A deep low temperature storage and retrieval apparatus for biological sample test tube cassettes

Abstract

The utility model provides a kind of for biological sample test tube box's deep low temperature access equipment and access method, belong to test tube box access technical field;Including jar body, the upper surface of jar body is fixedly connected with mounting panel, and the import and export of being communicated with jar body is opened in mounting panel, multiple cryopreservation racks are hung and installed with foam cover plate at import and export place, the upper surface of mounting panel is installed with carousel, the upper surface of carousel is installed with lifting clamp jaw assembly, guide component, cover plate placement assembly and insert and remove transfer component.The utility model can carry out automatic storage and extraction to multiple cryopreservation racks in jar body, photograph is carried out simultaneously by camera, is stored in management system unified management, can accurately identify the position of storage, entire process is controlled by accurate transmission, ensure the positioning of biological sample test tube box accurate and mistakeless, access is carried out quickly, reduce the influence of artificial factor to temperature and sample quality in jar body, avoid that the activity and integrity of sample are damaged.

Description

Technical Field

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

[0002] As the cornerstone of life science research, the quality and security of biological samples directly affect the reliability and validity of research results. In the life sciences, from basic research to clinical applications, biological samples play a crucial role. Whether it's exploring disease mechanisms, screening drug development, or implementing personalized medicine, all rely on the support of high-quality biological samples. The number of samples stored in global biobanks has reached billions and is still growing at a rate of 10%-15% annually. These samples contain rich biological information, providing scientists with key clues to unravel the mysteries of life. Traditional methods of storing biological samples, such as manually operated liquid nitrogen tanks, have many limitations. Manual operation is not only inefficient and unable to meet the needs of large-scale biological sample storage and management, but it is also prone to human error. Furthermore, it is difficult to ensure the stability of the low-temperature environment during sample storage and retrieval, which can easily lead to damage to the activity and integrity of the samples. Summary of the Invention

[0003] (1) Technical problems to be solved To address the shortcomings of existing technologies, the purpose of this invention is to provide a cryogenic storage and retrieval device and method for biological sample test tube boxes, in order to solve the problems of existing manual liquid nitrogen tank storage for biological samples, which has many limitations, is difficult to meet the needs of large-scale biological sample storage and management, and is difficult to guarantee the stability of the low-temperature environment during sample storage and retrieval, which can easily lead to damage to the activity and integrity of the samples.

[0004] (2) Technical solution To solve the above-mentioned technical problems, this utility model provides a cryogenic storage and retrieval device for biological sample test tube boxes, including a tank body. An installation plate is fixedly connected to the upper surface of the tank body. The installation plate has an inlet and outlet that communicate with the tank body. Multiple cryopreservation racks are hung around the inlet and outlet and foam covers are installed. A turntable is installed on the upper surface of the installation plate. A lifting gripper assembly, a guide assembly, a cover placement assembly, and an insertion and transfer assembly are installed on the upper surface of the turntable. A test tube box entry and exit assembly is installed on the lower front surface of the installation plate. A camera lifting assembly is installed on the entry and exit path of the test tube box entry and exit assembly. The turntable is used to drive the lifting gripper assembly, guide assembly, cover placement assembly and insertion and transfer assembly to rotate. The test tube box entry and exit assembly is used to move the placed test tube box into the photography lifting assembly. The lifting gripper assembly is used to transfer the foam cover and the cryopreservation rack inside the tank. The insertion and transfer assembly is used to transfer the test tube box between the photography lifting assembly and the cryopreservation rack.

[0005] Preferably, the cryopreservation rack includes an outer frame, an opening on one side of the outer frame, multiple partitions fixedly connected to the inner walls of both sides of the outer frame to form multiple storage cavities, a hanging rod fixedly connected to the top of the outer frame, a ring of bosses fixedly connected to the edge of the inlet and outlet, and the top of the hanging rod is L-shaped and located on the bosses.

