CN107446819A - The orientation stop control system and orientation method for controlling stopping of a kind of shaking table - Google Patents
The orientation stop control system and orientation method for controlling stopping of a kind of shaking table Download PDFInfo
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- CN107446819A CN107446819A CN201710702480.XA CN201710702480A CN107446819A CN 107446819 A CN107446819 A CN 107446819A CN 201710702480 A CN201710702480 A CN 201710702480A CN 107446819 A CN107446819 A CN 107446819A
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- 238000000034 method Methods 0.000 title claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 230000002452 interceptive effect Effects 0.000 claims description 15
- 230000003993 interaction Effects 0.000 claims 1
- 238000010008 shearing Methods 0.000 abstract description 3
- 230000036461 convulsion Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 4
- 238000004113 cell culture Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000001963 growth medium Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
- C12M41/12—Means for regulation, monitoring, measurement or control, e.g. flow regulation of temperature
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M27/00—Means for mixing, agitating or circulating fluids in the vessel
- C12M27/16—Vibrating; Shaking; Tilting
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
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- Chemical & Material Sciences (AREA)
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- Bioinformatics & Cheminformatics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
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Abstract
A kind of orientation stop control system of shaking table, including：Base, motor, processor, culture shaking table and harvester；Processor is used for controlled motor driving culture 360 ° of rotations of shaking table after obtaining enabled instruction, after obtaining halt instruction, it is additionally operable to calculate target angular velocity of rotation according to actual angular velocity of rotation, and judge whether rotation residue angle of the actual rotary angle position apart from preset stopping angle position reaches predetermined angle, if reach, controlled motor with target angular velocity of rotation drives the rotation of culture shaking table until shaking table opening is stopped on preset stopping angle position, avoids shaking table jerk from causing solution on shaking table to produce larger shearing force.Acted by the stopping for controlling culture shaking table to rotate, in order to make the shaking table opening of culture shaking table is stopped on rotation stop angle position set in advance, facilitate operating personnel to be operated in shaking table opening.
Description
Technical field
The present invention relates to biological shaking table technical field, and in particular to the orientation stop control system and orientation of a kind of shaking table stop
Only control method.
Background technology
In current biological cell culture experiment, to improve cell state, improving cell density and yield, start to introduce biology
Shaking table.Biological shaking table provides gentle, low-shearing force, high dissolved oxygen microenvironment to cell.
Because shaking table is motion, its stop angle determines shaking table direction, and, the stopping side of currently used biological shaking table
To being all random, it is all to stop at random causing shaking table opening.In practice, shaking table opening is needed with shaking table main body into one
Determine angle, just facilitate biological personnel to be operated in opening.Shaking table needs to ensure the tendency operation of shaking table agitating device when stopping
Personnel.
Still further aspect, the shaking table in rotation easily cause the culture medium on shaking table and produce larger cut when rapidly stopping
Shear force and a large amount of foams, and foam can excessively influence to grow, therefore need when shaking table stops, under shaking speed should be avoided rapidly
Drop.
The content of the invention
The problem of stopping inconvenient operating personnel's operation at random for biological shaking table, the application provides a kind of orientation of shaking table
Stop control system and orientation method for controlling stopping.
According in a first aspect, provide a kind of orientation stop control system of shaking table in a kind of embodiment, including base, electricity
Machine, processor, culture shaking table and harvester；
Motor is installed on base, and the input of motor is connected with the processor, and output end is connected with culture shaking table；
Harvester is installed on base, for gathering the actual rotary angle position and actual anglec of rotation speed of culture shaking table
Degree, and actual rotary angle position and actual angular velocity of rotation are sent to processor,
Processor is used for controlled motor driving culture 360 ° of rotations of shaking table after obtaining enabled instruction, after obtaining halt instruction,
It is additionally operable to obtain target angular velocity of rotation according to actual angular velocity of rotation, and judges actual rotary angle position apart from preset stopping
Whether the rotation residue angle of angle position reaches predetermined angle, if reaching, controlled motor is driven with target angular velocity of rotation and trained
Shaking table rotation is supported until shaking table opening is stopped on preset stopping angle position.
In a kind of embodiment, harvester includes：Swingle and displacement transducer；
Swingle is installed on culture shaking table, and swingle is with the 360 ° of rotations of culture shaking table；
Displacement transducer is installed on base by support and is connected with processor signal, and displacement transducer is revolved by sensing
The rotation of bull stick produces data signal, and data signal is sent to processor.
In a kind of embodiment, displacement transducer is photoelectric sensor, and photoelectric sensor blocks production according to light source by swingle
Raw pulse signal.
In a kind of embodiment, in addition to elastic spacing one, elastic spacing one are arranged between culture shaking table and base.
