A cell culture apparatus

Abstract

The application discloses a cell culture equipment, including a bottom plate, the rear side of the bottom plate is provided with a working room, the working room includes a support frame and a shell, an air purifier is arranged above the working room, an external assembly is arranged above the bottom plate, an internal assembly is arranged in the working room, the internal assembly includes a left assembly, a middle assembly and a right assembly which are sequentially connected, through cooperation of the culture box tray clamping and culture bottle stacking device, code sticking device, microscope device and spray disinfection cabinet, automatic operation of cell culture bottle code sticking work and cell culture bottle disinfection work can be realized, automatic collaborative action between multiple different equipment can be realized through the culture box tray clamping and culture bottle stacking device, work efficiency can be improved, labor intensity of workers can be reduced, land occupation can be saved, the cell culture equipment as a whole is more favorable for installation and use, and high consistency and large batch culture requirements of cell culture can be met.

Description

Technical Field

[0001] This invention relates to the field of cell culture technology, and more particularly to a cell culture device. Background Technology

[0002] With the development of science and technology, bioengineering has set higher standards for cell culture, and achieving high cell uniformity and large-scale culture has become the direction of development.

[0003] Traditional cell culture equipment has a low degree of automation. Operations such as loading and placing cell culture flasks, using cell culture incubators, sterilizing cell culture flasks, and labeling still require manual labor. Furthermore, the distribution of these devices in different locations leads to low efficiency and high labor intensity for operators. Cell culture involves adding various culture media and consumables to the flasks, with different media and consumables required for different culture processes. This places strict demands on operators and their knowledge of the required quantities of media and consumables for each process. Differences in operator experience and technique can easily lead to vastly different results, severely impacting the quality and efficiency of cell culture. The entire cell culture process requires multiple devices and a large floor area, and the lack of automated connections between these devices requires significant time and effort from operators, failing to meet the demands for higher-efficiency cell culture. Summary of the Invention

[0004] This invention aims to overcome the shortcomings of existing technologies and provide a cell culture device. The invention includes a consumables transfer device, a feeding and reversing device, an external assembly control cabinet, an incubator tray gripper and culture flask stacking device, a labeling device, a microscope, an automatic cell culture incubator, and a spray sterilizer on a base. The incubator tray gripper and culture flask stacking device allows for the movement of cell culture flasks. The coordination of the consumables transfer device and the feeding and reversing device enables the automatic transport of cell culture flasks to designated locations for easy access by the incubator tray gripper and culture flask stacking device. The cooperation of the incubator tray gripper and culture flask stacking device with the labeling device, microscope, and spray sterilizer enables the automatic transport of cell culture flasks to designated locations. The automated operation of cell culture flask labeling and sterilization is achieved by integrating consumables transfer devices, feeding and reversing devices, incubator tray gripping and culture flask stacking devices, labeling devices, microscope devices, automatic cell culture incubators, spray sterilization cabinets, and external assembly electrical control cabinets onto the base plate. The incubator tray gripping and culture flask stacking devices enable automated collaborative actions between multiple different devices, which can improve work efficiency, reduce the labor intensity of workers, save floor space, and facilitate the overall installation and use of cell culture equipment, meeting the requirements of high consistency and large-scale cell culture.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] A cell culture device includes a base plate, a working chamber located on the rear side of the base plate, the working chamber including a support frame and a shell, an air purifier located above the working chamber, an external assembly located above the base plate, and an internal assembly located inside the working chamber, the internal assembly including a left assembly, a middle assembly and a right assembly connected in sequence.

[0007] The external assembly includes a consumables conveying device, a feeding conveying and reversing device, and an external assembly electrical control cabinet. A culture chamber tray gripping and culture bottle stacking device is located in the middle of the upper surface of the base plate. The consumables conveying device is located on the right side of the upper surface of the base plate. The feeding conveying and reversing device is vertically located on the left side of the rear of the consumables conveying device. A labeling device is located on the left side of the consumables conveying device. A microscope device is located between the labeling device and the feeding conveying and reversing device. An automatic cell culture chamber is located on the left and front sides of the culture chamber tray gripping and culture bottle stacking device. The external assembly electrical control cabinet is located between the two automatic cell culture chambers. A spray sterilization cabinet is located behind the culture chamber tray gripping and culture bottle stacking device. The consumables conveying device, feeding conveying and reversing device, culture chamber tray gripping and culture bottle stacking device, labeling device, microscope device, automatic cell culture chamber, and spray sterilization cabinet are all electrically connected to the external assembly electrical control cabinet.

[0008] The consumables transfer device includes a frame and a conveyor belt assembly. The frame is provided with an outer shell, and an operation panel is provided on the front end face of the outer shell. The conveyor belt assembly is connected to the frame. The consumables transfer control box is provided inside the frame and is electrically connected to the external assembly electrical control cabinet. An inlet for placing cell culture flasks is provided on the upper left side of the outer shell, and an automatic door assembly is provided at the inlet. An outlet for retrieving cell culture flasks is provided on the rear end face of the outer shell. The operation panel and the automatic door assembly are both electrically connected to the consumables transfer control box.

[0009] The conveyor belt assembly includes a flexible chain conveyor belt, a DC motor, and a speed reduction and steering mechanism. The DC motor is connected to the speed reduction and steering mechanism, the speed reduction and steering mechanism is connected to the conveyor belt body, and the DC motor is electrically connected to the controller.

[0010] The flexible chain conveyor belt includes several bottle-carrying plate chain modules, which are connected in sequence to form the flexible chain conveyor belt. Cell culture flasks are provided on the bottle-carrying plate chain modules.

[0011] The bottle-carrying flat chain module includes two bottle-carrying fixtures, two perforated flat chains, and multiple ordinary flat chains. The ordinary flat chains are connected in sequence. The two perforated flat chains are respectively installed on both sides of the ordinary flat chains. The two bottle-carrying fixtures are respectively connected to the upper end faces of the two perforated flat chains. Two positioning posts are symmetrically arranged on the upper end face of the perforated flat chains. An installation hole is provided between the two positioning posts. The installation hole is provided with an internal thread. The bottle-carrying fixture is provided with through holes corresponding to the installation hole and the two positioning posts.

[0012] The upper part of the frame is provided with a first photoelectric switch, which is installed at the entrance. The right side of the rear end face of the flexible chain conveyor belt is provided with a second photoelectric switch, which cooperates with the cap of the cell culture flask. Both the first and second photoelectric switches are electrically connected to the consumables transmission control box.

[0013] The incubator tray gripping and culture flask stacking device includes an external robotic arm, which is mounted on a workbench and electrically connected to an external assembly control cabinet. The end of the external robotic arm is connected to a functional mechanism, which includes a robotic arm connecting plate, a protective shell, a suction component, and a clamping component. The protective shell is mounted on the robotic arm connecting plate, and the suction component and clamping component are mounted inside the protective shell. The robotic arm connecting plate is connected to the end of the external robotic arm, the suction component mates with the cell culture flask, and the clamping component mates with the tray.

[0014] The suction assembly includes a vacuum pump and a suction cup. The vacuum pump and the suction cup are connected by a hose. A vacuum pressure switch is provided between the vacuum pump and the suction cup. A suction cup connecting plate is vertically provided on the right side of the robotic arm connecting plate. The suction cup connecting plate has a suction cup mounting hole. A hexagonal rod fitting is provided in the suction cup connecting hole. The suction cup is connected to the right end of the hexagonal rod fitting.

[0015] The gripping assembly includes a two-finger electric gripper, which is electrically connected to a controller and connected to the front end face of the robotic arm connecting plate. Each of the two fingers of the two-finger electric gripper is provided with a gripping block, and the opposite end faces of the two gripping blocks are provided with gripping grooves.

[0016] The tray has symmetrical clamping notches at the rear, the clamping blocks correspond to the clamping notches, and the clamping grooves correspond to the tray.

[0017] A positioning component is provided above the two-finger electric gripper. The positioning component includes an industrial camera, which is electrically connected to the external assembly electrical control cabinet.

[0018] The feeding and reversing device includes a transmission frame, a transmission assembly, a lifting arm assembly, and a feeding controller. Both the transmission assembly and the lifting arm assembly are electrically connected to the feeding controller. The transmission assembly is positioned above the transmission frame and includes a synchronous conveyor belt. A photoelectric switch indicating a positioning position is located at the left end of the synchronous conveyor belt. The lifting arm assembly includes a lifting and rotating structure and a bottle-retrieving structure. The lifting and rotating structure is located on the right side of the transmission frame and includes a rotary motor, a lifting motor, an upper mounting plate, a lower mounting plate, and a splined screw. The upper mounting plate is connected to the upper surface of the transmission frame, and the lower mounting plate is connected to the lower surface of the transmission frame. The rotary motor is connected to the lower surface of a fixed plate via a rotary motor mounting base. A drive rotating synchronous pulley is provided on the output shaft of the rotary motor. The lifting motor is connected to the lower surface of the upper mounting plate via a lifting motor mounting base. The output shaft is equipped with an active lifting synchronous pulley. The rear part of the upper mounting plate is equipped with a first circular through hole, and a first bearing is installed in the first circular through hole. The spline screw is equipped with a ball screw nut and a ball spline nut. The ball screw nut is connected to the first bearing. The upper end face of the ball screw nut is equipped with a first connecting sleeve. The first connecting sleeve is equipped with a driven lifting synchronous pulley. The driven lifting synchronous pulley is connected to the active lifting synchronous pulley through a first synchronous belt. The fixed plate is equipped with a second circular through hole, which is coaxial with the first circular through hole. A second bearing is installed in the second circular through hole. The ball spline nut is connected to the second bearing. A fixing ring is provided above the second bearing. The lower end face of the ball spline nut is equipped with a second connecting sleeve. The second connecting sleeve is equipped with a driven rotating synchronous pulley. The driven rotating synchronous pulley is connected to the active rotating synchronous pulley through a second synchronous belt.

[0019] The bottle-retrieving structure includes a suction cup platform, a suction cup fixing plate, and a vacuum diaphragm pump. The suction cup platform is tightly connected to the upper end face of a spline screw. The vacuum diaphragm pump is mounted on the suction cup platform. Three suction heads are mounted on the suction cup fixing plate. An angle adjustment structure is provided between the suction cup platform and the suction cup fixing plate. An adjustment stepper motor is mounted on the upper end face of the suction cup platform and is connected to the angle adjustment structure. The vacuum diaphragm pump is connected to the suction heads via a flexible hose. A negative pressure sensor is provided between the vacuum diaphragm pump and the suction heads. The negative pressure sensor, the vacuum diaphragm pump, and the adjustment stepper motor are all electrically connected to the feeding controller.

[0020] The upper surface of the lower mounting plate is provided with a longitudinal reset photoelectric switch, which is electrically connected to the feeding controller. The lower end of the spline screw is provided with an open limiting ring. The upper surface of the transmission frame is provided with a circumferential reset photoelectric switch. The fixing ring is a D-type fixing ring. The side plane of the D-type fixing ring is provided with a circumferential photoelectric baffle, which cooperates with the circumferential reset photoelectric switch. The lower surface of the driven large gear is provided with an adjustment photoelectric baffle. The lower surface of the suction cup platform is provided with an adjustment photoelectric switch, which cooperates with the adjustment photoelectric baffle.

[0021] The spray disinfection cabinet includes a base plate, a shell on the upper part of the base plate, a partition in the middle of the shell, a disinfection chamber on the upper part of the partition, a spray nozzle inside the disinfection chamber, a window on one side of the shell connecting the disinfection chamber to the outside, a barcode scanner on the upper part of the window, a diaphragm pump, a disinfection controller, and a disinfectant storage mechanism on the lower part of the partition, the disinfection controller being electrically connected to an external main control cabinet, the diaphragm pump being connected to the spray nozzle, the disinfectant storage mechanism being connected to the diaphragm pump, and the disinfection controller being electrically connected to the barcode scanner.

[0022] The nozzle is located near the window and is installed diagonally on the inner wall of the disinfection chamber. The nozzle is detachable.

[0023] The microscope device includes a microscope housing that covers a microscope frame. A telescopic platform is provided inside the microscope housing. The microscope is located below the telescopic platform and a light source is located above the telescopic platform. The telescopic platform moves longitudinally via a linear motor module. A support frame is provided on the upper surface of the microscope housing, and the support frame cooperates with a tray.

[0024] The automatic cell culture chamber includes a culture chamber body, an openable culture chamber door on the right side of the culture chamber, an openable glass door between the culture chamber door and the culture chamber, an electric door opening actuator on the upper surface of the culture chamber body, the actuator rod of the electric door opening actuator being connected to the upper surface of the culture chamber door, a sliding assembly between the glass door and the culture chamber door, an auxiliary electric actuator on the front surface of the culture chamber body, and an auxiliary block on the front surface of the culture chamber door, the auxiliary block being opposite to the auxiliary electric actuator, and the left end face of the auxiliary block engaging with the actuator rod of the auxiliary electric actuator.

[0025] The left-side assembly includes a left-side frame. A left-side workbench is located in the middle of the left-side frame. An automatic feeding system, a left-side central control cabinet, and an alcohol tank are located below the left-side workbench. The automatic feeding system is electrically connected to the left-side central control cabinet, which is electrically connected to an external assembly electrical control cabinet. A cell-adhering component is located in the middle of the upper surface of the left-side workbench. A high-temperature sterilization component and an alcohol cleaning component are located to the right of the cell-adhering component. The alcohol cleaning component is connected to the alcohol tank via a liquid circuit. A rotating swing arm assembly is located behind the alcohol cleaning component. A straight-mouth bottle weighing bracket is located between the rotating swing arm assembly and the alcohol cleaning component. The left-side... The upper left side of the frame is equipped with a left-side sample loading triaxial robotic arm. The left side of the adherent cell shaking assembly is equipped with a left-side transfer chamber assembly. The rear side of the left-side transfer chamber assembly is equipped with a tip head consumable rack and a left-side needle removal rack. One side of the left-side needle removal rack is equipped with a left-side centrifuge tube gripper. The exterior of the adherent cell shaking assembly is equipped with multiple straight-mouth bottle racks. The front end face of the outer shell is equipped with a first left-side observation window. The left end face of the outer shell is equipped with a second left-side observation window and a consumable placement door. The consumable placement door corresponds to the straight-mouth bottle rack. The rear end face of the outer shell is equipped with a left-side tip head retrieval door, which corresponds to the tip head consumable rack.

[0026] The automatic feeding system includes a feeding conveyor line, a return conveyor line, a bottle feeding device, a bottle pushing device, a barcode scanning device, a lifting device, and a bottle blocking device.

[0027] The left worktable is equipped with a bottle outlet that cooperates with the lifting device;

[0028] A feeding controller is provided below the left workbench. The feeding conveyor line, return conveyor line, bottle feeding device, bottle pushing device, barcode scanning device, lifting device, bottle blocking device and bottle picking device are all connected to the feeding controller. The feeding controller is electrically connected to the external assembly electrical control cabinet.

[0029] The feeding conveyor line and the return conveyor line are fixed to the left frame by connectors. The feeding conveyor line and the return conveyor line are arranged in parallel and spaced apart. The barcode scanning device is set on one side of the feeding conveyor line. The bottle feeding device is set perpendicularly to the front end of the feeding conveyor line and the return conveyor line. The bottle feeding device cooperates with the front end of the feeding conveyor line and the return conveyor line respectively. The bottle pushing device is set perpendicularly to the right end of the feeding conveyor line and the return conveyor line. The bottle pushing device cooperates with the rear end of the feeding conveyor line and the return conveyor line. The left end of the feeding conveyor line and the rotary conveyor line are connected by a feeding connecting plate. The right end of the feeding conveyor line and the rotary conveyor line are connected by a return connecting plate. The lifting device is set below the feeding connecting plate. The bottle blocking device is set at the left end of the feeding conveyor line.

[0030] The feeding conveyor line and the return conveyor line form a closed loop structure through the bottle feeding device and the bottle pushing device.

[0031] The lifting device includes a lifting electric push rod, a top plate, and a fixed base plate. The fixed base plate is connected to the left side frame. The lifting electric push rod is vertically installed on the fixed base plate. The top plate is installed on the upper end of the lifting electric push rod. The feeding connecting plate is provided with a through hole. The shape of the through hole matches the top plate. The upper end face of the top plate is flush with the upper end face of the feeding connecting plate.

[0032] The bottle-blocking device comprises a bottle-blocking electric push rod, a bottle-blocking fixing plate, and a bottle-blocking plate. The bottle-blocking fixing plate is connected to the left side frame, the bottle-blocking electric push rod is connected to the bottle-blocking fixing plate, and the bottle-blocking plate is connected to the end of the bottle-blocking electric push rod.

[0033] The adherent cell shaking assembly includes a rotating motor, a hollow rotating platform, and a turntable. The motor is connected to the hollow rotating platform, which is connected to the left worktable. The turntable is also connected to the hollow rotating platform. Multiple bottle-clamping shaking assemblies are centrally symmetrically arranged on the turntable, with equal spacing on the same circumference. Cell culture flasks can be placed on each bottle-clamping shaking assembly. Bottle cap support frames are provided between adjacent bottle-clamping shaking assemblies. A central controller for adherent cell shaking is located in the center of the circular turntable and is electrically connected to the left-side central control cabinet. The rotating motor and the bottle-clamping shaking assemblies are electrically connected to the central controller for adherent cell shaking.

