A cryo-cassette tube taking device and a sample storage apparatus

Abstract

This utility model discloses a cryopreservation box tube retrieval device and a sample storage device, belonging to the field of sample storage technology. The cryopreservation box tube retrieval device includes a support mechanism, a displacement mechanism, and a clamping mechanism. The support mechanism includes a first mounting base and a first driving component, which can drive the first mounting base to move between a first position and a second position. The displacement mechanism is disposed on the first mounting base and includes a tray and a second driving component, which can drive the tray to pick up and place the cryopreservation box. The clamping mechanism can clamp the sample tubes inside the cryopreservation box. The sample storage device includes a housing and the aforementioned cryopreservation box tube retrieval device. When the first mounting base is in the first position, the picking up and placing of the cryopreservation box and the clamping of the sample tubes can be completed. When the first mounting base moves to the second position, it is not necessary to move the cryopreservation box; only the clamped sample tubes need to be moved, thus avoiding the rewarming of sample tubes that do not need to be removed from storage.

Description

Technical Field

[0001] This utility model relates to the field of sample storage technology, and in particular to a cryopreservation box tube retrieval device and sample storage equipment. Background Technology

[0002] In the field of biological sample storage, compared to biological sample cold storage, automated ultra-low temperature freezers offer greater flexibility in deployment and use, enabling automated sample storage and retrieval, tube picking, and sample information management. Automated ultra-low temperature freezers have a storage area and a tube picking area, connected by a sample transfer window to facilitate sample movement from the storage area to the picking area. Typically, the storage area is at -80°C, with multiple cryovials stored there, each holding multiple sample tubes; the picking area is at -20°C, creating a significant temperature difference between the two areas.

[0003] When one or more sample tubes need to be retrieved, the corresponding cryopreservation boxes are transferred to the tube-picking area using a cryopreservation box transport device. After the sample tubes are picked, the remaining sample tubes that do not need to be retrieved are returned to the storage area along with their respective sample boxes. Therefore, during the tube retrieval process, sample tubes that do not need to be retrieved undergo a transfer from a -80°C area to a -20°C area, and will briefly remain in the -20°C area. There is a risk of rewarming in these sample tubes, which may affect the quality of the samples inside. Utility Model Content

[0004] The purpose of this invention is to provide a cryopreservation box tube retrieval device and a sample storage device to solve the technical problem in the prior art where there is a risk of rewarming of sample tubes that do not need to be taken out of the storage when retrieving them from the cryopreservation box.

[0005] Based on the above concept, the technical solution adopted by this utility model is as follows:

[0006] A cryopreservation box tube retrieval device, comprising:

[0007] The support mechanism includes a first mounting base and a first drive assembly, the first drive assembly being capable of driving the first mounting base to move between a first position and a second position;

[0008] A shifting mechanism is disposed on the first mounting base. The shifting mechanism includes a tray and a second driving component. The second driving component is capable of driving the tray to pick up and place the cryopreservation box.

[0009] A clamping mechanism is connected to the first mounting base or the shifting mechanism, and the clamping mechanism is capable of clamping the sample tubes inside the cryopreservation box.

[0010] Preferably, the clamping mechanism forms an accommodating space with the first mounting base, and at least a portion of the accommodating space is located below the clamping mechanism. The shifting mechanism is located within the accommodating space. The second driving component is capable of driving the tray to move along the X-axis, Y-axis, and Z-axis, with the X-axis, Y-axis, and Z-axis being perpendicular to each other.

[0011] Preferably, the second drive assembly includes a second mounting base and a first mounting bracket, the second mounting base being slidably connected to the first mounting base along the Z-axis direction, the first mounting bracket being slidably connected to the second mounting base along the Y-axis direction, and the tray being slidably connected to the first mounting bracket along the X-axis direction.

[0012] Preferably, the first mounting bracket includes at least two first mounting plates spaced apart along the Z-axis direction, the bottom first mounting plate is slidably connected to the second mounting base along the Y-axis direction, the top first mounting plate is slidably connected to the tray along the X-axis direction, and adjacent first mounting plates are slidably connected to each other along the X-axis direction.

