Deep hypothermia storing and taking equipment for biological sample test tubes

Abstract

The utility model provides profound hypothermia storing and taking equipment for biological sample test tubes, and belongs to the technical field of test tube storing and taking. Comprising a liquid nitrogen tank storage assembly, a cover plate assembly, a test tube box access in-out assembly, a camera assembly, a movable tray assembly and a test tube clamping jaw assembly, and the cover plate assembly, the test tube box access in-out assembly, the camera assembly, the movable tray assembly and the test tube clamping jaw assembly are all installed on the upper surface of the liquid nitrogen tank storage assembly. The liquid nitrogen tank storage assembly, the cover plate assembly, the test tube box access in-out assembly, the camera assembly, the movable tray assembly and the test tube clamping jaw assembly are matched to realize the automation of test tube access, so that the sample storage efficiency can be remarkably improved, and the influence of human factors on the sample quality is reduced; the storage position can be accurately recognized, the whole process is controlled through accurate transmission, it is guaranteed that the test tubes are carried and positioned accurately, the accuracy of storage and taking of the test tubes is improved, and sample confusion and loss are avoided.

Description

Technical Field

[0001] This utility model belongs to the field of test tube storage and retrieval technology, specifically relating to a cryogenic storage and retrieval device for biological sample test tubes. Background Technology

[0002] Biological samples are crucial resources in life science research, disease diagnosis and treatment, and drug development. The quality and efficiency of their storage directly impact the reliability of research findings and the effectiveness of clinical applications. Biobanks, as centralized storage and management sites for biological samples, play a vital role in modern life science research. With the deepening of life science research and the advent of the precision medicine era, higher demands are being placed on the construction and management of biobanks.

[0003] Traditional biological sample storage methods mainly rely on manual operation, which has many drawbacks. Manual sample retrieval is inefficient and cannot meet the rapidly growing demand of large-scale biobanks. Frequent manual operation of storage devices in low-temperature environments can cause temperature fluctuations, affecting the activity and stability of samples. Manual operation is also prone to human error, such as sample confusion or loss, reducing the traceability of samples and the accuracy of data. Utility Model Content

[0004] (1) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a cryogenic storage and retrieval device for biological sample tubes. This addresses the problem that existing biological sample storage methods mainly rely on manual operation, which is insufficient to meet the rapidly growing needs of large-scale biobanks. Furthermore, manual operation is prone to human error, such as sample confusion or loss, which reduces the traceability of samples and the accuracy of data.

[0006] (2) Technical solution

[0007] To solve the above-mentioned technical problems, this utility model provides a cryogenic storage and retrieval device for biological sample test tubes, including a liquid nitrogen tank storage component, a cover plate component, a test tube box access component, a camera component, a moving tray component, and a test tube gripper component. The cover plate component, the test tube box access component, the camera component, the moving tray component, and the test tube gripper component are all installed on the upper surface of the liquid nitrogen tank storage component.

[0008] The liquid nitrogen tank storage assembly is used for cryogenic storage of biological sample tubes. The cover assembly is used to open and close the access port of the liquid nitrogen tank storage assembly. The test tube box access assembly is used to place and retrieve biological sample tubes on the moving tray assembly. The camera assembly is used to photograph and identify biological sample tubes. The moving tray assembly is used to move biological sample tubes to the access port of the liquid nitrogen tank storage assembly. The test tube clamp assembly is used to store and retrieve biological sample tubes from the moving tray assembly inside the liquid nitrogen tank storage assembly.

[0009] Preferably, the liquid nitrogen tank storage assembly includes a liquid nitrogen tank body, an mounting plate fixedly connected to the upper surface of the liquid nitrogen tank body, a test tube inlet and outlet opening on the upper surface of the liquid nitrogen tank body, the test tube inlet and outlet penetrating the upper surface of the mounting plate, a rotation drive assembly provided on the upper surface of the liquid nitrogen tank body, the output end of the rotation drive assembly located inside the liquid nitrogen tank body and fixedly connected to a test tube placement plate, a plurality of test tube placement slots opening on the upper surface of the test tube placement plate, and the rotation drive assembly used to drive the test tube placement plate to rotate.

