CN210213518U - Liquid nitrogen storage system - Google Patents

Abstract

The utility model discloses a liquid nitrogen storage system, include: each liquid nitrogen tank is provided with an access port, a tank cover capable of being opened and closed is arranged on the access port, and a switch cover assembly for opening and closing the tank cover is further arranged on the liquid nitrogen tank; the automatic access mechanism is provided with a movable clamp, the clamp is used for forming a first low-temperature storage area after being refrigerated, and the clamp is also used for clamping and transporting the articles taken out of the liquid nitrogen tank or the articles to be stored in the liquid nitrogen tank, and enabling the articles to be located in the first low-temperature storage area during the transportation process; and the translation mechanism is used for driving the automatic storing and taking mechanism to move to the appointed liquid nitrogen tank. In the clamp clamping and article transferring process, the articles are stored at a low temperature in a low-temperature storage area formed by the clamp, so that the influence of the ambient temperature at room temperature is reduced, and the transportation reliability in the transferring process is improved by the whole low-temperature storage.

Description

Liquid nitrogen storage system

Technical Field

The utility model belongs to the technical field of the liquid nitrogen storage, especially, relate to a liquid nitrogen storage system.

Background

At present, the liquid nitrogen container is in the medical instrument field mainly used cryopreservation biological samples such as blood, stem cell, and the liquid nitrogen container is including jar body and the freezing frame of setting in jar body usually, and then place a plurality of freezing boxes that are used for holding the sample on the freezing frame. In the actual use process, the access operation of aiming at the sample is usually realized by matching with a turnover barrel, liquid nitrogen is also added into the turnover barrel, and the sample is transferred and processed under the external environment in the access operation process between a liquid nitrogen tank and the turnover barrel. After the sample is taken out of the liquid nitrogen tank or the turnover barrel through the clamp, the sample is exposed to a room temperature environment, so that the temperature of the sample is increased to influence the activity of the sample. How to design a whole technology of low temperature access in order to ensure the sample activity is the technical problem that the utility model aims to solve.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to the technical problem who exists among the prior art, provide a liquid nitrogen storage system, the article transportation in-process is got to the anchor clamps clamp, and article are located the low temperature storage area that anchor clamps formed and keep low temperature storage to reduce room temperature ambient temperature's influence, realize whole low temperature access in order to improve the transportation reliability in the transportation.

In order to realize the purpose of the utility model, the utility model adopts the following technical scheme to realize:

the utility model provides a liquid nitrogen storage system, include:

each liquid nitrogen tank is provided with an access port, a tank cover capable of being opened and closed is arranged on the access port, and a switch cover assembly for opening and closing the tank cover is further arranged on the liquid nitrogen tank;

the automatic access mechanism is provided with a movable clamp, the clamp is used for forming a first low-temperature storage area after being refrigerated, and the clamp is also used for clamping and transporting the articles taken out of the liquid nitrogen tank or the articles to be stored in the liquid nitrogen tank, and enabling the articles to be located in the first low-temperature storage area during the transportation process;

and the translation mechanism is used for driving the automatic storing and taking mechanism to move to the appointed liquid nitrogen tank.

Further, the jig includes:

the first clamping jaw is provided with heat-insulating shells, and the first low-temperature storage area is formed between the two heat-insulating shells;

the first driving mechanism is used for driving the first clamping jaw to move;

the first driving mechanism is installed on the fixed seat.

Further, the automatic access mechanism comprises:

the installation platform is provided with an operation opening, the installation platform is installed on the liquid nitrogen tank, and the access opening is positioned in the operation opening;

and the moving module is used for driving the clamp to move, and the moving module is installed on the installation platform.

Furthermore, a rotatable storage rack is arranged in the liquid nitrogen tank, a freezing rack which can be taken out is arranged on the storage rack, and the freezing rack is used for storing articles to be stored;

the automatic access mechanism further comprises:

the lifting assembly is provided with a lifting connecting part which can move up and down, and the lifting connecting part is used for penetrating through the access port to be connected with the freezing frame and lifting the freezing frame out of the liquid nitrogen tank;

the mounting platform is provided with a vertical support, and the lifting assembly is mounted on the vertical support and located above the operation opening.

Further, the lifting assembly comprises:

the lifting module is used for driving the lifting connecting part to move up and down;

the lifting channel is used for forming a second low-temperature storage area after refrigeration;

wherein, the lifting connection part is also used for pulling out the freezing storage rack and sending the freezing storage rack into the second low-temperature storage area.