[0034] The bottle-clamping and shaking assembly includes a lower servo motor mounting bracket, an upper servo motor mounting bracket, a first servo motor, a second servo motor, an electric gripper, and a special clamp. The lower servo motor mounting bracket is connected to a circular turntable. The first servo motor is connected to the lower servo motor mounting bracket. The output end of the first servo motor is connected to the upper servo motor mounting bracket. The second servo motor is connected to the upper servo motor mounting bracket. The output end of the second servo motor is connected to the electric gripper via a gripper mounting plate. The electric gripper is connected to the special clamp, which cooperates with the culture bottle. A station controller is located on the left side of the first servo motor. The station controller is electrically connected to the adherent cell shaking center controller. The first servo motor, the second servo motor, and the electric gripper are all electrically connected to the station controller.

[0035] The specially designed fixture includes a left fixture and a right fixture, which are respectively connected to two fingers of an electric gripper. Heating grooves are provided on the inner surfaces of both the left and right fixtures. Temperature control grooves are provided within the heating grooves, and PT100 surface-mount temperature control probes are installed within the temperature control grooves. Silicone heating pads are provided within the heating grooves, and heating pad cover plates are provided on the silicone heating pads. The heating pad cover plates are connected to the specially designed fixture. A wire through-hole is provided at the top of the heating grooves. Both the silicone heating pads and the PT100 surface-mount temperature control probes are electrically connected to the workstation controller.

[0036] The left-side sample-adding three-axis robotic arm includes a robotic arm body, which includes a left-side Y-axis assembly, a left-side X-axis assembly, and a left-side Z-axis assembly. The left-side Z-axis assembly includes a left-side Z-axis assembly one and a left-side Z-axis assembly two. The left-side Z-axis assembly one and the left-side Z-axis assembly two are respectively provided with a sample-adding assembly and a capping assembly. The sample-adding assembly and the capping assembly are electrically connected to the left-side central control cabinet.

[0037] The sample dispensing assembly includes a syringe pump mounting base, a syringe pump, a connector plate, and a pipette tip connector. The syringe pump mounting base and the connector plate are mounted on one side of the left Z-axis assembly. The syringe pump mounting base is located on the upper part of the connector plate. The syringe pump is fixed on the syringe pump mounting base. The pipette tip connector is mounted on the connector plate and is connected to a pipette tip. The lower end of the syringe pump is connected to the pipette tip connector via a liquid tubing.

[0038] The intermediate assembly includes an intermediate frame, with an intermediate workbench in the middle of the intermediate frame. Below the intermediate workbench are an intermediate central control box and a robotic arm control box. The intermediate central control box is electrically connected to the external assembly electrical control cabinet. A culture flask conveying device is located on the right side of the upper surface of the intermediate workbench, and an intermediate robotic arm is located on the left side of the culture flask conveying device. The intermediate robotic arm is electrically connected to the robotic arm control box. A second high-temperature sterilization component and a second alcohol cleaning component are also located on the intermediate workbench. A centrifuge tube turntable assembly is located behind the second alcohol cleaning component. A growth factor recovery swing arm assembly is located between the second high-temperature sterilization component and the second alcohol cleaning component. A multi-functional consumable rack is located on the left side of the centrifuge tube turntable assembly. Multiple single-station centrifuge tube grippers are located around the centrifuge tube turntable assembly. An automatic door is located on the front end face of the outer shell, cooperating with the culture flask conveying device. A consumable retrieval door is located on the rear end face of the outer shell, cooperating with the multi-functional consumable rack.

[0039] The culture bottle conveying device includes a conveying base plate, a conveying middle plate, and a conveying top plate. An idler wheel assembly is provided between the conveying base plate and the conveying middle plate, and a drive assembly is provided between the conveying middle plate and the conveying top plate. The conveying base plate is connected to an intermediate worktable.

[0040] The centrifuge tube turntable assembly includes a centrifuge turntable motor, a centrifuge rotation platform, and a centrifuge turntable. The centrifuge turntable motor is connected to the lower end face of the intermediate worktable, and the centrifuge turntable is positioned above the intermediate worktable. The centrifuge turntable motor is connected to the centrifuge turntable via the centrifuge rotation platform. Four centrifuge electric grippers are arranged at a 90° angle on the centrifuge turntable. Each centrifuge electric gripper has a double-acting gripper on its finger, which can accommodate two different sizes of centrifuge tubes. A bottle cap holder is installed between two adjacent electric grippers. A centrifuge controller is located in the middle of the centrifuge turntable and is electrically connected to the central control box.

[0041] The lower part of the double-acting gripper is provided with a centrifuge tube support frame, which is installed on the centrifuge turntable and cooperates with the outer wall of the centrifuge tube.

[0042] The multifunctional consumable rack includes a base plate, a support rod on the upper part of the base plate, a consumable tray on the upper part of the support rod, a card plate on the left side of the consumable tray, and multiple second insertion holes on the right side of the card plate. The consumable tray also includes a cell counting plate placement area, a tray rack, and multiple first insertion holes.

[0043] The number of support rods is four sets, and each support rod is provided with a handle mounting hole. The two sets of support rods near the front are provided with handles, which are matched with the handle mounting holes. The base plate is I-shaped.

[0044] The intermediate robotic arm is equipped with a multi-functional gripping device at its end. The multi-functional gripping device includes a gripper body, and a gripper extension is provided at one end of the gripper body. The number of gripper extensions is matched with the number of gripper bodies. The gripper extension includes a gripper connecting part, a first gripping part, a second gripping part, a third gripping part, and a fourth gripping part. The gripper connecting part is connected to the gripper body. The lower part of the gripper connecting part is provided with the first gripping part. The two sides of the first gripping part are provided with the second gripping parts. The lower part of the first gripping part is provided with the third gripping part. The lower part of the third gripping part is provided with the fourth gripping part.

[0045] The first clamping part is a longitudinal V-shaped groove, the second clamping part is a transverse V-shaped groove, the third clamping part is a transverse U-shaped groove, and the fourth clamping part is a longitudinal V-shaped groove. The distance between the clamping surface of the fourth clamping part and the central axis of the gripper body is greater than the distance between the clamping surface of the clamping groove and the central axis of the gripper body.

[0046] The right-side assembly includes a right-side frame, with a right-side workbench in the middle of the frame. Below the workbench are a right-side central control cabinet and a centrifuge. The workbench has a centrifuge notch that engages with the centrifuge. A centrifuge tube loading tray is located on the right side of the upper surface of the workbench, and a centrifuge tube adapter is located on the left side of the tray. A right-side sample loading three-axis robotic arm is located on the left side of the upper surface of the workbench. Below the robotic arm are a right-side transfer chamber, an upper-level barcode scanner, and a fluorescence counter. A right-side needle removal rack is located between the transfer chamber and the fluorescence counter. A right-side straight-mouth bottle weighing assembly is located in front of the transfer chamber. A right-side observation window is located on the front end face of the outer casing. The right end face of the outer casing also has a centrifuge tube transfer door, a consumables transfer door, and a second right-side observation window. The second right-side observation window corresponds to the centrifuge. The centrifuge tube transfer door engages with the centrifuge tube loading tray, and the consumables transfer door engages with the right-side transfer chamber.

[0047] The centrifuge includes a centrifuge shell and a centrifuge pot. The centrifuge pot is located inside the centrifuge shell. The upper surface of the centrifuge shell is provided with an automatic sliding door. The right worktable is provided with a placement opening. The automatic sliding door cooperates with the placement opening. The front surface of the shell is provided with a display screen. The centrifuge pot is provided with a centrifuge center bracket. Centrifuge tubes are placed on the centrifuge bracket. The bottom of the centrifuge is provided with fixing plates on both sides. The centrifuge is connected to the right frame through the fixing plates.

[0048] The right-side sample loading three-axis robotic arm includes a right-side X-axis motion mechanism, a right-side Y-axis motion mechanism, a right-side Z-axis motion mechanism, and a right-side second Y-axis motion mechanism. A right-side X-axis support plate is provided above the right-side Y-axis motion mechanism, and the right-side X-axis motion mechanism is mounted on the right-side X-axis support plate. The right-side second Y-axis motion mechanism is connected to the right-side X-axis motion mechanism, and the right-side Z-axis motion mechanism is connected to the right-side second Y-axis motion mechanism. A pipetting assembly, a vacuum suction cup assembly, and a cap opening assembly are provided on the right-side Z-axis motion mechanism.

[0049] The right Z-axis motion mechanism is provided with two symmetrical right Z-axis motor slide assemblies. The pipetting assembly is provided in two sets. The vacuum suction cup assembly, the cap opening assembly and the two sets of pipetting assemblies are respectively connected to one right Z-axis motor slide assembly.

[0050] The vacuum suction cup assembly includes a right-side vacuum pump, an L-shaped connecting plate, and a vacuum suction cup. The L-shaped connecting plate is connected to the right-side Z-axis motor slide assembly. The right-side vacuum pump is mounted on the L-shaped connecting plate. The vacuum suction cup is connected to the right-side vacuum pump via a flexible hose.

[0051] The pipetting assembly includes a plunger pump and a pipette. The plunger pump is connected to the Z-axis motor slide assembly via a connecting plate, and the pipette is connected to the plunger pump via a hose.

[0052] The cap-opening assembly includes a right-side electric gripper and a right-side clamp. The right-side electric gripper is connected to a Z-axis motor slide assembly, and the right-side clamp is respectively mounted on the fingers of the right-side electric gripper. The right-side electric gripper engages with the cap of the cell culture flask.

[0053] The beneficial effects of this invention are:

[0054] 1. This invention comprises a consumables transfer device, a feeding and reversing device, an external assembly control cabinet, an incubator tray gripper and culture flask stacking device, a labeling device, a microscope device, an automatic cell culture incubator, and a spray sterilizer, all mounted on a base. The incubator tray gripper and culture flask stacking device allows for the movement of cell culture flasks. The coordination of the consumables transfer device and the feeding and reversing device enables the automatic transport of cell culture flasks to designated locations for easy access by the incubator tray gripper and culture flask stacking device. The cooperation of the incubator tray gripper and culture flask stacking device with the labeling device, microscope device, and spray sterilizer enables… The automated operation of cell culture flask labeling and sterilization is achieved by integrating consumables transfer devices, feeding and reversing devices, incubator tray gripping and culture flask stacking devices, labeling devices, microscope devices, automatic cell culture incubators, spray sterilizers, and external assembly control cabinets onto the base plate. The incubator tray gripping and culture flask stacking devices enable automated collaborative operation between multiple different devices, which can improve work efficiency, reduce the labor intensity of workers, save floor space, and facilitate the overall installation and use of cell culture equipment, meeting the requirements of high consistency and large-scale cell culture.

[0055] 2. Cell culture requires the addition of various culture media and consumables to cell culture flasks. Through the coordinated operation of the left, middle, and right assembly lines, the addition of culture media and consumables can be automated, eliminating the risk of drastically different results due to differences in operator experience and techniques. This improves the quality and efficiency of cell culture. Integrating the required devices into external and internal assembly lines enhances the automated coordination between various devices and reduces the workload of operators. However, this approach cannot meet the demands for higher-efficiency cell culture.

[0056] 3. A flexible conveyor belt, composed of bottle-carrying plate chain modules, is used to fix cell culture flasks on the conveyor belt. Each bottle-carrying plate chain module can stack multiple cell culture flasks, allowing the device to store a large number of cell culture flasks for use by cell culture equipment. The flexible conveyor belt automatically supplies cell culture flasks, eliminating the need for frequent replenishment by staff and reducing their workload. Replenishment is only required when the stored cell culture flasks are depleted, minimizing the risk of equipment malfunction due to a lack of flasks and facilitating the smooth operation of cell culture work.

[0057] 4. The cell culture flasks are positioned by symmetrically arranged bottle clamping fixtures, which restrict the horizontal movement of the cell culture flasks and achieve stable movement of the cell culture flasks on the flexible chain conveyor belt.

[0058] 5. By setting a first photoelectric switch, the height of stacked cell culture flasks can be monitored. If the cell culture flasks are stacked too high, there is a risk of them tipping over during transport. When the first photoelectric switch detects that a cell culture flask is blocking the flow, it sends an electrical signal to the consumables transmission control box. The control panel of the consumables transmission control box displays an alarm, reminding the staff to pay attention to the stacking height and ensuring the safety of the device during use. By setting a second photoelectric switch, the usage status of cell culture flasks at the outlet can be monitored. When the cell culture flasks on the bottle-holding plate chain module at the outlet are exhausted, the second photoelectric switch can no longer detect any obstruction. The consumables transmission control box controls the flexible chain conveyor to rotate, moving the next set of bottle-holding plate chain modules with cell culture flasks to the outlet. When a cell culture flask blocks the second photoelectric switch, the operation stops, realizing the automatic supply function of cell culture flasks.

[0059] 6. This invention connects a robotic arm connecting plate to the end of an external robotic arm and sets up a suction component and a clamping component inside a protective shell. By symmetrically setting clamping notches on the tray, the clamping component can achieve the function of gripping the tray. By setting up the suction component, cell culture flasks can be sucked up and stacked on the tray, realizing the automated operation of cell culture box tray gripping and culture flask stacking, reducing the labor intensity of workers, improving the automation level of cell culture work, and facilitating the smooth progress of cell culture work. By setting up a vacuum pressure switch, it can determine whether the suction cup has sucked up the cell culture flask. When the air pressure in the hose is negative, it means that the suction cup has successfully sucked up the cell culture flask. The vacuum pressure switch is activated and transmits an electrical signal to the external assembly electrical control cabinet. The external assembly electrical control cabinet controls the robotic arm to perform the next action. By setting up a vacuum pressure switch, it can avoid repeated actions after the suction component fails to suck up, and it can also avoid the situation where the suction cup is deviated from its position and the cell culture flask does not fully contact the cell culture flask, causing the cell culture flask to fall off.

[0060] 7. By setting up an industrial camera, the clamping notch of the tray can be visually positioned when the clamping component is working, and the cell culture flask can be positioned when the suction component is working, reducing the risk of failure to clamp the tray or fail to suction the cell culture flask due to misalignment of the clamping and suction components.

[0061] 8. By setting up a lifting swing arm assembly, cell culture flasks can be picked up from the consumables transfer device and redirected. The set transfer component can transport the cell culture flasks picked up by the lifting swing arm assembly to the designated position, realizing the automatic feeding function of cell culture flasks, improving the automation level of cell culture equipment, reducing the labor intensity of workers, improving the efficiency of cell culture work, and facilitating the smooth progress of cell culture work. By setting up the cooperation between the spline screw, ball screw nut, and ball spline nut, the rotation and lifting action of the spline screw can be stably realized. The structure is simple and the action principle is clear, enabling the spline screw to control the flask picking assembly to achieve different angles and heights.

[0062] 9. By setting longitudinal reset switches and axial reset switches, the lifting and rotating structure can be automatically reset after being powered on, so that the bottle picking structure can accurately place the cell culture bottle on the transmission component every time, thereby improving the repeatability accuracy of the bottle picking component.

[0063] 10. The present invention includes a disinfection spray cabinet, which, in conjunction with an external robotic arm, enables automatic disinfection of cell culture flasks. The external robotic arm places the cell culture flasks into the disinfection spray cabinet using a suction cup, and a diaphragm pump draws alcohol from the disinfectant storage mechanism and sprays it out from the nozzle, thereby improving the efficiency of cell culture flask disinfection and reducing the labor intensity of the staff.

[0064] 11. By setting the nozzles diagonally, the coverage area of ​​the alcohol spray can be increased, making the disinfection of cell culture flasks more thorough and ensuring the safe use of cell culture flasks during the cell culture process.

[0065] 12. By setting up the lower microscope assembly, the cultured cells can be inspected. Through the cooperation of the telescopic platform with the incubator tray gripper and culture flask stacking device, the cell culture flasks can be automatically placed and picked up. The growth of adherent cells can be inspected through the microscope. When the adherent cells in any four cell culture flasks on a tray reach more than 90%, it indicates that the cell culture work is completed. If the adherent cells do not reach 90%, the incubator tray gripper and culture flask stacking device will put the cell culture flasks back on the tray, and then put the tray into the automatic cell culture chamber for continued culture.

[0066] 13. By setting up an automatic cell culture chamber, the automatic opening and closing of the chamber door can be realized. The automation level of the coordination with the chamber tray gripping and culture bottle stacking device is improved. There is no need for manual operation of opening and closing the automatic cell culture chamber door, which improves the efficiency of cell culture and facilitates the smooth progress of cell culture work.

[0067] 14. By installing an automatic feeding system, a left-side central control cabinet, and an alcohol tank below the left-side workbench, automatic feeding of culture medium and supply of raw materials for the alcohol cleaning components can be achieved. The set adherent cell shaking component can place cell culture flasks, facilitating the addition of culture medium or physiological saline to the cell culture flasks in the early stages of cell culture. In the later stages of cell culture, it can facilitate the detachment of adherent cells, making cell harvesting easier. By setting a left-side transfer chamber component, a tip head consumable rack, a left-side needle removal rack, and multiple straight-mouth bottle placement racks on the left-side workbench, it is easy for the left-side sample loading three-axis robotic arm to place specific consumables in designated positions, facilitating the placement and use of the left-side sample loading three-axis robotic arm.