[0010] Preferably, the rotation drive assembly includes a rotation platform base, on which a first motor and a second motor are mounted. The test tube placement plate includes an upper placement plate and a lower placement plate. The output ends of the first motor and the second motor are respectively fixedly connected to the upper placement plate and the lower placement plate through an inner shaft and an outer shaft sleeved on the inner shaft. A left through hole and a right through hole are respectively opened on the left and right sides of the upper placement plate. The left through hole is close to the outer side of the upper placement plate, and the right through hole is close to the middle of the upper placement plate.

[0011] Preferably, multiple support seats are fixedly connected to the lower surface of the liquid nitrogen tank. The support seats are equipped with movable wheels and threaded with adjusting rods. The bottom end of the adjusting rod is fixedly connected to a pressure plate, and the outer surface of the adjusting rod is fixedly connected to an adjusting nut.

[0012] Preferably, the cover plate assembly includes a first column fixedly connected to the upper surface of the mounting plate, a third motor mounted on the first column and slidably connected to a first movable plate, a vertical lead screw fixedly connected to the output end of the third motor, the lead screw being threadedly connected to the first movable plate, a fourth motor mounted on the first movable plate, and an inlet / outlet cover plate corresponding to the inlet / outlet of the test tube fixedly connected to the output end of the fourth motor.

[0013] Preferably, the test tube box access component includes a support frame, on which a bellows cover is mounted, and an opening is provided on the mounting plate. The support frame is mounted on the upper surface of the mounting plate and located at the opening.

[0014] Preferably, the camera assembly includes a mounting bracket fixedly connected to the lower surface of the mounting plate and located at the opening, with a shield fixedly connected inside the mounting bracket, and a shooting camera installed inside the shield.

[0015] Preferably, the movable pallet assembly includes a fifth motor and a pulley installed at the front and rear ends of the left side of the mounting plate. A pallet frame is slidably arranged between the fifth motor and the pulley. The pallet frame has a pallet groove. A timing belt is installed at the output end of the fifth motor. The other end of the timing belt is installed on the outer surface of the pulley. The pallet frame is fixedly connected to the timing belt.

[0016] Preferably, the test tube gripper assembly includes a second column fixedly connected to the upper surface of the mounting plate, a crossbeam fixedly connected to the top of the second column, a sixth motor mounted on the crossbeam and slidably connected to a second movable plate, a horizontal lead screw fixedly connected to the output end of the sixth motor, the lead screw being threadedly connected to the second movable plate, an upper fixed plate and a lower fixed plate fixedly connected to the upper and lower sides of the front of the second movable plate respectively, a sleeve rotatably connected to the lower fixed plate via a bearing, a nut sleeve rotatably connected to the inside of the sleeve via a bearing, a lifting screw threadedly connected to the inside of the nut sleeve, an electric gripper mounted at the bottom end of the lifting screw, the electric gripper being located above the test tube inlet and outlet, a seventh motor and an eighth motor mounted on the upper fixed plate, the output end of the seventh motor being driven by the sleeve via a belt, and the output end of the eighth motor being driven by the nut sleeve via a belt.

