阅读说明：本技术 一种干细胞自动培养箱 (Automatic stem cell incubator ) 是由 付玉峰 陆琦 于 2019-09-11 设计创作，主要内容包括：本发明公开一种干细胞自动培养箱,包括设备框架、入料仓、操作平台、细胞培养组件、空净消毒系统、电气控制系统,所述入料仓的顶部通过第一铰接件与第一箱盖相连,第一箱盖打开时开口朝向所述操作平台方向；所述入料仓内部设有第一抽屉组件,所述第一抽屉组件内设有第二摆放架,所述入料仓内还设有与所述第一抽屉组件相连的第三摆放架；所述操作平台内包括离心机、加热箱、冷藏箱、第一摆放架和至少两个机器人,其中两个所述机器人的末端分别包括抓取机构、移液器；还包括垃圾箱和拍照显微镜。本装置实现了干细胞的全封闭自动化培养,利用特殊的空净消毒系统和的入料仓,创造了完全无菌环境,能同时培养多个干细胞样品,保证培养过程的稳定。(The invention discloses an automatic stem cell incubator which comprises an equipment frame, a feeding bin, an operating platform, a cell culture assembly, an air purification and disinfection system and an electrical control system, wherein the top of the feeding bin is connected with a first box cover through a first hinge, and an opening faces the direction of the operating platform when the first box cover is opened; a first drawer assembly is arranged in the feeding bin, a second placing frame is arranged in the first drawer assembly, and a third placing frame connected with the first drawer assembly is further arranged in the feeding bin; the operation platform comprises a centrifuge, a heating box, a refrigerating box, a first placing frame and at least two robots, wherein the tail ends of the two robots respectively comprise a grabbing mechanism and a pipettor; the garbage can and the photographing microscope are further included. The device realizes the totally-enclosed automatic culture of stem cells, creates a completely sterile environment by using a special air-cleaning disinfection system and a feeding bin, can simultaneously culture a plurality of stem cell samples, and ensures the stability of the culture process.)

1. An automatic stem cell incubator comprises an equipment frame, a feed bin, an operation platform, a cell culture assembly, an air purification and disinfection system and an electrical control system, and is characterized in that,

the top of the feeding bin is connected with a first box cover through a first hinge, the first box cover is opened and closed through a lifting mechanism, and an opening faces the direction of the operating platform when the first box cover is opened; a first drawer assembly is arranged in the feeding bin, the outer side surface of the first drawer assembly is positioned on one side surface of the equipment frame when the first drawer assembly is closed, a second placing frame is arranged in the first drawer assembly, and a third placing frame connected with the first drawer assembly is further arranged in the feeding bin;

the operation platform comprises a centrifuge, a heating box, a refrigerating box, a first placing frame and at least two robots, wherein the tail ends of the two robots respectively comprise a grabbing mechanism and a pipettor;

the cell culture assembly is positioned on one side of the operating platform, and a box door capable of being opened and closed is arranged on the cell culture assembly;

the garbage can is internally provided with a second drawer assembly, and the outer side surface of the second drawer assembly is positioned on one side surface of the equipment frame when the second drawer assembly is closed;

the first box cover, the first drawer assembly, the box door and the second drawer assembly are respectively provided with an electric control switch connected with the electric control system, the electric control switches are used for respectively controlling the opening and closing of the first box cover, the first drawer assembly, the box door and the second drawer assembly, and a closed space is formed during closing.

2. The automatic stem cell incubator according to claim 1, wherein the bottom and/or the side of the inlet bin is provided with a push-pull mechanism controlled by the electrical control system.

3. The automatic stem cell incubator according to claim 1, wherein the gripping mechanism comprises a gripping seat and a gripping handle, the gripping handle comprises a first gripping member and a second gripping member, and the first gripping member and the second gripping member have different specifications and have mutually perpendicular axes.

4. The automated stem cell incubator of claim 3, wherein the first and second grasping members each form a symmetrical arc-shaped notch, the first grasping member being located at the end of the grasping handle and having a smaller radius.

5. The automatic stem cell incubator according to any one of claims 1 to 4, wherein two of the robots are a three-axis robot and a six-axis robot respectively, the pipette is provided at the end of the three-axis robot, the end of the pipette is used for connecting with a detachable gun head, and the gripping mechanism is provided at the end of the six-axis robot.

6. The automated stem cell incubator of claim 1, wherein the first holding rack comprises a rack for holding one or more of tubes, bottles, and boxes, and a tube holder comprising two arc-shaped blocks oppositely disposed, and the distance between the two arc-shaped blocks is controlled by the electrical control system.

7. The automated stem cell incubator of claim 5, wherein the rack for housing cassettes comprises a plurality of sizes of wells, the different sizes of wells being arranged side by side or smaller wells being located inside larger wells.

8. The automatic stem cell incubator according to claim 1, wherein the cell culture assembly is provided in plurality, and each cell culture assembly is provided therein with an independent temperature, humidity and gas content control system.

