KR102407889B1 - Automated Cell Culture System Provided With Image Part - Google Patents

Abstract

The present invention is a plast (4) for cell culture; a conical tube (3) used for centrifuging the cultured cells in the flask (4); an incubator (2000) for culturing cells in the flask (4); and a main equipment 1000 for centrifuging cells in the flask 4 cultured in the incubator 2000 or for supplying, removing or replacing the culture solution in the flask 4, the main equipment Reference numeral 1000 relates to an automatic cell culture system comprising an imaging unit 80 for taking an image of cells located inside the flask 4 .

Description

Automated Cell Culture System Provided With Image Part}

The present invention relates to an automated cell culture system.

In order to isolate and culture cells isolated from living organisms, biological tissues are aseptically selected, treated with digestive enzymes such as trypsin or pronase, and separated into single cells and primary culture is performed. In addition, single cells obtained by dispersing the passaged cell line or cell line by the same enzyme treatment are transplanted into the growth medium and inoculated, followed by subculture.

This method of dispersing and culturing single cells by treatment with proteolytic enzymes or the like is called cell culture.

The culture of animal tissues, which started in the early 1900s, has been called tissue culture. This was not to culture single cells by aseptically selecting living tissue and culturing tissue fragments that were cut thinly with scissors or a razor, or scraping the proliferated cell population from the wall of the incubator with laberpolismin, etc. .

In the 1950s, cell dispersion by trypsinization was developed and so-called cell culture began. The development of cell culture methods made it possible to treat the cells constituting living organisms as if they were single-celled organisms.

In this way, the flow of analyzing animal cells was established based on the knowledge or technology obtained from E. coli, etc. As a result, it became possible to quantitatively deal with the basic metabolism, proliferation, differentiation, aging, and oncogenic virus infection of cells at the cellular level.

In cell culture, there are a monolayer culture in which cells attach to an incubator and proliferate, and a suspension culture in which cells grow in a suspended state without adhering to the cell. Also, there is a single cell culture in which a colony is formed by culturing a single cell, or a mass culture in which a large number of cells are cultured conversely.

The present invention not only solves the difficulty of securing skilled manpower and minimizes the skill difference between workers by manufacturing an automated system including the steps of culturing, proliferating, and differentiating cells, but also the imaging unit 80 and the upper vision unit ( 370), in order to be able to check the working status in automated cell culture systems.

Registered Patent No. 10-1873580-0000 (2018.06.26)

The present invention aims to solve the difficulty of securing skilled manpower in the bio industry and minimize the skill difference between workers through standardization of the cell production process, ensuring high quality, and maximizing the production yield by manufacturing a system for automatically culturing cells.

In addition, in the present invention, the upper vision unit 370 moves in the X and Y directions by the X-axis actuators 220 and 230 and the Y-axis actuator 210, so that the working state of each part can be checked.

In addition, in the present invention, the imaging unit 80 is installed to capture an image of cells inside the flask 4 and analyze it.

The present invention is a plast (4) for cell culture; a conical tube (3) used for centrifuging the cultured cells in the flask (4); an incubator (2000) for culturing cells in the flask (4); and a main equipment 1000 for centrifuging cells in the flask 4 cultured in the incubator 2000 or for supplying, removing or replacing the culture solution in the flask 4, the main equipment Reference numeral 1000 relates to an automatic cell culture system comprising an imaging unit 80 for taking an image of cells located inside the flask 4 .

In addition, in the present invention, the image part 80 includes a frame 88 fixed to the base 500 of the main equipment 1000, a support part 82 on which the flask 4 is placed, and the support part 82. The X-axis actuator 81 for moving in the X-axis, the lower part of the X-axis actuator 81 is fixed, and the Y-axis plate 86 for moving the X-axis actuator 81 in the Y-axis direction, the support part ( It may include a camera unit 83 for taking an image of the flask 4 placed on the 82, and a Z-axis actuator 84a for moving the camera unit 83 in the Z-axis direction.

In addition, in the present invention, the support part 82 is located at the center of the recess 82a where the flask 4 is placed, and the recess 82a so that the camera can observe the flask placed in the recess. It may include an opening (82aa) and a fixing pin (82ab) positioned at the edge of the concave portion (82a) to determine the position of the flask.

