Automatic material taking mechanism of cryopreservation frame

Abstract

The utility model relates to the technical field of biological sample cryopreservation equipment, in particular to an automatic material taking mechanism of a cryopreservation frame, which comprises a support plate fixedly arranged at the top of a liquid nitrogen tank and a support truss arranged on the support plate, a tank cover is placed at the top opening of the liquid nitrogen tank, and a plurality of cryopreservation frame components are placed in the liquid nitrogen tank; the first movable frame is horizontally and slidably arranged on the supporting truss, the second movable frame is horizontally and slidably arranged on the first movable frame, and the sliding direction of the first movable frame is perpendicular to the sliding direction of the second movable frame; the second movable frame is provided with a double-stroke mechanical arm and a single-stroke mechanical arm which can extend downwards, and the double-stroke mechanical arm is provided with a first mechanical arm used for clamping the cryopreservation frame assembly. According to the material taking mechanism, the cryopreservation frame assembly is taken out of the liquid nitrogen tank in a clamping mode, and compared with an existing magnetic attraction mode, the material taking mechanism can be more stable during material taking, and the stability during material taking is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of biological sample freezing equipment, in particular to an automatic material taking mechanism of a freezing rack. Background Art

[0002] In the biomedical field, biological samples such as blood samples, vaccines, bacteria and viruses need to be placed in liquid nitrogen tanks for long-term active preservation. However, before freezing and storing biological samples, they need to be placed in test tube boxes, and then multiple test tube boxes are placed one by one on the freezing rack. After placing a specified number of test tube boxes, the freezing rack can be placed in the liquid nitrogen tank for freezing. The storage and access device of an existing freezing rack is as follows:

[0003] A Chinese patent document with publication number CN105857937A discloses a cryotube storage and access device, which specifically discloses: it includes a shell, a cryotube storage and access assembly and a docking port that can be docked with the opening of a liquid nitrogen tank. The liquid nitrogen tank can be a liquid nitrogen tank in the prior art. At this time, the tray needs to be manually rotated so that the target cryo basket is located at the opening of the liquid nitrogen tank; the cryotube storage and access assembly is arranged in the shell, and a cryodisc entrance and exit is provided at the lower part of the shell. The cryotube storage and access assembly realizes the storage or extraction of a cryodisc containing cryotubes to be selected or selected through the entrance and exit. The cryotube storage and retrieval assembly includes a first frame and a first manipulator, the first frame is fixed in the shell; the first manipulator is arranged on the first frame, and the first manipulator can store or extract the cryotube basket from the liquid nitrogen tank; the first manipulator includes a first uniaxial manipulator and a second uniaxial manipulator, the first uniaxial manipulator is slidably arranged on the first frame in a horizontal direction, and the second uniaxial manipulator is slidably arranged on the first uniaxial manipulator in a vertical direction; wherein, a first connecting block is provided on the slide table of the second uniaxial manipulator, one end of the connecting rod is connected to the first connecting block through a linear bearing, and the other end of the connecting rod is provided with an electromagnet, the electromagnet is energized only when the cryotube basket needs to be sucked, and remains de-energized when not needed; the linear bearing and the connecting rod form a retractable assembly to prevent stress compression when the electromagnet extracts the cryotube basket (the material of the cryotube basket is ferromagnetic material), thereby forming a certain fault tolerance. In order to ensure the stability of the second uniaxial manipulator in taking / placing the frozen basket, two parallel first uniaxial manipulators are set up, and the two first uniaxial manipulators maintain synchronous movement and adjust the horizontal position of the second uniaxial manipulator at the same time so that the second uniaxial manipulator is located above the opening of the liquid nitrogen tank.