9. The automatic stem cell incubator according to claim 1, wherein a second hinge is disposed on a top portion of a side surface of the incubator opposite to the outer side surface of the incubator, a second cover of the top portion of the incubator is connected to the incubator through the second hinge, an interior of the incubator is divided into a plurality of independent chambers by a plurality of vertical partition plates, the second cover includes a plurality of push-pull plates capable of sliding open and close, and each push-pull plate corresponds to one chamber.

10. The automatic stem cell incubator according to claim 1, wherein the air purification and disinfection system comprises an air blower and an ozone generator, and the air purification and disinfection system is respectively connected with the material inlet bin, the cell culture assembly, the garbage can and the space above the operation platform.

Technical Field

The invention belongs to the field of cell culture, and particularly relates to an automatic stem cell incubator.

Background

Stem cells are a type of pluripotent cells that have self-replicating ability, but are not fully differentiated and immature, have potential functions of regenerating various tissues, organs and human bodies, and have the ability to self-renew and replicate. Under certain conditions, the stem cell medical field is called as 'universal cell', and the stem cell can be differentiated into various functional cells, and is divided into embryonic stem cells and adult stem cells according to the development stage of the stem cells. Therefore, studies for observing the proliferation and growth of stem cells cultured in vitro under sterile conditions are of great importance.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the stem cell automatic incubator, which realizes the full-closed and automatic whole process of stem cell culture by optimizing the structure and layout of each component and mechanism in the equipment, particularly the structural design of a feed bin and a garbage can and utilizing a series of automatic equipment, can simultaneously culture a plurality of stem cell samples in one incubator, and ensures the stability of the culture process. Specifically, the following technique is used.

An automatic stem cell incubator comprises an equipment frame, a feed bin, an operation platform, a cell culture assembly, an air purification and disinfection system and an electrical control system,

the top of the feeding bin is connected with a first box cover through a first hinge, the first box cover is opened and closed through a lifting mechanism, and an opening faces the direction of the operating platform when the first box cover is opened; a first drawer assembly is arranged in the feeding bin, the outer side surface of the first drawer assembly is positioned on one side surface of the equipment frame when the first drawer assembly is closed, a second placing frame is arranged in the first drawer assembly, and a third placing frame connected with the first drawer assembly is further arranged in the feeding bin;

the operation platform comprises a centrifuge, a heating box, a refrigerating box, a first placing frame and at least two robots, wherein the tail ends of the two robots respectively comprise a grabbing mechanism and a pipettor;

the cell culture assembly is positioned on one side of the operating platform, and a box door capable of being opened and closed is arranged on the cell culture assembly;

the garbage can is internally provided with a second drawer assembly, and the outer side surface of the second drawer assembly is positioned on one side surface of the equipment frame when the second drawer assembly is closed;

the first box cover, the first drawer assembly, the box door and the second drawer assembly are respectively provided with an electric control switch connected with the electric control system, the electric control switches are used for respectively controlling the opening and closing of the first box cover, the first drawer assembly, the box door and the second drawer assembly, and a closed space is formed during closing.

The stem cell automatic incubator has very high automation degree, and can complete the whole culture process of stem cells only by putting relevant test tubes, reagents, culture boxes and the like on the second putting frame and putting samples on the third putting frame through the operation of robots and other parts, and after the culture is finished, the operators only need to take cultured finished products from the third putting frame.

The pan feeding storehouse has avoided miscellaneous fungus or harmful gas pollution as the inside isolated transfer station in external world of incubator. The second placing frame and the third placing frame slide out or close from the feeding bin through the first drawer assembly. Test tubes, reagent bottles, culture boxes and the like with different sizes can be placed on the second placing frame. The third placing frame is used for placing samples to be cultured and stem cell finished products which are automatically cultured and can be taken away by operators. And respectively disinfecting before and after the materials are put into the feeding bin, and then opening the first box cover to perform subsequent culture operation. The lifting mechanisms can be one or two, so that the robot is not shielded, and the material is taken and placed from the second placing frame and the third placing frame, for example, the lifting mechanisms can be arranged outside one side/two sides of the feeding bin, or the lifting mechanisms are arranged in the side wall of the feeding bin. The lifting mechanism can be a hydraulic cylinder assembly or other mechanism capable of pushing the first cover to open and close. Preferably, the bottom or/and the side of the feeding bin is/are provided with a push-pull mechanism controlled by the electric control system; such as a hydraulic cylinder mechanism, in order to control the push-pull mechanism by means of said electrical control system, thereby enabling the first drawer assembly to automatically slide out or close from the equipment frame.

The centrifuge, the heating box and the refrigerating box used in the operation platform can be selected from devices adaptive to stem cell automatic culture in the prior art, and the start, stop and operation of the devices can be realized by utilizing the existing electrical control system. The heating box is a 37 ℃ constant temperature heating box generally, and the refrigerating box is a 4 ℃ constant temperature refrigerating box generally, and can be set to other temperatures by self. Preferably, centrifuge, heating cabinet, fridge embedded in operation platform face below, first frame, robot of putting are located the operation platform face. Preferably, two said robots are located at different side edges of the operation platform respectively, avoiding mutual influence. The movements of moving, sucking, subpackaging, shaking, opening the cover, closing the cover, discarding and the like of the related test tubes, reagents, culture boxes, samples, finished products and the like can be realized by the technical personnel in the field by utilizing the existing robots or/and the robots matched with pipettors (or pipettes).

