Mobile intelligent sample storage system

Abstract

The utility model relates to a mobile intelligent sample storage system, which comprises a storage tank, a sample storage tank and a sample storage tank, the transfer tank is conveyed between the outside and the inside of the main machine; the host comprises an operation chamber, and a programmed cooling instrument and a sample conveying assembly are arranged in the operation chamber; the mobile navigation assembly and the lifting assembly are both installed on the main machine, the main machine moves back and forth between the initial station and the storage station through the mobile navigation assembly, a channel allowing the storage tank to go in and out is arranged below the operation cavity, and a butt joint opening is formed in the lower end face of the operation cavity. The lifting assembly and the mobile navigation assembly are matched to achieve butt joint of the operation cavity and the storage tank. And the sample conveying assembly is used for realizing back-and-forth conveying of the transfer tank between the outside of the host and the operation chamber, and is used for realizing back-and-forth conveying of the biological sample among the transfer tank, the programmed cooling instrument and the storage tank. The mobile intelligent sample storage system provided by the utility model aims to overcome the defects in the prior art, and is high in automation degree and convenient to operate.

Description

Technical Field

[0001] The utility model relates to the technical field of biological sample storage, in particular to a mobile intelligent sample storage system. Background Art

[0002] Cryogenic biological sample banks are important basic equipment for research in the medical and biological fields. Through the cryogenic storage of liquid nitrogen, biological tissues such as blood, stem cells and immune cells can remain active for a long time. When in use, the frozen cells are placed in sample tubes, the sample tubes are placed on plate racks, and multiple plate racks are placed in liquid nitrogen tanks in various arrangements to achieve long-term stable storage of samples.

[0003] However, existing cryogenic biological sample libraries generally have problems such as low automation and inconvenient sample transfer or access operations. Therefore, a mobile intelligent sample storage system is proposed to address the above problems. Utility Model Content

[0004] The utility model aims to overcome the existing defects and provide a mobile intelligent sample storage system with high automation and convenient operation.

[0005] The technical solution to achieve the above purpose is: a mobile intelligent sample storage system, including:

[0006] Storage tank, external to the host, used for low-temperature storage of biological samples;

[0007] The transport tank is transferred between the outside and inside of the host and is used for low-temperature transport of biological samples;

[0008] The host comprises an operation chamber, one side of which is provided with an opening, through which the transfer tank enters and exits the operation chamber, the host is a door-shaped structure to form a passage for the storage tank to enter and exit, the passage is located below the operation chamber, and a docking port for docking with the storage tank is provided on the lower end surface of the operation chamber;

[0009] The operating chamber is provided with a program cooling device and a sample transfer component, and the host realizes the back and forth transfer of the transfer tank between the outside of the host and the operating chamber through the sample transfer component, and the host also realizes the back and forth transfer of the biological sample between the transfer tank, the program cooling device and the storage tank through the sample transfer component;

[0010] A mobile navigation component, installed on the host, used to drive the host to move back and forth between the initial position and the storage position;

[0011] A lifting assembly, installed on the main machine, used to drive the operating chamber of the main machine to move up and down, and when the operating chamber moves downward, the docking port of the operating chamber can dock with the storage tank;

[0012] An electrical control component is installed on the host, and the mobile navigation component, the lifting component, the sample transfer component and the programmed cooling device are all electrically connected to the electrical control component. The electrical control component is used to preset access instructions and control the working states of the mobile navigation component, the lifting component, the sample transfer component and the programmed cooling device according to the access instructions.

