CN103008036B - 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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- CN103008036B CN103008036B CN201210485044.9A CN201210485044A CN103008036B CN 103008036 B CN103008036 B CN 103008036B CN 201210485044 A CN201210485044 A CN 201210485044A CN 103008036 B CN103008036 B CN 103008036B
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- cryopreservation tube
- cell
- recognition device
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- cryopreservation
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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 vitrification field, relate in particular to cryopreservation tube automatic access and recognition device in a kind of vitrification method.
Background technology
Along with going deep into that people study biological tissue, 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 in the method, cell leaves the end of straw in, and several straws leave in a cryopreservation tube, and cryopreservation tube is emitted on support, and then support is all immersed in liquid nitrogen and is stored.In order to distinguish different storage objects, researcher coats different colors on straw, and on cryopreservation tube, does a little simple and easy marks.In the time will taking out certain cell, researcher, according to the cell storage information of record, goes for out cryopreservation tube and straw corresponding in liquid nitrogen.
Because the temperature of liquid nitrogen is-196 ℃ of left and right, so the surface at liquid nitrogen can form dense water smoke, blocked people's sight line, cannot see and judge mark on cryopreservation tube and the color of straw clearly, the cell that researcher takes out is usually made mistakes, have to put back to and refetch, more whether check and correction is correct again.When memory space is larger, the error in operation rate of this artificial access cell is very high.Before getting cell at every turn, first retrieve cryopreservation tube mark and the straw color record of torage cell, then go to find in 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, after treating that cryopreservation tube puts up, more again immerse in liquid nitrogen, efficiency is lower.
Therefore,, for above-mentioned technical problem, be necessary to provide a kind of cryopreservation tube automatic access and recognition device having in structure improved vitrification method, to overcome above-mentioned defect.
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 efficiency of cell access greatly, and under 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 cryopreservation tube assembly, described cryopreservation tube assembly comprises cryopreservation tube, cryopreservation tube storage rack, be located at cell in cryopreservation tube 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 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 base, directly control gear secondary motion and indirectly drive the motor of Three Degree Of Freedom operator rotation, in order to control Three Degree Of Freedom operator at the Z direction hydraulic cylinder of Z direction lifting, in order to control 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 cryopreservation tube, 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 at least two-layer, 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 straw.
Preferably, in above-mentioned cryopreservation tube automatic access and recognition device, described cryopreservation tube comprises accommodating the resettlement section of straw and being connected with 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.
From technique scheme, can find out, cryopreservation tube automatic access and the recognition device of the embodiment of the present invention pass through computer instruction, control the electromagnet access cryopreservation tube of Three Degree Of Freedom operator end, and on straw outer wall, stick the electronic tag that has cell relevant information, can confirm the cell taking out or revise the cell information in chip by chip read-write equipment, can greatly improve the efficiency of cell access, greatly reduce the error rate of cell access.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing relevant of the present invention in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of 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 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 recognition device;
Fig. 4 is the kinematic sketch of access element in cryopreservation tube automatic access of the present invention and recognition device;
Fig. 5 is the schematic diagram of coordinate transform while storing cryopreservation tube in cryopreservation tube automatic access of the present invention and 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, control the electromagnet access cryopreservation tube of Three Degree Of Freedom operator end, and on straw outer wall, stick the electronic tag that has cell relevant information, can confirm the cell taking out or revise the cell information in chip by chip read-write equipment, this automated system can improve the efficiency of cell access greatly, and under computer normal operation, greatly reduced the error rate of cell access.
This cryopreservation tube automatic access and recognition device comprise cryopreservation tube assembly, described cryopreservation tube assembly comprises cryopreservation tube, cryopreservation tube storage rack, be located at cell in cryopreservation tube 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 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 base, directly control gear secondary motion and indirectly drive the motor of Three Degree Of Freedom operator rotation, in order to control Three Degree Of Freedom operator at the Z direction hydraulic cylinder of Z direction lifting, in order to control 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 cryopreservation tube, 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 in order to cushion the spring buffer structure of the vibration force of the moment generation of drawing or placing cryopreservation tube.
Further, described cryopreservation tube storage rack comprises at least two-layer, 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 straw.
