). The access port (34) is connected to the moving channel (35) and the sample transmission chamber (2). The extraction module (33) can move in the moving channel (35) to scoop up the sample rack assembly (32). The extraction module (33) receives or transports the rack through the access port (34) and the sample transmission chamber (2).

22. The fully automated low-temperature modular storage system as described in claim 21, characterized in that: The extraction module (33) includes a sliding frame (331), a lifting frame (332) is provided on the sliding frame (331), and a rotating shovel module (333) is provided on the lifting frame (332). The lifting frame (332) can drive the rotating shovel module (333) to move up and down. The rotating shovel module (333) can shovel the plates on the sample rack assemblies (32) on both sides. The sliding frame (331) can move horizontally on the sample rack assembly (32).

23. The fully automated low-temperature modular storage system as described in any one of claims 1 to 12, characterized in that: Both the operation control compartment (1) and the storage compartment (3) are equipped with sealing door assemblies (4), which can open or seal the operation control compartment (1) and the storage compartment (3).

24. The fully automated low-temperature modular storage system as described in claim 3, characterized in that: The operation control cabin (1) also includes a dual turntable assembly (15) and a pipe-picking distributor; the pipe-picking distributor is located above the dual turntable assembly (15); The dual turntable assembly (15) includes two sub-turntable assemblies (151), which are vertically arranged side by side above the transfer storage mechanism (14); the two sub-turntable assemblies (151) can rotate independently in the circumferential direction; the tube picker can move to pick samples on the sub-turntable assemblies (151).

25. The fully automated low-temperature modular storage system as described in claim 24, characterized in that: The two sets of sub-turntable assemblies (151) are provided with a number of third plate holder holes (152), and the tube picker picks the sample tubes in the third plate holder holes (152).

26. The fully automated low-temperature modular storage system as described in claim 24, characterized in that: The tube dispenser includes a three-axis drive module, a suction tube, a delivery tube, and a conversion module. The three-axis drive module is equipped with a conversion module. The suction tube and delivery tube are configured in multiple sets and connected to the conversion module. The multiple sets of suction tubes can simultaneously suction multiple sample tubes and deliver them to the target sample box via the delivery tube.

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