CN113578182B

CN113578182B - Cartilage bionic matrix gel automatic synthesis instrument

Info

Publication number: CN113578182B
Application number: CN202110864225.1A
Authority: CN
Inventors: 王富友; 张颖; 陈光兴; 杨柳
Original assignee: First Affiliated Hospital of Army Medical University
Current assignee: First Affiliated Hospital of Army Medical University
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2022-09-09
Anticipated expiration: 2041-07-29
Also published as: WO2023005049A1; CN113578182A

Abstract

The invention belongs to the technical field of medical instruments, and provides an automatic synthesis instrument for cartilage bionic matrix gel, which aims to solve the problem that cartilage bionic matrix gel products are not produced by automatic equipment. The invention solves the problem of manual synthesis of cartilage bionic matrix gel products, realizes full-automatic synthesis, and improves the precision, efficiency and quality of product preparation.

Description

Cartilage bionic matrix gel automatic synthesis instrument

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to an automatic synthetic instrument for cartilage bionic matrix gel.

Background

The joint bone cartilage injury caused by trauma or bone diseases is very common in clinic, wherein the cartilage defect rate can reach 50%, and then the joint bone cartilage injury can be developed into various degenerative joint diseases such as osteoarthritis and the like, and the functions of affected limbs and the life quality of patients are seriously affected. Articular cartilage is lack of blood supply and has low repair capability, and the existing medical clinical treatment measures have the problems of limited repair cartilage defect area, easy relapse after operation, immunoreaction generated by allogeneic articular cartilage transplantation and the like, thereby influencing the implantation effect and postoperative recovery of patients. With the development of stem cell application and the exploration of components, structures and functions of natural cartilage, the multidirectional differentiation capacity of stem cells and important components in the natural cartilage are utilized to construct tissue engineering cartilage, and a cartilage tissue engineering scaffold-cartilage bionic matrix gel which is similar to the components and the structures of the natural cartilage is developed. The cartilage bionic matrix gel product belongs to a novel cartilage repair product, and is synthesized by multiple components step by step. At present, the production of products is carried out manually, and no automatic equipment is available for replacement. Meanwhile, errors are caused by improper control of reaction time and improper control of component dosage of each link in the manual operation process, and the problems of artificial pollution and the like can be caused in the operation process, so that manual operation is urgently replaced by automatic equipment.

Disclosure of Invention

In view of the above, the present invention provides an automatic synthesizing apparatus for cartilage biomimetic matrix gel, which aims to solve the problem that no automatic equipment is available for producing cartilage biomimetic matrix gel products.

The invention is realized by the following technical scheme:

the invention provides an automatic synthesis instrument for cartilage bionic matrix gel, which comprises a rack module consisting of an underframe, a platform plate and inclined plates, wherein the underframe is provided with the platform plate arranged horizontally and the inclined plates arranged obliquely, the platform plate is provided with a medicine tray module for bearing a medicine containing pipe and enabling the medicine tray module to rotate centrifugally, the inclined plates are provided with a clamping module for clamping the medicine containing pipe on the medicine tray module, a shearing module for shearing the bottom of the medicine containing pipe clamped on the clamping module, and a clamping and stirring module for clamping a push rod or a stirring rod and enabling the push rod or the stirring rod to push or stir the reagent in the medicine containing pipe clamped on the clamping module, and the inclined plates are sequentially provided with the clamping and stirring module, the clamping and stirring module and the shearing module from top to bottom.

Further, the frame module is still including the slide rail, the slide, a support, the guide rail, ball screw mechanism E and layer board are constituteed, set up the slide rail on the landing slab, a support, layer board and ball screw mechanism E, the slide passes through slide rail and landing slab sliding connection to by ball screw mechanism E drive, the swash plate passes the landing slab and on its length direction both ends respectively with support and layer board fixed connection, be equipped with on the swash plate and assist to press from both sides to stir the module, press from both sides and get the module and cut the gliding guide rail of module.

The medicine tray module is further used for bearing a push rod and a stirring rod and comprises a rotary table, a plurality of inwards inclined object placing cylinders, a through groove, clamping blocks, a base, a chassis and a rotating motor, wherein the rotary table is provided with the plurality of the inwards inclined object placing cylinders along the radial direction of the rotary table, a single object placing cylinder is used for placing the medicine containing pipe, the push rod or the stirring rod, the through groove is formed in the middle of the rotary table, the base is provided with a pair of clamping blocks which are respectively clamped with two opposite sides of the through groove formed in the rotary table, the base is rotatably arranged on the chassis, the chassis is arranged on a sliding plate, and the chassis is provided with the rotating motor used for driving the base and the rotary table to rotate.

