CN103008036A - Automatic storage and withdrawing and recognition system for cryopreservation tube - Google Patents
Automatic storage and withdrawing and recognition system for cryopreservation tube Download PDFInfo
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- CN103008036A CN103008036A CN2012104850449A CN201210485044A CN103008036A CN 103008036 A CN103008036 A CN 103008036A CN 2012104850449 A CN2012104850449 A CN 2012104850449A CN 201210485044 A CN201210485044 A CN 201210485044A CN 103008036 A CN103008036 A CN 103008036A
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Abstract
An automatic storage and withdrawing and recognition system for a cryopreservation tube comprises a cryopreservation component, a storage and withdrawing component and a recognition component, wherein the cryopreservation component comprises the cryopreservation tube, a cryopreservation tube storage rack, a straw and an electronic tag, the storage and withdrawing component comprises a three-freedom-degree manipulator, an electromagnet, a base seat, a pair of gear pair, a motor, a Z-oriented hydraulic cylinder and an R-oriented hydraulic cylinder, and the recognition component comprises an electronic tag read-write device for reading the information in the electronic tag. The automatic storage and withdrawing and recognition system controls the electromagnet at the tail end of the three-freedom-degree manipulator to store and withdraw the cryopreservation tube through a computer instruction, the electronic tag with relative cell information is attached on the external wall of the straw, and a chip read-write device can be used for recognizing the cell withdrew or modifying the cell information in the chip. According to the automatic system, the efficiency of cell storage and withdrawing can be greatly improved, and error rate of cell storage and withdrawing can be greatly lowered when a computer operates normally.
Description
Technical field
The present invention relates to the vitrification field, relate in particular to cryopreservation tube automatic access and recognition device in a kind of vitrification method.
Background technology
Along with people to the going deep into of biological tissue research, storage environment and the mode of tissue are also more and more important.Vitrification is a kind of method of Rapid-Freezing Method cell, and cell leaves the end of straw in the method, and several straws leave in the cryopreservation tube, and cryopreservation tube is emitted on the support, and then support all is immersed in the liquid nitrogen stores.In order to distinguish different storage objects, the researcher coats different colors at straw, and does a little simple and easy marks at cryopreservation tube.In the time will taking out certain cell, the researcher goes for out cryopreservation tube and straw corresponding in the liquid nitrogen according to the cell storage information of record.
Because the temperature of liquid nitrogen is about-196 ℃, so the surface at liquid nitrogen can form dense water smoke, blocked people's sight line, can't see and judge mark on the cryopreservation tube and the color of straw clearly, so that the cell that the researcher takes out is usually made mistakes, have to put back to and refetch, whether check and correction is correct again again.When memory space was larger, the error in operation rate of this artificial access cell was very high.Get before the cell at every turn, retrieve first cryopreservation tube mark and the straw color record of torage cell, go again to seek in the liquid nitrogen, troublesome poeration, and artificial institute makes marks or color of long duration easily come off, thicken, increased error rate.And, when torage cell, support be taken out of, treat that cryopreservation tube puts up after, again immerse in the liquid nitrogen again, efficient is lower.
Therefore, for above-mentioned technical problem, be necessary to provide a kind of cryopreservation tube automatic access and recognition device that has in the structure improved vitrification method, to overcome defects.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of cryopreservation tube automatic access and recognition device, this cryopreservation tube automatic access and recognition device can improve the efficient of cell access greatly, and under the computer normal operation, have greatly reduced the error rate of cell access.
For achieving the above object, the invention provides following technical scheme:
A kind of cryopreservation tube automatic access and recognition device, it comprises the cryopreservation tube assembly, described cryopreservation tube assembly comprises cryopreservation tube, the cryopreservation tube storage rack, be located in the cryopreservation tube cell and in order to the straw of torage cell, described cryopreservation tube automatic access and recognition device also comprise access element and recognizer component, described access element comprises the Three Degree Of Freedom operator, be located at the electromagnet of Three Degree Of Freedom operator end, base, be located at a pair of gear pair on the base, directly control gear secondary motion and indirectly drive the motor of Three Degree Of Freedom operator rotation, in order to control the Three Degree Of Freedom operator at the Z direction hydraulic cylinder of Z direction lifting, in order to control the Three Degree Of Freedom operator at the flexible R direction hydraulic cylinder of radius of gyration R direction, described cryopreservation tube assembly also comprises the electronic tag of being located in the cryopreservation tube, and described recognizer component comprises the electronic label read-write equipment of reading electronic labels internal information.
