CN115266263B - Automatic system for preparing biological product and combining six-axis sterile robot - Google Patents
Automatic system for preparing biological product and combining six-axis sterile robot Download PDFInfo
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- CN115266263B CN115266263B CN202210870972.0A CN202210870972A CN115266263B CN 115266263 B CN115266263 B CN 115266263B CN 202210870972 A CN202210870972 A CN 202210870972A CN 115266263 B CN115266263 B CN 115266263B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/38—Diluting, dispersing or mixing samples
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Abstract
The invention discloses an automatic system combining a six-axis sterile robot for preparing biological products, which comprises: the system comprises a six-axis sterile robot, a first cell factory frame, a first moving vehicle, a second cell factory frame, a second moving vehicle, a pump set and a disposable stirring system; the six-axis sterile robot is used for grabbing the first cell factory rack from the first moving vehicle and then carrying out corresponding preparation actions, and grabbing the second cell factory rack from the second moving vehicle and then carrying out corresponding preparation actions; the pump set is used for communicating the first cell factory rack and the second cell factory rack with the disposable stirring system. The six-axis sterile robot and the pump set are matched, and a disposable stirring system is adopted, so that the defects of the conventional manual opening operation mode for preparing biological products by adopting a cell factory and the operation mode of cell factory turnover equipment are overcome. The simple and easy operation scheme realizes the operation of the cell factory and the preparation of the stock solution, thereby saving materials, reducing the cost and the risk of contamination, and ensuring the uniformity of the product.
Description
Technical Field
The invention relates to the technical field of biological preparation devices, in particular to an automatic system combining a six-axis sterile robot for preparing biological products.
Background
As a cell culture device, a cell factory can increase the culture area in a limited space and improve the culture efficiency, and is widely used in the life science fields of vaccines, monoclonal antibodies, cell extracts and the like at present. The cell factory is mainly applied to adherent cell culture and can also be applied to suspension cell culture. The cell factory has multiple layers and specifications, meets the requirements of laboratories and batch production, does not change the dynamic conditions of cell growth when the laboratory scale is enlarged, and is simple and easy to implement.
At present, use cell factory to carry out biological product preparation, generally adopt artifical mode or traditional cell factory tipping arrangement, operating personnel not only need accomplish the transportation of cell factory, still need realize operations such as manual intubate, ration, tube drawing, the operating procedure of cooperation traditional tipping arrangement connects or breaks off the pipeline, has among the operation process that the pipeline breaks off, the liquid ration is inaccurate, operating efficiency is low, mix in the liquid and a great deal of inconveniences such as liquid are deposited to the pipeline. When cell observation was performed. Further operations such as tube drawing and tube inserting are required, which is not favorable for the simplicity and the sterility of the operation. At present, in the preparation stage of stock solution, a traditional centrifuge is generally adopted when the virus is harvested, only a small amount of feed liquid can be centrifuged each time, and the supernatant is discarded after centrifugation to obtain the precipitate. The traditional centrifugal machine has the disadvantages of large personnel operation amount, more opening times, uneven products and the like.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
To at least partially address the above-mentioned problems, the present invention provides an automated system for preparing a biological product in conjunction with a six-axis sterile robot, comprising: the system comprises a six-axis sterile robot, a first cell factory frame, a first moving vehicle, a second cell factory frame, a second moving vehicle, a pump set and a disposable stirring system; the six-axis sterile robot is respectively used for grabbing the first cell factory rack from the first moving vehicle and then carrying out corresponding preparation actions, and grabbing the second cell factory rack from the second moving vehicle and then carrying out corresponding preparation actions; and the pump sets are respectively used for communicating the first cell factory frame and the second cell factory frame with the disposable stirring system.
According to the automatic system combining the six-axis sterile robot for preparing the biological product, which is disclosed by the embodiment of the invention, the first cell factory frame is arranged on the first mobile vehicle, and the upper end of the first cell factory frame is provided with a pipeline valve group.
According to the automatic system combining the biological product preparation and the six-axis sterile robot, the base is arranged at the bottom of the six-axis sterile robot, the factory frame fixing rod is arranged at the free end of the six-axis sterile robot, and the front end recognition mechanism is arranged on the factory frame fixing rod.
According to the automatic system combining the six-axis sterile robot for preparing the biological product, disclosed by the embodiment of the invention, the front-end identification mechanism comprises an identification sensor and a fixing mechanism, the fixing mechanism is connected with the factory frame fixing rod, and the identification sensor is arranged on the fixing mechanism.
According to the automatic system combining the biological product preparation and the six-axis sterile robot, the first cell factory frame comprises a cell factory incubator and a frame body, a sliding rail is arranged in the frame body, and a guide rail corresponding to the sliding rail is arranged at the bottom of the cell factory incubator.
According to the automatic system for preparing the biological product and combining the six-axis sterile robot, the pump set comprises a pump truck, a first peristaltic pump, a second peristaltic pump, a first pump valve set and a second pump valve set, the first peristaltic pump and the second peristaltic pump are arranged at the upper end of the pump truck, the first pump valve set and the second pump valve set are arranged on the side wall of the pump truck, the first pump valve set is used for communicating the first peristaltic pump with the disposable stirring system, the first peristaltic pump is communicated with a pipeline valve set on the first cell factory shelf, the second pump valve set is used for communicating the second peristaltic pump with the disposable stirring system, and the second peristaltic pump is communicated with a pipeline valve set on the second cell factory shelf.
According to the automatic system combining the biological product preparation and the six-axis sterile robot, the fixing mechanism comprises an electric telescopic rod and a fixing sleeve, the electric telescopic rod is connected with the factory frame fixing rod, the fixing sleeve is arranged at the free end of the electric telescopic rod, an inner ring groove is arranged in the fixing sleeve, a plurality of inner clamp groups are arranged in the inner ring groove, and the inner clamp groups clamp the identification sensor.