[0006] Preferably, the lower surface of the turntable is rotatably connected to the mounting plate via a bearing, a synchronous gear ring is fixedly connected to the outer surface of the turntable, a drive motor is mounted on the mounting plate, the output end of the drive motor is meshed with the synchronous gear ring via a gear, and the turntable is concentrically arranged with the inlet and outlet.

[0007] Preferably, the lifting gripper assembly includes a base plate fixedly connected to the upper surface of the turntable, a first column slidably disposed on the upper surface of the base plate, a first motor mounted on the right side of the first column, the output end of the first motor being connected to a horizontal lead screw via belt drive, the lead screw being threadedly connected to the bottom end of the first column, a second motor being mounted on the top end of the first column and a second movable plate slidably disposed thereon, the output end of the second motor being connected to a vertical lead screw via belt drive, the lead screw being threadedly connected to the second movable plate, an electric gripper being mounted on the second movable plate, and two gripping claws being mounted on the output end of the electric gripper.

[0008] Preferably, the guide assembly includes a guide frame slidably connected to the left side of the first column and a third motor installed at the top of the first column. The output end of the third motor is fixedly connected to a vertical lead screw, which is threadedly connected to the guide frame. A guide hole is provided in the middle of the guide frame, and rollers are installed at the four corners of the guide hole.

[0009] Preferably, the cover plate placement assembly includes a fixed base fixedly connected to the upper surface of the turntable, a fourth motor is mounted on the fixed base, a placement plate is fixedly connected to the output end of the fourth motor, a placement groove corresponding to the foam cover plate is opened on the upper surface of the placement plate, and two clamping grooves are opened on the upper surface of the foam cover plate.

[0010] Preferably, the test tube box inlet / outlet assembly includes a drive unit and multiple uprights fixedly connected to the front side of the lower surface of the mounting plate. The bottom end of the uprights is fixedly connected to an inlet / outlet plate, and a tray is slidably mounted on the upper surface of the inlet / outlet plate. The drive unit is used to drive the tray to move along the inlet / outlet plate, and clearance grooves are provided at all four corners of the tray.

[0011] Preferably, the camera lifting assembly includes a drive component and a rectangular hole on the front side of the mounting plate. Two vertical rods are fixedly connected to the inner walls of both the front and rear sides of the rectangular hole. A base is slidably fitted onto the outer surface of the vertical rod. The drive component is used to drive the base to slide up and down along the vertical rod. A camera is mounted on the base. A through hole corresponding to the camera is opened in the middle of the inlet / outlet plate. Second columns are fixedly connected to the four corners of the base. The top of the second column passes through the rectangular hole and is fixedly connected to a top plate. Support blocks corresponding to the clearance grooves are fixedly connected to the sides of the outer surfaces of the four columns that are close to each other.

[0012] Preferably, the insertion and transfer assembly includes a lower fixed plate fixedly connected to the upper surface of the turntable, an upper fixed plate rotatably connected to the upper surface of the lower fixed plate via a gear disk, a movable rod slidably connected to the upper surface of the upper fixed plate, an insertion plate fixedly connected to one end of the movable rod, and an elongated groove formed on the lower surface of the other end of the movable rod. A fifth motor is fixedly connected to the right side of the upper surface of the lower fixed plate, and a sixth motor is fixedly connected to the right side of the upper surface of the upper fixed plate. The output end of the fifth motor is connected to the gear disk via a belt drive, and the sixth motor is connected to a rotating shaft via a belt drive. A swing arm is fixedly connected to the bottom end of the rotating shaft, and a bearing is fixedly connected to the other end of the swing arm and located inside the elongated groove.