[0013] Preferably, the storage tank is built with a basket, the basket is used to store a plate rack, the transfer tank is provided with a plate rack, the plate rack is used to place a sample tube, and the sample tube is used to store biological samples;

[0014] The sample transfer assembly comprises:

[0015] A basket manipulator is disposed in the operating chamber and above the storage tank, and is used for taking and placing the basket and cooperating with the plate rack manipulator to realize the storage and retrieval of the plate rack in the basket;

[0016] A cover opening robot, disposed in the operating chamber and located above the storage tank, for opening or closing the cover of the storage tank;

[0017] A plate rack manipulator is disposed in the operating chamber and can move back and forth between the transfer tank, the programmed cooling device and the storage tank, and is used for taking, placing and transferring the plate rack;

[0018] A sample tube manipulator, disposed in the operating chamber and capable of extending into the tank opening of the storage tank, for adjusting the position of the sample tube on the plate rack;

[0019] A transfer tank conveying unit, disposed on one side of the main machine, for conveying the transfer tank between the outside of the main machine and the operating chamber;

[0020] Wherein, the plate rack manipulator and the basket carrying manipulator both have a cold-keeping cover, and the cold-keeping cover can keep the biological sample in a low-temperature state during the transmission process.

[0021] Preferably, the main machine also includes a liquid nitrogen supply tank, which is connected to the cold-insulating covers of the plate rack manipulator and the basket carrying manipulator through pipelines, respectively, to provide cold air for the plate rack manipulator and the basket carrying manipulator.

[0022] Preferably, it also includes: a first barcode scanner, a second barcode scanner, a control panel and a power supply component;

[0023] The first barcode scanner is installed in the operation chamber and corresponds to the plate rack placement position in the operation chamber, and is used to scan the QR code of the plate rack and / or the sample tube;

[0024] The second code scanner is installed on the lower end surface of the operating chamber and is used to scan the QR code of the storage tank;

[0025] An installation window is provided on one side of the host, and the control panel is fixed in the installation window;

[0026] The power supply assembly includes a UPS power supply, a charging electrode and a battery, wherein the UPS power supply and the battery are both installed on the host, and the charging electrode is installed on the housing of the host and is electrically connected to the battery;

[0027] The first barcode scanner, the second barcode scanner, the UPS power supply, the battery and the control panel are all electrically connected to the electrical control component. The battery supplies power to the electrical control component, the UPS power supply provides an uninterruptible power supply to the electrical control component, and the charging electrode charges the battery.

[0028] Preferably, the programmed cooling instrument, the electrical control component, the UPS power supply and the sample transport component are all installed on the same platform.

[0029] Preferably, two lifting assemblies are provided and are symmetrically arranged at the lower end of the main machine, and the lifting assembly includes a lifting rack, a lifting motor, a machine base and a telescopic guide rod. The telescopic guide rod is installed on the machine base and is vertically arranged. The lifting rack is installed on the telescopic guide rod, and the lifting rack is meshed with the gear of the lifting motor. The lifting motor is used to drive the telescopic guide rod to reciprocate in the vertical direction.

[0030] Preferably, the mobile navigation assembly comprises: a driving unit, walking wheels and a laser radar;

[0031] The travel wheel is installed at the lower end of the machine base, the drive unit is connected to the travel wheel and is used to drive the travel wheel to rotate, the laser radar is installed on the four corners of the main machine, and the drive unit and the laser radar are both electrically connected to the electrical control component.

[0032] Preferably, a plurality of the storage tanks are provided, and the plurality of storage tanks are respectively located at different storage stations and are fixed in position.

[0033] Preferably, it further comprises a clean room, wherein the clean room is provided with a maintenance door and a transfer window, the main machine and the storage tank are both located in the clean room, and the transfer tank is transferred to the interior of the main machine via the transfer window;

[0034] A charging device is provided in the clean room, and the charging device is used to charge the host.

[0035] The beneficial effects of the utility model are:

[0036] 1) This mobile intelligent sample storage system uses external storage tanks to enable a set of automated main body (i.e., host) to automatically connect to multiple storage tanks. Compared with the traditional sample storage device in which the storage tank is built into the automated main body, the automation part cost is saved; moreover, the system is scalable, and only needs to add storage tanks. When a tank is full, an empty tank can be placed in place to continue sample storage;

[0037] 2) The mobile host has autonomous mobility, which realizes a more intelligent replacement of the steps of people going to the machine; autonomous positioning function, data processing, autonomous judgment, etc., multi-machine (storage tank) data interconnection, and the sample tubes between storage tanks can be managed uniformly; it can automatically divide tanks and partitions according to settings; it has high adaptability to the site, whether it is a large sample library or a small sample storage; it has a high degree of automation and is easy to operate;

