Cell incubator door control method and system

Abstract

The invention relates to the technical field of cell culture, and provides a cell incubator door control method which is used for controlling opening and closing of an inclined lifting type cell incubator sealing door device, and the control method comprises the following steps: a main control module receives a trigger instruction and calculates a first operation parameter of an incubator door according to a preset motion trail; based on the first operation parameter of the box door, the main control module generates a first driving signal and sends the first driving signal to the driving module; after receiving the first driving signal from the main control module, the driving module adjusts the output of the driving module according to the first driving signal and drives the box door to operate; after the box door gradually operates, the driving module dynamically adjusts parameters in operation of the box door according to a preset motion trail in the main control module and a signal fed back by the detection module in real time and enables the box door to reach a preset position, and the preset motion trail comprises an inclined lifting mode of the box door.

Description

Technical Field

[0001] The invention relates to the technical field of cell culture, and in particular to a cell incubator, a sealed door and a control method and control system thereof in an automated culture cabinet. Background Art

[0002] In the process of cell culture, cell incubator is one of the commonly used equipment. In order to ensure the stability of the cell culture environment, it is usually necessary to strictly control the temperature and humidity of the incubator. In the automated culture cabinet, the reagent plate needs to be taken out of the incubator for subsequent operations. The traditional cell incubator and its material collection method may cause fluctuations in temperature and humidity, affecting the effect of cell culture. Traditional incubators have defects such as uneven temperature, difficult to control humidity, poor door sealing and low degree of automation, which affect the quality of cell preservation and experimental efficiency. For example, the weak air circulation of ordinary incubators leads to large temperature gradients, which affects the consistency of cell metabolism; poor door sealing increases the risk of heat exchange and contamination; manual or simple control of the door switch and temperature and humidity adjustment cannot meet the needs of complex experimental processes. Therefore, the research and development of cell incubators with excellent performance is of far-reaching significance. Summary of the invention

[0003] The purpose of the present application is to provide a cell incubator, a sealed door and a control method and control system thereof in an automated culture cabinet.

[0004] In order to solve the above-mentioned technical problems, the present application provides a direct-lifting cell incubator sealed door device, which is arranged on the box body of the incubator. The sealed door device includes: a sealing unit, a door body and a lifting mechanism. The sealing unit is arranged on the door body, and the door body is arranged on the lifting mechanism. The door body and the lifting mechanism are fixedly connected by a connecting piece. The lifting mechanism is used to drive the door body to lift and lower. The sealing unit matches the contact surface of the opening edge of the box body of the cell incubator, and the contact surface includes an inclined surface.

[0005] The present application also provides a cell incubator, comprising the above-mentioned sealing door device.

[0006] The present application also provides a cell incubator door control method as mentioned above, which is used to control the opening and closing of a sealed door device of a direct-lifting cell incubator, the sealed door device comprising: a lifting mechanism, a door body arranged on the lifting mechanism and a sealing unit arranged on the door body, the lifting mechanism is used to drive the door body to lift and lower, the sealing unit matches the contact surface of the edge of the opening of the cell incubator body, and the contact surface comprises an inclined surface, and the control method comprises the following steps: the main control module receives a trigger instruction and calculates the first operating parameter of the door according to a preset motion trajectory; based on the first operating parameter of the door, the main control module generates a first drive signal and sends it to the drive module; after the drive module receives the first drive signal from the main control module, it adjusts the output of the drive module according to the first drive signal and drives the door to operate; after the door gradually operates, the operating speed and acceleration of the door are adjusted by adjusting the drive current and voltage according to the gap between the current position of the door and the preset position and the speed change, so that the door reaches the preset position, wherein the preset motion trajectory comprises a vertical lifting mode of the door.

[0007] The present application also provides a cell incubator door control system, including: a main control module, used to receive instructions and send signals; an experimental process monitoring module, used to track the experimental process; a driving module, used to drive the incubator door to directly perform lifting and lowering movements according to the signal sent by the main control module; a detection module, used to monitor the movement state of the incubator door and feed back to the main control module; and a fault monitoring module, used to monitor the operating parameters of the driving module and the detection module, and send signals to the main control module.

[0008] The present application also provides an inclined and lifting cell incubator sealed door device, which is arranged on the box body of the incubator, and realizes the opening and closing of the door of the incubator through inclined and lifting movements. The sealed door device includes: a sealing unit, a door body and a lifting mechanism. The sealing unit is arranged on the door body, and the sealing unit matches the contact surface of the edge of the box mouth of the cell incubator. The door body is arranged on the lifting mechanism, and the door body and the lifting mechanism are fixedly connected by a connecting piece. The lifting mechanism is used to drive the door body to lift and lower, and the lifting mechanism includes a driving unit, a transmission unit, a guide unit and a supporting unit, wherein the driving unit is arranged on the top of the box body of the cell incubator, and is used to drive the lifting and lowering movement of the door body. The transmission unit is used to transmit the power of the motor to the door body. The guide unit is arranged on the supporting unit, and is used to guide the lifting and lowering of the door body. The supporting unit includes a box mouth bracket arranged on both sides of the box mouth of the cell incubator and a door body bracket arranged on both sides of the door body. The door body bracket includes an inclined surface, and the door body is arranged on the inclined surface.

