A large cell factory incubator with a real-time monitoring system

Abstract

A large cell factory incubator with a real-time monitoring system belongs to the field of cell culture monitoring technology. It includes a box, a tray arranged in the box, a cell factory and a control system. The cell factory is placed on the tray, and the tray is placed on the tray bracket at the bottom of the box. An upper real-time observation device and a lower real-time observation device are respectively arranged in the box top plate at the top of the cell factory and the tray bracket at the bottom of the cell factory. The upper real-time observation device and the lower real-time observation device are relatively arranged. The imaging device of the upper real-time observation device and the lower real-time observation device are controlled by the control system to move or the light source is rotated to observe the growth state of cells in the cell factory in real time, and the heating module, CO2 concentration control module, and humidification module are controlled according to the growth state of the cells. The present invention can observe the growth state of cells in the incubator in real time, and adjust the environmental parameters in the incubator in real time to meet the growth needs of the cells.

Description

Technical Field

[0001] The present invention belongs to the technical field of cell culture monitoring, and in particular relates to a large cell factory incubator with a real-time monitoring system, which can observe and monitor multiple positions in real time, and can monitor the growth process of living cells to judge whether the cell growth is good or bad. Background Art

[0002] The growth status of living cells directly affects the quality and output of downstream biopharmaceuticals. Existing cell culture incubators are of two types: manual and intelligent monitoring. Manual monitoring incubators can only rely on offline analysis methods to monitor the growth status of cells, which has a certain time lag and cannot accurately control environmental parameters such as temperature, humidity, and gas concentration of cell culture; it is impossible to intervene in the cell production process in a timely manner. Existing intelligent monitoring incubators can adjust the internal environmental parameters of the incubator to a certain extent, but their automated control systems have lags and cannot achieve real-time and precise regulation of the cell culture environment, nor can they observe the growth status of cells in the incubator in real time. Summary of the invention

[0003] In response to the above-mentioned technical problems, the present invention provides a large-scale cell factory incubator with a real-time monitoring system, which can observe the growth status of cells in the incubator in real time and adjust the environmental parameters in the incubator in real time to meet the growth needs of the cells.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] The present invention discloses a large-scale cell factory culture box with a real-time monitoring system, comprising a box body, a tray arranged in the box body, a cell factory and a control system. A tray bracket, an upper real-time observation device, a lower real-time observation device, a humidification module, a heating module and a CO2 concentration control module are also arranged in the box body. The cell factory is placed on the tray, which is placed on the tray bracket at the bottom of the box body through the tray. The upper real-time observation device and the lower real-time observation device are relatively arranged in the box body top plate at the top of the cell factory and the tray bracket at the bottom of the cell factory. A plurality of heating modules are arranged on the box body, a CO2 concentration control module is arranged on the top of the box body, and a humidification module is arranged at the bottom of the box body. Each of the heating modules, CO2 concentration control module, humidification module, upper real-time observation device and lower real-time observation device is respectively connected to the control system, and the control system controls the imaging device of the upper real-time observation device and the lower real-time observation device to move or the light source to rotate, so as to observe the growth state of cells in the cell factory in real time, and control the switches of the heating module, the CO2 concentration control module and the humidification module according to the growth state of the cells.

[0006] Furthermore, the upper real-time observation device and the lower real-time observation device have the same structure, both including a base plate, an X-axis transmission device, a Y-axis transmission device, a Z-axis transmission device and an image observation device. An X-axis transmission device is arranged in the length direction of the base plate, and the Y-axis transmission device is connected to the X-axis transmission device, and moves horizontally and laterally along the X-axis slide rail of the X-axis transmission device; the Z-axis transmission device is arranged on the Y-axis transmission device, and moves horizontally and longitudinally along the Y-axis slide rail of the Y-axis transmission device; the image observation device is arranged on the Z-axis transmission device, and moves vertically along the Z-axis linear module of the Z-axis transmission device, wherein the X-axis slide rail, the Y-axis slide rail and the Z-axis linear module form a vertical spatial arrangement, and the image observation device is connected to the control system, and the image observation device is driven to move in the incubator through each transmission device to monitor the growth status of living cells in real time.

[0007] Furthermore, the X-axis transmission device includes a stepper motor, an X-axis ball screw and an X-axis slide rail. Two parallel X-axis slide rails are arranged in the length direction of the base plate. An X-axis ball screw is arranged parallel to the two X-axis slide rails. Both ends of the X-axis ball screw are respectively installed on the base plate through bearing seats, and one end thereof extends out of the bearing seat to connect the stepper motor. The nut matched with the X-axis ball screw and the slider matched with the X-axis slide rail are connected to the XY connecting plate of the Y-axis transmission device.

[0008] Furthermore, the Y-axis transmission device includes an XY connecting plate, a Y-axis slide rail, a Y-axis lead screw, a through-type lead screw motor and two mounting plates. The XY connecting plate is composed of a Y-axis base plate arranged along the Y-axis direction and two vertical connecting plates perpendicular to the X-axis direction. A nut that cooperates with the X-axis ball screw is connected to the Y-axis base plate, and sliders that cooperate with the X-axis slide rail are respectively arranged on the two vertical connecting plates. Mounting plates are arranged at both ends of the Y-axis base plate, and the Y-axis slide rail and the Y-axis lead screw are installed parallel to each other between the two mounting plates. The through-type lead screw motor passes through the Y-axis lead screw, and a nut that cooperates with the Y-axis lead screw is connected to it. A slider that cooperates with the Y-axis slide rail is connected to the through-type lead screw motor mounting plate, and the through-type lead screw motor mounting plate is connected to the Z-axis transmission device.

[0009] Furthermore, the Z-axis transmission device includes a YZ connecting plate and a Z-axis linear module. The YZ connecting plate is composed of two connecting plates vertically connected, one end of which is connected to the top of the through-type screw motor of the Y-axis transmission device, and the other end is provided with a Z-axis linear module. The slide rail on the Z-axis linear module is perpendicular to the Y-axis slide rail, and the slider cooperating with the Z-axis linear module slide rail is connected to the protective box of the image observation device.

[0010] Furthermore, the image observation device includes a protective box and an optical reflector lens, an industrial camera, a permanent magnet stepper motor, a light source mounting plate and a light source placed in the protective box. The protective box is a sealed box filled with nitrogen. A flat glass plate is arranged at the top port of the protective box. The optical reflector lens corresponds to the flat glass plate of the top port for light transmission. The industrial camera and the optical reflector lens are connected. Light passes through the optical reflector lens and, after reflection, enters the industrial camera for imaging and is used for taking pictures. The light source mounting plate is connected to the industrial camera bracket. One end of the industrial camera bracket is fixed to the industrial camera, and the other end is fixed to the protective box. The protective box is fixed to the slider of the Z-axis linear module. The other end of the light source mounting plate is a free end, on which a permanent magnet stepper motor is mounted. Its output shaft passes through the light source mounting plate to connect to the light source, and the angle of the light source is adjusted by the permanent magnet stepper motor.