[0038] 3) This mobile intelligent sample storage system adopts modular design, and the functional parts can be freely combined and selected, and the position relationship can be adjusted; the functional modules can be used in independent scenarios; for samples with higher requirements, they can be arranged in a dust-free room, and the samples can be automatically and quickly stored and retrieved throughout the process; the sample transfer can be "zero contact" and a variety of standard plate racks can be stored and retrieved;

[0039] 4) This mobile intelligent sample storage system realizes low-temperature protection inside the automation body by setting up a liquid nitrogen supply tank to provide the liquid nitrogen required for local low temperature;

[0040] 5) The mobile host is integrated with a programmed cooling device, which has the function of programmed cooling of samples and can realize full automation of sample storage. Even if the sample does not meet the deep low temperature requirements, the system can receive and store it. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is an axonometric diagram of a mobile intelligent sample storage system according to an embodiment of the utility model;

[0042] Figure 2 It is a top view of the mobile intelligent sample storage system of the embodiment of the utility model;

[0043] Figure 3 It is a front view of the mobile intelligent sample storage system of the embodiment of the utility model;

[0044] Figure 4 It is an axonometric diagram of the host machine of the embodiment of the utility model;

[0045] Figure 5 is an axonometric diagram of the host computer of an embodiment of the utility model from another perspective;

[0046] Figure 6 This is a schematic diagram of the internal connection of the host computer according to an embodiment of the utility model;

[0047] Figure 7 It is an axonometric view of the lifting assembly of the embodiment of the utility model.

[0048] In the figure: 1. Maintenance door; 2. Charging device; 3. Main unit; 4. Storage tank; 5. Clean room; 6. Transfer tank; 7. Transfer window; 10. Basket robot; 11. Lid opening robot; 12. Transfer tank conveying unit; 13. Plate rack robot; 14. Sample tube robot; 15. Programmed cooling device; 16. First barcode scanner; 17. Electrical control component; 18. UPS power supply; 19. Liquid nitrogen supply tank; 20. Second barcode scanner; 22. Main unit housing; 23. Lifting rack; 24. Lifting motor; 25. Machine base; 26. Telescopic guide rod; 27. Travel wheel; 28. Charging electrode; 29. ​​Lidar; 30. Control panel; 31. Battery. DETAILED DESCRIPTION

[0049] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0050] The utility model will be further described below in conjunction with the accompanying drawings.

[0051] like Figure 1-7As shown, the mobile intelligent sample storage system includes: a storage tank 4, which is external to the host 3 and is used for low-temperature storage of biological samples; a transfer tank 6, which is transferred between the inside and outside of the host 3 and is used for low-temperature transfer of biological samples; the host 3, which is used to receive the transfer tank 6 and transfer the biological sample in the transfer tank 6 to the storage tank 4, or transfer the biological sample in the storage tank 4 to the transfer tank 6 and transport the transfer tank 6 to the initial station; a mobile navigation component, installed on the host 3, used to drive the host 3 to move back and forth between the initial station and the storage station; a lifting component, installed on the host 3, used to drive the operating chamber of the host 3 to move up and down; when the operating chamber moves downward, the docking port of the operating chamber can dock with the storage tank 4.

[0052] Specifically, the main engine 3 is a door-shaped structure as a whole, and a passage for the storage tank 4 to enter and exit is formed between the two vertical parts of the door-shaped structure. The horizontal part of the door-shaped structure is provided with an operating chamber, and the operating chamber is located above the passage for entering and exiting the storage tank 4. A docking port is provided on the lower end surface of the operating chamber, and the lifting assembly cooperates with the mobile navigation assembly to realize the docking of the operating chamber and the storage tank 4.

