TWI826085B - Cryopreservation cassette for automatic cell cryopreservation and thawing equipment - Google Patents

Abstract

The present invention is an automatic cell freezing and thawing equipment and its freezing storage bin, wherein the freezing storage bin includes a frame and a plurality of freezing trays. The frame body includes a plurality of erection walls, and a plurality of rack portions are formed between any two erection walls. The freezing trays are detachably arranged on the tray portion, and each freezing tray has a plurality of freezing tube insertion holes for storing frozen tubes. By designing the freezing bin to include a rack and a detachable freezing tray, the moving mechanism can first move the freezing bin out of the freezing bucket and then use the freezing tray claw to remove any of the freezing trays from the rack. Remove the frozen tube from the body, and then use the robotic arm to put in or take out the frozen tube. This can avoid the robot arm from operating directly in an ultra-low temperature environment, and can also efficiently pick up and place the frozen tube in the cryogenic storage bin.

Description

Cryopreservation cassette for automatic cell cryopreservation and thawing equipment

This invention relates to a kind of biochemical experimental equipment, especially an automatic cell freezing and thawing equipment.

In the process of cell preparation, the cells that have been cultured in large quantities will first be dispensed into cryovials after being processed, and then need to be frozen for storage. The cryovials are usually placed in a cryopreservation barrel (liquid or gaseous nitrogen barrel) Perform long-term cryopreservation of cells. Specifically, the procedure for cryopreservation of cells is as follows. The frozen tube containing the cells will first be placed in a gradual freezing device. After the temperature slowly drops to -80°C, the temperature will then be lowered to -80°C and packed. Move the frozen tubes with cells to the frozen tube rack, and then place the entire frozen tube rack containing frozen tubes into a freezing bucket for long-term freezing. Once the cells need to be thawed for use, specifically, the procedure for thawing the cells is as follows. First, take out the freezing tube rack containing the frozen tubes containing the cells to be thawed from the freezing bucket, and then remove the frozen tubes containing the cells to be thawed from the freezing bucket. Take out the tube rack and put it into a rewarming device. After the cell liquid in the frozen tube slowly melts, pipet it from the frozen tube to the culture container containing the culture medium for culture, completing the process of thawing the cells.

However, whether cell freezing or thawing is performed, the entire frozen tube rack needs to be taken out from the freezing bucket first. The frozen tube rack in the prior art is an integrally formed multi-layer rack, making it difficult for the robot arm to directly grasp the middle layer or The frozen tubes close to the inside can only be performed manually. Therefore, the steps when inserting or removing the frozen tubes at a specific position are cumbersome and time-consuming. As a result, when a specific frozen tube is taken out or placed individually, other frozen tubes will follow the frozen tube. Prolonged time for the rack to leave the freezing bucket may cause unnecessary temperature rise, thereby affecting the freezing quality of other frozen tubes.

In view of the aforementioned shortcomings and deficiencies of the prior art, the present invention provides an automatic cell freezing and thawing equipment and its freezing storage bin. The freezing storage bin has a detachable rack body and a freezing tray, so it can be removed first through the claw Take out any specific freezing tray from the rack and use your arm to grab any specific freezing tube on the freezing tray, so that the insertion or removal of the freezing tube can be more conveniently performed by the robot arm, thereby achieving cell cryopreservation and Unfreeze the purpose of automation.

In order to achieve the above-mentioned creative purpose, the technical means used in this creation is to design a cryopreservation magazine for automatic cell freezing and thawing equipment, which includes: a body, which contains a plurality of erecting walls, between any two erecting walls. A plurality of tray racks are formed; a plurality of freezing trays are detachably provided on the rack portions; each freezing tray has a plurality of freezing tube insertion holes, and each freezing tube insertion hole is used to store a freezing tube.

