CN110540156A - Stem cell cryopreservation tube cover opening and closing mechanism and working method thereof - Google Patents

Abstract

The invention relates to a stem cell cryopreservation tube opening and closing cover mechanism and a working method thereof, wherein the mechanism comprises an opening and closing cover bracket, a cryopreservation tube moving assembly and a cryopreservation tube opening and closing cover assembly, the cryopreservation tube opening and closing cover assembly comprises a first moving assembly, a rotating assembly and a rotating head, the rotating head is connected with the rotating assembly, the rotating assembly is connected with the first moving assembly, the cryopreservation tube moving assembly and the first moving assembly are respectively connected onto the opening and closing cover bracket, and the cryopreservation tube moving assembly is arranged below the rotating head; drive through freezing and deposit the pipe and freeze and deposit the pipe and remove to the assigned position, first removal subassembly drives rotating assembly and rotating head and removes to the rotating head and insert and establish in freezing the lid of depositing the pipe, and rotating assembly drives the rotating head and rotates to the lid of depositing the pipe to freezing is uncapped and is operated or is closed the lid operation. The automatic cover opening and closing device can automatically open and close the cover of the freezing storage tube, and is high in efficiency.

Description

Stem cell cryopreservation tube cover opening and closing mechanism and working method thereof

Technical Field

The invention relates to a cover opening and closing mechanism of a cryopreservation tube, in particular to a cover opening and closing mechanism of a stem cell cryopreservation tube and a working method thereof.

Background

Stem cells are a type of pluripotent cells with self-replication capacity, since 2006, the country writes stem cell research technology as a key technical field into a national major scientific and technological strategy development plan for the first time, the stem cell preparation industry is developed vigorously, in the cell preparation process, a cryopreservation tube is generally adopted to store stem cells, the cryopreservation tube comprises a tube body and a cover, when the cryopreservation tube is used for storing stem cells, the cover needs to be opened to store the stem cells, and after the storage is finished, the cover needs to be closed, the existing mode is basically a manual-oriented uncovering mode, and the mode has the following problems: the stem cell preparation process needs an aseptic environment, and the cryopreservation tube is easily polluted by manually opening/closing the cover; the freezing tube has small appearance, the manual operation of the switch cover is difficult, and the efficiency is low.

therefore, it is necessary to design a new mechanism to automatically open and close the lid of the cryopreservation tube with high efficiency.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a stem cell cryopreservation tube cover opening and closing mechanism and a working method thereof.

In order to achieve the purpose, the invention adopts the following technical scheme: the stem cell cryopreservation tube opening and closing cover mechanism comprises an opening and closing cover support, a cryopreservation tube moving assembly and a cryopreservation tube opening and closing cover assembly, wherein the cryopreservation tube opening and closing cover assembly comprises a first moving assembly, a rotating assembly and a rotating head, the rotating head is connected with the rotating assembly, the rotating assembly is connected with the first moving assembly, the cryopreservation tube moving assembly and the first moving assembly are respectively connected onto the opening and closing cover support, and the cryopreservation tube moving assembly is arranged below the rotating head; through it drives to freeze deposits the pipe and removes to the assigned position to freeze to deposit a pipe moving assembly, first moving assembly drives rotating assembly and rotating head remove extremely the rotating head is inserted and is established in freezing the lid of depositing the pipe, rotating assembly drives the rotating head and rotates, with right the lid that freezes to deposit the pipe is opened the lid and is operated or is closed the lid operation.

The further technical scheme is as follows: the side end of the rotating head is connected with a first sensor.

The further technical scheme is as follows: the rotating assembly comprises an R-axis moving structure and a transmission structure, the R-axis moving structure is connected to the first moving assembly through a middle joint frame, and the transmission structure is connected with the R-axis moving structure and the rotating head respectively.

The further technical scheme is as follows: the cryopreserved pipe switch cover assembly further comprises an X-axis limiting assembly, the X-axis limiting assembly is connected to the support, and the X-axis limiting assembly is arranged on the cryopreserved pipe moving assembly.

