An automatic filling production line for cell cryopreservation bags

Abstract

The present invention discloses an automatic filling production line for cell cryopreservation bags, which comprises a bag placing mold, a transmission mechanism, an air inflation and leak detection mechanism, a filling mechanism, a sealing mechanism and a cutting mechanism; the air inflation and leak detection mechanism, the filling mechanism, the sealing mechanism and the cutting mechanism are sequentially arranged on one side of the transmission mechanism, the bag placing mold is arranged on the transmission mechanism, the bag placing mold has an initial position and a terminal position, and the bag placing mold can move forward from the initial position to the terminal position in a manner of intermittently moving a fixed distance under the drive of the transmission mechanism, and reset to the initial position after reaching the terminal position. The present invention can automatically complete multiple operations such as leak detection and filling of cell cryopreservation bags. The filling process is fast and safe, the filling quantity precision and production efficiency are high, the filling quality can be guaranteed, and the risks of pollution and cross-contamination during the filling process and the harm of cytotoxic / sensitizing products to operators can be avoided for the automatic filling production line of cell cryopreservation bags.

Description

Technical Field

[0001] The present invention relates to a cell filling device, and in particular to an automatic filling production line for cell cryopreservation bags. Background Art

[0002] Cell therapy is a brand-new treatment method that has emerged in recent years. Through bioengineering methods or after in vitro amplification, special culture and other treatments, specific immunocytes with specific functions are generated. After being infused into the body, the purpose of treating diseases can be achieved.

[0003] Cells are usually filled into cell cryopreservation bags for storage and transportation, and then infused into patients after thawing. At present, cells are usually filled into cell cryopreservation bags manually, that is, manually using a pipette to inject cells into the cell cryopreservation bag. The filling efficiency and filling accuracy are low, there are risks of contamination and cross-contamination during the filling process, and cytotoxic / sensitizing products will cause harm to operators.

[0004] Now there are also automatic filling devices for cell cryopreservation bags. For example, CN114467926A discloses a fully automatic sterile preparation cell dispensing workstation, including: a tabletop on which a sealed isolation chamber is provided; a cryopreservation bag placement mechanism including an automatic turntable on which several cryopreservation bags are placed; a filling and sealing mechanism including a fixed seat, at the top of the fixed seat there is a fixed frame, at the bottom of the fixed frame there is an injection needle for injecting liquid into the cryopreservation bag, and on the top surface of the fixed seat there is a sealer for sealing the cryopreservation bag after injection; a transmission mechanism including a conveyor belt for transporting the cryopreservation bags after filling and sealing; a robotic arm is in contact with the cryopreservation bag placement mechanism, the filling and sealing mechanism, and the transmission mechanism respectively; a control system including a control panel and control buttons. This cell cryopreservation bag filling device has the following defects: (1) There is no leak detection mechanism in front of the filling and sealing mechanism, but after filling, a CCD detection bracket is used to detect the cryopreservation bags after filling and sealing on the conveyor belt to check whether there is liquid leakage. Detecting for leaks after filling will cause waste and contamination of cell liquid medicine; (2) After the liquid filling is completed, the cryopreservation bag is sealed by a sealer. The cell liquid medicine is filled into the bag body of the cell cryopreservation bag through a connecting hose. After filling, some cell liquid medicine will remain on the inner wall of the connecting hose. Direct sealing will not only cause loss and waste of cell liquid medicine, but also lead to inconsistent filling volumes of the filled cell liquid medicine, affecting the filling volume accuracy; (3) The method of driving the exhaust plate to move relative by an exhaust cylinder is used to squeeze out the air in the cryopreservation bag. The exhaust effect is poor, and squeezing is likely to cause damage to the cell cryopreservation bag; (4) A robotic arm is used to pick up the cryopreservation bag, resulting in poor production continuity and low production efficiency. Summary of the Invention

[0005] The present invention is to solve the above problems existing in the prior art cell cryopreservation bag filling equipment, and provides an automatic filling production line for cell cryopreservation bags, which can automatically complete multiple operations such as leak detection and filling of cell cryopreservation bags. The filling process is fast and safe, with high filling volume accuracy and production efficiency, which can ensure the filling quality and avoid the risks of contamination and cross-contamination during the filling process, and the harm of cytotoxic / sensitizing products to operators.

[0006] To achieve the above object, the present invention adopts the following technical solutions: An automatic filling production line for cell cryopreservation bags of the present invention includes:

[0007] A bag placement mold for placing cell cryopreservation bags;

[0008] A transmission mechanism for driving the bag placement mold to move;

[0009] An air inflation leak detection mechanism for inflating the cell cryopreservation bag to detect whether the cell cryopreservation bag is broken;

[0010] A filling mechanism for quantitatively filling cell liquid medicine into the cell cryopreservation bag;

[0011] A sealing mechanism for sealing the connecting hose on the cell cryopreservation bag;

[0012] A cutting mechanism for cutting the connecting hose on the sealed cell cryopreservation bag;