The advantage of this invention is that by designing the freezing bin to include a rack and a detachable freezing tray, it is possible to use the freezing tray claw to remove one of the frozen bins after the moving mechanism moves the freezing bin out of the freezing bucket. The storage disk is taken out from the rack, and then the robot arm is used to put in or take out the frozen tubes. This makes it easier for the robot arm to put in or take out the frozen tubes in the middle layer or near the inside, and the cryogenic storage bin can also be used first during the process. Moved into a freezing bucket to prevent prolonged exposure outside the freezing bucket.

Furthermore, in the freezing storage bin of the automatic cell freezing equipment, each erection wall is provided with a plurality of erection ribs, and the erection ribs on any one erection wall are respectively connected with the other erection ribs. The erection ribs on the wall form the tray rack portions; each freezing tray is detachably mounted on the erection ribs of any two erection walls.

Furthermore, in the freezing storage cassette of the automatic cell freezing and thawing equipment, each erecting rib is formed with a locking convex part; each freezing tray is formed with two locking concave parts, and the two locking concave parts are formed. The clamping convex portions of the two erecting convex ribs can engage with each other.

Furthermore, in the freezing storage cartridge of the automatic cell freezing and thawing equipment, the frame body includes a central axis, and the erection walls are arranged on the central axis at intervals around the central axis, and along the central axis Radially extending; each freezing tray is a fan-shaped tray.

A:frozen tube

B: Frozen tube tray

C: cell culture container

1: Entry and exit department

2: Robot arm

21:First clamping jaw

22:Second clamping jaw

23: RFID reading device 23

3: Gradual freezing machine

4: Freezing bin

41: Frame

411:Erect wall

412: Disk rack department

413:Protruding ribs

414: Clamping convex part

415:Central axis

42: Frozen disk

421: Freezing tube jack

422: Clamping concave part

5: Freezing bucket

6: Box transfer mechanism

7: Remove the claws from the frozen plate

71:Slide rail

72: Clamp parts

8: Dry bath

9:Cell culture container temporary storage rack

10:Opening and closing cap machine

11: Refrigerator

12: Refrigerated tunnel

121:Arm opening

13: Insulation cover

14: Ditch the bucket

Figure 1 is a three-dimensional appearance of this creation.

Figure 2 is an internal schematic diagram of one side of the refrigerator compartment of this invention.

Figure 3 is an internal schematic diagram of one side of the refrigeration tunnel of this creation.

Figure 4A is a top cross-sectional view of this invention, in which the frozen tube tray is located inside the entrance and exit portion.

Figure 4B is another top cross-sectional view of the present invention, in which the entrance and exit portion is a cell culture container.

Figure 5 is a diagram showing the positional relationship between the freezing storage bin and the frozen tray claw of this invention.

Figure 6 is an exploded view of the freezing tray and rack of this invention.

Figure 7 is a three-dimensional appearance of the frozen plate claw of this invention.

Figure 8 is a three-dimensional appearance of the robotic arm created in this invention.

Figure 9 is a partial enlarged view of the robotic arm created in this invention.

Figure 10 is a schematic diagram of the cell cryopreservation process of this invention.

Figure 11 is a schematic diagram of the cell thawing process of this invention.

The technical means adopted by this invention to achieve the intended creation purpose will be further explained below with reference to the drawings and preferred embodiments of this invention.

Please refer to Figure 1, Figure 4A, Figure 4B and Figure 10. The automatic cell freezing equipment of this invention includes an access part 1, a robotic arm 2, a freezing machine 3, a freezing storage bin 4, and a freezing bucket. 5. A box transfer mechanism 6, a frozen tray claw 7, a dry bath 8, a cell culture container temporary storage rack 9, a lid opening and closing machine 10, a refrigeration room 11, a refrigeration tunnel 12 and an insulation cover 13 .

Please refer to Figure 3, Figure 4A and Figure 4B. The access portion 1 can provide access to a frozen tube tray B or a cell culture container C.