[0009] The present application also provides a cell incubator door control method for controlling the opening and closing of a tilting and lifting cell incubator sealed door device, the sealed door device comprising: a lifting mechanism, a door body arranged on the lifting mechanism and a sealing unit arranged on the door body, the lifting mechanism is used to drive the door body to tilt and lift, and the lifting mechanism comprises a driving unit for driving the lifting movement of the door body, a transmission unit for transmitting the power of the motor to the door body, a guiding unit for guiding the lifting of the door body and a supporting unit, wherein the supporting unit comprises a box opening bracket arranged on both sides of the box opening of the cell incubator and a door body bracket arranged on both sides of the door body, the door body bracket comprises an inclined surface, and the door body is arranged on the inclined surface, and the control method comprises the following steps: the main control module receives a trigger instruction and responds accordingly According to the preset motion trajectory, the first operating parameters of the box door are calculated; based on the first operating parameters of the box door, the main control module generates a first drive signal and sends it to the drive module; after the drive module receives the first drive signal from the main control module, the output of the drive module is adjusted according to the first drive signal and drives the box door to operate; after the box door gradually operates, the operating speed and acceleration of the box door are adjusted by adjusting the drive current and voltage according to the gap between the current position of the box door and the preset position and the speed change, so that the box door reaches the preset position, wherein the preset motion trajectory includes a box door tilt lifting mode, and the box door tilt lifting mode is that the box door is lifted and lowered along a path that is inclined at an angle to the vertical direction, and the first operating parameters of the box door in this mode include the tilt lifting distance, the initial speed and the initial acceleration.

[0010] Preferably, it also includes: automatically sending a trigger instruction to the main control module according to the experimental process monitoring module or an external signal.

[0011] Preferably, the trigger instruction includes a door opening instruction and a door closing instruction.

[0012] Preferably, the first operating parameter of the box door includes an initial velocity and an initial acceleration, the initial velocity is 100 mm / s, and the initial acceleration is 0.025 G.

[0013] Preferably, the driving module adjusts the rotation speed of the servo motor to 3000 rpm and the torque to 0.3 NM according to the first driving signal.

[0014] Preferably, the parameters of the box door during operation include operating speed and operating acceleration, the maximum operating speed is 300 mm / s, and the maximum operating acceleration is 0.03G.

[0015] Preferably, the preset position includes a door opening position and a door closing position, the door opening position is provided with a door opening sensor, and the door closing position is provided with a door closing sensor.

[0016] Preferably, in the tilt lifting mode of the door, the angle between the movement direction of the door and the vertical direction is 5-10 degrees.

[0017] Preferably, the travel of the door in the preset motion trajectory is 600 mm.

[0018] The present application also provides a method for automatic control of a cell incubator door, comprising the following steps: an experimental process monitoring module tracks the experimental process and automatically sends a trigger instruction to a main control module; the main control module receives the trigger instruction and calculates a first operating parameter of the door according to a preset motion trajectory; based on the first operating parameter of the door, the main control module generates a first drive signal and sends it to a drive module; after the drive module receives the first drive signal from the main control module, it adjusts the output of the drive module according to the first drive signal and drives the door to operate; after the door gradually operates, the drive module dynamically adjusts the operating parameters of the door according to the preset motion trajectory of the main control module and the signal fed back in real time by the detection module, and makes the door reach a preset position, wherein the preset motion trajectory includes a vertical lifting mode of the door or an inclined lifting mode of the door.

[0019] The present application also provides a cell incubator door control system, including a main control module for receiving instructions and sending signals; an experimental process monitoring module for tracking the experimental process; a driving module for driving the incubator door to directly perform lifting and lowering movements according to the signal sent by the main control module; a detection module for monitoring the movement state of the incubator door and feeding back to the main control module; and a fault monitoring module for monitoring the operating parameters of the driving module and the detection module, and sending signals to the main control module.

[0020] The present application also provides a cell incubator, including a box body, including an outer shell and an inner cavity; an incubator door device, which is arranged on the outer shell and realizes the opening and closing of the incubator door through lifting and lowering movements; an air circulation device, which is used to promote the flow of air in the inner cavity and is arranged in the inner cavity; a refrigeration device, which is used to generate cold air, including a compressor and a condenser arranged on the top of the outer shell; and a control device, which is used to control the operation of the incubator door device, the air circulation device and the refrigeration device, wherein the incubator door device includes a lifting mechanism, a material lifting door body slidably arranged on the lifting mechanism, and a sealing unit fixedly arranged on the material lifting door body.

[0021] The present application also provides a cell incubator, comprising: a box body, comprising an outer shell and an inner cavity; a temperature detection device, used to detect the temperature of the inner cavity, arranged in the inner cavity; an air circulation device, used to promote the flow of air in the inner cavity, arranged in the inner cavity; and a refrigeration device, used to generate cold air, comprising a compressor and a condenser arranged on the top of the outer shell; wherein at least one storage rack is arranged in the inner cavity, the bottom and sides of at least one storage rack are hollowed out, and the temperature detection device includes multiple temperature sensors.