[0013] Preferably, the second mounting base includes a first support plate and a second mounting plate. The first support plate is slidably connected to the first mounting base along the Z-axis direction. The second mounting plate is provided in two layers and is connected to the first support plate. The clamping mechanism is disposed on the upper second mounting plate. The first mounting bracket is slidably connected to the lower second mounting plate along the Y-axis direction.

[0014] Preferably, the second mounting base further includes a second support plate, which is fixedly connected to the lower second mounting plate. A Y-axis guide rail is provided on the second support plate, and the first mounting bracket is slidably connected to the Y-axis guide rail.

[0015] Preferably, the clamping mechanism includes a clamping component and a third driving component, the third driving component being used to drive the clamping component to move along the Z-axis, the clamping component being able to clamp the sample tubes inside the cryopreservation box.

[0016] Preferably, the clamping mechanism further includes a second mounting bracket, which is slidably connected to the shifting mechanism along the Z-axis direction. The clamping component is disposed on the second mounting bracket, and the third driving component is used to drive the second mounting bracket to move relative to the shifting mechanism.

[0017] Preferably, the support mechanism further includes a turntable, the first mounting base is fixedly connected to the turntable, and the first drive component is capable of driving the turntable to rotate around the Z-axis so that the first mounting base rotates between the first position and the second position.

[0018] Preferably, the first drive assembly includes a first motor, a first master gear, and a first slave gear. The first motor drives the first master gear to rotate. The first master gear meshes with the first slave gear, and the first slave gear is connected to the turntable.

[0019] A sample storage device, comprising:

[0020] The enclosure has a first region and a second region formed inside it, and the temperature of the first region is lower than the temperature of the second region.

[0021] As described above, in the cryopreservation box tube retrieval device, the first mounting base is rotatably disposed within the box to enable the transfer of the sample tube between the first region and the second region.

[0022] The beneficial effects of this utility model are:

[0023] The cryopreservation box tube retrieval device proposed in this utility model, during tube retrieval, has a first mounting base in a first position, a second drive assembly driving a tray to move to retrieve the cryopreservation box, a clamping mechanism clamping the sample tube inside the cryopreservation box, and the second drive assembly again driving the tray to move to place the cryopreservation box; the first drive assembly drives the first mounting base to a second position, so that the shifting mechanism, the clamping mechanism, and the clamped sample tube are all away from the storage area where the cryopreservation box is located. Because the first mounting base can move between the first and second positions, when the first mounting base is in the first position, the retrieval and placement of the cryopreservation box and the clamping of the sample tube can be completed. When the first mounting base moves to the second position, it is not necessary to move the cryopreservation box, only the clamped sample tube needs to be moved, thus avoiding the rewarming of sample tubes that do not need to be removed from storage. Attached Figure Description

[0024] Figure 1 This is a front view of the cryopreservation box tube retrieval device provided in this embodiment of the utility model;

[0025] Figure 2 This is a side view of the cryopreservation box tube retrieval device provided in this embodiment of the utility model;

[0026] Figure 3 This is a partial structural first schematic diagram of the cryopreservation box tube retrieval device provided in this embodiment of the utility model;

[0027] Figure 4 This is a second schematic diagram showing a partial structure of the cryopreservation box tube retrieval device provided in this embodiment of the utility model;

[0028] Figure 5 This is a third schematic diagram showing a partial structure of the cryopreservation box tube retrieval device provided in this embodiment of the utility model.

[0029] In the picture:

[0030] 100. Cryopreservation boxes; 200. Sample tubes;

[0031] 10. Support mechanism; 11. First mounting base; 12. Turntable;

[0032] 20. Shifting mechanism; 21. Tray; 22. Second drive assembly; 221. Second mounting base; 2211. First support plate; 2212. Second mounting plate; 2213. Second support plate; 2214. Limiting plate; 2215. Connecting plate; 2216. Vertical plate; 222. First mounting bracket; 2221. First mounting plate; 223. First Z-axis guide rail; 224. Y-axis guide rail; 225. X-axis guide rail; 23. First sensor;

[0033] 30. Clamping mechanism; 31. Clamping assembly; 32. Third drive assembly; 321. Third gear; 322. Third rack; 33. Second mounting bracket; 34. Second Z-axis guide rail; 35. Second Z-axis slider. Detailed Implementation