The further technical scheme is as follows: the R-axis moving structure comprises an R-axis linear moving module, and a rack mounting plate is connected to the R-axis linear moving module; the transmission structure comprises a rack and a gear, the rack is meshed with the gear, the rack is connected to the rack mounting plate and close to one side face of the X-axis limiting assembly, the gear is connected with a bearing limiting plate through a bearing, the bearing limiting plate is connected to the middle joint frame, and the gear is fixedly connected with the rotating head.

The further technical scheme is as follows: the X-axis limiting assembly comprises an X-axis linear moving module and a cryopreservation tube limiting plate; the X-axis linear moving module is connected with an X-axis connecting plate, and the cryopreservation tube limiting plate is connected to the lower end face of the X-axis connecting plate.

The further technical scheme is as follows: the freezing pipe limiting plate is provided with a plurality of through holes for the rotating head to pass through.

The further technical scheme is as follows: the freezing tube moving assembly comprises a Y-axis linear moving module, a supporting plate used for placing the freezing tube is connected to the Y-axis linear moving module, and the Y-axis linear moving module is connected to the support through a Y-axis backing plate.

the further technical scheme is as follows: the upper end of rotating head is equipped with the joint that is used for being connected with outside air supply equipment.

The invention also provides a working method of the stem cell cryopreservation tube cover opening and closing mechanism, which comprises the following steps:

Drive through freezing and deposit the pipe and freeze and deposit the pipe and remove to the assigned position, first removal subassembly drives rotating assembly and rotating head and removes to the rotating head and insert and establish in freezing the lid of depositing the pipe, and rotating assembly drives the rotating head and rotates to the lid of depositing the pipe to freezing is uncapped and is operated or is closed the lid operation.

Compared with the prior art, the invention has the beneficial effects that: according to the automatic cover opening and closing device, the freezing pipe moving assembly is arranged, the freezing pipe is moved to the position right below the rotating head, the first moving assembly drives the rotating assembly and the rotating head to move towards the direction close to the freezing pipe, so that the rotating head is matched with the cover of the freezing pipe and is moved by the R-axis linear moving module, the rotating head is driven to rotate through the transmission assembly, meanwhile, the first moving assembly is matched to achieve the up-and-down movement of the rotating head, the cover opening and closing of the freezing pipe are achieved automatically, and the efficiency is high.

The invention is further described below with reference to the accompanying drawings and specific embodiments.

drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced 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 based on these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a cover opening and closing mechanism of a stem cell cryopreservation tube according to an embodiment of the invention (with electrical components and a top cover removed);

FIG. 2 is a schematic diagram of an exploded structure of a cover opening and closing mechanism of a stem cell cryopreservation tube according to an embodiment of the invention;

FIG. 3 is a schematic view of a portion of the enlarged structure of FIG. 2A;

Fig. 4 is a graph illustrating the relationship between the rotation of the spin head and the up-and-down movement of the first moving assembly according to an embodiment 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 detail with reference to the accompanying drawings and the detailed description.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

As shown in fig. 1 to 4, the cover opening and closing mechanism for the stem cell cryopreservation tube provided in this embodiment can be applied to an operation process of automatically opening or closing the cover of the cryopreservation tube 80, and certainly, can also be applied to an operation process of automatically opening or closing the cover of an object with a cover consistent with that of the cryopreservation tube 80. The device is mainly applied to hospitals, laboratories and cell scientific research institutions, is used for taking off the rubber cap, namely the cover, on the stem cell cryopreservation tube 80, and screwing the rubber cap again after stem cells are put into the cryopreservation tube 80, and is an automatic device matched with stem cell preparation.