Furthermore, a step groove is arranged on one side of the through groove arranged on the rotary disc, and one of the pair of clamping blocks is matched with the step groove; the base is also provided with a square block positioned with the middle part of the through groove arranged on the turntable.

Further, the base is further provided with two top pressure springs acting on the bottom of the turntable, the two top pressure springs are symmetrically arranged and are arranged at intervals with the pair of clamping blocks.

Furthermore, press from both sides and get the module and constitute by ball screw mechanism A, connection frame A, double thread screw mechanism A, splint, ball screw mechanism A locates on the swash plate and acts on connection frame A, and connection frame A and guide rail sliding connection set up double thread screw mechanism A on the connection frame A, set up a pair of splint that are used for pressing from both sides the explosive charge pipe on putting the batch pan module on the double thread screw mechanism A.

Further, the clamping and stirring module consists of a ball screw mechanism C, a ball screw mechanism D, a connecting frame C, a connecting frame D, a bearing seat A, a telescopic spring, a grabbing shaft, a bearing seat B and a locking sleeve, wherein the ball screw mechanism C is arranged on the inclined plate, the connecting frame C and the connecting frame D are respectively connected with the guide rail in a sliding way, and the connecting frame D and the connecting frame C are correspondingly connected up and down through the ball screw mechanism D, the connecting frame D is provided with a bearing seat A, the connecting frame C is provided with a bearing seat B, a locking sleeve rotatably connected with the bearing seat B is arranged in the bearing seat B, the grabbing shaft is sleeved with a telescopic spring positioned between the bearing seat A and the bearing seat B, one end of the grabbing shaft penetrates through the locking sleeve and is provided with a locking and releasing structure capable of extending out and retracting the locking sleeve, the other end of the grabbing shaft is rotatably connected with the bearing seat A, and the locking and releasing structure comprises a conical head arranged at the end part of the grabbing shaft and a notch axially arranged on the end part of the conical head along the grabbing shaft.

Furthermore, the clamping and stirring module further comprises a coupling sleeve and a rotary motor, the grabbing shaft is connected with the rotary motor through the coupling sleeve at the end deviating from the locking sleeve, the coupling sleeve is rotatably connected with the bearing seat A, the rotary motor is fixed on the bearing seat A, and two ends of the telescopic spring act on the locking sleeve and the coupling sleeve respectively.

Further, the shearing module comprises a ball screw mechanism B, a connecting frame B, a double-thread screw mechanism B and scissors, wherein the ball screw mechanism B is arranged on the inclined plate and acts on the connecting frame B, the connecting frame B is connected with the guide rail in a sliding manner, the double-thread screw mechanism B is arranged on the connecting frame B, and a pair of scissors used for shearing the bottom of the agent containing pipe is arranged on the double-thread screw mechanism B.

Further, a control box, a baffle plate and a shell are further arranged on the bottom frame, a terminal box is arranged on the baffle plate, the control box is electrically connected with the terminal box, the clamping and stirring module, the clamping and shearing module and the shearing module are electrically connected with the terminal box, and the medicine tray module is electrically connected with the control box; the front door and the rear door are respectively arranged on the front side and the rear side of the shell, and the side walls on the two sides of the shell are provided with opposite holding grooves.

The invention has the advantages that:

1. the automatic synthesis instrument for the cartilage bionic matrix gel can solve the problem of manual synthesis of cartilage bionic matrix gel products, realizes full-automatic synthesis, and is beneficial to improving the synthesis precision, efficiency and quality of the products.

2. The cartilage bionic matrix gel automatic synthesis instrument has the advantages of simple and feasible integral structure, convenience in operation, complete functions, small size and the like, effectively reduces the manual work intensity, and has a positive effect on improving the use efficiency of scientific and technological machinery.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof.

Drawings

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings, in which:

FIG. 1 is a schematic diagram of the front structure of the cartilage biomimetic matrix gel automatic synthesis apparatus;

FIG. 2 is a schematic bottom view of the structure of FIG. 1;

FIG. 3 is a schematic perspective view of the present cartilage biomimetic matrix gel automatic synthesis apparatus;

FIG. 4 is another schematic perspective view of the present cartilage biomimetic matrix gel automatic synthesis apparatus;

FIG. 5 is a schematic diagram of the external structure of the cartilage biomimetic matrix gel automatic synthesis instrument;

FIG. 6 is a rear view of the structure of FIG. 5;