Please refer to Figures 10 and 11. The robot arm 2 can move a frozen tube A in the inlet and outlet 1 to the freezing machine 3. The freezing machine 3 can gradually reduce the temperature of the frozen tube A. Specifically, please refer to FIGS. 8 and 9 . The robot arm 2 has a first clamping claw 21 and a second clamping claw 22 for respectively clamping the frozen tube A and the cell culture container C in the entry part 1 .

Please refer to FIG. 5 and FIG. 6 , the freezing storage magazine 4 includes a body 41 and a plurality of freezing trays 42 . The frame body 41 includes a plurality of erection walls 411 . A plurality of rack portions 412 are formed between any two mounting walls 411 . The freezing trays 42 are detachably provided on the tray portions 412 respectively. Each freezing tray 42 has a plurality of freezing tube insertion holes 421. Each freezing tube insertion hole 421 is used to store frozen tubes A, and the robot arm 2 can move the frozen tubes A to the freezing tube insertion holes 421 for storage.

Specifically, in this embodiment, each erection wall 411 is provided with a plurality of erection ribs 413, and the erection ribs 413 on any one erection wall 411 are respectively connected with the erection ribs 413 on the other erection wall 411. 413 forms the tray rack portions 412, and each freezing tray 42 is detachably provided on the erecting ribs 413 of any two erecting walls 411. In addition, each erecting rib 413 is formed with a locking convex portion 414, and each freezing tray 42 is formed with two locking recessed portions 422. The two locking recessed portions 422 can engage with each other with the locking convex portions 414 of the two erecting ribs 413. This prevents the freezing tray 42 from moving arbitrarily relative to the erecting ribs 413 and detaching from the rack body 41 . Furthermore, in this embodiment, the frame 41 includes a central axis 415 . The erection walls 411 are arranged at intervals around the center. on the axis 415 and extending along the radial direction of the central axis 415 . Each freezing tray 42 is a fan-shaped tray. However, the specific structures of the rack 41 and the freezing tray 42 are not limited to the above, as long as the freezing tray 42 can be separated from the rack 41 .

The freezing bucket 5 has a freezing space inside.

The box moving mechanism 6 can move the freezing storage bin 4 out of or into the freezing storage space of the freezing storage bucket 5 .

The freezing tray picking claw 7 can take out one of the freezing trays 42 or place it into one of the tray racks 412 after the moving tray mechanism 6 moves the freezing storage bin 4 out of the freezing storage space. Specifically, please refer to Figures 5 and 7. The frozen tray picking claw 7 has a slide rail 71 and a clamping claw member 72. The clamping claw member 72 can be moved out of the freezing storage space along the slide rail 71 toward the moved box mechanism 6. The freezing magazine 4 is clamped, and after clamping one of the freezing trays 42, it returns to the original position along the slide rail 71, thereby taking out or placing the freezing tray 42 into the tray portion 412. However, the specific structure of the freezing plate picking claw 7 is not limited to this.

The dry bath 8 can gradually increase the temperature of one of the frozen tubes A, and the robot arm 2 can move one of the frozen tubes A in the freezing tray 42 on the freezing tray claw 7 to the dry bath 8 .

The cell culture container temporary storage rack 9 is used to store the cell culture container C, and the robot arm 2 can move the cell culture container C in the access part 1 to the cell culture container temporary storage rack 9 .

The lid opening and closing machine 10 can open and close the lid of the freezing tube A, and the lid opening and closing machine 10 can open and close the lid of the cell culture container C. The robotic arm 2 can move the frozen tubes A in the dry bath 8 to the cap opening and closing machine 10 , and the robot arm 2 can move the cell culture containers C in the cell culture container temporary rack 9 to the cap opening and closing machine 10 .