[0017] A method for cryogenic storage of biological sample tubes includes the following steps:

[0018] Step 1: Move the moving tray assembly to the test tube box access component, and then place the test tube box onto the moving tray assembly through the test tube box access component;

[0019] Step 2: Move the test tube box directly above the camera module to take a picture and upload it to the system;

[0020] Step 3: The system determines the location where the test tubes need to be stored in the test tube placement slots of the test tube placement plate;

[0021] Step 4: Rotate the cover plate assembly to one side of the liquid nitrogen tank storage assembly so that the test tube inlet and outlet of the liquid nitrogen tank storage assembly are fully exposed;

[0022] Step 5: Move the test tube clamp assembly above the test tube, and then place the test tube into the corresponding test tube placement slot;

[0023] Step 6: Rotate the cover plate assembly above the test tube inlet and outlet of the liquid nitrogen tank storage assembly, and close the test tube inlet and outlet of the liquid nitrogen tank storage assembly;

[0024] Step 7: When removing the test tubes, follow the above method to take the test tubes out of the test tube slots into the test tube box and move them to the test tube box storage and retrieval component for delivery.

[0025] Beneficial effects

[0026] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0027] The above solution automates test tube storage and retrieval by using a liquid nitrogen tank storage assembly, a cover assembly, a test tube box access assembly, a camera assembly, a moving tray assembly, and a test tube gripper assembly. This significantly improves sample storage efficiency, reduces the impact of human factors on sample quality, and allows for accurate identification of the storage location through camera photography. The entire process is precisely controlled by transmission to ensure accurate handling and positioning of test tubes, improving the accuracy of test tube storage and retrieval and preventing sample confusion and loss.

[0028] In the above scheme, by setting up two test tube placement plates, more test tubes can be stored. At the same time, the upper and lower placement plates are rotated by the first and second motors respectively. Through the cooperation of the left and right through holes, the lower placement plate can be filled with test tubes, thereby increasing the storage capacity of the liquid nitrogen tank and better meeting the needs of the rapid growth of large-scale biobanks. Attached Figure Description

[0029] Figure 1 This is a three-dimensional structural diagram of a cryogenic storage device used for biological sample tubes.

[0030] Figure 2 This is a top view schematic diagram of a cryogenic storage device used for biological sample tubes.

[0031] Figure 3 This is a frontal cross-sectional view of a cryogenic storage device used for biological sample tubes.

[0032] Figure 4 This is a schematic diagram of the rotary drive assembly of a cryogenic storage device for biological sample tubes.

[0033] Figure 5 This is a schematic diagram of the test tube placement plate of a cryogenic storage device for biological sample tubes.

[0034] Figure 6 This is a schematic diagram of the moving tray assembly of a cryogenic storage device for biological sample tubes.

[0035] Figure 7 This is a schematic diagram of the test tube gripper assembly of a cryogenic storage device for biological sample tubes.

[0036] Figure 8 This is a bottom view of the test tube gripper assembly of a cryogenic storage device for biological sample tubes.

[0037] Figure 9 This is a schematic diagram of the support structure for a cryogenic storage device used for biological sample tubes.

[0038] The labels in the attached diagram are as follows: 1. Liquid nitrogen tank storage assembly; 2. Cover plate assembly; 3. Test tube box access assembly; 4. Camera assembly; 5. Moving tray assembly; 6. Test tube gripper assembly; 101. Liquid nitrogen tank body; 102. Mounting plate; 103. Test tube inlet / outlet; 104. Rotation drive assembly; 105. Test tube placement plate; 106. Test tube placement slot; 107. Support base; 108. Casters; 109. Adjusting rod; 110. Pressure plate; 111. Adjusting nut; 1041. Rotating platform base; 1042. First motor; 1043. Second motor; 1051. Upper placement plate; 1052. Lower placement plate; 1053. Left through hole; 1054. Right through hole; 201. First column; 202, Third motor; 203, First movable plate; 204, Fourth motor; 205, Inlet / outlet cover; 301, Support frame; 302, Bellows cover; 303, Opening; 401, Mounting frame; 402, Cover; 403, Camera; 501, Fifth motor; 502, Pulley; 503, Pallet frame; 504, Pallet groove; 505, Synchronous belt; 601, Second column; 602, Crossbeam; 603, Second movable plate; 604, Upper fixed plate; 605, Lower fixed plate; 606, Sleeve; 607, Nut sleeve; 608, Lifting screw; 609, Electric gripper; 610, Seventh motor; 611, Eighth motor; 612, Sixth motor. Detailed Implementation

[0039] This utility model provides a cryogenic storage and retrieval device for biological sample test tubes, including a liquid nitrogen tank storage component 1, a cover plate component 2, a test tube box access component 3, a camera component 4, a moving tray component 5, and a test tube gripper component 6. The cover plate component 2, the test tube box access component 3, the camera component 4, the moving tray component 5, and the test tube gripper component 6 are all installed on the upper surface of the liquid nitrogen tank storage component 1.