Referring to fig. 1, the opening and closing mechanism for the stem cell cryopreservation tube comprises an opening and closing support, a cryopreservation tube moving assembly and an opening and closing cover assembly for the cryopreservation tube, wherein the opening and closing cover assembly for the cryopreservation tube comprises a first moving assembly, a rotating assembly and a rotating head 90, the rotating head 90 is connected with the rotating assembly, the rotating assembly is connected with the first moving assembly, the moving assembly for the cryopreservation tube and the first moving assembly are respectively connected to the opening and closing support, and the moving assembly for the cryopreservation tube is arranged below the rotating head 90; drive through freezing and deposit the pipe and freeze and deposit pipe 80 and remove to the assigned position, first removal subassembly drives rotating assembly and rotating head 90 and removes to rotating head 90 and insert and establish in freezing the lid of depositing pipe 80, and rotating assembly drives rotating head 90 and rotates to the lid of depositing pipe 80 to freezing is uncapped and is operated or is closed the lid operation.

The freezing storage pipe moving assembly is moved to the position under the rotating head 90, the first moving assembly drives the rotating assembly and the rotating head 90 to move towards the direction close to the freezing storage pipe 80, so that the rotating head 90 can be inserted into a cover of the freezing storage pipe 80, the upper end face of the cover of the freezing storage pipe 80 is downward sunken to form a cover groove, after the rotating head 90 is inserted into the cover groove, the rotating head 90 can be made of an inflatable rubber material, and of course, in other embodiments, a circle of rubber ring can be sleeved on the periphery of the rotating head 90 to expand after inflation, and the whole cover groove is tensioned to enable the rotating head 90 to be in interference fit with the cover; of course, in this embodiment, because rotating head 90's material is a round piece that can aerify rubber material made, then can directly aerify the operation to rotating head 90, make its inflation back rise and rise whole lid recess to in lid and rotating head 90 zonulae occludens, by rotating assembly work again, it is rotatory to drive rotating head 90, and then can realize uncapping or closing the lid operation of freezing the pipe 80. The automatic cover opening and closing device is used for replacing the existing manual operation, improving the working efficiency, reducing the labor intensity of operators and avoiding the possibility of infection of the operators, and the cover opening speed is 1-3 seconds per tube, and the cover closing speed is 2-4 seconds per tube; the positioning is accurate, and the freezing and storing tube 80 with the diameter of 12.5mm and the height of 48mm can be applied; the freezing tube 80 was put in a 133.7mm X133.7mm lid opening and closing operation.

The first moving assembly is mainly used to drive the whole rotating assembly and the rotating head 90 to move towards the direction close to the cryopreservation pipe 80 or towards the direction far away from the cryopreservation pipe 80, that is, the rotating assembly and the rotating head 90 are driven to move upwards or downwards.

In an embodiment, a first sensor is connected to a side end of the rotating head 90. The first sensor is used to rotate whether the head 90 has been inserted inside the lid of the vial 80 in order to improve the accuracy of the entire opening or closing of the lid.

In an embodiment, referring to fig. 1 and fig. 2, the rotating assembly includes an R-axis moving structure and a transmission structure, the R-axis moving structure is connected to the first moving assembly through the middle connection frame, and the transmission structure is respectively connected to the R-axis moving structure and the rotating head 90. The R-axis moving structure provides power to the rotation of the rotating head 90, and converts the power into the rotation of the rotating head 90 by means of the transmission structure, thereby driving the rotation of the cover of the cryopreservation tube 80.

In an embodiment, referring to fig. 1 and 2, the R-axis moving structure includes an R-axis linear moving module 30, and a rack mounting plate 32 is connected to the R-axis linear moving module 30; the transmission structure comprises a rack 33 and a gear 36, the rack 33 is meshed with the gear 36, the rack 33 is connected to one side face, close to the X-axis limiting assembly, of the rack mounting plate 32, the gear 36 is connected with a bearing limiting plate 35 through a bearing 34, the bearing limiting plate 35 is connected to the intermediate connecting frame, and the gear 36 is fixedly connected with the rotating head 90.

In this embodiment, the R-axis linear module is provided with an R-axis slider, the rack mounting plate 32 is connected to the R-axis slider, and the R-axis slider slides on the R-axis linear module, the rack mounting plate 32 moves to drive the rack 33 to move, the rack 33 is meshed with the gear 36, so that the linear movement of the rack 33 on the R axis can be converted into the rotation of the gear 36, and the gear 36 is fixedly connected with the rotating head 90, so as to drive the rotating head 90 to rotate.