According to the automatic system for preparing the biological product and combining the six-axis sterile robot, the inner clamp group comprises a plurality of first inner springs and inner arc clamp plates, the first inner springs are arranged in the inner annular groove, the inner arc clamp plates are arranged on the first inner springs, and the inner arc clamp plates abut against the identification sensor.
According to the automatic system combining the biological product preparation and the six-axis sterile robot, a plurality of positioning rods are arranged on a first moving vehicle, a positioning plate is arranged at the bottom of a first cell factory frame, positioning holes corresponding to the positioning rods are formed in the positioning plate, a plurality of anti-collision modules are arranged in the bottom of the first cell factory frame, each anti-collision module comprises an anti-collision base, a C-shaped outer cladding, a side energy absorption rod and a middle energy absorption module, the end portion of the C-shaped outer cladding is connected with a side baffle of the anti-collision base, a first filling layer is arranged on the inner wall of the C-shaped outer cladding, the middle energy absorption module and the side energy absorption rod are arranged in the first filling layer, the side energy absorption rods are arranged on two sides of the middle energy absorption module, a rubber plate is arranged between the middle energy absorption module and the anti-collision base, a second filling layer is arranged on one side of the side energy absorption rod, spring expansion frames are arranged in the second filling layer, the two spring expansion frames are connected through hinge rods, the middle energy absorption modules are arranged in the hinge rods, the spring expansion frames comprise two transverse spring plates and a second inner spring expansion spring, and a plurality of transverse spring expansion plates are arranged between the two spring expansion plates.
According to the automatic system combining the biological product and the six-axis sterile robot, which is provided by the embodiment of the invention, the middle energy absorption module comprises a first rubber cylinder, a middle energy absorption mechanism and an anti-deformation mechanism, wherein the middle energy absorption mechanism and the anti-deformation mechanism are arranged in the first rubber cylinder, the middle energy absorption mechanism comprises a second rubber cylinder and a plurality of inner supporting frames, each inner supporting frame comprises a telescopic outer pipe, a third inner spring, a telescopic inner rod and an inner supporting connecting plate, the telescopic outer pipe is arranged on the outer wall of the second rubber cylinder, the third inner spring is arranged in the telescopic outer pipe, one end of the telescopic inner rod is connected with the third inner spring, the inner supporting connecting plate is arranged at the other end of the two telescopic inner rods and abuts against the inner wall of the first rubber cylinder, the anti-deformation mechanism comprises an inner supporting frame and a plurality of reinforcing parts, the inner energy absorption frame comprises two first partition plates, a fourth inner spring is arranged between the two first partition plates, a sliding groove is formed in the outer wall of each first partition plate, two second partition plates are arranged in the sliding groove, a fifth inner spring is arranged between the two second partition plates, a reinforcing part is arranged between the first partition plates and the second partition plates and abuts against the inner wall of the second rubber cylinder, the reinforcing part comprises an inner arc plate, a first angle frame, a second angle frame and an inner core rod, the first angle frame and the second angle frame are mutually inserted and connected, the inner core rod is arranged in the first angle frame and the second angle frame, a T-shaped groove is formed in the inner wall of the inner arc plate, and the two butt L plates of the first angle frame and the second angle frame are inserted and connected into the T-shaped groove, so that the inner arc plate abuts against the inner wall of the second rubber cylinder.
Compared with the prior art, the invention at least comprises the following beneficial effects:
the invention provides an automatic system combining a six-axis sterile robot for preparing biological products, which is matched with the six-axis sterile robot and a pump set and overcomes the defects of the conventional manual opening operation mode for preparing the biological products by adopting a cell factory and the operation mode of cell factory turnover equipment by a disposable stirring system. The simple and easy operation scheme realizes the operation of the cell factory and the preparation of the stock solution, thereby saving materials, reducing the cost and the risk of contamination, and ensuring the uniformity of the product.
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.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the present invention.
Fig. 2 is a schematic structural view of a six-axis sterile robot in the invention.
Fig. 3 is a schematic structural view of the fixing mechanism of the present invention.
FIG. 4 is a schematic view of the structure of a first cell factory shelf according to the present invention.
Fig. 5 is a schematic structural view of the frame body of the present invention.
FIG. 6 is a schematic view showing the structure of an incubator of the cell factory according to the present invention.
Figure 7 is a schematic view of the structure of the pump unit according to the present invention.
Fig. 8 is a partial structural schematic view of a crash module according to the present invention.
Fig. 9 is a schematic structural view of the spring telescopic frame of the present invention.
FIG. 10 is a schematic view of a middle energy absorber module of the present invention.
Fig. 11 is an enlarged structural view of a portion a in fig. 10 according to the present invention.
FIG. 12 is a schematic view of the structure of the intermediate energy absorbing mechanism of the present invention.
FIG. 13 is a schematic structural view of an internal energy absorbing frame of the present invention.
FIG. 14 is a schematic view of the reinforcing part of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can implement the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-7, the present invention provides an automated system for preparing a biological product in conjunction with a six-axis sterile robot, comprising: a six-axis sterile robot 1, a first cell factory frame 2, a first moving vehicle 3, a second cell factory frame 4, a second moving vehicle 5, a pump set 6 and a disposable stirring system 7; the first moving vehicle 3 is arranged at the position of an A point, the second moving vehicle 5 is arranged at the position of a B point, and the six-axis sterile robot 1 is respectively used for grabbing the first cell factory rack 2 from the first moving vehicle 3 and then carrying out corresponding preparation actions, and grabbing the second cell factory rack 4 from the second moving vehicle 5 and then carrying out corresponding preparation actions; the pump unit 6 is used to connect the first cell factory shelf 2 and the second cell factory shelf 4 to the disposable stirring system 7, respectively.
