CN210974703U - Automatic cell batch production equipment - Google Patents

Automatic cell batch production equipment Download PDF

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Publication number
CN210974703U
CN210974703U CN201921648012.XU CN201921648012U CN210974703U CN 210974703 U CN210974703 U CN 210974703U CN 201921648012 U CN201921648012 U CN 201921648012U CN 210974703 U CN210974703 U CN 210974703U
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China
Prior art keywords
culture
liquid
bottle
bin
automatic
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CN201921648012.XU
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Chinese (zh)
Inventor
刘沐芸
吕新志
杜祥熙
文曲波
李晓智
熊超
李树盛
丁盛
毛志刚
徐文平
罗能
周佐罗
李炳坤
郭永幸
廖璀
陈康卓
廖冬宁
刘志宇
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Individualized Cell Therapy Technology National And Local Joint Engineering Laboratory (shenzhen)
Shenzhen Saidong Biological Automation Co ltd
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Individualized Cell Therapy Technology National And Local Joint Engineering Laboratory (shenzhen)
Shenzhen Saidong Biological Automation Co ltd
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Application filed by Individualized Cell Therapy Technology National And Local Joint Engineering Laboratory (shenzhen), Shenzhen Saidong Biological Automation Co ltd filed Critical Individualized Cell Therapy Technology National And Local Joint Engineering Laboratory (shenzhen)
Priority to CN201921648012.XU priority Critical patent/CN210974703U/en
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Abstract

The utility model relates to a cell batch automatic production device, which comprises an automatic liquid preparation device, a culture bottle automatic transmission stacking device, a full-automatic cell culture device and a cell centrifugal split charging device, wherein the culture bottle automatic transmission stacking device is positioned at the left side of the automatic liquid preparation device, the full-automatic cell culture device is positioned at the right side of the automatic liquid preparation device, and the cell centrifugal split charging device is positioned at the front side of the automatic liquid preparation device; the automatic conveying and stacking device for the culture bottles inputs the culture bottles, the cells and the culture solution are injected into the culture bottles in the automatic solution preparation device, the cells are cultured by the full-automatic cell culture device, the cultured cells are input into the cell centrifugal subpackaging device by the automatic solution preparation device for centrifugation and subpackaging treatment, and the subpackaged cells are output. The utility model discloses realize full-automatic and batch production cell, efficient, the success rate is high.

Description

Automatic cell batch production equipment
Technical Field
The utility model relates to a cell production equipment, more specifically say and indicate cell batch automated production equipment.
Background
Stem cells are a type of pluripotent cells with the ability to self-replicate, and under certain conditions, can differentiate into a variety of functional cells.
At present, the stem cells are cultured and produced in a manual operation mode, and the processes of material transmission, cell culture, centrifugal treatment after culture, subpackage and the like are all manually operated by operators, so that the efficiency is low, the culture environment is easily polluted, and the success rate of cell production is low.
Therefore, it is necessary to design a new device to realize the full-automatic and mass production of cells with high efficiency and high success rate.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome prior art's defect, provide cell batch automated production equipment.
In order to achieve the above purpose, the utility model adopts the following technical scheme: the automatic cell batch production equipment comprises an automatic liquid preparation device, an automatic culture bottle conveying and stacking device, a full-automatic cell culture device and a cell centrifugal subpackaging device, wherein the automatic culture bottle conveying and stacking device is positioned on the left side of the automatic liquid preparation device, the full-automatic cell culture device is positioned on the right side of the automatic liquid preparation device, and the cell centrifugal subpackaging device is positioned on the front side of the automatic liquid preparation device; the automatic conveying and stacking device for the culture bottles inputs the culture bottles, the cells and the culture solution are injected into the culture bottles in the automatic solution preparation device, the cells are cultured by the full-automatic cell culture device, the cells cultured by the automatic solution preparation device are input into the cell centrifugal subpackaging device for centrifugation and subpackaging treatment, and the subpackaged cells are output.
The further technical scheme is as follows: the automatic liquid preparation device comprises a liquid preparation bin, a multi-station switching structure, a high-protection compact conveying structure, a material moving and rotating structure, a plurality of uncovering structures and a plurality of pump liquid structures, wherein a liquid preparation cavity is arranged in the liquid preparation bin, the multi-station switching structure, the plurality of uncovering structures, the pump liquid structures and the high-protection compact conveying structure are respectively located in the liquid preparation cavity, the pump liquid structures are located above the multi-station switching structure, the uncovering structures are located above the material moving and rotating structure, the high-protection compact conveying structure is located below the multi-station switching structure, the material moving and rotating structure is located below the uncovering structure, and the material moving and rotating structure can stretch out of the liquid preparation bin.
The further technical scheme is as follows: the multi-station switching structure comprises a multi-station switching base, a switching structure and a plurality of clamping rotating structures used for clamping culture bottles, the switching structure is connected to the multi-station switching base, the plurality of clamping rotating structures are respectively connected to the switching structure at intervals, the multi-station switching base is installed in the liquid distribution bin, the pump liquid structure is located above the clamping rotating structures, and the plurality of clamping rotating structures are driven to switch different stations through rotation of the switching structure.
The further technical scheme is as follows: the automatic culture bottle conveying and stacking device comprises a culture bottle feeding bin, a conveying mechanism and a stacking mechanism located in the feeding storage bin, wherein the culture bottle feeding bin is connected to the left side of the feeding storage bin; when the culture bottles are transferred between the culture bottle feeding bin and the feeding storage bin, the transmission power assembly drives the push rod assembly to move, and the push rod assembly pushes the culture bottles to move so that the culture bottles enter the feeding storage bin; sucking disc structure absorbs the back with the blake bottle, is removed by removal structure drive sucking disc structure to make the blake bottle arrange in store the subassembly top, sucking disc structure loosens the blake bottle, so that the blake bottle stack is in storing the subassembly.
The further technical scheme is as follows: the push rod assembly comprises a first-level push rod structure and a second-level push rod structure, and the second-level push rod structure is connected with the end, close to the feeding storage bin, of the first-level push rod structure.
The further technical scheme is as follows: the full-automatic cell culture device comprises a culture bin, an incubator, a transfer mechanism, a culture support, a rotary moving mechanism and an observation mechanism, wherein the culture bin is connected to the right side of the liquid distribution bin, the transfer mechanism, the observation mechanism, the rotary moving mechanism and the culture support are connected into the culture bin, an opening is formed in the culture bin, the incubator is inserted into the opening, and the culture support is arranged on the rotary moving mechanism; when cell culture is needed, the transfer mechanism inputs culture bottles in a culture bin from a feeding storage bin and absorbs and moves to a culture support to be temporarily stored, the rotary moving mechanism rotates the culture support and moves to the culture box to culture, and after cell culture is completed, the rotary moving mechanism moves the culture support to a specified position, the transfer mechanism absorbs and moves the culture bottles on the culture support to an observation mechanism, and the observation mechanism carries out the movement of the culture bottles and the observation of cells in the culture bottles.
The further technical scheme is as follows: the cell centrifugal split charging device comprises a centrifugal bin, a centrifugal bottle cover opening mechanism, a manipulator, a centrifugal machine, a vibration filtering mechanism, a liquid absorbing mechanism and a freezing tube split charging mechanism; the centrifugal bin is connected to the front side of the liquid distribution bin, and the centrifugal bottle cover opening mechanism, the mechanical arm, the centrifugal machine, the vibration filtering mechanism, the liquid absorbing mechanism and the freezing tube sub-packaging mechanism are respectively connected into the centrifugal bin; through centrifuge bottle uncapping mechanism carries out the operation of uncapping to the centrifuge bottle, pours into the centrifuge bottle with the cell after the cultivation and culture solution mixture in, centrifuge bottle uncapping mechanism carries out the operation of closing the lid to the centrifuge bottle, the manipulator removes the centrifuge bottle and centrifuges on to filter impurity through vibration filter mechanism with the material in the centrifuge bottle after the centrifugation, retrieve the upper clear liquid through imbibition mechanism with the centrifuge bottle after filtering impurity, mix the back with the frozen stock solution with lower floor's material in the centrifuge bottle, through frozen stock pipe split charging mechanism encapsulates the material in the centrifuge bottle after mixing to obtain the cell after the encapsulation.
The further technical scheme is as follows: the cell centrifugation partial shipment device still includes the semiconductor thermostated container, the semiconductor thermostated container includes controller, shell body and keeps apart the box body, be equipped with the cavity in the shell body, keep apart the box body and be fixed in the cavity, keep apart and be equipped with semiconductor refrigeration subassembly, temperature sensor in the box body and be used for placing the bag subassembly of hanging of liquid in bags, semiconductor refrigeration subassembly and temperature sensor respectively with the controller is connected, the shell body with the centrifugation storehouse is connected.
The further technical scheme is as follows: the front side of the centrifugal bin is connected with a discharging transfer bin and a discharging bin which are connected in sequence.
The further technical scheme is as follows: the front side of the centrifugal bin is also connected with a feeding transfer bin and a feeding bin which are connected in sequence.
Compared with the prior art, the utility model beneficial effect be: the utility model discloses a blake bottle automatic conveying bunching device input blake bottle pours into cell and culture solution into to the blake bottle in automatic joining in marriage the liquid device to after full-automatic cell culture device cultivates, carry out centrifugation and partial shipment processing in inputing to the cell centrifugation partial shipment device by automatic joining in marriage the cell after the liquid device will cultivate, and with the cell output after the partial shipment, realize full-automatic and batch production cell, efficient, the success rate is high.
The invention is further described with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.
FIG. 1 is a schematic perspective view of an automated cell batch production apparatus according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of an automatic liquid dispensing device according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of an automatic conveying and stacking device for culture bottles according to an embodiment of the present invention;
FIG. 4 is a schematic perspective view of a fully automatic cell culture apparatus according to an embodiment of the present invention;
fig. 5 is an exploded schematic view of a centrifugal cell packaging device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and the following detailed description.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "secured" are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.
As shown in fig. 1 to 5, the cell batch automatic production apparatus provided in this embodiment can be applied to the process of automatically producing batch cells, so as to improve the cell production efficiency and the success rate.
Referring to fig. 1, the cell batch automated production apparatus includes an automatic liquid preparation device 1, an automatic culture bottle conveying and stacking device 2, a full-automatic cell culture device 3, and a cell centrifugal subpackaging device 4, wherein the automatic culture bottle conveying and stacking device 2 is located at the left side of the automatic liquid preparation device 1, the full-automatic cell culture device 3 is located at the right side of the automatic liquid preparation device 1, and the cell centrifugal subpackaging device 4 is located at the front side of the automatic liquid preparation device 1; the culture bottle automatic conveying and stacking device 2 inputs a culture bottle, cells and culture solution are injected into the culture bottle in the automatic solution preparation device 1, after the cells are cultured by the full-automatic cell culture device 3, the cultured cells are input into the cell centrifugal subpackaging device 4 by the automatic solution preparation device 1 to be centrifuged and subpackaged, the cells after subpackaged are output, and the efficiency is high and the success rate is high.
Referring to fig. 2, the automatic liquid preparation device 1 includes a liquid preparation bin, a multi-station switching structure, a high-protection compact conveying structure, a material moving and rotating structure, a plurality of cover opening structures, and a plurality of pump liquid structures, wherein a liquid preparation cavity is arranged in the liquid preparation bin, the multi-station switching structure, the plurality of cover opening structures, the pump liquid structures, a waste material transfer structure, and the high-protection compact conveying structure are respectively located in the liquid preparation cavity, the pump liquid structures are located above the multi-station switching structure, the cover opening structures are located above the material moving and rotating structure, the waste material transfer structure is located below the multi-station switching structure, the high-protection compact conveying structure is located below the multi-station switching structure, the material moving and rotating structure is located below the cover opening structure, and the material moving and rotating structure can extend out of the liquid preparation bin.