One or more cell culture assemblies may be provided, each of which may independently culture stem cells under respective culture conditions. Preferably, the cell culture assembly is positioned on the rear side of the equipment frame or on the equipment frame opposite to the feeding bin.

The dustbin is used for holding the discarded waste of robot in stem cell culture process, and all disinfects through empty clean disinfection system before using. Preferably, the first drawer assembly and the second drawer assembly are located on different sides of the equipment frame, and the equipment frame forms a closed space when the first drawer assembly and the second drawer assembly are closed. Preferably, the photographing microscope is located at the front side of the apparatus frame.

The air purification and disinfection system can adopt the air purification and ozone disinfection system which is commonly available on the market. The air purification and disinfection system is connected with the feed bin, the garbage can and the space above the operation platform.

The electric control system can be positioned below the operating platform and is used for controlling normal operation of electronic equipment and components such as a lifting mechanism, a robot, a heating box, a refrigerating box, a centrifugal machine, an air purification and disinfection system, a cell culture assembly, an electric control switch and the like. The electric control system can be connected with a computer, a culture program is preset by an operator, and the electric control system can be monitored and adjusted in real time during culture. The control of all the components requiring electric control in the stem cell automatic incubator can be realized by the skilled person based on the prior art.

One use method of the stem cell automatic incubator comprises the following steps:

(1) after all parts of the incubator are inspected, the first drawer assembly and the second drawer assembly are closed, the first box cover and the box door are opened, a closed space is formed in the equipment frame, the first drawer assembly is drawn out after the air cleaning and disinfection system completes disinfection, the collected samples are placed in a third placing frame, reagent bottles, test tubes, centrifuge tubes, culture boxes and the like which are needed to be used in the culture process are placed in the second placing frame, the first drawer assembly is pushed into the feeding bin, and the feeding bin is disinfected again;

(2) the lifting mechanism pushes the first box cover to open, one or more robots drive the grabbing mechanism to move reagent bottles, test tubes, centrifuge tubes, culture boxes, samples and the like to preset positions, each tube cover or bottle cover is opened and placed on the first placing frame, then another or more robots with pipettors are used for taking or placing or subpackaging the reagents, the samples and the like to the preset positions, and culture solution is transferred to the samples;

(3) the grabbing mechanism shakes the sample evenly and then stands for a period of time, and the sample is transferred to a centrifuge tube and placed into a centrifuge for centrifugation;

(4) after centrifugation is finished, the grabbing mechanism puts the sample centrifuge tube on a first placing frame, a laser emitter on a pipette seat of the three-axis robot is used for carrying out laser scanning on a liquid separation layer in the test tube, a layering position is positioned by utilizing reflected laser), and then the tail end of the free end of the three-axis robot is provided with a pipette gun head to suck out upper-layer dregs in the sample centrifuge tube and move the dregs to a garbage can;

(5) the residual liquid in one sample centrifuge tube is respectively filled into a plurality of test tubes (such as 5 test tubes), the test tubes are placed in a small culture box after standing for a period of time, and after the culture for a preset period of time, when the number of cells is increased to a certain degree and the area needs to be increased for culture, the cells are transferred into a large culture box for culture;

repeating the steps (3) to (5) on the sample, and repeating the culture to expand the number of cultured cells;

when a certain sample is cultured in the cell culture assembly, because the cell culture assembly is an independent culture environment, all the operation processes can be repeated to culture another sample and put into another cell culture assembly, so that a plurality of samples can be cultured in the same period, and a large amount of time is saved;

(6) when the stem cell quantity of big culture box reaches the certain degree, vibrate a plurality of times with culture box, make the finished product cell concentrate to culture box's box opening, move into these culture box's stem cell in the centrifuging tube again, the centrifugation, leave lower floor's cell finished product, heavy suspension filters, the result is concentrated in a finished product test tube, elevating system moves once more and opens first case lid, it puts the finished product test tube on the third puts the frame to snatch the mechanism, then first case lid is closed, operating personnel takes out first drawer assembly, put the frame from the third and take away the finished product test tube.

When the process needs filtering, the opening of the centrifugal tube is provided with a filtering piece for filtering. Filter and be concave type, concave type bottom has filter screen and bottom shape adaptation centrifuging tube opening internal diameter, and concave type upper end is equipped with a retaining ring, the retaining ring external diameter is greater than centrifuging tube opening external diameter. More preferably, the retainer ring is connected to a hand piece.

In the stem cell culture process, the state of stem cell culture in the culture box can be observed by using a photographing microscope.

Preferably, snatch the mechanism and include the tongs seat, snatch the handle and include first piece and the second piece of grabbing, the different just axis mutually perpendicular of specification of first piece and the second piece of grabbing. In general, the grabbing handle can take and place objects with different shapes and sizes by adjusting the mutual distance of a mechanical arm for realizing grabbing actions, grabbing pieces with different specifications designed by the invention are more beneficial to unscrewing and screwing bottle caps with different sizes, and meanwhile, the axes of the first grabbing piece and the second grabbing piece are designed to be mutually vertical (for example, the axis of the first grabbing piece is superposed with the axis of the grabbing handle, and the axis of the second grabbing piece is vertical to the axis of the grabbing handle), so that the structure of the grabbing handle is small and compact.