[0013] The inflation leak detection mechanism, filling mechanism, sealing mechanism, and cutting mechanism are sequentially arranged on one side of the transmission mechanism. The bag placing mold is arranged on the transmission mechanism. The bag placing mold has an initial position and a terminal position. Driven by the transmission mechanism, the bag placing mold can move forward from the initial position to the terminal position in a way of intermittent movement by a fixed distance, and reset to the initial position after reaching the terminal position. In the present invention, the bag placing mold moves between different mechanisms through the transmission mechanism, so as to realize the continuous and rapid movement of the cell cryopreservation bag between different mechanisms, which is beneficial to improving production efficiency. The inflation leak detection mechanism in the present invention is used to inflate the cell cryopreservation bag to detect whether the cell cryopreservation bag is broken. By blowing a certain amount of gas (clean compressed air, nitrogen, etc.) into the cell cryopreservation bag and standing for a period of time, it is detected whether the cell cryopreservation bag is broken by the change of the air pressure in the bag. If there is a broken bag, this cell cryopreservation bag can be avoided at the subsequent workstations, which can avoid the waste and loss of cell medicine liquid caused by perfusion. The filling mechanism, sealing mechanism, and cutting mechanism are all prior arts, so they will not be elaborated here. When the frontmost cell cryopreservation bag on the bag placing mold is located at the first mechanism, the bag placing mold is in the initial position. When the rearmost cell cryopreservation bag on the bag placing mold is located at the last mechanism, the bag placing mold is in the terminal position. The initial position and the terminal position are not fixed and can be adjusted according to the actual number of mechanisms. The operation of each mechanism in the present invention can be controlled by an operating system. Controlling each mechanism by the operating system is a conventional technical means in the art, so it will not be elaborated here. The present invention can automatically complete multiple operations such as leak detection and filling of the cell cryopreservation bag. The filling process is fast and safe, with high filling volume accuracy and production efficiency, which can ensure the filling quality and avoid the risks of pollution and cross-contamination during the filling process, and the harm of cytotoxic / sensitizing products to operators.

[0014] Preferably, the bag placing die includes a bag placing plate and fixed side plates. The bag placing plate is provided with a receiving groove for accommodating a cell cryopreservation bag. At a position above the receiving groove on the bag placing plate, there is a sealing opening. The fixed side plates are fixed outside the sealing opening. At the lower part of the fixed side plates, there are limiting notches. The limiting notches and the upper part of the receiving groove cooperate to form a blocking groove. On the fixed side plates, there are cutting openings. The lower edge of the cutting openings is higher than the lower edge of the sealing opening, and the cutting openings communicate with the sealing opening. On the opposite sides of the bag placing plate and the fixed side plates, there are notches for the connecting hose to pass through, and the opposite notches cooperate to form a clamping opening. The sealing mechanism generally includes a sealing block and a cylinder. The sealing block is fixed at the end of the piston rod of the cylinder. When the piston rod of the cylinder extends, the sealing block passes through the bag placing plate through the sealing opening, so that the sealing block presses the connecting hose between the sealing block and the fixed side plate for sealing. A heating tube or an ultrasonic device for heating is installed in the sealing block to perform sealing by means of heat sealing or ultrasonic waves, etc.; the cutting mechanism generally includes a cutter and a cylinder. The cutter is fixed at the end of the piston rod of the cylinder. When the piston rod of the cylinder extends, the cutter extends into the cutting opening through the sealing opening to cut off the connecting hose; the blocking groove serves to block the cell cryopreservation bag, which can prevent the connecting hose from pulling up the cell cryopreservation bag during sealing or cutting, thus affecting sealing or cutting.

[0015] Preferably, the transmission mechanism includes a synchronous belt, a mounting cross plate and a moving seat. The synchronous belt is arranged below the mounting cross plate. The moving seat is rollingly arranged on the mounting cross plate. The bag placing die is arranged on the moving seat. The mounting cross plate is provided with a guiding sliding hole. A connecting plate is arranged in the guiding sliding hole. A synchronous belt clamping block is arranged on the synchronous belt. One end of the connecting plate is fixedly connected with the synchronous belt clamping block, and the other end is fixedly connected with the moving seat. The synchronous belt is driven by a synchronous belt pulley and a servo motor.

[0016] Preferably, the automatic filling production line for cell freezing bags also includes: a capping mechanism, which is used to unscrew the protective cover on the cell freezing bag and move it to a designated position; the capping mechanism is arranged in front of the inflation leak detection mechanism, and the capping mechanism includes a rotating lifting arm, a rotating lifting mechanism, a clamp, a clamp opening and closing drive mechanism and a clamp rotating mechanism; the clamp rotating mechanism is rotatably arranged in the rotating lifting arm, and the clamp rotating mechanism is connected to the rotating lifting mechanism through a clamp rotating transmission mechanism, and the clamp is arranged at the lower part of the clamp rotating mechanism; the clamp opening and closing drive mechanism is arranged on the rotating lifting arm, and the clamp can be opened or closed by the driving clamp of the clamp opening and closing drive mechanism to loosen or clamp the protective cover; the rotating lifting arm is installed and fixed on the rotating lifting mechanism, and the rotating lifting mechanism can independently drive the rotating lifting arm to lift and lower, independently drive the rotating lifting arm to rotate, or independently drive the clamp rotating mechanism to rotate. The free end of the connecting hose in the cell freezing bag usually has a connector (Luer connector), and a protective cap (also known as a "screw cap", "nut cap", "threaded cap", "isolation cap", etc.) is threadedly connected to the connector to prevent contamination (see CN214482994U). The cell freezing bag needs to be uncapped before filling, so the present invention is designed to add a capping mechanism, which is used to unscrew the protective cap on the cell freezing bag and move it to a specified position, such as a waste collection box. Each time a protective cap is unscrewed, the conveying mechanism drives the bag placement mold to move forward the distance of a cell freezing bag so as to remove the protective cap on the next cell freezing bag, and at the same time, the cell freezing bag whose protective cap has been unscrewed previously enters the subsequent workstation; when uncapping, the rotary lifting mechanism drives the rotary lifting arm to descend, and after the clamping claw descends to the position of the protective cap, the clamping claw opening and closing drive mechanism drives the clamping claw to close to clamp the protective cap The rotary lifting mechanism drives the clamping jaw rotating mechanism to rotate through the clamping jaw rotating transmission mechanism so as to rotate the clamping jaw. During the rotation of the clamping jaw, the rotary lifting mechanism drives the rotary lifting arm to rise at the same time. After the protective cover is unscrewed from the cell freezing bag, it continues to rise to the specified height, and the rotary lifting mechanism stops driving the clamping jaw rotating mechanism to rotate through the clamping jaw rotating transmission mechanism (that is, the clamping jaw stops rotating). The rotary lifting mechanism drives the rotary lifting arm to rotate, so that the clamping jaw moves to the specified position (such as a waste collection box, etc.), and the rotary lifting mechanism drives the rotary lifting arm to descend to the specified height. The clamping jaw opening and closing driving mechanism drives the clamping jaw to open to release the protective cover, so that the protective cover falls to the desired position, and the rotary lifting mechanism drives the rotary lifting arm to rise to the specified height. The rotary lifting mechanism drives the rotary lifting arm to rotate above the protective cover of the cell freezing bag, and repeats the previous steps to achieve automatic continuous cover removal.