In this embodiment, for the installation of rotating head 90, connect bearing limiting plate 35 on the intermediate joint frame, be equipped with a plurality of bearing mounting hole on this bearing limiting plate 35, the upper end of this gear 36 extends upward has the spliced pole, and this spliced pole passes through bearing 34 and inserts and establish in the bearing mounting hole, both can satisfy gear 36 and rotate, also can satisfy the installation of rotating head 90, compact structure.

In an embodiment, referring to fig. 1, the switch cover assembly of the cryopreservation tube further includes an X-axis limiting assembly, the X-axis limiting assembly is connected to the bracket, and the X-axis limiting assembly is disposed on the cryopreservation tube moving assembly.

the X-axis limiting assembly is used for fixing the cryopreservation tube 80, so that when the rotating assembly drives the rotating head 90 and the cover of the cryopreservation tube 80 to rotate, the cryopreservation tube 80 can be fixed, and the cover opening or closing operation can be smoothly completed.

Certainly, in other embodiments, the above-mentioned stem cell cryopreservation tube opening and closing mechanism further includes a cryopreservation tube placing frame, wherein a plurality of cryopreservation tube placing holes are formed in the cryopreservation tube placing frame, and the diameter of each cryopreservation tube placing hole is slightly smaller than that of each cryopreservation tube 80, so as to fix each cryopreservation tube 80.

In one embodiment, referring to fig. 2 and 3, the X-axis limiting assembly includes an X-axis linear moving module 40 and a cryopreserving pipe limiting plate 42; the X-axis linear moving module 40 is connected with an X-axis connecting plate 41, and the cryopreservation tube limiting plate 42 is connected to the lower end face of the X-axis connecting plate 41. The freezing tube 80 is fixed by the freezing tube limiting plate 42, so that the cover opening or closing operation of the freezing tube 80 can be smoothly performed.

In one embodiment, referring to fig. 3, the cryopreserving pipe retaining plate 42 has a plurality of through holes 43 for the spin head 90 to pass through. The diameter of the through hole 43 is larger than the diameter of the swivel head 90 when it is not inflated.

the servo motor of the Z-axis linear movement module 20 drives the lead screw of the corresponding Z-axis linear movement module 20, so that the rotating assembly can move up and down along with the Z-axis slider of the Z-axis linear movement module 20; the rack 33 can be engaged with the ten gears 36 at the same time to drive the ten gears 36 to rotate, so as to drive the ten rotating heads 90 to rotate, thereby opening or closing the caps of the ten freezing tubes 80 at a time.

Specifically, when uncapping, rotating head 90 inserts fast and freezes the lid inner wall of depositing pipe 80, aerifys the inflation, and gear 36 rotates and drives rotating head 90 and rotate, and Z axle rectilinear movement module 20 just drives rotating head 90 and moves up, realizes uncapping, if close the lid, then rotating head 90 limit rotation limit downstream to screw up and freeze the lid of depositing pipe 80.

In an embodiment, referring to fig. 1 and 2, the cryopreservation tube moving assembly includes a Y-axis linear moving module 60, a supporting plate 62 for placing the cryopreservation tube 80 is connected to the Y-axis linear moving module 60, and the Y-axis linear moving module 60 is connected to the support through a Y-axis backing plate 61. The Y-axis linear moving module 60 is used for driving the freezing tube 80 to move to the position right below the rotating head 90, so that the accuracy of opening or closing the cover is improved.

The support plate 62 utilizes the freezing tube 80 box as a freezing tube 80 loading tool, the freezing tube 80 box is placed on the tray, and the Y-axis linear moving module 60 is accurately positioned according to the position of each row of freezing tubes 80, so that each row of freezing tubes 80 is guaranteed to move below the rotating head 90.

The freezing tube 80 box is provided with a plurality of freezing tubes 80, positioning holes are arranged on two sides of the supporting plate 62 and can be clamped on a Y-axis sliding block on the Y-axis linear moving module 60, a handle is arranged on the rear side of the freezing tube 80 box, positioning holes are arranged on the handle, and the freezing tube 80 box is reserved for an automatic mechanism or a robot to take and place a tray for use.