In addition, in the present invention, the imaging unit 80 further includes an illumination 85b positioned above the camera unit 83, and the illumination 85b is directed in the Z-axis direction by the Z-axis actuator 84a. can be moved

In addition, in the present invention, a Z-axis pillar 84b in the Z-axis direction is installed on the bottom surface 88a of the frame 88, and the Z-axis actuator 84a is installed on the Z-axis pillar 84b, A Z-axis movement block 84d that moves up and down by the operation of the Z-axis actuator 84a is installed on the Z-axis actuator 84a, and a light 85b is fixed on the upper portion of the Z-axis movement block 84d. A lighting block 85a is installed, and a camera block 83a to which the camera unit 83 is fixed may be fixed to a lower portion of the Z-axis movement block 84d.

In addition, in the present invention, on the bottom surface 88a of the frame 88, the Y-axis motor 86c, the Y-axis feed screw shaft 86b and the Y-axis linear guide rotated by the operation of the Y-axis motor 86c. (86a) is installed, and the Y-axis plate 86 moves in the Y direction along the Y-axis linear guide 86a when the Y-axis feed screw shaft 86b is rotated by the driving of the Y-axis motor 86c. this can be

In addition, in the present invention, the main equipment 1000 includes a lab wear loader 100 that provides consumables, an upper camera 370 capable of taking an image of consumables from the upper part of the lab wear loader 100, and the upper camera 370 ) may include X-axis actuators 220 and 230 for moving the X-axis direction, and a Y-axis actuator 210 for moving the upper camera 370 in the Y-axis direction.

In addition, in the present invention, the upper camera 370 is installed in the work unit 300 moved by the X-axis actuators 220 and 230 and the Y-axis actuator 210, and the work unit 300 is a frame (330), the pipette part 310 located on the first surface 331 of the frame 330 and capable of sucking and dispensing the culture solution in the flask container, located on the first surface 331 and movable up and down, the flask It may include a capping part 350 that can open or close the lid of the container, and a gripper part 320 that is located on the second surface 332 that is opposite to the first surface and can pick up and move the flask container. have.

In addition, in the present invention, the camera unit 83 includes two lenses, and the positions of the two lenses can be changed by a linear motor.

In the present invention, by manufacturing an automatic cell culture system, it is possible to solve the difficulty of securing skilled manpower in the bio industry, minimize the skill difference between workers, and realize the standardization of the production process.

In addition, in the present invention, the upper vision unit 370 moves in the X and Y directions by the X-axis actuators 220 and 230 and the Y-axis actuator 210 to check the working state of each part.

In addition, in the present invention, by installing the imaging unit 80, it is possible to take an image of the cells inside the flask 4 and analyze it.

1A and 1B are exemplary views of a working vessel used in the present invention.
2A and 2B are perspective views of the main equipment 1000 of the system of the present invention.
2c and 2d are perspective views of the incubator unit 2000 of the system of the present invention.
3 is a perspective view of a state in which the X-axis and Y-axis actuators are removed from the system of the present invention.
4A to 4B are perspective views of the work unit 300 .
5A to 5E are perspective views of the gripper unit 320 .
6 is a perspective view of an upper vision unit.
7A to 7E are perspective views of the imaging unit 80 .
8A to 8F are sequential exploded perspective views of the liquid buffer 90 .
9A to 9B are perspective views of the flask supply unit 110 .
10A to 10C are perspective views of the rep wear loader 100 .
10D is an enlarged view of the top of the vertical plate 106 .
10E is an enlarged view of the underside of the vertical plate 106 .
10f is an enlarged view of the supply plate 102a.
10G is an enlarged view of the outlet plate 102a.
11A to 11B are perspective views of the centrifugal separator 30 .
12A-12C are perspective views of a flask handler 60 .

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

The accompanying drawings show exemplary forms of the present invention, which are only provided to explain the present invention in more detail, and the technical scope of the present invention is not limited thereby.

1A and 1B are exemplary views of a working vessel such as a flask vessel 4 and a conical tube 3 used in the present invention, and FIGS. 2A and 2B are perspective views of the main equipment 1000 of the system of the present invention. 2C and 2D are perspective views of the incubator 2000 .