More preferably, the first and second grasping members each form a symmetrical arc-shaped notch, and the first grasping member is located at the distal end of the grasping handle and has a smaller radius. First snatch piece and second snatch not only can realize getting of different articles and put, and the arc notch of design can also be better the shape of laminating pipe, bottle lid etc.. More preferably, the arc-shaped notch is internally provided with uniform small bulges or anti-skid materials.

The robot comprises at least two robots, at least one robot is used for realizing grabbing action together with a grabbing mechanism, and at least one tail end of the robot is provided with a liquid transfer device for taking, placing and subpackaging precise dosage of liquid. The robot of the present invention is not limited to a specific category, and may be any robot that can achieve the above functions, for example, a conventional three-axis, four-axis, six-axis, or nine-axis robot. Preferably, the two robots are respectively a three-axis robot and a six-axis robot, the pipette is arranged at the tail end of the three-axis robot, the tail end of the pipette is used for being connected with a detachable gun head, and the grabbing mechanism is arranged at the tail end of the six-axis robot.

Preferably, the first placing rack comprises a rack for placing one or more of tubes, bottles and boxes, and a tube fixing rack, wherein the tube fixing rack comprises two arc-shaped blocks which are oppositely arranged, and the distance between the two arc-shaped blocks is controlled by the electric control system. The tube fixing frame comprises one or more groups; during the use, the interval that can adjust every group pipe mount in advance is used for not equidimension test tube, centrifuging tube of adaptation etc. puts into corresponding pipe after, suitably dwindles the interval of every group pipe mount again, and the position of fixed test tube or centrifuging tube makes things convenient for unscrewing and screwing of follow-up tube cap. More preferably, even small bulges or anti-slip materials are arranged in the arc-shaped blocks. More preferably, the rack for holding the boxes comprises a plurality of sizes of slots, the slots of different sizes being arranged side by side, or smaller slots being located inside larger slots. Preferably, the shape of the groove is rectangular with different sizes; the box can be rectangular or composed of a rectangular main body and a trapezoidal head; the box is a culture box. The culture box comprises at least one box opening, and the inlet of the box opening is of a structure which is gradually narrowed from top to bottom. The design of gradually narrowing the inlet is convenient for collecting the culture solution. The culture box is divided into a large culture box and a small culture box. The upper part of the large culture box comprises a box cover matched with the box opening and a handle part. The six-axis robot of being convenient for of handle portion snatchs, and the robot is than better when snatching. Preferably, big culture box inside includes the mixing chamber and the layering culture zone that link to each other with the box opening, the layering culture zone includes one or a plurality of landing face, and every landing face all is equipped with ascending groove of colluding near the tip of mixing chamber. Snatch the mechanism and concentrate on the hybrid chamber with the vertical messenger liquid of culture box face earlier during the use, then slope slightly makes every collude the inslot and all have a small amount of liquid, puts into the cell culture subassembly with culture box face level again, at this moment, all can cultivate stem cell on every platform face, enlarges the culture area. More preferably, the handle portion comprises an upper abutment and a lower cylindrical member connected. The cassette fits the well and the cell culture assembly interior shape.

Preferably, the cell culture assembly is provided with a plurality of cell culture assemblies, and each cell culture assembly is internally provided with an independent temperature, humidity and gas content control system.

Preferably, a second hinge element is arranged at the top of the side face, opposite to the outer side face of the dustbin, a second cover at the top of the dustbin is connected with the dustbin through the second hinge element, the inside of the dustbin is divided into a plurality of independent chambers through a plurality of vertical partition plates, the second cover comprises a plurality of push-pull plates capable of being opened and closed in a sliding mode, and each push-pull plate corresponds to one chamber. Push-pull plates on the dustbin can be independently opened, so that a robot can conveniently pour waste culture media, samples, reagents and the like into different chambers; then the second drawer assembly is drawn out, the second box cover is opened, the garbage in the cavity is poured out, automatic opening and closing are achieved, the garbage is separated from the operating platform, and the influence of sundry bacteria, foreign matters and peculiar smell is avoided. Preferably, the bottom and/or the side of the dustbin is provided with a push-pull mechanism, such as a hydraulic cylinder mechanism, so as to control the push-pull mechanism through the electric control system, and further realize the automatic sliding or closing of the second drawer assembly from the equipment frame. Preferably, each push-pull plate is internally provided with a power mechanism, and the power mechanism is connected with the electric control system in a control mode.

Preferably, the air purification and disinfection system comprises an air blower and an ozone generator, and the air purification and disinfection system is respectively connected with the feeding bin, the cell culture assembly, the garbage can and the space above the operation platform. The air cleaning and disinfecting system can be selected from the system structures commonly used by the technical personnel in the field.

