Lifting type cell incubator sealing door device

Abstract

The utility model relates to the technical field of cell culture, and provides a lifting type cell heat preservation box sealing door device which is arranged on a box body of a heat preservation box, the sealing door device comprises a sealing unit, a door body, a lifting mechanism and a translation mechanism, the sealing unit is arranged on the door body, the door body is arranged on the lifting mechanism, and the translation mechanism is arranged on the door body. The door body is fixedly connected with the lifting mechanism through a connecting piece, the lifting mechanism is used for driving the door body to move up and down, the sealing unit is matched with a contact surface of an opening edge of a cell incubator body, and the translation mechanism is arranged on the incubator body and used for driving the door body to translate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cell culture, in particular to a cell incubator, a sealing door and a control method and control system thereof in an automated incubator. BACKGROUND

[0002] In the process of cell culture, the cell incubator is one of the commonly used equipment. In order to ensure the stability of the cell culture environment, strict temperature and humidity control of the incubator is usually required. In the automated incubator, the reagent plate needs to be taken out from the incubator for subsequent operation. The traditional cell incubator and its material taking mode may cause fluctuations in temperature and humidity, affecting the effect of cell culture. The traditional incubator has defects such as uneven temperature, difficult humidity control, poor sealing of the door, and low automation, which affects the quality of cell preservation and experimental efficiency. For example, the air circulation of the ordinary incubator is weak, resulting in large temperature gradient, affecting the consistency of cell metabolism; the poor sealing of the door increases the risk of heat exchange and pollution; manual or simple control of the opening and closing of the door and the adjustment of temperature and humidity cannot meet the needs of complex experimental processes.

[0003] Generally, the opening and closing of the door of the cell incubator or the thermostat are in the form of manual opening and closing or electric opening and closing. In the manual or electric opening and closing mode, the following three common modes are included: first, push-pull type. The door is connected with the box through a slide rail, and the door is opened and closed by pushing and pulling. This mode is simple and intuitive, and is suitable for cell incubators or thermostats of various sizes. Second, flip type. The door is connected with the box through a hinge, and can be opened like a door. The flip type door is usually equipped with a locking mechanism to ensure sealing when closed. Third, side opening type: the door is located on the side of the box and is opened through a hinge or other connecting mechanism. This mode is convenient for operators to take and place cell samples from the side. In the process of automation control, electric lifting doors are also used, such as the "spring closing based incubation lifting door" in CN209445790U and the "quick lifting door for thermostat and humidifier" in CN215464485U. However, the traditional lifting door adopts a lifting mode of direct lifting or direct lowering. During the lifting process, if the sealing strip or locking mechanism of the door is not properly designed, the sealing performance may be reduced, allowing external air and pollutants to enter the box, affecting the preservation environment of the cell sample.

[0004] Therefore, it is of great significance to develop a cell incubator with excellent performance. SUMMARY

[0005] The purpose of the present application is to provide a cell incubator, a sealing door and a control method and control system thereof in an automated incubator.

[0006] To solve the above technical problems, the application provides a sealing door device of a direct-lifting cell incubator, which is arranged on a box body of the incubator and comprises a sealing unit, a door body and a lifting mechanism, the sealing unit is arranged on the door body, the door body is arranged on the lifting mechanism, the door body is fixedly connected with the lifting mechanism through a connecting piece, the lifting mechanism is used for driving the door body to move up and down, the sealing unit is matched with a contact surface of an opening edge of the cell incubator box body, and the contact surface comprises an inclined surface.

[0007] The application also provides a cell incubator door control method for controlling opening and closing of the direct-lifting cell incubator sealing door device, the sealing 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 being used for driving the door body to move up and down, the sealing unit being matched with a contact surface of an opening edge of the cell incubator box body, and the contact surface comprising an inclined surface, the control method comprising the following steps: a master control module receives a trigger instruction and calculates a first operation parameter of the door according to a preset motion track; the master control module generates a first driving signal based on the first operation parameter of the door and sends the first driving signal to a driving module; after the driving module receives the first driving signal from the master control module, the driving module adjusts an output of the driving module according to the first driving signal and drives the door to operate; after the door gradually operates, the driving module dynamically adjusts parameters in the operation of the door according to the preset motion track in the master control module and real-time feedback signals of a detection module, and the door reaches a preset position, wherein the preset motion track comprises a vertical lifting mode of the door.

[0008] The application also provides a cell incubator door control system, which comprises a master control module for receiving instructions and sending signals, an experimental process monitoring module for tracking an experimental process, a driving module for driving the door of the incubator to directly move up and down according to a signal sent by the master control module, a detection module for monitoring a motion state of the door of the incubator and feeding back to the master control module, and a fault monitoring module for monitoring operation parameters of the driving module and the detection module and sending signals to the master control module.

[0009] The application also provides a sealing door device of an inclined lifting type cell incubator, which is arranged on a box body of the incubator and realizes opening and closing of the door of the incubator through inclined lifting movement. The sealing door device comprises a sealing unit, a door body and a lifting mechanism. The sealing unit is arranged on the door body and matches a contact surface of an edge of an opening of the cell incubator. The door body is arranged on the lifting mechanism and is fixedly connected with the lifting mechanism through a connecting piece. The lifting mechanism is used for driving the door body to move up and down. The lifting mechanism comprises a driving unit, a transmission unit, a guide unit and a supporting unit. The driving unit is arranged on a top of the cell incubator box body and is used for driving the door body to move up and down. The transmission unit is used for transmitting power of a motor to the door body. The guide unit is arranged on the supporting unit and is used for guiding the door body to move up and down. The supporting unit comprises opening supports arranged on both sides of the opening of the cell incubator and door body supports arranged on both sides of the door body. The door body supports comprise inclined surfaces, and the door body is arranged on the inclined surfaces.