[0022] The present application also provides a cell incubator, comprising: a box body, comprising an outer shell and an inner cavity; a temperature detection device, used to detect the temperature of the inner cavity, arranged in the inner cavity; an air circulation device, used to promote the flow of air in the inner cavity, arranged in the inner cavity, including a fan for promoting the flow of gas and a guide mechanism for guiding the flow of air; and a refrigeration device, used to generate cold air, including a compressor and a condenser arranged on the top of the outer shell; wherein at least one storage rack is arranged in the inner cavity, the bottom and sides of at least one storage rack are hollowed out, the fan is arranged at the top of the inner cavity, and the guide mechanism includes an air duct, which is arranged on both sides of the inner cavity and connected to the fan. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A schematic diagram of the three-dimensional structure of a cell incubator in an embodiment of the present application;

[0025] Figure 2 A front view of a cell incubator in an embodiment of the present application;

[0026] Figure 3 A cross-sectional view of the cell incubator EE section in the embodiment of the present application;

[0027] Figure 4 A schematic diagram of the three-dimensional structure of the cell incubator in the embodiment of the present application, showing the air duct after the cell incubator door is removed;

[0028] Figure 5 A rear view of the cell incubator in the embodiment of the present application when the lifting and taking material door is in an open state;

[0029] Figure 6 A side view of the lifting and taking door of the cell incubator in the embodiment of the present application when it is in an open state;

[0030] Figure 7 A partial enlarged view of a tilted lifting cell incubator sealed door device in an embodiment of the present application, in which the contact surface between the door body and the door body bracket is an inclined surface;

[0031] Figure 8 A schematic diagram of a direct vertical lifting cell incubator sealing door device in an embodiment of the present application, in which the contact surface between the sealing strip and the edge of the opening of the cell incubator body is an inclined surface;

[0032] Fig. 9 Flow chart of the cell incubator door opening control method in the embodiment of the present application;

[0033] Fig.10 Flow chart of step S1 in the cell incubator door opening control method in the embodiment of the present application;

[0034] Fig.11 A flowchart of step S1 in a cell incubator door opening control method in another embodiment of the present application;

[0035] Fig.12 Flow chart of step S2 in the cell incubator door opening control method in the embodiment of the present application;

[0036] Fig.13 Flow chart of step S3 in the cell incubator door opening control method in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer and more understandable, the application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain this application and are not used to limit this application.

[0038] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "comprise" and "comprising" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0039] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. Moreover, in addition to being used to indicate orientations or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to the specific circumstances. In addition, the term "multiple" should mean two or more.

[0040] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] The present embodiment provides a cell incubator that can accelerate cold air circulation and rapid cooling. By optimizing air circulation and cooling mechanisms, the temperature control efficiency and uniformity during cell culture or storage are improved; and the sealing material extraction and lifting door device of the cell incubator improves the efficiency of opening and closing the door.

[0042] Figure 1 A schematic diagram of the three-dimensional structure of a cell incubator in an embodiment of the present application; Figure 2 A front view of a cell incubator in an embodiment of the present application; Figure 3 A cross-sectional view of a cell incubator in an embodiment of the present application.

[0043] The cell incubator 100 of this embodiment includes a box body 10, a refrigeration device 20, an air circulation device 30, an incubator door device 40, a temperature detection device (not shown in the figure), a humidity detection device (not shown in the figure), a control device (not shown in the figure) and a display device (not shown in the figure). The box body 10 includes an outer shell 11 and an inner cavity 12. An insulation layer is provided between the outer shell 11 and the inner cavity 12 to reduce heat exchange, and the outer shell 11 and the inner cavity 12 are both made of metal materials. The inner cavity 12 is provided with a plurality of temperature detection devices for detecting the temperature of the inner cavity, a plurality of humidity detection devices for detecting the humidity of the inner cavity and at least one storage rack 50. In this embodiment, two storage racks 50 are shown in the inner cavity 12, and in other embodiments, the number of storage racks can also be multiple. The bottom and side of the storage rack 50 are hollowed out, and sufficient space is left between each layer of the storage rack 50 to ensure air circulation. At least one temperature sensor of the plurality of temperature sensors is arranged at the bottom of at least one storage rack 50. In some embodiments, temperature sensors are installed at the top, middle, bottom and near the storage rack 50 of the box body cavity 12. In some embodiments, only the temperature sensor placed below the storage rack 50 is included. A display device (not shown) is provided on the housing 11 for displaying temperature and alarms. A control device (not shown) is used to control the operation of the incubator door device 40, the air circulation device 30 and the refrigeration device 20, and is connected to each device for communication. A water receiving tray 60 is also provided at the bottom of the incubator 100.