[0011] Furthermore, the tray bracket includes a roller mounting plate, a baffle, a roller, a guide block and a guide wheel. The roller mounting plate is installed on both sides of the bottom plate of the upper / lower real-time observation device. A plurality of rollers are arranged at equal intervals on the top of the roller mounting plate. The top wheel surface of the roller is parallel to the top surface of the roller mounting plate. The top wheel surface of the roller is 5-10mm higher than the top surface of the roller mounting plate, and is used for rolling and guiding with the support rail of the incubator tray in the horizontal direction. Trapezoidal grooves are symmetrically provided between adjacent rollers on the top surfaces of the two roller mounting plates. Guide wheels are arranged in the trapezoidal grooves. The spacing between adjacent guide wheels is equal. The wheel surface of the guide wheel is perpendicular to the wheel surface of the roller. The end surface of the guide wheel is 3-5mm higher than the top surface of the roller mounting plate, and is used for rolling and guiding with the rail of the incubator tray in the vertical direction. A baffle is arranged on the upper part of one end of the two roller mounting plates, the lower part is open, and the other end is an open end. Guide blocks extending out of the roller mounting plates are symmetrically provided near the roller positions at the open ends of the two roller mounting plates, and are used for guiding and positioning with the transfer trolley.

[0012] Furthermore, the incubator tray is a U-shaped frame placed horizontally on a pallet, and a plurality of spacers are arranged at equal intervals in the U-shaped frame on the pallet to form a plurality of frame spaces for placing cell factories. A basket door is arranged at the open end of the U-shaped frame on the pallet, and the U-shaped frame, the pallet and the basket door are all frame structures with a cavity in the middle. Two symmetrical rails are arranged along the length direction on the outer end surface of the bottom of the pallet, which cooperate with the rollers of the tray bracket for rolling guide in the vertical direction, and two support rails cooperating with the rollers of the tray bracket are symmetrically arranged on the inner sides of the two rails, and a hole block cooperating with the transfer trolley is arranged at one end of the pallet between the two support rails.

[0013] Furthermore, the control system includes a single-chip microcomputer and a host computer. The single-chip microcomputer is respectively connected to the sensors of the heating module, the humidification module and the CO2 concentration control module, the upper real-time observation device, the motors of the lower real-time observation device and the host computer, receives the signals measured by the sensors, and feeds them back to the host computer. The host computer sends instructions to the single-chip microcomputer to control the motors, the heating modules, the humidification modules and the CO2 concentration control module. 2 The switch of the concentration control module, the method for real-time observation of the growth state of cells in the cell factory is: when imaging by transmitted light illumination, the light source of the lower real-time observation device is used for the transmitted illumination of the upper real-time observation device imaging, and the light source of the upper real-time observation device is used for the transmitted illumination of the lower real-time observation device imaging; when imaging by reflected light transmission illumination, the light source of the lower real-time observation device is used for the transmitted illumination of the lower real-time observation device imaging;

[0014] When observing the 1st to 3rd layers at the bottom of the cell factory, imaging is performed through reflected light transmission illumination; adjusting the light source of the lower real-time observation device of the incubator, moving the lower real-time observation device to the position of the cell factory in the pre-observation layer through the X-axis and Y-axis transmission devices, adjusting the object distance to the pre-observation layer through the Z-axis transmission device, and rotating the angle of the light source to a preset angle with optimal imaging quality for the pre-observation layer, so that the incident light emitted by it irradiates the top cell factory wall of the pre-observation layer to form reflected light, and the reflected light then irradiates the cells on the bottom of the pre-observation layer, passes through the cell factory wall to form transmitted light, and is transmitted to the optical reflector lens of the lower real-time observation device, and then transmitted to the industrial camera for imaging through the reflector;

[0015] Observe the cell factory from the 4th layer at the bottom to the 1st layer at the top, and image through transmitted light illumination; at the same time, adjust the lower real-time observation device and the upper real-time observation device of the incubator: adjust the angle of the light source of the lower real-time observation device to the preset angle with the best imaging quality of the pre-observation layer, so that the incident light emitted by it irradiates the cell factory wall at the bottom of the pre-observation layer to form transmitted light, which is transmitted to the optical reflector lens of the upper real-time observation device, and then transmitted to the industrial camera of the upper real-time observation device through the reflector for imaging;

[0016] Alternatively, adjust the lower real-time observation device and the upper real-time observation device of the incubator at the same time: adjust the angle of the light source of the upper real-time observation device to a preset angle for optimal imaging quality of the pre-observation layer, so that the incident light emitted by it hits the bottom cell factory wall of the pre-observation layer to form transmitted light, which is transmitted to the optical reflector lens of the lower real-time observation device, and then transmitted to the industrial camera of the lower real-time observation device through the reflector for imaging.

[0017] Furthermore, the method for the single chip microcomputer to control the internal environmental parameters of the incubator is:

[0018] The temperature of different spatial areas is detected by various temperature sensors, and the temperature signals are converted into electrical signals, which are then fed back to the single-chip microcomputer. The single-chip microcomputer monitors the real-time temperature measured in the corresponding spatial area through the feedback signal of each sensor, and controls the working state of the heating module in the corresponding spatial area, so that the temperature of each spatial area in the incubator tends to be consistent. When the temperature reaches the set value, the single-chip microcomputer controls the PTC heating plate to stop heating and the fan to stop blowing; when the temperature is lower than the set value, the single-chip microcomputer controls the PTC heating plate to heat and the fan to blow, and sends the hot air flow into the incubator;

[0019] When the humidity is lower than the set value, the single chip microcomputer controls the atomizing head to start atomizing and discharge the air into the incubator, thereby increasing the humidity inside the incubator. When the humidity reaches or exceeds the set value, the single chip microcomputer controls the atomizing head to close and stop atomizing.

[0020] Dangda CO 2 When the concentration reaches the set value, the microcontroller controls the solenoid valve to close and no longer delivers CO to the incubator. 2 When CO 2 When the concentration is lower than the set value, the microcontroller controls the solenoid valve to open and deliver CO to the incubator. 2 , so that the CO in the incubator 2 The concentration increases until it reaches the set value.

[0021] The beneficial effects of the present invention are:

[0022] 1. The present invention sets upper and lower real-time observation devices and environmental parameter adjustment modules, controls the environmental parameters in the incubator through a control system, and adjusts the positions of the upper and lower real-time observation devices, so as to observe the cell growth status of each layer of the cell factory in the incubator in real time.

[0023] 2. The present invention provides upper and lower real-time observation devices at the top and bottom of each cell factory group on the tray in the incubator, which can be moved to monitor multiple points, track cell morphology changes and cell culture conditions, and realize real-time, long-term continuous observation and monitoring of cells.

[0024] 3. The upper and lower real-time observation devices of the present invention can realize three-dimensional movement by setting a three-axis transmission device, and realize multi-point observation and monitoring through camera equipment and optical reflection and transmission, so as to timely know the good and bad status of the cell production process.

[0025] 4. The control system of the present invention can achieve real-time and precise adjustment of the environmental parameters (temperature, humidity, CO2 gas concentration, etc.) in the incubator to maintain ideal conditions for cell growth and provide instant feedback on the cell status. The control system of the present invention can be connected to the Internet to remotely monitor the process of living cell production and cultivation in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic plan view of the internal structure of the present invention.

[0027] Figure 2 This is a schematic diagram of the three-dimensional structure inside the box body without the outer decorative panel of the present invention.

[0028] Figure 3 for Figure 2 Schematic diagram from another angle.

[0029] Figure 4 It is a schematic diagram of the split structure of the present invention.

[0030] Figure 5 Schematic diagram of the real-time observation device structure.

[0031] Figure 6 for Figure 5 Schematic diagram of the structure without the protective box.