[0010] The application also provides a sealing door device of an inclined lifting type cell incubator, which is arranged on a box body of the incubator and realizes opening and closing of the door of the incubator through inclined lifting movement. The sealing door device comprises a sealing unit, a door body and a lifting mechanism. The sealing unit is arranged on the door body and matches a contact surface of an edge of an opening of the cell incubator. The door body is arranged on the lifting mechanism and is fixedly connected with the lifting mechanism through a connecting piece. The lifting mechanism is used for driving the door body to move up and down. The lifting mechanism comprises a driving unit, a transmission unit, a guide unit and a supporting unit. The driving unit is arranged on a top of the cell incubator box body and is used for driving the door body to move up and down. The transmission unit is used for transmitting power of a motor to the door body. The guide unit is arranged on the supporting unit and is used for guiding the door body to move up and down. The supporting unit comprises opening supports arranged on both sides of the opening of the cell incubator and door body supports arranged on both sides of the door body. The door body supports comprise inclined surfaces, and the door body is arranged on the inclined surfaces.

[0011] The application also provides a sealing door device of an inclined lifting type cell incubator, which is arranged on a box body of the incubator and realizes opening and closing of the door of the incubator through inclined lifting movement. The sealing door device comprises a sealing unit, a door body and a lifting mechanism. The sealing unit is arranged on the door body and matches a contact surface of an edge of an opening of the cell incubator. The door body is arranged on the lifting mechanism and is fixedly connected with the lifting mechanism through a connecting piece. The lifting mechanism is used for driving the door body to move up and down. The lifting mechanism comprises a driving unit, a transmission unit, a guide unit and a supporting unit. The driving unit is arranged on a top of the cell incubator box body and is used for driving the door body to move up and down. The transmission unit is used for transmitting power of a motor to the door body. The guide unit is arranged on the supporting unit and is used for guiding the door body to move up and down. The supporting unit comprises opening supports arranged on both sides of the opening of the cell incubator and door body supports arranged on both sides of the door body. The door body supports comprise inclined surfaces, and the door body is arranged on the inclined surfaces.

[0012] Preferably, the lifting mechanism comprises a driving unit, a transmission unit, a guide unit and a supporting unit. The driving unit is arranged on a top of the cell incubator box body and is used for driving the door body to move up and down. The transmission unit is used for transmitting power of a motor to the door body. The guide unit is arranged on the supporting unit and is used for guiding the door body to move up and down.

[0013] Preferably, the translation mechanism is a cam mechanism. The driving unit drives the cam mechanism to rotate, so that the door body moves horizontally.

[0014] Preferably, the cam mechanism comprises at least a cam, a fixed shaft and a support mechanism, the cam rotates on the fixed shaft, the support mechanism is located below the door body movement direction, with the action of the driving unit, the door body gradually descends, when the door body contacts the support mechanism below, the door body is blocked by the support mechanism and cannot continue to descend, at this time the cam mechanism starts to rotate.

[0015] Preferably, the two ends of the fixed shaft are connected with the side of the heat preservation box through bearing seats, the axial position of the fixed shaft maintains a parallel relationship with the movement plane of the door body, and on one side of the door body movement track, the cam is installed on the fixed shaft through key connection or interference fit.

[0016] Preferably, the cam mechanism further comprises an axial positioning device installed on the fixed shaft, for preventing the cam from producing axial movement during operation.

[0017] Preferably, the support mechanism is a roller.

[0018] The application also provides a cell preservation box door control method for controlling the opening and closing of a tilting and lifting type cell preservation box sealing door device, the sealing 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 guide unit for guiding the lifting of the door body and a support unit, wherein the support unit comprises a box opening support arranged on both sides of the box opening of the cell preservation box and a door body support arranged on both sides of the door body, the door body support comprises an inclined surface, and the door body is arranged on the inclined surface, the control method comprising the following steps: the main control module receives a trigger instruction and calculates the first running parameter of the box door according to a preset movement track; the main control module generates a first driving signal based on the first running parameter of the box door and sends it to the driving module; after the driving module receives 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 run; after the box door gradually runs, the driving module dynamically adjusts the parameters in the running of the box door according to the preset movement track in the main control module and the real-time feedback signal of the detection module, and makes the box door reach the preset position, wherein the preset movement track comprises a tilting and lifting mode of the box door.

[0019] The application also provides a cell incubator door control method for controlling opening of a lifting type cell incubator sealing door device, the sealing door device comprising a sealing unit, a door body, a lifting mechanism and a translation mechanism, the sealing unit being arranged on the door body, the door body being arranged on the lifting mechanism, the translation mechanism being arranged on a box body of the incubator and used for driving the door body to translate, the translation mechanism being a cam mechanism, the cam mechanism comprising at least a cam, a fixed shaft and a support mechanism, and the control method comprising the following steps: a master control module receives a trigger instruction and calculates first running parameters of the box door according to a preset motion track; based on the first running parameters of the box door, the master control module generates a first driving signal and sends the first driving signal to a driving module; the lifting mechanism is started, after the driving module receives the first driving signal from the master control module, the driving module adjusts an output of the driving module according to the first driving signal and drives the box door to run, while a displacement sensor is used to monitor a displacement amount of the door body in a vertical direction in real time; it is judged whether the door body contacts the support mechanism, when the door body approaches the support mechanism, a pressure sensor is used to detect pressure, and when a pressure value reaches a preset threshold value, it is indicated that the door body contacts the support mechanism; the cam mechanism is involved, after the door body contacts the support mechanism, the driving unit continues to make the door body descend by an additional distance in the vertical direction, then the driving unit drives the cam mechanism to rotate, so that the door body is transitioned from vertical motion to horizontal motion, and a displacement sensor is used to monitor a displacement amount of the door body in the horizontal direction; after the box door stops translating, the box door is lifted, the driving module dynamically adjusts parameters in running of the box door according to the preset motion track in the master control module and real-time feedback signals of the detection module, and the box door reaches a preset position.