[0040] The liquid nitrogen tank storage assembly 1 is used for cryogenic storage of biological sample tubes. The cover assembly 2 is used to open and close the access port of the liquid nitrogen tank storage assembly 1. The test tube box access assembly 3 is used to place and retrieve biological sample tubes on the moving tray assembly 5. The camera assembly 4 is used to photograph and identify biological sample tubes. The moving tray assembly 5 is used to move biological sample tubes to the access port of the liquid nitrogen tank storage assembly 1. The test tube clamp assembly 6 is used to store and retrieve biological sample tubes on the moving tray assembly 5 inside the liquid nitrogen tank storage assembly 1.

[0041] like Figure 1-4As shown, in this embodiment, the liquid nitrogen tank storage assembly 1 includes a liquid nitrogen tank body 101. The liquid nitrogen tank body 101 is filled with liquid nitrogen to perform deep cryogenic storage on test tubes placed inside. An mounting plate 102 is fixedly connected to the upper surface of the liquid nitrogen tank body 101. Test tube inlets and outlets 103 are opened on the upper surface of the liquid nitrogen tank body 101. The test tube inlets and outlets 103 are used for storing and retrieving test tubes. The test tubes are provided with tags that can be read by the camera assembly 4. The test tube inlets and outlets 103 penetrate the upper surface of the mounting plate 102. A rotation drive assembly 104 is provided on the upper surface of the liquid nitrogen tank body 101. The output end of the rotation drive assembly 104 is located inside the liquid nitrogen tank body 101 and is fixedly connected to a test tube placement plate 105. Multiple test tube placement slots 106 are opened on the upper surface of the test tube placement plate 105. The rotation drive assembly 104 is used to drive the test tube placement plate 105 to rotate.

[0042] By activating the rotation drive assembly 104, the test tube placement plate 105 is rotated, causing the test tube placement slots 106 stored on the test tube placement plate 105 to move to the test tube inlet / outlet 103, thereby filling the multiple test tube placement slots 106 on the test tube placement plate 105.

[0043] like Figure 3 , Figure 4 and Figure 5 As shown, in this embodiment, the rotary drive assembly 104 includes a rotary platform base 1041, on which a first motor 1042 and a second motor 1043 are mounted. The test tube placement plate 105 includes an upper placement plate 1051 and a lower placement plate 1052. The output ends of the first motor 1042 and the second motor 1043 are fixedly connected to the upper placement plate 1051 and the lower placement plate 1052 respectively through an inner shaft and an outer shaft sleeved on the inner shaft. A left through hole 1053 and a right through hole 1054 are respectively opened on the left and right sides of the upper placement plate 1051. The left through hole 1053 is close to the outer side of the upper placement plate 1051, and the right through hole 1054 is close to the middle of the upper placement plate 1051.

[0044] This configuration of the liquid nitrogen tank 101, with an upper placement plate 1051 and a lower placement plate 1052, allows for the storage of more test tubes. The upper placement plate 1051 and the lower placement plate 1052 are rotated by a first motor 1042 and a second motor 1043, respectively. Through the cooperation of the left through hole 1053 and the right through hole 1054, the lower placement plate 1052 can be filled with test tubes, thereby increasing the storage capacity of the liquid nitrogen tank 101.