Compared with the prior art, the invention has the advantages that:

1. the device optimizes the structure and layout of all parts of the equipment, utilizes a series of automatic equipment, realizes full automation of stem cell culture, does not need to be controlled by operators in the whole process, and can simultaneously culture a plurality of stem cell samples in one incubator; the method is simple and convenient, the culture process is standardized, and the culture efficiency is higher;

2. an air-cleaning disinfection system and a specially designed feeding bin are utilized to create a completely sterile environment, so that the stability of the stem cell culture process is effectively ensured;

3. the device designs a special garbage can for stem cell culture, separates garbage from an operation platform, and avoids the influence of mixed bacteria, foreign matters and peculiar smell;

4. the device can be suitable for test tubes or culture bottles with different types and volumes, and has wide application range.

Drawings

FIG. 1 is a schematic perspective view of an automatic stem cell incubator according to an embodiment of the present invention (the detailed structure of the grasping mechanism and other parts is omitted);

FIG. 2 is a top view of an automated stem cell incubator according to one embodiment of the present invention;

FIG. 3 is a schematic perspective view of a tube holder of an automatic stem cell incubator according to an embodiment of the present invention;

FIG. 4 is a schematic perspective view of a feeding chamber and a first drawer assembly of an automatic stem cell incubator according to an embodiment of the present invention;

FIG. 5 is a schematic external perspective view of a feeding bin of an automatic stem cell incubator according to an embodiment of the present invention;

FIG. 6 is a schematic perspective view of a grasping mechanism of an automatic stem cell incubator according to an embodiment of the present invention;

FIG. 7 is a top view of a grasping mechanism of an automatic stem cell incubator according to an embodiment of the present invention;

FIG. 8 is a schematic perspective view of a first angle of an air cleaning and sterilizing system of an automatic stem cell incubator according to an embodiment of the present invention;

FIG. 9 is a schematic perspective view of a second angle of the air sterilization system of the automatic stem cell incubator according to an embodiment of the present invention;

FIG. 10 is a schematic perspective view of a cell culture assembly of an automatic stem cell incubator according to an embodiment of the present invention;

FIG. 11 is a schematic perspective view of a photo microscope of an automatic stem cell incubator according to an embodiment of the present invention;

FIG. 12 is a schematic perspective view of a garbage can of an automatic stem cell incubator according to an embodiment of the present invention;

FIG. 13 is a schematic perspective view of a garbage can of an automatic stem cell incubator according to an embodiment of the present invention;

FIG. 14 is a schematic perspective view of a three-axis robot for an automatic stem cell incubator according to an embodiment of the present invention;

FIG. 15 is a partial schematic view of a communication network of an automated stem cell incubator according to an embodiment of the invention.

In the figure: 1. an equipment frame; 2. feeding into a storage bin; 21. a first hinge member; 22. a first cover; 23. a lifting mechanism; 24. a first drawer assembly; 25. a second placing frame; 26. a third placing frame; 3. a cell culture assembly; 31. a box door; 4. a grabbing mechanism; 41. a gripper seat; 42. a grasping handle; 43. a first grasping member; 44. a second grasping member; 5. an operating platform; 51. a centrifuge; 52. a first placing frame; 521. a tube holder; 53. a heating box; 54. a refrigerated container; 55. a three-axis robot; 551. a tank chain; 552. a mechanical x-axis; 553. a mechanical y-axis; 554. a mechanical z-axis; 555. pipette seats; 556. a liquid transferring gun; 557. a laser sensor; 558. an amplifier; 56. a six-axis robot; 6. an air cleaning and disinfecting system; 61. a blower; 62. an ozone eliminator; 63. a blower controller; 64. a vacuum pump; 65. an ozone sensor; 66. an air purification assembly; 67. a three-way electromagnetic valve; 68. a two-way solenoid valve; 69. an environmental monitor; 610. a pressure gauge; 611. the motor drives the butterfly valve; 7. an electrical control system; 8. a dustbin; 81. a second drawer assembly; 82. a second hinge member; 83. a second cover; 84. a push-pull plate; 9. and (5) taking a photo microscope.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings. Structures, steps, principles, etc., not described in detail below, can be implemented by the prior art.

As shown in fig. 1 to 14, the automatic stem cell incubator provided in this embodiment includes an apparatus frame 1, a feeding bin 2, a cell culture assembly 3, an operation platform 5, an air purification and disinfection system 6, an electrical control system 7, a garbage can 8, and a photographing microscope 9.

As an embodiment, as shown in FIGS. 2 to 5, the top of the feeding bin 2 is connected to a first box cover 22 through a first hinge 21. The feed bin 2 is connected with the equipment frame 1. The first articulation 21 is preferably located at or near the connection of the input bin 2 to the apparatus frame 1. The first box cover 22 is opened and closed through the lifting mechanism 23, and when the first box cover 22 is opened, the opening faces the direction of the operating platform 5, so that the materials can be conveniently and directly taken and placed from the second placing frame 25 and the third placing frame 26 in the follow-up process. The lifting mechanism 23 is arranged to prevent the robot from picking and placing materials from the second placing frame 25 and the third placing frame 26, and the lifting mechanism 23 is arranged at one side (as shown in fig. 2 and 5) or both sides outside the feeding bin 2, or arranged in the side wall at one side/both sides of the feeding bin 2. The lifting mechanism 23 may be a hydraulic cylinder, or other mechanism capable of pushing the first cover 22 to open or close.