In the present invention, in order to culture the cells in the incubator 2000 in the main equipment 1000, the operations of adding a medium, replacing the medium, subculture, and observing cells are performed, and the cells in the flask worked in the main equipment 1000 are in the incubator. (2000) for cell culture.

3 is a perspective view of a state in which the X-axis and Y-axis actuators 220, 230, and 210 are removed from the system of the present invention, and the main functions of the working space of the system main equipment 1000 of the present invention are as follows.

The cell counter 10 measures the number of cells in culture in the flask vessel, and the vision deck 20 checks the image of cells located at the bottom of the tube 3 after centrifugation in a centrifuge.

The vision deck 20 includes an inner deck composed of a camera and a light therein, and an upper deck on which a tube lid, a flask lid, and a counting cup can be placed.

In the centrifuge 30, centrifugation of the culture medium and cells in the 50 ml conical tube 3 cultured in the incubator 2000 is performed.

In the load cell 40, the weight of the 50 ml conical tube 3 containing the cells and the solution to be centrifuged in the centrifuge is measured.

Labware buffer 50 stores the tip box 5, tube rack 3b, and tube cap 3a used for cell culture.

The flask handler 60 can hold the flask 4 and tilt and rotate, and the lid of the flask can be opened and closed by the gripper part 320 .

The waste part 70 is a place where already used consumables (plastic containers and tips) are thrown away, and the imaging part 80 measures the image of the cells in the flask 4 .

In the liquid buffer 90, the containers 3, 2a, 2b, 2c, and 2d containing the enzyme, the medium, and PBS (phosphate buffer saline) are stored.

The labware loader 100 is a place to store consumables such as a tip box and a tube rack 3b containing a 50ml conical tube (3), which are disposable products used in experiments, and is configured to be automatically filled when the top one is used. .

The flask supply unit 110 is a place that can store a rack containing a flask used for an experiment, and is automatically filled when the top one is used, and the flask holder 120 is a flask 4 that goes into or comes out of the incubator 2000. It serves as a temporary acceptance.

The Balance Tube Deck (130, Balance Tube Deck) is a place where tubes that can be inserted into the centrifuge are placed to balance the centrifuge during centrifugation. A total of 10 volumes (5ml, 10ml, 15ml, 20ml, 25ml, 30ml, 35ml, 40ml, 45ml, 50ml) types of tubes are placed.

The counting cup deck 140 (Counting Cup Deck) stores a cup to be used in the cell counter (10).

As above, in the system of the present invention, in the equipment base 500, the cell counter 10, the vision deck 20, the centrifuge 30, the load cell 40, the labware buffer 50, the flask handler 60, and the waste part 70, imaging unit 80, liquid buffer 90, lab wear loader 100, flask supply unit 110, flask holder 120, balance tube deck 130, counting cup deck 140, such as Multiple parts can be placed to add media for cell culture, change media, subculture, and observe cells.

In addition, in the present invention, the working part 300 and the working part 300 that can open the lid of the flask and container with each of the parts, dispense the medium or recover cells, and move the flask and container, along the X-axis It includes X-axis actuators 220 and 230 for moving and a Y-axis actuator 210 for moving along the Y-axis.

For example, when adding a medium, the flask 4 containing the cells cultured in the incubator 2000 is placed on the flask holder 120 of the main equipment 1000 and the gripper part 320 of the work unit 300 ) moves the flask 4 to the flask handler 60 , and after the flask 4 is fixed to the flask handler 60 , the lid is opened by the capping part 350 of the working part 300 .

Thereafter, the pipette part 310 of the working part 300 sucks the medium stored in the liquid buffer 90 and supplies it to the flask 4 , and the cap is closed by the capping part 350 .

In the flask handler 60, shake the flask 4 to distribute the cells evenly, and after the flask 4 is placed on the flask holder 120, the incubator 2000 by the moving robot 2100 of the incubator 2000 ) is moved to

2C and 2D are perspective views of the incubator 2000 , in which the incubator 2000 has a mobile robot 2100 for moving the flask 4 .