[0045] like Figure 1 and Figure 9As shown, in this embodiment, a plurality of support seats 107 are fixedly connected to the lower surface of the liquid nitrogen tank 101. A movable wheel 108 is installed on the support seat 107 and an adjusting rod 109 is threadedly connected to it. A pressure plate 110 is fixedly connected to the bottom end of the adjusting rod 109, and an adjusting nut 111 is fixedly connected to the outer surface of the adjusting rod 109.

[0046] This setup allows for the use of tools to rotate the adjusting nut 111, adjusting the distance between the pressure plate 110 and the liquid nitrogen tank 101, making the cryogenic storage and retrieval equipment more stable. When the entire unit needs to be moved, the moving wheels 108 are brought into contact with the ground, making relocation very convenient.

[0047] like Figure 1 and Figure 2 As shown, in this embodiment, the cover plate assembly 2 includes a first column 201 fixedly connected to the upper surface of the mounting plate 102. A third motor 202 is mounted on the first column 201 and slidably connected to a first movable plate 203. A guide rail is installed inside the first column 201. A slider corresponding to the guide rail is mounted on the first movable plate 203. A vertical lead screw is fixedly connected to the output end of the third motor 202. The lead screw is threadedly connected to the first movable plate 203. A fourth motor 204 is mounted on the first movable plate 203. An inlet / outlet cover 205 corresponding to the test tube inlet / outlet 103 is fixedly connected to the output end of the fourth motor 204. The inlet / outlet cover 205 is made of foam material and has rotation and lifting functions.

[0048] The first movable plate 203 is driven to move upward along the first column 201 by the third motor 202. During the movement, the first movable plate 203 can drive the fourth motor 204 and the inlet and outlet cover 205 to move upward and open the test tube inlet and outlet 103. Then, the fourth motor 204 is started to drive the inlet and outlet cover 205 to rotate to one side, so that the test tube inlet and outlet 103 are fully exposed, making it easy to retrieve the test tube from the liquid nitrogen tank 101.

[0049] like Figure 1 and Figure 6 As shown, in this embodiment, the test tube box access component 3 includes a support frame 301, a bellows cover 302 is installed on the support frame 301, and an opening 303 is provided on the mounting plate 102. The support frame 301 is installed on the upper surface of the mounting plate 102 and is located at the opening 303.

[0050] like Figure 6 and Figure 7 As shown, in this embodiment, the camera assembly 4 includes a mounting bracket 401 fixedly connected to the lower surface of the mounting plate 102 and located at the opening 303. A shield 402 is fixedly connected inside the mounting bracket 401, and a shooting camera 403 is installed inside the shield 402.

[0051] When the test tube box is moved directly above the camera assembly 4, it can take a picture and upload it to the system. The system can then determine which test tube slot 106 on which layer of the test tube placement plate 105 the test tube needs to be placed in, or determine which test tube slot 106 on which layer of the test tube placement plate 105 the removed test tube needs to be placed in.

[0052] like Figure 1 and Figure 6 As shown, in this embodiment, the movable tray assembly 5 includes a fifth motor 501 and a pulley 502 installed at the front and rear ends of the left side of the mounting plate 102. A tray frame 503 is slidably arranged between the fifth motor 501 and the pulley 502. A tray groove 504 is provided on the tray frame 503. A timing belt 505 is installed at the output end of the fifth motor 501. The other end of the timing belt 505 is installed on the outer surface of the pulley 502. The tray frame 503 is fixedly connected to the timing belt 505. A slider is installed on the lower surface of the tray frame 503. A guide rail corresponding to the slider is installed on the upper surface of the mounting plate 102.

[0053] The fifth motor 501 drives the pulley 502 and the synchronous belt 505 to rotate. During the rotation, the synchronous belt 505 can move the tray frame 503 and the tray slot 504 to the test tube box storage and retrieval component 3, which is very convenient to transfer.