[0034] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0035] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0038] See Figures 1 to 5 This embodiment provides a cryopreservation box tube retrieval device, including a support mechanism 10, a shifting mechanism 20, and a clamping mechanism 30. The support mechanism 10 includes a first mounting base 11 and a first driving component. The first driving component can drive the first mounting base 11 to move between a first position and a second position. The shifting mechanism 20 is disposed on the first mounting base 11 and includes a tray 21 and a second driving component 22. The second driving component 22 can drive the tray 21 to pick up and put down the cryopreservation box 100. The clamping mechanism 30 is connected to the first mounting base 11 or the shifting mechanism 20 and can clamp the sample tubes 200 inside the cryopreservation box 100.

[0039] During sample retrieval, the first mounting base 11 is in the first position, and the second drive assembly 22 drives the tray 21 to move to retrieve the cryopreservation box 100. The clamping mechanism 30 clamps the sample tube 200 inside the cryopreservation box 100, and the second drive assembly 22 then drives the tray 21 to move to place the cryopreservation box 100. The first drive assembly drives the first mounting base 11 to move to the second position, so that the shifting mechanism 20, the clamping mechanism 30, and the clamped sample tube 200 are all away from the storage area where the cryopreservation box 100 is located. Since the first mounting base 11 can move between the first and second positions, when the first mounting base 11 is in the first position, the retrieval and placement of the cryopreservation box 100 and the clamping of the sample tube 200 can be completed. When the first mounting base 11 moves to the second position, it is not necessary to move the cryopreservation box 100, but only to move the clamped sample tube 200. Therefore, it is possible to avoid the rewarming of sample tubes 200 that do not need to be retrieved.

[0040] When placing the sample tube externally, the first mounting base 11 is in the second position, the second drive assembly 22 drives the tray 21 to move to obtain the sample box, the clamping mechanism 30 clamps the sample tube 200 in the sample box, and the second drive assembly 22 drives the tray 21 to move again to place the sample box; the first drive assembly drives the first mounting base 11 to move to the first position, so that the shifting mechanism 20, the clamping mechanism 30 and the clamped sample tube 200 are all transferred to the storage area; the second drive assembly 22 drives the tray 21 to move to obtain the cryopreservation box 100, the clamping mechanism 30 places the sample tube 200 in the cryopreservation box 100, and the second drive assembly 22 drives the tray 21 to move again to place the cryopreservation box 100.

[0041] The above-described process for retrieving and placing tubes is only a description of some functions of the cryopreservation box tube retrieval device provided in this embodiment. It is not limited to the cryopreservation box tube retrieval device having to follow the above process. The cryopreservation box tube retrieval device can also operate according to the process set by the user, which is not limited here.

[0042] In this embodiment, the first mounting base 11 is rotatable between a first position and a second position, meaning the first driving assembly can drive the first mounting base 11 to rotate between the first and second positions. Exemplarily, the first driving assembly includes a second motor, the motor shaft of which is directly or indirectly connected to the first mounting base 11 to drive the first mounting base 11 to rotate. In other embodiments, the first mounting base 11 is movable between a first position and a second position, meaning the first driving assembly can drive the first mounting base 11 to move between the first and second positions. Exemplarily, the first driving assembly includes a cylinder, the telescopic rod of which is directly or indirectly connected to the first mounting base 11 to drive the first mounting base 11 to move.

[0043] The rotation angle of the first mounting base 11 when it rotates from the first position to the second position can be set according to actual needs, so that the sample tube 200 being clamped is moved away from the storage area where the cryopreservation box 100 is located, thus avoiding the rewarming of sample tubes 200 that do not need to be taken out of storage. For example, the rotation angle of the first mounting base 11 when it rotates from the first position to the second position is 30°, 45°, 60°, 90°, 120°, 135°, 150° or 180°.

[0044] The shape of the first mounting base 11 can be set according to actual needs, as long as it can support the shifting mechanism 20 and the clamping mechanism 30. In this embodiment, the first mounting base 11 is cuboid, which is convenient for processing and production, and also convenient for installing the shifting mechanism 20. Optionally, at least a portion of the first mounting base 11 is cylindrical, which is convenient for driving the first mounting base 11 to rotate.