The servo motor of the Y-axis linear moving module 60 is connected with the screw rod of the Y-axis linear moving module 60 through the coupling of the Y-axis linear moving module 60, the rotary motion of the servo motor is converted into the linear motion of the Y-axis slider on the screw rod, the rotary stroke of the motor is controlled, and the freezing storage tube 80 box can be accurately moved to the feeding and discharging prepositioning and the working positions (namely, under the rotary head 90) of the switch covers of the freezing storage tubes 80 in each row.

In one embodiment, the upper end of the rotary head 90 is provided with a connector for connecting with an external air supply device, so that the external air supply device can supply and discharge air to and from the rotary head 90.

In an embodiment, the first moving structure includes a Z-axis linear moving module 20, a Z-axis slider is disposed on the Z-axis linear moving module 20, and a middle link is connected to the Z-axis slider, so that the movement of the Z-axis slider on the Z-axis linear moving module 20 drives the middle link to move, thereby achieving the movement of the R-axis linear moving module 30 and the rotation.

Specifically, the intermediate joint frame includes a first side plate 50, a first horizontal plate 52 and a first front connecting frame 51, the first side plate 50 and the first front connecting frame 51 are arranged in parallel on the first horizontal plate 52, a gap is provided between the first side plate 50 and the first front connecting frame 51, the R-axis linear movement module 30 is connected to an inner side surface of the first side plate 50, and the bearing limiting plate 35 is connected to the first front connecting frame 51.

In an embodiment, referring to fig. 2, the switch cover bracket includes a bottom plate 15, an inner cover plate 18, a rear vertical plate 11, a left side plate 12, a front vertical plate 13, and a right side plate 14, which are connected in sequence, the bottom plate 15 is connected to lower ends of the rear vertical plate 11, the left side plate 12, the front vertical plate 13, and the right side plate 14, respectively, the bottom plate 15, the rear vertical plate 11, the left side plate 12, the front vertical plate 13, and the right side plate 14 enclose to form a cavity, the inner cover plate 18 is disposed in the cavity, the first moving assembly is connected to an inner side surface of the rear vertical plate 11, the X-axis linear moving module 40 is connected to an inner side surface of the front vertical plate 13, the Y-axis linear moving module 60 is connected to the bottom plate 15, the R-axis linear moving module 30 is disposed above the inner cover plate 18, the Y-axis linear moving module 60 is disposed below the inner cover plate 18, the inner cover plate 18 can serve, the inner cover plate 18 is provided with a rotary head 90 through slot for the rotary head 90 to pass through.

Further, a front housing 17 is connected to the outer side surface of the front upright plate 13, and an industrial touch panel 171 and an emergency stop button 172 are connected to the front housing 17. For the convenience of operation of personnel, the machine is controlled and adjusted by the industrial touch screen 171, the operator can perform operation according to the screen prompt of the industrial touch screen 171, the action of the machine is controlled according to different program groups of intervals and heights of the freezing storage tubes 80 of different manufacturers, and the program groups are preset in the PLC.

In one embodiment, referring to fig. 2, the upper end of the cavity is covered with an upper cover 16, the upper cover 16 is connected with an electrical component 70, the electrical component 70 is respectively connected with the X-axis linear moving module 40, the Y-axis linear moving module 60, the Z-axis linear moving module 20, the R-axis linear moving module 30, the industrial touch screen 171 and the emergency stop button 172, and the electrical component 70 plays a role in controlling.

The upper housing 16 is covered with a top housing 19, and the electrical component 70 is disposed between the top housing 19 and the upper housing 16.

The freezing tube 80 box is accurately positioned at a proper speed, the rotation and the up-and-down movement of the rotating head 90 need to be compensated in a spiral mode, and when the cover is screwed down, torque force feedback is provided to ensure that the screwing force is the same every time; the rotating head 90 is provided with a first sensor for detecting the cover of the cryopreservation tube 80, so that feedback of cover opening and cover closing is ensured every time, and gratings are arranged on the periphery of each linear moving module to ensure that no foreign matter is in the working range of the mechanism during working; in order to facilitate the operation of the PLC by workers, the PLC is connected with an industrial control touch screen through a signal data line, the operation parameters can be modified, different program groups are selected to operate according to the special cryopreservation tubes 80 of different manufacturers, and the operation state of the machine is displayed.