[0020] The application also provides a cell incubator door automatic control method, comprising the following steps: an experimental process monitoring module tracks an experimental process and automatically sends a trigger instruction to a master control module; the master control module receives the trigger instruction and calculates first running parameters of a box door according to a preset motion track; based on the first running parameters of the box door, the master control module generates a first driving signal and sends the first driving signal to a driving module; after the driving module receives the first driving signal from the master control module, the driving module adjusts an output of the driving module according to the first driving signal and drives the box door to run; after the box door gradually runs, the driving module dynamically adjusts parameters in running of the box door according to the preset motion track of the master control module and real-time feedback signals of a detection module, and the box door reaches a preset position, wherein the preset motion track comprises a vertical lifting mode of the box door or an inclined lifting mode of the box door.

[0021] The application also provides a cell incubator door control system, comprising a master control module for receiving instructions and sending signals; an experimental process monitoring module for tracking an experimental process; a driving module for driving a cell incubator door to directly perform lifting motion according to a signal sent by the master control module; a detection module for monitoring a motion state of the cell incubator door and feeding back to the master control module; and a fault monitoring module for monitoring running parameters of the driving module and the detection module and sending signals to the master control module.

[0022] The application also provides a cell incubator, comprising a cabinet including an outer shell and an inner cavity; an incubator door device arranged on the outer shell and achieving opening and closing of the incubator through lifting movement; an air circulation device arranged in the inner cavity and used for promoting flow of air in the inner cavity; a refrigeration device used for generating cold air and comprising a compressor and a condenser arranged at the top of the outer shell; and a control device used for controlling operation of the incubator door device, the air circulation device and the refrigeration device, wherein the incubator door device comprises a lifting mechanism, a material taking lifting door body slidingly arranged on the lifting mechanism and a sealing unit fixedly arranged on the material taking lifting door body.

[0023] The application also provides a cell incubator, comprising: a cabinet including an outer shell and an inner cavity; a temperature detection device arranged in the inner cavity and used for detecting temperature of the inner cavity; an air circulation device arranged in the inner cavity and used for promoting flow of air in the inner cavity; and a refrigeration device used for generating cold air and comprising a compressor and a condenser arranged at the top of the outer shell; wherein at least one storage rack is arranged in the inner cavity, the bottom and the side of the at least one storage rack are hollow, and the temperature detection device comprises a plurality of temperature sensors.

[0024] The application also provides a cell incubator, comprising: a cabinet including an outer shell and an inner cavity; a temperature detection device arranged in the inner cavity and used for detecting temperature of the inner cavity; an air circulation device arranged in the inner cavity and used for promoting flow of air in the inner cavity, comprising a fan used for pushing air flow and a flow guide mechanism used for guiding air flow; and a refrigeration device used for generating cold air and comprising a compressor and a condenser arranged at the top of the outer shell; wherein at least one storage rack is arranged in the inner cavity, the bottom and the side of the at least one storage rack are hollow, the fan is arranged at the top of the inner cavity, and the flow guide mechanism comprises an air duct arranged at two sides of the inner cavity and in communication with the fan. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort based on these drawings.

[0026] Figure 1 is a schematic diagram of the three-dimensional structure of the cell incubator in the embodiment of the application;

[0027] Figure 2 is a front view of the cell incubator in the embodiment of the application;

[0028] Figure 3 is a sectional view of the cell incubator E-E in the embodiment of the application;

[0029] Figure 4 FIG. 6 is a perspective view of a cell incubator showing an air duct after the door of the cell incubator is removed according to an embodiment of the present application;

[0030] Figure 5 FIG. 7 is a rear view of the cell incubator according to an embodiment of the present application, in which the lifting door is in an open state;

[0031] Figure 6 FIG. 8 is a side view of the cell incubator according to an embodiment of the present application, in which the lifting door is in an open state;

[0032] Figure 7 FIG. 9 is a partial enlarged view of the contact surface between the door body and the door body support in the inclined lifting cell incubator sealing door device according to an embodiment of the present application;

[0033] Figure 8 FIG. 10 is a schematic view of the contact surface between the sealing strip and the opening edge of the cell incubator body in the direct vertical lifting cell incubator sealing door device according to an embodiment of the present application;

[0034] Figure 9 FIG. 11 is a front view of another lifting cell incubator sealing door device according to an embodiment of the present application, and a schematic view of the principle of the translation operation of the cam mechanism;

[0035] Figure 10 FIG. 12 is a flow chart of the cell incubator door opening control method according to an embodiment of the present application;

[0036] Figure 11 FIG. 13 is a flow chart of step S1 of the cell incubator door opening control method according to an embodiment of the present application;

[0037] Figure 12 FIG. 14 is a flow chart of step S1 of the cell incubator door opening control method according to another embodiment of the present application;

[0038] Figure 13 FIG. 15 is a flow chart of step S2 of the cell incubator door opening control method according to an embodiment of the present application;

[0039] Figure 14 FIG. 16 is a flow chart of step S3 of the cell incubator door opening control method according to an embodiment of the present application;

[0040] Figure 15 FIG. 17 is a control flow chart of the movement trajectory of the cell incubator door body when the door body is first translated and then lifted according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved in the present application clearer and more understandable, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0042] It should be noted that the terms "first", "second", and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein. In addition, the terms "include" and "contain" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system or device containing a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0043] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to indicating the orientation or positional relationship, the above-mentioned terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain attachment relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances. In addition, the meaning of the term "a plurality of" should be two and more than two.

