A rotary freeze storage bag automatic filling device

Abstract

The present invention discloses a rotary freeze storage bag automatic filling device, which includes a turntable capable of intermittent indexing and stepping rotation and a material taking manipulator. Along the rotation direction of the turntable, a feeding station, a capping station, a leak detection station, a filling and weighing station, a blowing and pumping station, a sealing and shearing station, and a waste material discharging station are sequentially arranged on the outer side of the turntable. Positioning jigs for fixing the freeze storage bags are arranged at the corresponding positions of the turntable edge and each station. A feeding mechanism, a capping mechanism, a leak detection mechanism, a filling and weighing mechanism, a blowing and pumping mechanism, a sealing and shearing mechanism, and a waste material box are correspondingly arranged at the feeding station, the capping station, the leak detection station, the filling and weighing station, the blowing and pumping station, the sealing and shearing station, and the waste material discharging station. A finished product discharging mechanism is arranged outside the sealing and shearing mechanism. The material taking manipulator moves between each station as required. The structure of the present invention is compact, occupies a small space, can realize automatic feeding, and has high production efficiency.

Description

Technical Field

[0001] The present invention relates to an automatic filling device for cryopreservation bags, and more particularly to a rotary automatic filling device for cryopreservation bags. Background Art

[0002] A cryopreservation bag refers to a medical bag body with an independent sterile package made of medical-grade EVA low-temperature resistant material, which is mostly used for long-term storage and transportation of biological products such as blood, cells, vaccines, viruses, etc. at low temperatures, such as the storage of stem cells and cord blood.

[0003] Biological products are usually filled through an automatic filling device. For example, a Chinese patent with the application publication number CN116040055A and the application publication date of May 2, 2023 discloses an automatic filling production line for cell cryopreservation bags, including a bag placing mold, a transmission mechanism, an air filling and leak detection mechanism, a filling mechanism, a sealing mechanism, and a cutting mechanism; the air filling 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 way of intermittent movement by a fixed distance under the drive of the transmission mechanism, and reset to the initial position after reaching the terminal position. This automatic filling production line has the following defects: (1) The cryopreservation bag is placed in the bag placing mold, and the bag placing mold is driven by the transmission mechanism to move between different mechanisms, and each mechanism cannot work simultaneously, and the utilization rate of each mechanism is low, resulting in low production efficiency; (2) Each mechanism is arranged in a straight line in sequence, resulting in a large volume and occupied space of the entire production line; (3) It is inconvenient to load materials on the bag placing mold. Summary of the Invention

[0004] The present invention is to solve the above technical problems existing in the prior art cryopreservation bag filling production line, and provides a rotary automatic filling device for cryopreservation bags with a compact structure, small occupied space, capable of realizing automatic feeding, and high production efficiency.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a turntable type automatic filling device for frozen storage bags of the present invention comprises a turntable which can be intermittently indexed and stepped and rotated and a material taking robot, the outer side of the turntable is provided with a loading station, a capping station, a leak detection station, a filling and weighing station, an air blowing and exhausting station, a sealing and shearing station and a waste material unloading station in sequence along the rotation direction of the turntable, and a positioning fixture for fixing the frozen storage bag is provided at the edge of the turntable and at the corresponding position of each station, and a feeding mechanism, a capping mechanism, a leak detection mechanism, a filling and weighing mechanism, an air blowing and exhausting mechanism, a sealing and shearing mechanism and a waste material box are provided at the loading station, the capping station, the leak detection station, the filling and weighing station, the air blowing and exhausting mechanism, the sealing and shearing mechanism and the waste material unloading station respectively, a finished product unloading mechanism is provided on the outer side of the sealing and shearing mechanism, and the material taking robot moves between the stations as needed. The turntable and the material-taking manipulator that can intermittently index and step and rotate in the present invention are conventional designs in the field, so they are not described here in detail; the feeding mechanism is used to store the frozen bags and continuously feed the materials forward so that the material-taking manipulator can take the materials, which is beneficial to improving production efficiency; the material-taking manipulator transfers the frozen bags on the feeding mechanism to the positioning fixture, and the frozen bags are transferred between various mechanisms in turn as the turntable rotates; the capping mechanism can adopt the clamping claws in the prior art CN218578079U, and the capping mechanism is used to place the frozen bags on the positioning fixture. The connector isolation cap is unscrewed and placed in the collection box; the leak detection mechanism can adopt the inflation leak detection mechanism in the prior art CN219383065U, which is used to detect whether the storage bag is leaking. After inflation and voltage stabilization, the leak detector is used to determine whether the cryopreservation bag is leaking. After detection, the air in the bag is extracted for filling; the filling weighing mechanism is used to weigh the cryopreservation bag before filling and the cryopreservation bag after filling to detect and control the filling accuracy. The number of filling mechanisms and the weighing method can be set as needed, and a filling mechanism can be set The mechanism can also be provided with multiple filling mechanisms; the blowing and exhausting mechanism is used to blow the residual liquid remaining on the wall of the connecting hose of the freezing bag into the freezing bag to ensure the filling accuracy. After blowing and then exhausting, the air in the bag can be removed and the liquid level in the bag can be raised to a certain height to reach the sealing height of the connecting hose, so as to minimize the air in the bag after subsequent sealing; the sealing and shearing mechanism is used to seal the filled freezing bag and cut off the sealing part for unloading; the finished product unloading mechanism is used to unseal the sealed freezing bag The material is unloaded; the structure of the positioning fixture is not limited, as long as it can fix the cryobag and remove the cryobag; the waste box is used to collect the residual section of the connecting hose left in the positioning fixture after the waste in the positioning fixture is sheared, and the waste is removed from the positioning fixture by the material-retrieving robot; the operation mode of the material-retrieving robot can be set as needed so that it can move between various workstations; the position and number of the positioning fixture are adapted to the position and number of each workstation, so that each positioning fixture can correspond to different workstations to improve the utilization rate of each workstation.