[0004] As can be seen from the above, before the existing storage and retrieval device takes out the cryotube, it is necessary to first dock the docking port of the cryotube storage and retrieval device with the opening of the liquid nitrogen tank. After the cryotube storage and retrieval device is docked with the liquid nitrogen tank, the target cryo basket inside the liquid nitrogen tank rotates to the central axis position of the opening, and the slides of the two first single-axis manipulators will move in the horizontal direction, driving the second single-axis manipulator to align with the target cryo basket. After alignment, the slide of the first single-axis manipulator stops moving, and the slide of the second single-axis manipulator moves, driving the first connecting block, the linear bearing, the connecting rod and the electromagnet to move downward in the vertical direction. At the same time, the electromagnet is energized. When the electromagnet contacts the target cryo basket, the two will be attracted together due to magnetic force, and then the second single-axis manipulator drives the electromagnet to move upward, so that the target cryo basket can be lifted from the liquid nitrogen tank into the cryotube storage and retrieval device for the next step of picking tubes. However, the existing cryotube access device uses an electromagnet to attract the cryotube basket to achieve access to the cryotube basket. However, the magnetic attraction method causes instability during the access process. If a power outage occurs, the cryotube basket cannot be attracted, which affects the access efficiency. Therefore, an automatic material extraction mechanism for a cryotube rack is provided to solve the above technical problems. Utility Model Content

[0005] The utility model aims to provide an automatic material taking mechanism for a freezing rack in view of the deficiencies in the prior art, so as to solve the technical problem that the existing freezing tube storage and retrieval device may cause unstable storage and retrieval by means of magnetic attraction.

[0006] To achieve the above purpose, the technical solution of the utility model is as follows:

[0007] An automatic material taking mechanism for a freezing rack comprises a support plate fixedly arranged on the top of a liquid nitrogen tank and a support truss arranged on the support plate, a tank cover is placed at the top opening of the liquid nitrogen tank, and a plurality of freezing rack assemblies are placed inside the liquid nitrogen tank;

[0008] A first movable frame is horizontally slidably provided on the supporting truss, and a second movable frame is horizontally slidably provided on the first movable frame, and the sliding direction of the first movable frame is perpendicular to the sliding direction of the second movable frame; a double-stroke robotic arm and a single-stroke robotic arm that can extend downward are installed on the second movable frame, and a first robotic arm for clamping a freezing rack assembly is installed on the double-stroke robotic arm, and a second robotic arm for carrying a can lid is installed on the single-stroke robotic arm.

[0009] Furthermore, a first driving module for driving the first movable frame to slide is provided on the supporting truss, and a second driving module for driving the second movable frame to slide is provided on the first movable frame.

[0010] Furthermore, the freezing rack assembly includes a first freezing rack and a second freezing rack, and the first freezing rack and the second freezing rack are spliced ​​and combined through a self-locking mechanism.

[0011] Furthermore, a pair of second grooves for the second manipulator to grasp are provided on the top of the tank cover; and a pair of first grooves for the first manipulator to grasp are provided on the top of the first freezing rack.

[0012] Furthermore, a storage component for supporting the can cover is arranged on the support plate.

[0013] Furthermore, the first driving module includes a linear support seat installed on the supporting truss, on which a first screw rod is rotatably provided with an axial direction consistent with the sliding direction of the first movable frame, a slider is fixedly provided on the first movable frame, and the slider is threadedly connected to the first screw rod, and a first stepper motor for driving the first screw rod to rotate is installed on the supporting truss.

[0014] Furthermore, the storage component includes a guide rail fixedly mounted on a support plate and arranged horizontally, a storage table for placing the can lid is slidably provided on the guide rail, a fixed block is also provided on the support plate, and a second screw rod with an axial direction consistent with the sliding direction of the storage table is rotatably provided on the fixed block, a connecting block is provided on the storage table, and the connecting block is threadedly connected to the second screw rod, and a third stepping motor for driving the second screw rod to rotate is installed on the support plate.

[0015] Furthermore, the double-stroke robotic arm includes a first linear module installed on a second movable frame and arranged vertically, a second linear module arranged vertically is arranged on the first linear module, and the first linear module is used to drive the second linear module to move up and down; a first lifting seat is arranged on the second linear module, and the second linear module is used to drive the first lifting seat to move up and down, and the first robot is installed on the first lifting seat.

