Anti-falling device for cryo-preservation tube and control method thereof

Abstract

The application provides a kind of anti-falling device for cryopreservation tube and its control method, it is related to biological sample cryopreservation tube selection movement technical field, including: fixed installation component, adsorption mechanism, anti-falling mechanism and control module, the front end of the fixed installation component is fixed with adsorption mechanism, and the left and right outer sides of adsorption mechanism are fixed with left and right symmetrical anti-falling mechanism, and adsorption mechanism and anti-falling mechanism are electrically connected with control module respectively;The application is sucked by adsorption mechanism using negative pressure, and the cryopreservation tube is blown away using positive pressure;It can realize adsorption cryopreservation tube and realize transfer, and the anti-falling mechanism can avoid the situation that the cryopreservation tube falls due to shaking or adsorption failure during adsorption and transfer;Simple structure, fewer components, small size, higher adaptability, low manufacturing cost, stable and reliable operation.

Description

Technical Field

[0001] This invention relates to the field of biological sample cryopreservation tube selection and movement technology, and in particular to a device for preventing cryopreservation tubes from falling and its control method. Background Technology

[0002] Cryopreservation tubes are essential tools for storing biological samples and are widely used for the long-term preservation of biological materials such as cells, tissues, and DNA / RNA. In environments such as liquid nitrogen or ultra-low temperature freezers, cryopreservation tubes must withstand extremely low temperatures and potential pressure changes, which places high demands on their sealing performance, pressure resistance, and stability.

[0003] Because it is difficult for operators to handle them directly with their hands, the selection and transfer of existing cryopreservation tubes generally require operators to use special tools. Existing handling devices mostly utilize the elastic deformation of plastic to clamp the cryopreservation tubes.

[0004] However, in practice, due to the low temperature of the cryovials, the following problems exist: Unstable clamping effect: The plastic material tends to harden under prolonged low temperatures, leading to weakened clamping force and increasing the risk of the cryovials falling. Inappropriate clamping location: Existing devices mostly clamp the outer curved part of the cryovial, resulting in limited clamping effect, especially at low temperatures where stability is even more difficult to guarantee; Complex operation: Some devices are cumbersome to operate, requiring multiple steps to complete clamping and releasing, reducing work efficiency. Summary of the Invention

[0005] This invention provides a device and control method for preventing cryopreservation tubes from falling, in order to solve the technical problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides an anti-drop device for cryopreservation tubes and a control method thereof. The anti-drop device for cryopreservation tubes includes: a fixed installation component, an adsorption mechanism, an anti-drop mechanism, and a control module. The front end of the fixed installation component is fixedly provided with an adsorption mechanism, and the left and right sides of the adsorption mechanism are fixedly provided with symmetrical anti-drop mechanisms. The adsorption mechanism and the anti-drop mechanism are electrically connected to the control module respectively.

[0007] Preferably, the fixed installation assembly includes: linear guide rails; a pair of vertical linear guide rails are fixedly connected to the left and right sides of the mounting plate; the linear guide rails are slidably connected to sliders; a linear bearing is fixedly connected to the center of the front end of the mounting plate; a horizontal motor mounting plate is fixedly connected to the center of the rear end of the mounting plate; a position sensor fixing block is fixedly connected to the left end of the motor mounting plate; a vertical sensor mounting plate is fixedly connected to the left end of the position sensor fixing block; and a tensioning block is fixedly connected to the bottom end of the mounting plate, the tensioning block being a triangular shape that is wider at the top and narrower at the bottom.

[0008] Preferably, the adsorption mechanism includes: a cryopreservation tube, a suction tube, a suction head spring, a linear bearing, and an air pipe connector; a vertical suction tube is fixedly installed in the center of the linear bearing, the suction tube vertically passes through the center of the linear bearing, the top of the suction tube is fixedly connected to the air pipe connector, the air pipe connector is connected to an external negative pressure air source device, a suction head spring is sleeved on the top of the suction tube section below the linear bearing, the top of the suction head spring is fixedly connected to the bottom wall of the linear bearing, and the top of the cryopreservation tube is adsorbed at the opening at the lower end of the suction tube.

[0009] Preferably, the anti-fall motion mechanism includes: a through-type lead screw motor fixedly installed on the top of the motor mounting plate; a lead screw 1 connected to the central output shaft inside the lead screw motor; the lead screw 1 passing through the lead screw motor and the motor mounting plate vertically; an internal threaded connecting pipe threaded to the bottom end of the lead screw 1; a horizontal C-shaped floating plate fixedly connected to the center of the bottom end of the internal threaded connecting pipe; a pair of vertical connecting plates fixedly connected to the top left and right sides of the C-shaped floating plate; and the connecting plates on the left and right sides respectively fixedly connected to the sliders on their respective sides.