In a kind of embodiment, in addition to for gathering the temperature collecting device of motor operating temperature, temperature collecting device
Output end is connected with processor signal.
In a kind of embodiment, in addition to interactive device, interactive device are used for the control parameter for inputting culture shaking table.
According to second aspect, a kind of orientation method for controlling stopping of shaking table, including step are provided in a kind of embodiment：
After obtaining halt instruction, the actual rotary angle position of culture shaking table and actual angular velocity of rotation are obtained；
Target angular velocity of rotation is obtained according to actual angular velocity of rotation, and stopped according to actual rotary angle position distance is default
Only whether the rotation residue angle of angle position reaches predetermined angle, if reaching, controlled motor is driven with target angular velocity of rotation
The rotation of culture shaking table is until shaking table opening is stopped on preset stopping angle position.
In a kind of embodiment, in addition to step：Whether the current stop position for judging to cultivate shaking table is preset stopping angle
Position, if it is not, being modified to current stop position, shaking table is set slowly to be rotated to pre- by the slower target angular velocity of calculating
If stop angle position.
In a kind of embodiment, before the actual rotary angle position and the actual angular velocity of rotation that obtain culture shaking table, also wrap
Include the step of producing corresponding pulse signal in the rotation for obtaining culture shaking table.
In a kind of embodiment, the actual rotary angle position of culture shaking table and actual angular velocity of rotation are obtained, is specially：Root
Actual angular velocity of rotation is calculated according to pulse signal, and actual rotary angle position is calculated according to actual angular velocity of rotation.
According to above-described embodiment shaking table orientation stop control system, due to can from culture shaking table the actual anglec of rotation
Spend position and actual angular velocity of rotation, the stopping action of control culture shaking table rotation, in order to make the shaking table opening of culture shaking table is stopped
Only on rotation stop angle position set in advance, operating personnel are facilitated to be operated in shaking table opening.
In addition, motor with target angular velocity of rotation drive culture shaking table rotate, can make culture shaking table have one from high speed to
The process that low speed slowly stops, avoiding cultivating shaking table rotary speed dramatic decrease.
Brief description of the drawings
Fig. 1 is orientation stop control system schematic diagram；
Fig. 2 is the side schematic view of orientation stop control system structure；
Fig. 3 is the front view of interactive device；
Fig. 4 is the rearview of interactive device；
Fig. 5 is the rearview of orientation stop control system structure.
Embodiment
The present invention is described in further detail below by embodiment combination accompanying drawing.
This example provides a kind of orientation stop control system of shaking table, including base 1, motor 2, processor 3, culture shaking table 4,
Harvester 5, elastic spacing one 6, temperature collecting device 7 and interactive device 8, its schematic diagram is as shown in figure 1, structure chart such as Fig. 2
It is shown.
Wherein, power resources of the motor 2 as culture shaking table 4, processor 3 are the core component of control, are controlled by motor 2
The working condition of system culture shaking table 4, detection part of the harvester 5 as culture shaking table 4, the actual rotation of detection culture shaking table 4
Gyration position and actual angular velocity of rotation, elastic spacing one 6 are arranged between culture shaking table 4 and base 1, for being shaken to culture
Bed 4 rotation carry out spacing, the operating temperature of the motor in real time 2 of temperature collecting device 7, and temperature signal by filtering,
Processor 3 is sent to after the processing such as amplification, and temperature collecting device 7 includes temp probe 71 and temperature collection circuit 72, temperature control
First 71 are used for the operating temperature of motor in real time 2, and temperature collection circuit 72 monitors the operating temperature of motor 2 in real time, and by temperature
Degrees of data is sent to processor 3, and to reduce the possibility that motor 2 overheats work, interactive device 8 provides input training to operating personnel
Support control parameter, the interactive devices 8 of this example such as the beginning, stopping, rotating speed of shaking table 4 to be independently of base 1 and set, interactive device 8
Structure chart as shown in figure 3, interactive device 8 rearview as shown in figure 4, the rearview of base 1 as shown in figure 4, interactive device 8
It is connected by cable with the signal of processor 3, interactive device 8 transmits these control parameters to processor 3 by cable,
In other embodiment, interactive device 8 can be set with base 1 and be structure as a whole, being set such as on base 1 has interactive function
Display screen.