Specifically, in this embodiment, the number of the material moving and rotating structures is two, and the two material moving and rotating structures are respectively used for taking a culture bottle from the outside of the solution preparation cavity or outputting the culture bottle after solution preparation to the culture bin, after the material moving and rotating structures take the culture bottle, the culture bottle is conveyed to the lower part of the cover opening structure, after the cover opening operation is performed on the culture bottle by the cover opening structure, the material moving and rotating structures drive the culture bottle to descend, move and ascend again, the culture bottle is clamped by the multi-station switching structure, the culture bottle is driven by the multi-station switching structure to rotate to the lower part of the pump liquid structure, corresponding liquid is added, the culture bottle horizontally rotates back and forth to perform liquid mixing, then the cover opening structure screws the bottle cover on the culture bottle, the culture bottle after the bottle cover is screwed on the opposite side by the station switching structure, the culture bottle is clamped by the other material moving and rotating structure and then is, and (4) harvesting the cells after the culture purpose is achieved, and transferring the remaining empty culture bottles to a feeding storage bin and recovering after the harvesting is finished. All operations are automatically executed in the closed liquid preparation cabin, so that the manual operation is changed into the automatic operation in the sterile isolator, the mass production is realized, and the efficiency and the safety of cell culture are improved.
In an embodiment, the multi-station switching structure includes a multi-station switching base, a switching structure and a plurality of clamping rotating structures for clamping culture bottles, the switching structure is connected to the multi-station switching base, the plurality of clamping rotating structures are respectively connected to the switching structure at intervals, the multi-station switching base is installed in the liquid distribution bin, the pump liquid structure is located above the clamping rotating structures, and the plurality of clamping rotating structures are driven to switch different stations through rotation of the switching structure.
In an embodiment, the switching structure includes a switching power source and a switching assembly, the switching power source is connected to the multi-station switching base, the switching assembly is connected to an output shaft of the switching power source, and the plurality of clamping rotating structures are respectively connected to the switching assembly. The switching assembly comprises a switching shaft and a switching connection block, the lower end of the switching shaft is connected with a switching power source, the upper end of the switching shaft is connected with the switching connection block, and the clamping and rotating structures are respectively connected to the switching connection block. Utilize and switch the coupling piece and put a plurality of centre gripping rotating-structure sets together, and drive with the help of switching the power supply and switch the axle and rotate in vertical direction to realize centre gripping rotating-structure and switch the station in the horizontal direction, compact structure, area is little, in order to realize improving space utilization. In an embodiment, the switching coupling block has a plurality of extension arms extending outward from the periphery thereof, the switching shaft has a plurality of limiting grooves at the upper end thereof, the extension arms pass through the limiting grooves, and the extension arms are connected to the clamping and rotating structure. The plurality of extension arms are arranged around the switching coupling block at intervals along the axial direction of the switching coupling block, so that the plurality of clamping rotating structures are arranged at intervals. In addition, the extension arm is limited in the limiting groove by means of the limiting groove, the extension arm and the switching connection block can be fixed, and the structural stability is high.
The clamping and rotating structure comprises a swing arm assembly, a rotating assembly and a clamping assembly, wherein the rotating assembly is connected to the swing arm assembly, the clamping assembly is connected to the rotating assembly, and a plurality of spaces for placing culture bottles are formed in the clamping assembly; arrange the blake bottle in the space through the centre gripping subassembly centre gripping to rotatory by rotating assembly, in order to carry out the mixing to the liquid in the blake bottle, be equipped with the slot on the extension arm, the swing arm subassembly is inserted and is established in the slot. The swing arm assembly and the switching assembly are detachably connected through the slots, and the practicability is high. The rotating assembly is used for rotating and switching the state of the culture bottle, for example, the state is transferred to a horizontal state or an inclined state from a vertical state, the clamping assembly clamps the culture bottle, the culture bottle can be fixed, the rotating assembly can be matched to complete switching of the state of the culture bottle, so that different steps of cell culture in the culture bottle can be completed by matching the same structure, and the practicability is high.
Foretell centre gripping revolution mechanic fixes the rotating assembly on the swing arm subassembly through the setting to fix centre gripping subassembly on rotating assembly, it is rotatory to drive centre gripping subassembly by rotating assembly, and centre gripping subassembly centre gripping blake bottle, and then realize the rotation to the blake bottle, can carry out abundant mixing with the liquid in the blake bottle, and the level digestion of stewing, realize improving cell culture's efficiency, the airtight degree of whole structure is high, whole unmanned operation, can ensure the clean degree of environment.
The plurality of clamping rotating structures correspond to the plurality of stations, the switching shaft stops rotating for a specified angle, for example, 90 degrees and the like every time, and the plurality of culture bottles on each clamping rotating structure correspond to the working liquid pumping structure through different postures, so that pumping in and/or pumping out of different liquids are realized. The multi-station switching structure realizes automatic switching of different stations, and has the advantages of small occupied area and high space utilization rate.
Referring to fig. 5, the liquid pumping structure includes a first liquid pumping structure, a second liquid pumping structure and a mounting bracket; the first liquid pumping structure comprises a first moving structure, a first liquid pumping pipe and a first peristaltic pump, and the second liquid pumping structure comprises a second moving structure, a second liquid pumping pipe and a second peristaltic pump; the first peristaltic pump is connected with the first pump liquid pipe, the first peristaltic pump is connected with the first moving structure, and the first moving structure is connected with the mounting bracket; the second peristaltic pump is connected with a second pump liquid pipe, the second peristaltic pump is connected with a second moving structure, the second moving structure is connected with a mounting support, the first peristaltic pump and the second peristaltic pump are respectively connected in the liquid distribution bin, and the mounting support is connected in the liquid distribution bin.
Utilize the installing support to be in the same place two sets of pump liquid structure integrations, both can realize multiunit automatic pump liquid operation, space utilization is high, and improves pump liquid efficiency, and is with low costs. In addition, the liquid is pumped in and out and separated by virtue of a plurality of peristaltic pumps, so that the cleanness degree of the whole culture process is better improved, and the success rate of the whole cell culture is improved.
Through setting up first pump liquid structure and the second pump liquid structure of integration on the installing support, carry out the pump liquid operation in different position, with the help of the centre gripping and the rotation of bottle centre gripping revolution mechanic to the blake bottle, realize multiunit automatic pump liquid operation, space utilization is high, and improves pump liquid efficiency, and is with low costs.
In an embodiment, the above-mentioned structure of uncapping includes uncapping mount, bottle lid clamping structure, bottle lid revolution mechanic and body fixed knot construct, should uncap the mount connect in join in the liquid storehouse, bottle lid clamping structure and bottle lid revolution mechanic connect respectively on the mount of uncapping, bottle lid revolution mechanic is connected with bottle lid clamping structure, centre gripping revolution mechanic and body fixed knot construct and be located respectively bottle lid clamping structure's below, through the fixed body of body fixed knot structure and centre gripping revolution mechanic, bottle lid clamping structure centre gripping bottle lid to it is rotatory by bottle lid revolution mechanic drive bottle lid clamping structure, in order to open the bottle lid and/or close the bottle lid. The bottle cap clamping structure and the bottle cap rotating structure are combined together by means of the cover opening fixing frame, so that the whole size is small, the occupied area is small, the cost is low, in addition, when a bottle cap is opened and/or screwed, a bottle body needs to be clamped, a mode that the bottle body fixing structure is matched with the bottle cap clamping structure and the bottle cap rotating structure is set, automatic cover opening and/or bottle cap screwing are realized, full-automatic bottle opening is realized, the bottle opening efficiency is improved, and the cost is low.
Foretell material removes revolution mechanic and includes the material and removes the base, the material removes the structure, material revolution mechanic and foretell body fixed knot construct, material removes the structure and connects on the material removes the base, material revolution mechanic connects on material removes the structure, body fixed knot constructs and connects on material revolution mechanic, it carries out the removal of level and vertical direction to remove structure drive body fixed knot through the material, it rotates through material revolution mechanic drive body fixed knot structure, so that body fixed knot constructs and reachs the blake bottle position, press from both sides and get and/or loosen the blake bottle, and cover by the structure of uncapping after uncapping, the blake bottle after will uncapping is carried to centre gripping revolution mechanic on.
The material moving structure is utilized to drive the whole material rotating structure and the bottle body fixing structure to move in the horizontal direction and the vertical direction, so that the bottle body fixing structure reaches a position in which the horizontal direction and the vertical direction are consistent with the horizontal direction and the vertical direction of the position of the material, the material rotating structure drives the bottle body fixing structure to rotate along the R axis, the bottle body fixing structure can clamp articles, the bottle body fixing structure is driven to work, the articles are clamped by the bottle body fixing structure, and the feeding process is finished; when carrying out the unloading in-process, utilize material moving structure to drive whole material revolution mechanic and body fixed knot to construct and carry out the removal of horizontal direction and vertical direction, make body fixed knot construct reach horizontal direction and vertical direction and the position that the horizontal direction and the vertical direction of the position that is used for placing the material are unanimous, drive body fixed knot by material revolution mechanic and construct and carry out the rotation of R axle, so that the article that the body fixed knot constructs the centre gripping can contact this position, and then drive body fixed knot constructs work, make it loosen article.
Of course, if the clamped material needs to be opened or the bottle cap is screwed down, the material moving structure drives the material rotating structure and the bottle body fixing structure to move to the position designated by the opened or screwed down bottle cap, and the material rotating structure drives the material to rotate by a certain angle, so that the operation of opening or screwing down the bottle cap is performed.
In an embodiment, the bottle body fixing structure includes a holding frame and a bottle body clamping power source, the holding frame is connected to the material rotation power source, and the holding frame is connected to the bottle body clamping power source for clamping the material.
In this embodiment, foretell body centre gripping power supply can be diaphragm die clamping cylinder, and this cylinder is used for pressing from both sides tight material, and specifically, foretell body centre gripping power supply passes through fasteners such as bolt and connects in the holding frame. The clamping frame is matched with the bottle body clamping power source to realize the positioning and clamping of materials.
In one embodiment, the high-protection compact conveying structure comprises a high-protection sealing shell, a power assembly and a conveying assembly, wherein a sealing cavity is arranged in the high-protection sealing shell, the power assembly is arranged in the sealing cavity, the conveying assembly is arranged outside the high-protection sealing shell, and the power assembly is connected with the conveying assembly. The power assembly is arranged in the high-protection sealing shell, so that the power assembly is ensured to be in a completely sealed environment, and the environment is ensured to be clean. The high-protection sealing shell is connected in the liquid distribution bin.
In an embodiment, the power assembly includes a power source and a transmission assembly, the power source is fixed in the sealed cavity, the transmission assembly is connected with the conveying assembly, and the transmission assembly is connected with the power source. In this embodiment, the power source may include a motor or a motor. In an embodiment, the transmission assembly includes a magnetic orthogonal transmission wheel, a driving shaft and a driving wheel, the magnetic orthogonal transmission wheel is connected to the power source, the driving shaft is provided with a gear, the gear is engaged with the magnetic orthogonal transmission wheel, two ends of the driving shaft are respectively connected to the driving wheel, the driving wheel is disposed outside the high-protection sealing shell, and the driving wheel is connected to the conveying assembly. The magnetic orthogonal transmission wheel can realize non-contact transmission without friction and is not easy to generate heat and dust. Specifically, the output shaft of the power source is connected with the magnetic orthogonal transmission wheel, the power source is used for outputting power to drive the magnetic orthogonal transmission wheel to transmit, the driving shaft is driven to rotate by means of rotation of the magnetic orthogonal transmission wheel, the driving shaft rotates to drive the driving wheel to rotate, the driving wheel rotates to drive the conveying assembly to work, and articles are conveyed by means of the conveying assembly.
Foretell automatic liquid device 1 of joining in marriage through set up multistation switching structure, waste material transmission structure, high protection compact transport structure, material removal revolution mechanic, a plurality of structure and a plurality of pump liquid structure of uncapping in inclosed liquid storehouse of joining in marriage, realizes turning to the automation mechanized operation in aseptic isolator from manual operation, and mass production improves cell culture's efficiency and security.