[0032] Figure 7 for Figure 6 Schematic diagram of the structure from another angle.

[0033] Figure 8 for Figure 6 Schematic diagram of the split structure of the middle protection box.

[0034] Fig. 9 This is a schematic diagram of the structure of the tray support of the present invention.

[0035] Fig.10 It is a schematic diagram of the structure of the incubator tray of the present invention.

[0036] Fig.11 for Fig.10 Schematic diagram of the structure from another angle.

[0037] Fig.12 (a) is a schematic diagram of the structure of the transfer vehicle used in the present invention.

[0038] Fig.12 (b) Fig.12 (a) Schematic diagram of the coordination between the pedal stop column and the tray.

[0039] Fig.12 (c) Fig.12 (b) Schematic cross-sectional view of the pedal stop column and the tray.

[0040] Fig.13 This is a schematic diagram of the illumination imaging principle of the present invention.

[0041] Fig.14 This is a schematic diagram of the illumination and imaging principle of the first layer at the bottom of the cell factory in an embodiment of the present invention.

[0042] Fig.15This is a schematic diagram of the illumination and imaging principle of the second layer at the bottom of the cell factory in an embodiment of the present invention.

[0043] Fig.16 This is a schematic diagram of the illumination and imaging principle of the third layer at the bottom of the cell factory in an embodiment of the present invention.

[0044] Fig.17 This is a block diagram of the control system of the present invention.

[0045] Fig.18 It is a schematic diagram of the overall structure of the heating module of the present invention.

[0046] Fig.19 for Fig.18 Schematic diagram of the split structure.

[0047] Fig. 20 This is a schematic diagram of the split structure of the humidification module of the present invention.

[0048] Fig.21 It is a schematic diagram of the structure of the incubator body of the present invention.

[0049] Fig. 22 for Fig.21 Open the state diagram.

[0050] In the figure:

[0051] 1. Box body, 101 upper cover, 102 cell status display, 103 control display, 104 box side panel, 105 box door panel, 106 box bottom panel, 107 universal caster, 108 observation window, 109 adjustable foot, 110 door center column, 111 lighting lamp, 112 ultraviolet sterilization lamp;

[0052] 2. Pallet, 201. U-shaped frame, 202. basket door, 203. spacer, 204. latch, 205. card hole block, 206. card rail, 207. support rail, 208. support plate;

[0053] 3. Tray bracket, 301 baffle, 302 roller mounting plate, 303 groove, 304 guide wheel, 305 roller, 306 guide block;

[0054] 4. On the real-time observation device,

[0055] 5. Lower real-time observation device, 501 stepper motor MS24HS3P, 502 bottom plate, 503 protection box, 5031 flat glass plate, 5032 sealing joint, 504 bearing seat, 505 ball screw, 506 X-axis slide rail, 507 Y-axis screw, 508 through-type screw motor, 509 XY-axis connecting plate, 5091 Y-axis bottom plate, 5092 vertical connecting plate, 510 screw mounting plate, 511 Y-axis slide rail MGN9C1R275Z0C, 512 YZ-axis connecting plate, 513 linear module, 514 optical reflector lens, 515 industrial camera, 516 permanent magnet stepper motor, 517 light source mounting plate, 518 light source, 519 incident light, 520 transmitted light, 521 reflected light;

[0056] 6. Humidification module, 601 cover plate, 602 atomizing head, 603 atomizing head bracket, 604 water tank;

[0057] 7. Heating module, 701 fan, 702 heat sink, 703 heating plate, 704 heat insulation plate, 705 temperature sensor;

[0058] 8.CO2 concentration control module, 801 nozzle, 802 main air inlet pipe, 803 manifold, 804 solenoid valve, 805 one-to-three pipe joint, 806 air distribution pipe;

[0059] 9. Transfer trolley, 901 handrail, 902 stop column sleeve, 903 pedal stop column, 9031 stop column, 9032 spring, 9033 pedal, 904 trolley caster, 905 roller frame, 906 trolley roller, 907 trolley panel, 908 trolley guide block, 909 trolley leg;

[0060] 10. Cell factory. DETAILED DESCRIPTION

[0061] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0062] Example: Figure 1-Figure 4As shown, the present invention is a large-scale cell factory incubator with a real-time monitoring system, comprising a box body 1, a tray 2 arranged in the box body 1, a cell factory 10 and a control system, wherein a tray support 3, an upper real-time observation device 4, a lower real-time observation device 5, a humidification module 6, a heating module 7, and a CO2 concentration control module 8 are also arranged in the box body 1, and the cell factory 10 is placed on the tray 2, and the tray 2 is placed on the tray support 3 at the bottom of the box body 1, and the upper real-time observation device 4, the lower real-time observation device 5, the humidification module 6, the heating module 7, and the CO2 concentration control module 8 are arranged relatively on the box body top plate at the top of the cell factory 10 and the tray support 3 at the bottom of the cell factory 10. Device 5, a plurality of heating modules 7 are arranged on the box body 1, a CO2 concentration control module 8 is arranged on the top of the box body 1, and a humidification module 6 is arranged at the bottom of the box body 1. Each of the heating modules 7, CO2 concentration control module 8, humidification module 6, upper real-time observation device 4 and lower real-time observation device 5 are respectively connected to the control system, and the control system controls the movement of the imaging device or the rotation of the light source of the upper real-time observation device 4 and the lower real-time observation device 5 to observe the growth state of the cells in the cell factory 10 in real time, and controls the switches of the heating modules 7, CO2 concentration control module 8 and humidification module 6 according to the growth state of the cells.

[0063] Furthermore, if Figure 1 , Figure 5-Figure 7 As shown, the upper real-time observation device 4 and the lower real-time observation device 5 described in this example have the same structure, both of which include a base plate 502, an X-axis transmission device, a Y-axis transmission device, a Z-axis transmission device and an image observation device. An X-axis transmission device is arranged in the length direction of the base plate 502, and the Y-axis transmission device is connected to the X-axis transmission device, and moves horizontally along the X-axis slide rail 506 of the X-axis transmission device; the Z-axis transmission device is arranged on the Y-axis transmission device, and moves horizontally along the Y-axis slide rail 511 of the Y-axis transmission device; the image observation device is arranged on the Z-axis transmission device, and moves vertically along the Z-axis linear module of the Z-axis transmission device, wherein the X-axis slide rail 506, the Y-axis slide rail 511 and the Z-axis linear module form a vertical spatial arrangement, and the image observation device is connected to the control system, and the image observation device is driven to move in the incubator through each transmission device to monitor the growth status of living cells in real time.

[0064] Furthermore, if Figure 4-Figure 6As shown, the following real-time observation device 5 is taken as an example. The X-axis transmission device in this example includes a stepper motor 501, an X-axis ball screw 505 and an X-axis slide rail 506. Two parallel X-axis slide rails 506 are arranged in the length direction of the bottom plate 502. The X-axis ball screw 505 is arranged parallel to the two X-axis slide rails. The two ends of the X-axis ball screw 505 are respectively installed on the bottom plate 502 through the bearing seat 504, and one end thereof extends out of the bearing seat 504 to connect with the stepper motor 501. The nut matched with the X-axis ball screw 505 and the slider matched with the X-axis slide rail 506 are connected with the XY connecting plate 509 of the Y-axis transmission device. The X-axis ball screw 505 is driven to rotate by the stepper motor 501, and the nut matched with it and the Y-axis transmission device are driven to move along the X-axis slide rail 506, so as to realize the movement of the lower real-time observation device 5 along the X-axis.

