CN212293602U - Stem cell feeding bin control system - Google Patents
Stem cell feeding bin control system Download PDFInfo
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- CN212293602U CN212293602U CN202020665552.5U CN202020665552U CN212293602U CN 212293602 U CN212293602 U CN 212293602U CN 202020665552 U CN202020665552 U CN 202020665552U CN 212293602 U CN212293602 U CN 212293602U
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Abstract
The utility model discloses a stem cell goes into feed bin control system, include: the automatic culture bottle picking and placing device comprises a rack, and a feeding mechanism, a picking and placing goods shelf, a grabbing mechanism and an electric control module which are arranged on the rack, wherein a culture box for placing a culture bottle is stored on the picking and placing goods shelf; the electric control module comprises a motion controller, a signal input end of the motion controller is electrically connected with the control terminal, a signal output end of the motion controller is electrically connected with the feeding mechanism and the grabbing mechanism, and the motion controller is used for controlling the feeding mechanism and the grabbing mechanism to be matched with each other to fetch and place the corresponding culture bottles. All operations in the culture process are in a closed space, the culture bottle can automatically enter and exit the culture box, stem cells can be cultured automatically, the stem cell culture process is prevented from being polluted, and the stem cell culture quality is improved.
Description
Technical Field
The utility model relates to a stem cell culture field, the more specifically stem cell pan feeding storehouse control system that says so.
Background
The stem cell culture is mainly completed in a carbon dioxide incubator. And (3) seeding the seed cells into a culture bottle, then adding a culture medium, fully mixing uniformly and flatly spreading the seed cells to the inner side surface of the culture bottle, and then putting the culture bottle into an incubator.
The first generation cell culture period is about three days, and the cells are taken out every 4 hours in the middle and placed under a microscope to observe the growth state of the cells; after the new generation of cells are cultured, the culture flask needs to be taken out from the incubator for subsequent cell stripping and collection. At present, the cell culture is mainly completed by manual operation, and the manual operation brings two problems:
1. the human body is a pollution source, and the human body can bring cross contamination when the human body is frequently contacted with the culture bottle after the human body takes the bottle from the culture box or takes the bottle to a microscope for observation;
2. each 250L carbon dioxide incubator can simultaneously cultivate 120 bottles of T175 culture bottles, so that large-scale cultivation is realized, and the labor intensity of technicians is increased by taking and placing the culture bottles by the incubators;
the information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art not enough, provide a stem cell goes into feed bin control system.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
in a first aspect, the utility model provides a stem cell goes into feed bin control system, including the frame, and set up feeding mechanism, access goods shelves, snatch mechanism and the electronic control module in the frame, the incubator that is used for placing the blake bottle is deposited on the access goods shelves, feeding mechanism is used for carrying the blake bottle to the target position along the horizontal direction, snatch mechanism is used for the centre gripping and gets and put the blake bottle, the access goods shelves are used for placing the blake bottle;
the electric control module comprises a motion controller, a signal input end of the motion controller is electrically connected with the control terminal, a signal output end of the motion controller is electrically connected with the feeding mechanism and the grabbing mechanism, and the motion controller is used for controlling the feeding mechanism and the grabbing mechanism to cooperatively take and place the corresponding culture bottles according to received operation instructions of the control terminal.
Furthermore, the grabbing mechanism comprises a sucker assembly for sucking, fixing and taking and placing the culture bottle and a mounting bracket for mounting the sucker assembly, and a Z-axis motor and an X-axis motor for driving the sucker assembly to move along the Z-axis direction and the X-axis direction are arranged in the mounting bracket; the sucking disc subassembly includes vacuum generator, and connect in vacuum generator's vacuum chuck, vacuum generator connect in electronic control module.
Furthermore, a Y-axis motor is arranged in the feeding mechanism and used for driving the feeding mechanism to feed along the Y-axis direction.
Furthermore, the motion controller is a four-axis motion control card, and a terminal board of the four-axis motion control card is electrically connected with the Z-axis motor, the X-axis motor and the Y-axis motor respectively to control the start and stop of the Z-axis motor, the X-axis motor and the Y-axis motor.
Further, the four-axis motion control card is a DMC2410 motion control card.