[0006] Preferably, the feeding mechanism includes a vibrator and a feeding track. The feeding track is fixed on the vibrator. A linear track for hanging and arranging cryopreservation bags is provided on the feeding track. The openings at both ends of the linear track respectively form a feeding port and a discharging port. A baffle rod is provided on the front side of the discharging port, which can move forward or backward to block or open the discharging port. The linear track is relatively long, which can hang and cache more cryopreservation bags, reduce the frequency of replenishing materials, and lower the labor intensity. The vibrator is a conventional mechanism in the art, which is used to provide a vibration source. The cryopreservation bags placed in the linear track can move towards the discharging port under the action of the vibrator for feeding. The baffle rod is used to block the joints of the cryopreservation bags located at the discharging port, so that the cryopreservation bags will not fall from the discharging port, and at the same time play a positioning role, so that the manipulator can accurately and stably grasp.

[0007] Preferably, a liftable positioning jaw is provided above the discharging port. The positioning jaw can descend and clamp the joint of the cryopreservation bag located at the discharging port. An isolation plug board is fixed on the positioning jaw. When the isolation plug board descends, it is inserted between the joint of the cryopreservation bag located at the discharging port and the joint of the adjacent cryopreservation bag. A height limiting board is fixed above one side of the feeding track close to the discharging port. An avoidance hole for the isolation plug board is provided on the height limiting board. A guiding block is provided at the end of the feeding track located at the discharging port. A guiding groove is provided on the guiding block. The baffle rod is located in the guiding groove and is slidably matched with the guiding groove. Material level sensors are provided on the feeding tracks on both sides of the discharging port. The positioning jaw can adopt a conventional jaw that can open or close, such as a pneumatic jaw finger cylinder, etc. The positioning jaw is used to clamp and fix the joint of the cryopreservation bag located at the clamping position at the discharging port, and further position it, so that the picking manipulator can accurately grasp. The isolation plug board is used to separate the joint of the cryopreservation bag located at the discharging port and the joint of the adjacent cryopreservation bag, to prevent the joint of the subsequent cryopreservation bag from squeezing the joint of the cryopreservation bag located at the discharging port. The height limiting board is used to limit the height of the joint of the cryopreservation bag and level the joint, to correct the phenomenon that the top surface of the joint is uneven during the vibration process due to the relatively light quality of the cryopreservation bag, which is convenient for subsequent positioning. The material level sensor is used to detect whether there is a cryopreservation bag at the discharging port and transmit a signal to the control system, so as to control the linkage of structures such as the positioning jaw and the baffle rod through the control system. It is well-known to those skilled in the art to realize the lifting of the positioning jaw.

[0008] Preferably, the automatic feeding mechanism for the cryopreservation bag further includes a bag body flattening plate and a motion mechanism. The bag body flattening plate is arranged on the motion mechanism and has a flattening position and a disengaging position. When the bag body flattening plate is in the flattening position, it is located at the front lower side of the discharge port to flatten the body of the cryopreservation bag at the discharge port. When the bag body flattening plate is in the disengaging position, it is located at the front outer side of the discharge port to disengage from the body of the cryopreservation bag at the discharge port. The motion mechanism drives the bag body flattening plate to switch between the flattening position and the disengaging position. The bag body flattening plate is used to flatten and align the body of the cryopreservation bag at the discharge port, prevent the bag body from twisting and tilting, position and align the bag body, so that the body of the cryopreservation bag can be transferred to the next station while maintaining the same body position.

[0009] Preferably, the filling and weighing mechanism includes a filling machine and an electronic weighing module. The electronic weighing module is located on one side of the filling machine, and a hanging bag mold for hanging the cryopreservation bag is provided on the electronic weighing module. The filling machine is a conventional device in the art, including a liftable needle holder, a filling needle, a peristaltic pump, etc., and each component is connected by a hose.

[0010] Preferably, the air blowing and air pumping mechanism includes a lifting mechanism, a lifting plate, a connecting pipe, a blowing pipe and a pumping pipe. One end of the lifting plate is fixed on the lifting mechanism, and an air needle is fixed at the other end of the lifting plate. The connecting pipe is connected to the air needle, and the blowing pipe and the pumping pipe are connected to the connecting pipe through a three-way joint. A pipe clamping valve assembly for controlling the truncation or connection of the blowing pipe and the three-way joint and controlling the truncation or connection of the pumping pipe and the three-way joint is provided on the lifting plate. The lifting mechanism drives the air needle to move up and down to insert or withdraw from the joint of the cryopreservation bag. The structure of the lifting mechanism is not limited as long as the air needle can be lifted up and down. The blowing pipe is connected to a gas source, and the pumping pipe is connected to a vacuum system vacuum pump, etc. After the cryopreservation bag is transported below the air needle, the air needle descends and inserts into the joint of the cryopreservation bag. The pipe clamping valve assembly controls the truncation of the pumping pipe and the three-way joint, and the blowing pipe is connected to the three-way joint. The blowing pipe blows air into the cryopreservation bag through the three-way joint and the connecting pipe, so as to blow the residual liquid medicine on the inner wall of the connecting hose in the cryopreservation bag into the cryopreservation bag. After blowing, the pipe clamping valve controls the truncation of the blowing pipe and the three-way joint, and the pumping pipe is connected to the three-way joint. The pumping pipe evacuates the cryopreservation bag through the three-way joint and the connecting pipe to evacuate the air in the cryopreservation bag. After pumping, the air needle rises and withdraws from the joint of the cryopreservation bag.