[0054] like Figure 7 and Figure 8As shown, in this embodiment, the test tube gripper assembly 6 includes a second column 601 fixedly connected to the upper surface of the mounting plate 102. A crossbeam 602 is fixedly connected to the top of the second column 601. A sixth motor 612 is mounted on the crossbeam 602 and slidably connected to a second movable plate 603. A guide rail is installed inside the crossbeam 602. A slider corresponding to the guide rail is mounted on the second movable plate 603. A transverse lead screw is fixedly connected to the output end of the sixth motor 612. The lead screw is threadedly connected to the second movable plate 603. An upper fixed plate 604 and a lower fixed plate 605 are fixedly connected to the upper and lower sides of the front of the second movable plate 603, respectively. A sleeve 606 is rotatably connected to the lower fixed plate 605 through a bearing. A nut sleeve 607 is rotatably connected to the inside of the sleeve 606 through a bearing. A lifting screw 608 is threadedly connected to the inside of the nut sleeve 607. The lifting screw 608 is connected to the front and rear... Guide grooves are provided on both sides, and guide blocks corresponding to the guide grooves are fixedly connected to the lower fixed plate 605 to prevent the lifting screw 608 from rotating with the nut sleeve 607. An electric gripper 609 is installed at the bottom of the lifting screw 608. The electric gripper 609 has a force control function, which can accurately control the clamping force and avoid applying too much or too little force. It can sense the clamping force in real time and adjust it according to the set value. Common methods include PID control based on negative feedback, fuzzy control and neural network control. The electric gripper 609 is located above the test tube inlet and outlet 103. A seventh motor 610 and an eighth motor 611 are installed on the upper fixed plate 604. The output end of the seventh motor 610 is connected to the sleeve 606 through a belt, and the output end of the eighth motor 611 is connected to the nut sleeve 607 through a belt. The lifting, rotating and translating of the electric gripper 609 can be realized by the three motors.

[0055] The technical solution access method provided by this utility model is as follows:

[0056] Step 1: Start the fifth motor 501 to drive the pulley 502 and the timing belt 505 to rotate. During the rotation, the timing belt 505 can drive the tray frame 503 and the tray slot 504 to move to the test tube box storage and retrieval component 3. Then, the test tube box is placed on the tray slot 504 of the tray frame 503 through the test tube box storage and retrieval component 3.

[0057] Step 2: Move the test tube box directly above camera assembly 4 to take a picture and upload it to the system;

[0058] Step 3: The system determines which test tube slot 106 on which layer of the test tube placement plate 105 the test tube needs to be placed.

[0059] Step 4: Start the third motor 202 to drive the first movable plate 203 to move upward along the first column 201. During the movement, the first movable plate 203 can drive the fourth motor 204 and the inlet and outlet cover plate 205 to move upward and open the test tube inlet and outlet 103. Then start the fourth motor 204 to drive the inlet and outlet cover plate 205 to rotate to one side, so that the test tube inlet and outlet 103 are fully exposed.

[0060] Step 5: Start the rotary drive assembly 104 to rotate the test tube placement plate 105, so that the test tube placement slot 106 stored on the test tube placement plate 105 moves to the test tube inlet / outlet 103. Then start the sixth motor 612 to drive the second movable plate 603 to move along the crossbeam 602. During the movement, the second movable plate 603 can drive the electric gripper 609 to move above the test tube. Then start the eighth motor 611 to drive the nut sleeve 607 to rotate. During the rotation, the nut sleeve 607 can move the lifting screw 608 and the electric gripper 609 downward to the test tube and clamp it. Then move the electric gripper 609 to put the test tube into the corresponding test tube placement slot 106.

[0061] Step 6: Start the fourth motor 204 to rotate the inlet and outlet cover 205 to above the test tube inlet and outlet 103. Then start the third motor 202 to move the first movable plate 203 downward along the first column 201. During the movement, the first movable plate 203 can drive the fourth motor 204 and the inlet and outlet cover 205 to close the test tube inlet and outlet 103.

