Automated Storage and Retrieval System for Storing Biological or Chemical Samples at Ultra-Low Temperatures

Abstract

An automated storage and retrieval system stores containers, typically containing biological or chemical samples, at ultra-low temperatures, i.e., from about −50° C. to about −90° C., preferably about −80° C. under normal operating conditions. A robot automatically places sample storage containers in stationary storage racks within the freezer compartment. Magnetic couplings are used to transmit mechanical power from outside of the freezer compartment to the robot inside of the freezer compartment. The robot has a simplified mechanical configuration.

1 . (canceled) 
     
     
         2 . A system as recited in  claim 9  wherein at least some of the sample storage containers in the ultra-low temperatures compartment hold sealed tubes containing biological samples and the system further comprises a tube picking compartment on the door that contains a tube picking mechanism and also has an access door to provide access between the tube picking compartment and the ultra-low temperatures storage compartment within the freezer via the robot, the tube picking chamber being maintained at a freezing temperature above the ultra-low temperature maintained in the freezer storage compartment. 
     
     
         3 - 8 . (canceled) 
     
     
         9 . An automated storage and retrieval system for storing sample storage containers at ultra-low temperatures, the system comprising:
 a freezer having an ultra-low temperatures compartment that is maintained at an ultra-low temperature from about −50° C. to −90° C. under normal operating conditions when biological or chemical samples are being stored within the insulated ultra-low temperatures compartment;   a storage rack having trays for storing sample storage containers;   a robot located within the insulated ultra-low temperatures freezer compartment having an automatically controlled reach arm for transporting sample storage containers within the freezer compartment, the robot also having mechanical drive components located within the ultra-low temperatures freezer compartment;   an access module for introducing sample storage containers into the ultra-low temperatures freezer compartment and for retrieving containers from the ultra-low temperatures storage compartment, the access module providing a chamber in which moisture is purged before providing access into and from the ultra-low temperatures storage compartment;   robot drive motors mounted outside of the ultra-low temperatures storage compartment; and   magnetic couplings for transmitting power from the robot drive motors outside of the ultra-low temperature compartment to the robot drive mechanism inside the ultra-low temperature compartment.   
     
     
         10 . A system as recited in  claim 9  wherein the robot drive motors are mounted in a fixed location with respect to the freezer under normal operating conditions. 
     
     
         11 . A system as recited in  claim 9  wherein the magnetic couplings comprise a first set of magnetic couplings mounted to output shafts from the robot drive motors mounted to the door and being located outside of the ultra-low temperature compartment, and a second set of complimentary magnetic couplings each mounted to a drive for controlling the motion of the robot inside of the ultra-low temperature compartment, the complimentary magnetic couplings being located within the ultra-low temperature freezer compartment. 
     
     
         12 . A system as recited in  claim 11  wherein the freezer comprises an insulated freezer body and an insulated freezer door that is mounted to the freezer body and is closed during normal operation of the system, and wherein the robot drive motors and the first set of magnetic couplings are mounted to the insulated freezer door outside of the ultra-low temperature compartment. 
     
     
         13 . A system as recited in  claim 12  wherein the ultra-low temperature freezer compartment contains no penetration of any components to drive the robot. 
     
     
         14 . A system as recited in  claim 9  comprising:
 a freezer having an insulated, ultra-low temperature compartment that is maintained at an ultra-low temperature from about −50° C. to about −90° C. under normal operating conditions when biological or chemical samples are being stored within the ultra-low temperature compartment; 
 a storage rack having trays for storing sample storage containers holding biological samples; 
 a robot located within the ultra-low temperature freezer compartment, the robot having an automatically controlled reach arm for transporting sample storage containers within the ultra-low temperature freezer compartment; and 
 an access module for introducing sample storage containers into the ultra-low temperature freezer compartment and for retrieving containers from the ultra-low temperature freezer compartment, the access module providing a chamber in which moisture is purged before providing access into the ultra-low temperature freezer compartment; and 
 further wherein the robot provides controlled motion for the reach arm along three degrees of freedom comprising substantially vertical movement, substantially horizontal movement and rotational movement, and wherein the robot further comprises a turntable that supports the reach arm and which has a rotational axis parallel to and offset from the vertical lead screw residing along a fixed vertical axis within the ultra-low temperature compartment. 
 
     
     
         15 . A system as recited in  claim 14  wherein the storage rack comprises a plurality of columns arranged circumferentially about the rotational axis of the turntable except for a portion of the circumference in which the vertical lead screw and a turntable support mechanism reside. 
     
     
         16 . A system as recited in  claim 14  wherein the storage rack is fixed in a location within the ultra-low temperature freezer compartment and does not rotate therein. 
     
     
         17 . A system as recited in  claim 14  further comprising a frame located within the insulated ultra-low temperature freezer compartment, wherein the robot is mounted to the frame. 
     
     
         18 . A system as recited in  claim 15  further comprising upper and lower rack support plates which are mounted to the frame into which the storage racks are mounted. 
     
     
         19 . A system as recited in  claim 14  wherein the robot comprises a drive mechanism for each of the three degrees of motion, and each drive consists of a chain drive and gears which turn to impart motion for the reach arm. 
     
     
         20 . A system as recited in  claim 13  wherein the turntable is able to rotate in a first direction and a second direction and the system further comprises control means for operating the robot in order to place or retrieve a sample storage container from a tray in the storage rack such that the turntable is rotated in the first direction prior to placing a retrieval in order to minimize positional inaccuracies due to mechanical backlash. 
     
     
         21 - 23 . (canceled)