[0068] 15. A feeding conveyor line, a return conveyor line, a bottle feeding device, and a bottle pushing device are installed below the left worktable to realize the circulation of straight-necked bottles. The required straight-necked bottles can be identified by a barcode scanning device, and the required straight-necked bottles can be pushed to the upper surface of the left worktable by a lifting device. The straight-necked bottles can be transferred to the required process by the left-side sample loading three-axis robotic arm set above the worktable, thereby completing the automated feeding of culture medium for cell culture equipment. This eliminates the influence of human factors on the cell culture process, reduces the labor intensity of workers, improves the working efficiency of cell culture equipment, and avoids the situation where the equipment stops operating due to insufficient consumables, thus ensuring high-quality and high-efficiency cell culture.

[0069] 16. By installing a bottle-blocking mechanism at the output end of the feeding conveyor line, the bottle-blocking plate is driven to move up and down by the bottle-blocking electric push rod, thereby blocking the straight-neck bottles on the feeding conveyor line. When there is a straight-neck bottle at the bottle feeding device, the bottle-blocking mechanism falls down to block the subsequent straight-neck bottles on the feeding conveyor line, ensuring that the bottle feeding mechanism pushes only one straight-neck bottle each time.

[0070] 17. The rotating motor drives the bottle-clamping and shaking component on the circular turntable to rotate. While rotating, the bottle-clamping and shaking component shakes the culture bottle to a certain extent, thus simulating the process of manually shaking the culture bottle. When culturing a large number of cells, it can reduce the labor intensity of the staff and improve work efficiency. At the same time, this device can be used to detach adherent cells and strictly control the shaking force and shaking time of the culture bottle, which is conducive to the smooth progress of cell culture.

[0071] 18. Through the coordinated action of the first and second servo motors, the artificial shaking of the culture flask can be better simulated, resulting in more complete detachment of adherent cells and facilitating the smooth progress of the adherent cell detachment process. By using silicone heating pads to heat the left and right clamps and by setting up PT100 patch-type temperature control probes to detect the temperature of the left and right clamps, the specially designed clamps are kept at the most suitable temperature for adherent cell detachment, which can accelerate the progress of adherent cell detachment and facilitate the smooth progress of cell culture.

[0072] 19. By setting up a left-side sample loading three-axis robotic arm, the degree of automation and coordination of various devices in the left-side assembly can be enhanced. The left-side sample loading three-axis robotic arm replaces repetitive, complex and precise manual operations, reducing the labor intensity of staff and improving the efficiency of cell culture.

[0073] 20. By setting a central robot arm on the upper surface of the central workbench, some devices of the internal assembly can be operated. By setting a culture flask conveying device, cell culture flasks outside the workroom can be transported into the workroom. The central robot arm can transfer cell culture flasks to the required positions. By setting a centrifuge tube turntable assembly, the placement and counterweighting of centrifuge tubes can be facilitated.

[0074] 21. In this invention, the culture flask conveying device is configured as a three-layer structure consisting of a conveying base plate, a conveying middle plate, and a conveying top plate, which enables the culture flask conveying device to double its length, facilitating the transfer of cell culture flasks inside and outside the working chamber.

[0075] 22. The centrifuge tube turntable assembly of the present invention can fix centrifuge tubes of different specifications. Through the rotation of the centrifuge turntable motor, it has four different clamping positions to cooperate with the central robot arm. At the same time, the centrifuge electric gripper drives the double-moving gripper to position the centrifuge tube and prevent the centrifuge tube from tipping over due to vibration caused by the operation of the equipment.

[0076] 23. By setting up a multi-functional consumable rack, various sizes of consumables such as tip heads, centrifuge tubes, and cell counting plates required for cell culture can be placed in a centralized manner, making it convenient for the right-side sample loading triaxial rack to retrieve and use.

[0077] 24. The present invention provides a multi-functional gripping device at the end of the intermediate robotic arm. The gripper extension includes a gripper connecting part, a first gripping part, a second gripping part, a third gripping part, and a fourth gripping part. By providing four gripping parts, the multi-functional gripping device can meet the needs of picking up and transferring cell culture flasks, centrifuge tube adapters, and centrifuge tubes of different specifications, thereby improving the functionality of the intermediate robotic arm and making the transfer efficiency of consumables higher. Most consumable picking tasks can be completed by the intermediate robotic arm.

[0078] 25. By installing a centrifuge at the bottom of the right workbench, which works in conjunction with the central robotic arm, the centrifugation process during cell culture can be automated. By installing a fluorescence counter at the top of the right workbench, the cell counting process can be automated.

[0079] 26. The right-side sample loading three-axis robotic arm in this invention includes a right-side Y-axis motion mechanism and a second Y-axis motion mechanism, which can realize double the distance movement of the right-side sample loading three-axis robotic arm in the Y-axis direction, greatly increasing the coverage area of ​​the right-side sample loading three-axis robotic arm and saving the space inside the working chamber. While solving the space problem, it improves the operating efficiency and is conducive to the smooth progress of cell culture work. Attached Figure Description

[0080] Figure 1 This is a front view structural diagram of an embodiment of the present invention;

[0081] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure;

[0082] Figure 3 This is a three-dimensional structural diagram of the consumables transmission device in an embodiment of the present invention;

[0083] Figure 4 This is a schematic diagram of the internal structure of the consumables transmission device in an embodiment of the present invention;

[0084] Figure 5 for Figure 4 A magnified schematic diagram of the local structure at point A;

[0085] Figure 6 This is a schematic diagram of the structure of the incubator tray gripping and culture bottle stacking device in an embodiment of the present invention;

[0086] Figure 7 for Figure 6 Enlarged structural diagram at point B;

[0087] Figure 8 This is a schematic diagram of the feeding, conveying, and reversing device in an embodiment of the present invention;

[0088] Figure 9 for Figure 8 Schematic diagram of the cross-sectional structure at point AA;

[0089] Figure 10 A schematic diagram of the bottle-picking structure of the feeding, conveying, and reversing device;

[0090] Figure 11 for Figure 10 Top view;

[0091] Figure 12 for Figure 10 A three-dimensional image;

[0092] Figure 13 This is a schematic diagram of the structure of the spray disinfection cabinet in an embodiment of the present invention. Figure 1 ;

[0093] Figure 14 This is a schematic diagram of the structure of the spray disinfection cabinet in an embodiment of the present invention. Figure 2 ;

[0094] Figure 15 This is a schematic diagram of the microscope device in an embodiment of the present invention;

[0095] Figure 16 This is a schematic diagram of the internal structure of the microscope device in an embodiment of the present invention;

[0096] Figure 17 This is a schematic diagram of the structure of the automated cell culture chamber in an embodiment of the present invention;

[0097] Figure 18 This is a schematic diagram of the internal assembly structure in this invention;

[0098] Figure 19 This is a front view of the left-side assembly in an embodiment of the present invention;

[0099] Figure 20 for Figure 15 A schematic diagram of the three-dimensional structure;

[0100] Figure 21 for Figure 15 A schematic diagram of the right-side view structure;

[0101] Figure 22 This is a schematic diagram of the connection between the automatic feeding system and the left frame in an embodiment of the present invention;

[0102] Figure 23This is a three-dimensional structural diagram of the automatic feeding system in an embodiment of the present invention;

[0103] Figure 24 This is a top view of the automatic feeding system in an embodiment of the present invention;

[0104] Figure 25 This is a schematic diagram of the structure of the adherent cell shaking component in an embodiment of the present invention;

[0105] Figure 26 This is a three-dimensional structural diagram of the adherent cell shaking component in an embodiment of the invention;

[0106] Figure 27 for Figure 26 A schematic diagram of the structure after adding the turntable cover;

[0107] Figure 28 for Figure 25 A front view schematic diagram of the shaking assembly for the middle-clamped bottle;

[0108] Figure 29 for Figure 28 Schematic diagram of the three-dimensional structure Figure 1 ;

[0109] Figure 30 for Figure 28 3D structure diagram Figure 2 ;

[0110] Figure 31 This is a schematic diagram of the left clamp in the bottle-clamping and shaking assembly.

[0111] Figure 32 This is a schematic diagram of the right clamp in the bottle-clamping and shaking assembly.

[0112] Figure 33 This is a schematic diagram of the left-side sample-adding three-axis robotic arm in an embodiment of the present invention;

[0113] Figure 34 This is a front view structural diagram of the intermediate assembly in an embodiment of the present invention;

[0114] Figure 35 for Figure 34 A schematic diagram of the three-dimensional structure;

[0115] Figure 36 This is a schematic diagram of the cell culture flask delivery assembly in an embodiment of the present invention;

[0116] Figure 37 This is a schematic diagram of the centrifuge tube turntable assembly in an embodiment of the present invention;

[0117] Figure 38 This is a schematic diagram of the structure of the multifunctional consumable rack in an embodiment of the present invention;

[0118] Figure 39 This is a front view of the right-side assembly in an embodiment of the present invention;

[0119] Figure 40 for Figure 39 A schematic diagram of the three-dimensional structure;

[0120] Figure 41 This is a schematic diagram of the centrifuge structure in an embodiment of the present invention;

[0121] Figure 42 This is a schematic diagram of the centrifuge bowl in a centrifuge.

[0122] Figure 43 This is a schematic diagram of the three-axis robotic arm for sample loading on the right side in an embodiment of the present invention;

[0123] Figure 44 This is a three-dimensional structural diagram of the three-axis robotic arm for sample loading on the right side in an embodiment of the present invention;

[0124] Figure 45 A schematic diagram of the opening assembly of the three-axis robotic arm for sample loading on the right.

[0125] Figure 46 This is a schematic diagram of the structure of the multifunctional clamping device in an embodiment of the present invention;

[0126] Figure 47 This is a schematic diagram of the gripper extension of a multi-functional clamping device;

[0127] Figure 48 A schematic diagram of the structure of the multifunctional clamping device for holding culture flasks;

[0128] Figure 49 A schematic diagram of a multi-functional clamping device for horizontally clamping a 250ml centrifuge tube;

[0129] Figure 50 This is a schematic diagram of the structure of a multi-functional clamping device for holding culture medium bottles;

[0130] Figure 51 This is a schematic diagram of the structure of the multi-functional clamping device for clamping the adapter;

[0131] Figure 52 This is a three-dimensional illustration of an embodiment of the present invention. Figure 2 ;

[0132] Figure 53 for Figure 1 A schematic diagram of the rear view structure;

[0133] 1. Base plate; 2. External assembly; 3. Left side assembly; 4. Middle assembly; 5. Right side assembly; 6. Consumables transfer device; 6001. Frame; 6002. Conveyor belt assembly; 6003. Housing; 6004. Consumables transfer control box; 6005. Ordinary flat chain; 6006. First photoelectric switch; 6007. Second photoelectric switch; 6008. Bottle clamping flat chain module; 6009. Inlet; 6010. Outlet; 6011. Automatic door assembly; 6012. Operation panel; 6013. Bottle clamping fixture; 6014. Perforated flat chain; 6015. Horizontal support plate; 6016. Vertical support rod; 6017. Positioning plate; 6018. Base plate; 6019. Heightening support frame; 7. Incubator tray gripper and... Culture bottle palletizing device; 7001, external robot arm; 7002, robot arm connecting plate; 7003, vacuum pump; 7004, suction cup; 7005, vacuum pressure switch; 7006, vacuum mounting plate; 7007, suction cup connecting plate; 7008, hexagonal rod hardware; 7009, two-finger electric gripper; 7010, clamping block; 7011, base; 7012, card holder; 7013, industrial camera; 8, feeding and conveying and reversing device; 8001, conveying assembly; 8002, conveying frame; 8003, lifting and rotating structure; 8004, bottle picking structure; 8005, rotary motor; 8006, lifting motor; 8007, upper mounting plate; 8008, lower mounting plate; 8009, spline screw; 8010 8011. Negative pressure sensor; 8012. Active rotating synchronous pulley; 8013. Adjusting stepper motor; 8014. Active lifting synchronous pulley; 8015. Ball screw nut; 8016. Ball spline nut; 8017. First connecting sleeve; 8018. Driven lifting synchronous pulley; 8019. Vacuum diaphragm pump; 8020. Fixing ring; 8021. Second connecting sleeve; 8022. Driven rotating synchronous pulley; 8023. Suction cup platform; 8024. Suction cup fixing plate; 8025. Suction head; 8026. Driven large gear; 8027. Active small gear; 8028. Longitudinal reset photoelectric switch; 8029. Feeding controller; 8030. Opening limit ring; 8031. Circumferential reset photoelectric switch; 8022. 1. Adjusting the photoelectric switch; 8032. Adjusting the photoelectric baffle; 9. External assembly electrical control cabinet; 10. Labeling device; 11. Air purifier; 12. Microscope device; 1201. Microscope shell; 1202. Microscope frame; 1203. Telescopic platform; 1204. Linear motor module; 1205. Guide rail; 1206. Microscope; 1207. Light source; 13. Automatic cell culture incubator; 1301. Incubator body; 1302. Incubator door; 1303. Glass door; 1304. Door opening electric actuator; 1305. Auxiliary electric actuator; 1306. Auxiliary block; 1307. Electric actuator rear end mounting base; 1308. Electric actuator front end mounting base; 14. Spray disinfection cabinet; 1401. Base plate; 1402. Shell;1403. Diaphragm pump; 1404. Sterilization chamber; 1405. Nozzle; 1406. Barcode scanner; 15. Cell culture flask; 16. Tray; 17. Left side frame; 18. Left side workbench; 19. Automatic feeding system; 1901. Feeding conveyor line; 1902. Return conveyor line; 1903. Bottle feeding device; 1904. Bottle pushing device; 1905. Barcode scanner; 1906. Bottle baffle plate; 1907. Bottle outlet; 1908. Feeding connection plate; 1909. Return connection plate; 1910. Lifting electric actuator; 1911. Top plate; 1912. Fixed base plate; 1913. Bottle baffle plate; 1914. Bottle baffle electric actuator; 20. Left side central control cabinet; 21. Adherent cell shaking assembly; 2101. Rotary... 2102. Drive motor; 2103. Hollow rotary platform; 2104. Circular turntable; 2105. Bottle clamping and shaking assembly; 2106. Bottle cap support frame; 2107. Control platform; 2108. Adherent cell shaking center controller; 2109. Servo motor mounting bracket (lower); 2110. Servo motor mounting bracket (upper); 2111. First servo motor; 2111. Second servo motor; 2112. Electric gripper; 2113. Left clamp; 2114. Right clamp; 2115. Arc plate; 2116. Workstation controller; 2117. Workstation plate fixing platform; 2118. Heating tank; 2119. Temperature control tank; 2120. PT100 patch-type temperature control probe; 2121. Silicone heating element; 2122. Heating element cover plate; 2123. Turntable guard 22. High-temperature sterilization assembly; 23. Alcohol cleaning assembly; 24. Alcohol tank; 25. Rotary swing arm assembly; 26. Straight-mouth bottle weighing rack; 27. Left-side sample dispensing three-axis robotic arm; 2701. Left-side Y-axis assembly; 2702. Left-side X-axis assembly; 2703. Left-side Z-axis assembly; 2704. Left-side Z-axis assembly one; 2705. Left-side Z-axis assembly two; 2706. Pipe tip connector; 2707. Capping assembly; 2708. Injection pump mounting base; 2709. Injection pump; 2710. Connector plate; 28. Left-side transfer chamber assembly; 29. ​​Tip head consumable rack; 32. Straight-mouth bottle placement rack; 33. Outer shell; 34. First left-side observation window; 35. Second left-side observation window; 36. Consumable placement door; 3 7. Left tip head retrieval door; 38. Middle frame; 39. Middle workbench; 40. Middle central control box; 41. Robotic arm control box; 42. Culture bottle conveying device; 4201. Conveying base plate; 4202. Conveying middle plate; 4203. Conveying top plate; 43. Middle robotic arm; 44. Second high-temperature sterilization assembly; 45. Second alcohol cleaning assembly; 46. Centrifuge tube turntable assembly; 4601. Centrifuge turntable motor; 4602. Centrifuge turntable; 4603. Electric centrifuge gripper; 4604. Double-action gripper; 4605. Centrifuge controller; 47. Growth factor recovery swing arm assembly; 48. Multifunctional consumable rack; 4801. Base plate; 4802. Support rod; 4803. Consumable tray; 4804. Pallet;4805. Second socket; 4806. Cell counting plate placement area; 4807. Tray rack; 4808. First socket; 4809. Handle mounting hole; 4810. Handle; 50. Consumables retrieval door; 51. Automatic door; 52. Right side frame; 53. Right side workbench; 54. Right side central control cabinet; 55. Centrifuge; 5501. Centrifuge shell; 5502. Automatic sliding cover door; 5503. Display screen; 5504. Centrifuge pot body; 5505. Centrifuge center bracket; 5506. Centrifuge tube; 56. Centrifuge tube loading tray; 57. Centrifuge tube adapter bracket; 58. Right side sample loading three-axis robotic arm; 5801. Right side X-axis motion mechanism; 5802. Right side Y-axis motion mechanism; 5803. Right side Z-axis motion mechanism; 5804. Right side second Y-axis motion mechanism; 5805. Right side X-axis support. Support plate; 5806, pipetting assembly; 5807, vacuum suction cup; 5808, cap opening assembly; 5809, right-side vacuum pump; 5810, right-side clamp; 5811, plunger pump; 5812, pipette; 5813, right-side electric gripper; 59, right-side transfer chamber; 5901, automatic sliding door; 60, upper-level barcode scanning assembly; 61, fluorescence counter; 62, right-side needle removal rack; 63, right-side straight-mouth bottle weighing assembly; 64, right-side observation window; 65, centrifuge tube transfer door; 66, consumable transfer door; 67, second right-side observation window; 68, multi-functional clamping device; 6801, gripper body; 6802, gripper extension; 6803, first clamping part; 6804, second clamping part; 6805, third clamping part; 6806, fourth clamping part; 6807, gripper connecting part; 6809, anti-slip part. ; Detailed Implementation

[0134] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments.