[0044] The refrigeration device 20 is provided with a compressor 21 and a condenser 22 at the top of the shell 11, and can generate a large amount of cold air in a short time. At the same time, in some embodiments, the cell incubator 100 also includes an auxiliary refrigeration device for generating additional cold air for the cell incubator. Specifically, the auxiliary refrigeration device can be a semiconductor refrigeration auxiliary device, a compression refrigeration auxiliary device or / and a liquid nitrogen refrigeration auxiliary device. The semiconductor refrigeration auxiliary device is a semiconductor refrigeration sheet, which is installed on the inner wall of the cell incubator. In some embodiments, a fast cooling medium such as dry ice or liquid nitrogen can also be introduced as an auxiliary cooling means. For example, the cold air of dry ice or liquid nitrogen is directly introduced into the inner cavity 12 through an injection device, thereby achieving rapid cooling. The injection device is combined with the cold air circulation system of the inner cavity 12 to ensure that the cold air of dry ice or liquid nitrogen can be quickly diffused and evenly acted on the cell incubator 100.

[0045] The air circulation device 30 is arranged in the inner cavity 12 to promote the flow of air in the inner cavity. The air circulation device 30 includes a fan 31 for promoting the flow of gas and a guide mechanism 32 for guiding the flow of air. The fan 31 is arranged at the top of the inner cavity 12. The fan 31 includes an impeller, a motor and a housing. The motor drives the impeller to rotate to generate airflow. The guide mechanism 32 includes an air duct 321, which is arranged on both sides of the inner cavity 12 and communicates with the fan 31, see Figure 4 . The air duct 321 is made of sheet metal, bent into a square tube channel, fixed on both sides of the inner wall of the box, and a plurality of air vents 322 are provided on the sheet metal surface of the air duct 321 in the form of shutters or the like for effective circulation of cold air. The plurality of air vents 322 are evenly arranged, and adjacent air vents are spaced 30 mm apart. The outlet of the air duct 321 is at a certain distance from the bottom of the insulated box. The thickness of the air duct is no more than 10 mm. In some embodiments, a guide plate may be provided inside the air duct 321 to guide the air to flow along a predetermined path, reduce turbulence and eddy currents, and improve air circulation efficiency. In some embodiments, the air circulation device 30 also includes an airflow adjustment mechanism for adjusting the fan speed and adjusting the airflow volume.

[0046] See also Figure 5-6 The heat preservation box door device 40 includes a sealing unit 41, a material taking and lifting door body 42, a lifting mechanism 43 and a material feeding door body 44. The material feeding door body is arranged on the outer shell and is arranged opposite to the material taking and lifting door body 42. The sealing unit 41 is a rubber sealing strip, which is arranged on the material taking and lifting door body 42, matches the contact surface of the box opening edge to achieve sealing, and the sealing contact surface includes an inclined surface. The compression amount of the rubber strip is 50%.

[0047] The contact surface between the sealing unit 41 and the material lifting door body is tooth-shaped. The tooth-shaped contact surface tooth-shaped design not only increases the contact area between the sealing unit and the sealing surface of the box opening edge, but also effectively prevents the generation of small gaps by interlocking, thereby improving the sealing performance. The rubber sealing strip is in the shape of a square and is arranged on the door body near the box opening of the cell incubator. The material lifting door body 42 and the lifting mechanism 43 are firmly connected by rigid connectors (such as bolts and pins). The lifting mechanism 43 is used to drive the lifting movement of the material lifting door body 42 to realize the opening and closing of the box body. The lifting mechanism 43 includes a driving unit 431, a transmission unit 432, a guide unit 433 and a support unit 434. The support unit 434 includes a box opening bracket 4341 arranged on both sides of the box opening and a door body bracket 4342 arranged on both sides of the material lifting door body 42. The driving unit 432 uses a servo motor as a power source, is arranged on the top of the shell 11 and fixed on the box opening bracket 4341, and is used to drive the lifting movement of the material lifting door body 42. The transmission unit 432 is used to transmit the power of the driving unit 4341 (servo motor) to the material picking and lifting door body 42. In some embodiments, the transmission unit 432 adopts a double gear and double rack transmission method, and the transmission unit 432 includes a driving gear 4321, two driven gears 4322, two racks 4323 and a transmission shaft 4324. The driving gear 4321 is directly mounted on the output shaft of the servo motor and rotates synchronously with the output shaft. The driven gear 4322 is mounted on the transmission shaft, and through meshing and interaction with the driving gear 4321, the rotational motion is converted into the lifting motion of the material picking and lifting door body 42. The door body bracket 4342 is provided with an interface connected to the rack 4323, and the two racks 4323 are respectively meshed with the two driven gears 4322. When the driven gear 4322 rotates, the rack 4323 will move in a straight line direction, thereby driving the lifting and lowering of the material picking and lifting door body 42. The guide unit 433 is arranged on the support unit 434, and is used to guide the lifting and lowering of the material picking lifting door body 42, and ensure that the material picking lifting door body 42 moves smoothly along the predetermined path during the lifting process. The guide unit 433 includes a guide rail 431 and a slider 432, wherein the guide rail 431 is arranged on the box mouth bracket 4341 and installed on both sides of the box opening, and the door body bracket 4342 is arranged on the slider 432. The guide rail 431 cooperates with the slider 432 on the door body bracket 4342 to achieve the guidance and support of the material picking lifting door body 42. The guide unit 433 is also equipped with an anti-derailment assembly (not shown in the figure) to ensure that the material picking lifting door body 42 does not deviate from the predetermined path during the lifting process. In some embodiments, the material picking lifting door weighs 8kg.