[0016] Furthermore, the single-stroke robot arm includes a third linear module disposed on a second movable frame and arranged vertically, a second lifting seat is disposed on the third linear module, the third linear module is used to drive the second lifting seat to move up and down, and the second robot is installed on the second lifting seat.

[0017] Furthermore, the first manipulator includes a supporting frame installed on the first lifting seat, and a pair of clamping blocks that can approach or move away from each other are arranged at the bottom of the supporting frame; a second stepper motor with an output shaft arranged downward is installed in the supporting frame, and a gear is arranged on the output shaft of the second stepper motor, and a first rack and a second rack are respectively provided on the clamping blocks on both sides, and the first rack and the second rack are respectively placed on both sides of the gear and are both engaged with the gear.

[0018] The beneficial effects of the utility model are as follows: when it is necessary to take out the freezing rack assembly in the liquid nitrogen tank, the first driving module is first operated to drive the first movable frame to slide on the supporting truss, and then the second driving module is operated to drive the second movable frame to slide on the first movable frame, so as to adjust the second manipulator to be placed directly above the tank cover, and after the single-stroke manipulator is operated to drive the second manipulator to move downward to a specified height, the second manipulator is operated to clamp the tank cover, and the single-stroke manipulator is operated again, and the tank cover is driven to move upward by the second manipulator, and the second driving module is operated to drive the second movable frame to move, so as to transfer the tank cover to a specified position for pending. At this time, the first manipulator is placed above the opening of the liquid nitrogen tank, and then the first movable frame is driven to move by the first driving module to drive the first manipulator to align with the freezing rack assembly in the liquid nitrogen tank, and the double-stroke manipulator is operated to drive the first manipulator to move downward to a specified height, and the first manipulator is operated to clamp the freezing rack assembly, and finally the double-stroke manipulator is operated again, and the freezing rack assembly is driven upward by the first manipulator to take it out of the liquid nitrogen tank, thereby completing the automatic material removal process of the freezing rack assembly. The material taking mechanism takes out the freezing rack assembly from the liquid nitrogen tank by clamping. Compared with the existing magnetic suction method, the material taking mechanism is more stable and greatly improves the stability of material taking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0020] Figure 2 It is a structural schematic diagram of the can cover of the utility model.

[0021] Figure 3 It is a schematic diagram of the structure of the first freezing rack and the second freezing rack of the utility model.

[0022] Figure 4 It is a structural schematic diagram of the first driving module and the storage component of the utility model.

[0023] Figure 5 It is a schematic diagram of the structure of the double-stroke mechanical arm and the single-stroke mechanical arm of the utility model.

[0024] Figure 6 It is a structural schematic diagram of the first manipulator of the utility model.

[0025] Figure 7 This is a schematic structural diagram of the first manipulator of the utility model from another perspective.

[0026] Reference numerals include:

[0027] 4. Support plate; 501. Support truss; 605. First cryostat; 606. Second cryostat; 625. First groove; 626. First positioning groove; 7. Liquid nitrogen tank; 701. Tank cover; 702. Second groove; 703. Second positioning groove; 704. First movable frame; 705. First drive module; 7051. Linear support seat; 7052. First lead screw; 7053. Slider; 7054. First stepper motor; 706. Second movable frame; 707. Second drive module; 708. Double-stroke robot arm; 7081. First linear module; 7082. Second linear Module; 7083, first lifting seat; 709, single-stroke robot arm; 7091, third linear module; 7092, second lifting seat; 710, first robot; 7101, support frame; 7102, clamping block; 7103, second stepping motor; 7104, gear; 7105, first rack; 7106, second rack; 7107, positioning column; 711, storage component; 7111, guide rail; 7112, storage table; 7113, fixing block; 7114, second screw rod; 7115, connecting block; 7116, third stepping motor; 712, second robot. DETAILED DESCRIPTION

[0028] The following is a detailed description of an automatic material taking mechanism of a freezing rack of the utility model in conjunction with the accompanying drawings.