The working principle of the technical scheme is as follows: the invention provides an automatic system for combining a biological product with a six-axis sterile robot, which comprises the following components: the six-axis sterile robot comprises a six-axis sterile robot 1, a first cell factory frame 2, a first moving vehicle 3, a second cell factory frame 4, a second moving vehicle 5, a pump set 6 and a disposable stirring system 7; the first mobile vehicle 3 is arranged at a station of the position A, the second mobile vehicle 5 is arranged at a station of the position B, the first cell factory frame 2 is respectively grabbed from the first mobile vehicle 3 through the six-axis sterile robot 1 and then corresponding preparation actions are carried out, and then the first cell factory frame 2 is communicated with the disposable stirring system 7 through the pump group 6; then, the six-axis sterile robot 1 grips the second cell factory frame 4 from the second moving vehicle 5 and performs a corresponding preparation operation, and the pump unit 6 communicates the second cell factory frame 4 with the disposable stirring system 7.
The beneficial effects of the above technical scheme are as follows: through the design of the structure, the invention provides an automatic system combining a six-axis sterile robot for preparing biological products, and the six-axis sterile robot and a pump set are matched, and a disposable stirring system is adopted to overcome the defects of the conventional manual opening operation mode for preparing biological products by adopting a cell factory and the operation mode of cell factory turnover equipment. The simple and easy operation scheme realizes the operation of the cell factory and the preparation of the stock solution, thereby saving materials, reducing the cost and the risk of contamination, and ensuring the uniformity of the product.
In one embodiment, the first cell factory shelf 2 is provided on the first carriage 3, and a piping valve group 23 is provided at an upper end of the first cell factory shelf 2.
The working principle and the beneficial effects of the technical scheme are as follows: in this embodiment, the first cell factory frame 2 is placed on the first moving vehicle 3, and at the same time, the upper end of the first cell factory frame 2 is provided with the pipe valve group 23, and the first cell factory frame 2 can be connected to the pump group 6 through the pipe valve group 23, and is connected to the disposable stirring system 7 through the pump group 6, so that the cell sap in the first cell factory frame 2 can be input into the disposable stirring system 7 for stirring.
In one embodiment, a base 11 is arranged at the bottom of the six-axis sterile robot 1, a factory frame fixing rod 12 is arranged at the free end of the six-axis sterile robot 1, and a front end identification mechanism 13 is arranged on the factory frame fixing rod 12.
The working principle of the technical scheme is as follows: in this embodiment, the base 11 is installed at the bottom of the six-axis sterile robot 1, and the six-axis sterile robot 1 is supported by the base 11, so that the six-axis sterile robot 1 can perform a large-stroke range operation after being grabbed by the first cell factory rack 2 or the second cell factory rack 4, thereby facilitating cell culture; wherein, install factory frame dead lever 12 at six aseptic robots 1's free end, can be fixed to the cell factory frame through factory frame dead lever 12 on, be provided with front end recognition mechanism 13 simultaneously on factory frame dead lever 12, can discern first cell factory frame 2 or second cell factory frame 4 through front end recognition mechanism 13, make things convenient for six aseptic robots 1 to carry out the action that corresponds.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, this embodiment provides and has designed base 11 in six aseptic robot 1's bottom, is provided with factory's frame dead lever 12 at six aseptic robot 1's free end, is provided with front end recognition mechanism 13 on factory's frame dead lever 12, through the design of above-mentioned structure for this six aseptic robot 1 increases facilitates the use, improves preparation efficiency.
In one embodiment, the front end identification mechanism 13 includes an identification sensor 131, and a fixing mechanism 132, the fixing mechanism 132 is connected to the factory rack fixing rod 12, and the identification sensor 131 is disposed on the fixing mechanism 132.
The working principle of the technical scheme is as follows: this embodiment provides a concrete structure of front end recognition mechanism 13, front end recognition mechanism 13 of this structure includes discernment sensor 131, fixed establishment 132, this fixed establishment 132 is installed in the below of mill frame dead lever 12 here, and discernment sensor 131 is installed in fixed establishment 132, this fixed establishment 132 can drive discernment sensor 131 and reciprocate, the discernment scope that drives discernment sensor 131 like this increases, and then can discern the cell factory frame of different models, greatly increased this front end recognition mechanism 13's practicality.
In one embodiment, the first cell factory shelf 2 comprises a cell factory incubator 21 and a shelf body 22, a slide rail 221 is arranged in the shelf body 22, and a guide rail 211 corresponding to the slide rail 221 is arranged at the bottom of the cell factory incubator 21.
The working principle of the technical scheme is as follows: the embodiment provides a specific structure of the first cell factory shelf 2, the first cell factory shelf 2 of the structure comprises a cell factory culture box 21 and a shelf body 22, wherein a slide rail 221 is provided inside the shelf body 22, and a guide rail 211 is correspondingly installed at the bottom of the cell factory culture box 21, so that when the cell factory culture box 21 needs to be taken out from the shelf body 22, the cell factory culture box 21 can be pulled out from the shelf body 22 after the fixing device is opened, and thus the guide rail 211 moves along the slide rail 221.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, provide the concrete structure of first cell factory frame 2 in this embodiment, the first cell factory frame 2 of this structure includes cell factory incubator 21, support body 22, and the notice has seted up slide rail 221 in support body 22's inside, has installed guide rail 211 in cell factory incubator 21's bottom, has made things convenient for cell factory incubator 21 to take out from support body 22, has improved efficiency.