[0053] Specifically, the operating chamber is provided with a programmed cooling device 15 and a sample transfer component, one side of the operating chamber is provided with an opening, the transfer tank 6 enters and exits the operating chamber via the opening, the host 3 realizes the back-and-forth transfer of the transfer tank 6 between the outside of the host 3 (for example, the transfer window 7) and the inside of the host 3 (that is, the operating chamber) through the sample transfer component, and the host 3 realizes the back-and-forth transfer of biological samples between the transfer tank 6, the programmed cooling device 15 and the storage tank 4 through the sample transfer component.

[0054] Specifically, the host 3 is an automatically moving robot with functions such as automatic manipulator access to samples, sample tube code scanning, sample tube program cooling, sample tube data collection and sorting, automatic navigation, automatic positioning, etc. It can automatically move to the target storage tank for sample storage, and can also move to any storage station to take out the target sample from the corresponding storage tank. When the control instruction to store the sample is issued, the host 3 will automatically move the initial station to transfer the transfer tank 6 in the sample transfer window 7 to the operating chamber of the host 3, and then the host 3 will reach the designated storage station (corresponding to any storage tank 4) and dock with the target storage tank 4. After docking, the biological sample in the transfer tank 6 is stored in the corresponding storage tank 4, thereby completing a complete sample storage.

[0055] Specifically, the storage tank 4 forms a low-temperature environment for storing biological samples inside, and is usually a liquid nitrogen tank suitable for low-temperature storage of biological samples.

[0056] like Figure 1 and Figure 2 As shown, in this embodiment, a plurality of storage tanks 4 are provided, and the plurality of storage tanks 4 are respectively located at different storage stations and are fixed in position. The storage tanks 4 are fixed in position, which facilitates the connection and fixation of the storage tanks 4 with the liquid nitrogen pipeline.

[0057] Specifically, the transfer tank 6 has a low-temperature storage function and is easy to move, and is suitable for low-temperature transportation of biological samples. The transfer tank 6 is provided with a plate rack, which is used to place sample tubes, and the sample tubes are used to store biological samples; the storage tank 4 is built with a basket, which is used to store the plate rack.

[0058] Wherein, the storage temperature of storage tank 4 and transfer tank 6 is generally required to be lower than -150 °. Most biological samples need to be stored in a deep cryogenic environment, especially some biological sample banks for storing cells for re-infusion into the human body, and their storage environment needs to be at a temperature close to liquid nitrogen. Taking the biological sample bank storing human embryos as an example, the embryo needs to go through a complicated cooling process first, and then be put into liquid nitrogen for preservation, and it needs to be in a deep cryogenic environment protection throughout the process. The mobile intelligent sample storage system provided in the present embodiment has an integrated program cooling function, so there is no need to cool down in advance before the storage operation. If the biological sample temperature in the transfer tank 6 is too high (for example, -4 °), it is not suitable for direct storage in the storage tank 4. It can be placed in a program cooling device 15 for cooling first, and then transferred to the storage tank 4.

[0059] like Figure 6 As shown, a sample transfer assembly is provided in the operating chamber of the host 3, and the sample transfer assembly includes: a basket carrying manipulator 10, which is arranged in the operating chamber and located above the storage tank 4, and is used for taking and placing the basket and cooperating with the plate rack manipulator 13 to realize the storage and retrieval of the plate rack in the basket; a lid opening manipulator 11, which is arranged in the operating chamber and located above the storage tank 4, and is used to open or close the lid of the storage tank 4; the plate rack manipulator 13, which is arranged in the operating chamber and can move back and forth between the transfer tank 6, the program cooling device 15 and the storage tank 4, and is used for taking and placing and transferring the plate rack; the program cooling device 15 is arranged at the rear of the transfer tank transmission unit 12, and is used to receive the transfer tank 6 and perform program cooling on the biological sample in the transfer tank 6; a sample tube manipulator 14, which is arranged in the operating chamber and can extend into the tank mouth of the storage tank 4, and is used to adjust the position of the sample tube on the plate rack; the transfer tank transmission unit 12, which is arranged on one side of the host 3, is used to transfer the transfer tank 6 between the transfer window 7 and the operating chamber.