Preferably, in above-mentioned cryopreservation tube automatic access and recognition device, the end of described electromagnet is provided with the spring buffer structure in order to the vibration force of the moment generation of buffering absorption or placement cryopreservation tube.
Preferably, in above-mentioned cryopreservation tube automatic access and recognition device, described cryopreservation tube storage rack comprises two-layer at least, liquid nitrogen tank of every layer of fixed placement, described liquid nitrogen tank be provided with several with reeded in order to the fixing support of cryopreservation tube.
Preferably, in above-mentioned cryopreservation tube automatic access and recognition device, described electronic tag is affixed on the straw.
Preferably, in above-mentioned cryopreservation tube automatic access and recognition device, described cryopreservation tube comprises the resettlement section of accommodating straw and links to each other with the resettlement section is convenient to the extension of access cryopreservation tube, and described extension is provided with the permanent magnet of being convenient to electromagnet absorption.
Can find out from technique scheme, cryopreservation tube automatic access and the recognition device of the embodiment of the invention pass through computer instruction, the electromagnet access cryopreservation tube of control Three Degree Of Freedom operator end, and stick the electronic tag that has the cell relevant information at the straw outer wall, can confirm the cell that takes out or revise cell information in the chip by the chip read-write equipment, can greatly improve the efficient of cell access, greatly reduce the error rate of cell access.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing relevant of the present invention in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the simple and easy schematic diagram of cryopreservation tube automatic access of the present invention and recognition device;
Fig. 2 is the simple and easy schematic diagram of cryopreservation tube storage rack and liquid nitrogen tank in cryopreservation tube automatic access of the present invention and the recognition device;
Fig. 3 is the simple and easy schematic diagram of cryopreservation tube assembly in cryopreservation tube automatic access of the present invention and the recognition device;
Fig. 4 is the kinematic sketch of access element in cryopreservation tube automatic access of the present invention and the recognition device;
Fig. 5 is the schematic diagram of coordinate transform when storing cryopreservation tube in cryopreservation tube automatic access of the present invention and the recognition device;
Fig. 6 is the schematic diagram that cryopreservation tube automatic access of the present invention and recognition device are placed cryopreservation tube;
The schematic diagram of coordinate transform when Fig. 7 is cryopreservation tube automatic access of the present invention and recognition device taking-up cryopreservation tube;
Fig. 8 is the schematic diagram that cryopreservation tube automatic access of the present invention and recognition device are drawn cryopreservation tube.
Wherein: 11, cryopreservation tube storage rack; 12, cryopreservation tube; 121, resettlement section; 122, extension; 123, permanent magnet; 13, straw; 14, electronic tag; 15, liquid nitrogen tank; 21, Three Degree Of Freedom operator; 22, electromagnet; 23, base; 24, gear pair; 25, motor; 26, Z direction hydraulic cylinder; 27, R direction hydraulic cylinder.
The specific embodiment
The invention discloses a kind of cryopreservation tube automatic access and recognition device, this cryopreservation tube automatic access and recognition device pass through computer instruction, the electromagnet access cryopreservation tube of control Three Degree Of Freedom operator end, and stick the electronic tag that has the cell relevant information at the straw outer wall, can confirm the cell that takes out or revise cell information in the chip by the chip read-write equipment, this automated system can improve the efficient of cell access greatly, and under the computer normal operation, greatly reduced the error rate of cell access.
This cryopreservation tube automatic access and recognition device comprise the cryopreservation tube assembly, described cryopreservation tube assembly comprises cryopreservation tube, the cryopreservation tube storage rack, be located in the cryopreservation tube cell and in order to the straw of torage cell, described cryopreservation tube automatic access and recognition device also comprise access element and recognizer component, described access element comprises the Three Degree Of Freedom operator, be located at the electromagnet of Three Degree Of Freedom operator end, base, be located at a pair of gear pair on the base, directly control gear secondary motion and indirectly drive the motor of Three Degree Of Freedom operator rotation, in order to control the Three Degree Of Freedom operator at the Z direction hydraulic cylinder of Z direction lifting, in order to control the Three Degree Of Freedom operator at the flexible R direction hydraulic cylinder of radius of gyration R direction, described cryopreservation tube assembly also comprises the electronic tag of being located in the cryopreservation tube, and described recognizer component comprises the electronic label read-write equipment of reading electronic labels internal information.
Further, the end of described electromagnet is provided with the spring buffer structure in order to the vibration force that cushions the moment generation of drawing or placing cryopreservation tube.