[0062] Step 7: When taking out the test tubes, follow the above method to take out the test tubes in the test tube placement slot 106 into the test tube box and move them to the test tube box storage and retrieval component 3 for delivery.

[0063] Specifically:

[0064] The moving tray assembly 5 is moved to the test tube box access assembly 3, and then the test tube box is placed on the moving tray assembly 5 through the test tube box access assembly 3;

[0065] Move the test tube box directly above the camera assembly 4 to take a picture and upload it to the system. The system determines which test tube placement slot 106 on which layer of the test tube placement plate 105 the removed test tube is located in.

[0066] The cover plate assembly 2 is rotated to one side of the liquid nitrogen tank storage assembly 1, so that the test tube inlet and outlet 103 of the liquid nitrogen tank storage assembly 1 are fully exposed;

[0067] The test tube gripper assembly 6 moves above the test tube, and then the test tube in the test tube placement slot 106 is taken out and placed into the test tube box;

[0068] The cover plate assembly 2 is rotated to be above the test tube inlet / outlet 103 of the liquid nitrogen tank storage assembly 1, and the test tube inlet / outlet 103 of the liquid nitrogen tank storage assembly 1 is closed;

[0069] The moving tray assembly 5 moves the test tubes in the test tube box to the test tube box storage and retrieval assembly 3, takes a picture through the camera assembly 4, uploads it to the system, and sends it out.

[0070] All technical features in this embodiment can be freely combined according to actual needs.

[0071] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A cryogenic storage device for biological sample tubes, characterized in that, The liquid nitrogen tank storage assembly includes a liquid nitrogen tank storage component (1), a cover plate assembly (2), a test tube box access assembly (3), a camera assembly (4), a moving tray assembly (5), and a test tube gripper assembly (6). The cover plate assembly (2), the test tube box access assembly (3), the camera assembly (4), the moving tray assembly (5), and the test tube gripper assembly (6) are all installed on the upper surface of the liquid nitrogen tank storage component (1). The liquid nitrogen tank storage assembly (1) is used for cryogenic storage of biological sample tubes. The cover assembly (2) is used to open and close the access port of the liquid nitrogen tank storage assembly (1). The test tube box access assembly (3) is used to place and remove the biological sample tubes on the moving tray assembly (5). The camera assembly (4) is used to take pictures and identify the biological sample tubes. The moving tray assembly (5) is used to move the biological sample tubes to the access port of the liquid nitrogen tank storage assembly (1). The test tube clamp assembly (6) is used to store and remove the biological sample tubes on the moving tray assembly (5) from the liquid nitrogen tank storage assembly (1).

2. The cryogenic storage and retrieval device for biological sample tubes according to claim 1, characterized in that, The liquid nitrogen tank storage assembly (1) includes a liquid nitrogen tank body (101), an mounting plate (102) is fixedly connected to the upper surface of the liquid nitrogen tank body (101), a test tube inlet and outlet (103) is opened on the upper surface of the liquid nitrogen tank body (101), the test tube inlet and outlet (103) penetrates the upper surface of the mounting plate (102), a rotation drive assembly (104) is provided on the upper surface of the liquid nitrogen tank body (101), the output end of the rotation drive assembly (104) is located inside the liquid nitrogen tank body (101) and a test tube placement plate (105) is fixedly connected thereto, a plurality of test tube placement slots (106) are opened on the upper surface of the test tube placement plate (105), and the rotation drive assembly (104) is used to drive the test tube placement plate (105) to rotate.