[0135] like Figure 1-53 As shown, a cell culture device includes a base plate 1, with a working chamber located on the rear side of the base plate 1. The working chamber includes a support frame and an outer shell. Two waste bin access doors are respectively located on the front and rear ends of the outer shell, and an inspection port is provided between the two waste bin access doors. Six air purifiers 11 are installed above the working chamber to ensure the cleanliness of the internal air during operation.

[0136] An external assembly 2 is provided above the base plate 1, and an internal assembly is provided in the working chamber. The internal assembly includes a left assembly 3, a middle assembly 4 and a right assembly 5 connected in sequence.

[0137] The external assembly 2 includes a consumable conveying device 6, a feeding conveying and reversing device 8, and an external assembly electrical control cabinet 9. A culture chamber tray gripping and culture bottle stacking device 7 is located at the center of the upper surface of the base plate 1. The consumable conveying device 6 is located on the right side of the upper surface of the base plate 1. The feeding conveying and reversing device 8 is vertically located on the left side of the rear of the consumable conveying device 6. A labeling device 10 is located on the left side of the consumable conveying device. A microscope device 12 is located between the labeling device 10 and the feeding conveying and reversing device 8. The culture chamber tray... An automatic cell culture chamber 13 is provided on the left and front sides of the tray gripping and culture bottle stacking device 7. The external assembly electrical control cabinet 9 is located between the two automatic cell culture chambers 13. A spray disinfection cabinet 14 is provided on the rear side of the culture chamber tray gripping and culture bottle stacking device 7. The consumables transmission device 6, the feeding transmission and reversing device 8, the culture chamber tray gripping and culture bottle stacking device 7, the labeling device 10, the microscope device 12, the automatic cell culture chamber 13 and the spray disinfection cabinet 14 are all electrically connected to the external assembly electrical control cabinet 9.

[0138] like Figure 3-5 As shown, the consumable transfer device 6 includes a frame 6001 and a conveyor belt assembly 6002. The frame 6001 is provided with a housing 6003. An operation panel 6012 is provided on the front end face of the housing 6003. The conveyor belt assembly 6002 is connected to the frame 6001. A consumable transfer control box 6004 is provided inside the frame. The consumable transfer control box 6004 is electrically connected to the external assembly electrical control cabinet. An inlet 6009 for placing cell culture flasks is provided on the upper left side of the housing 6003. An automatic door assembly 6011 is provided at the inlet 6009. An outlet 6010 for picking up cell culture flasks is provided on the rear end face of the housing 6003. The operation panel 6012 and the automatic door assembly 6011 are both electrically connected to the consumable transfer control box 6004.

[0139] The conveyor belt assembly 6002 includes a flexible chain conveyor belt, a DC motor, and a speed reduction and steering mechanism. The DC motor is connected to the speed reduction and steering mechanism, the speed reduction and steering mechanism is connected to the conveyor belt 4, and the DC motor is electrically connected to the controller.

[0140] The flexible chain conveyor belt includes several bottle-carrying plate chain modules 6008, which are connected in sequence to form the flexible chain conveyor belt. Cell culture flasks are provided on the bottle-carrying plate chain modules 6008.

[0141] Multiple reinforcing ribs for the outer shell 6003 are vertically provided on the inner surface of the outer shell 6003 on both the front and rear sides of the frame 6001.

[0142] The bottle-carrying flat chain module 6008 includes two bottle-carrying fixtures 6013, two perforated flat chains 6014, and multiple ordinary flat chains 6005. The ordinary flat chains 6005 are connected in sequence. The two perforated flat chains 6014 are respectively installed on both sides of the ordinary flat chains 6005. The two bottle-carrying fixtures 6013 are respectively connected to the upper end faces of the two perforated flat chains 6014. Two positioning posts are symmetrically provided on the upper end face of the perforated flat chains 6014. An installation hole is provided between the two positioning posts. The installation hole is provided with an internal thread. The bottle-carrying fixture 6013 is provided with through holes corresponding to the installation hole and the two positioning posts.

[0143] A first photoelectric switch 6006 is provided on the upper part of the frame 6001. The first photoelectric switch 6006 is installed at the inlet 6009. A second photoelectric switch 6007 is provided on the right side of the rear end face of the flexible chain conveyor belt. The second photoelectric switch 6007 cooperates with the cap of the cell culture flask. Both the first photoelectric switch 6006 and the second photoelectric switch 6007 are electrically connected to the consumables transfer control box 6004. The first photoelectric switch 6006 can monitor the height of the stacked cell culture flasks. If the cell culture flasks are stacked too high, there is a risk of them tipping over during the transfer process. When the first photoelectric switch 6006 detects that the flasks are blocked by cell culture flasks, the first photoelectric switch 6006 sends a signal to the consumables transfer control box 6004. The consumables transmission control box 6004 transmits an electrical signal, and the control panel 6012 displays an alarm, reminding staff to pay attention to the stacking height. The consumables transmission control box 6004 locks the current position of the flexible chain conveyor belt until the first photoelectric switch 6006 no longer detects cell culture flasks. Then, the alarm on the control panel 6012 and the lock on the flexible chain conveyor belt are released. When the second photoelectric switch 6007 no longer detects any obstructing objects, it indicates that the cell culture flasks on the current bottle-holding plate chain module 6008 have been used up. The controller then controls the DC motor to drive the flexible chain conveyor belt to rotate. When the cap of the next cell culture flask on the next bottle-holding plate chain module 6008 obstructs the second photoelectric sensor, the controller controls the DC motor to stop rotating.

[0144] The conveyor belt assembly 6002 is connected to the frame 6001 via a conveyor belt support structure. The conveyor belt support structure includes a horizontal support plate 6015, a vertical support rod 6016, a positioning plate 6017, a base plate 6018, and a heightening support frame 6019. Multiple positioning plates 6017 are provided on the base plate 6018. The positioning plates 6017 are in a "U" shape, with the middle portion connected to the base plate 6018 and both ends connected to the frame 6001. The vertical support rod 6016... Two support rods 6016 are provided. The two vertical support rods 6016 are respectively installed at both ends of the upper surface of the base plate 6018. The two ends of the lower surface of the horizontal support plate 6015 are respectively connected to the vertical support rods 6016. Two corresponding heightening support frames 6019 are provided. The two heightening support frames 6019 are respectively set at both ends of the horizontal support plate 6015. The lower end of the heightening support frame 6019 is connected to the horizontal support plate 6015, and the upper end of the heightening support frame 6019 is connected to the conveyor belt assembly 6002.

[0145] The working principle of the consumables transfer device 6 is as follows: When the cell culture flasks in the consumables transfer device 6 are used up and need to be replenished, the automatic door is opened by controlling the control panel, and the cell culture flasks are stacked on the bottle-holding plate chain module 6008 at the entrance 6009. After being stacked to a certain height, the flexible chain conveyor belt is rotated by controlling the operation panel 6012 to rotate the distance of one bottle-holding plate chain module 6008, and the addition continues. The above operation is repeated until the second photoelectric switch 6007 detects the cell culture flasks, and the automatic door is closed by controlling the operation panel 6012, thus completing the cell culture flask addition.

[0146] During use, the consumables transfer device 6 takes cell culture flasks from outlet 6010. When the cell culture flasks on the plate chain module 6008 at outlet 6010 are empty, the second photoelectric switch 6007 does not detect any obstructing objects. The consumables transfer control box 6004 controls the flexible chain conveyor belt to rotate. When a cell culture flask obstructs the second photoelectric switch 6007, the belt stops. After the flexible chain conveyor belt has rotated one revolution and the second photoelectric switch 6007 does not detect any cell culture flasks, the consumables transfer control box 6004 controls the operation panel 6012 to send a message that cell culture flasks need to be replenished. The operator then adds cell culture flasks 15.

[0147] like Figure 6 and Figure 7As shown, the incubator tray gripping and culture flask stacking device 7 includes an external robot arm 7001. The external robot arm 7001 is mounted on the workbench via a base 7011. The external robot arm 7001 is electrically connected to an external assembly control cabinet. The end of the external robot arm 7001 is connected to a functional mechanism. The functional mechanism includes a robot arm connecting plate 7002, a protective shell, a suction component, and a clamping component. The protective shell is mounted on the robot arm connecting plate 7002. The suction component and the clamping component are mounted inside the protective shell. The robot arm connecting plate 7002 is connected to the end of the external robot arm 7001. The suction component cooperates with the cell culture flask, and the clamping component cooperates with the tray.

[0148] The suction assembly includes a vacuum pump 7003 and a suction cup 7004. The vacuum pump 7003 and the suction cup 7004 are connected by a hose. A vacuum pressure switch 7005 is provided between the vacuum pump 7003 and the suction cup 7004. The vacuum pump 7003 is located at the lower left of the robot arm connecting plate 7002 and is connected to the robot arm connecting plate 7002. The vacuum pressure switch 7005 is located above the vacuum pump 7003 and is connected to the robot arm connecting plate 7002 through a vacuum mounting plate 7006. A suction cup connecting plate 7007 is vertically provided on the right side of the robot arm connecting plate 7002. The suction cup connecting plate 7007 has a suction cup connection hole, and a hexagonal rod fitting 7008 is provided in the suction cup connection hole. The suction cup 7004 is connected to the right end of the hexagonal rod fitting 7008.

[0149] The clamping assembly includes a two-finger electric gripper 7009, which is electrically connected to the controller and connected to the front end face of the robotic arm connecting plate 7002. Each of the two fingers of the two-finger electric gripper 7009 is provided with a gripping block 7010, and the opposite end faces of the two gripping blocks 7010 are provided with gripping grooves.

[0150] The rear of the tray is symmetrically provided with clamping notches, the clamping block 7010 corresponds to the clamping notches, and the clamping groove corresponds to the tray.

[0151] Two mounting brackets 7012 are positioned above the tray, one in front of the other. Each mounting bracket 7012 includes five clamping plates, forming four positioning frames. The cell culture flasks are placed within these positioning frames, and the industrial camera 7013 can also identify these frames, ensuring accurate placement of the cell culture flasks. Two stepped through holes are provided on the spaced clamping plates, and the tray has mounting through holes corresponding to these stepped through holes. The mounting brackets 7012 are detachably connected to the tray via bolts passing through the stepped through holes and the mounting through holes.

[0152] The lower end face of the tray is provided with several reinforcing ribs, which can enhance the overall strength of the tray and prevent cell culture flasks from deforming under stress when placed on top of the tray, thus improving the safety of the tray during use.

[0153] A positioning component is provided above the two-finger electric gripper 7009. The positioning component includes an industrial camera 7013, which is electrically connected to the external assembly electrical control cabinet.

[0154] like Figure 8-12As shown, the feeding, conveying, and reversing device 8 includes a conveyor frame 8002, a conveying assembly 8001, a lifting arm assembly, and a feeding controller 8028. The conveying assembly 8001 and the lifting arm assembly are both electrically connected to the feeding controller 8028. The conveying assembly 8001 is positioned above the conveyor frame 8002 and includes a synchronous conveyor belt. A photoelectric switch indicating the position of the synchronous conveyor belt is located at the left end. The lifting arm assembly includes a lifting and rotating structure 8003 and a bottle-retrieving structure 8004. The lifting and rotating structure 8003 is positioned on the right side of the conveyor frame 8002. 003 includes the lifting and rotating structure 8003, which includes a rotary motor 8005, a lifting motor 8006, an upper mounting plate 8007, a lower mounting plate 8008, and a splined screw 8009. The upper mounting plate 8007 is connected to the upper end face of the transmission frame 8002 via short connecting rods. The lower mounting plate 8008 is connected to the lower end face of the transmission frame 8002 via four long connecting rods. The rotary motor 8005 is connected to the lower end face of the fixed plate via a rotary motor 8005 mounting base. The output shaft of the rotary motor 8005 is provided with a drive rotating synchronous pulley 8011. The lifting motor 8006 is connected to the lower end face of the fixed plate via a lifting motor 8005. The 06 mounting base is connected to the lower end face of the upper mounting plate 8007. The output shaft of the lifting motor 8006 is equipped with an active lifting synchronous pulley 8013. The rear part of the upper mounting plate 8007 is provided with a first circular through hole, and a first bearing is installed inside the first circular through hole. The spline screw 8009 is equipped with a ball screw nut 8014 and a ball spline nut 8015. The ball screw nut 8014 is connected to the first bearing. The upper end face of the ball screw nut 8014 is provided with a first connecting sleeve 8016. The first connecting sleeve 8016 is equipped with a driven lifting synchronous pulley 8017. Wheel 8017 is connected to active lifting synchronous belt pulley 8013 via a first synchronous belt. The fixed plate is provided with a second circular through hole, which is coaxial with the first circular through hole. A second bearing is provided inside the second circular through hole. The ball spline nut 8015 is connected to the second bearing. A fixing ring 8019 is provided above the second bearing. A second connecting sleeve 8020 is provided on the lower end face of the ball spline nut 8015. A driven rotating synchronous belt pulley 8021 is provided on the second connecting sleeve 8021. The driven rotating synchronous belt pulley 8021 is connected to the active rotating synchronous belt pulley 8011 via a second synchronous belt.

[0155] The bottle-retrieving structure 8004 includes a suction cup platform 8022, a suction cup fixing plate 8023, and a vacuum diaphragm pump 8018. The suction cup platform 8022 is tightly connected to the upper end face of a spline screw 8009. The vacuum diaphragm pump 8018 is mounted on the suction cup platform 8022. Three suction heads 8024 are arranged in a triangular shape on the suction cup fixing plate 8023. The ends of the suction heads 8024 are made of foldable rubber. An angle adjustment structure is provided between the suction cup platform 8022 and the suction cup fixing plate 8023. The angle adjustment structure includes a driven large gear 8025 and a driving small gear 8026. An adjustment stepper motor 8012 is provided on the upper end face of the suction cup platform 8022. The adjustment stepper motor 8012 is connected to the angle adjustment structure. The suction cup fixing plate 8004... The upper surface of 23 is provided with a short column. The front end of the suction cup platform 8022 is provided with a stepped hole. A bearing is provided in the stepped hole. The short column cooperates with the bearing in the stepped hole. The driven large gear 8025 is set between the suction cup platform 8022 and the suction cup fixing plate 8023. The driven large gear 8025 is connected to the short column. The driving small gear 8026 is set at the lower end of the output shaft of the stepper motor. The driving small gear 8026 meshes with the driven large gear 8025. The vacuum diaphragm pump 8018 is connected to the suction head 8024 through a hose. A negative pressure sensor 8010 is provided between the vacuum diaphragm pump 8018 and the suction head 8024. The negative pressure sensor 8010, the vacuum diaphragm pump 8018, and the adjusting stepper motor 8012 are all electrically connected to the feeding controller 8028.

[0156] The upper surface of the lower mounting plate 8008 is provided with a longitudinal reset photoelectric switch 8027, which is electrically connected to the feeding controller 8028. The lower end of the spline screw 8009 is provided with an open limiting ring 8029. The upper surface of the transmission frame 8002 is provided with a circumferential reset photoelectric switch 8030. The fixing ring 8019 is a D-type fixing ring 8019. The side plane of the D-type fixing ring 8019 is provided with a circumferential photoelectric baffle, which cooperates with the circumferential reset photoelectric switch 8030. The lower surface of the driven large gear 8025 is provided with an adjustment photoelectric baffle 8032. The lower surface of the suction cup platform 8022 is provided with an adjustment photoelectric switch 8031, which cooperates with the adjustment photoelectric baffle 8032.

[0157] The feeding and reversing device 8 works in conjunction with the consumables conveying device. The working principle of the feeding and reversing device 8 is as follows: When feeding is required, the lifting motor 8006 activates, raising the suction head 8024 platform to its highest position. The rotary motor 8005 rotates the suction cup platform 8022 by a certain angle, positioning it directly above the cell culture flask at the outlet of the consumables conveying device. The lifting motor 8006 then moves the suction cup platform 8022 downwards. Simultaneously, the vacuum diaphragm pump 8018 operates. When the three suction heads 8024 contact the upper surface of the cell culture flask, a negative pressure is generated inside the suction head 8024, firmly adsorbing the cell culture flask. The negative pressure sensor 8010 detects the negative pressure inside the suction head 8024 and sends an electrical signal to the feeding controller 8028. The feeding controller 8028 then controls the lifting motor 8006 to stop rotating and subsequently controls it to rotate in the opposite direction. The suction cup platform 8022 is moved upwards. After reaching its highest point, the loading controller 8028 controls the lifting motor 8006 to stop, and the rotary motor 8005 starts to rotate in the opposite direction. The rotary motor 8005 drives the suction cup platform 8022 to rotate towards the transfer component 8001. When the suction cup platform 8022 is about to return to its initial position, the loading controller 8028 controls the stepper motor 8012 to rotate at a certain angle, adjusting the axis of the cell culture flask to be parallel to the axis of the transfer component 8001. Then, the lifting motor 8006 drives the suction cup platform 8022 to descend, placing the cell culture flask on the transfer component 8001. Subsequently, the lifting arm assembly returns to its initial position and waits. Then, the transfer component 8001 moves to transport the cell culture flask to the left. When the photoelectric switch is activated to block the cell culture flask, the transfer component 8001 stops, waiting for the subsequent process to remove the culture flask. At this point, the loading, turning, and conveying process of one cell culture flask is completed.