The moving robot 2100 includes a vertical moving unit 2110 and a horizontal moving unit 2120 capable of moving up and down along the vertical moving unit 2110, and the horizontal moving unit 2120 has a horizontal moving unit 2120 above the horizontal moving unit 2120. A container moving part 2130 capable of horizontal movement is installed, and a gripper 2131 is installed in the container moving part 2130 to hold the flask 4 and from the main equipment 1000 to the incubator 2000 or the incubator 2000 ) to the main equipment 1000 . In the incubator 2000, an incubator rack 2200 in which a flask 4 moved by a moving robot 2100 is placed is installed, and the incubator rack 2200 is four vertical column-shaped racks 2210, 2220, 2230 , 2240) and four vertical column-shaped racks 2210, 2220, 2230, 2240 are installed on the circular plate 2250, the circular plate 2250 is a circular plate 2250 by a motor located at the bottom and four vertical column-shaped racks can rotate together.

4A to 4B are perspective views of the working unit 300, wherein the working unit 300 includes a frame 330, a pipette unit 310 and a capping unit 350 positioned on the first surface 331 of the frame; and a gripper part 320 positioned on a second surface 332 opposite to the first surface.

The capping part 350 serves to open or close the lid to work on containers and flasks, and the pipette part 310 sucks and removes the culture solution in the container or dispenses a new culture solution into the container, and the gripper The part 320 serves to hold the side of the flask and adjust the position.

For example, the gripper part 320 of the working part grabs the flask 4 taken out from the incubator and placed on the flask holder 120 and puts it on the flask handler 60 , and the capping part 350 is the lid of the flask 4 . opens and closes, and the pipette unit 310 suctions and removes the culture solution from the flask or dispenses a new culture solution.

A vertical plate 316a and upper and lower horizontal plates 316b and 316c extending horizontally from the upper and lower portions of the vertical plate 316a are installed on the first surface 331 of the frame.

First to fifth vertical moving parts are installed between the upper and lower horizontal plates 316b and 316c to linearly move in the vertical direction, and first to fifth pipettes ( 311, 312, 313, 314, and 315) are vertically moved.

First to fifth motors 311f, 312f, 313f, 314f, and 315f are installed on the upper horizontal plate, and the first to fifth motors 311f are disposed between the upper and lower horizontal plates 316b and 316c. , 312f, 313f, 314f, 315f, rotated by the operation of the first to fifth vertical moving parts 311c, .. , .

Each of the first to fifth pipettes 311, 312, 313, 314, and 315 includes an auto pipette 311a for dispensing a solution in a container, a 5ml vacuum pad 312a, a suction pipette 313a for sucking the solution in the container, A 5ml pipette 314a capable of processing a solution up to 5ml may be installed, respectively.

The capping part 350 includes a capping body 356 and a gripper 356a at a lower portion of the capping body 356 that widens or narrows the internal space by a solenoid operation.

The capping body 356 is connected to the belt 356b driven by the operation of the motor 357a, and the capping body 356 is rotatably installed on the horizontal plate 357c.

The motor 357a and the horizontal plate 357c are installed in a vertical movement block 357 , and the vertical movement block 357 moves vertically by a capping vertical movement actuator 358 .

5A to 5E are perspective views of the gripper unit 320, wherein the gripper unit 320 includes a vertical movement block 326 movable in the vertical direction by a vertical actuator 328, and at the lower portion of the vertical movement block A horizontal block 322 having an empty space therein is extended.

A motor 329 and a cylinder 325 are installed on the upper portion 322a of the horizontal block 322 , and a vertical movement block 324 capable of vertical movement by the operation of the cylinder is installed in the cylinder 325 .

In the inner space 322b of the horizontal block 322, a first pulley 342 connected to the motor shaft and rotated by the motor 329 and a second pulley connected to a belt and rotated together with the first pulley 342 (341) is placed.

In addition, a rotation support block 362 into which a rotation block 361 that is connected to the second pulley and rotates together is rotatably inserted is installed in the upper portion 322a of the horizontal block 322 .

In addition, a rotation plate 321d is connected to the lower portion of the rotation block 361 , and the rotation plate 321d is installed to be spaced apart from the lower portion of the horizontal block 322 and rotates together with the rotation block 361 . .

The gripper unit 320 also includes a 'L'-shaped first grip part 321a for gripping the side of the container and a second inverted 'L'-shaped second grip part that faces the first grip part 321a and forms a pair. It includes a grip part 321b and a horizontal connection part 321c connecting the first grip part 321a and the second grip part 321b.