[0044] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0045] The present embodiment provides a cell incubator, which can accelerate the circulation of cold air and rapid cooling, and improve the temperature control efficiency and uniformity in the process of cell culture or storage by optimizing the air circulation and cooling mechanism; and improve the door opening and closing efficiency through the sealed material lifting door device of the cell incubator.

[0046] Referring to Figures 1-3The cell incubator 100 of the present embodiment comprises a cabinet 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 cabinet 10 comprises an outer shell 11 and an inner cavity 12. A thermal insulation layer is provided between the outer shell 11 and the inner cavity 12 to reduce heat exchange, and both the outer shell 11 and the inner cavity 12 are made of metal material. The inner cavity 12 is provided with multiple temperature detection devices for detecting the temperature of the inner cavity, multiple humidity detection devices for detecting the humidity of the inner cavity, and at least one storage rack 50. Two storage racks 50 are shown in the inner cavity 12 of the present embodiment, and the number of storage racks can also be multiple in other embodiments. The bottom and side of the storage rack 50 are hollow, and there is enough space between each layer of storage rack 50 to ensure air circulation. At least one temperature sensor of the multiple temperature sensors is arranged at the bottom of the at least one storage rack 50. In some embodiments, temperature sensors are installed at the top, middle, bottom of the cabinet inner cavity 12 and near the storage rack 50. In some embodiments, only temperature sensors placed below the storage rack 50 are included. The display device (not shown in the figure) is arranged on the outer shell 11 for temperature and alarm display. The control device (not shown in the figure) is used to control the operation of the incubator door device 40, the air circulation device 30, and the refrigeration device 20, and is communicatively connected with each device. The bottom of the incubator 100 is also provided with a water pan 60.

[0047] The refrigeration device 20 comprises a compressor 21 and a condenser 22 arranged at the top of the outer shell 11, which can produce a large amount of cold air in a short time. At the same time, in some embodiments, the cell incubator 100 also comprises 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, dry ice or liquid nitrogen and other rapid cooling media can also be introduced as an auxiliary cooling means, such as by a spraying device to directly introduce the cold gas of dry ice or liquid nitrogen into the inner cavity 12, thereby achieving rapid cooling. The spraying device is combined with the cold air circulation system of the inner cavity 12 to ensure that the cold gas of dry ice or liquid nitrogen can rapidly spread and uniformly act on the cell incubator 100.

[0048] The air circulation device 30 is arranged in the inner cavity 12 for facilitating the flow of air in the inner cavity. The air circulation device 30 comprises a fan 31 for pushing the air flow and a guide mechanism 32 for guiding the air flow. The fan 31 is arranged at the top of the inner cavity 12. The fan 31 comprises an impeller, a motor and a housing, the motor drives the impeller to rotate for generating the air flow. The guide mechanism 32 comprises air ducts 321 arranged on both sides of the inner cavity 12 and communicating with the fan 31, see Figure 4 . The air ducts 321 are made of sheet metal, bent into square tube channels, fixed on the inner walls of the box, and the surface of the sheet metal of the air ducts 321 is provided with a plurality of air holes 322 in the form of louvered windows, for effective circulation of cold air. The plurality of air holes 322 are uniformly arranged, and the adjacent air holes are spaced apart by 30mm. The outlet of the air duct 321 is a certain distance away from the bottom of the heat preservation box. The thickness of the air duct is not more than 10mm. In some embodiments, a guide plate can be arranged inside the air duct 321 to guide the air to flow in a predetermined path, reduce turbulence and vortex phenomenon, and improve the air circulation efficiency. In some embodiments, the air circulation device 30 further comprises an air flow adjusting mechanism for adjusting the rotation speed of the fan and adjusting the air flow.

[0049] Referring to Figures 5-6 , the heat preservation box door device 40 comprises a sealing unit 41, a material taking and lifting door body 42, a lifting mechanism 43 and a material supplementing door body 44. The material supplementing 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 arranged on the material taking and lifting door body 42 and matched with the contact surface of the opening edge of the box to realize sealing, and the sealing contact surface comprises an inclined surface. The compression amount of the rubber strip is 50%.

[0050] The contact surface of the sealing unit 41 with the material taking lifting door body is a tooth-shaped contact surface. The tooth-shaped design not only increases the contact area of the sealing unit with the sealing surface of the opening edge of the box, but also effectively prevents the generation of micro gaps through mutual interlocking, thereby improving the sealing performance. The rubber sealing strip is in the shape of a mouth and is arranged on the door body near the cell incubator opening. The material taking lifting door body 42 is stably connected with the lifting mechanism 43 through a rigid connecting piece (such as a bolt or a pin shaft). The lifting mechanism 43 is used to drive the lifting movement of the material taking lifting door body 42, thereby realizing the opening and closing of the box. 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 box opening supports 4341 arranged on both sides of the opening and door body supports 4342 arranged on both sides of the material taking lifting door body 42. The driving unit 432 adopts a servo motor as a power source and is arranged on the top of the shell 11 and fixed on the box opening supports 4341, and is used to drive the lifting movement of the material taking lifting door body 42. The transmission unit 432 is used to transmit the power of the driving unit 4341 (servo motor) to the material taking lifting door body 42. In some embodiments, the transmission unit 432 adopts a double gear and double rack transmission mode, 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 installed on the output shaft of the servo motor and rotates synchronously with the output shaft. The driven gears 4322 are installed on the transmission shaft and interact with the driving gear 4321 through meshing to convert the rotary motion into the lifting motion of the material taking lifting door body 42. The door body supports 4342 are provided with interfaces connected with the racks 4323, and the two racks 4323 are respectively meshed with the two driven gears 4322. When the driven gears 4322 rotate, the racks 4323 will move in a straight line, thereby driving the material taking lifting door body 42 to lift. The guide unit 433 is arranged on the support unit 434 and is used to guide the lifting of the material taking lifting door body 42, so as to ensure that the material taking 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 sliding block 432, wherein the guide rail 431 is arranged on the box opening supports 4341 and installed on both sides of the opening of the box, and the door body supports 4342 are arranged on the sliding block 432. The guide rail 431 cooperates with the sliding block 432 on the door body supports 4342 to realize the guidance and support of the material taking lifting door body 42. The guide unit 433 is also equipped with an anti-derailing component (not shown in the figure) to ensure that the material taking lifting door body 42 does not deviate from the predetermined path during the lifting process. In some embodiments, the weight of the material taking lifting door body is 8 kg.