FIG. 7 is a schematic perspective view of a frame module of the apparatus for automated synthesis of cartilage biomimetic matrix gel;

FIG. 8 is a schematic perspective view of a Chinese medicine tray module of the apparatus for the automated synthesis of cartilage biomimetic matrix gel;

FIG. 9 is a schematic perspective view of the rotary disk of FIG. 8 with the rotary disk removed;

FIG. 10 is a schematic perspective view of the inclined plate of the cartilage biomimetic matrix gel automatic synthesis apparatus;

FIG. 11 is a schematic view of the other side of the tilted plate in the cartilage biomimetic matrix gel automatic synthesis apparatus;

FIG. 12 is a schematic perspective view of a clamping module in the cartilage biomimetic matrix gel automatic synthesis apparatus;

FIG. 13 is a schematic diagram of the three-dimensional structure of the stirring module in the cartilage biomimetic matrix gel automatic synthesis apparatus;

FIG. 14 is an exploded view of the shaft portion of the gripper of FIG. 13;

FIG. 15 is a schematic perspective view of a shear module in the cartilage biomimetic matrix gel automatic synthesis apparatus;

FIG. 16 is a flow chart of the present automated cartilage biomimetic matrix gel synthesis apparatus;

reference numerals: the automatic medicine taking machine comprises a rack module 1, a medicine tray module 2, a medicine containing pipe 3, a clamping module 4, a clamping and stirring module 5, a shearing module 6, a control box 7, a terminal box 8, a baffle plate 9, a shell 10, a front door 11, a holding groove 12, a rear door 13, a push rod 14 and a stirring rod 15; the device comprises a base frame 101, a platform plate 102, a slide rail 103, a slide plate 104, a bracket 105, an inclined plate 106, a guide rail 107, a ball screw mechanism E108 and a supporting plate 109; the rotary table 201, the object placing barrel 202, the through groove 203, the stepped groove 204, the fixture block 205, the block 206, the jacking spring 207, the base 208, the chassis 209 and the rotating motor 210; a ball screw mechanism A401, a connecting frame A402, a double-thread screw mechanism A403 and a clamping plate 404; the device comprises a ball screw mechanism C501, a ball screw mechanism D502, a connecting frame C503, a connecting frame D504, a rotary motor 505, a bearing seat A506, a telescopic spring 507, a grabbing shaft 508, a bearing seat B509, a locking sleeve 510 and a coupling sleeve 511; a ball screw mechanism B601, a connecting frame B602, a double-thread screw mechanism B603 and scissors 604.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.

As shown in fig. 1 to 6, the automatic cartilage bionic matrix gel synthesizer in this embodiment mainly includes a rack module 1, a tray module 2, a drug loading tube 3, a clamping module 4, a stirring module 5, a shearing module 6, a control box 7 and a terminal box 8, wherein the rack module 1 is used as a bearing main body to support and assemble other modules, and is wrapped by a housing 10, and the front and rear sides of the housing 10 are respectively provided with a front door 11 and a rear door 13 for convenient observation and operation, and the side walls of the housing 10 are provided with opposite holding grooves 12 for convenient carrying and operation; the medicine tray module 2 is used for bearing the medicine containing pipe 3 and enabling the medicine containing pipe to rotate centrifugally, and the clamping module 4 is used for clamping the medicine containing pipe 3 on the medicine tray module 2 and matching with the clamping and stirring module 5; the clamping and stirring module 5 is used for clamping and placing the push rod 14 or the stirring rod 15 and pushing or stirring the reagent in the reagent containing pipe 3 clamped on the clamping module 4; the shearing module 6 is used for shearing the bottom of the reagent containing pipe 3 clamped on the clamping module 4, so that the reagent in the reagent containing pipe is pushed into the other reagent containing pipe after being acted by the clamping and stirring module 5, and the mixing of the two reagents in the two reagent containing pipes is completed. And control box 7 and terminal box 8 electric connection press from both sides and stir module 5, press from both sides and get module 4 and cut module 6 and terminal box 8 electric connection, and batch pan module 2 and control box 7 electric connection to realize automatic electric control operation. Thus, by adopting the scheme, the automatic synthesis instrument for the cartilage bionic matrix gel can solve the problem of manual synthesis of a cartilage bionic matrix gel product, realizes full-automatic synthesis, and is beneficial to improving the synthesis precision, efficiency and quality of the product.