[0065] Furthermore, the Y-axis transmission device in this example includes an XY connecting plate 509, a Y-axis slide rail 511, a Y-axis screw 507, a through screw motor 508 and two mounting plates 510. The XY connecting plate 509 is composed of a Y-axis bottom plate 5091 arranged along the Y-axis direction and two vertical connecting plates 5092 perpendicular to the X-axis direction. A screw nut that matches the X-axis ball screw 505 is connected to the Y-axis bottom plate 5091, and screws that match the X-axis slide rail 506 are respectively arranged on the two vertical connecting plates 5092. The Y-axis bottom plate 5091 is provided with mounting plates 510 at both ends, and the Y-axis guide rail 511 and the Y-axis screw rod 507 are installed parallelly between the two mounting plates 510. The through-type screw motor 508 is passed through the Y-axis guide rod 507, and the nut matched with the Y-axis guide rod 507 is connected thereto. A slider matched with the Y-axis guide rail 511 is connected at the bottom of the through-type screw motor 508 mounting plate, and the through-type screw motor 508 mounting plate is connected to the Z-axis transmission device. The Y-axis guide rod 507 is driven to rotate by the through-type screw motor 508, and moves along the Y-axis guide rod 507 through the nut connected thereto, and at the same time, the through-type screw motor 508 moves along the Y-axis guide rail 511 through the slider connected to its mounting plate, thereby driving the Z-axis transmission device connected to the through-type screw motor 508 mounting plate to move along the Y-axis guide rail 506, so as to realize the movement of the lower real-time observation device 5 along the Y-axis.

[0066] Furthermore, the Z-axis transmission device in this example includes a YZ connecting plate 512 and a Z-axis linear module 513. The YZ connecting plate 512 is composed of two connecting plates connected vertically, one end of which is connected to the top of the through-type screw motor 508 of the Y-axis transmission device, and the other end is provided with a Z-axis linear module 513. The slide rail on the Z-axis linear module is perpendicular to the Y-axis slide rail 511, and the slider matched with the Z-axis linear module slide rail is connected to the protective box 503 of the image observation device. The Z-axis linear module 513 is a prior art, model FSK30-BC-B35 (50). The image observation device connected to the Z-axis linear module 513 is driven by the Z-axis linear module 513, so that the image observation device is moved along the Z-axis linear module slide rail, thereby realizing the movement of the lower real-time observation device 5 along the Z axis.

[0067] Limit sensors are provided at both ends of the slide rails of the X-axis, Y-axis and Z-axis transmission devices to ensure that there is no collision with the top and bottom tray brackets 3 of the cell factory during movement.

[0068] Furthermore, if Figure 5-Figure 8 As shown, the image observation device described in this example includes a protective box 503 and an optical reflector lens 514, an industrial camera 515, a permanent magnet stepper motor 516, a light source mounting plate 517 and a light source 518 placed in the protective box 503. The protective box 503 is a sealed box filled with nitrogen. A flat glass plate is arranged at the top port of the protective box 503. The optical reflector lens 514 corresponds to the flat glass plate at the top port for light transmission. The optical reflector lens 514 and the industrial camera 515 are connected by threads, and a reflector is arranged between the two. All of these are prior art. Light enters through the optical reflector lens 514. After being reflected by the reflector, the light enters the industrial camera 515 for imaging and is used for taking pictures. The light source mounting plate 517 is connected to the industrial camera bracket by threads. The industrial camera bracket fixes the industrial camera 515 by screws. One end of the industrial camera bracket is fixed to the protective box 503 by screws. The protective box 503 is fixed to the slider of the Z-axis linear module 513 by screws. The other end of the light source mounting plate 517 is a free end, on which a permanent magnet stepper motor 516 is installed. Its output shaft passes through the light source mounting plate 517 and is connected to the light source clamping part. The angle of the light source 518 is adjusted by driving the permanent magnet stepper motor 516 to rotate. By driving the permanent magnet stepper motor 516, the light source 518 connected thereto is driven to rotate, so as to adjust the angle of the light source 518.

[0069] The stepper motor 501 , the through-type lead screw motor 508 , the Z-axis linear module 513 and the permanent magnet stepper motor 516 are all connected to the single chip microcomputer of the control system, and are turned on by the single chip microcomputer.

[0070] The protective box 503 is a sealed box body, which is isolated from the external gas, protecting the industrial camera 515 and the optical reflector lens 514 from external moisture and fog, avoiding contamination of the optical lens; a nitrogen filling hole is opened on the box body, and a sealing joint 5032 (i.e., a valve core) is arranged on it for filling nitrogen.

[0071] Furthermore, if Fig. 9 As shown, the tray bracket 3 in this example includes a roller mounting plate 302, a baffle 301, a roller 305, a guide block 306 and a guide wheel 304. The roller mounting plate 302 is mounted on both sides of the bottom plate 502 of the upper / lower real-time observation device 5. A plurality of rollers 305 are arranged at equal intervals on the top of the roller mounting plate 302. The top wheel surface of the roller 305 is parallel to the top surface of the roller mounting plate 302, and the top wheel surface of the roller 305 is 5-10mm (8mm in this example) higher than the top surface of the roller mounting plate 302, and is used to cooperate with the support rail 207 of the incubator tray 2 in the horizontal direction for rolling guidance, so that a gap is left between the lower end of the incubator tray 2 and the roller mounting plate 302, and no collision occurs; the adjacent rollers 305 on the top surfaces of the two roller mounting plates 302 There are symmetrical trapezoidal grooves 303 between the 5 guide wheels, and guide wheels 304 are arranged in the trapezoidal grooves 303. The adjacent guide wheels 304 are spaced equally apart. The wheel surface of the guide wheel 304 is perpendicular to the wheel surface of the roller 305, and the end surface of the guide wheel 304 is 3-5mm (4mm in this example) higher than the top surface of the roller mounting plate 302, and is used to cooperate with the rail 206 of the incubator tray 2 for rolling guidance in the vertical direction. A baffle 301 is arranged on the upper part of one end of the two roller mounting plates 302, and the lower part is open for installing the stepper motor 501 of the upper / lower real-time observation device 5, and the other end is an open end. At the open ends of the two roller mounting plates 302, guide blocks 306 extending out of the roller mounting plates 302 are symmetrically arranged near the roller positions, and are used to cooperate with the transfer cart 9 for guiding and positioning. The outer side of the protruding end of the guide block 306 is a chamfered structure, and the inner side of the protruding end of the trolley guide block 908 of the transfer trolley 9 is a chamfered structure, which facilitates the guide block 306 and the trolley guide block 908 of the transfer trolley 9 to cooperate and guide and slide.