In one embodiment, a first drawer assembly 24 is disposed inside the feeding bin 2, and when the first drawer assembly 24 is closed, an outer side surface of the first drawer assembly 24 is located on one side surface of the equipment frame 1, so that the equipment frame 1 is closed. A second placing frame 25 for placing pipes, bottles and boxes is arranged in the first drawer assembly 24, and a third placing frame 26 connected with the first drawer assembly 24 is further arranged in the feeding bin 2. The second placing rack 25 includes rectangular partition boards, test tube racks, etc. with different specifications. The second placing rack 25 for placing the culture boxes comprises grooves with various specifications, and the grooves with different specifications are arranged side by side. The second placing frame 25 is a larger rectangle, the third placing frame 26 is a smaller rectangle, and the number of openings for placing the tubes of the third placing frame 26 is two. The shape of the feeding bin 2 is a rectangle containing a second placing frame 25 and a third placing frame 26, or an irregular shape matched with the overall shape of the second placing frame 25 and the third placing frame 26, as shown in fig. 2-5.

In a preferred embodiment, the bottom and/or the side of the loading bin 2 is provided with a push-pull mechanism controlled by the electrical control system 7, such as a hydraulic cylinder mechanism, and the push-pull mechanism is controlled by the electrical control system 7, so that the first drawer assembly 24 can automatically slide out or close from the equipment frame 1.

As an embodiment, the operation platform 5 includes a centrifuge 51, a heating box 53, a refrigerating box 54, a first placing rack 52, and at least two robots, wherein the two robots respectively include a grasping mechanism 4 and a pipette at their ends. The centrifuge 51, the heating box 53 and the refrigerating box 54 are embedded below the surface of the operation platform 5, the upper cover bodies of the centrifuge 51, the heating box 53 and the refrigerating box 54 are not higher than the surface of the operation platform 5, and the cover bodies are controlled to open and close by the electric control system 7. The first placing frame 52 and the robot are positioned on the surface of the operating platform 5. The heating box 53 is typically a 37 ℃ isothermal heating box, and the refrigerating box 54 is typically a 4 ℃ isothermal refrigerating box, and may be set to other temperatures by itself.

In one embodiment, the first rack 52 includes racks for holding tubes, bottles, and boxes, the tubes including test tubes, centrifuge tubes, and the like, the bottles including reagent bottles, and the boxes including culture boxes. The rack for holding the culture box comprises grooves of various specifications, the grooves of different specifications are arranged side by side, or the smaller groove is positioned inside the larger groove. As shown in fig. 2, the slots are two and the same size. In another embodiment, the slots have two rectangular shapes of different sizes. The cross section of the culture box consists of a rectangular main body and a trapezoidal head part and has a certain thickness. The culture cassette fits into the well and the internal shape of the cell culture assembly 3.

In one embodiment, the first rack 52 further includes a tube fixing bracket 521, and the tube fixing bracket 521 includes two arc-shaped blocks oppositely disposed, and the distance between the two arc-shaped blocks is controlled by the electrical control system 7. The tube holder 521 has a plurality of groups, such as 6 groups (see fig. 2 and 3); more preferably, even small bulges or anti-slip materials are arranged in the arc-shaped blocks.

As an embodiment, the grabbing mechanism 4 driven by a robot comprises a grabbing hand seat 41 and a grabbing handle 42, wherein the grabbing handle 42 comprises a first grabbing piece 43 and a second grabbing piece 44, and the first grabbing piece 43 and the second grabbing piece 44 have different specifications and have mutually perpendicular axes. As shown in fig. 6 to 7, the first grasping element 43 is coincident with the axis of the grasping handle 42, the axis of the second grasping element 44 is perpendicular to the axis of the grasping handle 42, the first grasping element 43 and the second grasping element 44 form symmetrical arc-shaped notches, and the first grasping element 43 is located at the tail end of the grasping handle 42 and has a smaller radius. The overall structure of the grabbing handle 42 is small and compact, and the first grabbing piece 43 or the second grabbing piece 44 can be selectively used for action operation by adjusting the direction and the angle of the grabbing handle 42. More preferably, the arc-shaped notch is internally provided with uniform small bulges or anti-skid materials.

At least two robots are adopted, at least one robot is used for realizing grabbing action together with the grabbing mechanism 4, and at least one tail end of the robot is provided with a liquid shifter for taking, placing and subpackaging precise dosage liquid. The robot is not limited to a specific category, and may be any robot that can achieve the above functions, for example, a conventional three-axis, four-axis, six-axis, or nine-axis robot. As an implementation mode, the two robots are respectively a three-axis robot 55 and a six-axis robot 56, the pipette is arranged at the tail end of the three-axis robot 55, the tail end of the pipette is used for being connected with a detachable gun head, and the grabbing mechanism 4 is arranged at the tail end of the six-axis robot 56. The two robots are located at different side edges of the operation platform 5, respectively.