[0029] like Figure 1-3 As shown, an embodiment of an automatic material taking mechanism of a freezing rack of the utility model includes a support plate 4 fixedly arranged on the top of a liquid nitrogen tank 7 and a support truss 501 arranged on the support plate 4, a tank cover 701 for covering the top opening of the liquid nitrogen tank 7 is placed, and a plurality of freezing rack assemblies are placed inside the liquid nitrogen tank 7, the freezing rack assemblies include a first freezing rack 605 and a second freezing rack 606, and the first freezing rack 605 and the second freezing rack 606 are spliced ​​together by a self-locking mechanism, so that the first freezing rack 605 and the second freezing rack 606 can be put into the liquid nitrogen tank 7 at the same time, or the first freezing rack 605 and the second freezing rack 606 can be taken out from the liquid nitrogen tank 7 at the same time, which greatly improves the efficiency of storing test tube boxes; and after taking out, when it is necessary to separate the first freezing rack 605 and the second freezing rack 606, a relative force is applied to the self-locking mechanism, so that the self-locking mechanism is unlocked, and the first freezing rack 605 and the second freezing rack 606 can be separated.

[0030] In order to first carry the tank cover 701 away from the top opening of the liquid nitrogen tank 7 and then take the freezing rack assembly out of the liquid nitrogen tank 7, a first movable frame 704 that can slide horizontally and a first driving module 705 for driving the first movable frame 704 to slide are provided on the support truss 501, and a second movable frame 706 that can slide horizontally and a second driving module 707 for driving the second movable frame 706 to slide are provided on the first movable frame 704, and the sliding direction of the first movable frame 704 is perpendicular to the sliding direction of the second movable frame 706 (that is, the first movable frame 704 slides along the X-axis direction, and the second movable frame 706 slides along the X-axis direction). The rack 706 slides along the Y-axis direction); in addition, a double-stroke robot arm 708 and a single-stroke robot arm 709 that can be extended downward are installed on the second movable rack 706, and a first robot arm 710 for clamping the freezing rack assembly is installed on the double-stroke robot arm 708, and the double-stroke robot arm 708 is used to drive the first robot arm 710 to move up and down, and a second robot arm 712 for carrying the tank cover 701 is installed on the single-stroke robot arm 709, and the single-stroke robot arm 709 is used to drive the second robot arm 712 to move up and down; a storage component 711 for supporting the tank cover 701 is provided on the support plate 4.

[0031] Specifically, when the freezing rack assembly in the liquid nitrogen tank 7 needs to be taken out, the first driving module 705 is first operated to drive the first movable frame 704 to move along the X-axis direction on the supporting truss 501, and then the second driving module 707 is operated to drive the second movable frame 706 to move along the Y-axis direction on the first movable frame 704, so as to adjust the position of the second manipulator 712 to adjust the second manipulator 712 to be just above the tank cover 701, and then the single-stroke robot arm 709 is operated to drive the second manipulator 712 to move downward to a specified height, and then Run the second manipulator 712 to clamp the can cover 701, run the single-stroke robot arm 709 again, drive the can cover 701 to move upward by the second manipulator 712, drive the second movable frame 706 to move by running the second drive module 707, so as to transfer the can cover 701 to just above the storage component 711, and finally drive the second manipulator 712 to move downward by the single-stroke robot arm 709 to place the can cover 701 on the storage component 711, and run the storage component 711 to place the can cover 701 at the designated position for pending determination. At this time, the first manipulator 710 is placed above the opening of the liquid nitrogen tank 7, and then the first movable frame 704 is driven to move through the first driving module 705 to drive the first manipulator 710 to align with the freezing rack assembly in the liquid nitrogen tank 7 (a plurality of freezing rack assemblies are placed in the liquid nitrogen tank 7), and the double-stroke manipulator 708 is operated to drive the first manipulator 710 to move downward to a specified height, and the first manipulator 710 is operated to clamp the top of the first freezing rack 605, and finally the double-stroke manipulator 708 is operated again, and the first freezing rack 605 is driven to move upward by the first manipulator 710 to take it out of the liquid nitrogen tank 7, and the second freezing rack 606 is taken out at the same time through the self-locking mechanism, thereby completing the automatic material removal process of the freezing rack assembly. After the double-stroke robot arm 708 and the first robot arm 710 place the freezing rack assembly into the liquid nitrogen tank 7, the storage component 711 can be operated to move the tank cover 701 to the initial position, so that the single-stroke robot arm 709 and the second robot arm 712 can accurately move the tank cover 701 back to the top opening of the liquid nitrogen tank 7.