[0017] Preferably, the rotary lifting mechanism comprises a screw spline hollow shaft, a rotary lifting shaft, a rotary lifting shaft driving mechanism, a ball spline nut driving mechanism, a ball screw nut driving mechanism and a rotary sleeve; the upper end of the screw spline hollow shaft is fixedly connected to the rotary lifting arm, and a ball spline nut and a ball screw nut are arranged outside the screw spline hollow shaft. The rotary lifting shaft is arranged in the screw spline hollow shaft, the upper part of the rotary lifting shaft rotates circumferentially with the screw spline hollow shaft and is fixedly connected axially, and the lower part of the rotary lifting shaft is fixedly connected circumferentially with the rotary sleeve and is slidably connected axially; the ball spline nut can rotate under the drive of the ball spline nut driving mechanism to drive the screw spline hollow shaft and the rotary lifting arm to perform synchronous rotation movement; the ball screw nut can rotate under the drive of the ball screw nut driving mechanism to drive the screw spline hollow shaft and the rotary lifting shaft to perform synchronous lifting movement; the rotary sleeve can rotate under the drive of the rotary lifting shaft driving mechanism to drive the rotary lifting shaft to rotate synchronously. The present invention realizes the lifting and rotation of the rotary lifting arm through the screw spline hollow shaft, the ball spline nut and the ball screw nut, and the upper part of the rotary lifting shaft is circumferentially rotated with the screw spline hollow shaft and axially fixedly connected. The adoption of this structural design makes the rotary lifting shaft both able to be lifted and lowered synchronously with the screw spline hollow shaft and can rotate independently to drive the rotation of the clamping claw rotating mechanism; the lower part of the rotary lifting shaft and the rotary shaft sleeve can be circumferentially fixed and axially slidably connected through a rotating limit surface axially arranged on the outer circumferential surface of the rotary lifting shaft; the ball spline nut and the ball screw nut are preferably flange-type ball spline nut and flange-type ball spline nut, and the flange outer wheels in the flange-type ball spline nut and the flange-type ball spline nut are both fixed on the mounting cross plate; as an improvement of the present invention, a connecting hollow shaft is fixed on the upper end of the screw spline hollow shaft, and the rotary lifting shaft is arranged in the screw spline hollow shaft and the connecting hollow shaft, the upper part of the rotary lifting shaft is circumferentially rotated with the connecting hollow shaft and axially fixedly connected, and the connecting hollow The upper end of the spindle is fixedly connected in the rotating lifting arm; as another improvement of the present invention, the rotating lifting mechanism includes a tailstock, a rotating sleeve is arranged in the tailstock and rotates circumferentially with the tailstock and is fixedly connected axially; the tailstock plays the role of installing and fixing the rotating sleeve, and the rotating sleeve can be connected circumferentially with the tailstock and is fixedly connected axially through a bearing; the ball spline nut driving mechanism, the ball screw nut driving mechanism, and the rotating lifting shaft driving mechanism can all be synchronous belt servo motor driving mechanisms, the ball spline nut driving mechanism is connected to the ball spline nut in a transmission connection, the ball screw nut driving mechanism is connected to the ball screw nut in a transmission connection, and the rotating lifting shaft driving mechanism is connected to the rotating sleeve in a transmission connection; the ball spline nut driving mechanism, the ball screw nut driving mechanism, and the rotating lifting shaft driving mechanism can also be replaced by other conventional driving mechanisms such as chain servo driving mechanisms; the synchronous belt servo motor driving mechanism is a conventional driving mechanism in this field, which includes an active synchronous pulley, a passive synchronous pulley, a synchronous belt, a servo motor and other structures.

[0018] Preferably, the clamping jaw rotating mechanism comprises a rotating sleeve and a connecting seat, the rotating sleeve is arranged in the rotating lifting arm and is circumferentially rotated with the rotating lifting arm and is axially fixedly connected, the rotating lifting shaft is connected to the rotating sleeve through a clamping jaw rotating transmission mechanism, the connecting seat is located below the rotating sleeve and is fixedly connected to the rotating sleeve, and the clamping jaw is hinged at the bottom of the connecting seat. The clamping jaw rotating transmission mechanism is a synchronous belt transmission mechanism; as an improvement of the present invention, a flange is provided on the outer circumferential wall surface of the rotating sleeve, an upper connecting rod is fixedly connected to the lower end surface of the flange, a lower connecting rod is fixedly connected to the connecting seat, a rotating sleeve is provided at the upper end of the lower connecting rod, the upper end of the connecting rod and the rotating sleeve are blocked and matched by a limiting step, an L-shaped limiting bayonet is provided on the rotating sleeve, and a bayonet is provided on the outer circumferential wall surface of the lower connecting rod, and when the bayonet is inserted into the horizontal section of the L-shaped limiting bayonet, the connecting seat and the rotating sleeve are detachably connected.