Referring to fig. 7, the frame assembly includes a bottom frame 101, a platform plate 102, a slide rail 103, a slide plate 104, a bracket 105, an inclined plate 106, a guide rail 107, a ball screw mechanism E108 and a supporting plate 109, wherein the platform plate 102 arranged horizontally and the inclined plate 106 arranged obliquely are disposed on the bottom frame 101, the platform plate 102 is provided with a medicine tray module 2, and the clamping and stirring module 5, the clamping and clamping module 4 and the shearing module 6 are sequentially disposed on the inclined plate 106 from top to bottom; the platform plate 102 is provided with a slide rail 103, a support 104, a support plate 109 and a ball screw mechanism E108, the slide plate 104 is connected with the platform plate 102 in a sliding manner through the slide rail 103 and driven by the ball screw mechanism E108, the inclined plate 106 penetrates through the platform plate 102 and is fixedly connected with the support 105 and the support plate 109 at two ends in the length direction of the inclined plate 106, and the inclined plate 106 is provided with a guide rail 107 which is assisted with the sliding of the clamping and stirring module 5, the clamping and stirring module 4 and the shearing module 6. Thus, the slide plate 104 and the tray module 2 slide on the horizontal plane of the platform plate 102 relative to the frame module 1 to move away from or close to the inclined plate 106, and the stirring module 5, the clamping module 4 and the shearing module 6 slide on the inclined plate 106 relative to the frame module 1 to work with the tray module 2, so as to complete the relevant steps and actions involved in the synthesis of the cartilage bionic matrix gel product. The driving device of the ball screw mechanism E108 adopts a servo motor, so that the automatic control is convenient.

As shown in fig. 8 and 9, the tablet module is further used for carrying the push rod 14 and the stirring rod 15, and includes a turntable 201, a plurality of storage barrels 202, a through groove 203, a stepped groove 204, a fixture block 205, a block 206, a top pressure spring 207, a base 208, a chassis 209 and a rotating motor 210, wherein the turntable 201 is provided with a plurality of storage barrels 202 inclined inward along a radial direction thereof, a single storage barrel 202 is used for storing the ingredient containing tube 3, the push rod 14 or the stirring rod 15, the middle part of the turntable 201 is provided with the through groove 203, the base 208 is provided with a pair of fixture blocks 205 respectively clamped with two opposite sides of the through groove 203 arranged on the turntable 201, and the turntable 201 and the base 208 can be fixedly connected through a matching relationship between the fixture blocks 205 and the through groove 203; the base 208 is rotationally arranged on the base plate 209 through a bearing, the base plate 209 is arranged on the sliding plate 104, the base plate 209 is provided with a rotating motor 210 for driving the base 208 and the turntable 201 to rotate, and the turntable 201 can be driven to rotate through the rotating motor 210, so that a reagent in the reagent filling tube 3 placed in the object placing cylinder 202 on the turntable 201 performs centrifugal rotation, and the mixing of the components of the cartilage bionic matrix gel product is facilitated. In addition, one side of the through groove 203 arranged on the turntable 201 is provided with a stepped groove 204, and one of the pair of fixture blocks 205 is matched with the stepped groove 2, so that the assembly positioning function between the turntable 201 and the base 208 is facilitated; the base 208 is also provided with a block 206 positioned with the middle part of the through groove 203 arranged on the turntable 201, so that on one hand, the assembly positioning identification between the turntable 201 and the base 208 can be further improved, and on the other hand, the rotating force of the base 208 can be better transmitted to the turntable 201 through the block 206, so that the centrifugal rotating motion of the turntable 201 is better. And the base 208 is further provided with two top pressure springs 207 acting on the bottom of the turntable 201, the top pressure springs 207 are symmetrically arranged and are arranged at intervals with the pair of fixture blocks 205, and the turntable 201 can be pressed by the compression counter force provided by the top pressure springs 207 after being clamped on the base 208, so that the assembly effect between the turntable 201 and the base 208 is better. The object placing barrel 202 is arranged on the turntable 201 in an inclined manner, and the opening of the object placing barrel 202 is inclined inwards, so that when the turntable 201 performs centrifugal rotation movement, the reagent in the reagent containing pipe 3 placed in the object placing barrel 202 is ensured not to be thrown out. The included angle between the central axis of the storage barrel 202 and the vertical direction is 30 degrees, 40 degrees, 45 degrees and the like. The driving device used by the rotating motor 210 adopts a servo motor, which is convenient for automatic control. When the device is used, the corresponding agent containing pipe, the push rod and the stirring rod are sequentially placed through the object placing barrel on the turntable, and the turntable is rotated by the rotating motor, so that the reagent in the agent containing pipe on the turntable is centrifugally rotated, and the centrifugal synthesis of the reagent in the agent containing pipe is completed.