[0060] Specifically, when biological samples need to be stored, the transfer tank transfer unit 12 transfers the transfer tank 6 in the transfer window 7 to the operating chamber of the host 3, and then the plate rack manipulator 13 takes out the plate rack from the transfer tank 6, scans the sample tube through the barcode scanner, and determines whether program cooling is required. If not, the cover opening manipulator 11 opens the storage tank 4, the basket lifting manipulator 10 lifts the basket, and the plate rack manipulator 13 cooperates with the basket lifting manipulator 10 to push the plate rack into the basket, and the basket lifting manipulator 10 drives the basket to descend and puts the basket into the storage tank 4. If yes, the plate rack manipulator 13 transfers the plate rack to the program cooling instrument 15, takes it out after the cooling is completed, and then transfers the plate rack to the basket, and then puts the basket into the storage tank 4.

[0061] Specifically, when it is necessary to take out the biological sample, the cover opening manipulator 11 opens the storage tank 4, the basket lifting manipulator 10 lifts the basket, the plate rack manipulator 13 grabs the plate rack in the basket, scans the sample tube on the plate rack through the barcode scanner, and then transfers the plate rack to the transfer tank 6. At the same time, the basket lifting manipulator 10 drives the basket to descend and put it into the storage tank 4, and the cover opening manipulator 11 closes the storage tank 4. After that, the transfer tank conveying unit 12 conveys the transfer tank 6 to the transfer window 7.

[0062] When the position of the sample tube on the same plate rack or on different plate racks needs to be adjusted, the sample tube is grabbed by the sample tube manipulator 14, moved to the target position and then placed down.

[0063] In this embodiment, both the plate rack manipulator 13 and the basket carrying manipulator 10 have a cold-keeping cover, which can keep the biological sample in a low-temperature state during the transfer process. Since the biological sample is always in a low-temperature environment during the transfer process, the operating chamber is usually a normal temperature environment, and there is no need to specifically cool it down to a low-temperature environment of about -130°.

[0064] like Figure 6 As shown, the host 3 also includes a liquid nitrogen supply tank 19, which is connected to the cold preservation cover of the plate rack manipulator 13 and the basket manipulator 10 through a pipeline (not shown in the figure), and is used to provide cold energy for the plate rack manipulator 13 and the basket manipulator 10, thereby ensuring that the grasping and transfer links of the biological samples can obtain deep low temperature protection.

[0065] like Figure 5 and Figure 6As shown, the host 3 also includes: a first barcode scanner 16, a second barcode scanner 20, a control panel 30 and an electrical control component 17; the first barcode scanner 16 is installed in the operation chamber and corresponds to the plate rack placement position in the operation chamber, and is used to scan the QR code of the sample tube; the second barcode scanner 20 is installed on the lower end surface of the operation chamber, and is used to scan the QR code of the storage tank 4; an installation window is opened on one side of the host 3, and the control panel 30 is fixed in the installation window. The first barcode scanner 16, the second barcode scanner 20, the control panel 30, the program cooling device 15 and the sample conveying component are all electrically connected to the electrical control component 17, and the electrical control component 17 is used to preset access instructions and control the working states of the sample conveying component, the program cooling device 15, the first barcode scanner 16, the second barcode scanner 20, the mobile navigation component, the lifting component and other components according to the access instructions.

[0066] like Figure 5 and Figure 6 As shown, the host 3 also includes: a battery 31, which is electrically connected to the electrical control component 17 to supply power to the electrical control component 17; a charging electrode 28, which is installed on the host housing 22, and the charging electrode 28 is electrically connected to the battery 31 to charge the battery 31.

[0067] Specifically, the host 3 also includes a UPS power supply 18 , which is electrically connected to the electrical control component 17 to provide an uninterruptible power supply to the electrical control component 17 .

[0068] In this embodiment, the electrical control component 17, the liquid nitrogen supply tank 19, the programmed cooling device 15, the UPS power supply 18 and the sample transmission component are all installed on the same platform.