[0019] Preferably, the jaw opening and closing driving mechanism includes a driving device, a push rod and a driving plate, the push rod is arranged in a rotating sleeve, the push rod can slide axially and rotate circumferentially relative to the rotating sleeve, the driving plate is arranged between the rotating sleeve and the connecting seat, a spring is arranged between the driving plate and the connecting seat, the two ends of the spring are respectively abutted against the driving plate and the connecting seat, a sliding column is arranged on the driving plate, the sliding column is located in the rotating sleeve, the sliding column can slide axially and rotate circumferentially relative to the rotating sleeve, the driving device is connected to the upper end of the push rod, when the driving device pushes the push rod downward, the push rod presses down the sliding column to make the driving plate compress the spring, thereby driving the jaws to close to clamp the protective cover, when the driving device lifts the push rod upward, the push rod leaves the sliding column to make the driving plate release the spring, thereby driving the jaws to open to release the protective cover. The driving device is preferably a cylinder, and may also be other driving devices such as an oil cylinder; as an improvement of the present invention, the clamp includes a first clamp and a second clamp oppositely arranged, the middle parts of the first clamp and the second clamp are hinged to the connecting seat, the upper ends of the first clamp and the second clamp are connected to the driving plate through a connecting rod, and the two ends of the connecting rod are respectively rotatably connected to the first clamp, the second clamp and the driving plate through a pin shaft.

[0020] Preferably, the inflation leak detection mechanism includes a first needle holder, a first blowing needle, an air pressure sensor and a first lifting mechanism, wherein the first needle holder is mounted on the first lifting mechanism, the first blowing needle is arranged on the first needle holder, and the first blowing needle is connected with a Y-type connector, one end of the Y-type connector is connected to the air circuit, and the other end is connected to the air pressure sensor. The first lifting mechanism is a conventional mechanism in the art, and may be a screw mechanism, a slider guide linear module, etc., as long as the first needle holder can be lifted and lowered; the first blowing needle fills a certain amount of gas into the cell cryopreservation bag, and then stops inflating, and the air pressure sensor starts to detect pressure changes, and determines whether the cell cryopreservation bag is broken and leaking by the pressure changes.

[0021] Preferably, the automatic filling production line for cell cryopreservation bags further includes a residual liquid blowing mechanism for blowing the residual liquid on the inner wall of the connecting hose into the cell cryopreservation bag. The residual liquid blowing mechanism is arranged between the filling mechanism and the sealing mechanism and includes a second lifting mechanism, a second needle holder, and a second blowing needle. The second needle holder is installed on the second lifting mechanism, and the second blowing needle is arranged on the second needle holder. The second lifting mechanism is a conventional mechanism in the art, which can be a screw slider mechanism, a slider guide rail, etc., as long as it can realize the lifting of the second needle holder. By using the residual liquid blowing mechanism to blow the residual liquid on the inner wall of the connecting hose into the cell cryopreservation bag, the waste and loss of cell liquid medicine can be avoided, and the filling volume accuracy can be guaranteed.

[0022] Preferably, the automatic filling production line for cell cryopreservation bags further includes a vacuum pumping mechanism for pumping out the excess gas in the cell cryopreservation bag. The vacuum pumping mechanism includes a vacuum head, and the vacuum head is arranged on the second needle holder. By using the vacuum pumping mechanism to pump out the excess gas in the cell cryopreservation bag, the air pressure in the bag can be maintained within a more appropriate range, which is not only not easy to break, but also conducive to rapid heat exchange during thawing and can achieve rapid thawing.

[0023] Therefore, the present invention has the following beneficial effects: Through the linkage cooperation between various structures such as the air leakage detection mechanism and the filling mechanism, multiple operations such as air leakage detection and filling of cell cryopreservation bags can be automatically completed. The filling process is fast and safe, with high filling volume accuracy and production efficiency, which can ensure the filling quality and avoid the risks of pollution and cross - contamination during the filling process and the harm to operators caused by cytotoxic / sensitizing products. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a perspective view of the present invention.

[0025] Figure 2 is Figure 1 exploded view of.

[0026] Figure 3 is a perspective view of the transmission mechanism.

[0027] Figure 4 is Figure 3 exploded view of.

[0028] Figure 5 is a perspective view of the track.

[0029] Figure 6 is Figure 4 enlarged view of part A in.

[0030] Figure 7 is a front view of the bag - placing mold.

[0031] Figure 8 isFigure 7 Cross-sectional view along the B-B direction.

[0032] Figure 9 Is an isometric view of the lid removal mechanism.

[0033] Figure 10 Is Figure 9 Exploded view of

[0034] Figure 11 Is Figure 10 Enlarged view at D in

[0035] Figure 12 Is Figure 10 Front view of part C in

[0036] Figure 13 Is Figure 12 Cross-sectional view along the E-E direction.

[0037] Figure 14 Is Figure 13 Enlarged view at F in

[0038] Figure 15 Is an isometric view of the air inflation leak detection mechanism.

[0039] Figure 16 Is an isometric view of the filling mechanism.

[0040] Figure 17 Is an isometric view of the residual liquid blowing mechanism and the vacuum pumping mechanism.

[0041] Figure 18 Is an isometric view of the sealing mechanism.

[0042] Figure 19 Is an isometric view of the cutting mechanism.