[0011] Preferably, the pinch valve assembly includes a mounting block, a right cylinder, and a left cylinder. The mounting block is fixed on the lifting plate. An installation cavity is provided in the mounting block. The right cylinder and the left cylinder are relatively fixed in the installation cavity. A right movable clamping block is provided on the piston rod of the right cylinder, and a left movable clamping block is provided on the piston rod of the left cylinder. A right sliding hole and a left sliding hole are provided at the top of the installation cavity. The right movable clamping block is slidably matched with the right sliding hole, and the left movable clamping block is slidably matched with the left sliding hole. A fixed clamping block is fixed on the mounting block, and the fixed clamping block is located between the right movable clamping block and the left movable clamping block. The air blowing pipe passes through the gap between the fixed clamping block and the right movable clamping block, and the air extraction pipe passes through the gap between the fixed clamping block and the left movable clamping block. A pressing block is fixed on the top of the mounting block, and an avoidance hole for the air blowing pipe and the air extraction pipe to pass through is provided on the pressing block. The air blowing pipe is restricted in the gap between the fixed clamping block, the right movable clamping block, and the pressing block, and the air extraction pipe is restricted in the gap between the fixed clamping block, the left movable clamping block, and the pressing block. When the piston rod of the right cylinder retracts, the air blowing pipe communicates with the three-way joint. When the piston rod of the right cylinder extends, the right movable clamping block moves along the right sliding hole towards the fixed clamping block to clamp the air blowing pipe, so that the air blowing pipe is cut off from the three-way joint. Similarly, when the left cylinder retracts, the air extraction pipe communicates with the three-way joint, and when the piston rod of the left cylinder extends, the air extraction pipe is cut off from the three-way joint; through the cooperation between structures such as the right cylinder, the right movable clamping block, the left cylinder, and the left movable clamping block, the cut-off or connection of the air blowing pipe and the three-way joint and the cut-off or connection of the air extraction pipe and the three-way joint are controlled. The structure is simple, and the control is sensitive and convenient.

[0012] Preferably, the freezing bag air blowing and air extraction mechanism further includes a photoelectric sensor for detecting the liquid level height in the freezing bag, and the photoelectric sensor is arranged below the lifting plate. When the air extraction pipe evacuates the freezing bag, as the air in the bag is evacuated, the liquid level in the freezing bag will rise. When the liquid level rises to the position of the photoelectric sensor, the photoelectric sensor sends a signal to the control system, and the control system controls the air extraction pipe to be cut off from the three-way joint, so that the liquid level in the freezing bag can be maintained at a fixed position. In this way, not only can the liquid medicine be prevented from being evacuated, but also it can be ensured that there is only a very small amount of gas in the freezing bag during subsequent sealing; the installation height of the photoelectric sensor can be slightly lower than the sealing position of the connecting hose on the freezing bag.

[0013] Preferably, the sealing and shearing mechanism includes a translation mechanism, a heat sealing mechanism and a shearing mechanism. The heat sealing mechanism and the shearing mechanism are arranged side by side on the translation mechanism. The translation mechanism drives the heat sealing mechanism and the shearing mechanism to translate synchronously to switch the positions of the heat sealing mechanism and the shearing mechanism. Both the heat sealing mechanism and the shearing mechanism are conventional structures in the art. The heat sealing mechanism seals the connecting hose of the cryopreservation bag by means of high-frequency sealing; the translation mechanism drives the heat sealing mechanism and the shearing mechanism to switch positions. After the heat sealing mechanism seals the connecting hose of the cryopreservation bag, the translation mechanism drives the heat sealing mechanism and the shearing mechanism to move together, so that the shearing mechanism moves to the heat sealing position to shear the sealed position of the connecting hose of the cryopreservation bag. After the shearing mechanism cuts off the connecting hose of the cryopreservation bag, the translation mechanism drives the heat sealing mechanism and the shearing mechanism to move together, so that the heat sealing mechanism resets to the heat sealing position.

[0014] Preferably, the finished product discharging mechanism includes clamping plates, a vacuum adsorption component capable of rotating, and a material guiding groove. The clamping plates and the adsorption plates are arranged opposite to each other and can approach or move away from each other. The material guiding groove is arranged below the vacuum adsorption component. The clamping plates and the vacuum adsorption component approach each other to hold the cryopreservation bag tightly. At the same time, the vacuum adsorption component sucks the cryopreservation bag, so that the cryopreservation bag can be sealed and sheared. After the cryopreservation bag is sheared, the clamping plates and the vacuum adsorption component move away from each other to release the cryopreservation bag. After the vacuum adsorption component sucks the cryopreservation bag and rotates a certain angle, the vacuum adsorption component closes the vacuum and puts the cryopreservation bag into the material guiding groove.