In an embodiment, referring to fig. 3, the automatic transporting and stacking device 2 for culture bottles is installed in the feeding bin 7 and the feeding storage bin of adjacent culture bottles, wherein the feeding storage bin is connected to the solution preparing bin. The automatic culture bottle conveying and stacking device 2 comprises a culture bottle feeding bin 7, a conveying mechanism and a stacking mechanism located in a feeding storage bin, wherein the culture bottle feeding bin 7 and the feeding storage bin are connected into the culture bottle feeding bin 7, the culture bottle feeding bin 7 is connected to the left side of the feeding storage bin, the conveying mechanism comprises a transmission bracket 260, a transmission power assembly and a push rod assembly located in the culture bottle feeding bin 7, the push rod assembly is located on the transmission bracket 260, and the transmission power assembly is connected with the push rod assembly; the stacking mechanism comprises an article taking assembly and a storage assembly, the article taking assembly and the storage assembly are arranged on the culture bottle feeding bin 7, the article taking assembly comprises a sucker structure and a moving structure, the sucker structure is connected with the moving structure, when the culture bottle 290 is transferred between the culture bottle feeding bin 7 and the feeding storage bin, the transmission power assembly drives the push rod assembly to move, and the push rod assembly pushes the culture bottle 290 to move so that the culture bottle 290 enters feeding storage; after the suction cup structure sucks the culture bottle 290, the suction cup structure is driven by the moving structure to move, so that the culture bottle 290 is placed above the storage assembly, and the suction cup structure releases the culture bottle 290, so that the culture bottle 290 is stacked in the storage assembly.
Push away culture bottle 290 twice with the help of push rod subassembly, make it stride across the shared distance of isolation door between culture bottle pan feeding storehouse 7 and pan feeding storage storehouse, realize the transfer of culture bottle 290 between two storehouse bodies, at the in-process of cell culture, realize arranging the pan feeding of culture bottle in two storehouses respectively with the storage, but two internal automatic conveying culture bottles of storehouse, in order to ensure the sterile environment of cultivateing the environment, improve the cell culture success rate, and push rod subassembly adopts stainless steel, after culture bottle 290 transmission finishes, alright close the door in pan feeding storage storehouse, in order to reduce the dust, and also difficult being corroded.
After the sucker structure is driven by the moving structure to suck the culture bottle 290, the culture bottle 290 is moved to the upper part of the storage assembly, and the sucker structure loosens the suction force on the culture bottle 290, so that the culture bottle 290 falls into the storage assembly and the stacking is completed.
In an embodiment, a waste material transfer structure is arranged outside the feeding storage bin, the waste material transfer structure includes a sealing barrel, a limit structure and a waste material conveying structure are arranged in the feeding storage bin, a double-door transfer switching transfer main door is arranged on a lower end surface of the liquid distribution bin, and a double-door transfer switching transfer auxiliary door is arranged on an upper end surface of the sealing barrel; the double-door transfer switching transmission main door and the double-door transfer switching transmission auxiliary door are movably connected, the limiting structure is connected with the waste conveying structure, the limiting structure is located above the sealing barrel, an empty culture bottle is placed in the limiting structure, and the double-door transfer switching transmission main door is located below the clamping rotating structure. In the actual use process, when the double-door transfer switching transmission main door is in a closed state at the initial state, a closed state is formed inside the feeding storage bin, and the current clean and sterile state can be ensured in more processes such as culture in the liquid preparation bin; when empty culture bottles need to be recovered, the sealed barrel with the double-door transfer switching transmission auxiliary door is utilized, the sealed barrel is sterilized, and the sterile transmission empty culture bottles between the sealed barrel and the feeding storage bin are realized by means of the matching of the double-door transfer switching transmission auxiliary door and the double-door transfer switching transmission main door. Specifically, the matching manner of the above-mentioned double-gate transfer switching transmission auxiliary gate and the double-gate transfer switching transmission main gate is a DPTE transmission gate matching manner. After the double-door transfer switching transmission auxiliary door and the double-door transfer switching transmission main door are combined, the double-door transfer switching transmission auxiliary door and the double-door transfer switching transmission main door can be opened in a rotating mode, and sterile communication between the inner space of the sealing barrel and the inner space of the feeding storage bin is achieved.
In one embodiment, the push rod assembly includes a first push rod structure and a second push rod structure, and the second push rod structure is connected to one end of the first push rod structure close to the feeding storage bin. The push rod subassembly component mode that the two-stage was arranged, one-level push rod structure can realize that blake bottle 290 is promoted to the border department in blake bottle pan feeding storehouse 7, also is the position of dodge gate, and second grade push rod structure can make blake bottle 290 stride across the distance between two dodge gates in blake bottle pan feeding storehouse 7 and pan feeding storage storehouse, accomplishes blake bottle 290 transmission in blake bottle pan feeding storehouse 7 and pan feeding storage storehouse.
In an embodiment, the power transmission assembly includes a horizontal moving power assembly and a lifting power assembly, the horizontal moving power assembly is disposed at one side of the transmission bracket 260, the lifting power assembly is connected to the horizontal moving power assembly, and the lifting power assembly is connected to the push rod assembly. The horizontal migration power component is used for driving the push rod component to move back and forth along the transmission support 260, and then the culture bottle 290 is driven to move towards the direction close to the feeding storage bin and to cross the interval between the culture bottle feeding bin 7 and the feeding storage bin to enter the feeding storage bin, and in addition, the lifting power component is used for moving up and down of the push rod component, so that the culture bottle 290 can be separated from or the position of the culture bottle 290 can be limited.
Foretell transmission device is through setting up transmission support 260 in culture bottle pan feeding storehouse 7 and pan feeding storage storehouse, transmission power subassembly and push rod subassembly, with the help of transmission power subassembly and including the push rod subassembly of one-level push rod structure and second grade push rod structure, drive culture bottle 290 by transmission power subassembly and one-level push rod structure and move to being close to pan feeding storage storehouse, drive culture bottle 290 by transmission power subassembly and second grade push rod structure and stride across the interval between culture bottle pan feeding storehouse 7 and the pan feeding storage storehouse, culture bottle pan feeding storehouse 7 and pan feeding storage storehouse are the sealed storehouse body, can realize conveying the culture bottle from pan feeding storehouse 7 automatic to adjacent storehouse, this mechanism can not only stride across the threshold between two storehouses, can also reduce the dust, and can not corroded by the germicide, improve the cell culture success rate.
In one embodiment, the suction cup structure includes a suction cup mounting plate 230 and a plurality of suction cups 240, the plurality of suction cups 240 are respectively connected to the suction cup mounting plate 230, and the suction cup mounting plate 230 is connected to the moving structure.
The suction cup mounting plate 230 is provided with a plurality of through holes for mounting the suction cup 240. After the suction cup 240 sucks the culture bottle 290 with negative pressure, the suction cup 240 removes the negative pressure when moving to a designated position, and the culture bottle 290 is placed in the storage assembly.
In one embodiment, the moving structure includes a vertical moving structure and a horizontal moving structure, the vertical moving structure is connected to the feeding chamber 7 of the culture bottle, the horizontal moving structure is connected to the vertical moving structure, and the suction cup mounting plate 230 is connected to the horizontal moving structure.
In an embodiment, the vertical moving structure includes a vertical module 210, a vertical sliding block is disposed on the vertical module 210, the vertical module 210 is connected to the feeding bin 7 of the culture bottle, and the horizontal moving structure is connected to the vertical sliding block. In one embodiment, the horizontal moving structure includes a horizontal module 220, the horizontal module 220 is provided with a horizontal slider, the horizontal module 220 is connected to a vertical slider, and the suction cup mounting plate 230 is connected to the horizontal slider. In one embodiment, the moving assembly further comprises a rotating structure, and the suction cup mounting plate 230 is connected to the lateral sliding block through the rotating structure. The rotating structure can drive the sucker mounting plate 230 to rotate, so that the culture bottle 290 inclined at a certain angle or with an inclined surface can be sucked smoothly, and the practicability is high. In an embodiment, the storage assembly includes a storage base and a plurality of vertical rods, the storage base is connected to the feeding bin 7 of the culture bottles, the vertical rods are arranged on the storage base at intervals, and a plurality of storage spaces for placing the culture bottles are formed by enclosing the vertical rods.
Foretell culture flask automatic conveying bunching device 2 can realize following 7 automatic conveying in pan feeding storehouse with the culture flask to adjacent storehouse, can not only stride across the threshold between two storehouses, can also reduce and produce the dirt, can not corroded by the germicide moreover, improves the cell culture success rate, can also simple structure, and is with low costs, and can make the culture flask neatly save and stack.
In an embodiment, referring to fig. 4, the above-mentioned full-automatic cell culture apparatus 3 includes a culture bin, an incubator, a transfer mechanism, a culture support, a rotation movement mechanism, and an observation mechanism, the transfer mechanism, the observation mechanism, the rotation movement mechanism, and the culture support 310 are connected in the culture bin, the culture bin is connected to the right side of the solution preparation bin, the culture bin is provided with an opening, the incubator is inserted into the opening, and the culture support 310 is disposed on the rotation movement mechanism; when cell culture is needed, the transfer mechanism inputs the culture bottles 290 in the culture bin from the feeding storage bin and sucks and moves the culture bottles to the culture support 310 for temporary storage, the rotary moving mechanism rotates the culture support 310 and moves the culture supports to the culture box for culture, after the cell culture is finished, the rotary moving mechanism moves the culture supports 310 to the designated position, the transfer mechanism sucks and moves the culture bottles 290 on the culture support 310 to the observation mechanism, and the observation mechanism performs the movement of the culture bottles 290 and the observation of the cells in the culture bottles 290. This transfer mechanism is including transferring structure and sucker structure, and sucker structure connects in transferring structural, and sucker structure is unanimous with foretell sucker structure.
The culture bottles 290 input from the liquid preparation bin are temporarily stored in batch on the culture support 310, all the culture bottles 290 on the culture support 310 are transferred into the incubator for culture by means of the rotary moving mechanism, after the culture is finished, the culture bottles 290 are moved to the observation mechanism by the rotary moving mechanism and the transfer mechanism for cell observation, so that the whole cell culture process is completed, and the cell culture device is efficient and low in cost.
In one embodiment, the above-mentioned rotating mechanism comprises a transverse moving component, a second rotating component, a culture rack transferring component and a fixing component for fixing the culture rack 310, wherein the transverse moving component is connected in the culture chamber, the second rotating component is connected to the transverse moving component, the culture rack transferring component is connected to the second rotating component, and the fixing component is connected to the culture rack transferring component; when the rotatory transfer of arranging blake bottle 290 on cultivateing support 310 in needs, cultivate support 310 and arrange cultivation support transfer assembly in on, and through the fixed cultivation support 310 of fixed subassembly, the second rotating assembly drives cultivation support transfer assembly rotatory, lateral shifting subassembly work is in order to drive the second rotating assembly and cultivate support transfer assembly and remove to the incubator gate, cultivates support transfer assembly drive cultivation support 310 and gets into the incubator in, fixed subassembly loosens the fixed of cultivateing support 310.
In this embodiment, be provided with automatic mechanism of opening door in foretell incubator, this automatic mechanism of opening door is including installing in the power supply that opens the door of incubator one side and installing in the spout subassembly of the door leaf downside of incubator, and the power supply that opens the door passes through crank assembly and is connected with spout subassembly, drives crank assembly through the power supply that opens the door and rotates, and crank assembly's rotation drives spout subassembly work to open the door leaf.
The rotation that adopts the power supply that opens the door drives the crank subassembly and rotates, and the rotation of crank subassembly drives the work of spout subassembly to the crank connecting rod mode realizes the operation of opening to the door leaf of incubator, and when need not opening the door leaf, the downside on the door is placed together with the spout subassembly to the crank subassembly, can reduce the area that occupies, and overall structure is simple, and the cost is lower.