[0013] Preferably, a method for cryogenic storage of biological sample test tubes includes the following steps: Step 1: Move the support block on the camera lifting component to the bottom and wait. Then move the tray of the test tube box in / out component to the left and place the test tube box on the tray. Step 2: After the tray senses the placement of the test tube box, it moves to above the support block, then moves the support block upwards to the clearance slot, and moves the test tube box on the tray to the upper side of the mounting plate. Step 3: Move the tray to the far right, then take a picture of the test tube box and save it to the system. Then, use the lifting gripper assembly to clamp the foam cover and lift it to open the inlet and outlet. When the foam cover is lifted to a certain height, the cover placement assembly rotates to be directly below the foam cover, and the lifting gripper assembly descends to place the foam cover on the cover placement assembly. Step 4: The system determines the location of the stored cryogenic rack, then rotates the turntable to rotate the lifting gripper assembly, guide assembly, cover plate placement assembly and insertion and transfer assembly to the opposite side of the cryogenic rack. Then the guide assembly is moved to the bottom, and then the lifting gripper assembly removes the cryogenic rack from the tank through the inlet and outlet until the storage cavity corresponding to the number of layers of the cryogenic rack is moved to the outside of the inlet and outlet. Step 5: Rotate the insertion plate on the insertion and transfer assembly to the support block and extend the insertion plate directly under the test tube box. Then, move the support block down and place it on the insertion plate. Next, remove the test tube box from the insertion plate, rotate it in the opposite direction and send it into the storage chamber of the cryopreservation rack. Then, the lifting gripper assembly puts the cryopreservation rack back into the container and seals the inlet and outlet with a foam cover. Step 6: When the test tube box is removed, the system determines the number of layers in the target cryopreservation rack, removes it to the tray in the reverse manner described above, takes a picture of the test tube box, and moves it to the left side.

[0014] (3) Beneficial effects Compared with the prior art, the beneficial effects of this utility model are as follows: The above solution, by incorporating lifting gripper components, guiding components, cover placement components, test tube box entry and exit components, photographing and lifting components, and insertion and transfer components on the container body, enables automatic storage and retrieval of multiple cryopreservation racks within the container. This significantly improves the efficiency and accuracy of biological sample test tube boxes. Simultaneously, by taking photos and storing them in a unified management system, the system can accurately identify the storage location. The entire process, through precise transmission control, ensures accurate positioning of the biological sample test tube boxes, enabling rapid storage and retrieval, reducing the impact of human factors on the temperature and sample quality within the container, and preventing damage to the activity and integrity of the samples. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of a cryogenic storage device used for biological sample test tube boxes.

[0016] Figure 2 This is a partially enlarged schematic diagram of a cryogenic storage device used for biological sample test tube boxes.

[0017] Figure 3 This is a schematic diagram of the lifting gripper assembly of a cryogenic storage device for biological sample test tubes.

[0018] Figure 4 This is a rear view schematic diagram of the lifting gripper assembly of a cryogenic storage device used for biological sample test tube boxes.

[0019] Figure 5 This is a schematic diagram of the cryopreservation rack structure of a cryogenic storage device used for biological sample test tube boxes.

[0020] Figure 6 This is a schematic diagram of the insertion and transfer assembly of a cryogenic storage device for biological sample test tubes.

[0021] Figure 7 This is a bottom view of the insertion and transfer assembly of a cryogenic storage device for biological sample test tubes.

[0022] The labels in the attached diagram are as follows: 1. Tank body; 2. Mounting plate; 3. Inlet / outlet; 4. Freezing rack; 5. Foam cover; 6. Turntable; 7. Lifting gripper assembly; 8. Guide assembly; 9. Cover placement assembly; 10. Test tube box entry / exit assembly; 11. Photograph lifting assembly; 12. Insertion / transfer assembly; 401. Outer frame; 402. Partition; 403. Hanging rod; 404. Boss; 601. Synchronous gear ring; 701. Base plate; 702. First column; 703. First motor; 704. Second motor; 705. Second movable plate; 706. Electric gripper; 707. Clamping gripper; 801. Guide frame; 802. Third motor; 803. Vertical lead screw; 804. Guide hole; 805. Roller ; 901, Fourth motor; 902, Placement plate; 903, Placement slot; 904, Clamping slot; 905, Fixing base; 1001, Upright pole; 1002, Inlet / outlet plate; 1003, Tray; 1004, Clearance slot; 1101, Rectangular hole; 1102, Vertical rod; 1103, Base; 1104, Camera; 1105, Through hole; 1106, Second upright column; 1107, Top plate; 1108, Support block; 1201, Lower fixing plate; 1202, Gear disk; 1203, Upper fixing plate; 1204, Movable rod; 1205, Insertion plate; 1206, Fifth motor; 1207, Sixth motor; 1208, Rotating shaft; 1209, Swing rod; 1210, Long slot. Detailed Implementation