Please refer to Figures 1, 2, 3, 4A and 4B. Specifically, in this embodiment, the automatic cell freezing and thawing equipment is provided with a cold storage room 11, a cold storage tunnel 12 and an insulation cover 13. The temperature inside the refrigerating compartment 11 is lower than the temperature outside the refrigerating compartment 11. Preferably, the refrigerating compartment 11 is a refrigerating space of approximately 4 degrees Celsius. The refrigeration tunnel 12 is connected to the refrigeration room 11, thereby extending the refrigeration effect of the refrigeration space at 4 degrees Celsius. An arm opening 121 is formed on the wall of the refrigeration tunnel 12 . The thermal insulation cover 13 is disposed on the arm opening 121 and selectively opens the arm opening 121 .

The freezing storage bin 4, the freezing storage bucket 5 and the box transfer mechanism 6 are located in the cold storage room 11. The frozen tray removal claw 7 is located outside the refrigerating chamber 11 and inside the refrigerating tunnel 12, and can be extended into the refrigerating chamber 11 through the communication port between the refrigerating tunnel 12 and the refrigerating chamber 11 to take out or insert one of the frozen storage trays 42. One of the rack portions 412. The robot arm 2 can contact and take out one of the frozen tubes A in the freezing tray 42 on the freezing tray claw 7 through the arm opening 121 after opening the arm opening 121 of the thermal insulation cover 13, or place any frozen tube A in the freezing tray 42. The freezing tube insertion hole 421 of the freezing tray 42 on the freezing tray picking claw 7.

Through the cold storage chamber 11, the cold storage tunnel 12 and the thermal insulation cover 13, the freezing storage bin 4 and the freezing tray 42 and freezing tube A thereon can be maintained at a lower refrigeration temperature after being taken out from the freezing bucket 5. Not directly exposed to room temperature.

The automatic cell freezing and thawing equipment of this creation can automatically perform the following process actions:

First, for the cell cryopreservation process, please refer to Figure 4A, Figure 6 and Figure 10.

First, the frozen tube A is written with a Radio Frequency Identification (RFID) code, then placed on the frozen tube tray B and put into the access part 1 . As shown in Figures 9 and 10, the robot arm 2 then reads the radio frequency identification code (Radio Frequency Identification, RFID) with its RFID reading device 23, removes the specific frozen tube A, and moves it to the ALS. The first cooling is performed in 3, and the frozen tube tray B is discharged from the entrance and exit part 1 after the frozen tube A is taken out. After the first cooling of the frozen tube A is completed, the cover of the freezing bucket 5 is opened, the magazine moving mechanism 6 lifts the freezing storage magazine 4 out of the freezing storage bucket 5, and the freezing tray claw 7 then moves the freezing storage magazine 4 One of the freezing trays 42 is removed from the rack body 41 and is ready for use. Then, the robot arm 2 moves the frozen tube A that has completed the first cooling to the freezing tray 42 ready for use on the freezing tray claw 7 . Then, the freezing tray pick-up claw 7 re-places the freezing tray 42 containing the frozen tubes A on the tray portion 412 of the rack body 41, and then the box-moving mechanism 6 lowers the freezing storage magazine 4 again and moves it into the freezer of the freezing bucket 5. In the storage space, complete the cell cryopreservation process.

Second, for the cell thawing process, please refer to Figure 4B and Figure 11.