In an embodiment, the sliding groove assembly includes a sliding bar and a sliding member, the sliding bar is provided with a sliding groove therein, the sliding member is disposed in the sliding groove, and the crank assembly is connected to the sliding member. The sliding piece slides in the sliding groove, the stop block is arranged in the sliding groove, so that the door opening power source can rotate to open the door leaf, the sliding groove and the sliding piece are arranged, the door leaf can be closed conveniently, the crank assembly can be arranged in parallel with the sliding groove, the occupied area of the door when the door is closed is reduced, and the whole structure is compact. The sliding part comprises a bearing, and the bearing is connected with the crank component through a pin shaft. In order to prevent the bearing from generating scratches when sliding in the sliding groove, a rubber sleeve is arranged outside the bearing.
In an embodiment, the sliding strip is connected to the door leaf through a pad. In one embodiment, the crank assembly includes a rotating arm, one end of the rotating arm is connected to the bearing through a pin, and the other end of the rotating arm is connected to the door opening power source. The rotation through the rocking arm drives the bearing and slides in the spout, and after the bearing contacted the dog, the rotation of rocking arm then drove the rotation of whole door leaf, and then opened the door leaf, when closing the door, then the rocking arm was parallel with the spout, and the downside of door leaf is arranged in to the rocking arm, and the power supply that opens the door does not rotate, also can play certain self-locking to make the sealed degree in the whole incubator can guarantee. The other end of the rotating arm is connected with a door opening power source through a rotating block. The rotating block converts the power which is output by the door opening power source and rotates along the vertical axis into the rotation of the rotating arm. The rotating block is provided with a horizontal groove and a vertical slot, the other end of the rotating arm is inserted into the horizontal groove, the door opening power source is provided with an output shaft, and the output shaft is inserted into the vertical slot. Specifically, the outer end of the rotating block is covered with an outer sealing plate. The turning block comprises a left turning block and a right turning block, a horizontal groove is formed in the left turning block, the left turning block is connected with the right turning block, a left semi-arc-shaped groove is formed in one end, close to the right turning block, of the left turning block, a right semi-arc-shaped groove is formed in one end, close to the left turning block, of the right turning block, and a vertical slot is formed by the enclosing of the left semi-arc-shaped groove and the right semi-arc-shaped groove. The horizontal groove and the vertical slot of the rotating block can realize the connection of the door opening power source and the rotating arm, so that the rotating arm can rotate under the driving of the door opening power source.
In one embodiment, the door opening power source is connected to one side of the incubator body through a mounting bracket. Specifically, the mounting bracket is installed in incubator and door leaf articulated one side, and automatic formula opens the door and can raise the efficiency.
When the power supply work of opening the door, can provide a great moment and drive the rocking arm and rotate to the automation that drives the door leaf is opened the door or is closed the door, and simultaneously when closing the door, because the power supply that opens the door does not rotate to the purpose that realizes that the effort of certain degree carries out the auto-lock, adopts the crank connecting rod mode to open the door or close the door, and shared installation space is less.
In this embodiment, the rotating arm includes a connecting section and a rotating section, one end of the connecting section is inserted into the horizontal groove, the other end of the connecting section is connected with one end of the rotating section, and the other end of the rotating section is connected with the bearing through a pin; be equipped with an inclination between linkage segment and the rotation section, this inclination is unanimous with the articulated angle of door leaf and incubator to the at utmost opens the door leaf, and can be when closing the door, accomodate in the downside below of door leaf neatly more.
Foretell automatic mechanism of opening door through setting up spout subassembly, crank assembly and the power supply of opening the door, constitutes crank link structure by these three, and the power supply of opening the door drives crank assembly and rotates, and the operation of opening the door or closing the door of door that the door leaf was realized to the parallel connection with spout subassembly, can accomodate crank assembly and spout subassembly in the door leaf downside when closing the door, realizes can opening the door automatically, and simple structure, and the area occupied is little, and is with low costs.
The culture support 310 is rotated by the second rotating assembly, so that the culture support 310 enters the incubator, the whole culture support 310 is moved to the door of the incubator by the transverse moving assembly, the culture support 310 is transferred into the incubator by the culture support transferring assembly, the culture support 310 is always fixed by the fixing assembly in the whole transfer process, the problem that the culture support 310 is displaced and transfer failure is caused is avoided, after transfer is finished, the fixing assembly loosens the fixation of the culture support 310, and the culture support transferring assembly, the transverse moving assembly and the second rotating assembly are sequentially restored to the initial positions; certainly, need set up sharp module and the transfer guide that corresponds in the incubator, cultivate the support transfer unit and transfer the guide butt joint after, push to transfer the guide with cultivateing support 310, transfer the guide alright drive under the drive of sharp module and cultivate support 310 and move to the assigned position and cultivate, also can be convenient for cultivate the playback of support transfer unit, lateral shifting subassembly and second rotating assembly.
The mechanism can also transfer the cultured culture bottle 290 and the culture support 310 from the inside of the incubator to a certain position outside the incubator, and the specific operation flow is opposite to the operation flow described above and is not described again here.
Above-mentioned mechanism realizes simple structure, and is with low costs, and can transfer to the incubator after rotatory automatically with blake bottle 290 in batches and cultivate to improve cell culture efficiency.
In one embodiment, the culture support transfer assembly comprises a push-pull structure and a plurality of rolling structures; the push-pull structure is arranged in parallel with the rolling structure, the push-pull structure and the rolling structure are respectively connected to the second rotating assembly, the mounting plate is connected to the push-pull structure, and the culture support 310 is abutted to the rolling structure.
The rolling structure plays a guiding role in the transfer process of the culture support 310, the rolling structure is in butt joint with the transfer guide rail in the incubator, the push-pull structure pushes the culture support 310 to move towards the direction close to the inside of the incubator, the culture support 310 can be transited to the transfer guide rail from the rolling structure, and the success rate of the whole transfer process is improved.
Foretell rotary motion mechanism, will cultivate support 310 through the second rotating assembly after rotatory certain angle, will cultivate support 310 by the lateral shifting subassembly and remove to the incubator gate, will cultivate support transfer unit and incubator butt joint by the roll structure, push-and-pull structure will cultivate support 310 push-and-pull to the incubator in, whole transfer process adopts fixed subassembly to fix cultivation support 310, the back is accomplished in the transfer, fixed subassembly loosens the fixed to cultivateing support 310, thereby accomplish the automatic transfer of blake bottle 290, adopt servo module to accomplish the transfer operation, whole mechanism realizes simple structure, low cost, and can transfer culture in the incubator after rotatory in batches with blake bottle 290 automatically, in order to improve cell culture efficiency.
In an embodiment, the observation mechanism includes a microscope assembly and a culture flask moving assembly, the culture flask moving assembly includes a moving structure and a bearing structure, the bearing structure is connected to the moving structure, the moving structure is connected to the culture chamber, and the microscope assembly is connected to the culture chamber. The culture cabin body is also provided with
When the cell culture result needs to be observed, after the sucker structure sucks the culture bottle 290, the multidirectional moving assembly works to move the sucker structure and the culture bottle 290, so that the culture bottle 290 moves to the bearing structure, the sucker structure loosens the suction of the culture bottle 290, and the bearing structure moves under the driving of the moving structure, so that the microscope assembly can comprehensively observe cells in the culture bottle. Sucking disc structure and multidirectional removal subassembly cooperation can realize taking the blake bottle and remove the blake bottle to the position at microscope place to in carrying out the detection and the observation of cell, the automatic transfer blake bottle is in order to reach the purpose of automatic transfer cell, improves whole observation efficiency. The culture bottle 290 is placed on the carrying structure and moved back and forth by the moving structure, so that the culture bottle 290 is located at different positions, and then the microscope assembly can acquire images of all cells in the culture bottle 290, so as to realize comprehensive observation.
Foretell full-automatic cell culture device 3, cultivate the storehouse through the setting, the incubator, transfer mechanism, cultivate the support, rotary moving mechanism, automatic mechanism of opening the door, and observation mechanism, by transfer mechanism, cultivate the support, rotary moving mechanism cooperation is realized the blake bottle and is got into the incubator and carry out cell culture, by the incubator, transfer mechanism, cultivate the support, rotary moving mechanism and observation mechanism realize that the blake bottle removes the observation that carries out the cell growth environment under microscope 210 from the incubator, thereby realize full-automatic cell culture and observation of carrying out, need not manual operation, reduce the pollution risk, and raise the efficiency and the cost is reduced.
In an embodiment, referring to fig. 5, the above-mentioned cell centrifugal split charging device 4 includes a centrifugal bin, a centrifuge bottle cover opening mechanism 450, a manipulator, a centrifuge 411, a vibration filtering mechanism, a liquid absorbing mechanism, and a freezing tube split charging mechanism 480; the centrifugal bin is connected to the front side of the liquid distribution bin, and the centrifuge bottle cover opening mechanism 450, the mechanical arm, the centrifuge 411, the vibration filtering mechanism, the liquid absorbing mechanism and the freezing tube sub-packaging mechanism 480 are respectively connected to the culture bottle feeding bin 7; the centrifuge bottle 290 is uncapped by the centrifuge bottle uncapping mechanism 450, the cultured cells and the culture solution mixture are injected into the centrifuge bottle 290, the centrifuge bottle uncapping mechanism 450 is used for uncapping the centrifuge bottle 290, the manipulator moves the centrifuge bottle 290 to the centrifuge 411 for centrifugation, the centrifuged substances in the centrifuge bottle 290 are filtered by the vibration filtering mechanism, the centrifuged substances in the centrifuge bottle 290 are subjected to impurity filtration, the supernatant of the centrifuged substances in the centrifuge bottle 290 is recovered by the imbibing mechanism, the lower substances in the centrifuge bottle 290 are mixed with the frozen stock solution, and then the frozen stock solution is packaged with the mixed substances in the centrifuge bottle 290 by the frozen stock tube packaging mechanism 480 to obtain packaged cells, and the packaged cells are output to realize full-automatic cell centrifugation and packaging operation, so that the cell preparation efficiency is improved.
In an embodiment, the centrifugal cell packaging apparatus 4 further includes a semiconductor thermostat 430, the semiconductor thermostat 430 includes a controller, an outer casing and an isolation box, a cavity is disposed in the outer casing, the isolation box is fixed in the cavity, a semiconductor refrigeration assembly, a temperature sensor and a bag hanging assembly for placing bagged liquid are disposed in the isolation box, the semiconductor refrigeration assembly and the temperature sensor are respectively connected to the controller, and the outer casing is connected to the centrifugal bin. Wherein the bagged liquid is filled with frozen stock solution.
Adopt double-deck mode to keep warm, place bagged liquid in keeping apart the box body, utilize temperature sensor real-time detection to keep apart the temperature in the box body, and adopt semiconductor refrigeration subassembly to keep apart the box body and refrigerate to ensure that bagged liquid's surrounding environment satisfies its temperature demand of storage, double-deck isolation bagged liquid can realize that the temperature keeps the effect good, and is difficult for carrying out the temperature exchange with the external world.
In an embodiment, the bag hanging assembly includes a flexible structure and a hook, the flexible structure is connected to the first cavity, and the hook is connected to the flexible structure.
By adopting the telescopic structure and the hook mode, the bagged liquid is hung on the hook, and is conveyed into the isolation box body or is output from the isolation box body by the telescopic structure, so that the bagged liquid is convenient to take or store.
In an embodiment, the semiconductor refrigeration assembly comprises a left semiconductor refrigeration piece and a right semiconductor refrigeration piece, the left side wall and the right side wall of the first accommodating cavity are respectively provided with a front jacking assembly, the left semiconductor refrigeration piece is connected with the front jacking assembly of the left side wall of the first accommodating cavity, the right semiconductor refrigeration piece is connected with the front jacking assembly of the right side wall of the first accommodating cavity, and the bag hanging mechanism is arranged between the front jacking assembly of the left side wall of the first accommodating cavity and the front jacking assembly of the right side wall of the first accommodating cavity.
