Automated storage and retrieval system for storing biological or chemical samples at ultra-low temperatures

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.

An automated storage and retrieval system for storing sample storage containers at ultra-low temperatures, the system 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;
• the freezer having an insulated door that closed during the normal operation of the system
• 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;
• robot drive motors mounted to the door outside of the ultra-low temperatures compartment;
• and a transmission that transmits power from the robot drive motors outside of the ultra-low temperatures compartment to the robot inside the ultra-low temperatures compartment.

An automated storage and retrieval system for storing sample storage containers at ultra-low temperatures, the system 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;
• the freezer having an insulated door that closed during the normal operation of the system
• 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;
• a pressure sensor for monitoring the pressure within the ultra-low temperature freezer compartment;
• a source of dry gas;
• and
• a dry gas inlet port through which dry gas can be supplied from the source of dry gas into the ultra-low temperature freezer compartment;
• robot drive motors mounted to the door outside of the ultra-low temperatures compartment;
• and a transmission that transmits power from the robot drive motors outside of the ultra-low temperatures compartment to the robot inside the ultra-low temperatures compartment.