[0051] Referring to Figure 7In some embodiments, the door body support 4342 comprises an inclined surface, and the taking and lifting door body 42 is arranged on the inclined surface. The box opening support 4341 comprises an inclined surface 4341a, and the guide rail 431 is arranged on the inclined surface 4341a of the box opening support 4341. The angle between the inclined surface 4341a and the vertical direction is 3-10 degrees. The guide rail 431 is arranged on the box opening support 4341 in an inclined manner, and the taking and lifting door body 42 is arranged on the door body support 4342 in an inclined manner. In this embodiment, the movement track of the taking and lifting door body 42 is inclined lifting movement with a certain inclination angle.

[0052] Referring to Figure 8 In some embodiments, the rubber sealing strip close to the side surface of the cell incubator box body opening comprises an inclined surface 41a. The sealing frame 13 arranged at the edge of the cell incubator box body opening comprises an inclined surface 13a. The angle between the inclined surface and the vertical direction is 5-10 degrees. In this embodiment, the movement track of the taking and lifting door body 42 is vertical lifting movement.

[0053] Referring to Figure 9 In some embodiments, the movement track of the taking and lifting door body 42 is first translation and then lifting (opening the door) or first lifting and then translation (closing the door). In this embodiment, the cell incubator further comprises a translation mechanism, which can adopt a cam mechanism 45 to realize the translation of the taking and lifting door body 42. The driving unit drives the rotation of the cam mechanism to make the door body horizontally move. The cam mechanism at least comprises a cam, a fixed shaft and a support mechanism. The cam rotates on the fixed shaft, and the support mechanism 46 is located below the movement direction of the taking and lifting door body, and with the action of the driving unit, the taking and lifting door body 42 gradually descends Figure 9When the pick-up door body 42 contacts the support mechanism 46, the pick-up door body 42 is blocked by the support mechanism 46 and cannot continue to descend, at which time the cam mechanism begins to rotate, thereby achieving the translation of the pick-up door body 42. When the drive unit lowers the pick-up door body 42 to contact the support mechanism 46, the cam begins to act during the process of the pick-up door body 42 continuing to descend by 10 mm. At this time, the rotation of the cam causes the driven follower to drive the door body to horizontally translate along the trajectory determined by the cam profile curve. The rotation angle of the cam has a direct correspondence with the horizontal displacement of the pick-up door body 42. For example, after the cam rotates by a certain angle from the initial position, the pick-up door body 42 should accurately move to the predetermined horizontal position to achieve the complete opening or closing of the pick-up door body 42. In order to ensure the smoothness of the door body movement, the cam trajectory needs to consider eliminating the mutation in the movement process when designing. This includes velocity mutation and acceleration mutation. By smoothing the cam profile curve, such as using high-order curve fitting or using transition curves at the connection of the curve, the pick-up door body 42 can change the velocity and acceleration continuously when moving along the cam trajectory, reduce the vibration and noise of the pick-up door body 42, and improve the service life and operation comfort of the mechanism. In some embodiments, the two ends of the fixed shaft are connected to the side of the heat preservation box through the bearing seat, the axial position of the fixed shaft maintains a parallel relationship with the movement plane of the pick-up door body 42, and on one side of the door body movement trajectory, the cam is installed on the fixed shaft through key connection or interference fit. The cam mechanism also includes an axial positioning device installed on the fixed shaft to prevent the cam from producing axial movement during operation. In some embodiments, the support mechanism can be a roller.

[0054] In some embodiments, the replenishment door body can also use the same technical solution as the pick-up door body 42.

[0055] The cell incubator door control system of the embodiment also provides a cell incubator door control system. The control system at least includes a master control module, an experiment process monitoring module, a driving module, a detection module, and a fault monitoring module. The master control module is responsible for receiving user instructions, processing control logic, sending control signals, and receiving feedback data from sensors in the detection module. The driving module serves as an execution module and is responsible for driving the incubator door to move up and down according to the control signals. The servo motor in the incubator door device serves as a power source and drives the incubator door to move up and down according to the control signals (such as speed and acceleration instructions) sent by the master control module. The driving module is responsible for converting the control signals into electrical signals recognizable by the motor and monitoring the running state of the motor in real time to ensure the smoothness and accuracy of the movement. The detection module includes an opening door sensor and a closing door sensor, which are responsible for monitoring the state of the incubator door in real time and feeding back to the master control module. In the embodiment, the position detection accuracy of the opening door sensor and the closing door sensor can be preset to 0.05 mm, and both the opening door sensor and the closing door sensor use photoelectric sensors. The fault monitoring module monitors the current, voltage, and speed of the motor, as well as the output signals of the sensors, and sends the signals to the master control module. In the embodiment, the motor current threshold can be set to 2 times the rated current.