[0023] This utility model provides a cryogenic storage device for biological sample test tube boxes, including a tank 1. When in use, the tank 1 is filled with liquid nitrogen (-196℃). An installation plate 2 is fixedly connected to the upper surface of the tank 1. The installation plate 2 has an inlet and outlet 3 that communicates with the tank 1. Multiple cryopreservation racks 4 are hung around the inlet and outlet 3 and foam covers 5 are installed. A turntable 6 is installed on the upper surface of the installation plate 2. A lifting gripper assembly 7, a guide assembly 8, a cover placement assembly 9, and an insertion and transfer assembly 12 are installed on the upper surface of the turntable 6. A test tube box entry and exit assembly 10 is installed on the lower front surface of the installation plate 2. A camera lifting assembly 11 is installed on the entry and exit path of the test tube box entry and exit assembly 10. The turntable 6 is used to drive the lifting gripper assembly 7, the guide assembly 8, the cover plate placement assembly 9 and the insertion and transfer assembly 12 to rotate. The test tube box entry and exit assembly 10 is used to move the placed test tube box into the photography lifting assembly 11. The lifting gripper assembly 7 is used to transfer the foam cover plate 5 and the cryopreservation rack 4 in the tank 1. The insertion and transfer assembly 12 is used to transfer the test tube box between the photography lifting assembly 11 and the cryopreservation rack 4.

[0024] like Figure 2 and Figure 5As shown, in this embodiment, the cryopreservation rack 4 includes an outer frame 401. An opening is provided on one side of the outer frame 401. Multiple partitions 402 are fixedly connected to the inner walls of both sides of the outer frame 401, forming multiple storage cavities. A hanging rod 403 is fixedly connected to the top of the outer frame 401. A ring of protrusions 404 is fixedly connected to the edge of the inlet / outlet 3. The top of the hanging rod 403 is L-shaped and located on the protrusion 404. In this way, the test tube box can be placed between the left and right partitions 402, and the hanging rod 403 is hung on the positioning groove of the protrusion 404 to ensure accurate gripping of the cryopreservation rack 4.

[0025] like Figure 1 and Figure 2 As shown, in this embodiment, the lower surface of the turntable 6 is rotatably connected to the mounting plate 2 via a bearing, and a synchronous gear ring 601 is fixedly connected to the outer surface of the turntable 6. A drive motor is mounted on the mounting plate 2, and the output end of the drive motor is meshed with the synchronous gear ring 601 via a gear. The turntable 6 is concentrically arranged with the inlet and outlet 3. The drive motor can drive the synchronous gear ring 601 and the turntable 6 to rotate freely. During the rotation of the turntable 6, it can drive the lifting gripper assembly 7, the guide assembly 8, the cover plate placement assembly 9, and the insertion and transfer assembly 12 to rotate to the opposite side of the cryopreservation rack 4.