Further, the lifting assembly further comprises:

the pushing module is provided with a pushing part capable of moving back and forth, the pushing part is used for pushing the articles on the freezing frame out of the lifting channel, and the pushing part is also used for pushing the external articles into the freezing frame for storage;

wherein the push module is located at a lower portion of the lifting channel.

Furthermore, a selection operation space is arranged on the mounting platform and used for forming a third low-temperature storage area after refrigeration.

Further, the clamp further includes:

a second jaw;

and the second driving mechanism is used for driving the second clamping jaw to move, and the second driving mechanism is installed on the fixed seat.

Further, the clamp further includes:

and the rotating module is arranged on the moving module and is used for driving the fixed seat to rotate.

Further, the method also comprises the following steps:

and the automatic conveying mechanism is used for automatically conveying the articles taken out by the automatic access mechanism out and automatically conveying external articles to the automatic access mechanism.

Further, the automatic carrying mechanism includes:

the turnover barrel is used for storing articles to be transported, and is also used for forming a fourth low-temperature storage area after being refrigerated;

an automatic transport assembly for automatically transporting the tote.

Compared with the prior art, the utility model discloses an advantage is with positive effect: get the article of treating the access through the anchor clamps that adopt to have the refrigeration function and press from both sides, the article transportation in-process is got to anchor clamps clamp, because article are located the first low temperature storage area that anchor clamps formed, make article take out from the liquid nitrogen container after still exist low temperature environment in the storage temporarily, and reduce the influence that receives room temperature ambient temperature, avoid article transportation in-process because of rising temperature too high and cause the damage, realize whole low temperature access in order to improve the transportation reliability in the transportation, especially to the sample that adopts the liquid nitrogen storage, more be favorable to guaranteeing that the sample keeps good activity.

Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when read in conjunction with the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural view of an embodiment of a liquid nitrogen storage system of the present invention;

FIG. 2 is a schematic diagram of an automatic access mechanism in an embodiment of a liquid nitrogen storage system of the present invention;

FIG. 3 is a schematic structural view of a clamp in an embodiment of a liquid nitrogen storage system of the present invention;

FIG. 4 is a schematic structural view of a lifting assembly in an embodiment of a liquid nitrogen storage system of the present invention;

FIG. 5 is a schematic structural diagram of a push module in an embodiment of a liquid nitrogen storage system of the present invention;

figure 6 is a cross-sectional view of a liquid nitrogen tank in an embodiment of a liquid nitrogen storage system of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 to 6, the liquid nitrogen storage system of the present embodiment includes:

each liquid nitrogen tank 1 is provided with an access port 11, and liquid nitrogen is contained in the liquid nitrogen tanks 1; the access port is provided with a switchable tank cover 14, and the liquid nitrogen tank 1 is also provided with a switch cover assembly 15 for switching the tank cover;

the automatic access mechanism 2 is provided with a movable clamp 21, the clamp 21 is used for forming a first low-temperature storage area 100 after being refrigerated, and the clamp 21 is also used for clamping and transporting the articles taken out of the liquid nitrogen tank 1 or the articles to be stored in the liquid nitrogen tank 1, and enabling the articles to be located in the first low-temperature storage area 100 during the transportation process;

and the translation mechanism 3 is used for driving the automatic storing and taking mechanism 2 to move to the appointed liquid nitrogen tank 1.

Specifically, the liquid nitrogen storage system of the present embodiment includes a plurality of liquid nitrogen tanks 1, wherein liquid nitrogen is added to the liquid nitrogen tanks 1 to form a cryogenic environment, and articles such as biological samples (e.g., blood, stem cells) that need to be stored at low temperature are stored in the liquid nitrogen tanks 1 through the access ports 11. When the article that needs take out from liquid nitrogen container 1, or deposit the article of outside in liquid nitrogen container 1, then translation mechanism 3 drives automatic access mechanism 2 and removes appointed liquid nitrogen container 1 department, carries out the clamp through anchor clamps 21 in automatic access mechanism 2 and gets the article and transport the operation. And during the transportation process of the articles, the articles are transported in a room temperature environment. In order to ensure that good cryogenic storage conditions are maintained during the transfer process, refrigerated clamps 21 are used to grip the articles for transfer. Specifically, before the clamp 21 clamps the articles, the clamp 21 performs a refrigeration process to form the first low-temperature storage area 100, and during the process of clamping the articles and transferring the articles, the articles will be located in the first low-temperature storage area 100, so that the articles during the transfer process can still be temporarily stored in the low-temperature environment. Therefore, the articles can be ensured not to be excessively heated under the influence of the room temperature environment in the transferring process. Wherein, for anchor clamps 21, generally dispose and remove module 23, remove module 23 and can drive anchor clamps 21 removal to satisfy the transportation of article and want, and the concrete entity that removes module 23 has multiple form. For example: the moving module 23 can adopt a mechanical arm, the clamp 21 is installed and fixed at the installation position of the mechanical arm, and the clamp 21 is driven to move by the mechanical arm; or, the moving module 23 may adopt a three-dimensional moving platform, and then the clamp 21 is installed in a moving portion of the three-dimensional moving platform, and the three-dimensional moving platform may drive the clamp 21 to move so as to meet the requirement of article transportation. The representation entity of the translation mechanism 3 may be a three-dimensional moving platform, an AVG trolley or a moving gantry, and the specific representation entity of the translation mechanism 3 is not limited herein. Taking the translation mechanism 3 as a three-dimensional moving platform as an example, the translation mechanism 3 is installed on the operation table 30, and the plurality of liquid nitrogen tanks 1 are located below the operation table 30, and the operation table 30 is provided with through holes 301, so that the access port 11 is located in the through holes 301. In the using process, the translation mechanism 3 drives the automatic access mechanism 2 to move to the through hole 301 corresponding to the upper part of the liquid nitrogen container 1, and the automatic access mechanism 2 can access articles for the liquid nitrogen container 1 below the through hole 301 through the clamp 21.