[0043] In the figure: machine platform 1, bag - placing die 2, transmission mechanism 3, lid - removing mechanism 4, air - filling and leak - detecting mechanism 5, filling mechanism 6, residual liquid blowing - off mechanism 7, vacuum - pumping mechanism 8, sealing mechanism 9, cutting mechanism 10, synchronous belt 11, mounting cross - plate 12, moving seat 13, track 14, T - shaped track groove 15, roller 16, guiding sliding hole 17, connecting plate 18, synchronous - belt clamping block 19, guide rail 20, slider 21, bag - placing plate 22, fixed side plate 23, accommodating groove 24, sealing opening 25, limiting notch 26, cutting edge 27, bayonet 28, rotating and lifting arm 29, screw - rod spline hollow shaft 30, rotating and lifting shaft 31, rotating and lifting shaft driving mechanism 32, ball - spline nut driving mechanism 33, ball - screw nut driving mechanism 34, rotating shaft sleeve 35, tailstock 36, connecting hollow shaft 37, rotating limiting surface 38, ball - spline nut 39, ball - screw nut 40, rotating sleeve 41, connecting seat 42, jaw rotating transmission mechanism 43, flange edge 44, upper connecting rod 45, lower connecting rod 46, rotating socket 47, L - shaped limiting bayonet 48, pin 49, first jaw 50, second jaw 51, connecting rod 52, driving device 53, push rod 54, driving plate 55, spring cavity 56, spring guiding rod 57, spring 58, sliding column 59, rotating and lifting arm housing 60, bottom support seat 61, protective sleeve 62, protective cover 63, jaw protective sleeve 64, first needle holder 65, first blowing needle 66, air - pressure sensor 67, first lifting mechanism 68, first screw - rod slider module 69, first lifting connecting block 70, first slider guide - rail module 71, first lifting shaft 72, Y - shaped joint 73, third needle holder 74, filling needle 75, third lifting mechanism 76, rotating mechanism 77, third screw - rod slider module 78, third lifting connecting block 79, third slider guide - rail module 80, bearing seat 81, ball - spline shaft 82, ball - spline outer cylinder 83, fixing plate 84, synchronous - belt servo - driving mechanism 85, second lifting mechanism 86, second needle holder 87, second blowing needle 88, second screw - rod slider module 89, second lifting connecting block 90, second slider guide - rail module 91, second lifting shaft 92, vacuum head 93, first cylinder 94, sealing block 95, second cylinder 96, cutter 97, waste - material collection box 98, blanking chute 99, receiving box 100. Detailed implementation manners

[0044] The following further describes the present invention in conjunction with the accompanying drawings and detailed implementation manners.

[0045] As Figure 1 、 Figure 2An automatic filling production line for cell cryopreservation bags, as shown, includes a machine platform 1, a bag placing mold 2, a transmission mechanism 3, a cap removing mechanism 4, an air inflation and leak detection mechanism 5, a filling mechanism 6, a residual liquid blowing mechanism 7, a vacuum pumping mechanism 8, a sealing mechanism 9 and a cutting mechanism 10. The cap removing mechanism, the air inflation and leak detection mechanism, the filling mechanism, the residual liquid blowing mechanism, the vacuum pumping mechanism, the sealing mechanism and the cutting mechanism are sequentially arranged on one side of the transmission mechanism and are installed and fixed on the machine platform; the transmission mechanism is installed inside the machine platform, the bag placing mold is arranged on the transmission mechanism, the bag placing mold has an initial position and a terminal position, and the bag placing mold can move forward from the initial position to the terminal position in a way of intermittently moving a fixed distance under the drive of the transmission mechanism, and reset to the initial position after reaching the terminal position; among them:

[0046] The transmission mechanism (as Figures 3 - 6 shown) includes a synchronous belt 11, an installation cross plate 12 and a moving seat 13. The synchronous belt is arranged below the installation cross plate, the moving seat is rollingly arranged on the installation cross plate, tracks 14 are fixed on the installation cross plate on both sides of the moving seat, and the two tracks and the installation cross plate enclose a T-shaped track groove 15. The moving seat is in a "T" shape, and rollers 16 adapted to the T-shaped track groove are arranged on both sides of the vertical section of the moving seat. The horizontal section of the moving seat contacts the surface of the track. A guiding sliding hole 17 is arranged on the installation cross plate, a connecting plate 18 is arranged in the guiding sliding hole, a synchronous belt clamping block 19 is arranged on the synchronous belt, a guide rail 20 is fixed on the bottom surface of the installation cross plate, a sliding block 21 adapted to the guide rail is fixed on the clamping block, the connecting plate is in an "L" shape, the vertical section of the connecting plate passes through the guiding sliding hole and is fixedly connected with the synchronous belt clamping block, and the end of the horizontal section of the connecting plate is fixedly connected with the moving seat;

[0047] The bag placing mold (as Figure 7 , Figure 8 shown) includes a bag placing plate 22 and fixed side plates 23. The bag placing plate is fixed on the moving seat. A receiving groove 24 for receiving and placing cell cryopreservation bags is arranged on the bag placing plate. A sealing opening 25 is opened at a position above the receiving groove on the bag placing plate. The fixed side plates are fixed on the outside of the sealing opening. A limiting notch 26 is arranged at the lower part of the fixed side plates. The limiting notch and the upper part of the receiving groove cooperate to form a blocking groove. A cutting opening 27 is arranged on the fixed side plates. The lower edge of the cutting opening is higher than the lower edge of the sealing opening, and the cutting opening is communicated with the sealing opening. Notches for connecting hoses to pass through are arranged on the opposite side surfaces of the bag placing plate and the fixed side plates, and the opposite notches cooperate to form a clamping opening 28;