[0072] Furthermore, if Fig.10 , Fig.11As shown, the incubator tray 2 described in this example is a U-shaped frame 201 placed horizontally on a pallet 208, and a plurality of spacer frames 203 are arranged at equal intervals in the U-shaped frame 201 on the pallet 208 to form a plurality of frame spaces for placing cell factories. A basket door 202 is arranged at the open end of the U-shaped frame 201 on the pallet 208. The U-shaped frame 201, the pallet 208 and the basket door 202 are all frame structures with a cavity in the middle. Two symmetrical rails 206 are arranged along the length direction on the outer end surface of the bottom of the pallet 208, which cooperate with the rollers of the tray bracket 3 for rolling guidance in the vertical direction. Two support rails 207 cooperating with the rollers 305 of the tray bracket 3 are symmetrically arranged on the inner sides of the two support rails 206, and a hole block 205 cooperating with the transfer trolley 9 is arranged on one end of the pallet 208 between the two support rails 207. The clamping rail 206 and the supporting rail 207 are both strip plate structures, and the two ends of the side of the strip plate that cooperates with the roller are inclined to form a slope, so that the roller 305 can slide in easily. A fast door latch 204 is provided on the basket door 202, which is used to lock the basket door 202 after placing the cell factory 10. The cell factory used in this example is the existing technology, which is composed of 40 layers of cell culture chambers, each of which contains cell culture fluid, and a filter tube group is set on the top.

[0073] like Fig.12 As shown, the transfer trolley 9 used in the present invention includes a trolley panel 907, a handrail 901, a stop column sleeve 902, a pedal stop column 903, a trolley caster 904, a roller frame 905, a trolley guide block 908, a trolley roller 906 and a trolley leg 909. The trolley panel 907 is provided with an handrail 901 at one end, and two symmetrical trolley guide blocks 908 extending out of the trolley panel 907 and cooperating with the tray bracket 3 are provided at the other end. The roller frames 905 are symmetrically arranged on both sides of the top of the trolley panel 907, and the support rails 207 cooperating with the incubator tray 2 are evenly spaced thereon. The trolley has rollers 903, legs 909 are arranged at the four corners of the bottom end of the trolley panel 907, and casters 904 are arranged at the bottom end of the legs 909. A stop column sleeve 902 is arranged at the top end of the trolley panel 907 at the end of the handrail 901, and a stop column is arranged in the stop column sleeve 902. One end of the stop column passes through the trolley panel 907, and a stop column pedal 903 extending out of the trolley panel 907 is connected thereto. The outer diameter of the stop column at the end connected to the stop column pedal 903 is smaller than the outer diameter of the other end, and a spring is sleeved on the outer periphery of this end. The larger diameter end of the stop column is used to cooperate with the card hole stop block 205 of the incubator tray 2. When the incubator tray 2 is to be loaded, the blocking column pedal 903 is stepped on with the foot, and the blocking column moves downward with the blocking hole column blocking block plate 903 and retracts into the blocking column sleeve 902. When the incubator tray 2 is pushed onto the transfer trolley 9, the blocking column pedal 903 is released, and the blocking column, under the action of the spring force, extends out of the blocking column sleeve 902 and extends into the locking hole of the locking hole block 205, thereby limiting the incubator tray 2 and preventing it from falling off the transfer trolley during transportation.

[0074] When the tray 2 containing the cell factory is placed on the transfer cart 9, the trolley roller 906 cooperates with the support rail 207 of the incubator tray 2 to achieve rolling action and reduce installation resistance; the trolley guide block 908 cooperates with the guide block 306 of the tray bracket 3, which can make the trolley simply and quickly positioned with the incubator 1, ensuring that the incubator tray 2 can smoothly slide into the tray bracket 3 in the incubator 1; the card hole block 205 of the tray 2 cooperates with the stop column of the transfer cart 9, thereby ensuring that during the transportation process, the incubator tray 2 is fixed on the transfer cart 3 and will not shake or fall.

[0075] Furthermore, if Fig.17 As shown, the control system in this example includes a single-chip microcomputer and a host computer. The single-chip microcomputer is connected to each heating module, humidification module and CO 2 The sensors of the concentration control module, the start switch, the motors of the upper real-time observation device 4 and the lower real-time observation device 5, and the host computer receive the signals measured by the sensors and feed them back to the host computer, which sends instructions to the single-chip microcomputer to control the motors, the heating modules, the humidification modules, and the CO 2 The method of switching the concentration control module and observing the growth status of cells in the cell factory in real time is as follows:

[0076] like Fig.13 As shown, observe the cell factory from the 4th layer at the bottom to the 1st layer at the top, and image through transmitted light illumination; at the same time, adjust the lower real-time observation device and the upper real-time observation device of the incubator, move the upper and lower real-time observation devices to the position of the cell factory in the pre-observation layer through the X-axis and Y-axis transmission devices, adjust the object distance to the pre-observation layer through the Z-axis transmission device, and adjust the X-axis, Y-axis, and Z-axis transmission devices of the two to the following state: adjust the angle of the light source of the lower real-time observation device to the preset angle with the best imaging quality of the pre-observation layer, so that the incident light emitted by it irradiates the cell factory wall at the bottom of the pre-observation layer to form transmitted light, which is transmitted to the optical reflector lens of the upper real-time observation device, and then transmitted to the industrial camera of the upper real-time observation device through the reflector for imaging;

[0077] Alternatively, the lower real-time observation device and the upper real-time observation device of the incubator are adjusted at the same time, so that the X-axis, Y-axis, and Z-axis transmission devices of the two are adjusted to the following states: the angle of the light source of the upper real-time observation device is adjusted to a preset angle for optimal imaging quality of the pre-observation layer, so that the incident light emitted by it irradiates the bottom cell factory wall of the pre-observation layer to form transmitted light, which is transmitted to the optical reflector lens of the lower real-time observation device, and then transmitted to the industrial camera of the lower real-time observation device through the reflector for imaging.

[0078] Specifically: when observing the fourth layer at the bottom of the cell factory, imaging is performed through transmitted light illumination; at the same time, the lower real-time observation device and the upper real-time observation device of the incubator are adjusted so that the X-axis, Y-axis, and Z-axis transmission devices of the two are adjusted to the following states: the angle of the light source of the lower real-time observation device is adjusted to a preset angle with the best imaging quality of the fourth layer at the bottom of the cell factory, so that the incident light emitted by the lower real-time observation device irradiates the bottom cell factory wall of the fourth layer at the bottom of the cell factory to form transmitted light, which is transmitted to the optical reflector lens of the upper real-time observation device, and then transmitted to the industrial camera of the upper real-time observation device through the reflector for imaging;

[0079] When observing the first layer on the top of the cell factory, images are formed by transmitting light illumination; at the same time, the lower real-time observation device and the upper real-time observation device of the incubator are adjusted so that the X-axis, Y-axis, and Z-axis transmission devices of the two are adjusted to the following states: the angle of the light source of the lower real-time observation device is adjusted to the preset angle with the best imaging quality of the first layer on the top of the cell factory, so that the incident light emitted by it is irradiated to the bottom cell factory wall of the first layer on the top of the cell factory to form transmitted light, which is transmitted to the optical reflector lens of the upper real-time observation device, and then transmitted to the industrial camera of the upper real-time observation device through the reflector for imaging.