[0026] like Figure 2 , Figure 3 and Figure 4 As shown, in this embodiment, the lifting gripper assembly 7 includes a base plate 701 fixedly connected to the upper surface of the turntable 6. A first column 702 is slidably disposed on the upper surface of the base plate 701, and a slider is fixedly connected to the lower surface of the first column 702. A guide rail is installed on the upper surface of the base plate 701. A first motor 703 is installed on the right side of the first column 702. The output end of the first motor 703 is connected to a transverse lead screw via a belt drive. The lead screw is threadedly connected to the bottom end of the first column 702. A second motor 704 is installed at the top of the first column 702, and a second movable plate 705 is slidably disposed thereon. A slider is installed on the right side of the movable plate 705, a guide rail is installed on the first column 702, and the output end of the second motor 704 is connected to a vertical lead screw via a belt drive. The lead screw is threadedly connected to the second movable plate 705. An electric gripper 706 is installed on the second movable plate 705, and two gripping claws 707 are installed on the output end of the electric gripper 706. The first motor 703 can drive the first column 702 to move laterally, and the second motor 704 can drive the second movable plate 705, the electric gripper 706 and the gripping claws 707 to move up and down. The two gripping claws 707 can grip the hanging rod 403 at the top of the outer frame 401.

[0027] like Figure 2 , Figure 3 and Figure 4As shown, in this embodiment, the guide assembly 8 includes a guide frame 801 slidably connected to the left side of the first column 702 and a third motor 802 installed at the top of the first column 702. A slider is installed on the right side of the guide frame 801, and a guide rail is installed on the first column 702. A vertical lead screw 803 is fixedly connected to the output end of the third motor 802. The vertical lead screw 803 is threadedly connected to the guide frame 801. A guide hole 804 is opened in the middle of the guide frame 801, and rollers 805 are installed at the four corners of the guide hole 804. The guide frame 801 is driven to move up and down by the third motor 802. When grabbing the cryopreservation rack 4, the outer frame 401 of the cryopreservation rack 4 can enter the guide hole 804 and be guided by the rollers 805 to reduce friction and prevent the cryopreservation rack 4 from shaking when it is taken out.

[0028] like Figure 1 and Figure 2 As shown, in this embodiment, the cover plate placement assembly 9 includes a fixed base 905 fixedly connected to the upper surface of the turntable 6. A fourth motor 901 is installed on the fixed base 905. The output end of the fourth motor 901 is fixedly connected to a placement plate 902. The upper surface of the placement plate 902 is provided with a placement groove 903 corresponding to the foam cover plate 5. The upper surface of the foam cover plate 5 is provided with two clamping grooves 904. The fourth motor 901 can drive the placement plate 902 to rotate without affecting the movement of the lifting gripper assembly 7. The two gripping claws 707 extend out of the interior of the foam cover plate 5 to clamp and fix it, and then put it into the placement groove 903.

[0029] like Figure 1 and Figure 2 As shown, in this embodiment, the test tube box in / out assembly 10 includes a driving component and multiple uprights 1001 fixedly connected to the front side of the lower surface of the mounting plate 2. The bottom end of the uprights 1001 is fixedly connected to an in / out plate 1002. A tray 1003 is slidably mounted on the upper surface of the in / out plate 1002. The driving component is used to drive the tray 1003 to move along the in / out plate 1002. The driving component is an electric slide or a motor-driven lead screw to move the tray 1003. It will not be described in detail here. The four corners of the tray 1003 are provided with clearance grooves 1004. A sensor is installed on the tray 1003. After the tray 1003 senses that the test tube box has been placed in, it can move laterally along the in / out plate 1002.