[0010] Preferably, the C-shaped floating plate has two parallel hinge pins that slide symmetrically on the left and right sides. The hinge pins are slidably connected to the C-shaped floating plate. A gripper is fixedly connected to the hinge pin near the suction tube. The gripper is a semi-circular arc surface near the suction tube. A second spring is sleeved at the connection between the hinge pin and the gripper. The second spring is slidably connected to the hinge pin. A vertical support rod is fixedly connected to the top of the gripper. A roller is rotatably connected to the top of the support rod. The roller tensions the left and right side walls of the fastening block.

[0011] Preferably, the control module includes: an upper photoelectric sensor, a lower photoelectric sensor, a control touch screen, and an electronic control module; the upper photoelectric sensor and the lower photoelectric sensor are fixedly installed at intervals on the left side wall of the sensor mounting plate, and a sensing sheet is fixedly installed on the top left side of the left connecting plate. The upper photoelectric sensor and the lower photoelectric sensor are electrically connected to the electronic control motherboard, and the electronic control motherboard is electrically connected to the control touch screen. The control touch screen receives operation commands, and the electronic control motherboard automatically completes the control actions.

[0012] Preferably, a control method for an anti-drop device for cryopreservation tubes, applied to the aforementioned anti-drop device for cryopreservation tubes, includes:

[0013] Step 1: Initialization and debugging. Start the control module and initialize the lead screw motor to ensure that the equipment is in normal working condition.

[0014] Step 2: Positioning. Through the coordinated work of the upper photoelectric sensor, the lower photoelectric sensor and the external moving mechanism, the suction tube is aligned with the target cryopreservation tube position.

[0015] Step 3: Adsorption. Activate the external negative pressure air source device to generate negative pressure in the suction tube, firmly adsorbing the cryopreservation tube at the target location.

[0016] Step 4: The anti-fall mechanism operates. The control module controls the lead screw motor to work, causing the C-shaped floating plate to slide downwards. At the same time, the rollers roll downwards along the tension block, so that the grippers initially clamp the cryopreservation tube under the action of the spring.

[0017] Step 5: Clamping force adjustment. The control module adjusts the rotation of the lead screw to stabilize the clamping force of the gripper within a safe range, and then stops the lead screw motor to stably clamp the main cryogenic tube.

[0018] Step 6: Release. At the designated location, turn off the external negative pressure air source equipment, release the cryo-tube from the suction head, and at the same time, the anti-drop mechanism reverses, causing the cryo-tube to fall off.

[0019] Preferred options also include:

[0020] It also includes an intelligent control system based on the electronic control motherboard during the clamping force adjustment process in step 5. The intelligent control system includes:

[0021] The torque sensor module is used to detect the rotational torque value of lead screw one when the lead screw motor is adjusted;

[0022] The first acquisition module is used to acquire data information of the lead screw, including thread lead and effective diameter of the lead screw;

[0023] Angle sensor module is used to detect the real-time working angle between support rod one and the side wall of tensioning block;

[0024] The stress sensor module is used to detect the real-time stress value between the cryopreservation tube and the gripper.

[0025] The torque sensor module, the first acquisition module, the angle sensor module, and the stress sensor module are all electrically connected to the electronic control motherboard.

[0026] Preferred options also include:

[0027] The first calculation module is used to calculate the clamping force of the gripper driven by the floating plate when the lead screw motor applies torque T to the lead screw.

[0028] ;

[0029] Where: X is the clamping force of the gripper driven by the floating plate when the torque T is applied to the lead screw by the lead screw motor. Let pi be 3.14. The rotational torque applied by the lead screw motor, as detected by the torque sensor module. The first acquisition module acquires the thread lead of lead screw one, where μ is the coefficient of friction between lead screw one and the internal threaded connecting sleeve. Let n be the lead angle of lead screw 1, n be the rotational speed of lead screw 1, and D be the effective diameter of lead screw 1. The working angle between the support rod and the side wall of the tensioning block is detected by the angle sensor module. This refers to the transmission efficiency between the lead screw and the internal threaded connecting sleeve.

[0030] Preferred options also include:

[0031] The second calculation module, based on the first calculation module, is used to calculate the total actual contact area between the grippers and the cryopreservation tube. ;

[0032] ;

[0033] in: This represents the total actual contact area between the gripper and the cryotube. The radius of the cryopreservation tube. Defined as the radius of the circle at the base of the rough peak. The elastic modulus of the cryopreservation tube. The clamping force of the grippers. For maximum displacement deformation, the contact area should theoretically be a small portion of the cryovial shell. The height of the contact area is equal to the vertical width of the gripper itself;

[0034] The third calculation module, based on the first and second calculation modules, is used to calculate the maximum frictional shear stress at the frictional interface between the gripper and the cryopreservation tube.