[0045] In this embodiment, the support mechanism 10 further includes a turntable 12. The first mounting base 11 is fixedly connected to the turntable 12. The first drive component can drive the turntable 12 to rotate around the Z-axis so that the first mounting base 11 rotates between a first position and a second position. By setting the turntable 12, it is convenient to drive the first mounting base 11 to rotate.

[0046] The first mounting base 11 and the turntable 12 can be arranged concentrically or eccentrically. In this embodiment, the first mounting base 11 is located at the middle position of the turntable 12 so that the turntable 12 is subjected to uniform force and to prevent the first mounting base 11 from rotating too much.

[0047] For example, the first drive assembly includes a first motor, a first master gear, and a first slave gear. The first motor drives the first master gear to rotate, and the first master gear meshes with the first slave gear. The first slave gear is connected to the turntable 12. The first motor drives the first master gear to rotate, which in turn drives the first slave gear to rotate, thereby causing the turntable 12 to rotate. The first slave gear and the turntable 12 can be integrally formed or detachably connected.

[0048] The second drive component 22 can be a robotic arm capable of driving the tray 21 to move within a set range. Alternatively, the second drive component 22 can be a three-axis linkage platform capable of driving the tray 21 to move along the X, Y, and Z axes.

[0049] In this embodiment, a receiving space is formed between the clamping mechanism 30 and the first mounting base 11, and at least part of the receiving space is located below the clamping mechanism 30. The shifting mechanism 20 is located within the receiving space. The second driving component 22 can drive the tray 21 to move along the X-axis, Y-axis, and Z-axis, which are mutually perpendicular. The positional arrangement of the clamping mechanism 30, the first mounting base 11, and the shifting mechanism 20 makes full use of space, resulting in a compact structure and wide adaptability.

[0050] In this embodiment, the second drive assembly 22 includes a second mounting base 221 and a first mounting bracket 222. The second mounting base 221 is slidably connected to the first mounting base 11 along the Z-axis, the first mounting bracket 222 is slidably connected to the second mounting base 221 along the Y-axis, the tray 21 is slidably connected to the first mounting bracket 222 along the X-axis, and the clamping mechanism 30 is connected to the second mounting base 221. Through the cooperation of the first mounting base 11, the second mounting base 221, and the first mounting bracket 222, the tray 21 can move along the X-axis, Y-axis, and Z-axis.

[0051] Specifically, the first mounting base 11 is provided with a first Z-axis guide rail 223 extending along the Z-axis, and the second mounting base 221 is provided with a first Z-axis slider, which slides in engagement with the first Z-axis guide rail 223. The second mounting base 221 is provided with a Y-axis guide rail 224 extending along the Y-axis, and the first mounting bracket 222 is provided with a Y-axis slider, which slides in engagement with the Y-axis guide rail 224. The first mounting bracket 222 is provided with an X-axis guide rail 225 extending along the X-axis, and the tray 21 is provided with an X-axis slider, which slides in engagement with the Y-axis guide rail 224.

[0052] More specifically, the first mounting base 11 has two parallel and spaced first Z-axis guide rails 223, and the second mounting base 221 has at least one first Z-axis slider corresponding to each first Z-axis guide rail 223 to ensure smooth sliding. The second mounting base 221 has two parallel and spaced Y-axis guide rails 224, and the first mounting bracket 222 has at least one Y-axis slider corresponding to each Y-axis guide rail 224 to ensure smooth sliding.

[0053] In some embodiments, the first Z-axis guide rail 223, Y-axis guide rail 224, and X-axis guide rail 225 can be linear motor guide rails, with the slider driven to slide along the guide rails by a servo motor or stepper motor. In some embodiments, the slider is driven to slide along the guide rails by hydraulic or pneumatic pressure. Exemplarily, the second drive assembly 22 further includes a first cylinder, a second cylinder, and a third cylinder. The first cylinder is disposed on the first mounting base 11 and is used to drive the second mounting base 221 to slide along the Z-axis. The second cylinder is disposed on the second mounting base 221 and is used to drive the first mounting bracket 222 to slide along the Y-axis. The third cylinder is disposed on the first mounting bracket 222 and is used to drive the tray 21 to slide along the X-axis.