[0048] The cap removing mechanism (as Figures 9 - 14The rotary lifting mechanism comprises a rotary lifting arm 29, a rotary lifting mechanism, a clamping jaw, a clamping jaw opening and closing driving mechanism and a clamping jaw rotating mechanism; the rotary lifting mechanism comprises a screw spline hollow shaft 30, a rotary lifting shaft 31, a rotary lifting shaft driving mechanism 32, a ball spline nut driving mechanism 33, a ball screw nut driving mechanism 34, a rotary sleeve 35 and a tailstock 36; a connecting hollow shaft 37 is fixed to the upper end of the screw spline hollow shaft, the upper end of the connecting hollow shaft is fixed in the rotary lifting arm, the rotary lifting shaft is arranged in the screw spline hollow shaft and the connecting hollow shaft, the rotary sleeve is arranged in the tailstock and is circumferentially rotatable and axially fixedly connected to the tailstock through a bearing The upper part of the rotating lifting shaft is circumferentially rotatable and axially fixedly connected to the connecting hollow shaft through a bearing. A rotating limit surface 38 is provided on the outer circumferential surface of the lower part of the rotating lifting shaft. The rotating limit surface is used to limit the mutual rotation between the rotating lifting shaft and the rotating sleeve. The lower part of the rotating lifting shaft is located in the rotating sleeve and is circumferentially fixed and axially slidably connected to the rotating sleeve through the rotating limit surface; the ball spline nut driving mechanism, the ball screw nut driving mechanism, and the rotating lifting shaft driving mechanism are all synchronous belt servo motor driving mechanisms. The synchronous belt servo motor driving mechanism includes an active synchronous pulley, a passive synchronous pulley, a synchronous belt and a servo motor. The screw spline hollow A ball spline nut 39 and a ball screw nut 40 are provided outside the spindle, and both the ball spline nut and the ball screw nut are mounted on the mounting cross plate. The ball spline nut driving mechanism is connected to the ball spline nut in transmission, that is, the passive synchronous pulley is mounted outside the ball spline nut, and the active synchronous pulley is mounted on the motor shaft end of the servo motor. The passive synchronous pulley and the active synchronous pulley are connected through a synchronous belt. The ball screw nut driving mechanism is connected to the ball screw nut in transmission, that is, the passive synchronous pulley is mounted outside the ball screw nut, and the active synchronous pulley is mounted on the motor shaft end of the servo motor. The passive synchronous pulley and the active synchronous pulley are connected through a synchronous belt. Then, the rotary lifting shaft driving mechanism is connected with the rotary sleeve in transmission, that is, the passive synchronous pulley is installed outside the rotary sleeve, the active synchronous pulley is installed at the end of the motor shaft of the servo motor, and the passive synchronous pulley and the active synchronous pulley are connected through a synchronous belt; the ball spline nut can be driven by the ball spline nut driving mechanism to rotate to drive the screw spline hollow shaft and the rotary lifting arm to perform synchronous rotation; the ball screw nut can be driven by the ball screw nut driving mechanism to rotate to drive the screw spline hollow shaft and the rotary lifting shaft to perform lifting and lowering movements; the rotary sleeve can be driven by the rotary lifting shaft driving mechanism to rotate to drive the rotary lifting shaft to rotate synchronously;The jaw rotation mechanism includes a rotating sleeve 41 and a connecting seat 42. The rotating sleeve is arranged inside the rotating lifting arm and is circumferentially rotatable and axially fixedly connected to the rotating lifting arm through a bearing. The rotating lifting shaft is drivingly connected to the rotating sleeve through a jaw rotation transmission mechanism 43. The jaw rotation transmission mechanism is a synchronous belt transmission mechanism, which includes a driving synchronous belt pulley, a driven synchronous belt pulley and a synchronous belt. The driven synchronous belt pulley is installed outside the rotating sleeve, the driving synchronous belt pulley is installed at the upper end of the rotating lifting shaft, and the driven synchronous belt pulley and the driving synchronous belt pulley are connected by the synchronous belt. The connecting seat is located below the rotating sleeve. A flange 44 is provided on the outer circumferential wall surface of the rotating sleeve. An upper connecting rod 45 is threadedly connected to the lower end surface of the flange. A lower connecting rod 46 is fixedly connected to the connecting seat. A rotating collar 47 is provided at the upper end of the lower connecting rod. A limiting step is provided between the upper end of the lower connecting rod and the rotating collar for blocking and cooperating. An L-shaped limiting bayonet 48 is provided on the rotating collar. A retaining pin 49 is provided on the outer circumferential wall surface of the lower connecting rod. When the retaining pin is inserted into the horizontal section of the L-shaped limiting bayonet, the upper connecting rod and the lower connecting rod are fixedly connected, so that the connecting seat and the rotating sleeve are detachably connected. The jaws include a first jaw 50 and a second jaw 51 arranged oppositely. The middle parts of the first jaw and the second jaw are hinged to the connecting seat. The upper ends of the first jaw and the second jaw are both connected to the driving plate through a connecting rod 52. The jaw opening and closing driving mechanism includes a driving device 53, a push rod 54 and a driving plate 55. The driving device is a cylinder. The cylinder is fixed to the rotating lifting arm through a bracket. The push rod is arranged inside the rotating sleeve. The push rod can axially slide and circumferentially rotate relative to the rotating sleeve. The driving plate is arranged between the rotating sleeve and the connecting seat. A spring cavity 56 is provided inside the driving plate. A spring guide rod 57 is fixed to the connecting seat. A spring 58 is provided between the driving plate and the connecting seat. The lower part of the spring is sleeved outside the spring guide rod, and the upper part of the spring is located inside the spring cavity. The two ends of the spring are respectively abutted against the driving plate and the connecting seat. A sliding column 59 is fixed to the driving plate. The sliding column is located inside the rotating sleeve. The sliding column can axially slide and circumferentially rotate relative to the rotating sleeve. The piston rod of the cylinder is connected to the upper end of the push rod. When the piston rod of the cylinder extends downward to push the push rod, the push rod presses down the sliding column to compress the spring of the driving plate, thereby driving the jaws to close to clamp the protective cover. When the piston rod of the cylinder retracts upward to lift the push rod, the push rod leaves the sliding column to release the spring of the driving plate, thereby driving the jaws to open to release the protective cover. An outer cover 60 of the rotating lifting arm is provided outside the rotating lifting arm. A bottom support seat 61 is fixedly connected to the bottom of the rotating lifting arm. A protective sleeve 62 is sleeved outside the connecting hollow shaft. The upper end of the protective sleeve is fixedly connected to the bottom support seat. A protective cover 63 is provided outside the ball spline nut and the ball screw nut. A jaw protective sleeve 64 surrounding the driving plate and the connecting seat is provided at the bottom of the rotating lifting arm;