[0035] ;

[0036] in: The maximum frictional shear stress at the interface between the gripper and the cryopreservation tube has the dimension of stress. This represents the maximum clamping force of the grippers when the lead screw motor is adjusted. To obtain the maximum contact area between the gripper and the cryogenic tube when the lead screw motor is adjusted; It is the tangent function. It is the inverse cosine function;

[0037] The electronic control motherboard compares the maximum frictional shear stress at the interface between the gripper and the cryopreservation tube with the pressure threshold that the cryopreservation tube can withstand, and adjusts the torque of the lead screw motor in a timely manner to prevent the gripper force from being too loose or too tight, so that the maximum frictional shear stress is stabilized within the safe pressure threshold that the cryopreservation tube can withstand.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention provides an anti-drop device and control method for cryopreservation tubes. The present invention provides installation conditions for the adsorption mechanism and the anti-drop mechanism through a fixed installation component. The adsorption mechanism can adsorb and transfer the cryopreservation tubes, and the anti-drop mechanism can prevent the cryopreservation tubes from falling during the adsorption and transfer process due to shaking or adsorption failure. The beneficial effects of the present invention are as follows:

[0039] 1. The cryopreservation tube adsorption structure uses negative pressure to hold the cryopreservation tube in place and positive pressure to blow it away; the structure is simple, has few components, is compact, has higher adaptability, low manufacturing cost, and is stable and reliable in operation.

[0040] 2. Anti-drop mechanism: The two clamps are pressed by springs to hold the cryotube in place, preventing it from falling accidentally. The structure is simple, the manufacturing cost is low, and the operation is stable and reliable. Because the two clamps are pressed by springs, the cryotube can be held in place even in the event of a power outage or air leak, and maintenance is convenient.

[0041] 3. Improved the stability of holding cryopreservation tubes, avoided the uncertainty of manual clamping operations, and improved the safety of operators. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the overall three-dimensional installation structure of the present invention;

[0044] Figure 2 This is a schematic diagram of the rear view structure of the present invention;

[0045] Figure 3 This is a front cross-sectional view of the adsorption machine of the present invention;

[0046] Figure 4 This is a three-dimensional schematic diagram of the adsorption and anti-fall mechanism of the present invention at a 45-degree angle on the left side;

[0047] Figure 5 This is a schematic diagram of the motion component of the anti-fall structure of the present invention;

[0048] Figure 6 A schematic diagram of the control module is shown;

[0049] Figure 7 This is a flowchart of the control method for the anti-drop device of the cryopreservation tube of the present invention.

[0050] Figure label:

[0051] 1. Mounting plate one; 101. Fixed mounting assembly; 2. Cryopreservation tube; 3. Suction tube; 301. Adsorption mechanism; 4. Suction head spring; 5. Linear bearing; 6. Air pipe connector; 7. Lead screw motor; 8. Lead screw one; 9. Sensor mounting plate; 10. Upper photoelectric sensor; 11. Lower photoelectric sensor; 12. Sensing plate; 13. Linear guide rail; 14. Slider; 15. Connecting plate; 16. Floating plate; 17. Hinge pin; 18. Spring two; 19. Gripper; 20. Roller; 21. Tensioning block; 22. Motor mounting plate; 23. Internal threaded connecting pipe; 24. Position sensor fixing block; 25. Control touch screen; 26. Electrical control main board; 27. Support rod one. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0053] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0054] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0055] The present invention provides the following embodiments.

[0056] Example 1

[0057] This invention provides an anti-drop device and control method for cryopreservation tubes 2, such as... Figure 1As shown, an anti-drop device for cryopreservation tubes includes: a fixed installation component 101, an adsorption mechanism 301, an anti-drop mechanism, and a control module. The fixed installation component 101 is fixedly provided with the adsorption mechanism 301 at its front end, and the adsorption mechanism 301 is fixedly provided with symmetrical anti-drop mechanisms on its left and right outer sides. The adsorption mechanism 301 and the anti-drop mechanism are respectively electrically connected to the control module.

[0058] The fixed mounting assembly 101 includes: linear guide rails 13, a pair of vertical linear guide rails 13 fixedly connected to the left and right sides of the mounting plate 1, sliders 14 slidably connected to the linear guide rails 13, a linear bearing 5 fixedly connected to the center of the front end of the mounting plate 1, a horizontal motor mounting plate 22 fixedly connected to the center of the rear end of the mounting plate 1, a position sensor fixing block 24 fixedly connected to the left end of the motor mounting plate 22, a vertical sensor mounting plate 9 fixedly connected to the left end of the position sensor fixing block 24, and a tensioning block 21 fixedly connected to the bottom end of the mounting plate 1. The tensioning block 21 is triangular in shape, wider at the top and narrower at the bottom.