[0080] like Figure 14-16 As shown, when observing the 1st to 3rd layers at the bottom of the cell factory, imaging is performed through reflected light transmission illumination; the light source of the lower real-time observation device of the incubator is adjusted, the lower real-time observation device is moved to the position of the cell factory of the pre-observation layer through the X-axis and Y-axis transmission devices, the object distance to the pre-observation layer is adjusted through the Z-axis transmission device, and the angle of the light source is rotated to a preset angle with optimal imaging quality for the pre-observation layer, so that the incident light emitted by it irradiates the top cell factory wall of the pre-observation layer to form reflected light, and passes through the cell factory wall to form transmitted light, which is transmitted to the optical reflector lens of the lower real-time observation device, and then transmitted to the industrial camera for imaging through the reflector;

[0081] Specifically, when observing the first layer at the bottom of the cell factory 10, the illumination light path diagram is as follows: Fig.14 As shown, the light source of the lower real-time observation device of the incubator is adjusted, the lower real-time observation device is moved to the position of the cell factory of the pre-observation layer through the X-axis and Y-axis transmission devices, the object distance is adjusted to the observation bottom first layer through the Z-axis transmission device, the permanent magnet stepper motor 516 is controlled to rotate, and the angle of the light source 518 of the lower real-time observation device 5 at the bottom of the incubator is adjusted so that the incident light 519 emitted by it irradiates the top cell factory wall of the first layer at the bottom of the cell factory 10 to form reflected light 521, and the reflected light 521 then irradiates the cells on the bottom of the first layer at the bottom of the cell factory 10, and passes through the cell factory wall to form transmitted light 520, which is transmitted to the optical reflector lens 514 of the lower real-time observation device 5, and then transmitted to the industrial camera 515 through the reflector;

[0082] When observing the second layer at the bottom of the cell factory 10, the illumination light path diagram is as follows Fig.15 As shown, the light source of the lower real-time observation device of the incubator is adjusted, the lower real-time observation device is moved to the position of the cell factory of the pre-observation layer through the X-axis and Y-axis transmission devices, the object distance is adjusted to the second layer of the bottom observation through the Z-axis transmission device, the permanent magnet stepper motor 516 is controlled to rotate, and the incident angle of the incident light 519 of the light source 518 of the lower real-time observation device 5 at the bottom of the incubator 1 is adjusted, so that the incident light 519 emitted by the incident light 519 irradiates the top of the second layer at the bottom of the cell factory 10 to form a reflected light 521, and the reflected light 521 then irradiates the cells on the bottom of the second layer at the bottom of the cell factory 10, and passes through the cell factory wall to form a transmitted light 520, which is transmitted to the optical reflector lens 514 of the lower real-time observation device 5, and then transmitted to the industrial camera 515 through the reflector;

[0083] When observing the third layer at the bottom of the cell factory 10, the illumination light path diagram is as follows Fig.16 As shown, the light source of the lower real-time observation device of the incubator is adjusted, and the lower real-time observation device is moved to the position of the cell factory of the pre-observation layer through the X-axis and Y-axis transmission devices. The object distance to the third layer at the bottom of the observation is adjusted through the Z-axis transmission device, and the permanent magnet stepper motor 516 is controlled to rotate. The incident angle of the incident light 519 of the light source 518 of the lower real-time observation device 5 at the bottom of the incubator 1 is adjusted so that the incident light 519 emitted by it is irradiated to the top of the third layer at the bottom of the cell factory 10 to form reflected light 521, and the reflected light 521 then irradiates the cells on the bottom of the third layer at the bottom of the cell factory 10, and passes through the cell factory wall to form transmitted light 520, which is transmitted to the optical reflector lens 514, and then transmitted to the industrial camera 515 through the reflector.

[0084] Among them, the preset angle with the best imaging quality is obtained based on experimental debugging, specifically by adjusting the position and rotation angle of the light source of the lower real-time observation device / upper real-time observation device, and observing the imaging quality, recording the position and rotation angle of the light source with the best imaging quality of the observation layer, forming a database, and storing it in the host computer. The host computer sends instructions to the single-chip microcomputer, and the upper and lower real-time observation devices are controlled by the single-chip microcomputer.

[0085] Furthermore, the method for the control system described in this example to control the internal environmental parameters of the incubator is: the temperatures of different spatial areas are detected respectively by various temperature sensors, and the temperature signals are converted into electrical signals, which are then fed back to the single-chip microcomputer. The single-chip microcomputer monitors the real-time temperature measured in the corresponding spatial area through the feedback signal of each sensor, and controls the working state of the heating module in the corresponding spatial area, so that the temperatures of various spatial areas in the incubator tend to be consistent; when the temperature reaches the set value, the single-chip microcomputer controls the PTC heating plate to stop heating and the fan to stop blowing; when the temperature is lower than the set value, the single-chip microcomputer controls the PTC heating plate to heat and the fan to blow, so as to send the hot air flow into the incubator.

[0086] When the humidity is lower than the set value, the single chip microcomputer controls the atomizing head of the humidity module 6 to start atomizing and discharge the air into the incubator to increase the humidity in the incubator; when the humidity reaches or exceeds the set value, the single chip microcomputer controls the atomizing head 10402 to close and stop atomizing;

[0087] Dangda CO 2 When the concentration reaches the set value, the microcontroller controls the 10604 solenoid valve to close and no longer deliver CO to the incubator. 2 When CO 2 When the concentration is lower than the set value, the microcontroller controls the 10604 solenoid valve to open and deliver CO to the incubator. 2 , so that the CO in the incubator 2 The concentration increases until it reaches the set value.

[0088] This example has 20 heating modules, such as Fig.18 As shown, six heating modules 7 are respectively arranged on the two side panels 104 and the back panel of the box 1, two heating modules 7 are arranged on the bottom plate 106 of the box, and a plurality of cooling fans 701 are arranged on the top plate of the box 1. The air flows into the box 1 through all the heating modules 7 and becomes hot air. When the temperature is too high, the air passes through the cooling fan on the top of the incubator and is discharged by the cooling fan 701, thereby ensuring that the gas temperature in the incubator is more uniform and solving the problem of uneven temperature in traditional large-scale cell factory incubators.

[0089] like Figure 18-19 As shown, the heating module is respectively arranged on the heating holes of the top plate of the incubator, the bottom plate 106 of the box, the two side plates 104 of the box and the back plate, including a fan 701, a heat sink 702, a heating plate 703 and a heat insulation plate frame 704. The heating plates 703 are arranged on both sides of the heat sink 702, the heat insulation plate frame 704 is arranged at one end of the heat sink 702, and the fan 701 is arranged at the other end. The end of the heat insulation plate 704 corresponds to the heating hole of the incubator to deliver hot air into the incubator. The temperature sensor 705 is arranged above or below the heating module 7 to measure the temperature change in the incubator; and the temperature signal is converted into an electrical signal output and fed back to the single-chip microcomputer. The single-chip microcomputer compares the feedback signal with the temperature setting value and controls the opening and closing of the heating plate 703, thereby realizing the control of the temperature. The heat insulation plate adopts a 3PTC heating plate (which is the existing technology). When the temperature controller fails, the heating surface temperature of the PTC heater will not exceed the set constant temperature, and has an over-temperature protection function.

[0090] like Fig. 20As shown, the humidification module 6 is arranged on the bottom plate 106 of the incubator box between two groups of cell factory trays, and includes a cover plate 601, an atomizer head 602, an atomizer head bracket 603 and a water tank 604; the water tank 604 is filled with water, and an atomizer head bracket 603 is arranged near the top of the water tank 604, on which a plurality of atomizer heads 602 are installed, and the atomizer heads 602 respectively correspond to the atomization holes 602 opened on the top cover plate 601 of the water tank. The humidity sensor is arranged in the incubator near the top of the cell factory to measure the water content in the air in the incubator, and communicate with the single-chip microcomputer. The humidity in the incubator is measured by the humidity sensor, and the single-chip microcomputer compares the feedback signal with the preset humidity value to control the opening and closing of the atomizer head 602 to achieve humidity control.