Before carrying out this process, an empty cell culture container C will be programmed with RFID and filled with cell culture fluid using a dispensing machine (this mechanism is not included in the present invention), and then moved to the cells by the robot arm 2 from the entrance and exit part 1 The culture container is stored in the temporary storage rack 9 for later use. As shown in FIG. 11 , when executing the cell thawing process, the robot arm 2 first takes out the spare cell culture container C from the cell culture container temporary storage rack 9 and sends it to the lid opening and closing machine 10 to prepare for opening the lid. At the same time, the cover of the freezing bucket 5 is opened, the box moving mechanism 6 lifts the freezing bin 4 out of the freezing bucket 5, and the freezing tray claw 7 then lifts the frozen tube A stored in the freezing bin 4. The storage disk 42 is removed from the frame 41. Next, the robot arm 2 reads the RFID and moves the taken-out frozen tube A to the dry bath 8 to thaw the frozen tube A and raise its temperature. After the freezing tube A is moved to the dry bath 8, the freezing tray claw 7 immediately puts the freezing tray 42 back into the rack 41, and the box moving mechanism 6 immediately puts the freezing magazine 4 back into the freezing bucket 5. Close lid. After the cell fluid in the frozen tube A is thawed, the robot arm 2 moves the thawed frozen tube A to the cap opening and closing machine 10 to prepare for opening the cap. After both the cell culture container C and the frozen tube A are opened, pour the melted cell liquid in the frozen tube A into the cell culture container C, and then close the lid with the cap opening and closing machine 10 . Finally, the robotic arm 2 is used to send the cell culture container C containing the cell fluid to the entrance and exit part 1 to read the RFID and then send it out, while the frozen tube A is closed and discarded into the discard bucket 14 . The sent out cell culture container C containing cell fluid is transported to a culture mechanism (this mechanism is not included in the present invention) via a main conveyor for storage and culture, thereby completing the cell thawing culture process.

By designing the freezing magazine 4 to include a frame 41 and a detachable freezing tray 42, the freezing tray 4 can be removed first with the freezing tray claw 7 after the moving mechanism 6 moves the freezing magazine 4 out of the freezing bucket 5. A freezing tray 42 is taken out from the frame 41, and then the robot arm 2 is used to put in or take out the frozen tubes A. This makes it easier for the robot arm 2 to put in or take out the frozen tubes A in the middle layer or near the inside, and the process The middle freezing storage bin 4 can also be moved into the freezing storage barrel 5 first to prevent it from being exposed outside the freezing storage barrel 5 for too long.

The above descriptions are only preferred embodiments of the present invention, and do not limit the present invention in any form. Although the present invention has been disclosed as above in terms of preferred embodiments, it is not intended to limit the present invention. Any technical field that has A person with ordinary knowledge can use the technical content disclosed above to make some changes or modifications to equivalent implementations of equivalent changes without departing from the scope of the technical solution of this invention. For example, as long as they do not deviate from the content of the technical solution of this invention, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of this invention still fall within the scope of the technical solution of this invention.

B: Frozen tube tray

C: cell culture container

1: Entry and exit department

2: Robot arm

3: Gradual freezing machine

4: Freezing bin

5: Freezing bucket

6: Box transfer mechanism

8: Dry bath

9:Cell culture container temporary storage rack

10:Opening and closing cap machine

11: Refrigerator

12: Refrigerated tunnel

121:Arm opening

13: Insulation cover

14: Ditch the bucket

Claims (4)

A cryopreservation bin of automatic cell freezing and thawing equipment, which includes a frame, which includes a plurality of erection walls, and a plurality of tray racks are formed between any two erection walls; a plurality of cryopreservation trays, which can be separately installed On the racks, each freezing tray has a plurality of freezing tube insertion holes, and each freezing tube insertion hole is used to store a freezing tube. The cryopreservation magazine of automatic cell freezing and thawing equipment as described in claim 1, wherein each erection wall is provided with a plurality of erection convex ribs, and the erection convex ribs on any one of the erection walls are respectively connected with the other erection ribs. The erecting ribs on the erecting wall form the tray rack portions; each of the freezing trays is detachably mounted on the erecting ribs of any two erecting walls. The freezing storage bin of automatic cell freezing and thawing equipment as described in claim 2, wherein each erecting rib is formed with a latching convex portion; each freezing tray is formed with two latching recessed portions, and the two latching recessed portions are formed The clamping convex portions of the two erecting convex ribs can engage with each other. The cryopreservation magazine of automatic cell freezing and thawing equipment as described in any one of claims 1 to 3, wherein the rack body includes a central axis, and the erection walls are arranged on the central axis at surrounding intervals, and Extending along the radial direction of the central axis; each freezing disk is a sector-shaped disk.