[0015] Therefore, the present invention has the following beneficial effects:

[0016] (1) Each mechanism is arranged along the rotation direction of the turntable that can intermittently index and step-rotate. The overall mechanism is compact and occupies a small area;

[0017] (2) The positioning fixture is driven by the turntable that can intermittently index and step-rotate, so that each mechanism can work simultaneously, which can improve the utilization rate of each mechanism and improve the production efficiency at the same time. Description of the Drawings

[0018] Figure 1 is a perspective view of the present invention.

[0019] Figure 2 is a perspective view of the feeding mechanism.

[0020] Figure 3 is Figure 2 the exploded view of

[0021] Figure 4 is a connection schematic diagram of the lifting mechanism, the positioning jaws, the material blocking rod and the isolation plug board.

[0022] Figure 5 is a connection schematic diagram of the positioning jaws, the feeding track, the material blocking rod, the isolation plug board and the height limiting board.

[0023] Figure 6 It is an exploded view of the bag body baffle plate and the motion mechanism.

[0024] Figure 7 It is an exploded view of the motion mechanism.

[0025] Figure 8 It is a three-dimensional view of the filling mechanism.

[0026] Figure 9 It is a three-dimensional view of the air blowing and air extraction mechanism.

[0027] Figure 10 It is an exploded view of the pinch valve assembly.

[0028] Figure 11 It is a three-dimensional view of the mounting block.

[0029] Figure 12 It is a schematic diagram of the cooperation between the sealing and shearing mechanism and the finished product blanking mechanism.

[0030] Figure 13 It is an exploded view of the sealing and shearing mechanism.

[0031] Figure 14 It is an exploded view of the clamping plate and the linear motion mechanism.

[0032] Figure 15 It is an exploded view of the vacuum adsorption assembly, the linear motion mechanism and the servo synchronous belt lifting mechanism.

[0033] Figure 16 It is a schematic diagram of the cooperation between the positioning fixture and the opening mechanism.

[0034] Figure 17 It is Figure 16 an exploded view of.

[0035] Figure 18 It is Figure 16 a three-dimensional view from another perspective.

[0036] In the figure: turntable 1, material taking manipulator 2, positioning fixture 3, feeding mechanism 4, capping mechanism 5, leak detection mechanism 6, filling and weighing mechanism 7, air blowing and exhausting mechanism 8, sealing and shearing mechanism 9, waste box 10, finished product unloading mechanism 11, vibrator 12, feeding track 13, bag body baffle plate 14, linear material channel 15, feed port 16, discharge port 17, baffle rod 18, positioning clamp 19, connecting plate 20, lifting shaft 21, bearing seat 22, cylinder 23, connecting seat 24 , guide rod 25, drive block 26, drive groove 27, transmission shaft 28, swing arm 29, roller 30, connecting rod mechanism 31, guide block 32, guide groove 33, level sensor 34, isolation plug plate 35, height limit plate 36, isolation plug plate avoidance hole 37, hollow shaft 38, support column 39, bottom plate 40, support plate 41, guide rail slider module 42, slide 43, support 44, filling machine 45, electronic weighing module 46, hanging bag mold 47, hanging port 48, baffle 49 , lifting plate 50, connecting pipe 51, blowing pipe 52, exhaust pipe 53, photoelectric sensor 54, servo motor 55, shaft fixing block 56, air needle 57, three-way joint 58, mounting block 59, right cylinder 60, left cylinder 61, mounting cavity 62, right movable clamping block 63, left movable clamping block 64, right sliding hole 65, left sliding hole 66, fixed clamping block 67, pressing block 68, air avoidance hole 69, blowing filter 70, exhaust filter 71, heat sealing mechanism 72, shearing mechanism 73, fixed seat 74, connecting side plate 75, mounting seat 76, clamping plate 77, vacuum adsorption assembly 78, material guide groove 79, shaft support plate 80, connecting shaft 81, connecting rod 82, vacuum suction mechanism 83, back plate 84, connecting block 85, servo synchronous belt lifting mechanism 86, rotating shaft 87, bottom support block 88, left half clamp 89, right half clamp 90, pin shaft 91, spring 92, arc driving groove 93, synchronous roller 94, toggle rod 95, toggle block 96, freezing bag 97. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0038] like Figure 1A rotary freeze storage bag automatic filling device shown in the figure includes a turntable 1 that can intermittently index and rotate step by step and a material taking manipulator 2. Along the rotation direction of the turntable, a feeding station, a capping station, a leak detection station, a filling and weighing station, a blowing and pumping station, a sealing and cutting station, and a waste discharging station are sequentially arranged on the outer side of the turntable. Positioning jigs 3 for fixing the freeze storage bags are arranged at the corresponding positions of the turntable edge and each station. A feeding mechanism 4, a capping mechanism 5, a leak detection mechanism 6, a filling and weighing mechanism 7, a blowing and pumping mechanism 8, a sealing and cutting mechanism 9, and a waste box 10 are correspondingly arranged at the feeding station, the capping station, the leak detection station, the filling and weighing station, the blowing and pumping station, the sealing and cutting station, and the waste discharging station. A finished product discharging mechanism 11 is arranged outside the sealing and cutting mechanism. The material taking manipulator moves between each station as required;