[0032] Preferably, a pair of second grooves 702 for the second manipulator 712 to grasp are provided on the top of the tank cover 701. When the single-stroke manipulator 709 is operated to drive the second manipulator 712 to move downward to a specified height, part of the second manipulator 712 is placed in the second groove 702, and then the second manipulator 712 is operated, and the tank cover 701 is clamped by the second manipulator 712 and the second groove 702, so that the second manipulator 712 is more convenient to clamp the tank cover 701. In addition, a pair of first grooves 625 for the first manipulator 710 to grasp are provided on the top of the first freezing rack 605. When the double-stroke manipulator 708 is operated to drive the first manipulator 710 to move downward to a specified height, part of the first manipulator 710 is placed in the first groove 625, and then the first manipulator 710 is operated, and the freezing rack assembly is clamped by the first manipulator 710 and the first groove 625, so that the first manipulator 710 can be more convenient when freezing the rack assembly.

[0033] like Figure 4 As shown, the first driving module 705 includes a linear support seat 7051 installed on the supporting truss 501, and a first screw rod 7052 whose axial direction is consistent with the sliding direction of the first movable frame 704 is rotatably provided on the linear support seat 7051. A slider 7053 is fixedly provided on the first movable frame 704, and the slider 7053 is threadedly connected with the first screw rod 7052. A first stepper motor 7054 for driving the first screw rod 7052 to rotate is installed on the supporting truss 501. When the first stepper motor 7054 is started, the first screw rod 7052 can be driven to rotate, and the slider 7053 can be used to drive the first movable frame 704 to slide on the supporting truss 501. The first driving module 705 has the same structure and the same operation mode as the second driving module 707.

[0034] In addition, the storage component 711 includes a guide rail 7111 fixedly set on the support plate 4 and arranged horizontally, and a storage table 7112 for placing the tank cover 701 is slidably provided on the guide rail 7111. After the tank cover 701 is placed on the storage table 7112, the storage table 7112 is driven to move so as to transport the tank cover 701 to a designated position for waiting. When the tank cover 701 needs to be moved to the opening of the liquid nitrogen tank 7 again, the storage table 7112 is driven to reset so that the tank cover 701 can be accurately transported. In order to drive the storage platform 7112 to move, a fixing block 7113 is further provided on the support plate 4, and a second screw rod 7114 is rotatably provided on the fixing block 7113, the axial direction of which is consistent with the sliding direction of the storage platform 7112, a connecting block 7115 is provided on the storage platform 7112, and the connecting block 7115 is threadedly connected to the second screw rod 7114, and a third stepping motor 7116 for driving the second screw rod 7114 to rotate is installed on the support plate 4. When the third stepping motor 7116 is started, the second screw rod 7114 can be driven to rotate, and the storage platform 7112 can be driven to slide on the guide rail 7111 through the connecting block 7115.