Furthermore, a digital quantity input interface, an analog quantity input interface and an analog quantity output interface are further arranged on a terminal board of the four-axis motion control card, the digital quantity input interface is electrically connected with a photoelectric sensor, a cylinder stroke position sensor and a clamping jaw position sensor, the analog quantity input interface is electrically connected with an execution element used for measuring bin body environment parameters, and the analog quantity output module is electrically connected with an execution element used for changing bin body environment.
Furthermore, the executive elements for measuring the environmental parameters of the bin body comprise a laminar flow wind speed measuring element, a pressure difference measuring element inside and outside the bin and a temperature and humidity measuring element inside the bin; the executive elements for changing the volume of the bin body environment comprise a laminar flow fan wind speed control element and a wind pipe wind valve control element.
Further, the operation instruction includes information on the number of culture bottles and information on the position of an incubator into which the culture bottles are taken out or placed.
Compared with the prior art, the utility model beneficial effect be: the utility model provides a pair of stem cell pan feeding storehouse control system, through the operation instruction that sets up motion control ware receiving control terminal, and issue control instruction according to the operation instruction and give feeding mechanism and snatch the mechanism, snatch the mechanism and get and put the blake bottle with control feeding mechanism cooperation, accomplish the income storehouse of blake bottle, go out the storehouse and retrieve, all operations in the stem cell culture process are all in airtight space, go on automatically through snatching mechanism and feeding mechanism, realize that the automatic business turn over of blake bottle goes into the incubator, realize automatic culture stem cell, avoid the stem cell culture process to be polluted, and then improve the stem cell culture quality.
The foregoing is a summary of the present invention, and other objects, features and advantages of the present invention will be apparent from the following detailed description of the preferred embodiments, which is provided for the purpose of illustration and understanding of the present invention.
Drawings
FIG. 1 is an assembly diagram of an embodiment of a stem cell feeding bin control system according to the present invention;
fig. 2 is a schematic block diagram of an electric control module of a stem cell feeding bin control system according to the present invention;
FIG. 3 is a wiring diagram of a motion controller of a stem cell feeding bin control system according to the present invention;
FIG. 4 is a schematic flow chart of a stem cell feeding bin control method according to the present invention;
fig. 5 is a sub-flow diagram of the stem cell feeding bin control method 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.
Referring to fig. 1-3, the present invention provides a stem cell storage bin control system, which includes a frame 10, and a feeding mechanism 20, a storage shelf 30, a grabbing mechanism 40 and an electronic control module 50, which are disposed on the frame 10, wherein an incubator for placing a culture bottle is disposed on the storage shelf 30, the feeding mechanism 20 is used for horizontally conveying the culture bottle to a target position, and the grabbing mechanism 40 is used for clamping and picking and placing the culture bottle; the electric control module 50 comprises a motion controller, a signal input end of the motion controller is electrically connected with a control terminal 60, a signal output end of the motion controller is electrically connected with the feeding mechanism 20 and the grabbing mechanism 40, the motion controller is used for controlling the feeding mechanism 20 and the grabbing mechanism 40 to cooperatively fetch and place corresponding culture bottles according to received operation instructions of the control terminal 60, receiving the operation instructions of the control terminal 60 through the motion controller, sending the control instructions to the feeding mechanism 20 and the grabbing mechanism 40 according to the operation instructions so as to control the feeding mechanism 20 to cooperatively grab the grabbing mechanism 40 to fetch and place the culture bottles and complete warehousing, warehousing and recovery of the culture bottles, all operations in the stem cell culture process are in a closed space, the culture bottles are automatically loaded into and unloaded into the incubator through the grabbing mechanism 40 and the feeding mechanism 20, and automatic culture of stem cells is realized, avoid the stem cell culture process to be polluted by manual mistake.
The storage shelf 30 is provided with a plurality of layers of storage spaces, a plurality of incubators can be stored simultaneously, the culture bottles on the feeding mechanism 20 can be clamped and placed into the incubators through the grabbing mechanism 40, and the culture bottles in the incubators can also be clamped and placed into the feeding mechanism 20 for further processing.
The grabbing mechanism 40 comprises a sucker assembly 41 for sucking, fixing and taking and placing the culture bottle, and a mounting bracket 42 for mounting the sucker assembly 41, wherein a Z-axis motor 83 and an X-axis motor 81 for driving the sucker assembly 41 to move along the Z-axis and X-axis directions are arranged in the mounting bracket 42. In addition, a Y-axis motor 82 is disposed in the feeding mechanism 20, and the Y-axis motor 82 is used for driving the feeding mechanism 20 to feed along the Y-axis direction. The suction cup assembly 41 comprises a vacuum generator 86 and a vacuum cup 85 connected to the vacuum generator 86, wherein the vacuum generator 86 is connected to the electronic control module 50, and the electronic control module 50 controls the vacuum cup 85 to clamp the corresponding culture bottle.