Motor 2 is installed on base 1, and harvester 5 is installed on base 1, and, processor 3, motor 2, culture shaking table 4
Signal link with harvester 5 is a closed loop link, specifically, harvester 5 is used for the actual rotation for gathering culture shaking table 4
Angle position and actual angular velocity of rotation are simultaneously sent to processor 3, and processor 3 obtains the driving training of controlled motor 2 after enabled instruction
360 ° of rotations of the progress of shaking table 4 are supported, and after acquisition halt instruction, target angular velocity of rotation is calculated always according to actual angular velocity of rotation,
And judge whether rotation residue angle of the actual rotary angle position apart from preset stopping angle position reaches predetermined angle, if reaching
Arrive, controlled motor 2 drives the rotation of culture shaking table 4 until shaking table opening stops at preset stopping angle position with target angular velocity of rotation
Put, avoid shaking table jerk from causing the solution on shaking table to produce larger shearing force, simultaneously, it is ensured that shaking table receives stopping every time
During order, automatic retarding stops at fixed angle, to ensure subsequently to the uniformity of sample on shaking table.If not up to,
Then using the current angular velocity of rotation of shaking table as actual angular velocity of rotation, repeat above procedure and calculate next target anglec of rotation speed
Degree, until the opening of culture shaking table is stopped on preset stopping angle position.
In addition, in other embodiments, if the shaking table opening of culture shaking table 4 is not stopped on preset stopping angle position,
Then processor 3 can be rotated a circle again with controlled motor 2 with current angular velocity so that the stop position of shaking table opening be adapted to it is default
On stop angle position.
Further, culture shaking table 4 includes swash plate 41, shaking table bearing 42, pallet 43 and temperature control box 44, wherein, swash plate 41 has
There are certain gradient and eccentric shaft, swash plate 41 is connected with motor 2 so that, motor 2 can be carried out together when rotating with swash plate 41
360 ° of rotations, swash plate 41 and the relative rotary motion of shaking table bearing 42, shaking table bearing 42 and pallet 43 are by screw connection, in elasticity
Locating part 6 it is spacing under, shaking table bearing 42 carries pallet 43 and is rotated under certain 3d space scope, pallet 43
Motion side drives the cell culture bags 9 in temperature control box 44 to do corresponding 3D rotary motions.
Further, harvester 5 includes swingle 51 and displacement transducer 52, and swingle 51 is installed on culture shaking table 4
On swash plate 41, and as swash plate 41 carries out 360 ° of rotations；Displacement transducer 52 be installed on by support 10 on base 1 and with processing
The signal of device 3 connect, displacement transducer 52 by sense swingle 51 rotation produce data signal, and by data signal send to
Processor 3.
Specifically, displacement transducer 52 is photoelectric sensor, the part of swingle 51 protrudes from swash plate 41, when swingle 51 with
When the rotation of swash plate 41, its projection constantly contacts with displacement transducer 52, and carries out shading to displacement transducer 52, this
When, displacement transducer 52 produces pulse signal when being blocked according to light source by swingle 51, and the pulse signal is sent to processing
Device 3, processor 3 can obtain the actual rotary angle position of culture shaking table 4 and actual angular velocity of rotation according to the pulse signal；
Preferably, preset stopping angle position can be used as using the installation site of displacement transducer 52.
After operator is sent by interactive device 8 to cease and desist order to processor 3, processor 3 can pass according to current displacement
The actual angular velocity of rotation for the culture shaking table 4 that sensor 52 detects, calculate the target anglec of rotation speed of next stage culture shaking table 4
Degree, the target angular velocity of rotation are gradually to successively decrease and gradually convergence minimum speed, processor 3 send target angular velocity of rotation
To motor 2, motor 2 drives the rotation of culture shaking table 4 until shaking table opening stops at preset stopping angle with the target angular velocity of rotation
Spend on position；If period is because the stop position that external disturbance causes to cultivate the shaking table opening of shaking table 4 is not up to preset stopping
Angle position, then the controlled motor 2 of processor 3 with present rotation angel speed drive culture shaking table 4 remain in operation, until next week
Phase stops again.
According to above-mentioned orientation stop control system, this example also provides a kind of orientation method for controlling stopping, including following step
Suddenly.
S1：After obtaining halt instruction, the actual rotary angle position of culture shaking table and actual angular velocity of rotation are obtained.
Before this step, in addition to the step of producing corresponding pulse signal in the rotation of culture shaking table 4 is obtained, wherein,
The generation of the pulse signal is exactly the course of work of above-mentioned harvester 5, after processor 3 obtains the pulse signal, according to pulse
The actual angular velocity of rotation of signal of change culture shaking table 4, actual rotary angle position is calculated further according to actual angular velocity of rotation.
S2：Target angular velocity of rotation is obtained according to actual angular velocity of rotation, and judges that actual rotary angle position distance is pre-
If whether the rotation residue angle of stop angle position reaches predetermined angle, if reaching, controlled motor is with target angular velocity of rotation
Driving culture shaking table rotation is until shaking table opening is stopped on preset stopping angle position.
During this step, in addition to whether the current stop position for judging to cultivate shaking table 4 is preset stopping angle position
Put, if it is not, then current stop position is modified, specifically, judge the relative position between current angular and stop angle,
And stop position is modified using present rotation angel speed.