3. The cryogenic storage device for biological sample tubes according to claim 2, characterized in that, The rotary drive assembly (104) includes a rotary platform base (1041), on which a first motor (1042) and a second motor (1043) are mounted. The test tube placement plate (105) includes an upper placement plate (1051) and a lower placement plate (1052). The output ends of the first motor (1042) and the second motor (1043) are fixedly connected to the upper placement plate (1051) and the lower placement plate (1052) respectively through an inner shaft and an outer shaft sleeved on the inner shaft. The upper placement plate (1051) has a left through hole (1053) and a right through hole (1054) on its left and right sides respectively. The left through hole (1053) is close to the outer side of the upper placement plate (1051), and the right through hole (1054) is close to the middle of the upper placement plate (1051).

4. The cryogenic storage device for biological sample tubes according to claim 3, characterized in that, The liquid nitrogen tank (101) has multiple support seats (107) fixedly connected to the lower surface of the tank. The support seats (107) are equipped with moving wheels (108) and threaded with adjusting rods (109). The bottom end of the adjusting rods (109) is fixedly connected with a pressure plate (110), and the outer surface of the adjusting rods (109) is fixedly connected with adjusting nuts (111).

5. The cryogenic storage device for biological sample tubes according to claim 2, characterized in that, The cover plate assembly (2) includes a first column (201) fixedly connected to the upper surface of the mounting plate (102), a third motor (202) is mounted on the first column (201) and a first movable plate (203) is slidably connected thereto, the output end of the third motor (202) is fixedly connected to a vertical lead screw, the lead screw is threadedly connected to the first movable plate (203), a fourth motor (204) is mounted on the first movable plate (203), and the output end of the fourth motor (204) is fixedly connected to an inlet / outlet cover plate (205) corresponding to the inlet / outlet (103) of the test tube.

6. The cryogenic storage device for biological sample tubes according to claim 5, characterized in that, The test tube box access component (3) includes a support frame (301), on which a bellows cover (302) is installed. An opening (303) is provided on the mounting plate (102). The support frame (301) is installed on the upper surface of the mounting plate (102) and located at the opening (303).

7. The cryogenic storage device for biological sample tubes according to claim 6, characterized in that, The camera assembly (4) includes a mounting bracket (401) fixedly connected to the lower surface of the mounting plate (102) and located at the opening (303). A shield (402) is fixedly connected inside the mounting bracket (401), and a shooting camera (403) is installed inside the shield (402).

8. The cryogenic storage device for biological sample tubes according to claim 2, characterized in that, The mobile pallet assembly (5) includes a fifth motor (501) and a pulley (502) installed on the front and rear ends of the left side of the mounting plate (102). A pallet frame (503) is slidably arranged between the fifth motor (501) and the pulley (502). A pallet groove (504) is provided on the pallet frame (503). A timing belt (505) is installed at the output end of the fifth motor (501). The other end of the timing belt (505) is installed on the outer surface of the pulley (502). The pallet frame (503) is fixedly connected to the timing belt (505).

9. The cryogenic storage device for biological sample tubes according to claim 8, characterized in that, The test tube gripper assembly (6) includes a second column (601) fixedly connected to the upper surface of the mounting plate (102). A crossbeam (602) is fixedly connected to the top of the second column (601). A sixth motor (612) is mounted on the crossbeam (602) and a second movable plate (603) is slidably connected thereto. A transverse lead screw is fixedly connected to the output end of the sixth motor (612). The lead screw is threadedly connected to the second movable plate (603). An upper fixed plate (604) and a lower fixed plate (605) are fixedly connected to the upper and lower sides of the front of the second movable plate (603), respectively. The lower fixed plate (605) is rotatably connected to the bearing. There is a sleeve (606), and a nut sleeve (607) is rotatably connected inside the sleeve (606) via a bearing. A lifting screw (608) is threaded inside the nut sleeve (607). An electric gripper (609) is installed at the bottom end of the lifting screw (608). The electric gripper (609) is located above the test tube inlet and outlet (103). A seventh motor (610) and an eighth motor (611) are installed on the upper fixing plate (604). The output end of the seventh motor (610) is connected to the sleeve (606) via a belt, and the output end of the eighth motor (611) is connected to the nut sleeve (607) via a belt.

Images