The output torque of the servo motor of the R-axis linear movement module 30 is increased along with the increase of the screwing degree when the freezing storage tube 80 closes the cover, and at this time, the output current of the servo motor of the R-axis linear movement module 30 is correspondingly increased, so that the current output of the servo motor of the R-axis linear movement module 30 can be detected, and the screwing degree is guaranteed to be the same when the cover is closed every time.

the lid of freezing pipe 80 has the external screw thread, and freezing pipe 80 has the internal screw thread, and the cooperation can be screwed up together each other. In the process of opening or closing the cover, the distance between the up-and-down operation and the rotation angle stroke are operated in a certain proportion, the rotation shaft of the rotating head 90 is used as a reference shaft for outputting, and the up-and-down operation shaft (namely, the first moving assembly) is used as an auxiliary output shaft and matched with a semi-accumulation interpolation algorithm. The starting point is the current position and the ending point may be selected in units of pulses by the X, Y value of the rectangular coordinate. At the same time, the quadrant is also selected. The selected quadrant is used to determine the direction of the pulse output. In the first quadrant, X is positive and Y is also positive. In the case of two quadrants, X is the reverse direction and Y is the forward direction. And the other quadrants are analogized. The program is executed in steps, pulses are output in steps, and the direction is controlled by a direction signal. As shown in fig. 4.

The rotating shaft is used as a reference shaft, the coordinate value of the end point of the rotating shaft is larger, the rotating shaft outputs a pulse in each step, and only when the up-down moving shaft outputs the pulse, the rotating shaft enables the up-down moving shaft to output the pulse first. And the upper and lower running shafts determine whether to output by an accumulation method. The accumulation process is to accumulate the end point coordinates by using the self end point coordinates, when the end point coordinates are larger than the end point coordinates of the reference axis, a pulse is output, the accumulated value is subtracted by the end point value of the reference axis, and the difference value is used as the accumulated value. Specifically, the left side values of the auxiliary shaft weight points are accumulated to obtain an accumulated value, whether the accumulated value is smaller than a reference shaft end point value or not is judged, if yes, the left side values of the auxiliary shaft end points are accumulated, the auxiliary shafts are accumulated, whether the total steps are finished or not is judged, if yes, the auxiliary shafts are quitted, and if not, after a certain pulse time interval, the auxiliary shaft weight points are returned to the step of accumulating the left side values of the auxiliary shaft weight points; and if the accumulated value is not smaller than the reference shaft end point value, outputting a pulse by the auxiliary shaft, subtracting the reference shaft end point value from the accumulated value, retaining the difference value, and returning to the step of accumulating the left value of the auxiliary shaft end point after a certain pulse time interval.

Foretell stem cell freezes deposits a tub switch lid mechanism, it removes the subassembly to freeze to deposit a tub through setting up, will freeze and deposit tub 80 and remove to rotating head 90 under, drive rotating assembly and rotating head 90 towards being close to the direction that freezes deposits tub 80 by first removal subassembly and remove, so that rotating head 90 and the lid cooperation that freezes deposits tub 80, and remove by R axle rectilinear movement module 30, through transmission assembly, drive rotating head 90 and rotate, cooperate first removal subassembly to realize reciprocating of rotating head 90 simultaneously, and then reach the purpose of automatic switch lid, realize that automatic switch freezes the lid of depositing tub 80, high efficiency.

In one embodiment, a working method of the stem cell freezing tube opening and closing cover mechanism is further provided, and comprises the following steps:

Drive through freezing and deposit the pipe and freeze and deposit pipe 80 and remove to the assigned position, first removal subassembly drives rotating assembly and rotating head 90 and removes to rotating head 90 and insert and establish in freezing the lid of depositing pipe 80, and rotating assembly drives rotating head 90 and rotates to the lid of depositing pipe 80 to freezing is uncapped and is operated or is closed the lid operation.