[0069] In this embodiment, the mobile navigation component and the lifting component are both installed on the main unit 3. The main unit 3 can move back and forth between the initial position and the storage position where the storage tank 4 is placed under the drive of the mobile navigation component, and the operating chamber of the main unit 3 can move up and down under the drive of the lifting component. After the main unit 3 moves to the storage position, its operating chamber moves downward to dock with the storage tank 4.

[0070] like Figure 4 and Figure 5 As shown, the mobile navigation component includes a driving unit (not shown in the figure), a walking wheel 27 and a laser radar 29. The walking wheel 27 is installed at the bottom of the mobile chassis. The driving unit is connected to the walking wheel 27 to drive the walking wheel 27 to rotate. The laser radar 29 is installed on the four corners of the host 3. The driving unit and the laser radar 29 are both electrically connected to the electrical control component 17.

[0071] like Figure 7As shown, there are two lifting assemblies which are symmetrically arranged, and the lifting assemblies include a lifting rack 23, a lifting motor 24, a base 25 and a telescopic guide rod 26. A walking wheel 27 is provided at the lower end of the base 25. The telescopic guide rod 26 is installed on the base 25. The lifting rack 23 is installed on the telescopic guide rod 26, and the lifting rack 23 is meshed with the gear of the lifting motor 24. The lifting motor 24 is used to drive the telescopic guide rod 26 to reciprocate in the vertical direction, and the telescopic guide rod 26 drives other parts of the main machine 3 to move up and down.

[0072] like Figure 1 , 2 As shown in Figure 3, the mobile intelligent sample storage system can be set in the clean room 5 to ensure the cleanliness of the storage area and no pollution. The clean room 5 is provided with a maintenance door 1 and a transfer window 7. The maintenance door 1 is used as a maintenance channel (normally closed) for the equipment. When the host 3 needs to be repaired, the maintenance personnel can enter the clean room 5 through the maintenance door 1. The transfer window 7 can be automatically opened and closed (normally closed). It is opened when there is a storage and access task and closed after completion. A charging device 2 is set in the clean room 5. The charging device 2 is used to charge the host 3. When charging is required, the host 3 can automatically move to the charging position, and the charging electrode 28 is docked with the charging device 2.

[0073] The mobile intelligent sample storage system provided in this embodiment can automatically connect a plurality of storage tanks 4 to one automated main body (i.e., host 3). Since the storage tanks 4 are external, they are easy to replace. When a tank is full, the empty tank can be replaced in place to continue storing samples. Compared with sample storage devices in which the storage tanks are built into the automated main body, the cost of the automated part is greatly saved. The system automatically divides the tanks and partitions the storage according to the settings, and realizes data interconnection of multiple machines (storage tanks); moreover, it has high adaptability to the site, and can realize both large sample libraries and small sample storage.

[0074] Accordingly, the present invention also provides a sample storage method, which comprises the following steps:

[0075] The storage tanks 4 are placed one by one on the corresponding storage stations, and the host 3 scans the storage tanks 4 on each storage station through the second barcode scanner;

[0076] Place the transfer tank 6 in the transfer window 7, and open the cover of the transfer tank 6;

[0077] Sending control instructions to host 3 to store samples or take out samples;

[0078] The host 3 transfers the transfer tank 6 in the transfer window 7 to the operating chamber of the host 3 through the transfer tank transfer unit 12;

[0079] The host 3 automatically moves to the corresponding storage station according to the control instruction, and automatically docks with the storage tank 4 on the storage station;

[0080] The host 3 transfers the biological sample in the transfer tank 6 to the storage tank 4, or transfers the biological sample in the storage tank 4 to the transfer tank 6 through the sample transfer component;

[0081] The process of automatically docking the host 3 with the storage tank 4 includes:

[0082] The host 3 scans the storage tank 4 below it through the second barcode scanner, and determines whether it is the target storage tank 4 according to the scanning result;

[0083] If yes, the height of the docking port is adjusted by the lifting assembly, and the mobile navigation assembly is used to realize automatic docking of the host 3 and the storage tank 4;

[0084] If not, it moves to the next storage station and scans the storage tank 4 of the next storage station. After finding the target storage tank 4, it automatically docks with the storage tank 4. If the target storage tank 4 is still not found after all the codes are scanned, an alarm is sounded.