As an embodiment, as shown in fig. 14, the three-axis robot 55 includes a tank chain 551, a mechanical x-axis 552, a mechanical y-axis 553, a mechanical z-axis 554, and a pipette tip 555, and the movement of the tank chain 551, the mechanical x-axis 552, the mechanical y-axis 553, and the mechanical z-axis 554 is used to realize the movement of the three-axis robot 55 in the x, y, and z-axis directions, the pipette tip 555 is slidably connected to the mechanical z-axis 554, and the pipette tip 554 is provided with a pipette gun 556, a laser sensor 557, and an amplifier 558. The laser sensor and the amplifier are used for emitting laser to scan the liquid separating layer in the test tube, so that the position of the liquid separating layer is positioned, and the suction amount of the liquid transferring gun is controlled.

In one embodiment, the cell culture assembly 3 is located on the equipment frame 1 at the rear side, i.e., the rear side, above the operation platform 5. As shown in fig. 10, a plurality of cell culture assemblies 3, such as 8 cell culture assemblies (as shown in fig. 10), are provided, each cell culture assembly 3 is provided with a door 31 which can be opened and closed, and independent temperature, humidity and gas content control systems are provided in each cell culture assembly, so that stem cells can be independently cultured under respective culture conditions.

The air cleaning and disinfecting system 6 may be any system structure commonly used by those skilled in the art, such as an air cleaning and ozone disinfecting system. Preferably, the air purification and disinfection system 6 comprises an air blower 61 and an ozone generator, and the air purification and disinfection system 6 is respectively connected with the space above the feeding bin 2, the cell culture assembly 3, the garbage can 8 and the operation platform 5 and is used for disinfecting and sterilizing all components in the equipment frame 1. As an embodiment, as shown in fig. 8 to 9, the air cleaning and disinfecting system 6 includes an air blower 61, an ozone eliminator 62, and further includes an air blower controller 63, a vacuum pump 64, an ozone sensor 65, an air cleaning assembly 66, a three-way solenoid valve 67, a two-way solenoid valve 68, an environment monitor 69, a pressure gauge 610, and a motor-driven butterfly valve 611, wherein the air blower controller 63, the vacuum pump 64, the ozone sensor 65, the air cleaning assembly 66, the ozone eliminator 62, the three-way solenoid valve 67, the two-way solenoid valve 68, and the motor-driven butterfly valve 611 are located in the equipment frame 1, and the environment monitor 69 and the pressure gauge 610 are located above the operation platform 5.

As an embodiment, as shown in fig. 12 and 13, a second drawer assembly 81 is provided inside the trash can 8, and when the second drawer assembly 81 is closed, an outer side surface of the second drawer assembly 81 is positioned on one side surface of the equipment frame 1 to close the equipment frame 1. The first drawer assembly 24 and the second drawer assembly 81 are located on different sides of the equipment frame 1. The top of the side face, opposite to the outer side face of the dustbin 8, of the dustbin 8 is provided with a second hinge 82, a second cover 83 at the top of the dustbin 8 is connected with the dustbin 8 through the second hinge 82, the inside of the dustbin 8 is divided into a plurality of independent chambers through a plurality of vertical partition plates, the second cover 83 comprises a plurality of push-pull plates 84 capable of being opened and closed in a sliding mode, and each push-pull plate 84 corresponds to one chamber. The push-pull plates 84 on the dustbin 8 can be independently opened, so that a robot can conveniently pour waste culture media, samples, reagents and the like into different chambers; then draw out second drawer subassembly 81, open second case lid 83, pour the rubbish in the cavity, realized automatic opening and shutting, separate rubbish and operation platform 5, avoided the influence of miscellaneous fungus, foreign matter, peculiar smell.

In a preferred embodiment, the bottom and/or the side of the waste bin 8 is provided with a push-pull mechanism, such as a hydraulic cylinder mechanism, for controlling the push-pull mechanism by the electrical control system 7, so as to automatically slide out or close the second drawer assembly 81 from the equipment frame 1. Preferably, each push-pull plate 84 is internally provided with a power mechanism, and the power mechanism is in control connection with the electric control system 7.

As an embodiment, as shown in fig. 1 and 11, the photographing microscope 9 is located on the upper right of the front side of the apparatus frame 1, the cell culture assembly 3 is located on the apparatus frame 1 behind the operation platform 5, the three-axis robot 55 is located on the left of the front side of the apparatus frame 1, the feeding bin 2 is located on the right of the apparatus frame 1, the six-axis robot 56 is located between the feeding bin 2, the cell culture assembly 3 and the operation platform 5, the garbage can 8 is located on the lower front side of the apparatus frame 1, and the electrical control system 7 is located on the apparatus frame 1 below the left side.

The first box cover 22, the first drawer assembly 24, the box door 31 and the second drawer assembly 81 are all provided with an electric control switch connected with the electric control system 7 and used for respectively controlling the opening and closing of the first box cover 22, the first drawer assembly 24, the box door 31 and the second drawer assembly 81, and closed spaces are formed during closing. The electric control system 7 is used for controlling the normal operation of the electronic equipment and components such as the lifting mechanism 23, the robot, the heating box 53, the refrigerating box 54, the centrifuge 51, the air cleaning and disinfecting system 6, the cell culture assembly 3, the electric control switch and the like. The electric control system 7 can be connected with a computer, culture programs are preset by operators, and real-time monitoring and adjustment can be realized during culture.