In one embodiment, the pump unit 6 includes a pump truck 61, a first peristaltic pump 62, a second peristaltic pump 63, a first pump valve set 64, and a second pump valve set 65, the first peristaltic pump 62 and the second peristaltic pump 63 are disposed on the upper end of the pump truck 61, the first pump valve set 64 and the second pump valve set 65 are disposed on the sidewall of the pump truck 61, the first pump valve set 64 is used for communicating the first peristaltic pump 62 with the disposable stirring system 7, the first peristaltic pump 62 is communicated with the valve set of piping 23 on the first cell factory rack 2, the second pump valve set 65 is used for communicating the second peristaltic pump 63 with the disposable stirring system 7, and the second peristaltic pump 63 is communicated with the valve set of piping 23 on the second cell factory rack 4.
The working principle of the technical scheme is as follows: the present embodiment provides a concrete structure of the pump unit 6, the pump unit 6 of the structure comprises a pump truck 61, a first peristaltic pump 62, a second peristaltic pump 63, a first pump valve group 64 and a second pump valve group 65, wherein the first peristaltic pump 62 and the second peristaltic pump 63 are installed on the upper end of the pump truck 61, the first pump valve group 64 and the second pump valve group 65 are installed on the side wall of the pump truck 61, wherein the first cell factory shelf 2 is communicated with the disposable stirring system 7 through the first peristaltic pump 62 and the first pump valve group 64, wherein the first peristaltic pump 62 is communicated with the pipeline valve group 23 on the first cell factory shelf 2, the first peristaltic pump 62 is communicated with the first pump valve group 64, and the first pump valve group 64 is communicated with the disposable stirring system 7, so that the cell fluid in the first cell factory shelf 2 can enter the disposable stirring system 7;
similarly, the second cell factory shelf 4 is communicated with the disposable stirring system 7 through the second peristaltic pump 63 and the second pump valve set 65, wherein the first peristaltic pump 62 is communicated with the pipeline valve set on the second cell factory shelf 4, the second peristaltic pump 63 and the second pump valve set 65 are communicated with each other, and then the second pump valve set 65 is communicated with the disposable stirring system 7, so that the cell sap in the second cell factory shelf 4 can enter the disposable stirring system 7.
In one embodiment, the fixing mechanism 132 includes an electric telescopic rod 133 and a fixing sleeve 134, the electric telescopic rod 133 is connected to the factory-shelf fixing rod 12, the fixing sleeve 134 is disposed on a free end of the electric telescopic rod 133, an inner annular groove 135 is disposed in the fixing sleeve 134, a plurality of inner clamp sets 136 are disposed in the inner annular groove 135, and the inner clamp sets 136 clamp the identification sensor 131.
The working principle of the technical scheme is as follows: the embodiment provides a specific structure of the fixing mechanism 132, the fixing mechanism 132 of the structure includes an electric telescopic rod 133 and a fixing sleeve 134, wherein the upper end of the electric telescopic rod 133 is connected with the fixing rod 12 of the factory rack, and the fixing sleeve 134 is installed at the free end of the electric telescopic rod 133, so that the fixing sleeve 134 can be driven to move up and down by starting the electric telescopic rod 133, and thus the identification sensor 131 installed in the fixing sleeve 134 can comprehensively scan and identify the nameplate on the cell factory rack; wherein, an inner ring groove 135 is opened in the fixing sleeve 134, a plurality of inner clamping sets 136 are installed in the inner ring groove 135, so that the inner clamping sets 136 are circumferentially and uniformly distributed in the inner ring groove 135, and thus the inner clamping sets 136 can clamp and fix the identification sensor 131, so that the identification sensor 131 can more conveniently identify the cell factory shelf.
The beneficial effects of the above technical scheme are as follows: through the design of the above structure, the specific structure of the fixing mechanism 132 is provided in this embodiment, the fixing mechanism 132 of the structure includes the electric telescopic rod 133 and the fixing sleeve 134, the plurality of inner clamping sets 136 are designed in the inner annular groove 135 of the fixing sleeve 134, and the recognition sensor 131 can be clamped and fixed by the fixing mechanism 132 of the above structure, so that the recognition sensor 131 can conveniently recognize the cell factory rack.
In one embodiment, the inner clamp group 136 includes a plurality of first inner springs 137 and an inner arc clamp plate 138, the plurality of first inner springs 137 are disposed in the inner annular groove 135, the inner arc clamp plate 138 is disposed on the first inner springs 137, and the inner arc clamp plate 138 abuts against the identification sensor 131.
The working principle of the technical scheme is as follows: in the present embodiment, a specific structure of the inner clip set 136 is provided, and the inner clip set 136 includes a plurality of first inner springs 137 and an inner arc clamping plate 138, wherein the plurality of first inner springs 137 are installed in the inner annular groove 135, and the inner arc clamping plate 138 is installed on the plurality of first inner springs 137, and wherein the plurality of inner arc clamping plates 138 located in the inner annular groove 135 can abut against the identification sensor 131.
The beneficial effects of the above technical scheme are as follows: through the design of the above structure, the present embodiment provides a specific structure of the inner clip set 136, and the inner clip set 136 of the structure includes a plurality of first inner springs 137 and inner arc clamping plates 138, so that the plurality of inner clip sets 136 are designed in the inner ring groove 135 to fix the identification sensors 131 of different models, thereby improving the practicability of the fixing mechanism 132.