[0039] The feeding mechanism (such as Figure 2 shown) includes a vibrator 12, a feeding track 13, and a bag body baffle plate 14. The feeding track is fixed on the vibrator. A linear material channel 15 for hanging and arranging the freeze storage bags is arranged on the feeding track (such as Figure 3 , Figure 5 shown). The openings at both ends of the linear material channel form a feeding port 16 and a discharging port 17 respectively. A stop lever 18 that can move forward or backward to block or open the discharging port is arranged on the front side of the discharging port. A liftable positioning jaw 19 is arranged on the discharging port. The positioning jaw is a finger cylinder and is fixed on a connecting plate 20. One end of the connecting plate is fixed on a lifting mechanism. The lifting structure is a conventional structure in the art. The lifting structure (such as Figure 4The lifting shaft 21 is a lifting shaft 22, a bearing seat 22 and a cylinder 23, wherein a connecting plate is fixed on the top of the lifting shaft, the lifting shaft is slidably connected in the bearing seat, the lower end of the lifting shaft is fixedly connected to the piston rod of the cylinder, a connecting seat 24 is fixed on the bearing seat, a guide rod 25 is fixed on the connecting seat, a driving block 26 is provided on the guide rod, a driving groove 27 is provided at the bottom of the driving block, a transmission shaft 28 is rotatably connected in the bearing seat, a swing arm 29 is fixed on the upper end of the transmission shaft, a roller 30 is installed on the swing arm, the roller is located in the driving groove and rollingly cooperates with the driving groove, and the lower end of the transmission shaft is connected to the piston rod of the cylinder through a connecting rod mechanism 31; the blocking rod is fixedly connected to the driving block, and the positioning claw can descend and clamp the joint of the frozen storage bag at the discharge port; a guide block 32 is provided at the end of the feeding track at the discharge port, a guide groove 33 is provided on the guide block, the blocking rod is located in the guide groove and slidingly cooperates with the guide groove, and the positioning Level sensors 34 are installed on the feeding tracks on both sides of the discharge port; an isolation plug plate 35 is fixed on the connecting plate, and when the isolation plug plate is lowered, it is inserted between the joint of the freezing bag at the discharge port and the joint of the adjacent freezing bag; a height limiting plate 36 is fixed on the upper side of the feeding track close to the discharge port, and an isolation plug plate avoidance hole 37 is opened on the height limiting plate; the bag body blocking plate is arranged on the moving mechanism, and the bag body blocking plate has a blocking position and a disengaged position. When the bag body blocking plate is in the blocking position, the bag body blocking plate is located at the lower front side of the discharge port to block the bag body of the freezing bag at the discharge port; when the bag body blocking plate is in the disengaged position, the bag body blocking plate is located at the outer front side of the discharge port to disengage the bag body of the freezing bag at the discharge port, and the moving mechanism can drive the bag body blocking plate to move along a rectangular trajectory to switch between the blocking position and the disengaged position; the moving mechanism (such as Figure 6 , Figure 7 The invention discloses a bag body baffle plate 42, which is fixed to the bag body baffle plate 43, and a driving block 43 is fixed to the slider of the guide rail slider module. A driving groove is provided at the bottom of the driving block. The hollow shaft is arranged in the supporting column and is rotatably connected to the supporting column. A swing arm is fixed to the upper end of the hollow shaft, and a roller is installed on the swing arm. The roller is located in the driving groove and rolls with the driving groove. The lower end of the hollow shaft is connected to the cylinder through a connecting rod. The driving shaft passes through the hollow shaft and is rotatably connected to the hollow shaft. A support 44 is fixed to the slide. A guide rod is fixed between the supports. The driving block is slidably connected to the guide rod. The bag body baffle plate is fixed to the driving block. A driving groove is provided at the bottom of the driving block. A swing arm is fixed to the upper end of the driving shaft. A roller is installed on the swing arm. The roller is located in the driving groove and rolls with the driving groove. The lower end of the driving shaft is connected to the cylinder through a connecting rod mechanism.

[0040] Filling weighing mechanism (such as Figure 8As shown in the figure, the filling machine 45 and the electronic weighing module 46 are included. The filling machine includes a filling needle, a liftable needle holder, a peristaltic pump and other structures. The filling machine and the electronic weighing module are both conventional devices in the field. There are two filling machines and two electronic weighing modules. The two filling machines are arranged front and back along the rotation direction of the turntable to perform front filling and rear filling respectively. The two electronic weighing modules are respectively used to weigh the freezing bags before filling and after filling. The electronic weighing module is provided with a hanging bag mold 47 for hanging the freezing bags. The end of the hanging bag mold away from the electronic weighing module is provided with a hanging opening 48. A baffle 49 is fixed to the bottom of the hanging bag mold, and the baffle is in an inverted "T" shape.