[0059] The beneficial effects of the above technical solution are as follows: The present invention provides installation conditions for the adsorption mechanism 301 and the anti-drop mechanism through the fixed installation component 101. The adsorption mechanism 301 can adsorb and transfer the cryopreservation tube 2, and the anti-drop mechanism can prevent the cryopreservation tube 2 from falling due to shaking or adsorption failure during the adsorption and transfer process. The beneficial effects of the present invention are as follows:

[0060] 1. The cryopreservation tube 2 has an adsorption structure that uses negative pressure to hold the cryopreservation tube 2 in place and positive pressure to blow it away. The structure is simple, has few components, is compact, has higher adaptability, low manufacturing cost, and is stable and reliable in operation.

[0061] 2. Anti-fall mechanism: The two clamping jaws 19 are pressed by springs to clamp the cryopreservation tube 2, preventing the cryopreservation tube 2 from falling accidentally. The structure is simple, the manufacturing cost is low, and the operation is stable and reliable. Because the two clamping jaws 19 are pressed by springs to clamp the cryopreservation tube 2, the cryopreservation tube 2 can be clamped to prevent it from falling even if there is a power outage or air leakage. Maintenance is convenient.

[0062] 3. Improved the stability of clamping cryopreservation tube 2, avoided the uncertainty of manual clamping operation, and improved the safety of operators.

[0063] Example 2

[0064] Based on Example 1, such as Figures 1-6As shown, the adsorption mechanism 301 includes: a cryopreservation tube 2, a suction tube 3, a suction head spring 4, a linear bearing 5, and an air pipe connector 6; a vertical suction tube 3 is fixedly installed in the center of the linear bearing 5, the suction tube 3 vertically passes through the center of the linear bearing 5, the top of the suction tube 3 is fixedly connected to the air pipe connector 6, the air pipe connector 6 is connected to an external negative pressure air source device, the top of the suction tube 3 section below the linear bearing 5 is fitted with a suction head spring 4, the top of the suction head spring 4 is fixedly connected to the bottom wall of the linear bearing 5, and the lower opening of the suction tube 3 adsorbs the top of the cryopreservation tube 2.

[0065] The anti-fall mechanism includes: a through-type lead screw motor 7 fixedly mounted on the top of the motor mounting plate 22; a lead screw 8 connected to the center output shaft inside the lead screw motor 7; the lead screw 8 passing through the lead screw motor 7 and the motor mounting plate 22; an internal threaded connecting pipe 23 threaded to the bottom end of the lead screw 8; a horizontal C-shaped floating plate 16 fixedly connected to the center of the bottom end of the internal threaded connecting pipe 23; a pair of vertical connecting plates 15 fixedly connected to the top left and right sides of the C-shaped floating plate 16; and the connecting plates 15 on the left and right sides respectively fixedly connected to the sliders 14 on their respective sides.

[0066] Two parallel hinge pins 17 are symmetrically slidably provided on the left and right sides of the C-shaped floating plate 16. The hinge pins 17 are slidably connected to the C-shaped floating plate 16. A gripper 19 is fixedly connected to the hinge pin 17 near the suction tube 3. The gripper 19 near the suction tube 3 is a semi-circular arc surface. A second spring 18 is sleeved at the connection between the hinge pin 17 and the gripper 19. The second spring 18 is slidably connected to the hinge pin 17. A vertical support rod 27 is fixedly connected to the top of the gripper 19. A roller 20 is rotatably connected to the top of the support rod 27. The roller 20 tensions the left and right side walls of the fastening block 21.

[0067] The control module includes: an upper photoelectric sensor 10, a lower photoelectric sensor 11, a control touch screen 25, and an electronic control module; the upper photoelectric sensor 10 and the lower photoelectric sensor 11 are fixedly installed at intervals on the left side wall of the sensor mounting plate, and the sensing plate 12 is fixedly installed on the top left side of the connecting plate 15 on the left side. The upper photoelectric sensor 10 and the lower photoelectric sensor 11 are electrically connected to the electronic control main board 26, and the electronic control main board 26 is electrically connected to the control touch screen 25. The control touch screen 25 receives operation commands, and the electronic control main board 26 automatically completes the control actions.