The first grip part 321a and the second grip part 321b have a shape facing each other, and include horizontal portions 321ad and 321bd and vertical portions 321ae and 321be, respectively, and horizontal portions 321ad and 321bd. Cylindrical links 321ab and 321bb are formed where the vertical portions 321ae and 321be meet, so that the first grip part 321a and the second grip part 321b are respectively formed with the cylindrical links 321ab and 321bb as the center. rotation is possible.

Rectangular holes 321ca and 321cb are formed at both ends of the horizontal connecting portion 321c, and cylindrical protrusions 321aa and 321ba inserted into the rectangular holes 321ca and 321cb are formed at the ends of the horizontal portions 321ad and 321bd, respectively. ) is formed.

A vertical rod 323 connected to the center of the horizontal connection part 321c through the rotation block 361 and the rotation plate 321c is installed under the vertical movement block 324, and the vertical rod 323 is It moves up and down by the operation of the cylinder 325 and enables the horizontal connection part 321c to move up and down.

In addition, the cylindrical links 321ab and 321bb of the first grip part 321a and the second grip part 321b rotate in a circular groove 321dba installed at both ends of the upper rotation plate 321d installed thereon. installed possible.

When the horizontal connection part 321c moves up and down by the vertical movement of the vertical rod 323, the cylindrical protrusions 321aa, 321ba inserted into the rectangular holes 321ca and 321cb of the horizontal connection part 321c move up and down and Accordingly, the first grip part 321a and the second grip part 321b are rotated about the cylindrical links 321ab and 321bb, so that the side part 6 of the container can be grasped or released.

First and second grip bars 321ac and 321bc are installed at the lower ends of the vertical portions 321ae and 321be of the first grip part 321a and the second grip part 321b to hold the container in close contact with the side surface of the container.

6 is a perspective view of the upper vision unit, in which the upper camera 370 is installed on the frame 330 of the work unit 300, and the work unit 300 includes X-axis actuators 220 and 230 and Y-axis actuators. While moving in the X and Y directions by the 210, it moves to the consumable supply unit (eg, the labware loader 100, the flask supply unit 110), and the upper camera 370 checks the state of the consumables.

7A to 7D are perspective views observed while changing the position with respect to the image unit 80 , and the support unit 82 on which the flask 4 is placed moves along the X-axis actuator 81 . The flask 4 may be moved by the gripper part 320 of the working part 300 and placed in the concave part 82a of the flask support part 82 .

An opening 82aa is formed in the center of the concave portion 82a so that the camera unit 83 located at the lower portion can take an image of the cells inside the flask 4 placed in the concave portion, and a fixing pin 82ab is formed at the edge. ) is installed, and determines the position of the flask (4).

The X-axis actuator 81 is fixed on the Y-axis plate 86 moving in the Y-axis direction located below, and the Y-axis plate 86 includes the Y-axis linear guide 86a and the Y-axis feed screw shaft 86b. ), the Y-axis movement is possible by the Y-axis motor 86c that rotates.

The X-axis actuator 81 moves the flask support part 82 to the X-axis by the operation of the X-axis motor 81a, and the X-axis actuator and the flask support part 82 are Y of the Y-axis plate 86. Y-axis movement is possible by axis movement.

A Z-axis pillar 84b is installed on the bottom surface 88a of the image unit 80, and the Z-axis pillar 84b has a Z-axis for moving the camera unit 83 and the lighting 85b in the Z-axis direction. An actuator 84a is provided.

A Z-axis movement block 84d is installed in the Z-axis actuator 84a and moves in the Z-axis direction, and the illumination block 85a is fixed on the upper part of the Z-axis movement block 84d, and the camera block 83a is located on the lower part. is fixed, the lighting 85b is fixed to the lighting block 85a, and the camera unit 83 is fixed to the camera block 83a.

Accordingly, the camera unit 83 and the lighting 85b move together according to the movement of the Z-axis movement block 84d.

When the flask holder 82 moves and the flask 4 is placed between the illumination 85b and the camera unit 83, the illumination 85b and the camera unit 83 move in the Z direction along the Z-axis actuator 84a. It can be moved up and down to focus.