[0056] The cell incubator door control system of the embodiment also provides a cell incubator door control system. The control system at least includes a master control module, an experiment process monitoring module, a driving module, a detection module, and a fault monitoring module. The master control module is responsible for receiving user instructions, processing control logic, sending control signals, and receiving feedback data from sensors in the detection module. The driving module serves as an execution module and is responsible for driving the incubator door to move up and down according to the control signals. The servo motor in the incubator door device serves as a power source and drives the incubator door to move up and down according to the control signals (such as speed and acceleration instructions) sent by the master control module. The driving module is responsible for converting the control signals into electrical signals recognizable by the motor and monitoring the running state of the motor in real time to ensure the smoothness and accuracy of the movement. The detection module includes an opening door sensor and a closing door sensor, which are responsible for monitoring the state of the incubator door in real time and feeding back to the master control module. In the embodiment, the position detection accuracy of the opening door sensor and the closing door sensor can be preset to 0.05 mm, and both the opening door sensor and the closing door sensor use photoelectric sensors. The fault monitoring module monitors the current, voltage, and speed of the motor, as well as the output signals of the sensors, and sends the signals to the master control module. In the embodiment, the motor current threshold can be set to 2 times the rated current.

[0057] The cell incubator door control system of the embodiment also provides a cell incubator door control system. The control system at least includes a master control module, an experiment process monitoring module, a driving module, a detection module, and a fault monitoring module. The master control module is responsible for receiving user instructions, processing control logic, sending control signals, and receiving feedback data from sensors in the detection module. The driving module serves as an execution module and is responsible for driving the incubator door to move up and down according to the control signals. The servo motor in the incubator door device serves as a power source and drives the incubator door to move up and down according to the control signals (such as speed and acceleration instructions) sent by the master control module. The driving module is responsible for converting the control signals into electrical signals recognizable by the motor and monitoring the running state of the motor in real time to ensure the smoothness and accuracy of the movement. The detection module includes an opening door sensor and a closing door sensor, which are responsible for monitoring the state of the incubator door in real time and feeding back to the master control module. In the embodiment, the position detection accuracy of the opening door sensor and the closing door sensor can be preset to 0.05 mm, and both the opening door sensor and the closing door sensor use photoelectric sensors. The fault monitoring module monitors the current, voltage, and speed of the motor, as well as the output signals of the sensors, and sends the signals to the master control module. In the embodiment, the motor current threshold can be set to 2 times the rated current.

[0058] Box door operation control. After receiving the trigger instruction, the main control module calculates the first operation parameters of the box door, including the initial speed and the initial acceleration, according to the current preset box door motion trajectory mode (vertical lifting motion mode or box door tilting lifting mode) and the initialized parameters. Based on the calculated first operation parameters of the box door, the main control module generates a first driving signal and sends it to the driving module. After receiving the signal, the driving module quickly adjusts the speed and torque of the servo motor, thereby driving the box door to start running. At the moment the box door starts, it strictly follows the calculated initial speed and initial acceleration for motion. As the box door gradually runs, the driving module dynamically adjusts the parameters in the box door operation according to the preset motion trajectory in the main control module and the real-time feedback signals of the detection module. The detection module (such as a position sensor) constantly monitors the position, speed and acceleration of the box door and other state information, and feeds back these information 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 driving signal to make the driving module increase the motor output 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 slow down, 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 0.03G, so that the box door can smoothly and accurately reach the preset position (open door position or closed door position). When the box door reaches the preset position, the open door sensor or the closed door sensor installed at the corresponding position triggers and sends a signal to the main control module. At this time, the driving module gradually reduces the motor output parameters according to the preset stop conditions, for example, when the box door is a certain distance (such as 50mm) away from the target position, it starts to reduce the motor speed according to a certain deceleration curve, so that the box door stops smoothly at the target position, avoiding the impact caused by sudden stop, and ensuring the sealing performance when the box door is closed and the safety when the door is opened.

[0059] The control method of opening and closing is basically the same, see Figure 10 The specific steps and methods are described in detail taking the opening process as an example.

[0060] S1, according to the preset experimental process or external signal, automatically send the open door instruction to the main control module.

[0061] The preset experiment procedure specifically refers to the state of each step in the experiment procedure monitored by the main control module. When a certain step is completed, an open-door instruction is automatically sent to receive or output the transported materials or samples. In specific embodiments, the experiment procedure monitoring module checks whether the experiment step has been completed by checking whether the experiment equipment has returned to the ready state, whether the sample has been processed, and / or whether the preset experiment step time point has been reached. The external signal refers to the signal sent by the remote control interface or the sensor signal. The user can send an open-door 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 card readers, pressure sensors, etc.) can be installed. When the sensor detects a specific event (such as personnel approach, RFID tag reading, pressure change, etc.), a signal is sent to the main control module, thereby triggering the open-door action.

[0062] Referring to Figure 11 , the main control module receives the open-door instruction according to the preset experiment procedure of the system, which specifically includes the following sub-steps:

[0063] S1-1 Monitor the experiment step: The experiment procedure monitoring module tracks each preset experiment step according to the state information of the experiment equipment and / or the preset time table. Specifically, the experiment procedure monitoring module can read the preset time table from the storage device, which is set by the user in advance or automatically generated according to the type and requirements of the experiment.

[0064] S1-2 State detection: In each preset experiment step, the main control module checks whether the step has been completed. This may involve checking whether the equipment has returned to the ready state, whether the sample has been processed, or whether a certain specific time node has been reached, such as the preset experiment step time point. The preset experiment step time point includes the start time, end time, and duration of the experiment step, and the experiment procedure monitoring module determines the current experiment step by comparing the current time with the time point in the time table.

[0065] S1-3 Automatic triggering: When it is checked that the preset experiment step has been completed and it is necessary to receive or output the transported materials or samples from the cell incubator, the experiment procedure monitoring module generates a trigger instruction for opening the door and sends it to the main control module. This instruction usually contains the open-door mode (such as full open, half open, etc.) and possible priority information.