[0049] The air inflation leak detection mechanism (such as Figure 15The first lifting mechanism 68 includes a first needle holder 65, a first air blowing needle 66, an air pressure sensor 67 and a first lifting mechanism 68, wherein the first lifting mechanism includes a first screw slider module 69, a first lifting connection block 70, a first slider guide module 71 and a first lifting shaft 72, wherein both ends of the first connection lifting block are respectively fixedly connected with the slider in the first screw slider module and the slider in the first slider guide module, the first lifting shaft is fixed on the first connection lifting block, the first needle holder is mounted and fixed on the first lifting shaft, the first air blowing needle is arranged on the first needle holder, and the first air blowing needle is connected with a Y-type connector 73, one end of the Y-type connector is connected to the air circuit (not shown in the air circuit diagram), and the other end is connected to the air pressure sensor;

[0050] Filling mechanism (such as Figure 16 The third needle holder 74, the filling needle 75, the third lifting mechanism 76 and the rotating mechanism 77 are included. The third lifting mechanism includes a third screw slider module 78, a third lifting connection block 79 and a third slider guide module 80. The rotating mechanism includes a bearing seat 81, a ball spline shaft 82, a ball spline outer cylinder 83, a fixed plate 84 and a synchronous belt servo drive mechanism 85. The two ends of the third connection lifting block are respectively fixedly connected with the slider in the third screw slider module and the slider in the third slider guide module. The third bearing seat is fixed on the third connection lifting block, the fixed plate is fixed above the third connection lifting block, the ball spline outer cylinder is sleeved outside the ball spline shaft and fixed on the fixed plate, the synchronous belt servo drive mechanism is connected to the ball spline outer cylinder in a transmission manner, the lower end of the ball spline shaft is fixedly connected to the bearing seat, the third needle holder is fixedly connected to the upper end of the ball spline shaft, and the filling needle is fixed on the third needle holder;

[0051] Residual liquid blowing mechanism (such as Figure 17 The second lifting mechanism 86 includes a second lifting mechanism, a second needle holder 87 and a second blowing needle 88. The second lifting mechanism includes a second screw slider module 89, a second lifting connection block 90, a second slider guide module 91 and a second lifting shaft 92. The two ends of the connecting lifting block are respectively fixedly connected with the slider in the second screw slider module and the slider in the second slider guide module. The second lifting shaft is fixed on the second connecting lifting block, the second needle holder is fixedly mounted on the second lifting shaft, and the second blowing needle is arranged on the second needle holder; the vacuuming mechanism includes a vacuum head 93, and the vacuum head is arranged on the second needle holder;

[0052] Sealing mechanism (such as Figure 18 As shown) comprises a first cylinder 94 and a sealing block 95, the first cylinder is fixed on the machine platform, and the sealing block is fixed on the end of the piston rod of the first cylinder;

[0053] Cut off mechanism (such as Figure 19 The machine tool (as shown) comprises a second cylinder 96 and a cutter 97, wherein the second cylinder is fixed on the machine platform, and the cutter is fixed on the end of the piston rod of the second cylinder.

[0054] The operating principle of the present invention is as follows: After the cover removal mechanism unscrews the protective cover on the cell cryopreservation bag and moves it to the waste collection box 98, it resets. The transmission mechanism advances the cell cryopreservation bag by the distance of one cell cryopreservation bag, and sends the cell cryopreservation bag with the protective cover removed to the inflation leak detection mechanism; the inflation leak detection mechanism inflates the cell cryopreservation bag to detect whether the cell cryopreservation bag is broken. If there is a leak or breakage, the subsequent station mechanisms will avoid this cell cryopreservation bag. If there is no breakage, after it is sent to the filling station, the filling station quantitatively fills the cell medicine solution into the cell cryopreservation bag; after filling, the residual liquid blowing mechanism blows the residual liquid on the inner wall of the connecting hose into the cell cryopreservation bag, and the vacuum pumping mechanism pumps out the excess gas in the cell cryopreservation bag; after the sealing mechanism seals the connecting hose, the cutting mechanism cuts off the connecting hose, and the cell cryopreservation bag slides into the middle collection box 100 along the blanking chute 99 for collection; after the last cell cryopreservation bag on the bag placement mold falls into the collection box, the transmission mechanism sends the bag placement mold back to the initial position.

[0055] The above-described embodiments are only a preferred solution of the present invention, and do not impose any form of limitation on the present invention. There are other variations and modifications without exceeding the technical solutions recorded in the claims.

Claims

1. An automatic filling production line for cell cryopreservation bags, characterized in that, include: A bag placement mold (2) for placing a cell freezing bag; A transmission mechanism (3) is used to drive the bag placing mold to move; An inflation leak detection mechanism (5) is used to inflate air into the cell freezing bag to detect whether the cell freezing bag is broken; A filling mechanism (6) is used to quantitatively fill the cell medicine solution into the cell freezing bag; A sealing mechanism (9), used for sealing the connecting hose on the cell freezing bag; A cutting mechanism (10) is used to cut off the connecting hose on the sealed cell freezing bag; The inflation leak detection mechanism, the filling mechanism, the sealing mechanism and the cutting mechanism are sequentially arranged on one side of the transmission mechanism. The bag placing mold is arranged on the transmission mechanism. The bag placing mold has an initial position and an end position. Driven by the transmission mechanism, the bag placing mold can move forward from the initial position to the end position in an intermittent manner by a fixed distance, and reset to the initial position after reaching the end position. The automatic filling production line for cell cryopreservation bags also includes: a capping mechanism (4) for unscrewing the protective cover on the cell cryopreservation bag and moving it to a designated position; the capping mechanism is arranged in front of the inflation leak detection mechanism, and includes a rotating lifting arm (29), a rotating lifting mechanism, a clamp, a clamp opening and closing driving mechanism and a clamp rotating mechanism; the clamp rotating mechanism is rotatably arranged in the rotating lifting arm, and the clamp rotating mechanism is connected to the rotating lifting mechanism through a clamp rotating transmission mechanism (43), and the clamp is arranged at the lower part of the clamp rotating mechanism; the clamp opening and closing driving mechanism is arranged on the rotating lifting arm, and the clamp can be opened or closed by the driving clamp of the clamp opening and closing driving mechanism to loosen or clamp the protective cover; the rotating lifting arm is installed and fixed on the rotating lifting mechanism, and the rotating lifting mechanism can drive the rotating lifting arm to rise and fall, drive the rotating lifting arm to rotate, or drive the clamp rotating mechanism to rotate; The clamping jaw opening and closing driving mechanism comprises a driving device (53), a push rod (54) and a driving plate (55), wherein the push rod is arranged in the rotating sleeve and can slide axially and rotate circumferentially relative to the rotating sleeve, the driving plate is arranged between the rotating sleeve and the connecting seat, a spring (58) is arranged between the driving plate and the connecting seat, the two ends of the spring are respectively abutted against the driving plate and the connecting seat, a sliding column (59) is arranged on the driving plate, the sliding column is arranged in the rotating sleeve and can slide axially and rotate circumferentially relative to the rotating sleeve, the driving device is connected to the upper end of the push rod, when the driving device pushes the push rod downward, the push rod presses down the sliding column so that the driving plate compresses the spring, thereby driving the clamping jaw to close to clamp the protective cover, when the driving device lifts the push rod upward, the push rod leaves the sliding column so that the driving plate releases the spring, thereby driving the clamping jaw to open to release the protective cover; The inflation leak detection mechanism comprises a first needle holder (65), a first air blowing needle (66), an air pressure sensor (67) and a first lifting mechanism (68), wherein the first needle holder is mounted on the first lifting mechanism, the first air blowing needle is arranged on the first needle holder, and the first air blowing needle is connected to a Y-type connector (73), wherein one end of the Y-type connector is connected to an air path, and the other end is connected to the air pressure sensor.