Use above specific case is illustrated to the present invention, is only intended to help and is understood the present invention, not limiting
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make some simple
Deduce, deform or replace.
Claims (10)
- A kind of 1. orientation stop control system of shaking table, it is characterised in that including：Base, motor, processor, culture shaking table and Harvester；The motor is installed on the base, and the input of the motor is connected with the processor, output end and the training Support shaking table connection；The harvester is installed on the base, for gathering the actual rotary angle position and reality of the culture shaking table Angular velocity of rotation, and the actual rotary angle position and actual angular velocity of rotation are sent to the processor,The processor is used to control the described 360 ° of rotations of culture shaking table of the motor driving after obtaining enabled instruction, obtains and stops After instruction, it is additionally operable to calculate target angular velocity of rotation according to the actual angular velocity of rotation, and judge actual rotary angle position Whether the rotation residue angle apart from preset stopping angle position reaches predetermined angle, if reaching, controls the motor with described The target angular velocity of rotation driving culture shaking table rotation is until shaking table opening is stopped on the preset stopping angle position.
- 2. orientation stop control system as claimed in claim 1, it is characterised in that the harvester includes：Swingle and Displacement transducer；The swingle is installed on the culture shaking table, and the swingle is with described 360 ° of rotations of culture shaking table；Institute's displacement sensors are installed on the base by support and are connected with the processor signal, the displacement sensing Rotation of the device by sensing the swingle produces data signal, and the data signal is sent to the processor.
- 3. orientation stop control system as claimed in claim 2, it is characterised in that institute's displacement sensors are photoelectric sensing Device, the photoelectric sensor block generation pulse signal according to light source by the swingle.
- 4. orientation stop control system as claimed in claim 3, it is characterised in that also including elastic spacing one, the elasticity Locating part is arranged between the culture shaking table and base.
- 5. orientation stop control system as claimed in claim 4, it is characterised in that also include being used to gather the motor work The temperature collecting device of temperature, the output end of the temperature collecting device are connected with the processor signal.
- 6. orientation stop control system as claimed in claim 5, it is characterised in that also including interactive device, the interaction dress Put the control parameter for inputting the culture shaking table.
- 7. the orientation method for controlling stopping of the orientation stop control system as any one of claim 1-6, its feature exist In, including step：After obtaining halt instruction, the actual rotary angle position of shaking table and actual angular velocity of rotation are obtained；Target angular velocity of rotation is calculated according to the actual angular velocity of rotation, and judges that actual rotary angle position distance is default and stops Only whether the rotation residue angle of angle position reaches predetermined angle, if reaching, controls the motor with the target anglec of rotation The speed driving culture shaking table rotation is until shaking table opening is stopped on the preset stopping angle position.
- 8. orientation method for controlling stopping as claimed in claim 7, it is characterised in that also including step：Judge that the culture is shaken Whether the current stop position of bed is preset stopping angle position, if it is not, being modified to the current stop position.
- 9. orientation method for controlling stopping as claimed in claim 8, it is characterised in that the actual rotation for obtaining culture shaking table Before angle position and actual angular velocity of rotation, in addition to obtain in the rotation of the culture shaking table and produce corresponding pulse signal The step of.
- 10. orientation method for controlling stopping as claimed in claim 9, it is characterised in that the actual rotation for obtaining culture shaking table Gyration position and actual angular velocity of rotation, it is specially：Actual angular velocity of rotation is calculated according to the pulse signal, and according to reality Border angular velocity of rotation calculates actual rotary angle position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710702480.XA CN107446819B (en) | 2017-08-16 | 2017-08-16 | Directional stop control system and directional stop control method for shaking table |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710702480.XA CN107446819B (en) | 2017-08-16 | 2017-08-16 | Directional stop control system and directional stop control method for shaking table |
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| Publication Number | Publication Date |
|---|---|
| CN107446819A true CN107446819A (en) | 2017-12-08 |
| CN107446819B CN107446819B (en) | 2021-04-23 |
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| CN201710702480.XA Active CN107446819B (en) | 2017-08-16 | 2017-08-16 | Directional stop control system and directional stop control method for shaking table |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108795754A (en) * | 2018-04-23 | 2018-11-13 | 苏州欧飞纳米科技有限公司 | The control system and method for bioreactor culture parameter |
| CN114468664A (en) * | 2022-03-31 | 2022-05-13 | 慕思健康睡眠股份有限公司 | Electric bed control method, device, equipment and storage medium |
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| JP2001275652A (en) * | 2000-03-31 | 2001-10-09 | Able Corp | Shaking incubator and method for measuring or controlling culture liquid |
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| CN107446819B (en) | 2021-04-23 |
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