Further, described cryopreservation tube storage rack comprises two-layer at least, liquid nitrogen tank of every layer of fixed placement, described liquid nitrogen tank be provided with several with reeded in order to the fixing support of cryopreservation tube.
Further, described electronic tag is affixed on the straw.
Further, described cryopreservation tube comprises the resettlement section of accommodating straw and links to each other with the resettlement section is convenient to the extension of access cryopreservation tube, and described extension is provided with the permanent magnet of being convenient to electromagnet absorption.
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is described in detail, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, the every other embodiment that those of ordinary skills obtain under the prerequisite of not making creative work belongs to the scope of protection of the invention.
As shown in Figures 1 to 4, cryopreservation tube automatic access disclosed by the invention and recognition device, it comprises cryopreservation tube assembly, access element and recognizer component.The cryopreservation tube assembly comprises cryopreservation tube storage rack 11, cryopreservation tube 12, be located at cell in the cryopreservation tube 12, in order to the straw 13 of torage cell, be located in the cryopreservation tube 12 and be affixed on electronic tag 14 on the straw 13.In embodiments of the present invention, electronic tag 14 is RFID(Radio FrequencyIdentification, RF identification) electronic tag.Access element comprises Three Degree Of Freedom operator 21, is located at the electromagnet 22 of Three Degree Of Freedom operator 21 ends, base 23, be located at a pair of gear pair 24 on the base 23, directly secondary 24 motions of control gear and indirectly drive the motor 25 of Three Degree Of Freedom operator 21 rotations, in order to control Three Degree Of Freedom operator 21 at the Z direction hydraulic cylinder 26 of Z direction lifting, in order to control Three Degree Of Freedom operator 21 at the flexible R direction hydraulic cylinder 27 of radius of gyration R direction.Recognizer component comprises the electronic label read-write equipment of reading electronic labels 14 internal informations.When cell was stored, the relevant information of cell was written in the RFID electronic tag 14.After taking out cryopreservation tube 12, can read information in the RFID electronic tag 14 on the straw 13 by electronic label read-write equipment 31, further confirm whether conform to desired cell.The automation access procedure of cryopreservation tube 12 is mainly finished by Three Degree Of Freedom operator 21 in the native system.Cryopreservation tube automatic access of the present invention and recognition device can improve the efficient of cell access greatly, and under the computer normal operation, have greatly reduced the error rate of cell access.
As shown in Figure 2, when design cryopreservation tube storage mode, consider that in the past liquid nitrogen container storage is disorderly and unsystematic, and storage capacity is less, so, the present invention is set to cryopreservation tube storage rack 11 two-layer at least, liquid nitrogen tank 15 of every layer of fixed placement, liquid nitrogen tank 15 be provided with several with reeded in order to the fixing support of cryopreservation tube 12.This design can reduce floor space, increases memory space, and easy to operate.
Such as Fig. 1 and shown in Figure 4, Three Degree Of Freedom operator 21 total three degree of freedoms of the present invention: around the rotation of Z axis, along the lifting of Z axis and stretching along the radius of gyration.Feature according to Three Degree Of Freedom operator 21 frees degree, the present invention can set up one take Three Degree Of Freedom operator 21 centres of gyration as Z axis, base 23 planes are the cylindrical-coordinate system on XY plane, and with this coordinate be the basis, the coordinate information of electromagnet 22 ends deposits in the computer when calculating original state.Because Three Degree Of Freedom operator 21 is relative fixing with cryopreservation tube storage rack 11 installation sites, then the positional information of cryopreservation tube storage rack 11 each layer liquid nitrogen tank 15 and further groove thereof can represent with circular cylindrical coordinate, and these coordinate informations are deposited in the computer.
As shown in Figure 3, cryopreservation tube 12 comprises accommodating the resettlement section 121 of straw 13 and the extension 122 that links to each other and be convenient to access cryopreservation tube 12 with resettlement section 121, and extension 122 is provided with the permanent magnet 123 of being convenient to electromagnet absorption.The present invention moves by a pair of gear pair 24 that motor 25 drives on the base 23, thereby drive 21 rotations of Three Degree Of Freedom operator, control Three Degree Of Freedom operator 21 in Z direction lifting and flexible in radius of gyration R direction by Z direction hydraulic cylinder 26 and R direction hydraulic cylinder 27 respectively again, so that the electromagnet 22 of Three Degree Of Freedom operator 21 ends arrives cryopreservation tube 12 places of specified coordinate position on the cryopreservation tube storage rack 11, draw the cryopreservation tube 12 that permanent magnet is housed by electromagnet 22.