It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation process of the working method of the stem cell cryopreservation tube opening and closing mechanism may refer to the corresponding description in the embodiment of the stem cell cryopreservation tube opening and closing mechanism, and for convenience and brevity of description, no further description is provided herein.

The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.

Claims (10)

1. The stem cell cryopreservation tube switch cover mechanism is characterized by comprising a switch cover support, a cryopreservation tube moving assembly and a cryopreservation tube switch cover assembly, wherein the cryopreservation tube switch cover assembly comprises a first moving assembly, a rotating assembly and a rotating head, the rotating head is connected with the rotating assembly, the rotating assembly is connected with the first moving assembly, the cryopreservation tube moving assembly and the first moving assembly are respectively connected onto the switch cover support, and the cryopreservation tube moving assembly is arranged below the rotating head; through it drives to freeze deposits the pipe and removes to the assigned position to freeze to deposit a pipe moving assembly, first moving assembly drives rotating assembly and rotating head remove extremely the rotating head is inserted and is established in freezing the lid of depositing the pipe, rotating assembly drives the rotating head and rotates, with right the lid that freezes to deposit the pipe is opened the lid and is operated or is closed the lid operation.

2. The stem cell cryopreservation tube switch cover mechanism as claimed in claim 1, wherein a first sensor is connected to a side end of the rotating head.

3. The stem cell cryopreservation tube switch cover mechanism as claimed in claim 1, wherein the rotating assembly comprises an R-axis moving structure and a transmission structure, the R-axis moving structure is connected to the first moving assembly through a middle joint frame, and the transmission structure is respectively connected with the R-axis moving structure and the rotating head.

4. The stem cell cryopreservation tube switch cover mechanism according to claim 3, wherein the cryopreservation tube switch cover assembly further comprises an X-axis limiting assembly, the X-axis limiting assembly is connected to the support, and the X-axis limiting assembly is arranged on the cryopreservation tube moving assembly.

5. The stem cell cryopreservation tube switch cover mechanism as claimed in claim 4, wherein the R-axis moving structure comprises an R-axis linear moving module, and a rack mounting plate is connected to the R-axis linear moving module; the transmission structure comprises a rack and a gear, the rack is meshed with the gear, the rack is connected to the rack mounting plate and close to one side face of the X-axis limiting assembly, the gear is connected with a bearing limiting plate through a bearing, the bearing limiting plate is connected to the middle joint frame, and the gear is fixedly connected with the rotating head.

6. The stem cell cryopreservation tube switch cover mechanism according to claim 5, wherein the X-axis limiting component comprises an X-axis linear moving module and a cryopreservation tube limiting plate; the X-axis linear moving module is connected with an X-axis connecting plate, and the cryopreservation tube limiting plate is connected to the lower end face of the X-axis connecting plate.

7. The switch cover mechanism for the stem cell cryopreservation tube according to claim 6, wherein the cryopreservation tube limiting plate is provided with a plurality of through holes for the rotating head to pass through.

8. The switch cover mechanism for the stem cell cryopreservation tube according to claim 7, wherein the cryopreservation tube moving assembly comprises a Y-axis linear moving module, a supporting plate for placing the cryopreservation tube is connected to the Y-axis linear moving module, and the Y-axis linear moving module is connected to the support through a Y-axis backing plate.

9. The stem cell cryopreservation tube switch cover mechanism as claimed in claim 1, wherein the upper end of the rotating head is provided with a connector for connecting with an external air supply device.

10. The working method of the stem cell cryopreservation tube cover opening and closing mechanism is characterized by comprising the following steps of:

Drive through freezing and deposit the pipe and freeze and deposit the pipe and remove to the assigned position, first removal subassembly drives rotating assembly and rotating head and removes to the rotating head and insert and establish in freezing the lid of depositing the pipe, and rotating assembly drives the rotating head and rotates to the lid of depositing the pipe to freezing is uncapped and is operated or is closed the lid operation.