The motion controller comprises a four-axis motion control card 51 and a terminal board 52 electrically connected to the four-axis motion control card 51, wherein the terminal board 52 is respectively and electrically connected to a Z-axis motor 83, an X-axis motor 81 and a Y-axis motor 82 to control the start and stop of the Z-axis motor 83, the X-axis motor 81 and the Y-axis motor 82. Specifically, as shown in fig. 2, the Z-axis motor 83, the X-axis motor 81, and the Y-axis motor 82 are respectively connected to the terminal board 52 through a driver 88, the terminal board 52 is further electrically connected to a solenoid valve, and controls a corresponding cylinder 84, such as a propulsion cylinder, through a solenoid valve 87, and is also electrically connected to a vacuum generator 86, and controls the vacuum chuck 85 through the vacuum generator 86.
Referring to fig. 3, in the present embodiment, the four-axis motion control card 51 is a DMC2410 motion control card, and the specific model thereof is a DMC2410C-a/E control card, the DMC2410C-a/E control card is simultaneously connected to a TB68C wiring board and two ACC37-74 wiring boards, and a motor signal is sent to a corresponding motor through the TB68C wiring board to execute operations, so that a stepping motor, a digital servo motor or an air cylinder can be controlled, and the four-axis motion control card is suitable for applications of functions such as multi-axis point location motion, interpolation motion, encoder position detection, IO control, and handwheel control.
The terminal board 52 is further provided with a digital input interface, an analog input interface and an analog output interface, the digital input interface is electrically connected with different sensors 72, and the sensors comprise a photoelectric sensor, a cylinder stroke position sensor and a clamping jaw position sensor and are used for receiving digital signals from the different sensors 72; the analog quantity input interface is electrically connected with an actuating element 71 used for measuring the environmental parameters of the bin body and used for receiving analog signals from different actuating elements 71; the analog quantity output module is electrically connected with an actuating element 71 used for changing the environment of the cabin body and used for outputting an analog signal to control the corresponding actuating element 71.
The executing element 71 for measuring the environmental parameters of the bin body comprises a laminar flow wind speed measuring element, a pressure difference measuring element inside and outside the bin body and a temperature and humidity measuring element inside the bin body. The actuators 71 for varying the volume of the bin environment include a laminar flow fan air speed control element and a wind duct air valve control element. It should be understood that sensors and actuators 71 may be added according to the device configuration, such as control buttons, indicator lights, and illumination lights, and the like, and are not limited to the actuators 71 disclosed above.
The utility model provides a pair of stem cell pan feeding storehouse control system, receive control terminal 60's operation instruction through setting up the motion control ware, and issue control instruction according to the operation instruction and give feeding mechanism 20 and snatch mechanism 40, snatch mechanism 40 and get and put the blake bottle with control feeding mechanism 20 cooperation, accomplish the income storehouse of blake bottle, go out the storehouse and retrieve, all operations in the stem cell culture process are all in airtight space, go on automatically through snatching mechanism 40 and feeding mechanism 20, realize that the automatic incubator of business turn over income of blake bottle, realize automatic stem cell culture, avoid stem cell culture process contaminated, and then improve stem cell culture quality.
Referring to fig. 4, the present invention further provides a method for controlling a stem cell storage bin, based on the above embodiment, the system for controlling a stem cell storage bin comprises the following steps:
and S10, acquiring a job instruction from the control terminal through the electric control module.
In this embodiment, the electronic control module includes a motion controller, a signal input terminal of the motion controller is electrically connected to the control terminal, a signal output terminal of the motion controller is electrically connected to the feeding mechanism and the gripping mechanism, the motion controller is configured to control the feeding mechanism and the gripping mechanism to cooperatively pick and place a corresponding culture bottle according to a received operation command from the control terminal, the motion controller is arranged to receive the operation instruction of the control terminal and issue a control instruction to the feeding mechanism and the grabbing mechanism according to the operation instruction, the culture bottles are taken and placed by the control feeding mechanism and the grabbing mechanism, the warehousing, the delivery and the recovery of the culture bottles are completed, all the operations in the stem cell culture process are in a closed space, through snatching the mechanism and feeding mechanism is automatic goes on, realizes that the automatic business turn over of blake bottle goes into the incubator, realizes automatic stem cell of cultivateing, avoids stem cell culture process to be polluted by artifical mistake.