[0091] like Figure 2 As shown, CO 2 The concentration control module 8 includes a main air inlet pipe 802, a manifold 803, a solenoid valve 804, a three-way pipe joint 805, a gas distribution pipe 806, and a nozzle 801. One end of the main air inlet pipe 802 is connected to the gas source through a gas source joint, and the other end is connected to the manifold 806. The manifold 806 is connected to the solenoid valve 804. The gas output end of the solenoid valve 804 is connected to a three-way pipe joint 805, and three gas distribution pipes 806 are connected in parallel. The ends of the gas distribution pipes 806 are connected to nozzles 801 extending into the incubator (the model in this example is KNH-R02-200). Among them: the carbon dioxide sensor is an existing infrared carbon dioxide sensor, which is set near the bottom of the incubator, measures the carbon dioxide concentration in the incubator, converts the received signal into an electrical signal, and feeds it back to the single-chip microcomputer, which then controls the opening and closing of the solenoid valve 804 to control CO 2 The delivery of CO in the incubator is realized 2 The gas source connector adopts the partition type connector KQ2E01-00A1, which is connected to pure and stable CO 2 Air source: solenoid valve 804 model is SX11F-BG.

[0092] like Figure 21-22As shown, the incubator box body 1 described in this example is composed of a back plate arranged between a box bottom plate 106 and an upper cover 101, two box side plates 104 and two box door plates 105, the two box door plates 105 form a double-door structure, on which a cell status display 102 and a control display 103 are respectively arranged, and observation windows 108 are arranged below the cell status display 102 and the control display 103. A door center column 110 is arranged between the two box door plates 105, and a lighting lamp 111 is arranged on the upper cover 101 of the box inner cavity for lighting, and an ultraviolet sterilization lamp 112 is arranged on the box side plate 104 for sterilization in the incubator; adjustable feet 109 are arranged near the four corners at the bottom of the box bottom plate 106, universal casters 107 are arranged at the four corners, and door panel sealing strips are arranged around the box door plates 105 for sealing the incubator box body 1.

[0093] The components not described in detail in the present invention are all prior art and will not be described in detail here.

[0094] It can be understood that the above specific description of the present invention is only used to illustrate the present invention and is not limited to the technical solutions described in the embodiments of the present invention. Those skilled in the art should understand that the present invention can still be modified or replaced by equivalents to achieve the same technical effects; as long as the use requirements are met, they are within the protection scope of the present invention.

Claims

1. A large cell factory incubator with a real-time monitoring system, characterized in that: The invention comprises a box, a tray arranged in the box, a cell factory and a control system. A tray bracket, an upper real-time observation device, a lower real-time observation device, a humidification module, a heating module and a CO2 concentration control module are also arranged in the box. The cell factory is placed on the tray, which is placed on the tray bracket at the bottom of the box. An upper real-time observation device and a lower real-time observation device are arranged relatively on the box top plate at the top of the cell factory and in the tray bracket at the bottom of the cell factory. A plurality of heating modules are arranged on the box, a CO2 concentration control module is arranged on the top of the box, and a humidification module is arranged at the bottom of the box. Each of the heating modules, the CO2 concentration control module, the humidification module, the upper real-time observation device and the lower real-time observation device are arranged relatively on the box top plate at the top of the cell factory and the tray bracket at the bottom of the cell factory. The device and the lower real-time observation device are connected to the control system respectively. Six heating modules are respectively arranged on the two side panels and the back panel of the box body, two heating modules are arranged on the bottom panel of the box body, and multiple cooling fans are arranged on the top panel of the box body. The air flows into the box body through all the heating modules and becomes hot air. When the temperature is too high, it is discharged through the cooling fan on the top of the incubator to ensure that the gas temperature in the incubator is more uniform. The control system controls the movement of the imaging device or the rotation of the light source of the upper real-time observation device and the lower real-time observation device to observe the growth status of the cells in the cell factory in real time, and controls the switches of the heating module, the CO2 concentration control module, and the humidification module according to the growth status of the cells. The method for real-time observation of the growth state of cells in the cell factory is as follows: when imaging by transmitted light illumination, the light source of the lower real-time observation device is used for the transmitted illumination of the upper real-time observation device, and the light source of the upper real-time observation device is used for the transmitted illumination of the lower real-time observation device; when imaging by reflected light transmission illumination, the light source of the lower real-time observation device is used for the transmitted illumination of the lower real-time observation device; When observing the 1st to 3rd layers at the bottom of the cell factory, imaging is performed through reflected light transmission illumination; adjusting the light source of the lower real-time observation device of the incubator, moving the lower real-time observation device to the position of the cell factory in the pre-observation layer through the X-axis and Y-axis transmission devices, adjusting the object distance to the pre-observation layer through the Z-axis transmission device, and rotating the angle of the light source to a preset angle with optimal imaging quality for the pre-observation layer, so that the incident light emitted by it irradiates the top cell factory wall of the pre-observation layer to form reflected light, and the reflected light then irradiates the cells on the bottom of the pre-observation layer, passes through the cell factory wall to form transmitted light, and is transmitted to the optical reflector lens of the lower real-time observation device, and then transmitted to the industrial camera for imaging through the reflector; Observe the cell factory from the 4th layer at the bottom to the 1st layer at the top, and image through transmitted light illumination; at the same time, adjust the lower real-time observation device and the upper real-time observation device of the incubator: adjust the angle of the light source of the lower real-time observation device to the preset angle with the best imaging quality of the pre-observation layer, so that the incident light emitted by it irradiates the cell factory wall at the bottom of the pre-observation layer to form transmitted light, which is transmitted to the optical reflector lens of the upper real-time observation device, and then transmitted to the industrial camera of the upper real-time observation device through the reflector for imaging; Alternatively, adjust the lower real-time observation device and the upper real-time observation device of the incubator at the same time: adjust the angle of the light source of the upper real-time observation device to a preset angle for optimal imaging quality of the pre-observation layer, so that the incident light emitted by it hits the bottom cell factory wall of the pre-observation layer to form transmitted light, which is transmitted to the optical reflector lens of the lower real-time observation device, and then transmitted to the industrial camera of the lower real-time observation device through the reflector for imaging.

2. The large cell factory incubator with a real-time monitoring system according to claim 1, characterized in that: The upper real-time observation device and the lower real-time observation device have the same structure, and both include a base plate, an X-axis transmission device, a Y-axis transmission device, a Z-axis transmission device and an image observation device. An X-axis transmission device is arranged in the length direction of the base plate, and the Y-axis transmission device is connected to the X-axis transmission device, and moves horizontally along the X-axis slide rail of the X-axis transmission device; the Z-axis transmission device is arranged on the Y-axis transmission device, and moves horizontally and longitudinally along the Y-axis slide rail of the Y-axis transmission device; the image observation device is arranged on the Z-axis transmission device, and moves vertically along the Z-axis linear module of the Z-axis transmission device, wherein the X-axis slide rail, the Y-axis slide rail and the Z-axis linear module form a vertical spatial arrangement, and the image observation device is connected to the control system, and the image observation device is driven to move in the incubator through each transmission device to monitor the growth status of living cells in real time.