Preferably, in order to implement a fully automated design of accessing the articles, the liquid nitrogen storage system of the embodiment further includes: and an automatic transport mechanism 4, wherein the automatic transport mechanism 4 is used for automatically transporting out the articles taken out by the automatic storing and taking mechanism 2, and is also used for automatically transporting external articles to the automatic storing and taking mechanism 2. Specifically, liquid nitrogen storage system can install in the confined storage room, forms the environment of constant temperature and humidity in this storage room for this embodiment liquid nitrogen storage system is whole can be better with external isolation, reduces the influence that receives external environment factor, and storage room can be configured with the access window that can switch. When an article stored in a certain liquid nitrogen tank 1 needs to be taken out, the translation mechanism 3 drives the automatic storing and taking mechanism 2 to move to the position of the liquid nitrogen tank 1, the article in the liquid nitrogen tank 1 is taken out through the clamp 21, and the translation mechanism 3 drives the automatic storing and taking mechanism 2 to move to one end part of the operation table board 30. At this time, the automatic transport mechanism 4 automatically moves to the automatic storage and retrieval mechanism 2, the automatic storage and retrieval mechanism 2 places the article into the automatic transport mechanism 4 through the clamp 21, and the automatic transport mechanism 4 transports the article to the storage and retrieval window, thereby completing the operation of taking out the article. The process of storing the articles is opposite to the process of taking out the articles, and is not described herein. Wherein, for convenient automatic access, automatic conveying mechanism 4 includes: the turnover barrel 41 is used for storing articles to be transported, and the turnover barrel 41 is also used for forming a low-temperature storage area after refrigeration; the automatic transport assembly 42 is used to automatically transport the turnover tub 41. Specifically, the turnover barrel 41 contains liquid nitrogen to form a low-temperature storage area, and the automatic transportation assembly 42 can move in the storage compartment with the turnover barrel 41 to complete the transportation of the articles inside and outside the storage compartment. The presentation entity of the automatic transport assembly 42 may be an AVG trolley or a mobile gantry, and is not limited herein. The automated transportation assembly 42 may be configured with a robot arm to facilitate the handling of the tote 41, and to facilitate the movement of the tote 41 by the robot arm.

Further, in order to realize that the first low temperature storage region 100 is formed after the cooling process is performed on the jig 21. The jig 21 includes: a first clamping jaw 211, a first driving mechanism 212 and a fixed seat 213; the first clamping jaw 211 is provided with heat-insulating shells 2111, and a first low-temperature storage area 100 is formed between the two heat-insulating shells 2111; the first driving mechanism 212 is used for driving the two oppositely arranged first clamping jaws 211 to move relatively so as to complete the clamping and releasing actions; the first driving mechanism 212 is mounted on the fixed base 213. Specifically, the first clamping jaw 211 can move relatively under the driving action of the first driving mechanism 212 to clamp or release the article. The fixed seat 210 is fixedly installed on the moving module 23, so that the moving module 23 can drive the clamp 21 to move. There are various forms for the concrete representation of the first driving mechanism 213, for example: electric jaws, or pneumatic fingers, etc. In addition, in order to avoid the first clamping jaw 211 from transmitting cold to the first drive mechanism 213, the first clamping jaw 211 can be mounted to the first drive mechanism 213 via a thermally isolating connection 2112, for example: one end of the thermal isolation connector 2112 is connected to the first jaw 211 by a screw, and the other end is fixed to the first driving mechanism 212 by a screw.