Wherein, the electronic control module of a plurality of equipment can be connected simultaneously to a control terminal, and control terminal can control different equipment simultaneously and carry out putting in storage, getting out of the warehouse and retrieving of blake bottle. The motion controller comprises a four-axis motion control card and a terminal board connected with the four-axis motion control card, wherein the terminal board is respectively and electrically connected with a Z-axis motor, an X-axis motor and a Y-axis motor so as to control the start and stop of the Z-axis motor, the X-axis motor and the Y-axis motor. Specifically, the Z-axis motor, the X-axis motor and the Y-axis motor are respectively connected with a terminal board through drivers, the terminal board is electrically connected with an electromagnetic valve, the corresponding air cylinder is controlled through the electromagnetic valve, meanwhile, the vacuum generator is electrically connected, and the vacuum sucker is controlled through the vacuum generator. In this embodiment, the four-axis motion control card is a DMC2410 motion control card, which is specifically a DMC2410C-A/E control card.
Wherein, foretell operation instruction includes the quantity information of blake bottle, takes out or puts into the positional information of the incubator of blake bottle, and according to quantity information and positional information in the operation instruction, electronic control module control snatchs the accurate blake bottle of getting of mechanism, avoids artifical intervention, pollutes the blake bottle, improves work efficiency simultaneously.
And S20, opening the incubator, and controlling the grabbing mechanism to take and place the corresponding culture bottle according to the operation instruction.
In this embodiment, after receiving the operation instruction, according to the operation instruction, the control signal is sent to the corresponding motor to control the grabbing mechanism to cooperate with the feeding mechanism, so as to take down the culture bottles of the culture boxes placed on the storage shelf, or place the culture bottles conveyed by the feeding mechanism into an idle culture box, thereby completing the placement of the culture bottles.
Referring to FIG. 5, step S20 includes steps S21-S24.
And S21, analyzing the job command to acquire the job type of the job command.
In this embodiment, the job types of the job instruction include at least three types of warehousing job, warehouse-out job, and recovery job. The control terminal can issue corresponding operation instructions according to the actual operation types to be performed, so that different operation instructions carry different operation type information, the corresponding operation types can be obtained through analysis, and the corresponding motors are controlled to start to work.
And S22, when the operation type of the operation instruction is warehousing operation, controlling the grabbing mechanism to grab the corresponding culture bottles from the feeding mechanism and place the culture bottles in the culture boxes on the storage and taking shelf according to the operation instruction.
In this embodiment, when stem cell need get into the incubator and cultivate, control terminal can give electronic control module and issue the blake bottle operation instruction of warehousing, including the quantity of blake bottle and the position of depositing the incubator in the operation instruction, and electronic control module receives the instruction after, and control is snatched the mechanism and is executed and snatch the operation, snatchs the blake bottle that corresponds quantity and puts into the incubator. Specifically, in the operation in-process of warehousing, snatch the mechanism and can snatch a plurality of blake bottles simultaneously, can be 2 or 4 to improve warehousing efficiency.
And S23, when the operation type of the operation instruction is warehouse-out operation, controlling the grabbing mechanism to grab the corresponding culture bottles from the culture boxes on the storage and taking shelf and put the culture bottles into the feeding mechanism according to the operation instruction.
In this embodiment, after stem cell warehousing cultivation is accomplished, need carry out the subsequent handling operation, need shift out the stem cell from the incubator, control terminal can give electronic control module stem cell operation instruction of going out of the warehouse, and the instruction of going out of the warehouse includes the quantity information of the blake bottle that shifts out and the positional information of the incubator that deposits thereof, and electronic control module is according to receiving the operation instruction of going out of the warehouse, and the control is snatched the mechanism and is shifted out the blake bottle that corresponds quantity and position. Specifically, in the operation process of delivering from godown, snatch the mechanism and also can snatch a plurality of blake bottles simultaneously, can be 2 or 4 to improve the efficiency of delivering from godown.
And S24, when the operation type of the operation instruction is a recovery operation, controlling the grabbing mechanism to grab the corresponding culture bottles from the culture boxes on the storage and taking shelf and put the culture bottles into the recovery device according to the operation instruction.