The left semiconductor refrigerating sheet and the right semiconductor refrigerating sheet can be respectively attached to two side faces of the bagged liquid by utilizing the front top structure, so that constant temperature maintenance of the bagged liquid is realized.
In one embodiment, the front top assembly includes an elastic front top sheet. In this embodiment, the elastic front top plate is made of an elastic body or a rubber body, and a certain elastic force is generated by using the elastic deformation amount of the elastic front top plate, and the elastic front top plate elastically deforms due to the bagged liquid to generate an elastic force moving towards the direction close to the bagged liquid for the left semiconductor refrigeration sheet and the right semiconductor refrigeration sheet, so as to push the left semiconductor refrigeration sheet and the right semiconductor refrigeration sheet to be close to the bagged liquid, thereby better maintaining the temperature of the bagged liquid.
In the present embodiment, the controller is of a model number STM32F103ZET 6; the temperature sensor is model number DS18B 20.
Foretell semiconductor thermostated container 430 sets up semiconductor refrigeration subassembly and hangs a bag mechanism through setting up the shell body and keeping apart the box body in keeping apart the box body to drive semiconductor refrigeration subassembly by preceding top subassembly and press close to liquid in bags, liquid in bags and external world are kept apart to the bilayer, and the liquid in bags is pressed close to in the refrigeration source, can realize that the temperature keeps the effect good, and is difficult for carrying out the temperature exchange with the external world.
In an embodiment, the centrifugal cell-packaging apparatus 4 further includes an injection-type liquid mixing mechanism 440, the injection type liquid blending mechanism 440 comprises an injector, an injector clamping component, an injector sliding component and a shell connected to the feeding bin 7 of the culture flask, the injector sliding component and the injector clamping component are respectively connected to the shell, the injector is respectively connected with the injector sliding component and the injector clamping component, the injector is fixed under the action of the injector clamping component, and the frozen liquid is injected into the frozen tube under the action of the injector sliding component so as to uniformly mix the substances in the frozen tube, the injector firstly extracts the frozen liquid from the bagged liquid and then injects the frozen liquid into the freezing tube so as to be mixed with the substances in the freezing tube, of course, the liquid in the freezing storage tube can be continuously extracted and injected, so that the liquid in the freezing storage tube is uniformly mixed.
The syringe clamping component and the syringe sliding component are installed on the shell, the syringe part of the syringe is clamped by the syringe clamping component, the piston part of the syringe is driven by the syringe sliding component to move, the syringe is automatically pushed to inject the frozen stock solution into the freezing storage tube, the extracted frozen stock solution is injected into the freezing storage tube, so that the liquid in the freezing storage tube is uniformly mixed, and the effect of automatically mixing the liquid at low cost is achieved.
In an embodiment, the centrifuge bottle cap opening mechanism 450 includes a centrifuge bottle clamping and moving mechanism and a centrifuge bottle cap opening and closing mechanism, the centrifuge bottle clamping and moving mechanism includes a centrifuge bottle clamping component and a shifting component connected with the culture bottle feeding bin 7, specifically, the centrifuge bottle clamping component includes a clamping base, a plurality of clamping power sources and a plurality of clamping structures, the clamping base is connected with the shifting component, the clamping power sources are connected with the clamping structures, the clamping power sources are connected with the clamping base, and a plurality of grooves for placing the centrifuge bottles 290 therein are arranged in the clamping base; when the centrifuge bottle 290 falls into the groove, the clamping power source drives the clamping structure to clamp the centrifuge bottle 290, and the shifting assembly drives the clamping structure to move to a designated position.
In an embodiment, the clamping structure includes a first push plate, a connecting rod group and a plurality of clamping block groups, the clamping block group is located above the groove, the connecting rod group is respectively located outside the clamping base, the clamping group is located in the third mounting groove, the clamping block group includes a first left clamping block and a first right clamping block, the first left clamping block, the first right clamping block of the clamping block group adjacent to the first left clamping block are respectively connected with the connecting rod group, the lower end of the connecting rod group is connected with the first push plate, the clamping power source is connected with the first push plate, and the first push plate is located below the third mounting groove. Through reciprocating of the first push pedal of centre gripping power supply promotion, drive reciprocating of linkage by first push pedal, and the linkage drives the horizontal migration of first left clamp splice and first right clamp splice, and then realizes the centre gripping to centrifugal bottle 290, simple structure, and efficient.
In an embodiment, the two sides of the clamping power source are respectively provided with a connecting rod group. In order to realize that one clamping power source drives a plurality of clamping block groups so as to facilitate batch clamping and displacement of the centrifuge bottles 290, in addition, a single clamping power source is adopted to clamp the batch centrifuge bottles 290, so that the cost can be reduced.
In an embodiment, the first push plate is provided with a first guide rod, the clamping base is provided with a guide hole therein, and the first guide rod is inserted into the guide hole. The first guide rod is arranged, and can play a guiding role for the movement of the first push plate, the first supporting rod and the second supporting rod.
In an embodiment, referring to fig. 4, a plurality of sensors are installed in the clamping base. Specifically, this sensor is arranged in one side of recess, and in the sensor detected centrifugal bottle 290 fell into the recess, then the centre gripping power supply start-up work drove first push pedal and removed to indirectly drive the clamp splice group and press from both sides tight centrifugal bottle 290, in order to realize the effect of self-holding centrifugal bottle 290, raise the efficiency.
In an embodiment, the shifting assembly includes an X-axis mounting base, a first X-axis servo module, and a second Y-axis servo module, the first X-axis servo module is connected to the X-axis mounting base, the second Y-axis servo module is connected to the first X-axis servo module through the Y-axis mounting base, a first protection cover is disposed on an outer periphery of the clamping base, and the first protection cover is connected to the second Y-axis servo module through the first mounting frame.
In addition, the first X-axis servo module and the second Y-axis servo module can realize the functions of liquid injection, liquid discharge, cover opening, centrifugal operation and the like of the centrifuge bottle 290 at different positions, and can flexibly adjust the speed.
Foretell centrifuge bottle presss from both sides moves mechanism is through setting up centrifuge bottle centre gripping subassembly and aversion subassembly, drive first push pedal with the help of a power supply and remove, and then drive a plurality of linkages work, the linkage is connected with clamp splice group, alright realize that a power supply indirectly drives a plurality of clamp splice group work, carry out the centre gripping to centrifuge bottle 290 in batches, and remove centrifuge bottle 290 to the assigned position with the help of the aversion subassembly, realize centrifuge bottle 290's centre gripping and aversion operation in batches, improve the efficiency to centrifuge bottle 290 operation.
Foretell centrifuge bottle switch lid mechanism includes clamping jaw and body fixed block, and this clamping jaw is connected on centrifuge bottle power supply of uncapping, and centrifuge bottle power supply of uncapping passes through the power supply mounting bracket to be connected on the rotary power source that is equipped with, and this rotary power source is connected with blake bottle pan feeding storehouse 7. The body fixed block is used for fixing the body of the centrifugal bottle 290, and after the clamping jaw is driven by the centrifugal bottle opening power source to clamp the bottle cap of the centrifugal bottle 290, the rotating power source drives the bottle cap to rotate so as to achieve the effect of opening or closing the cap.
In one embodiment, the end of the manipulator is connected with a clamping jaw assembly, a first clamping ring and a second clamping ring; utilize the clamping jaw subassembly to carry out the centre gripping of article such as tray, first clamp ring and second clamp ring can be respectively corresponding to body and the bottle lid that is used for centre gripping bottles such as centrifugal bottle 290, realize that multiple clamp is got the function, and foretell first clamp ring and second clamp ring adopt to aerify the tight mode of clamp, can realize not producing the centre gripping mode of pressing from both sides the trace.
In an embodiment, the above-mentioned clamping jaw assembly includes a clamping jaw cylinder, a first clamping flap and a second clamping flap, the first clamping flap and the second clamping flap are respectively connected to the clamping jaw cylinder, and the clamping jaw cylinder is connected to the manipulator. The first clamping clack and the second clamping clack are driven by the clamping jaw air cylinder to clamp articles such as trays.
In an embodiment, the first clamping ring includes a first clamping frame and a first inflating ring, the first inflating ring is disposed in the first clamping frame, and the first clamping frame is connected to the robot.
Specifically, first holding frame includes first loop forming element, is equipped with first recess in the first loop forming element, and first ring packing is equipped with the first linkage segment that extends outwards in first recess, first linkage segment and manipulator connection.
Before the first inflatable ring is not inflated, the first annular piece is firstly adopted to enclose an article (a centrifugal bottle 290 or a liquid storage tank or a freezing storage pipe), and then the first inflatable ring is inflated in an inflation mode, so that the article is clamped by the first inflatable ring; when the article needs to be put down, the first inflatable ring is exhausted in an exhaust mode, so that the first inflatable ring loosens the clamping of the article; thereby realizing fast article clamping.
In this embodiment, the first clamping ring clamps the body of the centrifuge bottle 290.
Specifically, a first inflation opening is formed in the first inflation ring, a first inflation valve is connected to the first inflation opening, an external inflation device is connected to the first inflation valve, and then the first inflation ring is inflated and exhausted through the first inflation opening.
In an embodiment, the second clamping ring includes a second clamping frame and a second gas-filled ring, the second gas-filled ring is disposed in the second clamping frame, and the second clamping frame is connected to the robot.
Specifically, the second clamping frame comprises a second annular piece, a second groove is formed in the second annular piece, the second inflatable ring is arranged in the second groove, and the outer end of the second annular piece is connected with the manipulator.
Before the inflatable ring is not inflated, the second annular piece is firstly adopted to encircle the article, and then the second inflatable ring is inflated in an inflation mode, so that the article is clamped by the second inflatable ring; when the article needs to be put down, the second inflatable ring is exhausted in an exhaust mode, so that the second inflatable ring loosens the clamping of the article; thereby realizing fast article clamping.
In this embodiment, the second clamping ring clamps the cap of the centrifuge bottle 290.
Specifically, a second inflation opening is formed in the second inflation ring, a second inflation valve is connected to the second inflation opening, an external inflation device is connected to the second inflation valve, and then the second inflation ring is inflated and exhausted through the second inflation opening.
In an embodiment, the clamping jaw assembly, the first clamping ring and the second clamping ring are respectively connected to the robot arm through a mounting plate. Utilize the mounting panel to install clamping jaw subassembly, first clamp ring and second clamp ring on the manipulator, realize clamping jaw subassembly, first clamp ring and the fixed of second clamp ring.
In an embodiment, the mounting plate includes a first plate and a second plate, the first plate is connected to the robot, the second plate is connected to a side of the first plate, the first clamping ring and the clamping jaw assembly are respectively connected to the first plate, and the second clamping ring is connected to the second plate.
Specifically, be equipped with the first mounting hole of a plurality of on the first plate body, first linkage segment and clamping jaw cylinder pass through fasteners such as bolts and are connected with first mounting hole.
In other embodiments, the first jaw cylinder is connected to the first plate using a cylinder connection bracket.
In addition, the side of second plate body is equipped with vertical board, is equipped with the second mounting hole on this vertical board, and foretell second ring passes through fasteners such as bolt and vertically connects in the side of second plate body.
The manipulator is a six-degree-of-freedom manipulator, and the clamping jaw assembly, the first clamping ring and the second clamping ring can move at multiple angles by utilizing the manipulator. Through set up clamping jaw assembly, first clamp ring and the tight circle of second clamp on the manipulator, clamping jaw assembly, first clamp ring and the tight circle of second clamp can the different article of centre gripping respectively, and first clamp ring and the tight circle of second clamp adopt aerify carminative mode to carry out the centre gripping and loosen the centre gripping to article, realize the different article of multi-functional ground centre gripping, to some special requirements's article, can realize not producing the centre gripping mode of pressing from both sides the trace.