[0030] like Figure 1 and Figure 2As shown, in this embodiment, the camera lifting assembly 11 includes a driving component and a rectangular hole 1101 opened on the front side of the mounting plate 2. Two vertical rods 1102 are fixedly connected to the inner walls of both the front and rear sides of the rectangular hole 1101. A base 1103 is slidably fitted onto the outer surface of the vertical rods 1102. The driving component is used to drive the base 1103 to slide up and down along the vertical rods 1102. The driving component is an electric slide or a motor-driven lead screw to move the base 1103, which will not be described in detail here. A camera 1104 is mounted on the base 1103. A through hole 1105 corresponding to the camera 1104 is opened in the middle of the inlet / outlet plate 1002. Each of the four corners of the 03 is fixedly connected with a second column 1106. The top of the second column 1106 passes through a rectangular hole 1101 and is fixedly connected to a top plate 1107. Each of the four second columns 1106 has a support block 1108 corresponding to the clearance groove 1004 fixedly connected to one side of the outer surface that is close to the other. After the test tube box is moved above the support block 1108, the support block 1108 is moved upward to the clearance groove 1004, and the test tube box on the tray 1003 is moved to the upper side of the mounting plate 2, so that the test tube box can move up and down. At the same time, the camera 1104 takes pictures of the test tube box through the through hole 1105 and stores them in the system.

[0031] like Figure 2 , Figure 6 and Figure 7 As shown, in this embodiment, the insertion and transfer assembly 12 includes a lower fixing plate 1201 fixedly connected to the upper surface of the turntable 6. An upper fixing plate 1203 is rotatably connected to the upper surface of the lower fixing plate 1201 via a gear disk 1202. A movable rod 1204 is slidably connected to the upper surface of the upper fixing plate 1203. A slider is mounted on the lower side of the movable rod 1204. A guide rail is mounted on the upper fixing plate 1203. One end of the movable rod 1204 is fixedly connected to an insertion plate 1205, and the lower surface of the other end of the movable rod 1204... A long slot 1210 is provided. A fifth motor 1206 is fixedly connected to the right side of the upper surface of the lower fixed plate 1201, and a sixth motor 1207 is fixedly connected to the right side of the upper surface of the upper fixed plate 1203. The output end of the fifth motor 1206 is connected to the gear disk 1202 via a belt. The sixth motor 1207 is connected to the rotating shaft 1208 via a belt. A rocker arm 1209 is fixedly connected to the bottom end of the rotating shaft 1208. The other end of the rocker arm 1209 is fixedly connected to a bearing and is located inside the long slot 1210.

[0032] The fifth motor 1206 drives the gear disk 1202, the upper fixed plate 1203 and the insertion plate 1205 to rotate to the support block 1108. Then the sixth motor 1207 drives the rotating shaft 1208 and the swing rod 1209 to rotate. Since the other end of the swing rod 1209 is fixedly connected to the bearing and located inside the long groove 1210, the upper fixed plate 1203 is slidably connected to the movable rod 1204. At this time, the swing rod 1209 can drive the movable rod 1204 and the insertion plate 1205 to extend or retract during the movement, thereby extending the insertion plate 1205 to directly below the test tube box. Then the support block 1108 moves downward and is placed on the insertion plate 1205. Then the test tube box on the insertion plate 1205 is taken out, and then rotated in the opposite direction and sent into the storage cavity of the cryopreservation rack 4.

[0033] The technical solution provided by this utility model is as follows: Step 1: Move the support block 1108 on the camera lifting assembly 11 to the bottom and wait. Then move the tray 1003 of the test tube box in / out assembly 10 to the left and place the test tube box on the tray 1003. Step 2: After the tray 1003 senses the placement of the test tube box, it moves to the top of the support block 1108, then moves the support block 1108 upward to the clearance groove 1004, and moves the test tube box on the tray 1003 to the upper side of the mounting plate 2. Step 3: The tray 1003 is moved to the far right. Then the camera 1104 takes a picture of the test tube box and saves it into the system. Then the lifting gripper assembly 7 clamps the foam cover 5 and lifts it to open the inlet and outlet 3. When the foam cover 5 is lifted to a certain height, the cover placement assembly 9 rotates to be directly below the foam cover 5. The lifting gripper assembly 7 descends and places the foam cover 5 on the cover placement assembly 9. Step 4: The system determines the position of the storage rack 4, and then rotates the turntable 6 to rotate the lifting gripper assembly 7, guide assembly 8, cover plate placement assembly 9 and insertion and transfer assembly 12 to the opposite side of the storage rack 4. Then the guide assembly 8 is moved to the bottom, and then the lifting gripper assembly 7 takes out the storage rack 4 from the tank 1 through the inlet and outlet 3 until the storage cavity of the corresponding layer of the storage rack 4 is moved to the outside of the inlet and outlet 3. Step 5: Rotate the insertion plate 1205 on the insertion and transfer assembly 12 to the support block 1108 and extend the insertion plate 1205 directly below the test tube box. Then, move the support block 1108 downward and place it on the insertion plate 1205. Next, take out the test tube box from the insertion plate 1205, rotate it in the opposite direction and send it into the storage cavity of the cryopreservation rack 4. Then, the lifting gripper assembly 7 puts the cryopreservation rack 4 back into the tank 1 and seals the inlet and outlet 3 with the foam cover plate 5. Step 6: When the test tube box is removed, the system determines the number of layers of the target cryopreservation rack 4, removes it to the tray 1003 in the reverse manner described above, takes a picture of the test tube box, and moves it to the left side.