[0158] like Figure 13 and Figure 14 As shown, the spray disinfection cabinet 14 includes a base plate 1401, a shell 1402 on the upper part of the base plate 1401, a partition in the middle of the shell, a disinfection chamber 1404 on the upper part of the partition, a spray nozzle 1405 inside the disinfection chamber 1404, a window on one side of the shell connecting the disinfection chamber 1404 to the outside, a barcode scanner 1406 on the upper part of the window, a diaphragm pump 1403, a disinfection controller, and a disinfectant storage mechanism on the lower part of the partition. The disinfection controller is electrically connected to an external assembly electrical control cabinet, the diaphragm pump 1403 is connected to the spray nozzle 1405, the disinfectant storage mechanism is connected to the diaphragm pump 1403, and the disinfection controller is electrically connected to the barcode scanner 1406.

[0159] The disinfectant storage mechanism is an alcohol storage tank, and the diaphragm pump 1403 is connected to the nozzle 1405 and the liquid path of the alcohol storage tank.

[0160] The barcode scanner 1406 is connected to the outer shell at the top of the window, and the barcode scanner 1406 is detachable.

[0161] The nozzle 1405 is located near the window and is installed diagonally on the inner wall of the disinfection chamber 1404. The nozzle 1405 is detachable.

[0162] like Figure 15-16 As shown, the microscope 1206 device 12 includes a microscope 1206 housing 1201, which covers the microscope 1206 frame 1202. A telescopic platform 1203 is provided inside the microscope 1206 housing 1201. Linear motor modules 1204 and guide rails 1205 are respectively provided at both ends of the lower end face of the telescopic platform 1203. The microscope 1206 is located below the telescopic platform 1203, and a light source 1207 is located above the telescopic platform 1203. The telescopic platform 1203 achieves longitudinal movement through the linear motor modules 1204. A support frame is provided on the upper end face of the microscope 1206 housing 1201. The support frame cooperates with a tray and is used to place the tray. When operating the automated cell culture incubator, a robotic arm places the tray on the support frame, and then the robotic arm uses a suction cup to remove or stack cell culture flasks from the tray. The microscope 1206 frame 1202 is made of aluminum profile.

[0163] like Figure 17 As shown, the automatic cell culture chamber 13 includes a culture chamber body 1301. A closable culture chamber door 1302 is provided on the right side of the culture chamber. A closable glass door 1303 is provided between the culture chamber door 1302 and the culture chamber. An electric door-opening actuator 1304 is provided on the upper surface of the culture chamber body 1301. The actuator of the electric door-opening actuator 1304 is connected to the upper surface of the culture chamber door 1302. A sliding assembly is provided between the glass door 1303 and the culture chamber door 1302. An auxiliary electric actuator 1305 is provided on the front surface of the culture chamber body 1301. An auxiliary block 1306 is provided on the front surface of the culture chamber door 1302. The auxiliary block 1306 is positioned opposite to the auxiliary electric actuator 1305, and the left side of the auxiliary block 1306 engages with the actuator of the auxiliary electric actuator 1305.

[0164] The upper end face and the front end face of the incubator body 1301 are respectively provided with electric push rod rear end mounting seat 1307, the upper end face of the incubator door 1302 is provided with electric push rod front end mounting seat 1308, the outer shell of the door opening electric push rod 1304 is hinged to the electric push rod rear end mounting seat 1307 on the upper end face of the incubator body 1301, the push rod of the door opening electric push rod 1304 is hinged to the electric push rod front end mounting seat 1308 on the upper end face of the incubator door 1302, and the outer shell of the auxiliary electric push rod 1305 is hinged to the electric push rod rear end mounting seat 1307 on the front end face of the incubator body 1301.

[0165] The automatic cell culture chamber 13 can automatically open and close its door. Through the cooperation of the automatic cell culture chamber 13 with the culture chamber tray gripper and culture bottle stacking device, the automatic placement and retrieval of cell culture bottles can be realized, which improves the automation level of cell culture equipment and helps to improve the efficiency of cell culture work.

[0166] like Figure 18-21 As shown, the left assembly includes a left frame 17, with a left workbench 18 in the middle of the left frame 17. Below the left workbench 18 are an automatic feeding system 19, a left central control cabinet 20, and an alcohol tank 24. The automatic feeding system 19 is electrically connected to the left central control cabinet 20, which is electrically connected to an external assembly electrical control cabinet. A cell-adhering shaking assembly 21 is located in the middle of the upper surface of the left workbench 18. To the right of the cell-adhering shaking assembly 21 are a high-temperature sterilization assembly 22 and an alcohol cleaning assembly 23. The alcohol cleaning assembly 23 is connected to the alcohol tank 24 via a liquid circuit. A rotating swing arm assembly 25 is located behind the alcohol cleaning assembly 23. A straight-mouth bottle scale is located between the rotating swing arm assembly 25 and the alcohol cleaning assembly 23. The structure includes a support frame 26, a left-side sample loading triaxial robotic arm 27 on the upper left side of the left frame 17, a left-side transfer chamber assembly 28 on the left side of the adherent cell shaking assembly 21, a tip consumable rack 29 and a left-side needle removal rack on the rear side of the left-side transfer chamber assembly 28, a left-side centrifuge tube clamp on one side of the left-side needle removal rack, multiple straight-mouth bottle racks 32 on the outside of the adherent cell shaking assembly 21, a first left-side observation window on the front end face of the outer shell 33, a second left-side observation window and a consumable placement door on the left end face of the outer shell 33, the consumable placement door corresponding to the straight-mouth bottle rack 32, and a left-side tip retrieval door on the rear end face of the outer shell 33, the left-side tip retrieval door corresponding to the tip consumable rack 29.

[0167] like Figure 25-32As shown, the adherent cell shaking assembly 21 includes a rotating motor 2101, a hollow rotating platform 2102, and a turntable. The motor is connected to the hollow rotating platform 2102, which is connected to the left worktable. The turntable is connected to the hollow rotating platform 2102. The motor drives the hollow rotating platform 2102, causing the turntable to rotate along the axis of the hollow rotating platform 2102. The turntable is a circular turntable 2103. Multiple bottle-clamping shaking assemblies 2104 are centrally symmetrically arranged on the circular turntable 2103, and the multiple bottle-clamping shaking assemblies 2104 are equally spaced on the same circumference. The bottle-clamping and shaking assembly 2104 can hold cell culture flasks. A bottle cap support frame 2105 is provided between adjacent bottle-clamping and shaking assemblies 2104. A control platform 2106 is provided in the middle of the circular turntable 2103. The control platform 2106 is connected to the circular turntable 2103 through copper studs at the four corners. An adherent cell shaking center controller 2107 is provided on the control platform 2106. The adherent cell shaking center controller 2107 is electrically connected to the left-side central control cabinet. The rotating motor 2101 and the bottle-clamping and shaking assembly 2104 are electrically connected to the adherent cell shaking center controller 2107.

[0168] The bottle-clamping and shaking assembly 2104 includes a lower servo motor mounting bracket 2108, an upper servo motor mounting bracket 2109, a first servo motor 2110, a second servo motor 2111, an electric gripper 2112, and a special clamp. The lower servo motor mounting bracket 2108 is connected to a circular turntable 2103. The first servo motor 2110 is connected to the lower servo motor mounting bracket 2108, and its output end is connected to the upper servo motor mounting bracket 2109. The second servo motor 2111 is connected to the upper servo motor mounting bracket 2109, and its output end is connected to the electric gripper 2112 via a gripper mounting plate. The electric gripper 2112 is connected to the special clamp. The special clamp is connected to the culture flask. The first servo motor 2110 is provided with an arc plate 2115, which is connected to the servo motor mounting bracket 2108. A station plate fixing platform 2117 is provided on the left side of the arc plate 2115, which is connected to the left end face of the arc plate 2115. A station controller 2116 is provided on the station plate fixing platform 2117, which is electrically connected to the adherent cell shaking center controller 2107. The first servo motor 2110, the second servo motor 2111, and the electric gripper 2112 are all electrically connected to the station controller 2116.

[0169] The special fixture includes a left clamp 2113 and a right clamp 2114. The left clamp 2113 and the right clamp 2114 are respectively connected to two fingers of the electric gripper 2112. The inner surfaces of the left clamp 2113 and the right clamp 2114 are provided with heating grooves 2118. The heating grooves 2118 are provided with temperature control grooves 2119. The temperature control grooves 2119 are provided with PT100 patch temperature control probes 2120. The heating grooves 2118 are provided with silicone heating pads 2121. The silicone heating pads 2121 are provided with heating pad cover plates 2122. The heating pad cover plates 2122 are connected to the special fixture. The upper part of the heating grooves 2118 is provided with wire through holes. The silicone heating pads 2121 and the PT100 patch temperature control probes 2120 are both electrically connected to the workstation controller 2116.

[0170] The circular turntable 2103 is provided with a turntable cover 2123 above it, and the turntable cover 2123 is provided with a notch corresponding to the bottle clamping and shaking assembly 2104.

[0171] The working principle of the adherent cell shaking component 21 is as follows:

[0172] The silicone heating pad 2121 can heat the special clamp to 37°C. The cell culture flask shaking center controller 2107 sends a clamping command to the station controller 2116. The station controller 2116 controls the fingers of the electric gripper 2112 to drive the left clamp 2113 and right clamp 2114 to clamp the cell culture flask. Then, the rotating motor 2101 drives the circular turntable 2103 to rotate. At the same time, the first servo motor 2110 and the second servo motor 2111 drive the cell culture flask on the electric gripper 2112 to rotate according to the program settings. The coordinated action of the rotating motor 2101, the first servo motor 2110 and the second servo motor 2111 simulates manual shaking, which can reduce the labor intensity of the staff, improve work efficiency, and facilitate the smooth progress of cell culture work.

[0173] like Figure 33 As shown, the left-side sample-adding three-axis robotic arm 27 includes a robotic arm body, which includes a left-side Y-axis assembly 2701, a left-side X-axis assembly 2702, and a left-side Z-axis assembly 2703. The left-side Z-axis assembly 2703 includes a left-side Z-axis assembly one 2704 and a left-side Z-axis assembly two 2705. The left-side Z-axis assembly one 2704 and the left-side Z-axis assembly two 2705 are respectively provided with a sample-adding assembly and a capping assembly 2707. The sample-adding assembly and the capping assembly 2707 are electrically connected to the left-side central control cabinet.

[0174] The sample loading assembly includes a syringe pump mounting base 2707, a syringe pump 2709, a connector plate 2710, and a pipette tip connector 2706. The syringe pump mounting base 2707 and the connector plate 2710 are mounted on one side of the left Z-axis assembly 2704. The syringe pump mounting base 2707 is located on the upper part of the connector plate 2710. The syringe pump 2709 is fixed on the syringe pump mounting base 2707. The pipette tip connector 2706 is mounted on the connector plate 2710 and is connected to a pipette tip. The lower end of the syringe pump 2709 is connected to the pipette tip connector 2706 through a liquid tube.

[0175] The left Y-axis assembly 2701 includes a left Y-axis motion module, a left Y-axis cable chain, and a left X-axis connecting plate. The left Y-axis motion module has a accommodating cavity in the middle, and the left Y-axis cable chain is installed in the accommodating cavity. The left X-axis connecting plate is slidably installed on the upper part of the left Y-axis motion module. The left Y-axis motion module is connected to the left X-axis assembly 2702 through the left X-axis connecting plate.

[0176] The left X-axis assembly 2702 includes a left X-axis motion module, a left X-axis cable chain, and a left Z-axis connecting plate. One side of the left X-axis motion module is connected to the left X-axis connecting plate by bolts. A receiving cavity is provided in the middle of the left X-axis motion module, and the left X-axis cable chain is connected in the receiving cavity. The left Z-axis connecting plate is slidably installed on the upper part of the left X-axis motion module. The left X-axis motion module is connected to the left Z-axis assembly 2703 through the left Z-axis connecting plate.

[0177] The left Z-axis assembly 2703 includes a left Z-axis motion module and a functional component connecting plate. One side of the left Z-axis motion module is connected to the left Z-axis connecting plate by bolts, and the functional component connecting plate is provided on one side of the left Z-axis motion module.

[0178] The syringe pump 2709 is connected to the syringe nozzle connector 2706 via a hose.

[0179] The gun head connector 2706 is equipped with a sealing ring.

[0180] like Figures 34-35As shown, the intermediate assembly 4 includes an intermediate frame 38, with an intermediate workbench 39 in the middle of the intermediate frame 38. A central control box 40 and a robotic arm control box 41 are located below the intermediate workbench 39. The central control box 40 is electrically connected to the external assembly electrical control cabinet. A culture flask conveying device 42 is located on the right side of the upper surface of the intermediate workbench 39, and an intermediate robotic arm 43 is located on the left side of the culture flask conveying device 42. The intermediate robotic arm 43 is electrically connected to the robotic arm control box 41. The intermediate workbench 39 also includes a second high-temperature sterilization assembly 44 and a second alcohol cleaning assembly. The centrifuge tube turntable assembly 46 is located behind the second alcohol cleaning assembly 45. A growth factor recovery swing arm assembly 47 is located between the second high-temperature sterilization assembly 44 and the second alcohol cleaning assembly 45. A multi-functional consumable rack 48 is located on the left side of the centrifuge tube turntable assembly 46. Multiple single-station centrifuge tube grippers are located around the centrifuge tube turntable assembly 46. An automatic door 51 is located on the front end face of the outer shell. The automatic door 51 cooperates with the culture bottle conveying device 42. A consumable retrieval door 50 is located on the rear end face of the outer shell. The consumable retrieval door 50 cooperates with the multi-functional consumable rack 48.

[0181] like Figure 36 As shown, the culture flask conveying device 42 includes a conveying base plate 4201, a conveying middle plate 4202, and a conveying top plate 4203. An idler wheel assembly is provided between the conveying base plate 4201 and the conveying middle plate 4202, and a driving assembly is provided between the conveying middle plate 4202 and the conveying top plate 4203. The conveying base plate 4201 is connected to an intermediate worktable. The conveying middle plate 4202 is movable relative to the conveying base plate 4201, and the conveying top plate 4203 is movable relative to the conveying middle plate 4202. The culture flask conveying device 42 works in conjunction with the incubator tray gripping and culture flask stacking device. When the external robot arm conveys the cell culture flasks into the working chamber, the automatic door opens, the conveying top plate 4203 and the conveying middle plate 4202 move, the conveying top plate 4203 extends out of the working chamber, and the external robot arm transfers the cell culture flasks to the upper surface of the conveying top plate 4203 through suction cups. The drive component and idler wheel component move to drive the conveying top plate 4203 into the working chamber, thereby transferring the cell culture flasks 15 outside the working chamber into the working chamber.

[0182] like Figure 37As shown, the centrifuge tube turntable assembly 46 includes a centrifuge turntable 4602, a motor 4601, a centrifuge rotation platform, and a centrifuge turntable 4602. The centrifuge turntable 4602 motor 4601 is connected to the lower end face of the intermediate workbench. The centrifuge turntable 4602 is positioned above the intermediate workbench. The centrifuge turntable 4602 motor 4601 is connected to the centrifuge turntable 4602 via the centrifuge rotation platform. Four centrifuge electric grippers 4603 are arranged at a 90° angle on the centrifuge turntable 4602. Each centrifuge electric gripper 4603 has a double-acting gripper 4604 on its fingers. The double-acting gripper 4604 can accommodate two different sizes of centrifuge tubes. A bottle cap holder is installed between two adjacent electric grippers. A centrifuge controller 4605 is located in the middle of the centrifuge turntable 4602. The centrifuge controller 4605 is electrically connected to the intermediate central control box.

[0183] The four centrifugal electric grippers 4603 on the centrifuge tube turntable assembly 46 correspond to positions 1, 2, 3 and 4 respectively.

[0184] The lower part of the double-acting gripper 4604 is provided with a centrifuge tube support frame, which is installed on the centrifuge turntable 4602 and is engaged with the outer wall of the centrifuge tube.

[0185] like Figure 38 As shown, the multifunctional consumable rack 48 includes a base plate 4801, a support rod 4802 on the upper part of the base plate 4801, a consumable tray 4803 on the upper part of the support rod 4802, a card plate 4804 on the left side of the consumable tray 4803, and multiple second insertion holes 4805 on the right side of the card plate 4804. The second insertion holes 4805 are used with 1.5ml centrifuge tubes. The consumable tray 4803 also has a cell counting plate placement area 4806, a tray rack 4807, and multiple first insertion holes 4808. A 10ml tip is installed in the first insertion hole 4808. Multiple cell counting plates are installed in the cell counting plate placement area 4806. The tray rack 4807 is used with a needle tray rack.