2. The automatic filling production line for cell cryopreservation bags according to claim 1, wherein The bag placing mold comprises a bag placing plate (22) and a fixed side plate (23), wherein the bag placing plate is provided with a receiving groove (24) for accommodating a cell freezing bag, and a sealing opening (25) is provided on the bag placing plate above the receiving groove, wherein the fixed side plate is fixed to the outer side of the sealing opening, and a limiting notch (26) is provided at the lower part of the fixed side plate, wherein the limiting notch cooperates with the upper part of the receiving groove to form a blocking groove, and a cutting opening (27) is provided on the fixed side plate, wherein the lower edge of the cutting opening is higher than the lower edge of the sealing opening, and the cutting opening is communicated with the sealing opening, and a notch for a connecting hose to pass through is provided on the side opposite to the fixed side plate, and the opposite notches cooperate to form a bayonet (28).

3. An automatic filling production line for cell cryopreservation bags according to claim 1, characterized in that, The transmission mechanism comprises a synchronous belt (11), a mounting transverse plate (12) and a movable seat (13), wherein the synchronous belt is arranged below the mounting transverse plate, the movable seat is rotatably arranged on the mounting transverse plate, the bag placing mould is arranged on the movable seat, the mounting transverse plate is provided with a guide slide hole (17), a connecting plate (18) is arranged in the guide slide hole, a synchronous belt is provided with a synchronous belt clamping block (19), one end of the connecting plate is fixedly connected to the synchronous belt clamping block, and the other end is fixedly connected to the movable seat.

4. The automatic filling production line of a cell cryopreservation bag according to claim 1, characterized in that The rotary lifting mechanism comprises a screw spline hollow shaft (30), a rotary lifting shaft (31), a rotary lifting shaft driving mechanism (32), a ball spline nut driving mechanism (33), a ball screw nut driving mechanism (34) and a rotary shaft sleeve (35); the upper end of the screw spline hollow shaft is fixedly connected to the rotary lifting arm, a ball spline nut (39) and a ball screw nut (40) are arranged outside the screw spline hollow shaft, the rotary lifting shaft is arranged inside the screw spline hollow shaft, and the upper part of the rotary lifting shaft is connected to the screw spline hollow shaft. The shaft rotates circumferentially and is fixedly connected axially, and the lower part of the rotating lifting shaft is fixedly connected circumferentially and axially slidingly to the rotating sleeve; the ball spline nut can be rotated under the drive of the ball spline nut driving mechanism to drive the screw spline hollow shaft and the rotating lifting arm to perform synchronous rotation movement; the ball screw nut can be rotated under the drive of the ball screw nut driving mechanism to drive the screw spline hollow shaft and the rotating lifting shaft to perform synchronous lifting movement; the rotating sleeve can be rotated under the drive of the rotating lifting shaft driving mechanism to drive the rotating lifting shaft to rotate synchronously.

5. An automatic filling production line for cell cryopreservation bags, characterized in that, The clamping jaw rotating mechanism comprises a rotating sleeve (41) and a connecting seat (42), wherein the rotating sleeve is arranged in the rotating lifting arm and is circumferentially rotated with the rotating lifting arm and is axially fixedly connected, the rotating lifting shaft and the rotating sleeve are transmission-connected via a clamping jaw rotating transmission mechanism, the connecting seat is located below the rotating sleeve and is fixedly connected to the rotating sleeve, and the clamping jaw is hinged at the bottom of the connecting seat.

6. The automatic filling production line for cell cryopreservation bags according to claim 1, wherein, The automatic filling production line for cell cryopreservation bags further comprises: a residual liquid blowing mechanism (7) for blowing the residual liquid on the inner wall of the connecting hose into the cell cryopreservation bag; The residual liquid blowing mechanism is arranged between the filling mechanism and the sealing mechanism, and comprises a second lifting mechanism (86), a second needle holder (87) and a second blowing needle (88), wherein the second needle holder is mounted on the second lifting mechanism, and the second blowing needle is arranged on the second needle holder.

7. The automatic filling production line for cell cryopreservation bags according to claim 6, characterized in that, The automatic filling production line for cell cryopreservation bags further includes: a vacuum pumping mechanism (8) for pumping out excess gas in the cell cryopreservation bags; the vacuum pumping mechanism includes a vacuum head (93), and the vacuum head is arranged on the second needle holder.

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