In one embodiment, as shown in fig. 15, the electrical control system includes a HUB, a main PLC, an air cleaning and disinfecting system PLC, an incubator PLC, and a centrifuge PLC. The main PLC is connected with the air purification and disinfection system PLC, the heat preservation box PLC and the centrifuge PLC so as to be managed comprehensively, and is also connected with the laser sensor, the bar code scanner, the liquid transfer gun and the lifting mechanism. The air cleaning and disinfecting system PLC controls all components (such as a blower controller, a vacuum pump, an ozone sensor, a motor-driven butterfly valve, a three-way electromagnetic valve, a two-way electromagnetic valve and the like) of the air cleaning and disinfecting system, the heat preservation box PLC controls the temperature of the heat preservation box and the refrigerating box, and the centrifuge PLC controls the centrifuge. The main PLC also respectively controls motors or electric cylinder assemblies which drive mechanical arms on the three-axis robot and the six-axis robot, controls a liquid transfer gun or a liquid transfer tube to absorb samples or reagents, and can receive electric signals of the laser sensor and the bar code scanner to complete corresponding instructions. The electric control system is connected with a computer through a HUB (multi-port repeater), other components (such as a touch screen, a photographing microscope and the like) on the automatic incubator are also connected with the computer through the HUB, and an operator completes the whole-process control and monitoring of the automatic stem cell culture through the computer. The components of these electrical control systems are all commonly available electronic devices. None of the depicted items in fig. 14 are those that would be within the skill of the art upon which the present invention may be implemented.

One use method of the stem cell automatic incubator comprises the following steps:

(1) after all parts of the incubator are inspected, the first drawer assembly and the second drawer assembly are closed, the first box cover and the box door are opened, a closed space is formed in the equipment frame, the first drawer assembly is drawn out after the air cleaning and disinfection system completes disinfection, the collected samples are placed in a third placing frame, reagent bottles, test tubes, centrifuge tubes, culture boxes and the like which are needed to be used in the culture process are placed in the second placing frame, the first drawer assembly is pushed into the feeding bin, and the feeding bin is disinfected again;

(2) the lifting mechanism pushes the first box cover to open, one or more robots drive the grabbing mechanism to move reagent bottles, test tubes, centrifuge tubes, culture boxes, samples and the like to preset positions, each tube cover or bottle cover is opened and placed on the first placing frame, then another or more robots with pipettors are used for taking or placing or subpackaging the reagents, the samples and the like to the preset positions, and culture solution is transferred to the samples;

(3) the grabbing mechanism shakes the sample evenly and then stands for a period of time, and the sample is transferred to a centrifuge tube and placed into a centrifuge for centrifugation;

(4) after centrifugation is finished, the grabbing mechanism puts the sample centrifuge tube on a first placing frame, a laser emitter at the free end of the three-axis robot is used for carrying out laser scanning on a liquid separation layer in the test tube, the layering position is positioned by reflected laser), and then the tail end of the free end of the three-axis robot is provided with a pipette head to suck out upper-layer dregs in the sample centrifuge tube and move the dregs to a garbage can;

(5) the residual liquid in one sample centrifuge tube is respectively filled into a plurality of test tubes (such as 5 test tubes), the test tubes are placed in a small culture box after standing for a period of time, and after the culture for a preset period of time, when the number of cells is increased to a certain degree and the area needs to be increased for culture, the cells are transferred into a large culture box for culture;

repeating the steps (3) to (5) on the sample, and repeating the culture to expand the number of cultured cells;

when a certain sample is cultured in the cell culture assembly, because the cell culture assembly is an independent culture environment, all the operation processes can be repeated to culture another sample and put into another cell culture assembly, so that a plurality of samples can be cultured in the same period, and a large amount of time is saved;

(6) when the stem cell quantity of big culture box reaches the certain degree, vibrate a plurality of times with culture box, make the finished product cell concentrate to culture box's box opening, move into these culture box's stem cell in the centrifuging tube again, the centrifugation, leave lower floor's cell finished product, heavy suspension filters, the result is concentrated in a finished product test tube, elevating system moves once more and opens first case lid, it puts the finished product test tube on the third puts the frame to snatch the mechanism, then first case lid is closed, operating personnel takes out first drawer assembly, put the frame from the third and take away the finished product test tube.

When the process needs filtering, the opening of the centrifugal tube is provided with a filtering piece for filtering. Filter and be concave type, concave type bottom has filter screen and bottom shape adaptation centrifuging tube opening internal diameter, and concave type upper end is equipped with a retaining ring, the retaining ring external diameter is greater than centrifuging tube opening external diameter. More preferably, the retainer ring is connected to a hand piece.

In the stem cell culture process, the state of stem cell culture in the culture box can be observed by using a photographing microscope.

When the stem cell culture method is changed, the device can still adapt to other stem cell culture processes through program adjustment, the automation degree is high, and a plurality of stem cell samples can be cultured simultaneously.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.