In an embodiment, the above-mentioned vibration filtering mechanism includes power component, filter screen, rack and is used for placing the first mount of centrifuge bottle 290, and power component connects on the grudging post, and it connects on blake bottle pan feeding storehouse 7 through the grudging post to state power component, first mount is arranged in one side of grudging post, the rack is connected with power component, and the filter screen is placed on the rack, and when the material in the centrifuge bottle 290 after needs carry out the centrifugation filters, power component work is in order to drive the rack vibration to the material in the centrifuge bottle 290 after carrying out the centrifugation filters. Utilize power component to provide the vibration power supply to the rack, so that the rack vibrates, and then start the vibration effect to the filter screen, the vibration of filter screen, can make the solid-liquid mixture who places in the filter screen carry out abundant vibration promptly the material in the centrifugal bottle 290 after the centrifugation, so that liquid can filter out in the material in the centrifugal bottle 290 after the centrifugation, the material in the centrifugal bottle 290 after the automatic filtration centrifugation, can cooperate the automatic culture of other mechanisms to accomplish the cell, can be used to in the environment that the clean grade is hundred grades, in order to improve cultivation efficiency and security.
In an embodiment, the vibration filtering mechanism further includes a material receiving tray, one side of the vertical frame is connected to the second mounting frame, and the material receiving tray is connected to the second mounting frame. After the material in the centrifugal bottle 290 after centrifugation finishes filtering, the power assembly works, rotates the placing rack and carries out ascending or descending treatment, so that the placing rack moves to the position right above the material receiving disc, the liquid part of the material in the centrifugal bottle 290 after centrifugation left on the filter screen can drop into the material receiving disc, and the environment is kept clean.
Foretell vibration filter mechanism is through setting up including the rotatory power component that goes up and down, micro-vibration motor 760's power component, this rotatory power component that goes up and down passes through the connecting piece and is connected with the rack, the filter screen is placed on the rack, through the vibration to the rack, in order to realize the vibration to the filter screen, reach the effect of the material in the centrifuge bottle 290 after filtering centrifugation, and set up the take-up (stock) pan, the rotatory power component that goes up and down drives the rack and remove between take-up (stock) pan and centrifuge bottle 290, in order to reach the effect that the filter screen shifts automatically and the vibration is filtered, realize the material in the centrifuge bottle 290 after the automatic filtration centrifugation, and improve and cultivate efficiency, reduce manual operation, in order.
In an embodiment, the liquid suction mechanism includes a control chip, a liquid suction assembly and a visual detection assembly, the visual detection assembly includes a camera assembly and a visual controller, the camera assembly is connected with the visual controller, and the visual controller and the liquid suction assembly are respectively connected with the control chip; the centrifugal bottle 290, the camera shooting assembly and the liquid suction assembly are connected to the culture bottle feeding bin 7; shoot the photo of centrifuge bottle 290 through the subassembly of making a video recording, carry out the photo analysis by the vision controller and obtain liquid layering position information, with liquid layering position information transmission to control chip, carry out the absorption operation of supernatant in centrifuge bottle 290 by control chip drive imbibition subassembly. The photo is shot by the visual detection assembly, the boundary of the upper clear liquid and the lower non-clear liquid in the centrifuge bottle 290 is identified from the angle of visual identification detection, the control chip drives the liquid absorption assembly to absorb the upper clear liquid, the upper clear liquid can be automatically absorbed, the liquid in the centrifuge bottle 290 is separated, and the accuracy of liquid separation is high.
In one embodiment, the pipetting assembly includes a first moving structure, a peristaltic pump connected to the first moving structure, and a pipette (not shown) connected to the peristaltic pump, with the centrifuge bottle 290 positioned below the peristaltic pump. The first moving structure can drive the pipette to move so as to flexibly adjust the height of the pipette according to the boundary of the cells and the supernatant. The camera assembly is used to detect the height of the cells in the centrifuge bottle 290 from the bottom of the bottle to the boundary of the supernatant; the height data is transmitted to the control chip, the control chip controls the stroke of the first moving structure, the control pipette is controlled to descend to the boundary of the supernatant and the cells, then the peristaltic pump is started, the supernatant is sucked out and collected in the liquid collecting bag, and the purpose of fully automatically sucking the supernatant is achieved.
In an embodiment, the liquid absorbing mechanism further includes a liquid collecting bag (not shown in the figure) for storing supernatant, the liquid collecting bag is connected to the bracket through a liquid collecting bag bracket, and the liquid collecting bag is connected to the peristaltic pump through a liquid outlet pipe. And the liquid collecting bag is used for collecting the supernatant liquid absorbed.
In the present embodiment, the model of the control chip is, but not limited to, STM32F103ZET 6; the vision controller is of a type, but not limited to, SCI-Q3.
The vision controller adopts edge detection technology to identify and acquire liquid layering position information, firstly detects the discontinuity of local characteristics of the graph, then connects the graph into boundaries, the boundaries divide the graph into different areas, and the graph with the detected edges can be subjected to feature extraction and shape analysis.
Shoot the photo of centrifuge bottle 290 through the subassembly of making a video recording, carry out the photo analysis by the vision controller and obtain liquid layering position information, with liquid layering position information transmission to control chip, carry out the absorption operation of supernatant in centrifuge bottle 290 by control chip drive imbibition subassembly.
The visual controller carries out graying processing on the picture to obtain a grayscale image; performing Gaussian filtering on the gray level image to obtain a de-noised image; calculating gradient values and directions of the de-noised images to obtain images with the gradient values; and carrying out non-maximum value inhibition, double-threshold selection and edge detection on the image with the gradient value to obtain liquid layering position information.
Foretell imbibition structure is through setting up visual detection subassembly and imbibition subassembly, acquires the photo of centrifuge bottle 290 by the visual detection subassembly, and adopts and carry out edge detection to this photo, in order to obtain liquid layering positional information, and move the displacement that corresponds according to the first removal structure of liquid layering positional information drive by control chip, make the pipette can only absorb the supernatant, realize full-automatic upper clear liquid of absorbing, and adopt visual identification to detect, the separation accuracy of liquid is higher.
In an embodiment, the cryopreservation tube split charging mechanism 480 comprises a liquid pumping structure and a liquid separating structure, the liquid pumping structure and the liquid separating structure are respectively connected to the feeding bin 7 of the culture bottle, the liquid separating structure comprises a tray for placing the cryopreservation tube and the liquid storage tank and a tray moving assembly for driving the tray to move, and the liquid pumping structure is located above the tray; when liquid partial shipment is carried out to needs, tray removal subassembly work is in order to drive the tray removal to make the liquid storage pot be located the below of pump liquid structure, after the liquid storage pot was got in the pump liquid structure pump, tray removal subassembly work was in order to drive the tray removal, so that the cryopreserved pipe is located the below of pump liquid structure, by pump liquid structure pump liquid to cryopreserved pipe in, the material in the liquid storage pot is through the material that the master pump liquid mechanism took out from the centrifuge bottle interior pump after absorbing the upper clear liquid.
In an initial state, the liquid pumping structure is positioned above the liquid separating structure and is a certain distance away from the tray, when the freezing pipe and the liquid storage tank on the tray are placed in place, the tray moving assembly moves on an X axis and a Y axis to enable the liquid storage tank to be placed under the liquid pumping structure, the liquid pumping structure can automatically pump liquid after moving downwards, the liquid is pumped from the liquid storage tank and temporarily stored in the liquid pumping structure, the liquid pumping structure stops pumping the liquid after the liquid with the corresponding volume is pumped each time by timing matched with the liquid pumping speed and the like, the liquid pumping structure moves upwards, when the tray moving assembly moves in place, the tray moves to drive the tray to move, the freezing pipe moves to be under the liquid pumping structure, the liquid can be automatically pumped out after the liquid pumping structure moves downwards, the liquid temporarily stored in the liquid pumping structure is pumped out and stored in the freezing pipe, and the liquid in the liquid pumping structure is completely pumped out by timing matched with the speed of the liquid, afterwards, pump liquid structure moves up in order to resume initial condition to this automatic partial shipment process of accomplishing whole liquid improves the efficiency of liquid partial shipment, and then realizes the purpose that improves the efficiency of cell preparation.
In an embodiment, the liquid pumping structure includes a liquid injecting head, a liquid injecting power source, a first liquid injecting mounting plate and a liquid injecting moving assembly, the liquid injecting moving assembly is connected to the feeding bin 7 of the culture bottle, the liquid injecting power source and the liquid injecting head are connected to the first liquid injecting mounting plate, and the first liquid injecting mounting plate is connected to the liquid injecting moving assembly.
In this embodiment, the number of the liquid injection heads is several, so as to pump out multiple liquid at one time, and certainly, the opening width of the liquid storage tank needs to satisfy the requirement that all the liquid injection heads can enter or come out simultaneously.
In this embodiment, the injection power source includes a peristaltic pump, and the peristaltic pump pumps or pumps out liquid to achieve the purpose of automatically pumping liquid.
In an embodiment, the first liquid injection mounting plate includes a first vertical connecting section, a horizontal connecting section, and a second vertical connecting section, which are connected in sequence, the first vertical connecting section is connected to the liquid injection moving assembly, and the liquid injection head and the liquid injection power source are connected to the second vertical connecting section.
The second that adopts first vertical linkage segment, horizontal connection section and the vertical linkage segment of second to connect the formation annotates the liquid mounting panel, can be so that annotate the liquid head and 7 distance one section distances in culture flask pan feeding storehouse to annotate the liquid head and can insert the liquid storage pot smoothly and freeze in the deposit pipe.
In one embodiment, the lower end of the liquid injection head extends to the lower part of the second vertical connecting section. So that the whole liquid injection head can be inserted into the liquid storage tank and the freezing storage pipe.
In one embodiment, annotate liquid removal subassembly and include annotating liquid servo module, annotate liquid servo module and be connected with blake bottle pan feeding storehouse 7 through annotating the liquid support, first vertical linkage segment is connected on annotating liquid servo module. Annotate and be equipped with on the liquid servo module and annotate the liquid slider, foretell second annotates the liquid mounting panel and connects in annotating the liquid slider, slides on homepage servo module through annotating the liquid slider, alright realize annotating the liquid head and can reciprocate.
In one embodiment, the tray is provided with a plurality of jacks and a tank body support, the tray moving assembly is connected with a tray mounting plate, and the tray is connected with the tray mounting plate. The tank body support is used for fixing the liquid storage tank, and the insertion holes are used for fixing the freezing storage pipes.
Specifically, foretell jar of body support includes a plurality of stand, and a plurality of stand and tray enclose to close and form the cavity that supplies the liquid storage pot to place including, and is equipped with the fixed orifices on foretell tray, and this fixed orifices is arranged in the cavity to the location and the fixing of coniform liquid storage pot are convenient for.
In one embodiment, the tray moving assembly includes a second X-axis servo module and a second Y-axis servo module, the second X-axis servo module is connected to the feeding chamber 7 of the culture bottle, and the second Y-axis servo module is connected to the second X-axis servo module. Utilize the cooperation of second X axle servo module and second Y axle servo module, realize that the tray moves on X axle and Y axle, with annotate the cooperation that the liquid removed the subassembly, realize the purpose of automatic pump liquid.
In one embodiment, the second X-axis servo module is connected to the feeding chamber 7 of the culture bottle through the X-axis connecting seat 872. The second Y-axis servo module is connected to the second X-axis servo module through the Y-axis connecting seat.
In one embodiment, a second protection cover 871 is disposed on the periphery of the second X-axis servo module to protect the second X-axis servo module from dust.
Specifically, because the position of the jack on tray mounting panel, the tray and the jar body support, alright set well second X axle servo module, second Y axle servo module and annotate the distance that liquid servo module moved at every turn.