[0054] The shape of the second mounting base 221 can be set according to actual needs. In this embodiment, the second mounting base 221 includes a first support plate 2211 and a second mounting plate 2212. The first support plate 2211 is slidably connected to the first mounting base 11 along the Z-axis direction. The second mounting plate 2212 is provided in two layers at intervals and is connected to the first support plate 2211. The clamping mechanism 30 is provided on the upper second mounting plate 2212 at one end away from the first support plate 2211, so that the clamping mechanism 30 is spaced apart from the first mounting base 11. The first mounting bracket 222 is slidably connected to the lower second mounting plate 2212 along the Y-axis direction. By providing two second mounting plates 2212 at intervals, and by providing the clamping mechanism 30 on the upper second mounting plate 2212 and the first mounting bracket 222 on the lower second mounting plate 2212, space is fully utilized and the position layout is reasonable, resulting in a compact structure. The clamping mechanism 30 can be located above the tray 21, which facilitates the clamping of the sample tubes 200 in the cryopreservation box 100.

[0055] The second mounting base 221 also includes a second support plate 2213, which is fixedly connected to the lower second mounting plate 2212. A Y-axis guide rail 224 is provided on the second support plate 2213, and the first mounting bracket 222 is slidably connected to the Y-axis guide rail 224. By providing the second support plate 2213, the first mounting bracket 222 is supported. The extension length of the second support plate 2213 along the Y-axis can be set according to actual needs to ensure that the first mounting bracket 222 has a large stroke along the Y-axis.

[0056] The second mounting base 221 also includes two limiting plates 2214, with limiting plates 2214 provided at both ends of the second support plate 2213 along the Y-axis. The limiting plates 2214 limit the first mounting bracket 222 to prevent it from slipping off at both ends of the Y-axis guide rail 224. Optionally, the second mounting base 221 also includes a connecting plate 2215, with the ends of the two limiting plates 2214 away from the second support plate 2213 connected to the connecting plate 2215. By connecting the two limiting plates 2214 with the connecting plate 2215, the structural strength is increased.

[0057] Specifically, the second support plate 2213, the connecting plate 2215 and the two limiting plates 2214 form a rectangular frame structure. The rectangular frame structure is fixedly installed on the lower second mounting plate 2212, and the top of the rectangular frame structure is lower than the upper second mounting plate 2212.

[0058] The shape of the first mounting bracket 222 can be set according to actual needs. In this embodiment, the first mounting bracket 222 includes at least two layers of first mounting plates 2221 spaced apart along the Z-axis. The bottom first mounting plate 2221 is slidably connected to the second mounting base 221 along the Y-axis, and the top first mounting plate 2221 is slidably connected to the tray 21 along the X-axis. Adjacent first mounting plates 2221 are slidably connected to each other along the X-axis. By setting at least two layers of first mounting plates 2221 to slide and engage with each other, the tray 21 can extend a greater distance along the X-axis.

[0059] For example, the first mounting bracket 222 includes two layers of first mounting plates 2221 spaced apart along the Z-axis. The bottom first mounting plate 2221 is slidably connected to the second mounting base 221 along the Y-axis, and the top first mounting plate 2221 is slidably connected to the tray 21 along the X-axis. The two layers of first mounting plates 2221 are slidably connected to each other along the X-axis. In use, the tray 21 can be driven to extend relative to the upper first mounting plate 2221 first, and then the upper first mounting plate 2221 can be driven to extend relative to the lower first mounting plate 2221, so that the tray 21 can extend a greater distance along the X-axis.

[0060] Two parallel and spaced X-axis guide rails 225 can be arranged on the first mounting plate 2221 of each layer. At least one X-axis slider is provided for each X-axis guide rail 225 to ensure smooth sliding.

[0061] A first sensor 23 is provided on the tray 21. The first sensor 23 is used to detect whether there is a cryopreservation box 100 on the tray 21. The first sensor 23 can be an existing photoelectric sensor.