[0048] See also Figure 7In some embodiments, the door body bracket 4342 includes an inclined surface, and the material-collecting lifting door body 42 is arranged on the inclined surface. The box mouth bracket 4341 includes an inclined surface 4341a, and the guide rail 431 is arranged on the inclined surface 4341a of the box mouth bracket 4341. The angles between the inclined surface 4341a and the vertical direction are 3 degrees to 10 degrees. The guide rail 431 is arranged obliquely on the box mouth bracket 4341, and the material-collecting lifting door body 42 is arranged obliquely on the door body bracket 4342. In this embodiment, the motion trajectory of the material-collecting lifting door body 42 is an inclined lifting motion with a certain inclination angle.

[0049] See also Figure 8 In some embodiments, the side of the rubber sealing strip near the opening of the cell incubator box includes an inclined surface 41a. A sealing frame 13 is provided at the edge of the opening of the cell incubator box, and the sealing frame includes an inclined surface 13a. The angle between the inclined surface and the vertical direction is 5-10 degrees. In this embodiment, the movement trajectory of the material lifting door 42 is a vertical lifting movement.

[0050] In some embodiments, the movement track of the material-collecting lifting door body 42 is first translation and then lifting (door opening) or first lifting and then translation (door closing). In this embodiment, a cam mechanism is used to achieve translation of the material-collecting lifting door body 42.

[0051] In some embodiments, the material replenishing door body can also adopt the same technical solution as the material taking lifting door body 42.

[0052] The present embodiment also provides a cell incubator door control system. The control system includes at least: a main control module, an experimental process monitoring module, a drive module, a detection module and a fault monitoring module. The main control module is responsible for receiving user instructions, processing control logic, sending control signals and receiving feedback data from each sensor in the detection module. The drive module, as an execution module, is responsible for driving the incubator door to perform lifting and lowering movements according to the control signal. The servo motor in the incubator door device is used as a power source to drive the incubator door to perform lifting and lowering movements according to the control signal (such as speed and acceleration instructions) sent by the main control module. The drive module is responsible for converting the control signal into an electrical signal recognizable by the motor, and monitoring the running state of the motor in real time to ensure the stability and accuracy of the movement. The detection module includes a door opening sensor and a door closing sensor, which are responsible for real-time monitoring of the state of the incubator door and feedback to the main control module. In this embodiment, the position detection accuracy of the door opening sensor and the door closing sensor can be preset to 0.05mm, and the door opening sensor and the door closing sensor both use photoelectric sensors. The fault monitoring module monitors the current, voltage, speed of the motor, and the output signal of the sensor and other parameters in real time, and sends the signal to the main control module. In this embodiment, the motor current threshold can be set to not exceed twice the rated current.

[0053] This embodiment also provides a control method 200 for opening and closing a cell incubator door, the general process of which includes the generation of a trigger instruction and the control of the start-up and operation of the door.

[0054] Generation of trigger instructions. The experimental process monitoring module works continuously during the cell culture experiment. It tracks the experimental process in a variety of ways, such as establishing a communication connection with the experimental equipment to obtain equipment status information, including whether the equipment is operating normally, whether a specific operation has been completed and returned to the ready state, etc., or reading a preset schedule (the schedule can be customized by the user according to the experimental process, or automatically generated according to the experimental type and requirements), comparing the current time with the time points of each experimental step in the schedule (such as the start time, end time and duration of the experimental step), and determining the current experimental step. When the experimental process monitoring module detects that the preset experimental steps have been completed and it is necessary to receive or output the transported materials or samples from the cell incubator (such as when samples need to be removed for testing or new culture medium needs to be added at a specific stage of cell culture), a trigger instruction (door opening instruction or door closing instruction) is generated according to the pre-set rules. The trigger instruction can be accurately sent to the main control module through wired or wireless communication.

[0055] Door operation control. After receiving the trigger command, the main control module calculates the first operating parameters of the door, including the initial speed and initial acceleration, according to the currently preset door motion trajectory mode (vertical lifting motion mode or door tilt lifting mode) and the parameters set for initialization. Based on the calculated first operating parameters of the door, the main control module generates a first drive signal and sends it to the drive module. After receiving the signal, the drive module quickly adjusts the speed and torque of the servo motor to drive the door to start running. At the moment the door starts, it moves strictly according to the calculated initial speed and initial acceleration. As the door gradually runs, the drive module dynamically adjusts the parameters of the door operation according to the preset motion trajectory in the main control module and the real-time feedback signal from the detection module. The detection module (such as a position sensor) continuously monitors the status information of the door, such as the position, speed and acceleration, and feeds this information back to the main control module in real time. The main control module compares and analyzes the feedback information with the preset motion trajectory. For example, if the actual running speed of the box door is lower than the preset speed, the main control module will adjust the drive signal to increase the motor output of the drive module and increase the running speed of the box door; on the contrary, if the speed is too fast, the motor output will be reduced to decelerate, ensuring that the running speed of the box door is always within the safe range (maximum 300mm / s) and the acceleration does not exceed the maximum value of 0.03G, so that the box door can reach the preset position (opening position or closing position) smoothly and accurately. When the box door reaches the preset position, the door opening sensor or door closing sensor installed at the corresponding position is triggered to send a signal to the main control module. At this time, the drive module gradually reduces the output parameters of the motor according to the preset stop conditions. For example, when the box door is a certain distance (such as 50mm) from the target position, the motor speed begins to be reduced according to a certain deceleration curve, so that the box door stops smoothly at the target position, avoiding impact caused by sudden stop, and ensuring the sealing of the box door when it is closed and the safety when it is opened.