[0041] Blowing and exhausting mechanism (such as Figure 9 , Figure 10 , Figure 11 The lifting mechanism comprises a lifting mechanism, a lifting plate 50, a connecting pipe 51, an air blowing pipe 52, an air extraction pipe 53 and a photoelectric sensor 54 for detecting the liquid level height in the cryopreservation bag. One end of the lifting plate is fixed on the lifting mechanism. The lifting structure is a conventional structure in the art. The lifting structure comprises a lifting shaft, a bearing seat and a servo motor 55. The lifting shaft is located in the bearing seat and slidably cooperates with the bearing seat. The upper end of the lifting shaft is fixedly connected to the lifting plate. A shaft fixing block 56 is fixed to the lower end of the lifting shaft. The shaft fixing block is transmission-connected to the output end of the servo motor through a connecting rod mechanism. The photoelectric sensor is arranged below the lifting plate. The photoelectric sensor is located on the side of the cryopreservation bag. An air needle 57 is fixed to the other end of the lifting plate. The connecting pipe is connected to the air needle. The air blowing pipe and the air extraction pipe are connected to the connecting pipe through a three-way joint 58. A clamping valve assembly for controlling the cutoff or flow of gas in the air blowing pipe and / or the air extraction pipe is provided on the lifting plate. The clamping valve assembly comprises a mounting block 59, a right cylinder 60 and a left cylinder 61 The mounting block is fixed on the lifting plate, and a mounting cavity 62 is provided in the mounting block. The right cylinder and the left cylinder are relatively fixed in the mounting cavity. A right movable clamping block 63 is fixed on the piston rod of the right cylinder, and a left movable clamping block 64 is fixed on the piston rod of the left cylinder. A right sliding hole 65 and a left sliding hole 66 are opened on the top of the mounting cavity. The right movable clamping block is slidably matched with the right sliding hole, and the left movable clamping block is slidably matched with the left sliding hole. A fixed clamping block 67 is fixed on the mounting block. The fixed clamping block is located at the right movable Between the clamping block and the left movable clamping block, a pressing block 68 is fixed on the top of the mounting block, and a hole 69 is opened on the pressing block for the air blowing pipe and the air exhaust pipe to pass through. The air blowing pipe passes through the gap between the fixed clamping block, the right movable clamping block and the pressing block and is confined in the gap. The air exhaust pipe passes through the gap in the gap between the fixed clamping block, the left movable clamping block and the pressing block and is confined in the gap. The air blowing pipe is connected to an air blowing filter 70, and the air exhaust pipe is connected to an air exhaust filter 71.

[0042] The sealing and shearing mechanism includes a translation mechanism, a heat sealing mechanism 72 and a shearing mechanism 73 (such as Figure 12 , Figure 13As shown), the heat sealing mechanism and the shearing mechanism are conventional structures in the field. The heat sealing mechanism includes a heat sealing head and a heat sealing clamp that can be relatively close to or far away. The shearing mechanism includes a shearing knife head and a shearing clamp that can be relatively close to or far away. The translation mechanism includes a fixed seat 74, a support column and a transmission shaft. The fixed seat is fixed to the top of the support column. A guide rod is slidably connected to the fixed seat. A driving block is fixed on the guide rod. A driving groove is opened at the bottom of the driving block. The transmission shaft is located in the support column and is rotatably connected to the support column. A swing arm is fixed to the upper end of the transmission shaft. A roller is provided on the swing arm. The roller is located in the driving groove and rolls with the driving groove. The lower end of the transmission shaft is transmission-connected to the output end of the servo motor through a synchronous belt transmission mechanism; connecting side plates 75 are fixed at both ends of the guide rod, and mounting seats 76 are fixed on the connecting side plates. The mounting seats are located above the fixed seat, and the heat sealing mechanism and the shearing mechanism are arranged on the mounting seats;

[0043] The finished product unloading mechanism includes a clamping plate 77 (such as Figure 14 As shown), a vacuum adsorption component 78 capable of rotating (as shown Figure 15 As shown) and a guide groove 79, a clamping plate is connected to a linear motion mechanism, which is a conventional mechanism in the art, and includes a guide rail slider module, a transmission shaft, a base plate, a bearing seat and a servo motor, the transmission shaft passes through the bearing seat and is rotatably connected to the bearing seat, the base plate is fixed to the top of the bearing seat, the guide rail slider module is arranged on the base plate, and a shaft support plate 80 is also provided on the base plate, a slide table is fixed on the slider in the guide rail slider module, a connecting shaft 81 is fixed on the slide table, the connecting shaft passes through the shaft support plate and is slidably matched with the shaft support plate, a connecting rod 82 is fixed to the outer end of the connecting shaft, a clamping plate is fixed to the end of the connecting rod, a driving block is fixed to the bottom of the slide table, a driving groove is opened at the bottom of the driving block, a swing arm is fixed to the upper end of the transmission shaft, a roller is provided on the swing arm, the roller is located in the driving groove and rolls with the driving groove, and the lower end of the transmission shaft is fixedly connected to the output end of the servo motor through a coupling;

[0044] The vacuum adsorption assembly includes a vacuum suction mechanism 83 and a back plate 84. The vacuum suction mechanism has multiple structures fixed on the back plate at intervals in the longitudinal direction. The vacuum suction mechanism is a conventional structure in the art, which is the same as the vacuum suction mechanism in the prior art CN218087826U. Therefore, its structure is not described here. The back plate is connected to the rotating mechanism through a connecting block 85. The rotating mechanism is arranged on the linear motion mechanism, and the linear motion mechanism is arranged on the servo synchronous belt lifting mechanism 86. The servo synchronous belt lifting mechanism and the linear motion mechanism are conventional structures in the art. The linear motion mechanism includes a bearing seat, a connecting seat and a servo A servo motor, a connecting seat is fixed on the bearing seat, a guide rod is fixed on the connecting seat, a driving block is arranged on the guide rod, a driving groove is opened at the bottom of the driving block, a transmission shaft is rotatably connected in the bearing seat, a swing arm is fixed on the upper end of the transmission shaft, a roller is installed on the swing arm, the roller is located in the driving groove and rollingly cooperates with the driving groove, and the lower end of the transmission shaft is fixedly connected to the output end of the servo motor through a coupling; the rotating mechanism comprises a bottom plate and a servo motor, the bottom plate is fixed on the driving block, the servo motor is fixed on the bottom plate, a shaft support plate is also arranged on the bottom plate, a rotating shaft 87 is fixed on the output end of the servo motor, and the rotating shaft is fixedly connected to the connecting block;