[0035] like Figure 5 As shown, the double-stroke robot arm 708 includes a first linear module 7081 installed on the second movable frame 706 and arranged vertically, a second linear module 7082 arranged vertically is arranged on the first linear module 7081, and the first linear module 7081 is used to drive the second linear module 7082 to move up and down; a first lifting seat 7083 is arranged on the second linear module 7082, and the second linear module 7082 is used to drive the first lifting seat 7083 to move up and down, and the first robot 710 is installed on the first lifting seat 7083. When the first linear module 7081 drives the second linear module 7082 to move downward, the second linear module 7082 also drives the first lifting seat 7083 to move downward, and the first lifting seat 7083 moves downward with the first robot 710, so as to take out the freezing rack assembly placed in the liquid nitrogen tank 7.

[0036] Furthermore, the single-stroke robot arm 709 includes a third linear module 7091 disposed on the second movable frame 706 and arranged vertically, a second lifting seat 7092 is disposed on the third linear module 7091, and the third linear module 7091 is used to drive the second lifting seat 7092 to move up and down, and the second robot 712 is installed on the second lifting seat 7092. The third linear module 7091 is operated to drive the second lifting seat 7092 to move up and down, thereby driving the second robot 712 to move up and down together, and then cooperating with the second movable frame 706 to slide along the Y-axis direction to realize the transportation of the can cover 701.

[0037] like Figure 6-7As shown, the first manipulator 710 includes a support frame 7101 installed on the first lifting seat 7083, and a pair of clamping blocks 7102 that can move closer to or farther away from each other are arranged at the bottom of the support frame 7101, so as to extend into the first groove 625 to clamp the first freezing rack 605; however, in order to drive the pair of clamping blocks 7102 to move closer to or farther away from each other, a second stepping motor 7103 with an output shaft arranged downward is installed in the support frame 7101, and a gear 7104 is arranged on the output shaft of the second stepping motor 7103, and a first rack 7105 and a second rack 7106 are respectively arranged on the clamping blocks 7102 on both sides, and the first rack 7105 and the second rack 7106 are respectively placed on both sides of the gear 7104, and both are meshed with the gear 7104. When the second stepping motor 7103 drives the gear 7104 to rotate forward and reverse, the first rack 7105 and the second rack 7106 can be driven to move in opposite directions, thereby driving the clamping blocks 7102 on both sides to move closer to or away from each other.

[0038] The first manipulator 710 and the second manipulator 712 have the same structure and operate in the same manner. Both the first manipulator 710 and the second manipulator 712 are provided with vertically arranged positioning posts 7107. In addition, a first positioning groove 626 for inserting the positioning post 7107 on the first manipulator 710 is provided on the top of the first freezing rack 605, and a second positioning groove 703 for inserting the positioning post 7107 on the second manipulator 712 is provided on the tank cover 701. Under the action of the first positioning groove 626 and the second positioning groove 703, the clamping block 7102 on the first manipulator 710 can be accurately extended into the first groove 625, and the clamping block 7102 on the second manipulator 712 can be accurately extended into the second groove 702.

[0039] In summary, it can be seen that the utility model has the above-mentioned excellent characteristics, which can enhance the performance unprecedented in the prior art and become a product with great practical value.

[0040] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. An automatic material taking mechanism for a freezing rack, characterized in that: It comprises a support plate (4) fixedly arranged on the top of a liquid nitrogen tank (7) and a support truss (501) arranged on the support plate (4); a tank cover (701) is placed at the top opening of the liquid nitrogen tank (7); and a plurality of freezing rack assemblies are placed inside the liquid nitrogen tank (7); A first movable frame (704) is horizontally slidably arranged on the support truss (501), and a second movable frame (706) is horizontally slidably arranged on the first movable frame (704), and the sliding direction of the first movable frame (704) is perpendicular to the sliding direction of the second movable frame (706); a double-stroke robotic arm (708) and a single-stroke robotic arm (709) that can extend downward are installed on the second movable frame (706), and a first robotic arm (710) for clamping a freezing rack assembly is installed on the double-stroke robotic arm (708), and a second robotic arm (712) for carrying a can lid (701) is installed on the single-stroke robotic arm (709).