Wherein, for automatic access mechanism 2, for convenient installation with liquid nitrogen container 1 fixed, automatic access mechanism 2 includes: the installation platform 20, the installation platform 20 is provided with an operation opening (not marked), the installation platform 20 is installed on the liquid nitrogen tank 1, and the access opening 11 is positioned in the operation opening. Specifically, the mounting platform 20 is located above the liquid nitrogen tank 1, the access port 11 is located in the operation port, and the moving module 23 is mounted and fixed on the mounting platform 20. The moving module 23 can drive the clamp 21 to move to the operation port position and take out the article in the liquid nitrogen tank 1 through the access port 11, or store the article in the liquid nitrogen tank 1.

Preferably, in order to facilitate the access to the articles, a rotatable storage rack 12 is arranged in the liquid nitrogen tank 1, a removable freezing rack 13 is arranged on the storage rack 12, and the freezing rack 13 is used for storing the articles to be stored. Specifically, the storage rack 12 is provided with a rotating shaft 121, the rotating shaft 121 is rotatably installed in the liquid nitrogen tank 1, in order to facilitate automatic driving, one end of the rotating shaft 121 extends out of the liquid nitrogen tank 1, and the end of the rotating shaft 121, which is located outside the liquid nitrogen tank 1, can provide power through a motor 122, so that the rotating shaft 121 drives the storage rack 12 to rotate in the liquid nitrogen tank 1. The storage rack 12 is further provided with a plurality of freezing racks 13 around the rotary shaft 121, and the freezing racks 13 can move up and down. When the freezing rack 13 moves to the lower part of the access opening 11, the freezing rack 13 can be pulled out from the liquid nitrogen tank 1, so that the articles stored in the freezing rack 13 can be taken out, and the articles to be stored from the outside can be put into the freezing rack 13.

Further, in order to realize that automatic extraction freezes deposits frame 13, automatic access mechanism 2 still includes: the lifting assembly 22 is provided with a lifting connecting part 221 capable of moving up and down, and the lifting connecting part 221 is used for penetrating through the access opening 11 to be connected with the freezing frame 13 and lifting and pulling the freezing frame 13 out of the liquid nitrogen tank 1. Specifically, when the freezing rack 13 in the liquid nitrogen tank 1 needs to be taken out, the lifting connection portion 221 in the lifting assembly 22 moves downward, the lifting connection portion 221 enters the liquid nitrogen tank 1 through the access opening 11, and the lifting connection portion 221 is finally connected with the freezing rack 13. Then, the lifting assembly 22 pulls the lifting connection 221 upward to take out the cryopreserved rack 13 from the liquid nitrogen tank 1. For the concrete entity of the lifting connection portion 221, a hook, an electromagnetic absorption mode, and the like can be adopted, which is not limited herein.

Preferably, in order to ensure that the extracted articles on the cryopreservation rack 13 can obtain a good low-temperature storage environment, the lifting assembly 22 specifically comprises: a lifting module 222 and a lifting channel 223; the lifting module 222 is used for driving the lifting connection part 221 to move up and down, and the lifting channel 223 is used for forming a second low-temperature storage area after refrigeration; the lifting connection 221 is also used to bring the drawn-out freezers 13 into the second low temperature storage area. Specifically, the lifting module 222 can drive the lifting connection portion 221 to move up and down so as to allow the lifting connection portion 221 to enter and exit the liquid nitrogen tank 1 to access the cryopreservation rack 13, and the concrete representation entity of the lifting module 222 has various forms. For example: the lifting module 222 may adopt a mode of a chain wheel matching a chain, that is, the lifting connection portion 221 is connected to one end of the chain, and the lifting connection portion 221 is driven by the chain to move up and down by driving the chain wheel to rotate; or, the lifting module 222 may adopt a manner of a gear matching with a rack, that is, the lifting connection portion 221 is connected to the lower end portion of the rack, and the driving gear rotates to drive the lifting connection portion 221 to move up and down through the rack, where the concrete representation entity of the lifting module 222 is not limited. Before the freezing rack 13 is taken out of the liquid nitrogen tank 1, the lifting passage 223 is refrigerated to form a second low temperature storage region in the lifting passage 223. The lifting connection part 221 directly enters the lifting channel 223 after pulling out the freezing frame 13, so that the freezing frame 13 separated from the liquid nitrogen tank 1 can be stored in the lifting channel 223 at low temperature, and good low-temperature storage environment of articles on the freezing frame 13 is ensured.