[0056] The control methods for opening and closing are roughly the same, see Fig. 9 , taking the door opening process as an example to explain the specific steps and methods in detail.

[0057] S1, automatically sends the door opening command to the main control module according to the preset experimental process or external signal.

[0058] The preset experimental process specifically refers to the state of each step in the experimental process monitored by the main control module. When a certain step is completed, the door opening command is automatically sent to receive or output the transported materials or samples. In a specific embodiment, the experimental process monitoring module checks whether the experimental equipment has returned to the ready state, whether the sample has been processed, and / or whether the time point of the preset experimental step has been reached to check whether the experimental step has been completed. The external signal refers to the signal sent by the remote control interface, or the sensor signal. The user can send a door opening request through the remote control interface (such as a touch screen, PC software or mobile phone APP). In some embodiments, various sensors (such as infrared sensors, RFID readers, pressure sensors, etc.) can be installed. When the sensor detects a specific event (such as a person approaching, an RFID tag being read, a pressure change, etc.), it will send a signal to the main control module, thereby triggering the door opening action.

[0059] See also Fig.10 , the main control module receives the door opening command according to the experimental process preset by the system, which specifically includes the following sub-steps:

[0060] S1-1 Monitoring experimental steps: The experimental process monitoring module tracks each preset experimental step according to the state information of the experimental equipment and / or the preset schedule. Specifically, the experimental process monitoring module can read the preset schedule from the storage device, and the schedule is pre-set by the user or automatically generated according to the type and requirements of the experiment.

[0061] S1-2 Status Detection: In each preset experimental step, the main control module checks whether the step has been completed. This may involve checking whether the device has returned to the ready state, whether the sample has been processed, or whether a specific time node has been reached, such as the time point of the preset experimental step. The time point of the preset experimental step includes the start time, end time and duration of the experimental step. The experimental process monitoring module determines the current experimental step by comparing the current time with the time point in the schedule.

[0062] S1-3 Automatic triggering: When checking that the preset experimental steps have been completed and it is necessary to receive or output the transported materials or samples from the cell incubator, the experimental process monitoring module generates a trigger command for opening the door and sends it to the main control module. This command usually contains the door opening mode (such as full open, half open, etc.) and possible priority information.

[0063] See also Fig.11 , the main control module receives the door opening command according to the external signal, which specifically includes the following sub-steps:

[0064] S1-1' Remote control interface: Users can send door opening requests through remote control interfaces such as touch screens, PC software, or mobile phone apps. These interfaces usually provide intuitive buttons or menu options, and users can send instructions with a simple click. In some embodiments, the system also integrates a variety of sensors to detect specific events in the environment. For example, infrared sensors can detect the approach of people, RFID readers can read RFID tags, and pressure sensors can detect pressure changes. When these sensors detect preset events, they will immediately send a signal to the main control module.

[0065] S1-2'Signal analysis: After the main control module receives the signal from the sensor or remote control interface, it will analyze it to confirm the type and content of the signal.

[0066] S1-3' If the signal is a door opening request, the main control module will prepare to send a door opening command.

[0067] S2, the main control module receives the door opening command and calculates the speed, acceleration, position and other parameters of the door at each stage of the opening process according to the preset motion trajectory, and sends a drive signal to the servo motor (continue to see Fig. 9 ).

[0068] See also Fig.12 , step S2 includes the following sub-steps:

[0069] S2-1 Motion trajectory planning: Based on the weight, inertia, friction and other factors of the door body, the main control module stores the preset motion trajectory of the door opening to ensure a smooth and efficient opening process. The preset motion trajectory is the door direct lifting mode or the door tilt lifting mode.

[0070] S2-2 Parameter calculation: According to the door opening command and the preset motion trajectory, the main control module will calculate the speed, acceleration, position and other parameters required for the door at each stage of the opening process. These parameters may change over time to adapt to different opening stages and conditions. In some embodiments, the operating speed of the door is controlled at 50mm / s-345mm / s, and the stroke is 600mm-620mm. In some embodiments, the stroke of the door tilt lifting mode is 600mm. The stroke of the door direct lifting mode is 620mm.

[0071] S2-3 Drive signal generation: Based on the calculated parameters, the main control module generates the corresponding drive signal and sends it to the servo motor through the communication interface. These signals contain the specific actions and parameter requirements that the motor needs to perform.