2. The automatic material taking mechanism of a freezing rack according to claim 1, characterized in that: A first driving module (705) for driving the first movable frame (704) to slide is also provided on the supporting truss (501), and a second driving module (707) for driving the second movable frame (706) to slide is provided on the first movable frame (704).

3. The automatic material taking mechanism of a freezing rack according to claim 1, characterized in that: The freezing rack assembly includes a first freezing rack (605) and a second freezing rack (606), and the first freezing rack (605) and the second freezing rack (606) are spliced ​​and assembled through a self-locking mechanism.

4. The automatic material taking mechanism of a freezing rack according to claim 3, characterized in that: A pair of second grooves (702) for the second manipulator (712) to grasp are provided on the top of the tank cover (701); and a pair of first grooves (625) for the first manipulator (710) to grasp are provided on the top of the first freezing rack (605).

5. The automatic material taking mechanism of a freezing rack according to claim 1, characterized in that: A storage component (711) for supporting the can cover (701) is provided on the support plate (4).

6. The automatic material taking mechanism of a freezing rack according to claim 1, characterized in that: The first driving module (705) comprises a linear support seat (7051) mounted on the supporting truss (501), a first screw rod (7052) rotatably provided on the linear support seat (7051) and having an axial direction consistent with the sliding direction of the first movable frame (704), a slider (7053) fixedly provided on the first movable frame (704), and the slider (7053) is threadedly connected to the first screw rod (7052), and a first stepper motor (7054) for driving the first screw rod (7052) to rotate is mounted on the supporting truss (501).

7. The automatic material taking mechanism of a freezing rack according to claim 5, characterized in that: The storage component (711) comprises a guide rail (7111) fixedly arranged on a support plate (4) and arranged horizontally, a storage platform (7112) for placing the can cover (701) is slidably provided on the guide rail (7111), a fixing block (7113) is further provided on the support plate (4), and a second screw rod (7114) whose axial direction is consistent with the sliding direction of the storage platform (7112) is rotatably provided on the fixing block (7113), a connecting block (7115) is provided on the storage platform (7112), and the connecting block (7115) is threadedly connected to the second screw rod (7114), and a third stepping motor (7116) for driving the second screw rod (7114) to rotate is installed on the support plate (4).

8. The automatic material taking mechanism of a freezing rack according to claim 1, characterized in that: The double-stroke mechanical arm (708) comprises a first linear module (7081) mounted on a second movable frame (706) and arranged vertically, a second linear module (7082) arranged vertically is arranged on the first linear module (7081), and the first linear module (7081) is used to drive the second linear module (7082) to move up and down; A first lifting seat (7083) is arranged on the second linear module (7082). The second linear module (7082) is used to drive the first lifting seat (7083) to move up and down. The first manipulator (710) is installed on the first lifting seat (7083).

9. The automatic material taking mechanism of a freezing rack according to claim 1, characterized in that: The single-stroke robot arm (709) includes a third linear module (7091) which is arranged on a second movable frame (706) and arranged vertically. A second lifting seat (7092) is arranged on the third linear module (7091). The third linear module (7091) is used to drive the second lifting seat (7092) to move up and down. The second robot arm (712) is installed on the second lifting seat (7092).

10. The automatic material taking mechanism of a freezing rack according to claim 8, characterized in that: The first manipulator (710) includes a support frame (7101) mounted on a first lifting seat (7083), and a pair of clamping blocks (7102) that can move closer to or farther away from each other are arranged at the bottom of the support frame (7101); a second stepping motor (7103) with an output shaft arranged downward is installed in the support frame (7101), and a gear (7104) is arranged on the output shaft of the second stepping motor (7103), and a first rack (7105) and a second rack (7106) are respectively arranged on the clamping blocks (7102) on both sides, and the first rack (7105) and the second rack (7106) are respectively placed on both sides of the gear (7104) and are both meshed with the gear (7104).

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