Further, described cryopreservation tube comprises accommodating the resettlement section of straw and being connected with 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 present invention, the technical scheme in the embodiment of the present invention is described in detail, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in 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.Cryopreservation tube assembly comprises cryopreservation tube storage rack 11, cryopreservation tube 12, be located at cell in cryopreservation tube 12, in order to the straw 13 of torage cell, be located in cryopreservation tube 12 and be affixed on the electronic tag 14 on 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 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 is stored, the relevant information of cell is written in RFID electronic tag 14.After taking out cryopreservation tube 12, can read the information in the RFID electronic tag 14 on straw 13 by electronic label read-write equipment 31, further confirm whether conform to desired cell.In native system, the automation access procedure of cryopreservation tube 12 mainly completes by Three Degree Of Freedom operator 21.Cryopreservation tube automatic access of the present invention and recognition device can improve the efficiency of cell access greatly, and under 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 liquid nitrogen container storage is in the past disorderly and unsystematic, and storage capacity is less, so, the present invention is set to cryopreservation tube storage rack 11 at least two-layer, 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.
As shown in Fig. 1 and Fig. 4, the total three degree of freedom of Three Degree Of Freedom operator 21 of the present invention: around the rotation of Z axis, along the lifting of Z axis and stretching along the radius of gyration.According to the feature of Three Degree Of Freedom operator 21 frees degree, the present invention can set up one, and to take Three Degree Of Freedom operator 21 centres of gyration be Z axis, base 23 planes are the cylindrical-coordinate system of XY plane, and be basis with this coordinate, while calculating original state, the coordinate information of electromagnet 22 ends, deposits in computer.Because Three Degree Of Freedom operator 21 is relative fixing with cryopreservation tube storage rack 11 installation sites, the positional information of cryopreservation tube storage rack 11 each layer of liquid nitrogen tank 15 and further groove thereof can represent by circular cylindrical coordinate, and these coordinate informations are deposited in computer.
Electromagnet 22 comprises iron core, coil and spring.
As shown in Figure 3, cryopreservation tube 12 comprises accommodating the resettlement section 121 of straw 13 and is connected with resettlement section 121 is convenient to the extension 122 of access cryopreservation tube 12, and extension 122 is provided with the permanent magnet 123 of being convenient to electromagnet absorption.The present invention drives a pair of gear pair 24 motions on base 23 by motor 25, thereby drive 21 rotations of Three Degree Of Freedom operator, by Z direction hydraulic cylinder 26 and R direction hydraulic cylinder 27, control Three Degree Of Freedom operator 21 in Z direction lifting and flexible in radius of gyration R direction respectively again, make the electromagnet 22 of Three Degree Of Freedom operator 21 ends arrive cryopreservation tube 12 places of specified coordinate position in cryopreservation tube storage rack 11, by electromagnet 22, draw the cryopreservation tube 12 that permanent magnet is housed.
The effect of electromagnet 22 is actions of specifically carrying out access, electromagnet 22 is drawn in 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 straw 13; If electromagnet 22 directly drops to permanent magnet 123 is rigid, contact, may make electromagnet 22 or liquid nitrogen tank 15 produce and damage.And while considering electromagnet 22 power on/off, the moment of drawing or placing cryopreservation tube 12 can produce vibration, may cause that cell comes off from straw 13.Therefore, the present invention is in electromagnet 22 afterbodys designs Liao Yige spring buffer mechanisms, and the power producing 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.
As shown in Fig. 5, Fig. 6 and Fig. 8, the operation principle of cryopreservation tube automatic access of the present invention and recognition device is: cell after treatment, deposit in straw 13, the relevant information of cell is write to RFID electronic tag 14 simultaneously, and RFID electronic tag 14 is attached on corresponding straw 13, then several straws 13 are put into cryopreservation tube 12.After these work complete, open electromagnet 22, in core ends, produce magnetic field, cryopreservation tube 12 stickings that top are equipped with to permanent magnet 123 are lived.By computer interface, check and select a unappropriated liquid nitrogen tank 15, 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 to 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, put down cryopreservation tube 12, return again original position, then several RFID electronic tag 14 information and cell information wherein in cryopreservation tube 12 are charged in computer with corresponding storing coordinate together, so that fast finding while taking out cell.