As shown in fig. 8-14, in an embodiment, a plurality of positioning rods 301 are disposed on the first moving vehicle 3, a positioning plate is disposed at the bottom of the first cell factory frame 2, positioning holes corresponding to the positioning rods 301 are disposed on the positioning plate, a plurality of crash modules 8 are disposed in the bottom of the first cell factory frame 2, each crash module 8 includes a crash base 81, a C-shaped outer cladding 82, a side energy absorbing rod 83, and a middle energy absorbing module 84, an end of the C-shaped outer cladding 82 is connected to a side baffle 811 of the crash base 81, a first filling layer 821 is disposed on an inner wall of the C-shaped outer cladding 82, the middle energy absorbing module 84 and the side energy absorbing rod 83 are disposed in the first filling layer 821, the side energy absorbing rod 83 is disposed at two sides of the middle energy absorbing module 84, a rubber plate 812 is disposed between the middle outer cladding 82 and the crash base 81, a second filling layer 813 is disposed at one side of the side energy absorbing rod 83, a spring expansion frame 814 is disposed in the second filling layer 813, two spring expansion frames 814 are connected by a hinge 817, a plurality of springs 815 and a plurality of springs are disposed in the middle expansion frame 816, and a plurality of springs 815 are disposed in a plurality of transverse hinge plates 816.
The working principle and the beneficial effects of the technical scheme are as follows: in this embodiment, the first mobile vehicle 3 is provided with a plurality of positioning rods 301, the bottom of the first cell factory rack 2 is provided with a positioning plate, and the positioning plate is provided with positioning holes corresponding to the positioning rods 301, so that when the six-axis sterile robot 1 places the first cell factory rack 2 on the first mobile vehicle 3, the positioning holes on the positioning plate correspond to the positioning rods 301, and accuracy is improved;
further, a plurality of anti-collision modules 8 are installed in the bottom of the first cell factory rack 2, and when the first cell factory rack 2 is placed on the first mobile vehicle 3 by the six-axis sterile robot 1, the first cell factory rack 2 firstly contacts the first mobile vehicle 3 through the plurality of anti-collision modules 8, so that anti-collision protection is provided for the first cell factory rack 2;
the anti-collision module 8 comprises an anti-collision base 81, a C-shaped outer cladding 82, a side energy-absorbing rod 83 and a middle energy-absorbing module 84, wherein the anti-collision base 81 is specifically installed at the bottom of the first cell factory rack 2, and the end part of the C-shaped outer cladding 82 is connected with a side baffle 811 of the anti-collision base 81, so that the C-shaped outer cladding 82 and the anti-collision base 81 form a main body structure of the anti-collision module 8; a first filling layer 821 is installed on the inner wall of the C-shaped outer cladding 82, a middle energy absorption module 84 and side energy absorption rods 83 are installed in the first filling layer 821, two side energy absorption rods 83 are arranged and located on two sides of the middle energy absorption module 84, and a rubber plate 812 is arranged between the middle energy absorption module 84 and the anti-collision base 81, so that when the C-shaped outer cladding 82 contacts the upper surface of the first moving vehicle 3, pressure is generated inside when the C-shaped outer cladding 82 deforms due to resistance, and then the pressure is transmitted into the middle energy absorption module 84, and the middle energy absorption module 84 absorbs and rebounds the pressure;
and one side of the side energy-absorbing rod 83 is provided with a second filling layer 813, a spring expansion bracket 814 is installed in the second filling layer 813, the two spring expansion brackets 814 are connected through a multi-section hinge rod 817, the middle energy-absorbing module 84 is positioned in the multi-section hinge rod 817, so when the C-shaped outer cladding 82 further presses the side energy-absorbing rod 83, the second filling layer 813 and the spring expansion bracket 814 internally support the side energy-absorbing rod 83, wherein the spring expansion bracket 814 comprises two transverse plates 815 and a second inner spring 816, and the second inner spring 816 is arranged between the two transverse plates 815, so that the energy-absorbing and deformation-resisting capacity of the anti-collision module 8 is increased, the first cell factory frame 2 can be in soft landing on the first mobile vehicle 3, and the hard landing risk is reduced.
In one embodiment, the middle energy-absorbing module 84 includes a first rubber cylinder 841, a middle energy-absorbing mechanism 85 and a deformation-preventing mechanism 86 which are arranged in the first rubber cylinder 841, the middle energy-absorbing mechanism 85 includes a second rubber cylinder 851 and a plurality of inner brackets 852, the inner brackets 852 include an outer telescopic tube 853, a third inner spring 854, an inner telescopic rod 855, and an inner support connecting plate 856, the outer telescopic tube 853 is arranged on the outer wall of the second rubber cylinder 851, the third inner spring 854 is arranged in the outer telescopic tube 853, one end of the inner telescopic rod 855 is connected with the third inner spring 854, the inner support connecting plate 856 is arranged at the other end of the two inner telescopic rods 855 and abuts against the inner wall of the first rubber cylinder 841, the deformation-preventing mechanism 86 includes an inner core rod rack 861, a plurality of reinforcing portions 867, the inner energy-absorbing rack 861 includes two first partition plates 865, a fourth inner partition plate 865 is arranged between the two first partition plates 862, a second inner partition plate 870 is arranged on the outer wall of the inner telescopic tube 855, and abuts against the inner wall of the first rubber cylinder 851, a second inner corner groove 867 is arranged between the inner partition plate 862, a second inner corner groove 869 is arranged between the inner partition plate 862 and a second corner groove 862, a second corner inner corner groove 862 is arranged between the inner partition plate 862 and an inner corner groove 862, a second corner groove 862 is arranged between the inner partition plate 862, a second corner groove 862 is arranged between the inner corner groove 862 and an inner corner groove 862,862,862, the inner corner groove 865, and an inner corner groove 862 is arranged between the inner corner groove 862, and an inner corner groove 862,862, the inner corner groove 862,862 is arranged between the inner corner inner partition plate 862 and an inner corner groove 865, the inner corner groove 862,862, so that the inner arc plate 868 abuts against the inner wall of the second rubber cylinder 851.