[0068] The beneficial effects of the above technical solution are as follows: When it is necessary to grasp the cryopreservation tube 2, the overall adsorption mechanism 301 and the anti-drop mechanism are controlled to move the suction tube 3 to a height directly above the cryopreservation tube 2, where they are in close contact. The inner cavity of the air connector 6 is then controlled to be connected to the negative pressure of the external air source device, and the inner cavity of the suction tube 3, which is connected to the inner cavity of the air connector 6, is also connected to the negative pressure. The cryopreservation tube 2 is then sucked onto the lower opening of the suction head. When it is necessary to release the cryopreservation tube 2, the inner cavity of the air connector 6 is controlled to be connected to the positive pressure, and the inner cavity of the suction tube 3, which is connected to the inner cavity of the air connector 6, is also connected to the positive pressure. The cryopreservation tube 2 is then blown away from the lower opening of the suction head.

[0069] When the cryopreservation tube 2 is sucked into the lower opening of the suction tube 3, the main control board 26 controls the through-type lead screw motor 7 to run. The lead screw motor 7 drives the lead screw 8 to rotate. The rotation of the lead screw 8 causes the internal threaded connecting tube 23 and the C-shaped floating plate 16 to move downward. The C-shaped floating plate 16 drives the connecting plate 15 and the slider 14 to slide downward on the linear guide rail 13. All the anti-drop mechanisms move downward. The roller 20 rolls from the upper position of the tension block 21 to the lower position. Under the action of the roller 20 pushing the support rod 27 and the action of the spring, the left and right grippers 19 move closer to the center. The distance between the two grippers 19 decreases, and the cryopreservation tube 2 is clamped by the two grippers 19 to prevent it from falling. When the cryopreservation tube 2 needs to be blown away from the lower opening of the suction head, the main control board 26 controls the through-type lead screw motor 7 to run in the direction of movement. The lead screw 8 is controlled to drive all the components of the anti-drop mechanism to move upward. The two grippers 19 move from the lower position of the tension block 21 to the upper position, and the distance between the two grippers 19 increases, so the cryopreservation tube 2 is released by the two grippers 19. Then, the overall adsorption mechanism 301 and the anti-drop mechanism, after adsorbing the cryopreservation tube 2 and controlling it to move downwards a suitable distance, the inner cavity of the air pipe connector 6 is controlled to be connected to positive pressure, and the inner cavity of the suction tube 3, which is connected to the inner cavity of the air pipe connector 6, is also connected to positive pressure. The cryopreservation tube 2 is blown away from the lower opening of the suction head and falls into the designated placement position, completing the release action of the cryopreservation tube 2. The upper photoelectric sensor 10 and the lower photoelectric sensor 11 transmit the detection distance of the sensing plate 12 to the electronic control main board 26, which is conducive to the electronic control main board 26 controlling the operation of the adjusting screw motor 7 and accurately controlling the underwater sliding distance. Under the coordination of the control module, the adsorption mechanism 301 and the anti-drop motion mechanism improve the adsorption and anti-drop effect of the cryopreservation tube 2, which is conducive to the safe and stable transfer of the cryopreservation tube 2 to the target position.

[0070] Example 3

[0071] Based on Example 2, such as Figure 7 As shown, a control method for an anti-drop device for cryopreservation tube 2, applied to the aforementioned anti-drop device for cryopreservation tube 2, includes:

[0072] Step 1: Initialization and debugging. Start the control module and initialize the lead screw motor 7 to ensure that the equipment is in normal working condition.

[0073] Step 2: Positioning. Through the coordinated work of the upper photoelectric sensor 10, the lower photoelectric sensor 11 and the external moving mechanism, the straw 3 is aligned with the target cryopreservation tube 2.

[0074] Step 3: Adsorption. Activate the external negative pressure air source device to generate negative pressure in the suction tube 3, firmly adsorbing the cryopreservation tube 2 at the target location.

[0075] Step 4: The anti-fall mechanism is activated. The control module controls the lead screw motor 7 to work, causing the C-shaped floating plate 16 to slide downwards. At the same time, the roller 20 rolls downwards along the tension block 21, so that the gripper 19 initially clamps the cryopreservation tube 2 under the action of the spring 18.

[0076] Step 5: Clamping force adjustment. The control module adjusts the rotation of the lead screw to stabilize the clamping force of the gripper 19 within a safe range, and stops the lead screw motor to stably clamp the main cryogenic tube 2.

[0077] Step 6: Release. At the designated location, turn off the external negative pressure air source equipment, release the cryopreservation tube 2 from the suction head, and at the same time, the anti-drop mechanism runs in reverse, causing the cryopreservation tube 2 to fall off.

[0078] The working principle and beneficial effects of the above technical solution are as follows: by operating a control method for an anti-drop device for cryopreservation tube 2, the operation of the adsorption mechanism 301 and the anti-drop mechanism can be better coordinated, which is conducive to the control module coordinating the movement of each mechanism, so as to better and more accurately stabilize the position of cryopreservation tube 2 during movement and avoid the occurrence of falling.