In order to facilitate the clamp 21 to clamp the articles to be taken out from the freezing frame 13 or store the articles clamped by the clamp 21 on the freezing frame 13; the lift assembly 22 further includes: the pushing module 224, the pushing module 224 is provided with a pushing part 2241 capable of moving back and forth, the pushing part 2241 is used for pushing the articles on the freezing rack 13 out of the lifting passage 223, and the pushing part 2241 is also used for pushing the articles outside into the freezing rack 13 for storage; wherein the push module 224 is located at a lower portion of the lifting passage 223. Specifically, in the process of taking out the articles from the freezing rack 13 or storing the articles in the freezing rack 13, the pushing part 2241 in the pushing module 224 pushes the articles to move, so as to enter and exit the freezing rack 13. The pushing module 224 is arranged at the lower part of the lifting channel 223, and in the process that the lifting connecting part 221 drives the freezing frame 13 to lift, the pushing part 2241 is positioned at one side to avoid influencing the moving freezing frame 13; after the freezing rack 13 is moved to the right position, the pushing unit 2241 is moved to push out the articles on the freezing rack 13, and similarly, the articles outside can be pushed into the freezing rack 13 to be stored. The article pushed out by the pushing unit 2241 can be gripped by the gripper 21 to be transferred; and for the article to be transferred to the pushing module 224 by the clamp 21, the article can be pushed into the freezing rack 13 by the pushing part 2241 for storage. There are various ways to realize the reciprocating movement of the pushing part 2241, for example: the pushing part 2241 can be driven to reciprocate by adopting an electric push rod mode; alternatively, a gear is matched with a rack, the gear can be driven by the motor 2242, the pushing part 2241 is installed on the rack, and the motor 2242 drives the gear to rotate so as to drive the rack to slide, so that the pushing part 2241 can reciprocate. The entity of the pushing part 2241 may be a push plate or a push block, and the like, which is not limited herein.

In addition, in order to reduce the volatilization amount of liquid nitrogen in the liquid nitrogen tank 1, a tank cover 14 which can be opened and closed is arranged on the access port 11 of the liquid nitrogen tank 1; the liquid nitrogen tank 1 is provided with a switch cover assembly 15, the switch cover assembly 15 is provided with a reversible connecting arm 151, and the connecting arm 151 is connected with the tank cover 14. When the articles need to be stored and taken out, the connecting arm 151 in the switch cover assembly 15 rotates to automatically open the tank cover 14, and the lifting module 222 can extend into the liquid nitrogen tank 1 through the lifting connecting part 221 to take out the freezing rack 13. After the access operation is completed, the connecting arm 151 rotates in the reverse direction, so that the lid 14 automatically closes the access opening 11. For the power source of the connecting arm 151, a rotation driving mechanism 152 may be used to drive the connecting arm 151 to rotate, and the representation entity of the rotation driving mechanism 152 may be a rotating motor or the like, which is not limited herein.

Furthermore, the freezing rack 13 may be used to hold various articles. Like this, the cryopreserved box is got the transportation in-process by anchor clamps 21 clamp, need select the operation to the article in the cryopreserved box, selects the in-process, in order to guarantee that the article is in storage under the low temperature environment, is provided with on the mounting platform 20 and selects the operating space, selects the operating space and forms the third low temperature storage area after being used for refrigerating. Specifically, for the article taken out from the liquid nitrogen tank 1 or to be stored in the liquid nitrogen tank 1, when the selection operation is required, the article is transported to the third low-temperature storage area formed by the selection operation space by the clamp 21, the article is selected in the selection operation space, and after the selection is completed, the article is transported continuously by the clamp 21. In the process of selecting the articles, the articles can still be stored in a good low-temperature environment due to the fact that the articles are in the third low-temperature storage area. There are various forms for selecting the concrete representation entity of the operation space, for example: a groove structure can be directly formed on the mounting platform 20, the groove structure forms a selection operation space, and before selection processing, refrigeration processing is performed on the interior of the groove structure to form a third low-temperature storage area; alternatively, a selection bucket 24 may be additionally provided, the selection bucket 24 is disposed on the mounting platform 20, before the selection process, the interior of the selection bucket 24 is refrigerated to form a third low-temperature storage area, and the articles gripped by the gripper 21 are put into the selection bucket 24 for selection.