[0072] S3, the servo motor controls the motor output according to the drive signal to ensure the door opens smoothly (see Fig. 9). In the initial stage, a slower speed and a larger acceleration may be used to start the door opening action smoothly and reduce mechanical shock. As the door body gradually opens, the speed and acceleration may gradually increase to improve the door opening efficiency.

[0073] See also Fig.13 , step S3 includes the following sub-steps:

[0074] S3-1 Motor Control: After receiving the drive signal from the main control module, the servo motor will adjust the output of the motor according to the instructions and parameter requirements in the signal. This includes adjusting the motor speed, torque and rotation direction. In some embodiments, the motor speed is adjusted to 3000rpm and the torque is 0.3-0.4NM.

[0075] S3-2 Smooth start: In the initial stage of the door opening action, the servo motor will use a slower speed and a larger acceleration to smoothly start the door body. This helps to reduce mechanical shock and noise, and protect the door body and related equipment from damage. In some embodiments, the initial speed of the door body is 50-100mm / s, and the initial acceleration is 0.01-0.025G.

[0076] S3-3 Dynamic Adjustment: As the door gradually opens, the servo motor dynamically adjusts the speed and acceleration according to the preset motion trajectory and real-time feedback signals. This ensures that the door remains stable and efficient during the opening process. In some embodiments, the maximum operating speed of the door during this stage does not exceed 345mm / s, and the maximum acceleration does not exceed 0.06G. In particular, when closing the door, the closing speed is controlled at 10-50mm / s.

[0077] S4, when the door is fully opened and reaches the preset position, the main control module stops sending control signals and confirms that the door opening process is completed (see Fig. 9 ). When the door approaches the preset position, the main control module automatically adjusts the speed and acceleration to ensure that the door can stay accurately at the specified position.

[0078] S4-1 Position detection: The system detects the current position of the door through position sensors. These sensors can send position information to the control computer in real time.

[0079] S4-2 Stop control: When the door reaches the preset position, the main control module receives a signal from the position sensor and stops sending control signals to the servo motor accordingly. This ensures that the door can stay accurately at the specified position. When the door reaches the preset position, the drive module gradually reduces the output parameters of the motor according to the preset stop condition, so that the door stops smoothly at the target position. In some embodiments, the preset stop condition can be set to stop driving when the compression of the sealing strip is 50%.

[0080] S4-3 Process confirmation: After stopping sending control signals, the main control module will perform a series of checks and confirmation operations to ensure that the door opening process has been successfully completed. This may include checking whether the door is fully open, whether there are obstacles blocking the door, etc. If everything is normal, the main control module will record the door opening event and prepare to receive the next instruction. If an abnormal situation is detected, the main control module will take corresponding measures (such as sending an alarm signal, closing the door, etc.) to ensure safety.

[0081] The control method for opening the cell incubator door of this embodiment uses feedback elements such as sensors to obtain real-time status information of the door, such as position, speed, etc., and compares it with the set value. The control module calculates the adjustment amount based on the deviation, thereby achieving accurate position and speed control. For example, when it is detected that the actual position of the door deviates from the target position, the control signal of the motor is adjusted in time.

[0082] The following will explain the opening and closing control process of the cell incubator door in a specific application scenario.

[0083] When the cell incubator is in operation, when the user sends a door opening request through the remote control interface or receives a door opening command according to the preset experimental process, the main control module receives the door opening command and executes the following steps:

[0084] The control host software calls the door opening application program interface (API) to start the door opening procedure. The door opening API automatically calculates the optimal operating speed and acceleration based on the preset door opening distance, speed curve and acceleration parameters, and sends control instructions to the AC servo motor through a wired communication protocol (such as TCP / IP protocol, referred to as TCP). After receiving the instructions, the AC servo motor drives the box door to open smoothly at the specified speed and acceleration until the door opening sensor installed on the door detects that the door is fully opened, that is, the sensor state changes from closed to open (OFF to ON). After the door is opened, the AC servo control system sends the door opening completion signal back to the control host software through the TCP protocol to confirm that the door opening action has been completed. The door closing process is similar to the door opening process, but the execution direction is opposite, so it will not be repeated here.

[0085] In addition, the operation and running process of the cell incubator in this embodiment in a specific application scenario are as follows:

[0086] Operation of the incubator during the preparation stage of cell culture. The user sets the experiment type and related parameters on the control device according to the experimental requirements, and the control device automatically generates or loads the corresponding experimental schedule according to the preset rules. For example, for the culture of a certain type of cell, set the parameters such as the inoculation time, culture temperature range, liquid change time interval, sampling time point, etc. The manipulator places the cell sample on the storage rack. Since the bottom and sides of the storage rack are hollowed out, the air can circulate well around the sample. At this time, the temperature detection device monitors the inner cavity temperature in real time, and the control device controls the refrigeration device or auxiliary refrigeration device (if necessary) to work according to the preset temperature range, so that the inner cavity temperature quickly reaches the initial temperature required for cell culture, such as 37°C. At the same time, the air circulation device starts to operate according to the preset initial airflow rate, so that the air in the inner cavity is evenly distributed to ensure temperature consistency.