[0045] Positioning fixture (such as Figure 16 , Figure 17 , Figure 18 The left and right half clamps are relatively hinged in the bottom support block through a pin shaft 91. The rear ends of the left and right half clamps are connected through a spring 92. An arc-shaped driving groove 93 is provided on the left half clamp. A synchronous roller 94 that rolls with the arc-shaped driving groove is fixed to the bottom of the right half clamp. A lever 95 is fixed to the bottom of the pin shaft in the left half clamp. A roller is fixed to the end of the lever. An opening mechanism for controlling the opening of the positioning fixture is provided on the opposite side of the feeding mechanism, the weighing mechanism and the waste box. The opening mechanism includes a bearing seat, a transmission shaft and The servo motor and the transmission shaft pass through the bearing seat and are rotatably connected to the bearing seat. A toggle block 96 is fixed to the upper end of the transmission shaft, and the lower end of the transmission shaft is fixedly connected to the output end of the servo motor through a coupling. When the transmission shaft rotates to make the toggle block contact the roller at the end of the lever, the toggle block toggle the lever to rotate the left half clamp outward. At the same time, the right half clamp rotates outward at the same time under the action of the arc-shaped driving groove and the synchronous roller, so that the positioning clamp is opened to facilitate the manipulator to take or load materials. When the transmission shaft is reversed and the toggle block is disengaged from the roller at the end of the lever, the positioning clamp is closed under the action of the spring to clamp the joint of the frozen storage bag.

[0046] The operation process of the present invention is as follows: The material-taking manipulator transfers the frozen storage bag 97 in the feeding mechanism to the positioning fixture at the loading station on the turntable; the frozen storage bag at the loading station is transferred to the capping station along with the turntable, and the capping mechanism unscrews the joint isolation cap on the frozen storage bag and places it in the joint isolation cap collection box; the frozen storage bag at the capping station is transferred to the leak detection station along with the turntable, and the leak detection mechanism inflates the frozen storage bag, stabilizes the pressure after inflation, and detects through the controller. If the detection is qualified, subsequent filling is carried out. If the detection is unqualified, it is removed by the subsequent finished product blanking mechanism; the frozen storage bag at the leak detection station is transferred to the filling and weighing station, and the material-taking manipulator transfers the qualified frozen storage bag to the hanging bag mold of the previous electronic weighing module for weighing before the first filling. After weighing, the material-taking manipulator transfers the frozen storage bag back to the positioning fixture, and the previous filling machine performs the first filling. After the first filling, the frozen storage bag is transferred to the subsequent filling machine along with the turntable, and the subsequent filling machine performs the second filling. After the second filling, the material-taking manipulator transfers the frozen storage bag to the hanging bag mold of the subsequent electronic weighing module for weighing after the second filling. After weighing, the material-taking manipulator transfers the frozen storage bag back to the positioning fixture; the frozen storage bag at the filling and weighing station is transferred to the air blowing and air extraction station along with the turntable, and the air blowing and air extraction mechanism blows air and extracts air from the frozen storage bag to raise the liquid level of the liquid medicine in the frozen storage bag to a certain height; the frozen storage bag in the air blowing and air extraction mechanism is transferred to the sealing and shearing station along with the turntable. After the clamping plate and the vacuum adsorption component in the finished product blanking mechanism move relatively close to tightly hold the frozen storage bag, the heat sealing mechanism seals the connecting hose of the frozen storage bag. After sealing, the heat sealing mechanism releases the frozen storage bag. The heat sealing mechanism and the shearing mechanism translate under the drive of the translation mechanism, so that the shearing mechanism moves to the sealing position of the heat sealing mechanism and cuts the connecting hose along the sealing position. The heat sealing mechanism and the shearing mechanism translate under the drive of the translation mechanism, and the heat sealing mechanism resets to the heat sealing position again. The clamping plate and the vacuum adsorption component move away from each other. The vacuum adsorption component sucks the frozen storage bag down and rotates a certain angle to release the frozen storage bag so that it slides down along the guide groove into the finished product collection box (not shown in the figure); the positioning fixture clamping the residual section of the waste connecting hose at the sealing and shearing station is transferred to the waste blanking station along with the turntable, and the material-taking manipulator takes out the waste and transfers it to the waste box. After the waste is taken away, the positioning fixture moves to the loading station along with the turntable for loading.

[0047] 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 variants and modifications without exceeding the technical solutions recorded in the claims.