Preferably, in order to facilitate the picking operation by the gripper 21, the gripper 21 further includes: a second clamping jaw 214 and a second driving mechanism 215, the second driving mechanism 215 is used for driving the two second clamping jaws 214 to move relatively, and the second driving mechanism 215 is installed on the fixed seat 213. Specifically, after the gripper 21 puts the article into the picking operation space through the first gripper 211, the gripper 21 switches the second gripper 214 to the working position, and the second driving mechanism 215 drives the second gripper 214 to move to pick up the article in the picking operation space. Examples are as follows: taking the sample tubes stored in the freezing storage box as the articles to be accessed, a plurality of sample tubes are usually stored in the freezing storage box on the freezing storage rack 13 in the liquid nitrogen tank 1. When a certain sample test tube needs to be taken out, the clamp 21 conveys the cryopreservation box to the selection operation space through the first clamping jaw 211, and at the moment, a plurality of sample test tubes in the cryopreservation box are all in the third low-temperature storage area for low-temperature storage. During selection, the clamp 21 switches the second clamping jaw 214 to be at a working station, and the required sample test tube in the cryopreservation box is selected through the second clamping jaw 214. The above process is a process of taking out the sample test tube, and a process of storing the sample test tube in the cryopreservation box is not described herein again.

In order to facilitate switching the work of the first clamping jaw 211 and the second clamping jaw 214, the clamp 21 further comprises: and the rotating module 216 is installed on the moving module 23, and is used for driving the fixed seat 213 to rotate. Specifically, when the first clamping jaw 211 and the second clamping jaw 214 are switched to work, the rotating module 216 drives the fixing seat 213 to rotate so as to drive the first clamping jaw 211 and the second clamping jaw 214 to rotate, so that the first clamping jaw 211 or the second clamping jaw 214 is arranged towards the working posture. The rotating module 216 may be a rotating motor or a rotating cylinder. Where a multi-axis robot is used for the moving module 23, the rotation module 216 may be integrated into the moving end of the multi-axis robot.

For the low-temperature storage region formed by the refrigeration method, the refrigeration method can adopt various forms. For example: the compressor may be used to produce cold air, which is used to form a corresponding cold storage region. Preferably, the low-temperature storage regions may be formed by adding liquid nitrogen for convenience of practical operation and reduction of use cost, and the formation of each low-temperature storage region will be described below. With respect to the first cryogenic storage area 100 formed by clamp 21, the inside of thermal shells 2111 is filled with liquid nitrogen, which forms a first cryogenic storage area between the two thermal shells 2111. As for the second cryogenic storage region formed by the lifting passage 223, liquid nitrogen is injected into the lifting passage 223 in the same manner, and the second cryogenic storage region can be formed in the lifting passage 223 by using the liquid nitrogen. For the third cryogenic storage area, for example, in the case of the sorting bucket 24, liquid nitrogen is added to the sorting bucket 24, so that the third cryogenic storage area can be formed in the sorting bucket 24. The liquid nitrogen can be injected into the cryogenic storage area by a delivery pipe. For the clamp 21, a liquid nitrogen supply pipe is provided on the heat-insulating housing 2111, the liquid nitrogen supply pipe can be connected to a liquid nitrogen supply tank, and liquid nitrogen in the liquid nitrogen supply tank flows into the liquid nitrogen supply pipe to form a first low-temperature storage region between the two heat-insulating housings 2111. As for the lifting passage 223, a liquid nitrogen supply pipe is also provided on the lifting passage 223, and sprays liquid nitrogen from the top of the lifting passage 223 to form a second cryogenic storage region. As for the sorting bucket 24, a liquid nitrogen supply pipe is also provided on the sorting bucket 24, and the liquid nitrogen supply pipe inputs liquid nitrogen to the bottom of the sorting bucket 24 to form a third low-temperature storage region.

Based on the liquid nitrogen storage system, the low-temperature transportation is realized by adopting the following method, and the low-temperature transportation method comprises the following steps: after the clamp is refrigerated to form a first low-temperature storage area in the clamp, the clamp is used for clamping the articles to be stored and taken for transferring, and the articles are located in the first low-temperature storage area in the transferring process. Specifically, before the articles to be stored and taken are transported, the clamp is refrigerated, and after the clamp is refrigerated, a first low-temperature storage area is formed in the clamp. In the process of transferring the article to be stored and taken by the clamp, the article is located in the first low-temperature storage area, so that the article is protected by a low-temperature environment in the transferring process, and the excessive temperature rise caused by the influence of the room-temperature environment is avoided.

In the actual use process, the low-temperature transferring method correspondingly comprises an extracting process and a storing process for taking out and storing the articles, which are specifically described as follows.