As shown in fig. 10 to 12, the gripping module 4 is composed of a ball screw mechanism a401, a connecting frame a402, a double-threaded screw mechanism a403, and a gripper 404, wherein: the ball screw mechanism A401 is arranged on the inclined plate 106 and acts on the connecting frame A402, the connecting frame A402 is in sliding connection with the guide rail 107, a double-thread screw mechanism A403 is arranged on the connecting frame A402, and a pair of clamping plates 404 used for clamping the medicament containing tubes 3 on the medicament tray module 2 is arranged on the double-thread screw mechanism A403. When the device is used, the height of the clamping plates 404 relative to the medicament containing tubes 3 on the medicament tray module 2 can be adjusted through the ball screw mechanism A401, and the double-thread screw mechanism A403 is used for operating the two clamping plates 404 to clamp the medicament containing tubes 3. The ball screw mechanism A401 and the double-thread screw mechanism A403 both adopt servo motors as driving devices, so that automatic control is facilitated.

As shown in fig. 10-11 and 13-14, the clamping and stirring module 5 includes a ball screw mechanism C501, a ball screw mechanism D502, a connecting frame C503, a connecting frame D504, a rotary motor 505, a bearing seat a506, a telescopic spring 507, a grabbing shaft 508, a bearing seat B509, a locking sleeve 510, and a coupling sleeve 511, wherein: the ball screw mechanism C501 is installed on the inclined plate 106, the connecting frame C503 and the connecting frame D504 are respectively connected with the guide rail 107 in a sliding manner, the connecting frame D504 and the connecting frame C503 are connected up and down correspondingly through the ball screw mechanism D502, the connecting frame D504 is provided with a bearing seat a506, the connecting frame C503 is provided with a bearing seat B509, a locking sleeve 510 rotatably connected with the bearing seat B506 is arranged in the bearing seat B506 through a bearing, a telescopic spring 507 positioned between the bearing seat a506 and the bearing seat B508 is sleeved on the grabbing shaft 508, one end of the grabbing shaft 508 penetrates through the locking sleeve 510 and is provided with a locking structure capable of extending out and retracting the locking sleeve 510, the other end of the grabbing shaft 508 is rotatably connected with the bearing seat a506 through a bearing, and the locking structure comprises a conical head (not marked) arranged at the end of the grabbing shaft 508 and a slot (not marked) axially opened at the end of the conical head along the grabbing shaft 508. When the device is used, under the action of the ball screw mechanism D502, the connecting frame D504 is close to the connecting frame C503, namely the height between the bearing seat A506 and the bearing seat B509 is compressed, the telescopic spring 507 is also compressed, at the moment, the grabbing shaft 508 arranged on the bearing seat A506 is in an extending state relative to the locking sleeve 510, the conical head on the grabbing shaft 508 is exposed out of the locking sleeve, the push rod 14 or the stirring rod 15 can conveniently enter the grabbing shaft through the groove in the grabbing shaft, after the ball screw mechanism D502 does not act, the elastic force of the telescopic spring 507 is restored to push the connecting frame D504 to be far away from the connecting frame C503, so that the grabbing shaft 508 is driven to retreat, the conical head on the grabbing shaft 508 retracts into the locking sleeve 510, and the clamping of the push rod 14 or the stirring rod 15 is completed through the locking sleeve 510. Conversely, the above operation may be repeated when the push rod 14 or the stirring rod 15 is to be removed. The connecting frame C503 and the connecting frame D504 are integrally linearly moved on the inclined plate 106 relative to the guide rail 107 by the ball screw mechanism C501, and the pushing operation of the gel synthesis reagent in the reagent containing tube 3 is completed by the push rod 14 held by the grip shaft 508. In addition, the grabbing shaft 508 is connected with the rotating motor 505 through a coupling sleeve 511 at the end departing from the locking sleeve 510, the coupling sleeve 511 is rotatably connected with a bearing seat A506, the rotating motor 505 is fixed on the bearing seat A506, and two ends of the telescopic spring 507 respectively act on the locking sleeve 510 and the coupling sleeve 511. In this way, the rotation motor 505 can provide a rotation force to the grasping shaft 508, so that the grasping shaft 508 can be rotated after the stirring rod 15 is clamped, and thus the gel synthesis reagent in the reagent containing tube 3 can be stirred by the stirring rod 15. The rotary motor 505 may employ a coreless motor. The hollow cup motor has the outstanding energy-saving characteristic, the sensitive and convenient control characteristic and the stable operation characteristic, and can be used as a high-efficiency energy conversion device of the clamping and stirring assembly. The driving devices for the ball screw mechanisms C501 and D502 are servo motors for automated control.