Of course, in other embodiments, a plurality of sensors may be disposed on the feeding chamber 7 of the culture bottle to detect and position the sensors, so as to perform corresponding detection on the tray and the position where the liquid injection head moves, thereby achieving the purpose of automatically dispensing liquid.
In other embodiments, the tray is provided with a plurality of insertion holes for placing the freezing and storing tubes.
The tray is connected with the tray mounting plate through fasteners such as screws.
In an embodiment, the second vertical connecting section is provided with a clamping jaw, and the liquid injection head is inserted into the clamping jaw to fix the liquid injection head.
In an initial state, after the freezing tube and the liquid storage tank on the tray are placed in place, the tray moving assembly moves in an X axis and a Y axis to enable the liquid storage tank to be placed under the liquid injection head, the liquid injection moving assembly moves downwards, the liquid injection head can automatically pump liquid, the liquid is pumped from the liquid storage tank and temporarily stored in the liquid pumping structure, the liquid injection head stops pumping the liquid after the liquid with the corresponding volume is pumped each time by timing matched with the liquid pumping speed and the like, the liquid injection moving assembly moves upwards, when the tray moving assembly moves in place, the tray moving assembly works to drive the tray to move, the freezing tube moves under the liquid pumping structure, the liquid injection head can automatically pump the liquid after the liquid injection moving assembly moves downwards, the liquid temporarily stored in the liquid pumping structure is pumped out and stored in the freezing tube, and all the liquid in the liquid pumping structure is pumped out by timing matched with the speed of the liquid, afterwards, annotate liquid and remove subassembly upward movement to make and annotate the liquid head and resume initial condition, with this automatic partial shipment process of accomplishing whole liquid, improve the efficiency of liquid partial shipment, and then realize the purpose that improves the efficiency of cell preparation.
Foretell cryopreserved pipe partial shipment mechanism 480 is through setting up pump liquid structure and dividing the liquid structure, moves the subassembly by the tray and drives the tray and remove, and the cooperation is annotated liquid and is moved the removal that the subassembly drove notes liquid head, realizes annotating the liquid head and carry out the pump of liquid and get and pump out in cryopreserved pipe and/or the stock solution jar on the tray, realizes automatic partial shipment liquid to cryopreserving intraductally, improves liquid partial shipment efficiency, further improves the efficiency of cell preparation.
In one embodiment, the above-mentioned centrifugal cell-packaging device 4 further comprises a cover-opening and closing mechanism 490 for the freezing tube disposed above the liquid-separating structure, the cover opening and closing mechanism 490 for the freezing tube comprises a second moving structure connected with the feeding bin 7 of the culture bottle and a cover opening and closing structure, the cover opening and closing structure comprises a first upper cover, a pipe body clamping component, a pipe cover clamping component and a pipe cover rotating component, the second moving structure is connected with a culture bottle feeding bin 7, a fourth connecting frame is arranged in the first upper cover, the first upper cover is connected with the second moving structure, the pipe body clamping assembly and the pipe cover rotating assembly are respectively connected onto the fourth connecting frame, the pipe cover clamping assembly comprises a bottle cover pushing assembly and an elastic clamping piece, the bottle cover pushing assembly is connected with the fourth connecting frame, and a sensor for detecting a bottle cover of the frozen pipe is arranged on the fourth connecting frame; when the sensor detects the bottle lid, the second removes the structure and drives uncapping and close the lid structure and remove to pipe shaft centre gripping subassembly and contact the body of cryopreserving pipe towards the direction that is close to cryopreserved pipe after, pipe shaft centre gripping subassembly presss from both sides the body of cryopreserving pipe, and the bottle lid promotes the subassembly and promotes the tight bottle lid of elasticity holder clamp, and pipe lid rotating assembly work drives the elasticity holder and rotates to realize uncapping or close the lid.
In an embodiment, the tube body clamping assembly includes a left body clamping assembly and a right body clamping assembly, the left body clamping assembly and the right body clamping assembly are respectively connected to the fourth connecting frame, and the tube cap clamping assembly is disposed between the left body clamping assembly and the right body clamping assembly.
When the sensor detects the bottle lid, show that present cryopreserved pipe has put in place, then body left side centre gripping subassembly and body right side centre gripping subassembly start-up work press from both sides the body of tightly cryopreserved pipe.
Specifically, the left centre gripping subassembly of body includes left power supply and left clamp lamella, and left power supply is connected with the fourth link, and left power supply is connected with left clamp lamella, presss from both sides the lamella towards the direction removal that is close to the body with the help of left power supply drive left side, realizes the pipe shaft centre gripping to the cryopreserved pipe with the cooperation of the right centre gripping subassembly of body.
Specifically, body right side centre gripping subassembly includes right power supply and right clamp lamella, and right power supply is connected with the fourth link, and right power supply is connected with right clamp lamella, presss from both sides the lamella with the right side of right power supply drive and removes towards the direction that is close to the body, presss from both sides the lamella cooperation with the left side and realizes the pipe shaft centre gripping to the cryopreserving pipe.
In addition, left power supply and right power supply are connected with the fourth link respectively, are equipped with the interval between left power supply and the right power supply.
In an embodiment, foretell left clamp lamella includes left vertical board, left arc linkage segment and left splint, and this left vertical board is connected with left power supply, and the lower extreme of left vertical board is connected with the one end of left arc linkage segment, and the other end and the left splint of this left arc linkage segment are connected, are equipped with the arc recess on the above-mentioned left splint.
Foretell right clamp lamella includes right vertical board, right arc linkage segment and right splint, and this right vertical board is connected with the right power supply, and the lower extreme of right vertical board is connected with the one end of right arc linkage segment, and the other end and the right splint of this right arc linkage segment are connected, are equipped with the arc recess on the above-mentioned right splint.
Foretell left splint and right splint are the horizontal plate form, realize the firm centre gripping to the body of cryopreserving pipe.
In an embodiment, a tube body clamping guide rod is connected to the left vertical plate and the right vertical plate, and the tube body clamping guide rod is connected with the fourth connecting frame through a tube body clamping guide plate, so that the left clamping flap and the right clamping flap are pushed to play a guiding role.
In an embodiment, the bottle cap pushing assembly includes a first power source and a push rod, the first power source is connected to the fourth connecting frame through a first mounting plate, the first power source is connected to the push rod, an upper end of the elastic clamping member is connected to a telescopic rod, and the telescopic rod is connected to the push rod. First power supply promotes the push rod and removes towards the direction that is close to the tube bottle lid that freezes, and the push rod promotes the telescopic link of elasticity holder upper end and removes towards the direction that is close to the tube bottle lid that freezes to make the elasticity holder remove towards the direction that is close to the tube bottle lid that freezes, and then make the elasticity holder press from both sides tight bottle lid.
In an embodiment, the push rod includes a second connecting plate and a rod set, an upper end of the rod set is connected to the second connecting plate, the second connecting plate is connected to the first power source, a lower end of the rod set is connected to the telescopic rod, a push rod guide plate is connected to the rod set, and the push rod guide plate is connected to the fourth connecting frame. The push rod guide plate is used for guiding the movement of the rod group.
Specifically, foretell pole piece group includes left pole piece and right pole piece, and the lower extreme of this left pole piece is equipped with left push pedal, and the lower extreme of right pole piece is equipped with right push pedal, is equipped with left recess on this left push pedal, is equipped with right recess on this right push pedal, and this left recess and right recess enclose to close and form and supply the telescopic link to insert the dead slot including establishing.
Specifically, foretell telescopic link includes outer pole and interior pole, the lower extreme of this interior pole is inserted and is established in the outer pole, the lower extreme of foretell outer pole is connected with the elasticity holder, be equipped with a locating part on the outer pole, the upper end of this elasticity holder is equipped with the spacing collar, be equipped with a clearance between spacing collar and the locating part, foretell left push pedal and right push pedal are arranged in this clearance, with the help of left push pedal and right push pedal the spacing collar move down or the butt locating part moves up, and then realize the centre gripping to the elasticity holder, in addition, foretell interior pole passes through the fastener and is connected with the push rod deflector, and the upper end and the tube cap rotating assembly of interior pole are connected, rotate in order to realize driving by the tube cap rotating assembly, interior pole drives the outer pole and rotates, the outer pole drives.
In an embodiment, the outer rod is provided with a limiting rod, and the limiting rod is used for limiting the moving distance of the inner rod.
In an embodiment, the tube cap rotating assembly includes a rotating shaft, a driving wheel and a second power source, the second power source is connected to the fourth connecting frame through a second mounting plate, a driven gear is disposed at a terminal of the rotating shaft, a main gear is disposed at a terminal of the second power source, the main gear is engaged with the driven gear, the rotating shaft is connected to the push rod guide plate through the mounting frame, the driving wheel is connected to the rotating shaft, a driven wheel is disposed at an upper end of the telescopic rod, and the driving wheel is engaged with the driven wheel.
In this embodiment, a shield is provided around the second power source, and the shield is connected to the fourth link.
Specifically, foretell interior pole upper end is equipped with from the driving wheel, is driven the pivot by the second power supply and rotates, and the rotation of pivot can drive the action wheel and rotate, is driven by the action wheel and rotates from the driving wheel, and then realizes the rotation to the elasticity holder to drive the bottle lid and rotate, realize automatic uncapping or closing the lid.
Foretell cryopreserved pipe switch lid mechanism 490 detects the bottle lid place position of cryopreserved pipe through the sensor, utilize the second to remove the structure and remove the lid to suitable position, so that pipe shaft centre gripping subassembly can press from both sides the body of cryopreserved pipe tightly, promote the subassembly by the bottle lid and promote behind the bottle lid that the elasticity holder pressed from both sides the cryopreserved pipe, it is rotatory to drive the elasticity holder by pipe lid rotating assembly, in order to uncap or close the lid operation, realize being convenient for full-automatic uncap or close the lid, compact structure, small in floor area, applicable in the operation of uncap or close the lid of the cryopreserved pipe of different positions, also can be applicable to the operation of uncap or close the lid of the cryopreserved pipe of not co-altitude, the efficiency of culture is greatly improved.
In an embodiment, the centrifugal cell packaging apparatus 4 further includes a main pump mechanism, the main pump mechanism includes a fourth mounting bracket connected to the feeding bin 7 of the culture bottle, a second controller, a pump assembly and a liquid level detection assembly, the pump assembly is connected to the fourth mounting bracket, the liquid level detection assembly is connected to the fourth mounting bracket, and the pump assembly and the liquid level detection assembly are respectively connected to the second controller. Utilize pump liquid subassembly to pump out the material from the interior of centrifuge bottle 290, and pour into this material into in the liquid storage tank, in order to realize the purpose of automatic pump liquid, set up the liquid level height in the liquid level detection subassembly detects the liquid storage tank, when the liquid level height of liquid storage tank surpassed a certain height, that is to say when the liquid level detection subassembly detected the liquid level height in the liquid storage tank and surpassed a certain height, send signal to second controller, stop the pump by second controller drive pump liquid subassembly and go into liquid, with the pump income volume of strict control liquid, realize the accurate control to liquid level, avoid liquid too much and spill over the liquid storage tank and cause environmental pollution.
In an embodiment, referring to fig. 5, the liquid pumping assembly includes a lifting assembly and a plurality of peristaltic pumps, the lifting assembly is connected to the fourth mounting frame, the peristaltic pumps are connected to the liquid pumping pipe, the peristaltic pumps are connected to the lifting assembly through a peristaltic pump mounting plate, and the peristaltic pumps are connected to the second controller. Lifting unit drives peristaltic pump and pump liquid pipe and removes towards being close to the liquid storage pot direction for in the pump liquid pipe gets into the liquid storage pot, the work of peristaltic pump or stop work, alright realize the automatic pump and go into or pump out liquid, the back is accomplished in the operation, again by lifting unit work, drives peristaltic pump and pump liquid pipe and removes towards keeping away from the liquid storage pot direction, so that the pump liquid pipe draws out from the liquid storage pot.