[0034] All technical features in this embodiment can be freely combined according to actual needs.

[0035] 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 test tube boxes, characterized in that, The container includes a tank (1), on which an installation plate (2) is fixedly connected. An inlet and outlet (3) communicating with the tank (1) are provided on the installation plate (2). Multiple cryogenic racks (4) are hung around the inlet and outlet (3) and foam covers (5) are installed. A turntable (6) is installed on the upper surface of the installation plate (2). A lifting gripper assembly (7), a guide assembly (8), a cover placement assembly (9), and an insertion and transfer assembly (12) are installed on the upper surface of the turntable (6). A test tube box entry and exit assembly (10) is installed on the lower front side of the installation plate (2). A camera lifting assembly (11) is installed on the entry and exit path of the test tube box entry and exit assembly (10). The turntable (6) is used to drive the lifting gripper assembly (7), the guide assembly (8), the cover plate placement assembly (9) and the insertion and transfer assembly (12) to rotate. The test tube box entry and exit assembly (10) is used to move the placed test tube box into the photography lifting assembly (11). The lifting gripper assembly (7) is used to transfer the foam cover plate (5) and the cryopreservation rack (4) in the tank (1). The insertion and transfer assembly (12) is used to transfer the test tube box between the photography lifting assembly (11) and the cryopreservation rack (4).

2. The cryogenic storage device for biological sample test tubes according to claim 1, characterized in that, The cryopreservation rack (4) includes an outer frame (401), with an opening on one side of the outer frame (401). Multiple partitions (402) are fixedly connected to the inner walls on both sides of the outer frame (401) to form multiple storage cavities. A hanging rod (403) is fixedly connected to the top of the outer frame (401). A ring of bosses (404) is fixedly connected to the edge of the inlet / outlet (3). The top of the hanging rod (403) is L-shaped and located on the bosses (404).

3. The cryogenic storage device for biological sample test tubes according to claim 2, wherein the lower surface of the turntable (6) is rotatably connected to the mounting plate (2) via a bearing, a synchronous gear ring (601) is fixedly connected to the outer surface of the turntable (6), a drive motor is mounted on the mounting plate (2), the output end of the drive motor is meshed with the synchronous gear ring (601) via a gear, and the turntable (6) is concentrically arranged with the inlet and outlet (3).

4. The cryogenic storage device for biological sample test tubes according to claim 1, characterized in that, The lifting gripper assembly (7) includes a base plate (701) fixedly connected to the upper surface of the turntable (6). A first column (702) is slidably disposed on the upper surface of the base plate (701). A first motor (703) is installed on the right side of the first column (702). The output end of the first motor (703) is connected to a horizontal lead screw via belt drive. The lead screw is threadedly connected to the bottom end of the first column (702). A second motor (704) is installed at the top of the first column (702) and a second movable plate (705) is slidably disposed thereon. The output end of the second motor (704) is connected to a vertical lead screw via belt drive. The lead screw is threadedly connected to the second movable plate (705). An electric gripper (706) is installed on the second movable plate (705). Two gripping claws (707) are installed at the output end of the electric gripper (706).