[0079] Example 4

[0080] Based on embodiment 3, it also includes an intelligent control system based on the electronic control motherboard 26 during the clamping force adjustment process in step 5. The intelligent control system includes:

[0081] The torque sensor module is used to detect the rotational torque value of the lead screw 8 when the lead screw motor 7 is adjusted;

[0082] The first acquisition module is used to acquire data information of the lead screw 8, including thread lead and effective diameter of the lead screw;

[0083] Angle sensor module is used to detect the real-time working angle between support rod 27 and the side wall of tension block 21;

[0084] The stress sensor module is used to detect the real-time stress value between the cryopreservation tube 2 and the gripper 19;

[0085] The torque sensor module, the first acquisition module, the angle sensor module, and the stress sensor module are all electrically connected to the electronic control motherboard 26.

[0086] Also includes:

[0087] The first calculation module is used to calculate the clamping force of the gripper 19 driven by the floating plate 16 when the lead screw motor 7 applies torque T to the lead screw 8.

[0088] ;

[0089] Where: X is the clamping force of the gripper 19 driven by the floating plate 16 when the torque T is applied to the lead screw 8 by the lead screw motor 7. Let pi be 3.14. The rotational torque applied by the lead screw motor, as detected by the torque sensor module. The first acquisition module acquires the thread lead of lead screw 8, where μ is the coefficient of friction between lead screw 8 and the internal threaded connecting sleeve. Let n be the lead angle of lead screw 1, n be the rotational speed of lead screw 8, and D be the effective diameter of lead screw 8. The working angle between the support rod 27 and the side wall of the tensioning block 21, detected by the angle sensor module. This refers to the transmission efficiency between the lead screw and the internal threaded connecting sleeve.

[0090] Also includes:

[0091] The second calculation module, based on the first calculation module, is used to calculate the total actual contact area when the gripper 19 clamps the cryopreservation tube 2. ;

[0092] ;

[0093] in: This refers to the total actual contact area when the gripper 19 clamps the cryovial 2. The radius of cryopreservation tube 2 is... Defined as the radius of the circle at the base of the rough peak. The elastic modulus of cryopreservation tube 2 is... The clamping force of the gripper 19, For maximum displacement deformation, the shape of the contact area is theoretically a small portion of the outer shell of cryotube 2. The height of the contact area is equal to the vertical width of the gripper 19 itself;

[0094] The third calculation module, based on the first and second calculation modules, is used to calculate the maximum frictional shear stress at the frictional interface between the gripper 19 and the cryopreservation tube 2.

[0095] ;

[0096] in: The maximum frictional shear stress at the interface between the gripper 19 and the cryopreservation tube 2 is given by the stress dimension. This represents the maximum clamping force of the gripper 19 when the lead screw motor 7 is adjusted. To obtain the maximum contact area between the gripper 19 and the cryopreservation tube 2 when the lead screw motor 7 is adjusted; It is the tangent function. It is the inverse cosine function;

[0097] The main control board 26 compares the maximum frictional shear stress on the friction interface between the gripper 19 and the cryopreservation tube 2 with the pressure threshold that the cryopreservation tube 2 can withstand, and adjusts the torque of the lead screw motor 7 in a timely manner to prevent the gripper 19 from being too loose or too tight, so that the maximum frictional shear stress is stabilized within the safe pressure threshold that the cryopreservation tube 2 can withstand.