The X-axis actuator 81 is operated by the operation of the first motor 81a, and the Y-axis plate 86 is moved by the operation of the second motor 86c installed on the bottom surface 88a, so that the flask support is X It can move in the axis and Y-axis, and the Z-axis actuator 84a is operated by the Z-axis motor 84c, so that the camera unit 83 and the light 85b can be moved in the Z-axis.

The frame 88 of the image unit 80 is fixed to the base 500 of the main equipment 1000 and installed.

Although one lens 83c is illustrated in FIG. 7D , a linear motor is built in the camera fixing block 83a, and two or more lenses having different magnifications may be replaced by the operation of the linear motor if necessary.

8A to 8F are sequential exploded perspective views of the liquid buffer 90, wherein the liquid buffer 90 contains a conical tube 3 containing an enzyme, a medium, PBS, or a container 2a, 2b, 2c containing an alcohol. , 2d) are stored in each of the first to fifth chambers 96a, 95a, 95b, 95c, and 95d.

A lid 91bb is provided above the second to third chambers 95a and 95b, and a heat insulating material 91bba is installed inside the lid 91bb.

In the first chamber 96a, in which the conical tube 3 is stored, a support 92 for fixing the position of the conical tube 3 and a cylinder for applying a force to the support 92 towards the conical tube 3 ( A cylinder support block 93 on which 93b) is installed is included.

The cylinder support block 93 includes a horizontal plate 93d on which the cylinder 93b is installed and a vertical plate 93c connected to a lower portion of the horizontal plate 93d.

The vertical plate 93c is fixed to the support 92, and the horizontal plate 93d and the support 92 are formed with a cylindrical portion 92a into which the conical tube 3 is inserted.

A cooling water supply block 94 for maintaining a constant temperature of the medium in the containers 2a and 2b is installed in the second to third chambers 95a and 95b, and the first to third chambers 96a and 95a , 95b) is provided with insulating materials 91ab, 91aa inside the walls.

The cooling water supply block 94 is formed by a vertical block 94c and a horizontal block 94d, and includes a seating portion on which the containers 2a and 2b are seated, a cooling water supply port 99a, a cooling water discharge port 99b, and the horizontal and a cooling water supply block 94e connecting the block 94d and the cooling water supply port 99a, and a cooling water discharge block 94b connecting the vertical block 94c and the cooling water discharge port 99b.

Cooling water passes through the cooling water supply port 99a, the horizontal block 94d, the vertical block 94c, the cooling water discharge block 94b, and the cooling water discharge port 99b sequentially as indicated by the arrow, while the containers 2a and 2b) Control the temperature of the medium inside.

9A to 9B are perspective views of the flask supply unit 110 , in which the flask 4 is placed on the flask support plate 113 and supplied.

The flask support plate 113 is fixed to the end of the vertical plate 115 , the vertical plate 115 moves along the Z-axis actuator 116 and the Z-axis actuator 116 is driven by a motor 117 .

The Z-axis actuator 116 and the motor 117 are driven by a belt and a pulley, and the vertical plate 115 and the flask support plate 113 move inside the vertical guides 111a, 111b, 111c, 111d, 111e, 111f. .

The vertical guides 111a, 111b, 111c, 111d, 111e, 111f are installed on the flask supply frame 114, and the flask supply frame 114 can be fixed to the base 500 of the main equipment 1000. have.

There is a sensor 112 at the end of the vertical guide 111a so that the flask 4 is always in a state detected by the sensor 112 so that the vertical plate 115 moves along the Z-axis actuator 116 .

10A to 10B are perspective views of the lab wear loader 100, and FIG. 10C is a perspective view showing the fourth pulley 104c by removing the upper cover 106h and the tube rack 3b of the upper plate.

Also, FIG. 10D is an enlarged view of a lower portion of the vertical plate 106 and FIG. 10E is an enlarged view of an upper portion of the vertical plate 106 .

The lab wear loader 100 includes a consumable supply unit 102 and a discharge unit 103 .

Consumables (eg, tube rack 3b) are placed on the feeder plate 102a and move upward along the feeder guide 102b, and the used consumables are placed on the outlet plate 103a to hold the outlet guides 103b. moves down along

As shown in FIG. 10D, the bottom surface 107 of the labware loader 100 is fixed to the bottom surface 510 of the main equipment 1000, and the bottom surface 107 has first and second vertical blocks ( 104d and 104e) and a motor 105 are provided.