[0085] Specifically, before the biological sample in the transfer tank 6 is transferred to the storage tank 4 and after the transfer tank 6 is transferred to the operating chamber of the host 3, the method further includes:

[0086] Scanning the plate rack and / or the sample tube by the first barcode scanner 16, and judging whether the biological sample needs to be subjected to programmed cooling according to the scanning result;

[0087] If yes, the biological sample is transferred to the programmed cooling device 15 by the sample transfer component for programmed cooling, and after the programmed cooling, the biological sample is transferred to the storage tank 4 by the sample transfer component;

[0088] If not, the biological sample is directly transferred to the storage tank 4 through the sample transfer component.

[0089] The access information of the biological samples is automatically recorded on the control panel 30 of the host 3. When the storage tank 4 on a certain storage station is full, the control panel 3 will prompt the storage station to replace the new storage tank 4.

[0090] The mobile intelligent sample storage system provided in this embodiment has a high degree of automation and is easy to operate. It can automatically and quickly store and retrieve samples throughout the entire process. The whole machine adopts a modular design, and the functional parts can be freely combined and selected, and the position relationship can also be adjusted. The functional modules can be used in independent scenarios. Autonomous mobility realizes a more intelligent replacement for the steps of going from person to machine. It has autonomous positioning functions, data processing, autonomous judgment, etc.; compatibility can realize the storage and retrieval of various standard plate racks; the liquid nitrogen supply tank provides the liquid nitrogen required for local low temperature to strengthen the low-temperature protection of biological samples during the storage and retrieval process; the program cooling function of the sample realizes the full-domain automation of sample storage.

[0091] The above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A mobile intelligent sample storage system, characterized in that: include: A storage tank (4), external to the host (3), for low-temperature storage of biological samples; A transport tank (6) is transferred between the outside and the inside of the host (3) and is used for low-temperature transport of biological samples; The main machine (3) comprises an operating chamber, one side of which is provided with an opening, and the transfer tank (6) enters and exits the operating chamber via the opening; the main machine (3) is a door-shaped structure to form a passage for the storage tank (4) to enter and exit, the passage being located below the operating chamber, and the lower end surface of the operating chamber is provided with a docking port for docking with the storage tank (4); The operating chamber is provided with a programmed cooling device (15) and a sample transfer component, and the host (3) realizes the back and forth transfer of the transfer tank (6) between the outside of the host (3) and the operating chamber through the sample transfer component, and the host (3) also realizes the back and forth transfer of biological samples between the transfer tank (6), the programmed cooling device (15) and the storage tank (4) through the sample transfer component; A mobile navigation component, installed on the host (3), used to drive the host (3) to move back and forth between the initial position and the storage position; a lifting assembly, mounted on the main machine (3), and used to drive the operating chamber of the main machine (3) to move up and down, so that when the operating chamber moves downward, the docking port of the operating chamber can dock with the storage tank (4); An electrical control component (17) is installed on the host (3); the mobile navigation component, the lifting component, the sample transport component and the programmed cooling device (15) are all electrically connected to the electrical control component (17); the electrical control component (17) is used to preset access instructions and control the working states of the mobile navigation component, the lifting component, the sample transport component and the programmed cooling device (15) according to the access instructions.