Claims

1. A rotary freeze storage bag automatic filling device, characterized in that, It includes a turntable (1) that can intermittently index and rotate step by step and a material taking manipulator (2). Along the rotation direction of the turntable, a feeding station, a capping station, a leak detection station, a filling and weighing station, a blowing and air extraction station, a sealing and shearing station, and a waste discharging station are successively arranged on the outer side of the turntable. Positioning jigs (3) for fixing the frozen storage bags are arranged at the corresponding positions of the turntable edge and each station. Feeding mechanisms (4), capping mechanisms (5), leak detection mechanisms (6), filling and weighing mechanisms (7), blowing and air extraction mechanisms (8), sealing and shearing mechanisms (9), and waste boxes (10) are correspondingly arranged at the feeding station, capping station, leak detection station, filling and weighing station, blowing and air extraction station, sealing and shearing station, and waste discharging station. A finished product discharging mechanism (11) is arranged outside the sealing and shearing mechanism. The material taking manipulator moves between each station as required; The feeding mechanism includes a vibrator (12) and a feeding track (13). The feeding track is fixed on the vibrator. A linear material track (15) for hanging and arranging frozen storage bags is arranged on the feeding track. The openings at both ends of the linear material track respectively form a feeding port (16) and a discharging port (17). A stop lever (18) that can move forward or backward to block or open the discharging port is arranged in front of the discharging port. A liftable positioning jaw (19) is arranged above the discharging port. The positioning jaw can descend and clamp the joint of the frozen storage bag located at the discharging port. An isolation plug board (35) is fixed on the positioning jaw. When the isolation plug board descends, it is inserted between the joint of the frozen storage bag located at the discharging port and the joint of the adjacent frozen storage bag. A height limiting board (36) is fixed above the side of the feeding track close to the discharging port. An avoidance hole (37) for the isolation plug board is arranged on the height limiting board. A guiding block (32) is arranged at the end of the feeding track located at the discharging port. A guiding groove (33) is arranged on the guiding block. The stop lever is located in the guiding groove and is slidably matched with the guiding groove. Material level sensors (34) are arranged on the feeding tracks on both sides of the discharging port; The blowing and air extraction mechanism includes a lifting mechanism, a lifting plate (50), a connecting pipe (51), a blowing pipe (52), and an air extraction pipe (53). One end of the lifting plate is fixed on the lifting mechanism, and an air needle (57) is fixed at the other end of the lifting plate. The connecting pipe is connected to the air needle. The blowing pipe and the air extraction pipe are connected to the connecting pipe through a three-way joint (58). A pipe clamping valve assembly for controlling the truncation or connection between the blowing pipe and the three-way joint and controlling the truncation or connection between the air extraction pipe and the three-way joint is arranged on the lifting plate.

2. The automatic filling device for a rotary freezing bag according to claim 1, wherein The feeding mechanism further includes a bag body blocking flat plate (14) and a motion mechanism. The bag body blocking flat plate is arranged on the motion mechanism. The bag body blocking flat plate has a blocking position and a disengaging position. When the bag body blocking flat plate is in the blocking position, the bag body blocking flat plate is located at the lower front side position of the discharging port to block the bag body of the frozen storage bag at the discharging port. When the bag body blocking flat plate is in the disengaging position, the bag body blocking flat plate is located at the front outer side position of the discharging port to disengage from the bag body of the frozen storage bag at the discharging port. The motion mechanism drives the bag body blocking flat plate to switch between the blocking position and the disengaging position.

3. The automatic filling device for rotary freezing bags according to claim 1, characterized in that, The filling and weighing mechanism includes a filling machine (45) and an electronic weighing module (46). The electronic weighing module is located on one side of the filling machine, and a hanging bag mold (47) for hanging a cryopreservation bag is provided on the electronic weighing module.

4. A rotary freezing bag automatic filling device according to claim 1, characterized in that, The pinch valve assembly includes a mounting block (59), a right cylinder (60) and a left cylinder (61). The mounting block is fixed on the lifting plate, and a mounting cavity (62) is provided in the mounting block. The right cylinder and the left cylinder are relatively fixed in the mounting cavity. A right movable clamping block (63) is provided on the piston rod of the right cylinder, and a left movable clamping block (64) is provided on the piston rod of the left cylinder. A right sliding hole (65) and a left sliding hole (66) are provided at the top of the mounting cavity. The right movable clamping block is slidably matched with the right sliding hole, and the left movable clamping block is slidably matched with the left sliding hole. A fixed clamping block (67) is fixed on the mounting block, and the fixed clamping block is located between the right movable clamping block and the left movable clamping block. The air blowing pipe passes through the gap between the fixed clamping block and the right movable clamping block, and the air extraction pipe passes through the gap between the fixed clamping block and the left movable clamping block. A pressing block (68) is fixed on the top of the mounting block, and an avoidance hole (69) for the air blowing pipe and the air extraction pipe to pass through is provided on the pressing block. The air blowing pipe is restricted in the gap between the fixed clamping block, the right movable clamping block and the pressing block, and the air extraction pipe is restricted in the gap between the fixed clamping block, the left movable clamping block and the pressing block.

5. The automatic filling device for rotary freezing bags according to claim 1, characterized in that, The air blowing and extraction mechanism further includes a photoelectric sensor (54) for detecting the liquid level height in the cryopreservation bag, and the photoelectric sensor is arranged below the lifting plate.

6. The automatic filling device for rotary freezing bags according to claim 1, characterized in that, The sealing and shearing mechanism includes a translation mechanism, a heat sealing mechanism (72) and a shearing mechanism (73). The heat sealing mechanism and the shearing mechanism are arranged in parallel on the translation mechanism, and the translation mechanism drives the heat sealing mechanism and the shearing mechanism to translate synchronously to switch the positions of the heat sealing mechanism and the shearing mechanism.

7. An automatic filling device for a rotary freezing bag according to claim 1, characterized in that The finished product discharging mechanism includes a clamping plate (77), a vacuum adsorption assembly (78) capable of rotating and a material guiding groove (79). The clamping plate and the adsorption plate are arranged oppositely and can approach or separate from each other, and the material guiding groove is arranged below the vacuum adsorption assembly.

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