[0186] The number of support rods 4802 is four sets. Each support rod 4802 is provided with a handle 4810 mounting hole 4809. The two sets of support rods 4802 near the front are provided with handles 4810. The handles 4810 cooperate with the handles 4810 mounting holes 4809. The base plate 4801 is I-shaped.

[0187] like Figure 39 and 40As shown, the right-side assembly includes a right-side frame 52, with a right-side workbench 53 in the middle of the frame 52. A right-side central control cabinet 54 and a centrifuge 55 are located below the workbench 53. The workbench 53 has a centrifuge notch that mates with the centrifuge 55. A centrifuge tube loading tray 56 is located on the right side of the upper surface of the workbench 53. A centrifuge tube adapter bracket 57 is located on the left side of the tray, with centrifuge tube adapters mounted on it. A right-side sample loading three-axis robotic arm 58 is located on the left side of the upper surface of the workbench 53. Below the robotic arm 58 are a right-side transfer chamber 59, an upper-level barcode scanning component 60, and a fluorescence counter 61. A right-side needle removal rack 62 is located between the right-side transfer chamber 59 and the fluorescence counter 61. A right-side straight-mouth bottle weighing component 63 is located in front of the right-side transfer chamber 59. A right-side observation window 64 is located on the front end face of the outer shell. A centrifuge tube transfer door 65, a consumable transfer door 66, and a second right-side observation window 6764 are located on the right end face of the outer shell. The second right-side observation window 6764 corresponds to the centrifuge 55. The centrifuge tube transfer door 65 cooperates with the centrifuge tube loading tray 56, and the consumable transfer door 66 cooperates with the right-side transfer chamber 59.

[0188] like Figure 41 and 42 As shown, the centrifuge 55 includes a centrifuge shell 5501 and a centrifuge pot 5504. The centrifuge pot 5504 is disposed inside the centrifuge shell 5501. The upper surface of the centrifuge shell 5501 is provided with an automatic sliding cover door 5502. The right worktable is provided with a placement opening. The automatic sliding cover door 5502 cooperates with the placement opening. The front surface of the centrifuge shell 5501 is provided with a display screen 5503. The centrifuge pot 5504 is provided with a centrifuge center bracket 5505. Centrifuge tubes 5506 are placed on the centrifuge bracket. The bottom of the centrifuge 55 is provided with fixing plates on both sides. The centrifuge 55 is connected to the right frame through the fixing plates.

[0189] The centrifuge tube feeding tray is equipped with multiple centrifuge tubes.

[0190] like Figures 43-45As shown, the right-side sample loading three-axis robotic arm 58 includes a right-side X-axis motion mechanism 5801, a right-side Y-axis motion mechanism 5802, a right-side Z-axis motion mechanism 5803, and a right-side second Y-axis motion mechanism 5804. A right-side X-axis support plate 5805 is provided above the right-side Y-axis motion mechanism 5802. The right-side X-axis motion mechanism 5801 is mounted on the right-side X-axis support plate 5805. The right-side second Y-axis motion mechanism 5804 is connected to the right-side X-axis motion mechanism 5801. The right-side Z-axis motion mechanism 5803 is connected to the right-side second Y-axis motion mechanism 5804. A pipetting assembly 5806, a vacuum suction cup assembly, and a cap opening assembly 5808 are provided on the right-side Z-axis motion mechanism 5803.

[0191] The right Y-axis motion mechanism 5802 includes a right Y-axis motor slide assembly and a right guide rail. The right Y-axis motor slide assembly and the right guide rail are symmetrically arranged. The X-axis support plate is connected to the slide of the right Y-axis motor slide assembly and the slider on the right guide rail, respectively. The right X-axis motion mechanism 5801 includes a right X-axis motor slide assembly and a slide horizontal plate. The slide horizontal plate is connected to the slide of the right X-axis motor slide assembly. The right second Y-axis motion mechanism 5804 includes a right second Y-axis motor slide assembly. The right Z-axis motion mechanism 5803 is connected to the slide of the right second Y-axis motor slide assembly.

[0192] The right Z-axis motion mechanism 5803 is provided with two symmetrical right Z-axis motor slide assemblies. The pipetting assembly 5806 is provided in two sets. The vacuum suction cup assembly, the cap opening assembly 5808 and the two sets of pipetting assemblies 5806 are respectively connected to one right Z-axis motor slide assembly.

[0193] The vacuum suction cup assembly includes a right-side vacuum pump 5809, an L-shaped connecting plate, and a vacuum suction cup 5807. The L-shaped connecting plate is connected to the right-side Z-axis motor slide assembly. The right-side vacuum pump 5809 is mounted on the L-shaped connecting plate. The vacuum suction cup 5807 is perpendicularly connected to the lower end face of the L-shaped connecting plate. The vacuum suction cup 5807 and the right-side vacuum pump 5809 are connected via a flexible hose.

[0194] The pipetting assembly 5806 includes a plunger pump 5811 and a pipette 5812. The plunger pump 5811 is connected to the Z-axis motor slide assembly via a connecting plate. The pipette 5812 is perpendicularly connected to the lower end face of the connecting plate. The pipette 5812 is connected to the plunger pump 5811 via a flexible tube.

[0195] The cap opening assembly 5808 includes a right electric gripper 5813 and a right clamp 5810. The right electric gripper 5813 is connected to the Z-axis motor slide assembly, and the right clamp 5810 is respectively disposed on the fingers of the right electric gripper 5813. The right electric gripper 5813 cooperates with the cap of the cell culture flask 15.

[0196] The upper part of the right-side transfer chamber 59 is provided with an automatic sliding door 5901. The right-side transfer chamber 59 contains primary cell centrifuge tubes, culture medium, trypan blue staining agent, and centrifuge tubes.

[0197] like Figures 46-51 As shown, the intermediate robotic arm 43 has a multi-functional gripping device 68 at its end. The multi-functional gripping device includes a gripper body 6801, and a gripper extension 6802 is provided at one end of the gripper body. The number of gripper extensions 6802 is exponentially matched with the number of gripper bodies 6801. Each gripper extension 6802 includes a gripper connecting part 6807, a first gripping part 6803, a second gripping part 6804, a third gripping part 6805, and a fourth gripping part 6806. The gripper connecting part 6807 is connected to the gripper body 6801. The first gripping part 6803 is provided at the lower part of the gripper connecting part 6807. The second gripping parts 6804 are provided on both sides of the first gripping part 6803. The third gripping part 6805 is provided at the lower part of the first gripping part 6803. The fourth gripping part 6806 is provided at the lower part of the third gripping part 6805.

[0198] The first clamping part 6803 is a longitudinal V-shaped groove, the second clamping part 6804 is a transverse V-shaped groove, the third clamping part 6805 is a transverse U-shaped groove, and the fourth clamping part 6806 is a longitudinal V-shaped groove. The distance between the clamping surface of the fourth clamping part 6806 and the central axis of the gripper body 6801 is greater than the distance between the clamping surface of the clamping groove and the central axis of the gripper body.

[0199] The clamping surfaces of the first clamping part 6803, the second clamping part 6804, the third clamping part 6805, and the fourth clamping part 6806 are all provided with anti-slip components, which are silicone anti-slip pads. The upper and lower parts of the second clamping part 6804 and the fourth clamping part 6806 are provided with chamfers.

[0200] The gripper extension 6802 is shaped like a longitudinal Z, and the gripper body 6801 is a two-finger gripper.

[0201] The working process of this invention is as follows:

[0202] Step 1:

[0203] 1) The three-axis robotic arm 58 on the right side moves to the right transfer chamber 59;

[0204] At the same time, the intermediate robotic arm 43 grabs the centrifuge tube adapter and places it into position 461 of the centrifuge tube turntable assembly, and the double-acting gripper 4604 clamps it.

[0205] 2) Take a primary cell centrifuge tube (50ml centrifuge tube);

[0206] 3) Run to the upper-level scanning component 60 to scan the code;

[0207] 4) The right-side three-axis robotic arm 58 picks up the primary cell centrifuge tube and places it into the centrifuge tube adapter at position 1 of the centrifuge tube turntable assembly 46;

[0208] The centrifuge tube turntable assembly 46 rotates 90°, and the central robotic arm 43 grabs the centrifuge tube adapter and places it into the double-acting gripper 4604 at position 2 of the centrifuge tube turntable assembly 46 for clamping.

[0209] 5) Grab the selected counterweight centrifuge tube and place it into the centrifuge tube adapter at position 2 of the centrifuge tube turntable assembly 46;

[0210] 6) After the intermediate robotic arm 43 picks up the centrifuge tube adapter at position 2 of the centrifuge tube turntable assembly 46 and puts it into the centrifuge, the centrifuge bowl rotates 180°.

[0211] 7) The centrifuge tube turntable assembly 46 rotates 90° in the opposite direction, and the middle robot arm 43 grabs the centrifuge tube adapter at position 1 of the centrifuge tube turntable assembly 46 and puts it into the centrifuge.

[0212] 8) The centrifuge's automatic sliding cover door closes;

[0213] Step 2:

[0214] 1) After centrifugation, the middle robotic arm 43 grabs the centrifuge tube adapter from the centrifuge and places it into position 1 / 2 of the centrifuge tube turntable assembly 46 and clamps it. The right-side sample loading three-axis robotic arm 58 grabs the centrifuge tube in position 1, and the centrifuge tube turntable assembly 46 rotates 90° and places it into the small empty position and clamps it.

[0215] 2) The centrifuge tube turntable assembly 46 rotates 180°, and the three-axis robotic arm 58 on the right side grabs the counterweight centrifuge tube and places it into the counterweight area;

[0216] The centrifuge tube turntable assembly 46 rotates 90° in the opposite direction, and the intermediate robotic arm 43 grabs the centrifuge tube adapter and places it into the centrifuge tube adapter holder.

[0217] The right-side sample loading triaxial robotic arm 58 rotates the centrifuge tube turntable assembly 46 90°, and the right-side sample loading triaxial robotic arm 58 picks up the supernatant waste bottle and places it in the corresponding position.

[0218] Step 3:

[0219] 1) Visually assess the supernatant in the centrifuge tubes;

[0220] 2) Insert the tip into the 5806 pipette assembly and draw the supernatant until the desired amount is reached; (dispense into the supernatant waste bottle).

[0221] 3) Discard the used tip and retrieve a new tip via the right-side needle removal holder 62;

[0222] 4) The right-side three-axis robotic arm 58 picks up the culture medium (scans the code), places it in the corresponding position, and opens the lid;

[0223] 5) Using the 5806 pipette, draw 7ml*2 and add it to the primary cell centrifuge tube, then mix by pipetting.

[0224] 6) Discard the used tip header and retrieve the new tip header;

[0225] 7) Using the 5806 pipette, extract 100 μL of the mixture and add it to a small centrifuge tube;

[0226] 8) Discard the used tip header and replace it with a new one;

[0227] 9) The three-axis robotic arm 58 on the right side picks up the trypan blue (scans the code), places it in the corresponding position, and opens the lid;

[0228] 10) Using the 5806 pipetting kit, extract 100 μL of trypan blue and add it to a small centrifuge tube. After mixing by pipetting, take 40 μL.

[0229] 11) The fluorescence counter pushes out the chip platform, and the suction cup of the right-side three-axis robotic arm 58 picks up the cell counting plate and puts it into the fluorescence counter;

[0230] 12) Add 20 μL of a 5806 pipette assembly to two wells of a cell counting plate;

[0231] 13) Use a fluorescence counter to count cells, and rotate the centrifuge tube turntable assembly 46 90° to collect the cells;

[0232] 14) After counting, the caps of the 50ML centrifuge tubes are placed into the centrifuge tube adapters, and the central robotic arm 43 picks up the centrifuge tube adapters and places them into the corresponding positions on the circular turntable.

[0233] Step 4:

[0234] 1) A certain number of cell culture flasks 15 are placed into the consumables transfer device 6;

[0235] 2) The cell culture flask 15 is transported to the feeding and reversing device via a conveyor belt, and the flask picking structure picks up the cell culture flask 15 and places it on the platform;

[0236] 3) The external robotic arm 7001 grasps the cell culture flask 15 and places it into the labeling device for labeling;

[0237] 4) After the labeling is completed, the external robotic arm 7001 picks up the cell culture flask 15 and puts it into the spray sterilizer.

[0238] 5) The automatic door opens, the culture flask conveyor 42 extends, and the external robotic arm 7001 grabs the cell culture flask 15 and places it on the culture flask conveyor 42;

[0239] 6) The culture flask conveyor 42 retracts, and the central robotic arm 43 grasps the cell culture flask 15 on the culture flask conveyor 42. At the same time, the circular turntable at position 1 rotates to the flask placement position;

[0240] 7) Repeat steps 1) to 6) to complete loading of 8 cell culture flasks in 15 minutes;

[0241] 8) The automatic door closes;

[0242] 9) Open the caps of all 158 cell culture flasks in sequence;

[0243] Simultaneously, grab the culture medium reagent bottle, scan the code, place it in the corresponding position, and open the cap;

[0244] 10) Rotate the three-axis robotic arm at gripper position 27 on the left side of the circular turntable 1 180° to add culture medium (30ml), then rotate it 45°.

[0245] 11) After adding 30ml of culture medium, rotate 45°.

[0246] 12) After adding cell suspension to the culture medium (30ml), rotate the bottle 45° (add the solution sequentially for each bottle);

[0247] Cell suspension: After processing on the right side, the middle robotic arm 43 places the centrifuge tube adapter and cell suspension into the circular turntable, and the left-side three-axis robotic arm 27 grips the 50ML centrifuge tube to the designated position. After opening the cap, the cells are separated. After separation, the cap is discarded.

[0248] 13) Cap the 158 cell culture flasks in sequence;

[0249] The automated cell culture incubator opens, the external robotic arm 7001 takes out a tray and places it above the microscope device, and the automated cell culture incubator closes;

[0250] 14) The intermediate robotic arm 43 picks up the cell culture flask 15 at position 1 of the circular turntable and places it on the culture flask delivery device 42;

[0251] The external robotic arm 7001 grasps the cell culture flask 15 from the culture flask conveyor 42 and places it on the tray (8 flasks are completed in sequence).

[0252] 15) The automatic cell culture incubator opens, the external robotic arm 7001 places the tray, and the automatic cell culture incubator closes;

[0253] 16) In the working chamber: culture medium and trypan blue are placed in the transfer chamber, and the supernatant waste bottle is closed and discarded;

[0254] Step 5:

[0255] 1) The automatic cell culture incubator opens, the external robotic arm 7001 removes the tray, and the automatic cell culture incubator closes;

[0256] 2) The telescopic platform 1203 extends the external robotic arm 7001 to grasp the cell culture flask 15 and place it into the telescopic platform 1203;

[0257] 3) Analyze the integration degree of the telescopic platform 1203.

[0258] 4) The telescopic platform 1203 extends, and the external robotic arm 7001 grasps the cell culture flask 15 and places it into the tray (4 flasks are inspected in sequence);

[0259] 5) The automatic door of the workshop opens, the culture flask conveyor 42 extends, and the external robotic arm 7001 grabs the cell culture flask 15 and places it on the culture flask conveyor 42;

[0260] 6) The culture flask conveyor 42 retracts, and the central robotic arm 43 grabs the cell culture flask 15 on the culture flask conveyor 42. At the same time, the circular turntable 1 rotates to the bottle placement position.

[0261] 7) Repeat steps 1) to 6) to complete loading of 8 cell culture flasks in 15 minutes;

[0262] 8) The workshop door closes automatically;

[0263] Step 6:

[0264] 1) The caps of 158 cell culture flasks are opened sequentially, and the three-axis robotic arm 27 on the left side prepares physiological saline and picks up the caps.

[0265] 2) The growth factor recovery arm assembly extracts the recovery factor sequentially, 5 times per bottle, and the left side three-axis robotic arm 27 picks up (large) TIP;

[0266] 3) Rotate the circular turntable to position 1 to add saline solution;

[0267] 4) Add 14 ml of normal saline to tip #1 (large).

[0268] 5) Add 14ml of saline solution to TIP #2 (large), and shake to clean TIP #1;

[0269] 6) Add 14ml of saline solution to TIP No. 3 (large), shake and rinse at TIP No. 2, and use TIP No. 1 to rotate the arm needle 2 to draw out the rinsed saline solution.

[0270] 7) Add 14ml of saline solution to TIP 4 (large), shake and rinse at TIP 3, and use TIP 2 (rotate the arm needle) to draw out the rinsed saline solution.

[0271] 8) Add 14ml of saline solution to TIP 5 (large), shake and rinse at TIP 4, and use TIP 3 to rotate the arm needle 2 times to draw out the rinsed saline solution.

[0272] 9) Add 14ml of saline solution to TIP 6 (large), shake and rinse at TIP 5, and use TIP 4 to rotate the arm needle 2 times to draw out the rinsed saline solution.

[0273] 10) Add 14ml of saline solution to TIP 7 (large), shake and rinse at TIP 6, and use TIP 5 to rotate the arm needle 2 times to draw out the rinsed saline solution.

[0274] 11) Add 14ml of saline solution to TIP No. 8 (large), shake and rinse at TIP No. 7, and use TIP No. 6 to rotate the arm needle 2 times to draw out the rinsed saline solution.