[0066] Referring to Figure 12 , the main control module receives the open-door instruction according to the external signal, which specifically includes the following sub-steps:

[0067] S1-1’ Remote control interface: Users can send door opening requests through remote control interfaces such as touchscreens, PC software, or mobile phone APPs. These interfaces usually provide intuitive buttons or menu options, and users can send instructions simply by clicking. In some embodiments, the system is also integrated with various sensors to detect specific events in the environment. For example, infrared sensors can detect the approach of personnel, RFID readers can read RFID tags, and pressure sensors can detect pressure changes. When these sensors detect preset events, they will immediately send signals to the main control module.

[0068] S1-2’ Signal analysis: After receiving signals from sensors or remote control interfaces, the main control module will analyze them to confirm the type and content of the signals.

[0069] S1-3’ If the signal is a door opening request, the main control module will prepare to send a door opening instruction.

[0070] S2, the main control module receives the door opening instruction and calculates the speed, acceleration, and position of the box door at each stage of the opening process according to the preset motion trajectory, and sends a driving signal to the servo motor (see also Figure 9 ).

[0071] See Figure 13 , step S2 includes the following sub-steps:

[0072] S2-1 Motion trajectory planning: According to the weight, inertia, friction, and other factors of the door body, the main control module internally stores a preset motion trajectory for the opening of the box door to ensure a smooth and efficient opening process. The preset motion trajectory is a direct lifting mode or an inclined lifting mode of the box door.

[0073] S2-2 Parameter calculation: According to the door opening instruction and the preset motion trajectory, the main control module will calculate the speed, acceleration, and position of the box 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 running speed of the box door is controlled at 50mm / s-345mm / s, and the stroke is 600mm-620mm. In some embodiments, the stroke of the inclined lifting mode of the box door is 600mm. The stroke of the direct lifting mode of the box door is 620mm.

[0074] S2-3 Driving signal generation: Based on the calculated parameters, the main control module will generate corresponding driving signals and send them to the servo motor through the communication interface. These signals contain specific actions and parameter requirements that the motor needs to perform.

[0075] S3, the servo motor controls the output of the motor according to the driving signal to ensure smooth opening of the door body (see also Figure 10The initial stage can employ a slower speed and larger acceleration to smoothly initiate the door opening action and reduce mechanical impact. As the door body gradually opens, the speed and acceleration can gradually increase to improve the door opening efficiency.

[0076] Referring to Figure 14 , step S3 includes the following sub-steps:

[0077] S3-1 Motor Control: After receiving the driving signal from the main control module, the servo motor adjusts the output of the motor according to the instructions and parameter requirements in the signal. This includes adjusting the speed, torque, and rotation direction of the motor, etc. In some embodiments, the speed of the motor is adjusted to 3000 rpm, and the torque is 0.3-0.4 NM.

[0078] S3-2 Smooth Start: In the initial stage of the door opening action, the servo motor will use a slower speed and larger acceleration to smoothly start the door body. This helps to reduce mechanical impact and noise, and protects the door body and related equipment from damage. In some embodiments, the initial speed of the door body is 50-100 mm / s, and the initial acceleration is 0.01-0.025 G.

[0079] S3-3 Dynamic Adjustment: As the door body gradually opens, the servo motor will dynamically adjust the speed and acceleration according to the preset motion trajectory and real-time feedback signals. This can ensure that the door body remains smooth and efficient during the opening process. In some embodiments, the maximum running speed of the door body in this stage does not exceed 345 mm / s, and the maximum acceleration does not exceed 0.06 G. In particular, when closing the door, the closing speed is controlled at 10-50 mm / s.

[0080] S4, when the box door is fully opened and reaches the preset position, the main control module will stop sending control signals, and confirm that the door opening process is completed (see also Figure 9 ). When the box door approaches the preset position, the main control module automatically adjusts the speed and acceleration to ensure that the box door can accurately stay at the specified position.

[0081] S4-1 Position Detection: The system detects the current position of the door body through position sensors. These sensors can send position information to the control computer in real time.

[0082] S4-2 Stop Control: When the door body reaches the preset position, the main control module will receive signals from the position sensor and stop sending control signals to the servo motor accordingly. This ensures that the door body can accurately stay at the specified position. When the box door runs to the preset position, the driving module gradually reduces the output parameters of the motor according to the preset stop conditions, so that the box door smoothly stops at the target position. In some embodiments, the preset stop condition can be set to stop driving when the compression amount of the sealing strip is 50%.

[0083] S4-3 flow confirmation: After stopping the sending of the control signal, the master 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 body is fully open, whether there are obstacles blocking the door body, etc. If everything is normal, the master module will record the door opening event and prepare to receive the next instruction. If an abnormal situation is detected, the master module will take appropriate measures (such as sending an alarm signal, closing the door body, etc.) to ensure safety.

[0084] In some embodiments, the process of the door body moving in a trajectory of translation first and then lifting when opening also includes the following steps, see Figure 15

[0085] S1' When starting the lifting mechanism, the drive module receives the first driving signal from the master module, adjusts the output of the drive module according to the first driving signal, and drives the box door to run, while using the displacement sensor to monitor the displacement of the door body in the vertical direction in real time;

[0086] S2' Judge the door body to contact the support mechanism, when the door body approaches the support mechanism, use the pressure sensor to detect the pressure, when the pressure value reaches the preset threshold value, it indicates that the door body contacts the support mechanism;

[0087] S3' Cam mechanism intervention, after the door body contacts the support mechanism, the drive unit continues to make the door body descend in the vertical direction by an additional distance, then drives the cam mechanism to rotate, makes the door body transition from vertical motion to horizontal motion, and uses the displacement sensor to monitor the displacement of the door body in the horizontal direction; wherein the additional distance that the drive unit continues to make the door body descend in the vertical direction after the door body contacts the support mechanism is 10mm; the displacement of the door body in the horizontal direction monitored by the displacement sensor is greater than or equal to the thickness of the sealing unit.