As shown in fig. 10-11 and 15, the shearing module 6 includes a ball screw mechanism B601, a connecting frame B602, a double-threaded screw mechanism B603, and scissors 604, the ball screw mechanism B601 is disposed on the inclined plate 106 and acts on the connecting frame B602, the connecting frame B602 is slidably connected to the guide rail 107, the double-threaded screw mechanism B603 is disposed on the connecting frame B602, and the double-threaded screw mechanism B603 is disposed on a pair of scissors for shearing the bottom of the chemical charging pipe 3. During the use, through adjustable scissors 604 of ball screw mechanism B601 for press from both sides the distance of getting dress agent pipe 3 on the module 4, and utilize two scissors 604 of double thread screw mechanism B603 operation to implement the shearing action to dress agent pipe 3 bottom, batch pan module 2 at this moment also need move to and press from both sides and get under the module 4, make the dress agent pipe of getting to press from both sides the module 4 and go up the centre gripping, and it is corresponding rather than another dress agent pipe of placing on batch pan module 2 under, so that clamping pipe bottom of top is cut the back by shearing module 6, in it can get into the dress agent pipe of below, accomplish the reagent of two dress agent pipes and mix, it provides the basis to push or the stirring of subsequent clamp module 5. And the ball screw mechanism B601 and the double-thread screw mechanism B603 both adopt servo motors, so that the automatic control is facilitated.

As shown in fig. 16, the following workflow of the cartilage biomimetic matrix gel automatic synthesis apparatus is illustrated by a specific example, as follows:

step 1), six agent containing pipes 3 are sequentially placed on the object placing barrel 2 of the turntable 201 of the medicine tray module 2, and are respectively defined as: reagent I, 87.5 mu L of pure water; reagent II, OCS & OHA dry powder 0.013 g; reagent III, 450 mu L of pure water; reagent IV, 0.05g of Col-II dry powder; reagent V, 45 μ L of NaOH solution; the cell suspension liquid, and an upper push rod 14 and a stirring rod 15 are respectively arranged on the rest placing barrels 2 on the turntable 201; and the turntable 201 is placed on the rack module 1;

step 2), a ball screw mechanism E108 on the frame module 1 is started, so that the sliding plate 104 drives the medicine tray module 2 to be far away from the inclined plate 106, namely to be close to the front door 11 on the shell 10;

step 3), the clamping module 4 and the shearing module 6 are positioned at the lower end of the inclined plate 106, the clamping and stirring module 5 is positioned at the upper end of the inclined plate 106, and the ball screw mechanism E108 on the frame module 1 is started, so that the sliding plate 104 drives the medicine tray module 2 to move towards the inclined plate 106;

step 4), rotating the turntable 201 through the rotating motor 210, and enabling the object placing barrel 2 provided with the push rod 14 to be positioned below the clamping and stirring module 5 under the indexing action of the turntable 201; then, the ball screw mechanism C501 and the ball screw mechanism D502 of the clamping and stirring module 5 are started, so that the grabbing shaft 508 grabs the push rod 14;

step 5), after the action of the step 2) is implemented, the clamping module 4 is moved to the position above the medicine tray module 2, the rotary table 201 is rotated through the rotary motor 210, and the reagent containing tube 3 containing the reagent I is positioned at the clamping position of the clamping module 4 under the indexing action of the rotary table 201; then, a ball screw mechanism E108 on the frame module 1 is started, the slide plate 104 drives the medicine tray module 2 to move towards the inclined plate 106, a ball screw mechanism A401 is started to enable the connecting frame A402 to move downwards to a specified position, a double-thread screw mechanism A403 is started to drive the clamping plate 404 to clamp the medicine containing tube 3 with the reagent I, and the connecting frame A402 is moved upwards to the specified position through the ball screw mechanism A401;