[0098] The working principle and beneficial effects of the above technical solution are as follows: the torque sensor module, the first acquisition module, the angle sensor module, and the stress sensor module transmit their respective data to the electronic control motherboard. The electronic control motherboard controls the first calculation module to calculate the clamping force. Then, the electronic control motherboard controls the second calculation module to calculate the total actual contact area between the gripper and the cryopreservation tube. Then, the main control board starts running the third calculation module. Based on the results of the first and second calculation modules, the third calculation module calculates the maximum frictional shear stress at the interface between the gripper and the cryotube. This is because the frictional force between the gripper and the cryotube increases with the increase of the normal pressure; the frictional force is proportional to the actual contact area. In fact, under the conditions of elastic deformation and static friction, the static frictional force is equal to the frictional shear stress at the contact surface; the maximum frictional shear stress at the interface between the gripper and the cryotube is calculated. Compared with the pressure threshold that cryopreservation tubes can withstand, when When the pressure drops below the pressure threshold of the cryopreservation tube, the main control board controls the lead screw motor to increase its torque; when If the pressure is within the pressure threshold of the cryopreservation tube, the clamping force will be stable and the cryopreservation tube can be stably clamped. When the pressure threshold of the cryopreservation tube is exceeded, the main control board controls the lead screw motor to reduce the torque to prevent the cryopreservation tube from cracking or being damaged due to excessive stress. The stress sensor is used to assist in verifying the change of stress threshold. This algorithm helps the main control board to better adjust the operation of the lead screw motor, thereby achieving fine adjustment of the clamping force of the gripper, which helps to provide a stable clamping force and also anticipates the situation where excessive clamping force due to over-adjustment will damage the cryopreservation tube.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for preventing cryopreservation tubes from falling off, characterized in that, include: The assembly includes a fixed mounting component (101), an adsorption mechanism (301), an anti-fall mechanism, and a control module. The front end of the fixed mounting component (101) is fixedly provided with the adsorption mechanism (301), and the left and right sides of the adsorption mechanism (301) are fixedly provided with symmetrical anti-fall mechanisms. The adsorption mechanism (301) and the anti-fall mechanism are electrically connected to the control module. The fixed mounting assembly (101) includes: a linear guide rail (13), a pair of vertical linear guide rails (13) fixedly connected to the left and right sides of the mounting plate (1), the linear guide rails (13) being slidably connected to the slider (14) up and down, a linear bearing (5) fixedly connected to the center of the front end of the mounting plate (1), and a horizontal motor mounting plate (22) fixedly connected to the center of the rear end of the mounting plate (1). The adsorption mechanism (301) includes a straw (3); The anti-fall mechanism includes: a through-type lead screw motor (7) fixedly installed on the top of the motor mounting plate (22); a lead screw (8) connected to the center output shaft inside the lead screw motor (7); the lead screw (8) passes through the lead screw motor (7) and the motor mounting plate (22) vertically; an internal threaded connecting pipe (23) is threaded to the bottom end of the lead screw (8); a horizontal C-shaped floating plate (16) is fixedly connected to the center of the bottom end of the internal threaded connecting pipe (23); a pair of vertical connecting plates (15) are fixedly connected to the top left and right sides of the C-shaped floating plate (16); and the connecting plates (15) on the left and right sides are fixedly connected to the sliders (14) on their respective sides. The C-shaped floating plate (16) has two parallel hinge pins (17) symmetrically sliding on its left and right sides. The hinge pins (17) are slidably connected to the C-shaped floating plate (16) from left to right. A gripper (19) is fixedly connected to the side of the hinge pin (17) near the suction tube (3). The gripper (19) near the suction tube (3) is a semi-circular arc surface. A spring (18) is sleeved at the connection between the hinge pin (17) and the gripper (19). The spring (18) is slidably connected to the hinge pin (17) from left to right. A vertical support rod (27) is fixedly connected to the top of the gripper (19). A roller (20) is rotatably connected to the top of the support rod (27). The roller (20) presses the left and right side walls of the tensioning block (21). Also includes: The first calculation module is used to calculate the clamping force value of the gripper (19) driven by the floating plate (16) when the screw motor (7) applies torque T to the screw (8); ； Where: X is the clamping force of the gripper (19) driven by the C-shaped floating plate (16) when the lead screw motor (7) applies torque T to the lead screw (8). Let pi be 3.

14. The rotational torque applied by the lead screw motor, as detected by the torque sensor module. The first acquisition module acquires the thread lead of the lead screw (8), and μ is the coefficient of friction between the lead screw (8) and the internal thread connecting pipe (23). Let n be the lead angle of the lead screw (8), n be the rotational speed of the lead screw (8), and D be the effective diameter of the lead screw (8). The working angle between the support rod (27) and the side wall of the tensioning block (21) is detected by the angle sensor module. The transmission efficiency between the lead screw and the internally threaded connecting pipe (23) is denoted as .

2. The anti-drop device for cryopreservation tubes according to claim 1, characterized in that, The left end of the motor mounting plate (22) is fixedly connected to the position sensor fixing block (24), the left end of the position sensor fixing block (24) is fixedly connected to the vertical sensor mounting plate (9), and the bottom end of the mounting plate (1) is fixedly connected to the tensioning block (21), which is triangular in shape with a wider top and a narrower bottom.

3. The anti-drop device for cryopreservation tubes according to claim 2, characterized in that, The adsorption mechanism (301) further includes: a cryopreservation tube (2), a suction head spring (4), a linear bearing (5), and an air pipe connector (6); a vertical suction tube (3) is fixedly installed in the center of the linear bearing (5), the suction tube (3) vertically penetrates the center of the linear bearing (5), the top of the suction tube (3) is fixedly connected to the air pipe connector (6), the air pipe connector (6) is connected to an external negative pressure air source device, the top of the suction tube (3) section below the linear bearing (5) is fitted with a suction head spring (4), the top of the suction head spring (4) is fixedly connected to the bottom wall of the linear bearing (5), and the lower opening of the suction tube (3) adsorbs the top of the cryopreservation tube (2).