The working principle of the technical scheme is as follows: in order to further increase the soft landing capability of the crash module 8 and also prevent the crash module 8 from being deformed and damaged after being used for many times, the middle energy-absorbing module 84 is further defined in this embodiment, the middle energy-absorbing module 84 includes a first rubber tube 841, a middle energy-absorbing mechanism 85, and an anti-deformation mechanism 86, where the middle energy-absorbing mechanism 85 is installed in the first rubber tube 841, the anti-deformation mechanism 86 is installed in the middle energy-absorbing mechanism 85, and an anti-skid burr 840 is provided on the outer wall of the first rubber tube 841;
the middle energy absorbing mechanism 85 comprises a second rubber tube 851 and a plurality of inner brackets 852, wherein each inner bracket 852 comprises a telescopic outer tube 853, a third inner spring 854, a telescopic inner rod 855 and an inner support connecting plate 856, the telescopic outer tube 853 is installed on the outer wall of the second rubber tube 851, the third inner spring 854 is installed in the telescopic outer tube 853, one end of the telescopic inner rod 855 is connected with the third inner spring 854, the inner support connecting plate 856 is installed at the other ends of the two telescopic inner rods 855 and abuts against the inner wall of the first rubber tube 841, through the design of the structure, the middle energy absorbing mechanism 85 is used for supporting the first rubber tube 841 in the first rubber tube 841, meanwhile, the deformation preventing mechanism 86 is located in the second rubber tube 851, and the whole middle energy absorbing mechanism 85 has an elastic energy absorbing function so as to facilitate the first rubber tube 841 to restore the original shape; the anti-deformation mechanism 86 comprises an inner energy absorption frame 861 and a plurality of reinforcing parts 867, wherein the inner energy absorption frame 861 comprises two first partition plates 862, a fourth inner spring 863 is arranged between the two first partition plates 862, a chute 864 is formed in the outer wall of each first partition plate 862, two second partition plates 865 are arranged in the chute 864, a fifth inner spring 866 is arranged between the two second partition plates 865, and the reinforcing parts 867 are respectively arranged between the first partition plates 862 and the second partition plates 865 and abut against the inner wall of the second rubber cylinder 851, so that when pressure is transmitted into the anti-deformation mechanism 86, the second rubber cylinder 851 is extruded onto the reinforcing parts 867, and the two adjacent reinforcing parts 867 can extrude the two first partition plates 862 and the second partition plates 865 to further play a role in absorbing energy; the reinforcement 867 comprises an inner arc plate 868, a first angle bracket 869, a second angle bracket 870 and a core bar 873, wherein the first angle bracket 869 and the second angle bracket 870 are mutually inserted, the core bar 873 is arranged in the first angle bracket 869 and the second angle bracket 870, and the first angle bracket 869 and the second angle bracket 870 support the first angle bracket 869 and the second angle bracket 870 to prevent the first angle bracket 869 and the second angle bracket 870 from deforming, and the first angle bracket 869 and the second angle bracket 870 can be made of metal materials and have good deformation resistance; the inner wall of the inner arc plate 868 is provided with a T-shaped groove 871, and the two butt joint L plates 872 of the first angle bracket 869 and the second angle bracket 870 are inserted into the T-shaped groove 871, so that the inner arc plate 868 abuts against the inner wall of the second rubber sleeve 851, and the first angle bracket 869 and the second angle bracket 870 are prevented from shaking through the inner arc plate 868.
The preparation method comprises the following steps:
And 2, arranging a cell factory frame observation system in the culture room, wherein the cell factory can be integrally observed without being separated from the cell factory frame. And pushing the movable trolley to the appointed observation position of the observation system, and performing automatic observation operation. After observation is finished, if the cell state meets the passage requirement, the trolley can be pushed to the manipulator arm operation field.
And 3, controlling the six-axis sterile robot to act by controlling the main operation interface, and accurately grabbing the cell factory framework by using the image sensor at the foremost end of the arm. The grasped cell factory frame was placed at the operating points A, B.
And 4, respectively fixing the liquid inlet and outlet pipelines on a valve group on the cell factory frame and a pneumatic valve on the pump truck.
And 5: and operating the mechanical arm to grab the cell factory frame at the position of the A point through a sensor at the front end of the mechanical arm.
Step 6: and operating the multi-axis robot to turn over, and draining the liquid from the first cell factory rack at the position of the A point. After the liquid in the cell factory is completely emptied by the peristaltic pump, the control operation interface closes the tube valve system, and the factory frame is turned back to the horizontal direction.
And 7: and operating the multi-axis robot to turn over again, turning over the cell factory at the position of the A point to the liquid adding direction, and adding liquid into the cell factory. Liquid is added into the cell factory through the peristaltic pump, after liquid adding is completed, the cell factory frame of the multi-axis robot is operated to incline backwards after the liquid in the cell factory is stable in the liquid adding posture, so that the liquid in the cell factory is completely separated from the liquid inlet and outlet of the cell factory, and then the cell factory frame is slowly rotated and erected, so that the lower bottom surface of the cell factory is parallel to the horizontal plane. After the cell factory was returned to the a site, the cell factory frame at the B site was grabbed.
And 8: operating the multi-axis robot to turn over and drain the B-site cell factory. After the liquid in the cell factory is completely emptied by the peristaltic pump, the control operation interface closes the tube valve system, and the factory frame is turned back to the horizontal direction.