[0275] 12) Use position 8 for agitation and cleaning, and position 7 for rotating the arm needle 2 to extract the cleaned saline solution;

[0276] 13) Rotate the 8th position of the arm needle to draw out the washed saline solution;

[0277] 14) After repeating steps 3)-13), the left-side three-axis robotic arm 27 caps on the saline solution are returned to the spare port;

[0278] Step 7:

[0279] 1) The left-side triaxial robotic arm 27 picks up two bottles of culture medium and trypsin digestion solution, and opens them for later use;

[0280] 2) The left-side triaxial robotic arm aspirates 2.5 ml of pancreatic enzyme digestion solution at 27mm.

[0281] 3) Rotate the circular turntable to position 1 and add 2.5 ml of pancreatic enzyme digestion solution;

[0282] 4) Rotate the circular turntable to position 3 and add 2.5 ml of pancreatic enzyme digestion solution;

[0283] 5) Rotate the circular turntable to position 5 and add 2.5 ml of pancreatic enzyme digestion solution. Then, rotate the circular turntable to position 1 and oscillate it (30 seconds).

[0284] 6) Rotate the circular turntable to position 7 and add 2.5 ml of pancreatic enzyme digestion solution. Then, lay the circular turntable 3 / 1 flat and oscillate it (30 seconds).

[0285] 7) Spread the culture medium on a circular turntable 5 / 3 and oscillate it (30s). Add 12ml of culture medium vertically to a circular turntable 1.

[0286] 8) Spread the culture medium on a circular turntable 7 / 5 and oscillate it (30s). Add 12ml of culture medium vertically to a circular turntable 3.

[0287] 9) Spread the culture medium on a circular turntable No. 7 and oscillate it (30s). Add 12ml of culture medium vertically to a circular turntable No. 5.

[0288] 10) Add 12 ml of culture medium vertically to turntable #7, and shake turntable #1 for 1 min;

[0289] 11) The processed cells are picked up by the intermediate robotic arm 43 and introduced into the centrifuge tube on the right centrifuge tube turntable assembly 46;

[0290] The processed cells were poured into centrifuge tubes, washed twice with physiological saline (14ml), and then poured into centrifuge tubes again.

[0291] Step 8:

[0292] 1) The middle robotic arm 43 picks up the centrifuge bottle and places it into position 461 of the centrifuge tube turntable assembly, clamping it in place; the right-side three-axis robotic arm 58 opens the cap.

[0293] 2) Centrifuge tube turntable assembly #461 rotates 180° in the opposite direction;

[0294] 3) The rotating arm assembly extracts the processed cells into centrifuge bottle No. 461 on the right centrifuge tube turntable assembly;

[0295] The processed cells are picked up by the central robotic arm 43 and poured into the centrifuge tube on the right centrifuge tube turntable assembly 46.

[0296] 4) The intermediate robotic arm 43 picks up the centrifuge bottle and places it into position 462 of the centrifuge tube turntable assembly for clamping;

[0297] 5) Centrifuge tube turntable assembly No. 462 rotates 90° to the right side for sample addition; Triaxial robotic arm No. 58 opens the lid.

[0298] 6) Centrifuge tube turntable assembly #462 rotates 180° in the opposite direction;

[0299] 7) The rotating arm assembly extracts the processed cells into centrifuge bottle No. 462 on the right side of the centrifuge tube turntable assembly;

[0300] The processed cells are picked up by the central robotic arm 43 and poured into the centrifuge tube on the right centrifuge tube turntable assembly 46.

[0301] 8) Centrifuge tube turntable assembly #462 rotates 180°;

[0302] 9) Right side sample loading triaxial robotic arm 58 capping centrifuge tube No. 2 turntable assembly No. 462 rotates 90° right side sample loading triaxial robotic arm 58 capping No. 1;

[0303] 10) Centrifuge tube turntable assembly 461 rotates 90° in the opposite direction, and the central robotic arm 43 picks up centrifuge bottle 1 and places it into the centrifuge;

[0304] 11) Centrifuge tube turntable assembly 461 rotates 90° in the opposite direction, and the central robotic arm 43 picks up centrifuge bottle 2 and places it into the centrifuge.

[0305] 12) Start centrifugation and complete centrifugation;

[0306] 13) Take out centrifuge tube turntable assembly 461, rotate 90° and put centrifuge tube turntable assembly 462 in. At this time, the right side sample loading three-axis robotic arm 58 opens the No. 1 cover, rotates 90° and the right side sample loading three-axis robotic arm 58 opens the No. 2 cover and the centrifuge tube turntable assembly 461 is in the visual position.

[0307] 14) Rotate 90° in the opposite direction, then the robotic arm 43 grabs centrifuge bottle No. 2, pours out the supernatant, and puts it back in;

[0308] The robotic arm 43 rotates 90° in the opposite direction to grab centrifuge bottle No. 1, pours out the supernatant, and puts it back in.

[0309] 15) The right-side three-axis robotic arm grabs / culture medium / trypan blue---scans the code---places it in the corresponding position and opens the lid;

[0310] 16) Using pipette 5806, pipette 15ml of culture medium into centrifuge tube turntable 462 and mix by blowing. Rotate 90° in the opposite direction and pipette twice into centrifuge tube turntable 461. Then close the bottle.

[0311] 17) The three-axis robotic arm on the right side takes 100 μL and adds it to a small centrifuge tube;

[0312] 18) Take 100 μL of trypan blue, add it to a small centrifuge tube, mix by pipetting, and the platform of the fluorescence counter will extend outwards;

[0313] 19) The right-side three-axis robotic arm with a 58 suction cup aspirates the chip onto the fluorescence counter platform;

[0314] 20) The right-side triaxial robotic arm 58 takes 40 μL of the mixture, adds 20 μL to 2 wells, and pushes it into the cell counting plate;

[0315] 21) The fluorescence counter platform extends, and the right-side three-axis robotic arm 58 uses a suction cup to aspirate the cell counting plate to the discard position.

[0316] In the description of this invention, the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only to describe the invention and not to require the invention to be constructed or operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "connected" and "linked" in this invention should be interpreted broadly. For example, they can refer to a connection or a detachable connection; they can refer to a direct connection or an indirect connection through intermediate components. Those skilled in the art can understand the specific meaning of the above terms based on the specific circumstances.

[0317] The above description represents preferred embodiments of the present invention. The specific embodiments are provided solely for a better understanding of the invention's concept. Those skilled in the art will recognize that various improvements or equivalent substitutions can be made based on the principles of the present invention, and these improvements or equivalent substitutions are also considered to fall within the scope of protection of the present invention.

Claims

1. A cell culture device, comprising a base plate (1), wherein a working chamber is provided on the rear side of the base plate (1), the working chamber comprising a support frame and a shell, and an air purifier (11) is provided above the working chamber, characterized in that, An external assembly (2) is provided above the base plate (1), and an internal assembly is provided in the working chamber. The internal assembly includes a left-side assembly (3), a middle assembly (4), and a right-side assembly (5) connected in sequence. The external assembly (2) includes a consumables conveying device (6), a feeding conveying and reversing device (8), and an external assembly electrical control cabinet (9). A culture chamber tray gripping and culture bottle stacking device (7) is located in the middle of the upper surface of the base plate (1). The consumables conveying device (6) is located on the right side of the upper surface of the base plate (1). The feeding conveying and reversing device (8) is vertically located on the left side of the rear of the consumables conveying device (6). A labeling device (10) is located on the left side of the consumables conveying device. A microscope device (12) is located between the labeling device (10) and the feeding conveying and reversing device (8). The culture chamber tray... An automatic cell culture box (13) is provided on the left and front sides of the tray gripping and culture bottle stacking device (7). The external assembly electrical control cabinet (9) is located between the two automatic cell culture boxes (13). A spray disinfection cabinet (14) is provided on the rear side of the culture box tray gripping and culture bottle stacking device (7). The consumables transmission device (6), the feeding transmission and reversing device (8), the culture box tray gripping and culture bottle stacking device (7), the labeling device (10), the microscope device (12), the automatic cell culture box (13) and the spray disinfection cabinet (14) are all electrically connected to the external assembly electrical control cabinet (9). The left-side assembly includes a left-side frame (17), with a left-side workbench (18) in the middle of the left-side frame (17). Below the left-side workbench (18) are an automatic feeding system (19), a left-side central control cabinet (20), and an alcohol tank (24). The automatic feeding system (19) is electrically connected to the left-side central control cabinet (20), and the left-side central control cabinet (20) is electrically connected to the external assembly electrical control cabinet (9). A cell-adhering shaking assembly (21) is located in the middle of the upper surface of the left-side workbench (18). A high-temperature sterilization assembly (22) and an alcohol cleaning assembly (23) are located to the right of the cell-adhering shaking assembly (21). The alcohol cleaning assembly (23) is connected to the alcohol tank (24) via a liquid circuit. A rotating arm assembly (25) is located behind the alcohol cleaning assembly (23). A straight-mouth bottle weighing bracket (25) is located between the rotating arm assembly (25) and the alcohol cleaning assembly (23). 6) The upper left side of the left frame (17) is provided with a left sample loading three-axis robotic arm (27), the left side of the adherent cell shaking assembly (21) is provided with a left transfer chamber assembly (28), the rear side of the left transfer chamber assembly (28) is provided with a tip head consumable rack (29) and a left needle removal rack, the left needle removal rack is provided with a left centrifuge tube clamp on one side, the outside of the adherent cell shaking assembly (21) is provided with multiple straight bottle placement racks (32), the front end face of the outer shell (33) is provided with a first left observation window (34), the left end face of the outer shell (33) is provided with a second left observation window (35) and a consumable placement door (36), the consumable placement door (36) corresponds to the straight bottle placement rack (32), the rear end face of the outer shell (33) is provided with a left tip head retrieval door (37), the left tip head retrieval door (37) corresponds to the tip head consumable rack (29); The intermediate assembly includes an intermediate frame (38), with an intermediate workbench (39) in the middle of the intermediate frame (38). A central control box (40) and a robotic arm control box (41) are located below the intermediate workbench (39). The central control box (40) is electrically connected to the external assembly electrical control cabinet. A culture bottle conveying device (42) is located on the right side of the upper surface of the intermediate workbench (39), and an intermediate robotic arm (43) is located on the left side of the culture bottle conveying device (42). The intermediate robotic arm (43) is electrically connected to the robotic arm control box (41). A second high-temperature sterilization component (44) and a second alcohol cleaning component are also provided on the intermediate workbench (39). 45), a centrifuge tube turntable assembly (46) is provided behind the second alcohol cleaning assembly (45), a growth factor recovery swing arm assembly (47) is provided between the second high temperature sterilization assembly (44) and the second alcohol cleaning assembly (45), a multi-functional consumable rack (48) is provided on the left side of the centrifuge tube turntable assembly (46), a number of single-station centrifuge tube clamps are provided around the centrifuge tube turntable assembly (46), an automatic door (51) is provided on the front end face of the outer shell, the automatic door (51) cooperates with the culture bottle conveying device (42), a consumable retrieval door (50) is provided on the rear end face of the outer shell, the consumable retrieval door (50) cooperates with the multi-functional consumable rack (48); The right-side assembly includes a right-side frame (52), a right-side workbench (53) in the middle of the right-side frame, a right-side central control cabinet (54) and a centrifuge (55) below the right-side workbench, a centrifuge notch on the right-side workbench that mates with the centrifuge, a centrifuge tube loading tray (56) on the right side of the upper surface of the right-side workbench, a centrifuge tube adapter bracket (57) on the left side of the centrifuge tube loading tray, a right-side sample loading three-axis robotic arm (58) on the left side of the upper surface of the right-side workbench, and a right-side sample loading three-axis robotic arm below the right-side sample loading three-axis robotic arm. The system includes a transmission chamber (59), an upper barcode scanning component (60), and a fluorescence counter (61). A right-side needle removal rack (62) is provided between the right-side transmission chamber and the fluorescence counter. A right-side straight-mouth bottle weighing component (63) is provided in front of the right-side transmission chamber. A right-side observation window (64) is provided on the front end face of the outer shell. A centrifuge tube transfer door (65), a consumable transfer door (66), and a second right-side observation window (67) are provided on the right end face of the outer shell. The second right-side observation window corresponds to the centrifuge. The centrifuge tube transfer door cooperates with the centrifuge tube loading tray. The consumable transfer door cooperates with the right-side transmission chamber.

2. The cell culture device as described in claim 1, characterized in that, The consumable transfer device (6) includes a frame (6001) and a conveyor belt assembly (6002). The frame (6001) is provided with an outer shell (6003). An operation panel (6012) is provided on the front end face of the outer shell (6003). The conveyor belt assembly (6002) is connected to the frame (6001). A consumable transfer control box (6004) is provided inside the frame (6001). The consumable transfer control box (6004) is electrically connected to the external assembly electrical control cabinet. An inlet (6009) for placing cell culture flasks is provided on the upper left side of the outer shell (6003). An automatic door assembly (6011) is provided at the inlet (6009). An outlet (6010) for picking up cell culture flasks is provided on the rear end face of the outer shell (6003). The operation panel (6012) and the automatic door assembly (6011) are both electrically connected to the consumable transfer control box (6004). The conveyor belt assembly (6002) includes a flexible chain conveyor belt, a DC motor, and a speed reduction and steering mechanism. The DC motor is connected to the speed reduction and steering mechanism, the speed reduction and steering mechanism is connected to the conveyor belt body, and the DC motor is electrically connected to the controller. The flexible chain conveyor belt includes several bottle-carrying plate chain modules (6008), which are connected in sequence to form the flexible chain conveyor belt. Cell culture flasks are provided on the bottle-carrying plate chain modules (6008).

3. The cell culture device as described in claim 2, characterized in that, The bottle-carrying flat chain module (6008) includes two bottle-carrying fixtures (6013), two perforated flat chains (6014), and multiple ordinary flat chains (6005). The ordinary flat chains (6005) are connected in sequence. The two perforated flat chains (6014) are respectively installed on both sides of the ordinary flat chains (6005). The two bottle-carrying fixtures (6013) are respectively connected to the upper end faces of the two perforated flat chains (6014). Two positioning posts are symmetrically provided on the upper end face of the perforated flat chains (6014). An installation hole is provided between the two positioning posts. An internal thread is provided in the installation hole. The bottle-carrying fixtures (6013) are provided with through holes corresponding to the installation hole and the two positioning posts.

4. The cell culture device as described in claim 3, characterized in that, The upper part of the frame (6001) is provided with a first photoelectric switch (6006), which is installed at the entrance (6009). The right side of the rear end face of the flexible chain conveyor belt is provided with a second photoelectric switch (6007), which cooperates with the cap of the cell culture flask. Both the first photoelectric switch (6006) and the second photoelectric switch (6007) are electrically connected to the consumable transmission control box (6004).

5. The cell culture device as described in claim 1, characterized in that, The incubator tray gripping and culture flask stacking device (7) includes an external robot arm (7001), which is set on the workbench and electrically connected to the external assembly electrical control cabinet. The end of the external robot arm (7001) is connected to a functional mechanism. The functional mechanism includes a robot arm connecting plate (7002), a protective shell, a suction component, and a clamping component. The protective shell is set on the robot arm connecting plate (7002), and the suction component and clamping component are set inside the protective shell. The robot arm connecting plate (7002) is connected to the end of the external robot arm (7001). The suction component cooperates with the cell culture flask, and the clamping component cooperates with the tray. The suction assembly includes a vacuum pump (7003) and a suction cup (7004). The vacuum pump (7003) and the suction cup (7004) are connected by a hose. A vacuum pressure switch (7005) is provided between the vacuum pump (7003) and the suction cup (7004). A suction cup connecting plate (7007) is vertically provided on the right side of the robotic arm connecting plate (7002). The suction cup connecting plate (7007) is provided with a suction cup mounting hole. A hexagonal rod fitting (7008) is provided in the suction cup mounting hole. The suction cup (7004) is connected to the right end of the hexagonal rod fitting (7008). The gripping assembly includes a two-finger electric gripper (7009), which is electrically connected to the controller. The two-finger electric gripper (7009) is connected to the front end face of the robotic arm connecting plate (7002). Each of the two fingers of the two-finger electric gripper (7009) is provided with a gripping block (7010), and the two gripping blocks (7010) are provided with gripping grooves on their opposite end faces. The rear of the tray is symmetrically provided with clamping notches, the clamping block (7010) corresponds to the clamping notches, and the clamping groove corresponds to the tray.

6. The cell culture device as described in claim 5, characterized in that, A positioning component is provided above the two-finger electric gripper (7009), the positioning component including an industrial camera (7013), the industrial camera (7013) being electrically connected to the external assembly electrical control cabinet.