A third pulley 104b is rotatably installed between the first and second vertical blocks 104d and 104e, and a second pulley 104a is installed outside the second vertical block 104e, The second pulley 104a and the third pulley 104b rotate together about a rotation shaft 104f passing between the first and second vertical blocks.

A vertical plate 106 is built on top of the first and second vertical blocks 104d and 104e, and the third pulley 104b is located below the vertical plate 106 .

A fourth pulley 104c is installed on the upper portion of the vertical plate 106 as shown in FIG. 10E , and the third pulley 104b and the fourth pulley 104c are connected by a second belt (not shown). rotate together

The motor 105 is connected to the first pulley 105a to rotate the first pulley 105a, and the first pulley 105a is connected to the second pulley 104a and the first belt 105c.

The second pulley 104a has a structure that rotates integrally with the third pulley 104b, so that the first pulley 105a, the second pulley 104a and the third pulley 104b are driven by the motor 105. ) is rotated.

The first and second surfaces 106e and 106f, which are opposite sides of the vertical plate 106, are respectively provided with first and second linear movement guides 106a and 106g, and the supply plate 102a and the discharge plate ( Each of 103a) is movable up and down along the first and second linear movement guides 106a and 106g.

The supply plate 102a and the discharge plate 103a are connected to a second belt connected between the third pulley 104b and the fourth pulley 104c, so that when the second belt moves, the first linear movement guide 106a ), when the feeder plate 102a rises, the outlet plate 103a descends along the second linear movement guide 106g, and conversely, when the feeder plate 102a goes down, the outlet plate 103a rises. will do

The feeder plate 102a moves inside the plurality of feeder guides 102b and the outlet plate 103a moves inside the plurality of outlet guides 103b.

The supply guide 102b and the discharge guide 103b are installed on the outer wall 108 erected on the bottom surface 107 .

In addition, a position sensor 102c is installed above the supply guide 102b to sense the position of the consumables supplied to the supply plate 102a and to control the movement of the supply plate 102a.

Similarly, a position sensor 103c is installed above the discharge unit guide 102b to detect the position of the consumables discharged to the discharge unit plate 103a and to control the movement of the discharge unit plate.

10f and 10g are enlarged views of the supply plate 102a and the discharge plate 103a, wherein the supply plate 102a is connected to the second belt by a first vertical plate 102ab located thereunder, and , The first vertical direction plate 102ab is connected to the first linear block 106aa and the second belt moving on the first linear guide 106a, the first vertical direction by the operation of the second belt The plate 102ab moves along the first linear guide 106a.

Similarly, the outlet plate 103a is connected to a second belt by a second vertical plate 103ab, and the second vertical plate 103ab is a first moving plate moving on the second linear guide 106g. It is connected to the two linear blocks 106ga and the second belt, and the second vertical plate 103ab moves along the second linear guide 106g by the operation of the second belt.

11A to 11B are perspective views of the centrifugal separator 30, wherein the rotating disc 32 is rotated by the operation of the rotating motor 33, and a concave portion 32a is formed in the rotating disc 32. A container insertion part 32b is formed in the abdomen.

The conical tube 3 is inserted into the container insertion part 32b and rotates.

12A is a perspective view of the flask handler unit 60, and FIGS. 12B and 12C are perspective views of the first and second vertical blocks 61a and 61b in a state in which the cases are removed.

The flask handler 60 includes a handler bottom surface 63 and first and second vertical blocks 61a and 61b facing each other vertically erected through the handler bottom surface 63 .

A rotation plate 64 is installed between the first and second vertical blocks 61a and 61b to enable rotational movement about an axis penetrating the first and second vertical blocks 61a and 61b.

A flask seating part 65 is installed on the upper portion of the rotation plate 64 , and the flask seating part 65 can rotate integrally with the rotation plate 64 .

The flask seating part 65 is provided with a bottom support part 65b for supporting the bottom surface of the flask and a pair of flask side fixing parts 65a for fixing the flask side, and the pair of flask side fixing parts 65a are for the flask seating. The width is adjusted by the operation of the solenoid installed inside the part (65).

A motor 62 is installed below the bottom surface 63 , and the motor 62 rotates the first pulley 62a installed inside the vertical block 61a.