step 6), after the action of the step 2) is implemented, the shearing module 6 drives the connecting frame B602 to move to a proper position at the bottom of the reagent containing tube 3 which is clamped on the clamping module 4 and contains the reagent I through the ball screw mechanism B601, so that the scissors of the shearing module are aligned to the shearing position at the bottom of the reagent containing tube 3; then, the ball screw mechanism E108 on the frame module 1 is started, so that the slide plate 104 drives the medicine tray module 2 to move to the inclined plate 106 again, the rotary table 201 is rotated through the rotary motor 210, and the reagent holding tube 3 containing the reagent ii is positioned at the clamping position of the clamping module 4 under the indexing action of the rotary table 201; starting a ball screw mechanism C501 of the clamping and stirring module 5 to drive a push rod 14 to be inserted into the reagent containing pipe 3 containing the reagent I; starting a double-thread screw mechanism B603 on the shearing module 6 to drive a shear 604 to act, shearing the bottom of a reagent containing pipe filled with a reagent I, and meanwhile, continuously moving the clamping and stirring module 5 downwards to push the reagent containing pipe filled with the reagent I, so that the reagent I in the reagent containing pipe just flows into the reagent containing pipe filled with a reagent II on the tray module 2 to be mixed; namely: dissolving OCS-OHA dry powder, adding 87.5 μ L water of reagent I into OCS & OHA mixed dry powder of reagent II;

step 7), after the action of the step 2) is carried out again, the shearing module 6 is moved downwards to the lower end of the inclined plate 106, the clamping and stirring module 5 is moved upwards to the upper end of the inclined plate 106, the medicine tray module 2 is moved back, the rotary plate 201 rotates reversely, and then the medicine containing pipe originally containing the reagent I is placed back on the rotary plate 201 by the clamping module 4;

step 8) after the action of the step 2) is executed, the clamping module 4 is also moved downwards to the lower end of the inclined plate 106, the clamping and stirring module 5 is moved and the rotation of the rotary disc 201 is matched, so that the push rod on the grabbing shaft 508 is placed back on the rotary disc 201, and the stirring rod 15 on the upper rotary disc 201 is clamped; rotating the reagent containing pipe mixed with the reagent I and the reagent II to the stirring position of the clamping and stirring module 5 by the turntable 201, starting a rotating motor 505 of the clamping and stirring module 5, driving a stirring rod 15 to stir in the reagent containing pipe mixed with the reagent I and the reagent II by a grabbing shaft 508, stirring for about 5min by adopting 100r/min, and standing for about 15min to obtain an OCS-OHA solution; then the clamping and stirring module 5 puts the stirring rod 15 back to the original position on the turntable 201;

step 9), repeating the steps 1) to 8) to dissolve the Col-II dry powder, namely adding 450 mu L of water of the reagent III into the Col-II dry powder of the reagent IV, stirring for about 2min at 90r/min, and centrifuging;

step 10), repeating the steps 1) to 8) to adjust the pH value of the Col-II solution, namely adding 45 mu L NaOH solution of the reagent V into the Col-II solution mixed with the reagent III and the reagent IV, stirring for about 2min at 90r/min, and centrifuging;

step 11), repeating the steps 1) to 8) to add the OCS-OHA solution, namely centrifuging the OCS-OHA solution mixed with the reagent I and the reagent II by a rotating motor 210, adding the OCS-OHA solution mixed with the reagent I and the reagent II into the Col-II mixed with the reagent III, the reagent IV and the reagent V, stirring for about 3min at the speed of 90r/min, and centrifuging;

and 12) repeating the steps 1) to 8) to add the cell suspension (manual addition is also adopted), namely 20 mu L of the cell suspension is added into Col-II mixed with the reagent I, the reagent II, the reagent III, the reagent IV and the reagent V, the mixture is stirred for about 3min at the speed of 90r/min, and the final product is obtained after centrifugation.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and it is apparent that those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The automatic cartilage bionic matrix gel synthesis instrument is characterized by comprising a rack module (1) consisting of a bottom frame (101), a platform plate (102) and an inclined plate (106), wherein the bottom frame is provided with the platform plate which is horizontally arranged and the inclined plate which is obliquely arranged, the platform plate is provided with a medicine tray module (2) which is used for bearing a medicine containing pipe (3) and enabling the medicine containing pipe to rotate centrifugally, the inclined plate is provided with a clamping module (4) which is used for clamping and placing the medicine containing pipe on the medicine tray module, a shearing module (6) which is used for shearing the bottom of the medicine containing pipe clamped on the clamping module, and a clamping and stirring module (5) which is used for clamping and placing a push rod (14) or a stirring rod (15) and enabling the clamping and stirring module to push or stir the reagent in the medicine containing pipe clamped on the clamping module, and the clamping and stirring module, the clamping module and the shearing module are sequentially arranged from top to bottom;

the rack module also comprises a slide rail (103), a slide plate (104), a support (105), a guide rail (107), a ball screw mechanism E (108) and a support plate (109), the platform plate is provided with the slide rail, the support plate and the ball screw mechanism E, the slide plate is connected with the platform plate in a sliding way through the slide rail and driven by the ball screw mechanism E, an inclined plate penetrates through the platform plate and is fixedly connected with the support and the support plate respectively at two ends in the length direction of the inclined plate, and the inclined plate is provided with the guide rail assisting the sliding of the clamping and stirring module, the clamping and clamping module and the shearing module;