For the extraction process, the articles stored in the liquid nitrogen tank are taken out and transported to other storage components, such as: the following description will be made by taking the articles in the liquid nitrogen tank out and transferring them to the transfer tank. The extraction process comprises the following steps: after refrigerating the anchor clamps and handling in order to form first low temperature storage environment, utilize anchor clamps to press from both sides the article of getting out from the liquid nitrogen container and carry out the transportation and handle, finally, anchor clamps put into the turnover bucket with article and accomplish the transportation operation. After the article is taken out from the liquid nitrogen tank, in the transfer process, the article obtains low-temperature protection in a first low-temperature storage environment formed by the clamp, and the adverse influence of the room-temperature environment on the article in transfer is reduced. The liquid nitrogen tank can be provided with a plurality of removable storage units, and the storage units are provided with a plurality of stations for storing articles. The freezing frame is used in the liquid nitrogen tank as an example for explanation, and a plurality of articles can be stored on the freezing frame at the same time. In the extraction step, a plurality of articles are taken out at a time from the liquid nitrogen tank. For this purpose, the extraction process further comprises: before articles in the liquid nitrogen tank are taken out, the articles are firstly subjected to refrigeration treatment outside the access opening of the liquid nitrogen tank to form a second low-temperature storage area, specifically, the contents of the embodiment of the liquid nitrogen storage system are referred, a lifting channel is configured above the access opening of the liquid nitrogen tank, and the freezing frame enters the lifting channel for temporary storage after being taken out. Before the freezing frame is taken out, the interior of the lifting channel is subjected to refrigeration treatment to form a second low-temperature storage area, so that the freezing frame is taken out and then enters the second low-temperature storage area to be stored at low temperature, and low-temperature protection is effectively carried out on a plurality of articles stored on the freezing frame, so that the articles taken out of the liquid nitrogen tank are temporarily stored in the second low-temperature storage area. And then, the clamp is used for clamping the articles output from the second low-temperature storage area and carrying out transfer processing. And regarding the mode of outputting the articles in the second low-temperature storage area, the pushing module is adopted to push the articles stored on the freezing storage rack out of the lifting channel in the embodiment of the liquid nitrogen storage system, so that the clamp can clamp the pushed articles.

And aiming at the storage process, storing the articles to be stored outside into a liquid nitrogen tank. For example: the following description will be given taking an example in which the articles transported in the turnover tank are stored in a liquid nitrogen tank. The storage process comprises the following steps: after refrigerating the anchor clamps and in order to form first low temperature storage environment, utilize anchor clamps clamp to get the article of waiting to deposit and transport to the access opening department of liquid nitrogen container, deposit article in the liquid nitrogen container again. Specifically, the clamp clamps and takes out the articles from the turnover barrel, and finally transports the articles to the liquid nitrogen tank, and the articles are stored in the liquid nitrogen tank. Wherein, the article can be directly put into the liquid nitrogen container through the clamp to finish the transferring operation. And adopt to freeze to deposit under the condition of similar structure storing such as frame to the liquid nitrogen container, then anchor clamps can't directly deposit article in the liquid nitrogen container, and the process of specifically depositing is as follows: before the articles are stored in the liquid nitrogen tank, the articles are firstly refrigerated outside an access opening of the liquid nitrogen tank to form a second low-temperature storage area, the articles are transferred to the second low-temperature storage area by the clamp for temporary storage, and then the articles in the second low-temperature storage area are placed into the liquid nitrogen tank. Specifically, referring to the content of the embodiment of the liquid nitrogen storage system, before the freezing rack is taken out, the inside of the lifting channel is refrigerated to form a second low-temperature storage area, and then the freezing rack is lifted into the second low-temperature storage area. The clamp transports the articles to the lifting channel, pushes the articles to the freezing frame through the pushing module for storage, and finally, the freezing frame is stored back to the liquid nitrogen tank. The freezing frame lifted from the access port of the liquid nitrogen tank is temporarily stored in the second low-temperature storage area, so that good low-temperature protection of articles stored on the freezing frame in the second low-temperature storage area can be ensured in the storage process.