In an embodiment, a second guide rod extending downward is connected to the peristaltic pump mounting plate, a through groove is formed in the second guide rod, and the pump liquid tube is inserted into the through groove. The efficiency of pump liquid is improved.
In an embodiment, the liquid level detection assembly is connected to the fourth mounting frame through an ultrasonic connecting frame. Specifically, the liquid level detection subassembly includes a plurality of ultrasonic sensor, and ultrasonic sensor is located the below of peristaltic pump, and ultrasonic sensor is connected with the ultrasonic wave link, and ultrasonic sensor is connected with the second controller. Utilize ultrasonic sensor to detect the height of the liquid level in the liquid storage tank, detect whether the liquid level in the liquid storage tank exceeds a certain threshold value to in time stop the work of peristaltic pump, stop the pump income of liquid.
Of course, it is also possible to detect whether the liquid level is lower than a certain threshold value by the ultrasonic sensor when the liquid is pumped out, and if so, send a signal to the second controller, and the peristaltic pump is driven by the second controller to stop working so as to stop pumping out the liquid.
In the present embodiment, the second controller model described above is, but is not limited to, STM32F103ZET 6.
Foretell total pump liquid mechanism is through setting up pump liquid subassembly and liquid level detection subassembly, drive reciprocating of peristaltic pump and pump liquid pipe through lifting unit, the pump liquid pipe inserts in the liquid storage pot under the guide effect of second guide bar, carry out the pump liquid operation, when going into liquid to the liquid storage pot pump, liquid level detection subassembly detects the liquid level in the liquid storage pot and whether surpasss a certain threshold value, so that the second controller can in time control the peristaltic pump stop work when liquid level surpasses a certain threshold value in the liquid storage pot, avoid liquid to spill over the liquid storage pot, realize automatic pump income or pump out culture solution, and can accurately detect the liquid level in the liquid storage pot, in order to improve pump liquid efficiency, avoid the liquid pump to go into the excess.
The culture bottle feeding bin 7 is provided with a bin shell, the centrifuge bottle cover opening mechanism 450, the manipulator, the centrifuge 411, the vibration filtering mechanism, the liquid absorbing mechanism and the freezing tube subpackaging mechanism 480 are arranged in the bin shell, only a hydrogen peroxide generator is arranged below the culture bottle feeding bin 7 and used for injecting hydrogen peroxide gas into the bin body, the bin shell is provided with a feeding hole and a discharging hole, the feeding hole is used for inputting mixed substances of cells and culture solution, and the discharging hole outputs the packaged cells.
The above-mentioned centrifugal subpackage device 4 for cells transfers cells among the centrifuge 411, the vibration filter mechanism, the liquid suction mechanism and the cryopreservation tube subpackage mechanism 480 by means of the manipulator through the culture bottle feeding bin 7, the centrifuge bottle uncapping mechanism 450, the manipulator, the centrifuge 411, the vibration filter mechanism, the liquid suction mechanism and the cryopreservation tube subpackage mechanism 480, and correspondingly performs centrifugation, filtration, supernatant liquid suction and subpackage operations, so as to realize the fully automatic centrifugation operation of cells and culture solution, automatically remove the supernatant liquid, mix the cryopreservation tube with substances in the centrifuge bottle 290, and subpackage for output, thereby improving the cell preparation efficiency.
In an embodiment, referring to fig. 1, the front side of the centrifugal bin is connected to a discharging transfer bin 5 and a discharging bin 6 which are connected in sequence. The front side of the centrifugal bin is also connected with a feeding transfer bin and a feeding bin 7 which are connected in sequence. The feeding bin 7 is used for inputting seed cells and consumables, the feeding transfer bin plays a role in isolating and controlling environment levels, the discharging bin 6 is used for outputting the cultured cells, the seed cells enter the feeding transfer bin from the feeding bin 7 and then enter the liquid preparation bin through the centrifugal bin, the cultured cells are loaded from the culture bottle feeding bin and transmitted to the feeding storage bin, and then are transferred to a culture bottle of the liquid preparation bin through the feeding storage bin, and are jointly input into the culture bin for culture, and then are transmitted to the centrifugal bin through the liquid preparation bin for centrifugation and split charging treatment, and then are output through the discharging transfer bin 5 and the discharging bin 6, and the culture bottles are output after entering the feeding storage bin from the liquid preparation bin.
Foretell cell batch production automation equipment, through 2 input blake bottles of blake bottle automatic transmission bunching device, pour into cell and culture solution to the blake bottle in automatic liquid device 1 that joins in marriage to after cultivateing through full-automatic cell culture device 3, carry out centrifugation and partial shipment processing in the cell centrifugation partial shipment device 4 with the cell input after cultivateing by automatic liquid device 1 that joins in marriage, and the cell output after will subpackaging realizes full-automatic and batch production cell, and is efficient, and the success rate is high.
The technical content of the present invention is further described by the embodiments only, so that the reader can understand it more easily, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation according to the present invention is protected by the present invention. The protection scope of the present invention is subject to the claims.

Claims (10)

1. The automatic cell batch production equipment is characterized by comprising an automatic liquid preparation device, an automatic culture bottle conveying and stacking device, a full-automatic cell culture device and a centrifugal cell subpackaging device, wherein the automatic culture bottle conveying and stacking device is positioned on the left side of the automatic liquid preparation device, the full-automatic cell culture device is positioned on the right side of the automatic liquid preparation device, and the centrifugal cell subpackaging device is positioned on the front side of the automatic liquid preparation device; the automatic conveying and stacking device for the culture bottles inputs the culture bottles, the cells and the culture solution are injected into the culture bottles in the automatic solution preparation device, the cells are cultured by the full-automatic cell culture device, the cells cultured by the automatic solution preparation device are input into the cell centrifugal subpackaging device for centrifugation and subpackaging treatment, and the subpackaged cells are output.
2. The automatic cell batch production equipment according to claim 1, wherein the automatic liquid preparation device comprises a liquid preparation bin, a multi-station switching structure, a high-protection compact conveying structure, a material moving and rotating structure, a plurality of cover opening structures and a plurality of liquid pumping structures, a liquid preparation cavity is arranged in the liquid preparation bin, the multi-station switching structure, the plurality of cover opening structures, the liquid pumping structure and the high-protection compact conveying structure are respectively positioned in the liquid preparation cavity, the liquid pumping structure is positioned above the multi-station switching structure, the cover opening structure is positioned above the material moving and rotating structure, the high-protection compact conveying structure is located below the multi-station switching structure, the material moving and rotating structure is located below the cover opening structure, and the material moving and rotating structure can extend out of the liquid distribution bin.
3. The automated cell batch production equipment according to claim 2, wherein the multi-station switching structure comprises a multi-station switching base, a switching structure and a plurality of clamping rotating structures for clamping culture bottles, the switching structure is connected to the multi-station switching base, the plurality of clamping rotating structures are respectively connected to the switching structure at intervals, the multi-station switching base is installed in the liquid distribution bin, the pump structure is located above the clamping rotating structures, and the plurality of clamping rotating structures are driven to switch different stations through rotation of the switching structure.
4. The automatic batch production equipment for cells according to claim 3, wherein the automatic conveying and stacking device for culture bottles comprises a culture bottle feeding bin, a conveying mechanism and a stacking mechanism located in the feeding storage bin, the culture bottle feeding bin is connected to the left side of the feeding storage bin, the conveying mechanism comprises a conveying support, a conveying power assembly and a push rod assembly located in the culture bottle feeding bin, the push rod assembly is located in the conveying support, the conveying power assembly is connected with the push rod assembly, the stacking mechanism comprises a culture bottle taking assembly and a storage assembly, the culture bottle taking assembly and the storage assembly are respectively located in the culture bottle feeding bin, the culture bottle taking assembly comprises a sucker structure and a moving structure, and the sucker structure is connected with the moving structure; when the culture bottles are transferred between the culture bottle feeding bin and the feeding storage bin, the transmission power assembly drives the push rod assembly to move, and the push rod assembly pushes the culture bottles to move so that the culture bottles enter the feeding storage bin; sucking disc structure absorbs the back with the blake bottle, is removed by removal structure drive sucking disc structure to make the blake bottle arrange in store the subassembly top, sucking disc structure loosens the blake bottle, so that the blake bottle stack is in storing the subassembly.
5. The automated cell batch production device according to claim 4, wherein the push rod assembly comprises a first-stage push rod structure and a second-stage push rod structure, and the second-stage push rod structure is connected with one end of the first-stage push rod structure, which is close to the feeding storage bin.
6. The automated cell batch production device according to claim 5, wherein the fully automated cell culture apparatus comprises a culture bin, an incubator, a transfer mechanism, a culture support, a rotary movement mechanism and an observation mechanism, the culture bin is connected to the right side of the liquid preparation bin, the transfer mechanism, the observation mechanism, the rotary movement mechanism and the culture support are connected in the culture bin, the culture bin is provided with an opening, the incubator is inserted into the opening, and the culture support is arranged on the rotary movement mechanism; when cell culture is needed, the transfer mechanism inputs culture bottles in a culture bin from a feeding storage bin and absorbs and moves to a culture support to be temporarily stored, the rotary moving mechanism rotates the culture support and moves to the culture box to culture, and after cell culture is completed, the rotary moving mechanism moves the culture support to a specified position, the transfer mechanism absorbs and moves the culture bottles on the culture support to an observation mechanism, and the observation mechanism carries out the movement of the culture bottles and the observation of cells in the culture bottles.
7. The automated batch production equipment of cells according to claim 6, wherein the centrifugal cell subpackaging device comprises a centrifugation bin, a centrifuge bottle uncovering mechanism, a manipulator, a centrifuge, a vibration filtering mechanism, a liquid absorbing mechanism and a freezing tube subpackaging mechanism; the centrifugal bin is connected to the front side of the liquid distribution bin, and the centrifugal bottle cover opening mechanism, the mechanical arm, the centrifugal machine, the vibration filtering mechanism, the liquid absorbing mechanism and the freezing tube sub-packaging mechanism are respectively connected into the centrifugal bin; through centrifuge bottle uncapping mechanism carries out the operation of uncapping to the centrifuge bottle, pours into the centrifuge bottle with the cell after the cultivation and culture solution mixture in, centrifuge bottle uncapping mechanism carries out the operation of closing the lid to the centrifuge bottle, the manipulator removes the centrifuge bottle and centrifuges on to filter impurity through vibration filter mechanism with the material in the centrifuge bottle after the centrifugation, retrieve the upper clear liquid through imbibition mechanism with the centrifuge bottle after filtering impurity, mix the back with the frozen stock solution with lower floor's material in the centrifuge bottle, through frozen stock pipe split charging mechanism encapsulates the material in the centrifuge bottle after mixing to obtain the cell after the encapsulation.
8. The automated cell batch production device according to claim 7, wherein the centrifugal cell split charging device further comprises a semiconductor incubator, the semiconductor incubator comprises a controller, an outer shell and an isolation box body, a cavity is arranged in the outer shell, the isolation box body is fixed in the cavity, a semiconductor refrigeration assembly, a temperature sensor and a bag hanging assembly for placing bagged liquid are arranged in the isolation box body, the semiconductor refrigeration assembly and the temperature sensor are respectively connected with the controller, and the outer shell is connected with the centrifugal bin.
9. The automated cell batch production device according to claim 7, wherein a discharge transfer chamber and a discharge chamber are connected in series to the front side of the centrifugal chamber.
10. The automated cell batch production device according to claim 7, wherein the front side of the centrifugal chamber is further connected with a feeding transfer chamber and a feeding chamber which are connected in sequence.
CN201921648012.XU 2019-09-29 2019-09-29 Automatic cell batch production equipment Active CN210974703U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113073052A (en) * 2021-06-03 2021-07-06 南京艾尔普再生医学科技有限公司 Full-automatic cell production line

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113073052A (en) * 2021-06-03 2021-07-06 南京艾尔普再生医学科技有限公司 Full-automatic cell production line

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