And step 9: and operating the multi-axis robot to turn over again, turning over the B-site cell factory to the liquid adding direction, and adding liquid into the cell factory. Liquid is added into the cell factory through the peristaltic pump, after liquid adding is completed, the cell factory frame of the multi-axis robot is operated to incline backwards after the liquid in the cell factory is stable in the liquid adding posture, so that the liquid in the cell factory is completely separated from the liquid inlet and outlet of the cell factory, and then the cell factory frame is slowly rotated and erected, so that the lower bottom surface of the cell factory is parallel to the horizontal plane. After the cell factory was returned to position B, the first cell factory shelf at position a was grasped.
Step 10: after waiting for a certain time, operating the multi-axis robot to lift the cell factory frame, and utilizing the violent rotation and reciprocating motion of the mechanical wrist to greatly shake the cell factory frame so as to shake the adherent cells to prepare uniform cell suspension.
Step 11: and operating the multi-axis robot to enter a liquid discharge posture, controlling the peristaltic pump and the tube valve system to discharge the prepared cell suspension into the disposable stirring system, and after liquid discharge is finished, the multi-axis robot drives the cell frame to return to the position of the A point.
Step 12: and operating the multi-axis robot to lift the second cell factory frame at the position of the B point, and greatly shaking the cell factory frame by utilizing the violent rotation and reciprocating motion of the mechanical wrist so as to shake the adherent cells to prepare uniform cell suspension.
Step 13: and (3) operating the multi-axis robot to enter a liquid discharge posture, controlling the peristaltic pump and the tube valve system to discharge the prepared cell suspension into the disposable stirring system, and after liquid discharge is finished, the multi-axis robot drives the cell frame to return to the position of the B point.
Step 14: the operation of the robot is described here only by taking harvesting operation as an example, and the steps of passage, infection, and the like are realized by different combinations of operations such as liquid feeding, liquid discharging, shaking, and the like.
Step 15: and transferring the disposable stirring system filled with the cell suspension to a working position of the continuous flow centrifuge, and aseptically connecting the liquid inlet of the continuous flow centrifuge with the disposable stirring system by using an aseptic tube connecting machine.
Step 16: operating the disposable stirring system, setting stirring parameters, and uniformly stirring to prepare uniform cell suspension. Operating the continuous flow centrifuge, the "Feed" valve is opened and Feed is started. The centrifuge is provided with a peristaltic pump which pumps the cell suspension in the disposable stirring system into the continuous flow centrifuge.
And step 17: after the disposable rotor is filled with the feed liquid, the centrifugal process is started. And (5) starting a liquid outlet program while centrifuging. After the centrifugation reaches solid-liquid separation, the liquid pumped by the liquid inlet program extrudes the centrifuged supernatant out of the rotor and is discharged from the waste liquid pipe.
Step 18: and (4) after all the feed liquid enters the rotor, carrying out a precipitation cleaning step. Namely, the buffer solution is used as the cleaning solution to clean and replace the target sediment, and the peristaltic pump conveys the cleaning solution from the cleaning solution to the rotor direction.
Step 19: and (4) the centrifuge enters a recovery stage, and precipitates in the rotor are discharged from a recovery pipeline and collected into a disposable stirring bag filled with a protective agent.
Step 20: and operating the disposable stirring system, uniformly stirring the virus harvest, aseptically connecting the virus harvest with an aseptic liquid storage bag, and subpackaging by using a peristaltic pump.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (7)
1. An automated system for preparing a biological product in conjunction with a six-axis sterile robot, comprising: a six-axis sterile robot (1), a first cell factory frame (2), a first moving vehicle (3), a second cell factory frame (4), a second moving vehicle (5), a pump set (6) and a disposable stirring system (7); the first moving vehicle (3) is arranged at the position of an A point, the second moving vehicle (5) is arranged at the position of a B point, and the six-axis sterile robot (1) is respectively used for grabbing the first cell factory rack (2) from the first moving vehicle (3) and then carrying out corresponding preparation actions, and grabbing the second cell factory rack (4) from the second moving vehicle (5) and then carrying out corresponding preparation actions; the pump group (6) is used for communicating the first cell factory frame (2) and the second cell factory frame (4) with the disposable stirring system (7) respectively;
the first cell factory frame (2) is arranged on the first moving vehicle (3), and a pipeline valve group (23) is arranged at the upper end of the first cell factory frame (2);
a plurality of positioning rods (301) are arranged on the first moving vehicle (3), a positioning plate is arranged at the bottom of the first cell factory frame (2), positioning holes corresponding to the positioning rods (301) are arranged on the positioning plate, a plurality of anti-collision modules (8) are arranged in the bottom of the first cell factory frame (2), each anti-collision module (8) comprises an anti-collision base (81), a C-shaped outer cladding (82), a side energy absorption rod (83) and a middle energy absorption module (84), the end part of the C-shaped outer cladding (82) is connected with a side baffle (811) of the anti-collision base (81), a first filling layer (821) is arranged on the inner wall of the C-shaped outer cladding (82), the middle energy absorption module (84) and the side energy absorption rod (83) are arranged in the first filling layer (821), two side energy absorption rods (83) are arranged on two sides of the middle energy absorption module (84), a rubber plate (812) is arranged between the middle energy absorption module (84) and the anti-collision base (81), a second filling layer (817) is arranged on one side of the side energy absorption rod (83), and a second spring hinge (813) is arranged in the middle energy absorption module (813) and connected with two spring hinge rods (813), the spring expansion bracket (814) comprises two transverse plates (815) and a second inner spring (816), wherein the second inner spring (816) is arranged between the two transverse plates (815);
the middle energy-absorbing module (84) comprises a first rubber tube (841), a middle energy-absorbing mechanism (85) and an anti-deformation mechanism (86), wherein the middle energy-absorbing mechanism (85) and the anti-deformation mechanism (86) are arranged in the first rubber tube (841), the middle energy-absorbing mechanism (85) comprises a second rubber tube (851) and a plurality of inner brackets (852), each inner bracket (852) comprises a telescopic outer tube (853), a third inner spring (854), a telescopic inner rod (855) and an inner support connecting plate (856), the telescopic outer tube (853) is arranged on the outer wall of the second rubber tube (851), the third inner spring (854) is arranged in the telescopic outer tube (853), one end of the telescopic inner rod (855) is connected with the third inner spring (854), the inner support connecting plate (856) is arranged at the other end of the two telescopic inner rods (855) and abuts against the inner wall of the first rubber tube (841), the anti-deformation mechanism (86) comprises an inner spring frame (862), a plurality of inner wall reinforcing plates (867), a first clapboard (862) is arranged between the two inner chutes (862) and a second clapboard (862) is arranged at the other end of the telescopic inner spring (855), and a fifth inner spring (866) is arranged between the two second partition plates (865), the reinforcing part (867) is arranged between the first partition plate (862) and the second partition plate (865) and abuts against the inner wall of the second rubber cylinder (851), the reinforcing part (867) comprises an inner arc plate (868), a first angle frame (869), a second angle frame (870) and an inner core rod, the first angle frame (869) and the second angle frame (870) are mutually inserted, the inner core rod is arranged in the first angle frame (869) and the second angle frame (870), a T-shaped groove (871) is arranged on the inner wall of the inner arc plate (868), and two butt joint L plates (872) of the first angle frame (869) and the second angle frame (870) are inserted into the T-shaped groove (871), so that the inner arc plate (868) abuts against the inner wall of the second rubber cylinder (851).