5. The cryogenic storage device for biological sample test tubes according to claim 4, characterized in that, The guide assembly (8) includes a guide frame (801) slidably connected to the left side of the first column (702) and a third motor (802) installed at the top of the first column (702). The output end of the third motor (802) is fixedly connected to a vertical lead screw (803). The vertical lead screw (803) is threadedly connected to the guide frame (801). A guide hole (804) is opened in the middle of the guide frame (801). Rollers (805) are installed at the four corners of the guide hole (804).

6. The cryogenic storage device for biological sample test tubes according to claim 5, characterized in that, The cover plate placement assembly (9) includes a fixed base (905) fixedly connected to the upper surface of the turntable (6). A fourth motor (901) is installed on the fixed base (905). The output end of the fourth motor (901) is fixedly connected to a placement plate (902). The upper surface of the placement plate (902) is provided with a placement groove (903) corresponding to the foam cover plate (5). The upper surface of the foam cover plate (5) is provided with two clamping grooves (904).

7. The cryogenic storage device for biological sample test tubes according to claim 1, characterized in that, The test tube box inlet / outlet assembly (10) includes a drive component and multiple uprights (1001) fixedly connected to the front side of the lower surface of the mounting plate (2). The bottom end of the uprights (1001) is fixedly connected to an inlet / outlet plate (1002). A tray (1003) is slidably mounted on the upper surface of the inlet / outlet plate (1002). The drive component is used to drive the tray (1003) to move along the inlet / outlet plate (1002). The four corners of the tray (1003) are provided with clearance grooves (1004).

8. The cryogenic storage device for biological sample test tubes according to claim 7, characterized in that, The camera lifting assembly (11) includes a drive component and a rectangular hole (1101) on the front side of the mounting plate (2). Two vertical rods (1102) are fixedly connected to the inner walls of the front and rear sides of the rectangular hole (1101). A base (1103) is slidably fitted on the outer surface of the vertical rod (1102). The drive component is used to drive the base (1103) to slide up and down along the vertical rod (1102). A camera (1104) is installed on the base (1103). A through hole (1105) corresponding to the camera (1104) is opened in the middle of the inlet / outlet plate (1002). A second column (1106) is fixedly connected to each of the four corners of the base (1103). The top of the second column (1106) passes through the rectangular hole (1101) and is fixedly connected to a top plate (1107). A support block (1108) corresponding to the clearance groove (1004) is fixedly connected to the side of the outer surface of the four second columns (1106) that are close to each other.

9. The cryogenic storage device for biological sample test tubes according to claim 1, characterized in that, The insertion and transfer assembly (12) includes a lower fixing plate (1201) fixedly connected to the upper surface of the turntable (6). The upper surface of the lower fixing plate (1201) is rotatably connected to an upper fixing plate (1203) via a gear disk (1202). A movable rod (1204) is slidably connected to the upper surface of the upper fixing plate (1203). One end of the movable rod (1204) is fixedly connected to an insertion plate (1205), and the lower surface of the other end of the movable rod (1204) is provided with a long groove (1210).

10. The cryogenic storage device for biological sample test tubes according to claim 9, characterized in that, A fifth motor (1206) is fixedly connected to the right side of the upper surface of the lower fixed plate (1201), and a sixth motor (1207) is fixedly connected to the right side of the upper surface of the upper fixed plate (1203). The output end of the fifth motor (1206) is connected to the gear disk (1202) via a belt. The sixth motor (1207) is connected to a rotating shaft (1208) via a belt. A rocker arm (1209) is fixedly connected to the bottom end of the rotating shaft (1208). The other end of the rocker arm (1209) is fixedly connected to a bearing and located inside the long groove (1210).

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