[0062] In this embodiment, the clamping mechanism 30 is connected to the shifting mechanism 20. Specifically, the clamping mechanism 30 is disposed on the second mounting base 221. The second mounting base 221 also includes a vertical plate 2216, on which the clamping mechanism 30 is disposed. The bottom end of the vertical plate 2216 is connected to the upper second mounting plate 2212.

[0063] In this embodiment, the clamping mechanism 30 includes a clamping component 31 and a third driving component 32. The third driving component 32 drives the clamping component 31 to move along the Z-axis, and the clamping component 31 is capable of clamping the sample tube 200 inside the cryopreservation box 100. When clamping the sample tube 200, the second driving component 22 drives the tray 21 to move below the cryopreservation box 100, and by driving the tray 21 to move upward along the Z-axis, the tray 21 lifts the cryopreservation box 100. The second driving component 22 drives the tray 21 to move below the clamping mechanism 30, so that the clamping component 31 faces the sample tube 200 to be clamped. The third driving component 32 drives the clamping component 31 to move downward along the Z-axis, so that the clamping component 31 clamps the sample tube 200.

[0064] The clamping mechanism 30 includes a second mounting bracket 33, which is slidably connected to the shifting mechanism 20 along the Z-axis. A clamping assembly 31 is disposed on the second mounting bracket 33, and a third drive assembly 32 is used to drive the second mounting bracket 33 to move relative to the shifting mechanism 20. The third drive assembly 32 can be a lead screw and nut mechanism, or a cylinder, hydraulic cylinder, or linear motor.

[0065] Specifically, a second Z-axis guide rail 34 is provided on the upright plate 2216 of the second mounting base 221, and a second Z-axis slider 35 is provided on the second mounting bracket 33. The second Z-axis slider 35 slides in cooperation with the second Z-axis guide rail 34. The third drive assembly 32 includes a third motor, a third gear 321, and a third rack 322. The third motor and the third gear 321 are disposed on the shifting mechanism 20, and the third rack 322 is disposed on the second mounting bracket 33. The third gear 321 and the third rack 322 mesh. The third motor drives the third gear 321 to rotate, thereby driving the third rack 322 to move linearly.

[0066] Exemplarily, the gripping assembly 31 includes a gripping body and a plurality of gripping claws. One end of the gripping body is connected to the second mounting bracket 33, and the plurality of gripping claws are disposed at the other end of the gripping body and spaced apart around a first axis. The plurality of gripping claws can move closer to or further away from each other to clamp or release the sample tube 200. Optionally, the gripping claws grip the outer surface of the sample tube 200 by moving closer to each other to clamp the sample tube 200. Optionally, the top of the sample tube 200 is provided with a gripping hole, and the plurality of gripping claws are inserted into the gripping hole and clamp the sample tube 200 by moving further away from each other. Exemplarily, two gripping claws are provided, which can be driven by an existing two-jaw electric cylinder. Exemplarily, the gripping assembly 31 uses an existing gripping claw mechanism.

[0067] This embodiment also provides a sample storage device, including a housing and the aforementioned cryopreservation tube retrieval device. A first region and a second region are formed within the housing, with the temperature of the first region being lower than the temperature of the second region. A first mounting base 11 is rotatably disposed within the housing to transfer the sample tube 200 between the first and second regions. Specifically, when the first mounting base 11 is in the first position, both the shifting mechanism 20 and the clamping mechanism 30 are located in the first region; when the first mounting base 11 is in the second position, both the shifting mechanism 20 and the clamping mechanism 30 are located in the second region.

[0068] During sample retrieval, the first mounting base 11 is in the first position, and both the shifting mechanism 20 and the clamping mechanism 30 are located in the first area. The second drive assembly 22 drives the tray 21 to move to retrieve the cryopreservation box 100. The clamping mechanism 30 clamps the sample tube 200 inside the cryopreservation box 100. The second drive assembly 22 then drives the tray 21 to move to place the cryopreservation box 100. The first drive assembly drives the first mounting base 11 to move to the second position, so that both the shifting mechanism 20 and the clamping mechanism 30 are located in the second area, that is, the shifting mechanism 20, the clamping mechanism 30, and the clamped sample tube 200 are all away from the storage area where the cryopreservation box 100 is located. Therefore, when the first mounting base 11 moves to the second position, it is not necessary to move the cryopreservation box 100; only the clamped sample tube 200 needs to be moved, which can prevent the sample tube 200 that does not need to be retrieved from the storage from warming up.