2. The mobile intelligent sample storage system according to claim 1, characterized in that: The storage tank (4) is provided with a basket, the basket is used to store a plate rack, the transfer tank (6) is provided with a plate rack, the plate rack is used to place a sample tube, and the sample tube is used to store a biological sample; The sample transfer assembly comprises: A basket carrying manipulator (10) is arranged in the operating chamber and located above the storage tank (4), and is used for taking and placing the basket and cooperating with the plate rack manipulator (13) to realize the storage and retrieval of the plate rack in the basket; a cover opening robot (11), arranged in the operating chamber and located above the storage tank (4), and used for opening or closing the cover of the storage tank (4); A plate rack manipulator (13) is disposed in the operating chamber and is capable of moving back and forth between the transfer tank (6), the programmed temperature reduction device (15) and the storage tank (4) for taking, placing and transferring the plate rack; A sample tube manipulator (14), which is arranged in the operation chamber and can extend into the tank opening of the storage tank (4) and is used to adjust the position of the sample tube on the plate rack; A transfer tank conveying unit (12), arranged on one side of the main machine (3), and used for conveying the transfer tank (6) between the outside of the main machine (3) and the operating chamber; Wherein, the plate rack manipulator (13) and the basket carrying manipulator (10) both have a cold-keeping cover, and the cold-keeping cover can keep the biological sample in a low-temperature state during the transfer process.

3. The mobile intelligent sample storage system according to claim 2 is characterized in that The host (3) further includes a liquid nitrogen supply tank (19), which is connected to the cold-insulating housings of the plate rack manipulator (13) and the basket lifting manipulator (10) through pipelines, respectively, and is used to provide cold air for the plate rack manipulator (13) and the basket lifting manipulator (10).

4. The mobile intelligent sample storage system according to claim 2 is characterized in that , further comprising: a first barcode scanner (16), a second barcode scanner (20), a control panel (30) and a power supply assembly; The first barcode scanner (16) is installed in the operating chamber and corresponds to the placement position of the plate rack in the operating chamber, and is used to scan the QR code of the plate rack and / or the sample tube; The second code scanner (20) is installed on the lower end surface of the operating chamber and is used to scan the QR code of the storage tank (4); An installation window is provided on one side of the host (3), and the control panel (30) is fixed in the installation window; The power supply assembly comprises a UPS power supply (18), a charging electrode (28) and a battery (31); the UPS power supply (18) and the battery (31) are both installed on the host (3); the charging electrode (28) is installed on the outer shell of the host (3) and is electrically connected to the battery (31); The first barcode scanner (16), the second barcode scanner (20), the UPS power supply (18), the battery (31) and the control panel (30) are all electrically connected to the electrical control component (17); the battery (31) supplies power to the electrical control component (17); the UPS power supply (18) provides an uninterruptible power supply to the electrical control component (17); and the charging electrode (28) charges the battery (31).

5. The mobile intelligent sample storage system according to claim 4 is characterized in that The programmed cooling device (15), the electrical control component (17), the UPS power supply (18) and the sample transport component are all installed on the same platform.

6. The mobile intelligent sample storage system according to claim 1, characterized in that The lifting components are provided with two and are symmetrically arranged at the lower end of the main machine (3). The lifting components include a lifting rack (23), a lifting motor (24), a machine base (25) and a telescopic guide rod (26). The telescopic guide rod (26) is installed on the machine base (25) and is vertically arranged. The lifting rack (23) is installed on the telescopic guide rod (26), and the lifting rack (23) is meshed with the gear of the lifting motor (24). The lifting motor (24) is used to drive the telescopic guide rod (26) to move back and forth in the vertical direction.

7. The mobile intelligent sample storage system according to claim 6, characterized in that , the mobile navigation component includes: a driving unit, a walking wheel (27) and a laser radar (29); The travel wheel (27) is installed at the lower end of the machine base (25), the drive unit is connected to the travel wheel (27) and is used to drive the travel wheel (27) to rotate, the laser radar (29) is installed on the four corners of the main machine (3), and the drive unit and the laser radar (29) are both electrically connected to the electrical control component (17).

8. The mobile intelligent sample storage system according to claim 1, characterized in that There are multiple storage tanks (4), and the multiple storage tanks (4) are respectively located at different storage stations and have fixed positions.

9. The mobile intelligent sample storage system according to claim 1, characterized in that , further comprising a clean room (5), wherein the clean room (5) is provided with a maintenance door (1) and a transfer window (7), wherein the host (3) and the storage tank (4) are both located in the clean room (5), and the transfer tank (6) is transferred to the interior of the host (3) via the transfer window (7); A charging device (2) is provided in the clean room (5), and the charging device (2) is used to charge the host (3).

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