In this embodiment, after stem cell culture accomplished, need shift out the blake bottle from the incubator, control terminal can give electronic control module and assign and retrieve abandonment blake bottle operation instruction, retrieves including the quantity that shifts out the blake bottle and the position of depositing the blake box in the operation instruction, and electronic control module is according to receiving the operation instruction of retrieving, and the control is snatched the mechanism and is put into recovery unit completion and retrieve corresponding quantity and the blake bottle of position. Specifically, in the operation process of going out of the warehouse, snatch the mechanism and also can snatch a plurality of blake bottles simultaneously, can be 2 or 4 to improve recovery efficiency.
The utility model provides a pair of stem cell pan feeding storehouse control method, receive control terminal's operation instruction through motion controller, and issue control instruction according to the operation instruction and give feeding mechanism and snatch the mechanism, snatch the mechanism and get and put the blake bottle with control feeding mechanism cooperation, accomplish putting in storage, going out of storage and retrieving of blake bottle, all operations in the stem cell culture process are all in airtight space, go on automatically through snatching mechanism and feeding mechanism, realize that the automatic business turn over of blake bottle goes into the incubator, realize automatic culture stem cell, avoid the stem cell culture process to be contaminated, and then improve stem cell culture quality.
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 (8)
1. A stem cell feeding bin control system is characterized by comprising a rack, and a feeding mechanism, a storage and taking goods shelf, a grabbing mechanism and an electric control module which are arranged on the rack, wherein an incubator used for placing a culture bottle is stored on the storage and taking goods shelf, the feeding mechanism is used for conveying the culture bottle to a target position along the horizontal direction, and the grabbing mechanism is used for clamping and taking the culture bottle;
the electric control module comprises a motion controller, a signal input end of the motion controller is electrically connected with the control terminal, a signal output end of the motion controller is electrically connected with the feeding mechanism and the grabbing mechanism, and the motion controller is used for controlling the feeding mechanism and the grabbing mechanism to cooperatively take and place the corresponding culture bottles according to received operation instructions of the control terminal.
2. The stem cell feeding bin control system according to claim 1, wherein the gripping mechanism comprises a sucker assembly for sucking, fixing, taking and placing a culture bottle, and a mounting bracket for mounting the sucker assembly, and a Z-axis motor and an X-axis motor for driving the sucker assembly to move along the Z-axis direction and the X-axis direction are arranged in the mounting bracket; the sucking disc subassembly includes vacuum generator, and connect in vacuum generator's vacuum chuck, vacuum generator connect in electronic control module.
3. The stem cell feeding bin control system according to claim 2, wherein a Y-axis motor is arranged in the feeding mechanism and used for driving the feeding mechanism to feed along a Y-axis direction.
4. The stem cell feeding bin control system according to claim 3, wherein the motion controller comprises a four-axis motion control card and terminal boards connected to the four-axis motion control card, and the terminal boards are electrically connected to the Z-axis motor, the X-axis motor and the Y-axis motor, respectively.
5. The stem cell charging bin control system according to claim 4, wherein the four-axis motion control card is a DMC2410 motion control card.
6. The stem cell feeding bin control system according to claim 5, wherein a digital input interface, an analog input interface and an analog output interface are further arranged on the terminal board, the digital input interface is electrically connected with a photoelectric sensor, a cylinder stroke position sensor and a clamping jaw position sensor, the analog input interface is electrically connected with an execution element for measuring parameters of the bin environment, and the analog output module is electrically connected with an execution element for changing the bin environment.
7. The stem cell feeding bin control system as claimed in claim 6, wherein the actuators for measuring environmental parameters of the bin body comprise a laminar air velocity measuring element, a pressure difference measuring element inside and outside the bin, and a temperature and humidity measuring element inside the bin; the actuators for varying the volume of the cabin environment include a laminar flow fan wind speed control element and a wind pipe wind valve control element.
8. The stem cell feeding bin control system according to claim 1, wherein the operation instructions include information on the number of culture bottles and information on the position of an incubator for taking out or putting in the culture bottles.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020665552.5U CN212293602U (en) | 2020-04-27 | 2020-04-27 | Stem cell feeding bin control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020665552.5U CN212293602U (en) | 2020-04-27 | 2020-04-27 | Stem cell feeding bin control system |
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| CN212293602U true CN212293602U (en) | 2021-01-05 |
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