[0069] When placing the sample tube externally, the first mounting base 11 is in the second position, the second drive assembly 22 drives the tray 21 to move to obtain the sample box, the clamping mechanism 30 clamps the sample tube 200 in the sample box, and the second drive assembly 22 drives the tray 21 to move again to place the sample box; the first drive assembly drives the first mounting base 11 to move to the first position, so that the shifting mechanism 20, the clamping mechanism 30 and the clamped sample tube 200 are all transferred to the storage area; the second drive assembly 22 drives the tray 21 to move to obtain the cryopreservation box 100, the clamping mechanism 30 places the sample tube 200 in the cryopreservation box 100, and the second drive assembly 22 drives the tray 21 to move again to place the cryopreservation box 100.

[0070] The first region, second region, first position, and second position are not fixed and can be set according to actual needs. In some embodiments, a first region, a second region, and a third region can be set, corresponding to the first position, second position, and third position. The rotation angle of the first mounting base 11 between each position can also be set according to actual needs.

[0071] In this embodiment, the first region serves as a storage area, and the temperature of the first region is within a first set range, which is -70℃ to -100℃; preferably, the temperature of the first region 11 is approximately -80℃. The second region serves as a picking area, and the temperature of the second region 12 is within a second set range, which is -15℃ to -40℃; preferably, the temperature of the second region 12 is approximately -20℃.

[0072] The first and second areas are connected by a transfer port, which is equipped with a transfer window. The transfer window can be opened and closed without interfering with the rotation of the first mounting base 11 from the first position to the second position. The rotation angle of the first mounting base 11 from the first position to the second position can be set according to actual needs, ensuring that the sample tube 200 being held is moved away from the storage area of ​​the cryopreservation box 100, thus preventing the sample tube 200 that does not need to be removed from storage from warming up again. For example, the rotation angle of the first mounting base 11 from the first position to the second position can be 30°, 45°, 60°, 90°, 120°, 135°, 150°, or 180°.

[0073] Typically, multiple cryopreservation boxes 100 are stored on a storage rack or cryopreservation shelf. During tube retrieval, the second drive assembly 22 drives the tray 21 to move along the X, Y, and Z axes so that the tray 21 is positioned below the cryopreservation box 100. The second drive assembly 22 then drives the tray 21 to move upward along the Z axis, lifting the cryopreservation box 100 and completing the retrieval action. Afterward, the second drive assembly 22 drives the tray 21 to move along the X, Y, and Z axes so that the cryopreservation box 100 is positioned below the gripping assembly 31. The sample tube 200 to be retrieved is aligned with the center position of the gripping assembly 31. The gripping assembly 31 moves downward along the Z axis to the position of the sample tube 200, the gripping jaws clamp the sample tube 200, and the gripping assembly 31 moves upward along the Z axis to remove the sample tube 200 from the cryopreservation box 100.

[0074] The second drive component 22 drives the tray 21 to move along the X, Y, and Z axes so that the cryopreservation box 100 returns to its storage position. At this time, only the target sample tube 200 is removed, while the remaining sample tubes 200 remain in the storage environment where the cryopreservation box 100 is located.

[0075] The first drive assembly drives the first mounting base 11 to rotate from the first position to the second position. The shifting mechanism 20, the clamping mechanism 30, and the clamped sample tube 200 all move to the exit position away from the storage area. At this time, the target sample tube 200 is transferred out of the low-temperature storage area. The second drive assembly 22 then drives the tray 21 to move and extract the target sample box. The clamping assembly 31 places the sample tube 200 into the target sample box, completing the extraction of the target sample tube 200.