the clamping module consists of a ball screw mechanism A (401), a connecting frame A (402), a double-thread screw mechanism A (403) and clamping plates (404), the ball screw mechanism A is arranged on the inclined plate and acts on the connecting frame A, the connecting frame A is in sliding connection with the guide rail, the double-thread screw mechanism A is arranged on the connecting frame A, and a pair of clamping plates for clamping the explosive loading pipes on the explosive tray placing module are arranged on the double-thread screw mechanism A;

the clamping and stirring module consists of a ball screw mechanism C (501), a ball screw mechanism D (502), a connecting frame C (503), a connecting frame D (504), a bearing seat A (506), an expansion spring (507), a grabbing shaft (508), a bearing seat B (509) and a locking sleeve (510), wherein the ball screw mechanism C is arranged on the inclined plate, the connecting frame C and the connecting frame D are respectively connected with the guide rail in a sliding manner, the connecting frame D and the connecting frame C are correspondingly connected up and down through the ball screw mechanism D, the bearing seat A is arranged on the connecting frame D, the bearing seat B is arranged on the connecting frame C, the locking sleeve rotatably connected with the bearing seat B is arranged in the bearing seat B, the expansion spring positioned between the bearing seat A and the bearing seat B is sleeved on the grabbing shaft, one end of the grabbing shaft penetrates through the locking sleeve and is provided with a locking and releasing structure capable of extending out and retracting into the locking sleeve, and the other end of the grabbing shaft is rotatably connected with the bearing seat A, the locking structure comprises a conical head arranged at the end part of the grabbing shaft and a groove arranged on the end part of the conical head along the axial direction of the grabbing shaft;

the shearing module comprises a ball screw mechanism B (601), a connecting frame B (602), a double-thread screw mechanism B (603) and scissors (604), wherein the ball screw mechanism B is arranged on the inclined plate and acts on the connecting frame B, the connecting frame B is connected with the guide rail in a sliding manner, the connecting frame B is provided with the double-thread screw mechanism B, and the double-thread screw mechanism B is provided with a pair of scissors used for shearing the bottom of the charging agent pipe.

2. The automatic cartilage bionic matrix gel synthesis instrument according to claim 1, wherein the drug tray module is further used for carrying a push rod and a stirring rod, and comprises a turntable (201), a plurality of inwards inclined placing barrels are annularly distributed on the turntable along the radial direction of the turntable, a single placing barrel is used for placing a drug containing tube, the push rod or the stirring rod, a through groove is formed in the middle of the turntable, a pair of clamping blocks which are respectively clamped with two opposite sides of the through groove formed in the turntable are arranged on the base, the base is rotatably arranged on the base, the base is arranged on a sliding plate, and a rotating motor for driving the base and the turntable to rotate is arranged on the base.

3. The automatic synthesizing instrument for cartilage biomimetic matrix gel according to claim 2, characterized in that one side of the through groove arranged on the turntable is provided with a stepped groove (204), and one of the pair of fixture blocks is matched with the stepped groove; the base is also provided with a square block (206) positioned with the middle part of the through groove arranged on the turntable.

4. The automatic cartilage biomimetic stromal gel synthesizer of claim 2, characterized in that the base is further provided with two top compression springs (207) acting on the bottom of the turntable, the two top compression springs are symmetrically arranged and are spaced from the pair of clamping blocks.

5. The automatic cartilage biomimetic matrix gel synthesizer according to claim 1, wherein the clamping and stirring module further comprises a coupling sleeve (511) and a rotary motor (505), the grabbing shaft is connected to the rotary motor through the coupling sleeve at the end deviating from the locking sleeve, the coupling sleeve is rotatably connected to the bearing seat A, the rotary motor is fixed on the bearing seat A, and two ends of the expansion spring respectively act on the locking sleeve and the coupling sleeve.

6. The automatic cartilage biomimetic matrix gel synthesis instrument according to any one of claims 1 to 5, wherein a control box (7), a baffle (9) and a housing (10) are further arranged on the bottom frame, a terminal box (8) is arranged on the baffle, the control box is electrically connected with the terminal box, the clamping and stirring module, the clamping and shearing module and the drug tray module are electrically connected with the terminal box; the front side and the rear side of the shell are respectively provided with a front door (11) and a rear door (13), and the side walls of the two sides of the shell are provided with opposite holding grooves (12).