The effect of electromagnet 22 is actions of specifically carrying out access, electromagnet 22 is drawn in the cryopreservation tube process, if make electromagnet 22 end faces drop to cryopreservation tube 12 in the permanent magnet 123 that embeds when the slight distance, cryopreservation tube 12 is drawn in energising, moment can produce certain vibration, may make the cell detachment on the straw 13; If electromagnet 22 directly drops to and permanent magnet 123 rigid contacts, electromagnet 22 or liquid nitrogen tank 15 are produced damage.And when considering electromagnet 22 power on/off, the moment of namely drawing or placing cryopreservation tube 12 can produce vibration, may cause that cell comes off from straw 13.Therefore, the present invention has designed a spring buffer mechanism at electromagnet 22 afterbodys, and the power that produces when spring can cushion both and contacts does not have rigid contact, and then cryopreservation tubes 12 are drawn in electromagnet 22 energisings, also can not produce vibration, and operating process is steady.
Such as Fig. 5, Fig. 6 and shown in Figure 8, the operation principle of cryopreservation tube automatic access of the present invention and recognition device is: cell after treatment, deposit in the straw 13, relevant information with cell writes RFID electronic tag 14 simultaneously, and RFID electronic tag 14 is attached on the corresponding straw 13, then several straws 13 are put into cryopreservation tube 12.After these work are finished, open electromagnet 22, produce magnetic field in core ends, cryopreservation tube 12 stickings that the top are equipped with permanent magnet 123 are lived.Check and select a unappropriated liquid nitrogen tank 15 by computer interface, computer calculates the coordinate relation of Three Degree Of Freedom operator 21 current locations and target location automatically, then send instruction, drive Three Degree Of Freedom operator 21 and turn over angle θ 1, rise or dropping distance Z1, elongate or shorten R1, arrive liquid nitrogen tank 15 tops of specified coordinate, the distance of a cryopreservation tube 12 of decline, electromagnet 22 removes electricity, puts down cryopreservation tube 12, returns original position again, then several RFID electronic tag 14 information in the cryopreservation tube 12 and wherein cell information are charged in the computer together with corresponding storing coordinate, so that fast finding when taking out cell.
As shown in Figure 7, in the time will taking out some cell samples, input cell numbering or cell relevant information in computer, can retrieve cryopreservation tube 12 and the residing position coordinates thereof of corresponding this cell of storage, computer calculates the coordinate relation of Three Degree Of Freedom operator 21 current locations and target location automatically, then send instruction, drive Three Degree Of Freedom operator 21 and turn over angle θ 2, rise or dropping distance Z2, elongate or shorten R2, arrive liquid nitrogen tank 15 tops of specified coordinate, drop to the permanent magnet 123 of electromagnet 22 end contacts to the cryopreservation tube 12, cryopreservation tube 12 is drawn in electromagnet 22 energisings, returns original position.
When the cell information in the needs identification cryopreservation tube 12, the cryopreservation tube 12 on the electromagnet 22 is taken off, take out the straw 13 of the inside, with RFID electronic tag 14 contact electronic label read-write equipment, read the inside cell information, can be confirmed whether correct.
Cryopreservation tube automatic access and the recognition device of the embodiment of the invention pass through computer instruction, the electromagnet access cryopreservation tube of control Three Degree Of Freedom operator end, and stick the electronic tag that has the cell relevant information at the straw outer wall, can confirm the cell that takes out or revise cell information in the chip by the chip read-write equipment, can greatly improve the efficient of cell access, greatly reduce the error rate of cell access.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned example embodiment, and in the situation that does not deviate from spirit of the present invention or essential characteristic, can realize the present invention with other concrete form.Therefore, no matter from which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present invention is limited by claims rather than above-mentioned explanation, therefore is intended to include in the present invention dropping on the implication that is equal to important document of claim and all changes in the scope.Any Reference numeral in the claim should be considered as limit related claim.
In addition, be to be understood that, although this specification is described according to embodiment, but be not that each embodiment only comprises an independently technical scheme, this narrating mode of specification only is for clarity sake, those skilled in the art should make specification as a whole, and the technical scheme among each embodiment also can through appropriate combination, form other embodiments that it will be appreciated by those skilled in the art that.