As shown in Figure 7, in the time will taking out some cell samples, in computer, input cell numbering or cell relevant information, 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 to 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 electromagnet 22 end contacts to the permanent magnet 123 on cryopreservation tube 12, electromagnet 22 energisings, draw cryopreservation tube 12, return original position.
During cell information in need to identifying cryopreservation tube 12, the cryopreservation tube on electromagnet 22 12 is taken off, take out the straw 13 of the inside, by 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 present invention pass through computer instruction, control the electromagnet access cryopreservation tube of Three Degree Of Freedom operator end, and on straw outer wall, stick the electronic tag that has cell relevant information, can confirm the cell taking out or revise the cell information in chip by chip read-write equipment, can greatly improve the efficiency 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 one exemplary embodiment, and in the situation that not deviating 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, is therefore intended to include in the present invention dropping on the implication that is equal to important document of claim and all changes in scope.Any Reference numeral in claim should be considered as limiting related claim.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should make description as a whole, and the technical scheme in each embodiment also can, through appropriately combined, 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 cryopreservation tube assembly, described cryopreservation tube assembly comprises cryopreservation tube, cryopreservation tube storage rack, be located at cell in cryopreservation tube 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 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 base, directly control gear secondary motion and indirectly drive the motor of Three Degree Of Freedom operator rotation, in order to control Three Degree Of Freedom operator at the Z direction hydraulic cylinder of Z direction lifting, in order to control 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 cryopreservation tube, described recognizer component comprises the electronic label read-write equipment of reading electronic labels internal information.
2. cryopreservation tube automatic access and recognition device according to claim 1, 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. cryopreservation tube automatic access and recognition device according to claim 1, it is characterized in that: described cryopreservation tube storage rack comprises at least two-layer, 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. cryopreservation tube automatic access and recognition device according to claim 1, is characterized in that: described electronic tag is affixed on straw.
5. cryopreservation tube automatic access and recognition device according to claim 1, it is characterized in that: described cryopreservation tube comprises accommodating the resettlement section of straw and being connected with resettlement section is convenient to the extension of access cryopreservation tube, described extension is provided with the permanent magnet of being convenient to electromagnet absorption.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210485044.9A CN103008036B (en) | 2012-11-26 | 2012-11-26 | Automatic storage and withdrawing and recognition system for cryopreservation tube |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 CN103008036A (en) | 2013-04-03 |
| CN103008036B true CN103008036B (en) | 2014-12-10 |
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| CN201210485044.9A Expired - Fee Related CN103008036B (en) | 2012-11-26 | 2012-11-26 | Automatic storage and withdrawing and recognition system for cryopreservation tube |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104528213B (en) * | 2015-01-08 | 2016-11-23 | 中国人民解放军军事医学科学院 | Automatic access liquid nitrogen cryopreservation tank |
| CN105379706B (en) * | 2015-10-22 | 2018-01-16 | 上海原能细胞医学技术有限公司 | The automatic access control device of frozen cell |
| CN105857941B (en) * | 2016-04-28 | 2018-06-29 | 上海原能健康管理有限公司 | Cryopreservation tube access device |
| CN105857932B (en) * | 2016-04-28 | 2018-02-13 | 上海原能健康管理有限公司 | Cryopreservation tube access device |
| CN105857937B (en) * | 2016-04-28 | 2018-05-08 | 上海原能健康管理有限公司 | Cryopreservation tube access device and liquid nitrogen container access system |
| CN106370879B (en) * | 2016-11-15 | 2018-04-10 | 基点生物科技（上海）有限公司 | A kind of frozen cell sampling identification control 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 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7199712B2 (en) * | 2004-06-17 | 2007-04-03 | Tafas Triantafyllos P | System for automatically locating and manipulating positions on an object |
| CN201876384U (en) * | 2010-08-26 | 2011-06-22 | 南京神州英诺华医疗科技有限公司 | Novel automatic respiratory tract sample processor |
| CN102567641B (en) * | 2011-12-31 | 2015-04-22 | 北京市红十字血液中心 | Blood storage system and blood storage method on basis of radio frequency identification |
| CN202921332U (en) * | 2012-11-26 | 2013-05-08 | 苏州大学 | Automatic access and identification device of freezing tube |
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