[0088] S4' The box door stops translating and lifting, the drive module dynamically adjusts the parameters in the box door running according to the preset motion trajectory in the master module and the real-time feedback signals of the detection module, and makes the box door reach the preset position.

[0089] The control method of the cell incubator door opening in this embodiment uses sensors and other feedback elements to obtain real-time state information of the door body, such as position, speed, etc., and compares it with the set value. The control module calculates the adjustment amount according to the deviation, so as to realize accurate position and speed control. For example, when it is detected that there is a deviation between the actual position of the door body and the target position, the control signal of the motor is adjusted in time.

[0090] The opening and closing control process of the cell incubator door in the specific application application scenario will be described below.

[0091] ​When the cell incubator is in operation, the user sends an opening door request through the remote control interface or receives an opening door instruction according to a preset experiment process, the main control module receives the opening door instruction, and the following steps are performed:

[0092] The control host software calls an opening door application program interface (API) to start an opening door program. The opening door API automatically calculates the optimal running speed and acceleration according to preset opening door distance, speed curve and acceleration parameters, and sends control instructions to the alternating current servo motor through a wired communication protocol (such as a TCP / IP protocol, referred to as TCP). After receiving the instructions, the alternating current servo motor drives the box door to open smoothly at the specified speed and acceleration until the opening door in-place sensor installed on the door detects that the door has been completely opened, that is, the sensor state changes from off to on (OFF to ON). After the door is opened in place, the alternating current servo control system returns the opening door completion signal to the control host software through the TCP protocol to confirm that the opening door action has been completed. The closing door process is similar to the opening door process, but the execution direction is opposite, which will not be described here.

[0093] In addition, the operation and running process of the cell incubator in the specific application scenario in the embodiment are as follows:

[0094] Operation of the incubator in the cell culture preparation stage. The user sets the experiment type and related parameters on the control device according to the experiment requirements, and the control device automatically generates or loads the corresponding experiment schedule according to the preset rules. For example, for the culture of a certain cell, set the inoculation time, culture temperature range, liquid change time interval, sampling time point and other parameters. The mechanical hand places the cell sample on the storage rack, and since the bottom and side of the storage rack are hollow, 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 needed) 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℃. At the same time, the air circulation device starts to run according to the preset initial air flow, so that the inner cavity air is evenly distributed, ensuring temperature consistency.

[0095] Operation of the incubator during cell culture. During the culture process, when the time for medium replacement arrives, the experimental procedure monitoring module generates an open door command based on the device status (e.g., whether the medium addition device is ready) and the schedule information and sends it to the main control module. The main control module controls the direct vertical lifting movement of the door to open the sample removal lifting door, and the robot performs the medium replacement operation. After the medium replacement is completed, the door is closed, and the door control process is as described above to ensure that the door is tightly closed and the temperature and environment are stable and not affected. When sampling is required, the experimental procedure monitoring module triggers an open door command, and the robot takes out the sample for detection. In this process, due to the good design of the door (convenient operation 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, and the accurate operation of the robot improves the accuracy and repeatability of the experiment.

[0096] Special cases of the incubator during cell culture. If the temperature abnormally rises during the culture process (e.g., due to changes in the external environment temperature or equipment failure), the temperature detection device will send 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, adjusts the air flow of the air circulation device to speed up the air circulation in the inner cavity, and quickly dissipates the heat to restore the temperature to the normal range as soon as possible. If a component failure occurs, such as a drive module failure or a temperature sensor failure, the fault monitoring module will timely monitor the abnormal operating parameters and send a signal to the main control module. The main control module sends an alarm signal (displays the fault information through the display device) to remind the operator to repair or take appropriate measures to ensure the safety and smooth progress of the cell culture experiment. After the repair is completed, the device can be re-commissioned and initialized for continued use, and the robot can continue to perform subsequent operations according to the program.

[0097] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, variations, 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 sealing door apparatus for an incubator, the sealing door apparatus being provided on a cabinet of the incubator, the sealing door apparatus comprising: The sealing unit is arranged on the door body, the door body is arranged on the lifting mechanism, the door body and the lifting mechanism are fixedly connected through a connecting piece, the lifting mechanism is used for driving the door body to move up and down, the sealing unit is matched with the contact surface of the opening edge of the cell incubator box body, the translation mechanism is arranged on the box body of the incubator, and is used for driving the door body to move horizontally.

2. The apparatus of claim 1, wherein, The lifting mechanism further comprises a transmission unit, a guide unit and a support unit, wherein the driving unit is arranged on the top of the cell incubator box body and is used for driving the lifting movement of the door body, the transmission unit is used for transmitting the power of the motor to the door body, and the guide unit is arranged on the support unit and is used for guiding the lifting of the door body.

3. The apparatus of claim 2, wherein, The cam mechanism comprises at least a cam, a fixed shaft and a support mechanism, the cam rotates on the fixed shaft, the support mechanism is located below the movement direction of the door body, and the door body gradually descends under the action of the driving unit; when the door body contacts the support mechanism below, the door body is blocked by the support mechanism and cannot continue to descend, at this time, the cam mechanism starts to rotate.

4. The apparatus of claim 3, wherein, Both ends of the fixed shaft are connected with the side of the incubator through bearing seats, the axial position of the fixed shaft is parallel to the movement plane of the door body, and on one side of the movement track of the door body, the cam is installed on the fixed shaft through key connection or interference fit.

5. The apparatus of claim 3, wherein, The cam mechanism further comprises an axial positioning device installed on the fixed shaft, which is used for preventing the cam from moving axially during operation.

6. The apparatus of claim 3, wherein, The support mechanism is a roller.

7. The apparatus of claim 2, wherein, The driving unit comprises a servo motor.

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