The first pulley 62a is connected by a belt 62b and a second pulley 61ab connected to shafts passing through the first and second vertical blocks 61a and 61b.

A shaft passing through the first and second vertical blocks 61a and 61b is connected to the rotation plate 64 to rotate the rotation plate 64 when the motor 62 is driven.

Therefore, the flask 4 fixed to the flask seating part 65 may be shaken by driving the motor.

A plurality of position sensors 66a, 66b, 66c are installed in the first and second vertical blocks 61a and 61b to detect the position of the flask seat 65 to determine the position of the flask seat 65 Control.

The present invention described above is not limited by the above-described embodiments and the accompanying drawings, and it is in the technical field to which the present invention pertains that various substitutions, additions and changes are possible without departing from the technical spirit of the present invention. It will be clear to those of ordinary skill in the art.

1000: automatic cell culture system
10: cell counter 20: vision deck
30: centrifuge 40: load cell
50: labware buffer 60: flask handler

Claims (8)

flask (4) for cell culture;
a conical tube (3) used for centrifuging the cultured cells in the flask (4);
an incubator (2000) for culturing cells in the flask (4); and
It includes the main equipment 1000 for centrifuging the cells in the flask 4 cultured in the incubator 2000 or for supplying, removing or replacing the culture solution in the flask 4,
The main equipment 1000 includes an imaging unit 80 for taking an image of cells located inside the flask 4, a lab wear loader 100 that provides consumables, and an upper part of the lab wear loader 100. An upper camera 370 capable of taking an image, X-axis actuators 220 and 230 for moving the upper camera 370 in the X-axis direction, and a Y-axis actuator for moving the upper camera 370 in the Y-axis direction ( 210),
The image part 80 moves the frame 88 fixed to the base 500 of the main equipment 1000, the support part 82 on which the flask 4 is placed, and the support part 82 in the X-axis. The X-axis actuator 81, the lower part of the X-axis actuator 81 is fixed, and the Y-axis plate 86 for moving the X-axis actuator 81 in the Y-axis direction. The camera unit 83 for taking an image of the flask 4, the light 85b positioned above the camera unit 83, the bottom surface 88a of the frame 88, and the bottom surface 88a A Z-axis moving block that moves up and down by the operation of the Z-axis pillar 84b extending in the Z-axis direction, the Z-axis actuator 84a installed on the Z-axis pillar 84b, and the Z-axis actuator 84a. (84d), is installed on the upper part of the Z-axis movement block (84d) and installed on the lower part of the lighting block 85a and the Z-axis movement block 84d to which the lighting 85b is fixed, and the camera unit 83 A camera block 83a to which is fixed, a Y-axis motor 86c installed on the bottom surface 88a of the frame 88, and a Y-axis feed screw shaft 86b rotated by the operation of the Y-axis motor 86c) and a Y-axis linear guide (86a);
The support portion 82 is a concave portion 82a in which the flask 4 is placed, and the concave portion 82a is located in the center so that the camera unit 83 can observe the flask placed in the concave portion. an opening (82aa) and a retaining pin (82ab) positioned at the edge to position the flask (4);
By the operation of the Z-axis actuator 84a, the Z-axis movement block 84d moves so that the light 85b moves at the top of the flask 4 and the camera unit 83 moves at the same time at the bottom of the flask 4 become,
When the Y-axis feed screw shaft 86b is rotated by the driving of the Y-axis motor 86c, the Y-axis plate 86 is moved in the Y direction along the Y-axis linear guide 86a,
The upper camera 370 is installed in the work unit 300 moved by the X-axis actuators 220 and 230 and the Y-axis actuator 210,
The working part 300 includes a frame 330, a pipette part 310 positioned on the first surface 331 of the frame 330 and capable of sucking and dispensing the culture solution in the flask container, and the first surface 331. A capping part 350 that is located in the , movable up and down and can open or close the lid of the flask container, and a gripper that is positioned on the second surface 332 opposite to the first surface and can pick up and move the flask container part 320;
The camera unit 83 is provided with two lenses having different magnifications,
The automatic cell culture system, characterized in that the position of the two lenses having different magnifications can be changed by a linear motor built in the camera fixing block (83a).
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