Claims (5)
1. a cryopreservation tube automatic access and recognition device, it comprises the cryopreservation tube assembly, described cryopreservation tube assembly comprises cryopreservation tube, the cryopreservation tube storage rack, be located in the cryopreservation tube cell and in order to the straw of torage cell, it is characterized in that: described cryopreservation tube automatic access and recognition device also comprise access element and recognizer component, described access element comprises the Three Degree Of Freedom operator, be located at the electromagnet of Three Degree Of Freedom operator end, base, be located at a pair of gear pair on the base, directly control gear secondary motion and indirectly drive the motor of Three Degree Of Freedom operator rotation, in order to control the Three Degree Of Freedom operator at the Z direction hydraulic cylinder of Z direction lifting, in order to control the Three Degree Of Freedom operator at the flexible R direction hydraulic cylinder of radius of gyration R direction, described cryopreservation tube assembly also comprises the electronic tag of being located in the cryopreservation tube, and described recognizer component comprises the electronic label read-write equipment of reading electronic labels internal information.
2. according to claim 1 described cryopreservation tube automatic access and recognition device is characterized in that: the end of described electromagnet is provided with the spring buffer structure of drawing or placing the vibration force that moment of cryopreservation tube produces in order to buffering.
3. according to claim 1 described cryopreservation tube automatic access and recognition device, it is characterized in that: described cryopreservation tube storage rack comprises two-layer at least, liquid nitrogen tank of every layer of fixed placement, described liquid nitrogen tank be provided with several with reeded in order to the fixing support of cryopreservation tube.
4. according to claim 1 described cryopreservation tube automatic access and recognition device, it is characterized in that: described electronic tag is affixed on the straw.
5. according to claim 1 described cryopreservation tube automatic access and recognition device, it is characterized in that: described cryopreservation tube comprises the resettlement section of accommodating straw and links to each other with the resettlement section is convenient to the extension of access cryopreservation tube, and described extension is provided with the permanent magnet of being convenient to electromagnet absorption.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210485044.9A CN103008036B (en) | 2012-11-26 | 2012-11-26 | Automatic storage and withdrawing and recognition system for cryopreservation tube |
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| CN201210485044.9A CN103008036B (en) | 2012-11-26 | 2012-11-26 | Automatic storage and withdrawing and recognition system for cryopreservation tube |
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| CN103008036A true CN103008036A (en) | 2013-04-03 |
| CN103008036B CN103008036B (en) | 2014-12-10 |
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Cited By (9)
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| CN104528213A (en) * | 2015-01-08 | 2015-04-22 | 成都盛杰低温设备有限公司 | Automatic liquid nitrogen storage and taking cryopreservation tank |
| CN105379706A (en) * | 2015-10-22 | 2016-03-09 | 上海原能细胞医学技术有限公司 | Automatic preservation/extraction control device for frozen cells |
| CN105857937A (en) * | 2016-04-28 | 2016-08-17 | 上海原能健康管理有限公司 | Liquid nitrogen cylinder, cryogenic vial storing and fetching device and liquid nitrogen cylinder storing and fetching system |
| CN105857932A (en) * | 2016-04-28 | 2016-08-17 | 上海原能健康管理有限公司 | Liquid nitrogen container and cryogenic vial pick-and-place device |
| CN105857941A (en) * | 2016-04-28 | 2016-08-17 | 上海原能健康管理有限公司 | Cryogenic vial storing and fetching device |
| CN106370879A (en) * | 2016-11-15 | 2017-02-01 | 基点生物科技（上海）有限公司 | Frozen cell sampling, recognizing and controlling device |
| CN110844596A (en) * | 2019-11-28 | 2020-02-28 | 湖南德凌物流配送有限公司 | Storing and taking device for freezing storage rack |
| CN114081029A (en) * | 2021-12-06 | 2022-02-25 | 颐华国韵(河南)生物科技有限公司 | Stem cell storage method and storage device convenient to select |
| CN114926056A (en) * | 2022-05-31 | 2022-08-19 | 青岛中康原能细胞生物科技有限公司 | Cell storage information determination method, device, equipment and storage medium |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104528213A (en) * | 2015-01-08 | 2015-04-22 | 成都盛杰低温设备有限公司 | Automatic liquid nitrogen storage and taking cryopreservation tank |
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| CN110844596A (en) * | 2019-11-28 | 2020-02-28 | 湖南德凌物流配送有限公司 | Storing and taking device for freezing storage rack |
| CN114081029A (en) * | 2021-12-06 | 2022-02-25 | 颐华国韵(河南)生物科技有限公司 | Stem cell storage method and storage device convenient to select |
| CN114926056A (en) * | 2022-05-31 | 2022-08-19 | 青岛中康原能细胞生物科技有限公司 | Cell storage information determination method, device, equipment and storage medium |
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| CN103008036B (en) | 2014-12-10 |
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Granted publication date: 20141210 Termination date: 20171126 |