[0076] The above embodiments merely illustrate the basic principles and characteristics of this utility model. This utility model is not limited to the above embodiments. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A device for retrieving tubes from a cryopreservation box, characterized in that, include: The support mechanism (10) includes a first mounting base (11) and a first drive assembly, the first drive assembly being capable of driving the first mounting base (11) to move between a first position and a second position; A shifting mechanism (20) is disposed on the first mounting base (11). The shifting mechanism (20) includes a tray (21) and a second driving component (22). The second driving component (22) can drive the tray (21) to pick up and put down the cryopreservation box (100). The clamping mechanism (30) is connected to the first mounting base (11) or the shifting mechanism (20), and the clamping mechanism (30) is capable of clamping the sample tube (200) in the cryopreservation box (100).

2. The cryopreservation box tube retrieval device according to claim 1, characterized in that, The clamping mechanism (30) forms an accommodating space with the first mounting base (11), and at least a portion of the accommodating space is located below the clamping mechanism (30). The shifting mechanism (20) is located within the accommodating space. The second driving component (22) is capable of driving the tray (21) to move along the X-axis, Y-axis, and Z-axis, with the X-axis, Y-axis, and Z-axis being perpendicular to each other.

3. The cryopreservation box tube retrieval device according to claim 2, characterized in that, The second drive assembly (22) includes a second mounting base (221) and a first mounting bracket (222). The second mounting base (221) is slidably connected to the first mounting base (11) along the Z-axis direction. The first mounting bracket (222) is slidably connected to the second mounting base (221) along the Y-axis direction. The tray (21) is slidably connected to the first mounting bracket (222) along the X-axis direction. The clamping mechanism (30) is connected to the second mounting base (221).

4. The cryopreservation box tube retrieval device according to claim 3, characterized in that, The first mounting bracket (222) includes at least two layers of first mounting plates (2221) spaced apart along the Z-axis direction. The bottom first mounting plate (2221) is slidably connected to the second mounting base (221) along the Y-axis direction, and the top first mounting plate (2221) is slidably connected to the tray (21) along the X-axis direction. Adjacent first mounting plates (2221) are slidably connected to each other along the X-axis direction.

5. The cryopreservation box tube retrieval device according to claim 3, characterized in that, The second mounting base (221) includes a first support plate (2211) and a second mounting plate (2212). The first support plate (2211) is slidably connected to the first mounting base (11) along the Z-axis direction. The second mounting plate (2212) is provided with two layers spaced apart and is connected to the first support plate (2211). The clamping mechanism (30) is provided at the end of the upper second mounting plate (2212) away from the first support plate (2211). The first mounting bracket (222) is slidably connected to the lower second mounting plate (2212) along the Y-axis direction.

6. The cryopreservation box tube retrieval device according to claim 5, characterized in that, The second mounting base (221) further includes a second support plate (2213), which is fixedly connected to the lower second mounting plate (2212). A Y-axis guide rail (224) is provided on the second support plate (2213), and the first mounting bracket (222) is slidably connected to the Y-axis guide rail (224).

7. The cryopreservation box tube retrieval device according to claim 2, characterized in that, The clamping mechanism (30) includes a clamping component (31) and a third driving component (32). The third driving component (32) is used to drive the clamping component (31) to move along the Z-axis. The clamping component (31) is capable of clamping the sample tube (200) in the cryopreservation box (100).

8. The cryopreservation box tube retrieval device according to claim 7, characterized in that, The clamping mechanism (30) further includes a second mounting bracket (33), which is slidably connected to the shifting mechanism (20) along the Z-axis direction. The clamping component (31) is disposed on the second mounting bracket (33), and the third driving component (32) is used to drive the second mounting bracket (33) to move relative to the shifting mechanism (20).

9. The cryopreservation box tube retrieval device according to any one of claims 1-8, characterized in that, The support mechanism (10) further includes a turntable (12), the first mounting base (11) is fixedly connected to the turntable (12), and the first drive component can drive the turntable (12) to rotate around the Z-axis so that the first mounting base (11) rotates between the first position and the second position.

10. A sample storage device, characterized in that, include: The enclosure has a first region and a second region formed inside it, and the temperature of the first region is lower than the temperature of the second region. The cryopreservation box tube retrieval device according to any one of claims 1-9, wherein the first mounting base (11) is rotatably disposed in the box body to enable the transfer of the sample tube (200) between the first region and the second region.

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