In addition, if there is an operation of sorting the stored articles outside the liquid nitrogen tank, the cryogenic transfer method further includes a sorting step. The selecting process specifically comprises the following steps of before the articles are stored in the liquid nitrogen tank or after the articles are taken out of the liquid nitrogen tank: and refrigerating the outside of the liquid nitrogen tank to form a third low-temperature storage area, clamping a plurality of articles by the clamp, transferring the articles to the third low-temperature storage area, and after selecting the required articles in the third low-temperature storage area, further carrying out transfer treatment by clamping the selected articles by the clamp. Specifically, in the process of selecting the articles, the articles are selected in the third low-temperature storage area, and the third low-temperature storage area can perform low-temperature protection on the articles to be selected, so that the articles are prevented from being heated too high due to the influence of the room-temperature environment in the selecting process. The freezing storage rack is used for placing the freezing storage box, a plurality of sample test tubes are placed in the freezing storage box, and the taken-out articles are taken as certain sample test tubes in the freezing storage box for illustration. The frame is deposited to freezing is pulled out and is had in the promotion passageway, deposits the box with freezing that corresponds through promoting the module and pushes away from and remove the outside that promotes the passageway from depositing the frame, and anchor clamps then press from both sides and get the box of depositing and transport and put into the third low temperature storage area of choosing tub formation. Then, the box cover of the cryopreservation box is opened through the clamp, and the selection operation of the corresponding sample test tube in the cryopreservation box is carried out. Finally, the required sample tubes are sorted out and stored in a transfer bucket. And for the freezing storage box stored in the tube picking barrel, the freezing storage box is transported back to the original position through the clamp.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or that equivalents may be substituted for elements thereof; such modifications and substitutions do not depart from the spirit and scope of the present invention, which is claimed.

Claims (11)

1. A liquid nitrogen storage system, comprising:

each liquid nitrogen tank is provided with an access port, a tank cover capable of being opened and closed is arranged on the access port, and a switch cover assembly for opening and closing the tank cover is further arranged on the liquid nitrogen tank;

the automatic access mechanism is provided with a movable clamp, the clamp is used for forming a first low-temperature storage area after being refrigerated, and the clamp is also used for clamping and transporting the articles taken out of the liquid nitrogen tank or the articles to be stored in the liquid nitrogen tank, and enabling the articles to be located in the first low-temperature storage area during the transportation process;

and the translation mechanism is used for driving the automatic storing and taking mechanism to move to the appointed liquid nitrogen tank.

2. The liquid nitrogen storage system of claim 1, wherein the clamp comprises:

the first clamping jaw is provided with heat-insulating shells, and the first low-temperature storage area is formed between the two heat-insulating shells;

the first driving mechanism is used for driving the first clamping jaw to move;

the first driving mechanism is installed on the fixed seat.

3. The liquid nitrogen storage system of claim 2, wherein the automated access mechanism comprises:

the installation platform is provided with an operation opening, the installation platform is installed on the liquid nitrogen tank, and the access opening is positioned in the operation opening;

and the moving module is used for driving the clamp to move, and the moving module is installed on the installation platform.

4. The liquid nitrogen storage system according to claim 3, wherein a rotatable storage rack is arranged in the liquid nitrogen tank, a removable freezing rack is arranged on the storage rack, and the freezing rack is used for storing articles to be stored;

the automatic access mechanism further comprises:

the lifting assembly is provided with a lifting connecting part which can move up and down, and the lifting connecting part is used for penetrating through the access port to be connected with the freezing frame and lifting the freezing frame out of the liquid nitrogen tank;

the mounting platform is provided with a vertical support, and the lifting assembly is mounted on the vertical support and located above the operation opening.

5. The liquid nitrogen storage system of claim 4, wherein the lift assembly comprises:

the lifting module is used for driving the lifting connecting part to move up and down;

the lifting channel is used for forming a second low-temperature storage area after refrigeration;

wherein, the lifting connection part is also used for pulling out the freezing storage rack and sending the freezing storage rack into the second low-temperature storage area.

6. The liquid nitrogen storage system of claim 5, wherein the lift assembly further comprises:

the pushing module is provided with a pushing part capable of moving back and forth, the pushing part is used for pushing the articles on the freezing frame out of the lifting channel, and the pushing part is also used for pushing the external articles into the freezing frame for storage;

wherein the push module is located at a lower portion of the lifting channel.

7. The liquid nitrogen storage system of claim 3, wherein a selection operating space is provided on the mounting platform, and the selection operating space is used for forming a third cryogenic storage region after refrigeration.

8. The liquid nitrogen storage system of claim 7, wherein the clamp further comprises:

a second jaw;

and the second driving mechanism is used for driving the second clamping jaw to move, and the second driving mechanism is installed on the fixed seat.

9. The liquid nitrogen storage system of claim 8, wherein the clamp further comprises:

and the rotating module is arranged on the moving module and is used for driving the fixed seat to rotate.

10. The liquid nitrogen storage system according to any one of claims 1 to 9, further comprising:

and the automatic conveying mechanism is used for automatically conveying the articles taken out by the automatic access mechanism out and automatically conveying external articles to the automatic access mechanism.

11. The liquid nitrogen storage system of claim 10, wherein the automated transport mechanism comprises:

the turnover barrel is used for storing articles to be transported, and is also used for forming a fourth low-temperature storage area after being refrigerated;

an automatic transport assembly for automatically transporting the tote.

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