2. The automated system for combining six-axis sterile robot for preparing biological products according to claim 1, wherein the bottom of the six-axis sterile robot (1) is provided with a base (11), the free end of the six-axis sterile robot (1) is provided with a factory rack fixing rod (12), and the factory rack fixing rod (12) is provided with a front end recognition mechanism (13).
3. The automated system for preparing biological products combined with six-axis sterile robots according to claim 2, characterized in that the front end identification means (13) comprises an identification sensor (131), a fixing means (132), the fixing means (132) being connected with the factory rack fixing rod (12), the identification sensor (131) being arranged on the fixing means (132).
4. The automated system for preparing biological products in combination with six-axis sterile robots according to claim 1, characterized in that the first cell factory rack (2) comprises a cell factory incubator (21), a rack body (22), a slide rail (221) is arranged in the rack body (22), and a guide rail (211) corresponding to the slide rail (221) is arranged at the bottom of the cell factory incubator (21).
5. An automated system for preparing biologies in combination with a six-axis sterile robot according to claim 1, characterized in that the pump group (6) comprises a pump truck (61), a first peristaltic pump (62), a second peristaltic pump (63), a first pump valve group (64) and a second pump valve group (65), the first peristaltic pump (62), the second peristaltic pump (63) being arranged at the upper end of the pump truck (61), the first pump valve group (64), the second pump valve group (65) being arranged on the side wall of the pump truck (61), the first pump valve group (64) being used to communicate the first peristaltic pump (62) with the disposable stirring system (7), the first peristaltic pump (62) being used to communicate with the tube valve group (23) on the first cell factory rack (2), the second pump valve group (65) being used to communicate the second pump (63) with the disposable stirring system (7), the second peristaltic pump being used to communicate with the tube valve group (23) on the second cell factory rack (4).
6. The automated bioproduct six-axis sterile robot system according to claim 3, wherein the fixing mechanism (132) comprises an electric telescopic rod (133) and a fixing sleeve (134), the electric telescopic rod (133) is connected with the factory rack fixing rod (12), the fixing sleeve (134) is arranged at the free end of the electric telescopic rod (133), an inner annular groove (135) is arranged in the fixing sleeve (134), a plurality of inner clamp groups (136) are arranged in the inner annular groove (135), and the inner clamp groups (136) clamp the identification sensor (131).
7. An automated system for preparing biologies in combination with a six-axis sterile robot as claimed in claim 6, characterized in that the inner clamp group (136) comprises a plurality of first inner springs (137), an inner arc clamp plate (138), a plurality of the first inner springs (137) being arranged in the inner annular groove (135), the inner arc clamp plate (138) being arranged on the first inner springs (137), the inner arc clamp plate (138) abutting against the identification sensor (131).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210870972.0A CN115266263B (en) | 2022-07-22 | 2022-07-22 | Automatic system for preparing biological product and combining six-axis sterile robot |
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| CN202210870972.0A CN115266263B (en) | 2022-07-22 | 2022-07-22 | Automatic system for preparing biological product and combining six-axis sterile robot |
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| CN115266263B true CN115266263B (en) | 2023-04-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110576446B (en) * | 2019-08-20 | 2023-03-31 | 辽宁成大生物股份有限公司 | Automatic operation method of cell factory |
| CN113073052B (en) * | 2021-06-03 | 2021-09-17 | 南京艾尔普再生医学科技有限公司 | Full-automatic cell production line |
| CN113355239B (en) * | 2021-06-20 | 2022-06-24 | 长春祈健生物制品有限公司 | Be used for cell factory to prepare biological product pipeline automation equipment |
| US20210380924A1 (en) * | 2021-06-29 | 2021-12-09 | Hangzhou Dianzi University | Intelligent bacterial collection system |
| CN114015570B (en) * | 2021-11-08 | 2022-06-21 | 长春祈健生物制品有限公司 | Pipe valve frame for preparing biological product in cell factory and microscopic observation system |
| CN114107051B (en) * | 2021-11-26 | 2022-10-04 | 长春祈健生物制品有限公司 | Process for preparing biological product by using continuous flow centrifugal machine |
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