3. The large cell factory incubator with a real-time monitoring system according to claim 2, characterized in that: The X-axis transmission device includes a stepper motor, an X-axis ball screw and an X-axis slide rail. Two parallel X-axis slide rails are arranged in the length direction of the base plate. An X-axis ball screw is arranged parallel to the two X-axis slide rails. Both ends of the X-axis ball screw are respectively installed on the base plate through bearing seats, and one end thereof extends out of the bearing seat to connect the stepper motor. The nut matched with the X-axis ball screw and the slider matched with the X-axis slide rail are connected to the XY connecting plate of the Y-axis transmission device.

4. The large cell factory incubator with a real-time monitoring system according to claim 2, characterized in that: The Y-axis transmission device includes an XY connecting plate, a Y-axis slide rail, a Y-axis lead screw, a through-type lead screw motor and two mounting plates. The XY connecting plate is composed of a Y-axis base plate arranged along the Y-axis direction and two vertical connecting plates perpendicular to the X-axis direction. A nut that cooperates with the X-axis ball screw is connected to the Y-axis base plate, and sliders that cooperate with the X-axis slide rail are respectively arranged on the two vertical connecting plates. Mounting plates are arranged at both ends of the Y-axis base plate, and the Y-axis slide rail and the Y-axis lead screw are installed parallel to each other up and down between the two mounting plates. The through-type lead screw motor passes through the Y-axis lead screw, and a nut that cooperates with the Y-axis lead screw is connected to it. A slider that cooperates with the Y-axis slide rail is connected to the through-type lead screw motor mounting plate, and the through-type lead screw motor mounting plate is connected to the Z-axis transmission device.

5. The large cell factory incubator with a real-time monitoring system according to claim 2, characterized in that: The Z-axis transmission device includes a YZ connecting plate and a Z-axis linear module. The YZ connecting plate is composed of two connecting plates vertically connected, one end of which is connected to the top of the through-type screw motor of the Y-axis transmission device, and the other end is provided with a Z-axis linear module. The slide rail on the Z-axis linear module is perpendicular to the Y-axis slide rail, and the slider that cooperates with the Z-axis linear module slide rail is connected to the protective box of the image observation device.

6. The large cell factory incubator with a real-time monitoring system according to claim 2, characterized in that: The image observation device includes a protective box and an optical reflector lens, an industrial camera, a permanent magnet stepper motor, a light source mounting plate and a light source placed in the protective box. The protective box is a sealed box filled with nitrogen. A flat glass plate is arranged at the top port of the protective box. The optical reflector lens corresponds to the flat glass plate of the top port for light transmission. The industrial camera is connected to the optical reflector lens. Light passes through the optical reflector lens and, after reflection, enters the industrial camera for imaging and is used for taking pictures. The light source mounting plate is connected to the industrial camera bracket. One end of the industrial camera bracket is fixed to the industrial camera, and the other end is fixed to the protective box. The protective box is fixed to the slider of the Z-axis linear module. The other end of the light source mounting plate is a free end, on which a permanent magnet stepper motor is mounted. The output shaft of the motor passes through the light source mounting plate to connect to the light source, and the angle of the light source is adjusted by the permanent magnet stepper motor.

7. The large cell factory incubator with a real-time monitoring system according to claim 1, characterized in that: The tray bracket comprises a roller mounting plate, a baffle, a roller, a guide block and a guide wheel. The roller mounting plate is mounted on both sides of the bottom plate of the upper / lower real-time observation device. A plurality of rollers are arranged at equal intervals on the top of the roller mounting plate. The top wheel surface of the roller is parallel to the top surface of the roller mounting plate. The top wheel surface of the roller is 5-10 mm higher than the top surface of the roller mounting plate. The rollers are used to cooperate with the support rail of the incubator tray in a horizontal direction for rolling guidance. Trapezoidal grooves are symmetrically provided between adjacent rollers on the top surfaces of the two roller mounting plates. Guide wheels are arranged in the trapezoidal grooves. The spacing between adjacent guide wheels is equal. The guide wheel surface is perpendicular to the roller surface. The guide wheel end surface is 3-5 mm higher than the top surface of the roller mounting plate. The guide wheels are used to cooperate with the rail of the incubator tray in a vertical direction for rolling guidance. A baffle is arranged on the upper part of one end of the two roller mounting plates, the lower part is open, and the other end is an open end. Guide blocks extending out of the roller mounting plates are symmetrically provided near the roller positions at the open ends of the two roller mounting plates. The guide blocks are used to cooperate with the transfer trolley for guiding and positioning.

8. The large cell factory incubator with a real-time monitoring system according to claim 1, characterized in that: The incubator tray is a U-shaped frame placed horizontally on a pallet, and a plurality of spacers are arranged at equal intervals in the U-shaped frame on the pallet to form a plurality of frame spaces for placing cell factories. A basket door is arranged at the open end of the U-shaped frame on the pallet. The U-shaped frame, the pallet and the basket door are all frame structures with a cavity in the middle. Two symmetrical rails are arranged along the length direction on the outer end surface of the bottom of the pallet, which cooperate with the rollers of the tray bracket to roll and guide in the vertical direction. Two support rails cooperating with the rollers of the tray bracket are symmetrically arranged on the inner sides of the two support rails, and a hole block cooperating with the transfer trolley is arranged at one end of the pallet between the two support rails.

9. The large cell factory incubator with a real-time monitoring system according to claim 1, characterized in that: The control system includes a single-chip microcomputer and a host computer. The single-chip microcomputer is respectively connected to the sensors of the heating modules, the humidification modules and the CO2 concentration control module, the motors of the upper real-time observation device and the lower real-time observation device and the host computer, receives the signals measured by the sensors, and feeds them back to the host computer. The host computer sends instructions to the single-chip microcomputer to control the switches of the motors, the heating modules, the humidification modules and the CO2 concentration control module. The method for real-time observation of the growth status of cells in the cell factory is as follows: when imaging by transmitted light illumination, the light source of the lower real-time observation device is used for the transmitted illumination of the upper real-time observation device, and the light source of the upper real-time observation device is used for the transmitted illumination of the lower real-time observation device; when imaging by reflected light transmitted illumination, the light source of the lower real-time observation device is used for the transmitted illumination of the lower real-time observation device.

10. The large cell factory incubator with a real-time monitoring system according to claim 9, characterized in that: The method for the single chip microcomputer to control the internal environmental parameters of the incubator is: The temperature of different spatial areas is detected by various temperature sensors, and the temperature signals are converted into electrical signals, which are then fed back to the single-chip microcomputer. The single-chip microcomputer monitors the real-time temperature measured in the corresponding spatial area through the feedback signal of each sensor, and controls the working state of the heating module in the corresponding spatial area, so that the temperature of each spatial area in the incubator tends to be consistent. When the temperature reaches the set value, the single-chip microcomputer controls the PTC heating plate to stop heating and the fan to stop blowing; when the temperature is lower than the set value, the single-chip microcomputer controls the PTC heating plate to heat and the fan to blow, and sends the hot air flow into the incubator; When the humidity is lower than the set value, the single chip microcomputer controls the atomizing head to start atomizing and discharge the air into the incubator, thereby increasing the humidity inside the incubator. When the humidity reaches or exceeds the set value, the single chip microcomputer controls the atomizing head to close and stop atomizing. When the CO2 concentration reaches the set value, the single-chip microcomputer controls the solenoid valve to close and no longer supplies CO2 to the incubator; when the CO2 concentration is lower than the set value, the single-chip microcomputer controls the solenoid valve to open and supplies CO2 to the incubator, increasing the CO2 concentration in the incubator until it reaches the set value.

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