4. The anti-drop device for cryopreservation tubes according to claim 1, characterized in that, The control module includes: an upper photoelectric sensor (10), a lower photoelectric sensor (11), a control touch screen (25), and an electronic control module; the upper photoelectric sensor (10) and the lower photoelectric sensor (11) are fixedly installed at intervals on the left side wall of the sensor mounting plate, and the sensing plate (12) is fixedly installed on the top left side of the connecting plate (15) on the left side. The upper photoelectric sensor (10) and the lower photoelectric sensor (11) are electrically connected to the electronic control motherboard (26), and the electronic control motherboard (26) is electrically connected to the control touch screen (25). The control touch screen (25) receives operation commands, and the electronic control motherboard (26) automatically completes the control action.

5. A control method for an anti-drop device for cryopreservation tubes, applied to an anti-drop device for cryopreservation tubes as described in any one of claims 1-4, characterized in that, include: Step 1: Initialization and debugging: Start the control module and initialize the lead screw motor (7) to ensure that the equipment is in normal working condition; Step 2: Positioning. Through the coordinated work of the upper photoelectric sensor (10), the lower photoelectric sensor (11) and the external moving mechanism, the straw (3) is aligned with the target cryopreservation tube (2). Step 3: Adsorption. Start the external negative pressure air source device to generate negative pressure in the suction tube (3) and firmly adsorb the cryopreservation tube (2) at the target location. Step 4: The anti-fall mechanism is in operation. The control module controls the screw motor (7) to work, so that the C-shaped floating plate (16) slides downward. At the same time, the roller (20) rolls downward along the tension block (21), so that the gripper (19) initially clamps the cryopreservation tube (2) under the action of the second spring (18). Step 5: Clamping force adjustment. The control module adjusts the rotation of the lead screw to stabilize the clamping force of the gripper (19) within a safe range, and stops the lead screw motor to stably clamp the main cryopreservation tube (2). Step 6: Release. At the designated position, turn off the external negative pressure air source equipment, release the cryopreservation tube (2) with the suction head, and at the same time, the anti-drop mechanism runs in reverse, causing the cryopreservation tube (2) to fall off.

6. The control method for the anti-drop device for cryopreservation tubes according to claim 5, characterized in that, It also includes an intelligent control system based on the electronic control motherboard (26) during the clamping force adjustment process in step 5. The intelligent control system includes: A torque sensor module is used to detect the rotational torque value of the lead screw (8) when the lead screw motor (7) is adjusted; The first acquisition module is used to acquire data information of the lead screw (8), including thread lead and effective diameter of the lead screw; An angle sensor module is used to detect the real-time working angle between the support rod (27) and the side wall of the tensioning block (21); A stress sensor module is used to detect the real-time stress value between the cryopreservation tube (2) and the gripper (19); The torque sensor module, the first acquisition module, the angle sensor module, and the stress sensor module are all electrically connected to the electronic control motherboard (26).

7. The control method for an anti-drop device for cryopreservation tubes according to claim 5, characterized in that, Also includes: The second calculation module, based on the first calculation module, is used to calculate the total actual contact area when the gripper (19) clamps the cryopreservation tube (2). ; ； in: The total actual contact area when the gripper (19) and the cryopreservation tube (2) are held together; The radius of the cryopreservation tube (2) is... Defined as the radius of the circle at the base of the rough peak. The elastic modulus of the cryopreservation tube (2) is The clamping force of the gripper (19) For maximum displacement deformation, the shape of the contact area is theoretically a small part of the outer shell of the cryopreservation tube (2). The height of the contact area is equal to the vertical width of the gripper (19). The third calculation module, based on the first and second calculation modules, is used to calculate the maximum frictional shear stress on the frictional interface between the gripper (19) and the cryopreservation tube (2). ； in: The maximum frictional shear stress at the friction interface between the gripper (19) and the cryopreservation tube (2) has the stress dimension. This is the maximum clamping force of the gripper (19) when the lead screw motor (7) is adjusted. To obtain the maximum contact area between the jaw (19) and the cryopreservation tube (2) when the lead screw motor (7) is adjusted; It is the tangent function. It is the inverse cosine function; The main control board (26) compares the maximum frictional shear stress on the friction interface between the gripper (19) and the cryopreservation tube (2) with the pressure threshold that the cryopreservation tube (2) can withstand, and adjusts the torque of the lead screw motor (7) in a timely manner to prevent the gripper (19) from being too loose or too tight, so that the maximum frictional shear stress is stabilized within the safe pressure threshold that the cryopreservation tube (2) can withstand.

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