[0087] Operation of the incubator during cell culture. During the culture process, when the time for liquid change is reached, the experimental process monitoring module generates a door opening command and sends it to the main control module based on the equipment status (such as whether the culture medium addition equipment is ready) and the schedule information. The main control module controls the box door to directly lift and lower vertically so that the material lifting door body opens, and the manipulator performs the liquid change operation. After the liquid change is completed, the box door is closed. The box door control process is as described above to ensure that it is tightly closed and the temperature and environmental stability are not affected. When sampling is required, the door opening command is also triggered by the experimental process monitoring module, and the manipulator takes out the sample for testing. In this process, due to the good design of the box door (easy to operate and good sealing performance) and the synergistic effect of air circulation and temperature control, the cell sample is always in a stable environment, reducing the interference of environmental changes on cell growth. At the same time, the precise operation of the manipulator improves the accuracy and repeatability of the experiment.

[0088] Special circumstances of the incubator during cell culture. If an abnormal temperature rise is encountered during the culture process (such as due to changes in the external environment temperature or equipment failure, etc.), the temperature detection device sends an abnormal signal to the control device. The control device immediately starts the refrigeration device and the auxiliary refrigeration device (if equipped) to work at full capacity, and at the same time adjusts the air flow of the air circulation device to speed up the air circulation in the inner cavity, so that the heat can be quickly dissipated and the temperature can be restored to the normal range as soon as possible. If there is a failure of equipment components, such as a failure of the drive module or a failure of the temperature sensor, the fault monitoring module will promptly monitor the abnormal operating parameters and send a signal to the main control module. The main control module sends an alarm signal (displaying the fault information through the display device) to remind the operator to perform maintenance or take corresponding measures to ensure the safety and smooth progress of the cell culture experiment. After the maintenance is completed, the equipment can be re-debugged and initialized and put into use again, and the manipulator can continue to perform subsequent operations according to the procedure.

[0089] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, deformations and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A cell incubator door control method for controlling the opening and closing of a tilt-lift cell incubator sealed door device, the sealed door device comprising: A lifting mechanism, a door body arranged on the lifting mechanism, and a sealing unit arranged on the door body, wherein the lifting mechanism is used to drive the door body to tilt and lift, and the lifting mechanism includes a driving unit for driving the lifting movement of the door body, a transmission unit for transmitting the power of the motor to the door body, a guiding unit and a supporting unit for guiding the lifting of the door body, wherein the supporting unit includes a box opening bracket arranged on both sides of the box opening of the cell incubator and a door body bracket arranged on both sides of the door body, the door body bracket includes an inclined surface, and the door body is arranged on the inclined surface, and the control method includes the following steps: The main control module receives the trigger command and calculates the first operating parameter of the door according to the preset motion trajectory; Based on the first operating parameter of the door, the main control module generates a first driving signal and sends it to the driving module; After receiving the first driving signal from the main control module, the driving module adjusts the output of the driving module according to the first driving signal and drives the door to operate; After the door is running, according to the difference between the current position of the door and the preset position and the speed change, the running speed and acceleration of the door are adjusted by adjusting the driving current and voltage, so that the door reaches the preset position. Among them, the preset motion trajectory includes a tilted lifting mode of the box door, in which the box door is lifted and lowered along a path that is inclined at an angle to the vertical direction. The first operating parameters of the box door in this mode include the tilted lifting distance, initial speed and initial acceleration.

2. The method according to claim 1, characterized in that Also includes: The trigger command is automatically sent to the main control module according to the experimental process monitoring module or external signal.

3. The method according to claim 1, characterized in that The trigger instructions include a door opening instruction and a door closing instruction.

4. The method according to claim 1, characterized in that: The initial velocity is 50-100 mm / s, and the initial acceleration is 0.01-0.02G.

5. The method according to claim 1, characterized in that According to the first driving signal, the driving module adjusts the rotation speed of the servo motor to 3000 rpm and the torque to 0.3-0.4 NM.

6. The method according to claim 1, characterized in that The parameters of the box door operation include running speed and running acceleration. The maximum running speed is 345mm / s, and the maximum running acceleration is 0.06G.

7. The method according to claim 1, characterized in that The preset positions include an open door position and a closed door position. The open door position is provided with a door opening sensor, and the closed door position is provided with a door closing sensor.

8. The method according to claim 1, characterized in that In the box door tilt lifting mode, the angle between the movement direction of the box door and the vertical direction is 5-10 degrees.

9. The method according to claim 1, characterized in that: The travel of the door in the preset motion trajectory is 600-620 mm.

10. A cell incubator door control system, comprising: A main control module is used to receive instructions and send signals; an experimental process monitoring module is used to track the experimental process; a driving module is used to drive the incubator door to directly perform lifting and lowering movements according to the signal sent by the main control module; a detection module is used to monitor the movement state of the incubator door and feed back to the main control module; and a fault monitoring module is used to monitor the operating parameters of the driving module and the detection module, and send signals to the main control module.

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