7. The cell culture device as described in claim 1, characterized in that, The feeding and reversing device (8) includes a transmission frame (8002), a transmission assembly (8001), a lifting arm assembly, and a feeding controller (8028). The transmission assembly (8001) and the lifting arm assembly are both electrically connected to the feeding controller (8028). The transmission assembly (8001) is positioned above the transmission frame (8002). The transmission assembly (8001) includes a synchronous conveyor belt, and a position photoelectric switch is provided at the left end of the synchronous conveyor belt. The lowering arm assembly includes a lifting and rotating structure (8003) and a bottle-retrieving structure (8004). The lifting and rotating structure (8003) is located on the right side of the transmission frame (8002). The lifting and rotating structure (8003) includes a rotary motor (8005), a lifting motor (8006), an upper mounting plate (8007), a lower mounting plate (8008), and a splined screw (8009). The upper mounting plate (8007) is connected to the upper end face of the transmission frame (8002), and the lower mounting plate (8008) is connected to... The lower end face of the transmission frame (8002) is connected to the rotary motor (8005), which is connected to the lower end face of the fixed plate via a rotary motor (8005) mounting base. The output shaft of the rotary motor (8005) is equipped with a drive rotating synchronous pulley (8011). The lifting motor (8006) is connected to the lower end face of the upper mounting plate (8007) via a lifting motor (8006) mounting base. The output shaft of the lifting motor (8006) is equipped with a drive lifting synchronous pulley (8013). The rear part of the upper mounting plate (8007) is provided with a first circular through hole. A first bearing is provided inside the first circular through hole. A ball screw nut (8014) and a ball spline nut (8015) are provided on the spline screw (8009). The ball screw nut (8014) is connected to the first bearing. A first connecting sleeve (8016) is provided on the upper end face of the ball screw nut (8014). A driven lifting synchronous pulley (8017) is provided on the first connecting sleeve (8016). The driven lifting synchronous pulley (8017) is connected to the driving lifting synchronous pulley (8013) via a first synchronous belt. The fixed plate is provided with… It has a second circular through hole, which is coaxial with the first circular through hole. A second bearing is provided in the second circular through hole. The ball spline nut (8015) is connected to the second bearing. A fixing ring (8019) is provided above the second bearing. A second connecting sleeve (8020) is provided on the lower end face of the ball spline nut (8015). A driven rotating synchronous pulley (8021) is provided on the second connecting sleeve (8020). The driven rotating synchronous pulley (8021) is connected to the driving rotating synchronous pulley (8011) through a second synchronous belt. The bottle-removing structure (8004) includes a suction cup platform (8022), a suction cup fixing plate (8023), and a vacuum diaphragm pump (8018). The suction cup platform (8022) is tightly connected to the upper end face of the spline screw (8009). The vacuum diaphragm pump (8018) is mounted on the suction cup platform (8022). Three suction heads (8024) are mounted on the suction cup fixing plate (8023). An angle adjustment structure is provided between the suction cup platform (8022) and the suction cup fixing plate (8023). An adjustment stepper motor (8012) is provided on the upper end face of the suction cup platform (8022). The adjustment stepper motor (8012) is connected to the angle adjustment structure. The vacuum diaphragm pump (8018) is connected to the suction head (8024) through a hose. A negative pressure sensor (8010) is provided between the vacuum diaphragm pump (8018) and the suction head (8024). The negative pressure sensor (8010), the vacuum diaphragm pump (8018), and the adjustment stepper motor (8012) are all electrically connected to the feeding controller (8028).

8. The cell culture apparatus as described in claim 7, characterized in that, The upper end face of the lower mounting plate (8008) is provided with a longitudinal reset photoelectric switch (8027), which is electrically connected to the feeding controller (8028). The lower end of the spline screw (8009) is provided with an open limiting ring (8029). The upper end face of the transmission frame (8002) is provided with a circumferential reset photoelectric switch (8030). The fixing ring (8019) is a D-type fixing ring (8019). The side plane of the D-type fixing ring (8019) is provided with a circumferential photoelectric baffle. The circumferential photoelectric baffle cooperates with the circumferential reset photoelectric switch (8030). The lower end face of the driven large gear (8025) is provided with an adjustment photoelectric baffle (8032). The lower end face of the suction cup platform (8022) is provided with an adjustment photoelectric switch (8031). The adjustment photoelectric baffle (8032) cooperates with the adjustment photoelectric switch (8031).

9. The cell culture device as described in claim 1, characterized in that, The spray disinfection cabinet (14) includes a base plate (1401), a shell (1402) is provided on the upper part of the base plate (1401), a partition is provided in the middle of the shell, a disinfection chamber (1404) is provided on the upper part of the partition, a spray nozzle (1405) is provided in the disinfection chamber (1404), a window is provided on one side of the shell, the window connects the disinfection chamber (1404) to the outside, a barcode scanner (1406) is provided on the upper part of the window, a diaphragm pump (1403), a disinfection controller and a disinfectant storage mechanism are provided on the lower part of the partition, the disinfection controller is electrically connected to the external assembly electrical control cabinet, the diaphragm pump (1403) is connected to the spray nozzle (1405), the disinfectant storage mechanism is connected to the diaphragm pump (1403), and the disinfection controller is electrically connected to the barcode scanner (1406).

10. The cell culture apparatus as described in claim 9, characterized in that, The nozzle (1405) is located near the window and is installed diagonally on the inner wall of the disinfection chamber (1404). The nozzle (1405) is detachable.

11. The cell culture apparatus as described in claim 1, characterized in that, The microscope device (12) includes a microscope housing (1201), which covers the microscope frame (1202). The microscope housing (1201) has a telescopic platform (1203) inside, and a microscope (1205) is located below the telescopic platform (1203). A light source is located above the telescopic platform (1203). The telescopic platform (1203) moves longitudinally through a linear motor module (1204). A support frame is provided on the upper surface of the microscope housing (1201), and the support frame cooperates with the tray.

12. The cell culture device as described in claim 1, characterized in that, The automatic cell culture chamber (13) includes a culture chamber body (1301), a culture chamber door (1302) that can be opened and closed is provided on the right side of the culture chamber, a glass door (1303) that can be opened and closed is provided between the culture chamber door (1302) and the culture chamber, an electric push rod (1304) for opening the door is provided on the upper end face of the culture chamber body (1301), the push rod of the electric push rod (1304) is connected to the upper end face of the culture chamber door (1302), a sliding component is provided between the glass door (1303) and the culture chamber door (1302), an auxiliary electric push rod (1305) is provided on the front end face of the culture chamber body (1301), an auxiliary block (1306) is provided on the front end face of the culture chamber door (1302), the auxiliary block (1306) is arranged opposite to the auxiliary electric push rod (1305), and the left end face of the auxiliary block (1306) cooperates with the push rod of the auxiliary electric push rod (1305).

13. The cell culture device as described in claim 1, characterized in that, The automatic feeding system includes a feeding conveyor line (1901), a return conveyor line (1902), a bottle feeding device (1903), a bottle pushing device (1904), a barcode scanning device (1905), a lifting device, and a bottle blocking device; The left workbench (18) is provided with a bottle outlet (1907) that cooperates with the lifting device. A feeding controller is provided below the left workbench (18). The feeding conveyor line (1901), return conveyor line (1902), bottle feeding device (1903), bottle pushing device (1904), barcode scanning device (1905), lifting device, bottle blocking device and bottle picking device are all connected to the feeding controller. The feeding controller is electrically connected to the external assembly electrical control cabinet. The feeding conveyor line (1901) and the return conveyor line (1902) are fixed to the left frame by connectors. The feeding conveyor line (1901) and the return conveyor line (1902) are arranged in parallel and spaced apart. The barcode scanning device (1905) is set on one side of the feeding conveyor line (1901). The bottle feeding device (1903) is set perpendicular to the front end of the feeding conveyor line (1901) and the return conveyor line (1902). The bottle feeding device (1903) cooperates with the front end of the feeding conveyor line (1901) and the return conveyor line (1902) respectively. The bottle pushing device (1905) is also fixed to the left frame by connectors. 4) The bottle pushing device (1904) is set perpendicular to the right end of the feeding conveyor line (1901) and the return conveyor line (1902). The bottle pushing device (1904) cooperates with the rear end of the feeding conveyor line (1901) and the return conveyor line (1902). The left ends of the feeding conveyor line (1901) and the rotary conveyor line are connected by the feeding connecting plate (1908). The right ends of the feeding conveyor line (1901) and the rotary conveyor line are connected by the return connecting plate (1909). The lifting device is located below the feeding connecting plate (1908). The bottle blocking device is located at the left end of the feeding conveyor line (1901). The feeding conveyor line (1901) and the return conveyor line (1902) form a closed loop structure through the bottle feeding device (1903) and the bottle pushing device (1904).

14. The cell culture apparatus as described in claim 13, characterized in that, The lifting device includes a lifting electric push rod (1910), a top plate (1911), and a fixed base plate (1912). The fixed base plate (1912) is connected to the left side frame. The lifting electric push rod (1910) is vertically installed on the fixed base plate (1912). The top plate (1911) is installed on the upper end of the lifting electric push rod (1910). The feeding connecting plate (1908) is provided with a through hole. The shape of the through hole matches the top plate (1911). The upper end face of the top plate (1911) is flush with the upper end face of the feeding connecting plate (1908).

15. A cell culture apparatus as described in claim 13, characterized in that, The bottle-blocking device comprises a bottle-blocking electric push rod (1914), a bottle-blocking fixing plate (1906), and a bottle-blocking plate (1913). The bottle-blocking fixing plate (1906) is connected to the left side frame, the bottle-blocking electric push rod (1914) is connected to the bottle-blocking fixing plate (1906), and the bottle-blocking plate (1913) is connected to the end of the bottle-blocking electric push rod (1914).

16. The cell culture apparatus as described in claim 1, characterized in that, The adherent cell shaking assembly (21) includes a rotating motor (2101), a hollow rotating platform (2102), and a circular turntable (2103). The motor is connected to the hollow rotating platform (2102), which is connected to the left worktable. The circular turntable (2103) is connected to the hollow rotating platform (2102). Multiple bottle-clamping shaking assemblies (2104) are centrally symmetrically arranged on the circular turntable (2103). The multiple bottle-clamping shaking assemblies (2104) are aligned on the same... The flasks are arranged at equal intervals on the circumference. Cell culture flasks can be placed on the flask-clamping and shaking assembly (2104). A bottle cap support frame (2105) is provided between adjacent flask-clamping and shaking assemblies (2104). An adherent cell shaking center controller (2107) is provided in the middle of the circular turntable (2103). The adherent cell shaking center controller (2107) is electrically connected to the left central control cabinet. The rotating motor (2101) and the flask-clamping and shaking assembly (2104) are electrically connected to the adherent cell shaking center controller (2107).

17. A cell culture apparatus as described in claim 16, characterized in that, The bottle-clamping and shaking assembly (2104) includes a lower servo motor mounting bracket (2108), an upper servo motor mounting bracket (2109), a first servo motor (2110), a second servo motor (2111), an electric gripper (2112), and a special clamp. The lower servo motor mounting bracket (2108) is connected to a circular turntable (2103). The first servo motor (2110) is connected to the lower servo motor mounting bracket (2108). The output end of the first servo motor (2110) is connected to the upper servo motor mounting bracket (2109). The second servo motor (2111) is connected to the upper servo motor mounting bracket. (2109) connection, the output end of the second servo motor (2111) is connected to the electric gripper (2112) through the gripper mounting plate, the electric gripper (2112) is connected to the special clamp, the special clamp is used with the culture bottle, the left side of the first servo motor (2110) is provided with a workstation controller (2116), the workstation controller (2116) is electrically connected to the adherent cell shaking center controller (2107), the first servo motor (2110), the second servo motor (2111) and the electric gripper (2112) are all electrically connected to the workstation controller (2116).

18. A cell culture apparatus as described in claim 17, characterized in that, The specially designed clamp includes a left clamp (2113) and a right clamp (2114). The left clamp (2113) and the right clamp (2114) are respectively connected to two fingers of the electric gripper (2112). The inner surfaces of the left clamp (2113) and the right clamp (2114) are provided with heating grooves (2118). The heating grooves (2118) are provided with temperature control grooves (2119). The temperature control grooves (2119) are provided with PT100 patch-type... Temperature control probe (2120), a silicone heating pad (2121) is provided in the heating tank (2118), a heating pad cover plate (2122) is provided on the silicone heating pad (2121), the heating pad cover plate (2122) is connected to a special fixture, a wire through hole is provided on the upper part of the heating tank (2118), and the silicone heating pad (2121) and the PT100 patch temperature control probe (2120) are both electrically connected to the workstation controller (2116).

19. A cell culture device as described in claim 1, characterized in that, The left-side sample-adding three-axis robotic arm (27) includes a robotic arm body, which includes a left-side Y-axis assembly (2701), a left-side X-axis assembly (2702), and a left-side Z-axis assembly (2703). The left-side Z-axis assembly (2703) includes a left-side Z-axis assembly one (2704) and a left-side Z-axis assembly two (2705). The left-side Z-axis assembly one (2704) and the left-side Z-axis assembly two (2705) are respectively provided with a sample-adding assembly and a capping assembly (2707). The sample-adding assembly and the capping assembly (2707) are electrically connected to the left-side central control cabinet. The sample loading assembly includes a syringe pump mounting base (2708), a syringe pump (2709), a connector plate (2710), and a pipette tip connector (2706). The syringe pump mounting base (2708) and the connector plate (2710) are mounted on one side of the left Z-axis assembly (2704). The syringe pump mounting base (2708) is located on the upper part of the connector plate (2710). The syringe pump (2709) is fixed on the syringe pump mounting base (2708). The pipette tip connector (2706) is mounted on the connector plate (2710). The pipette tip connector (2706) is connected to a pipette tip. The lower end of the syringe pump (2709) is connected to the pipette tip connector (2706) through a liquid tube.

20. The cell culture apparatus as described in claim 1, characterized in that, The culture bottle conveying device (42) includes a conveying bottom plate (4201), a conveying middle plate (4202) and a conveying top plate (4203). An idler wheel assembly is provided between the conveying bottom plate and the conveying middle plate, and a driving assembly is provided between the conveying middle plate and the conveying top plate. The conveying bottom plate is connected to the intermediate worktable (39).

21. The cell culture device as described in claim 1, characterized in that, The centrifuge tube turntable assembly (46) includes a centrifuge turntable motor (4601), a centrifuge rotating platform, and a centrifuge turntable (4602). The centrifuge turntable motor is connected to the lower end face of the intermediate worktable, and the centrifuge turntable is positioned above the intermediate worktable. The centrifuge turntable motor is connected to the centrifuge turntable via the centrifuge rotating platform. Four centrifuge electric grippers (4603) are arranged at a 90° angle on the centrifuge turntable. Each centrifuge electric gripper (4603) has a double-acting gripper (4604) on its finger. The double-acting gripper (4604) can accommodate two different sizes of centrifuge tubes. A bottle cap holder (2105) is installed between the two adjacent centrifuge electric grippers (4603). A centrifuge controller (4605) is provided in the middle of the centrifuge turntable. The centrifuge controller (4605) is electrically connected to the central control box (40). A centrifuge tube support frame is provided at the lower part of the double-acting gripper (4604). The centrifuge tube support frame is installed on the centrifuge turntable and is fitted with the outer wall of the centrifuge tube.

22. The cell culture device as described in claim 1, characterized in that, The multifunctional consumable rack (48) includes a base plate (4801), a support rod (4802) on the upper part of the base plate, a consumable tray (4803) on the upper part of the support rod, a card plate (4804) on the left side of the consumable tray, and multiple second insertion holes (4805) on the right side of the card plate. The consumable tray also includes a cell counting plate placement area (4806), a tray rack (4807), and multiple first insertion holes (4808). There are four sets of support rods, and handle mounting holes (4809) are provided on the support rods. Handles (4810) are provided on the two sets of support rods near the front. The handles cooperate with the handle mounting holes. The base plate is I-shaped.

23. The cell culture device as described in claim 1, characterized in that, The intermediate robotic arm (43) is equipped with a multi-functional gripping device (68) at its end. The multi-functional gripping device includes a gripper body (6801), and a gripper extension (6802) is provided at one end of the gripper body. The number of gripper extensions matches the number of gripper bodies. The gripper extension includes a gripper connecting part (6807), a first gripping part (6803), a second gripping part (6804), a third gripping part (6805), and a fourth gripping part (6806). The gripper connecting part is connected to the gripper body. The gripper body has a first clamping part at the lower part of the gripper connecting part, second clamping parts on both sides of the first clamping part, a third clamping part at the lower part of the first clamping part, and a fourth clamping part at the lower part of the third clamping part. The first clamping part is a longitudinal V-shaped groove, the second clamping part is a transverse V-shaped groove, the third clamping part is a transverse U-shaped groove, and the fourth clamping part is a longitudinal V-shaped groove. The distance between the clamping surface of the fourth clamping part and the central axis of the gripper body is greater than the distance between the clamping surface of the clamping groove and the central axis of the gripper body.

24. The cell culture apparatus as described in claim 1, characterized in that, The centrifuge (55) includes a centrifuge shell (5501) and a centrifuge pot (5504). The centrifuge pot is located inside the centrifuge shell. The upper surface of the centrifuge shell is provided with an automatic sliding cover door (5502). The right side worktable is provided with a placement opening. The automatic sliding cover door cooperates with the placement opening. The front surface of the shell is provided with a display screen (5503). The centrifuge pot is provided with a centrifuge center bracket (5505). Centrifuge tubes (5506) are placed on the centrifuge bracket. The bottom of the centrifuge is provided with fixing plates on both sides. The centrifuge is connected to the right side frame through the fixing plates.

25. The cell culture apparatus as described in claim 1, characterized in that, The right-side sample loading three-axis robotic arm (58) includes a right-side X-axis motion mechanism (5801), a right-side Y-axis motion mechanism (5802), a right-side Z-axis motion mechanism (5803), and a right-side second Y-axis motion mechanism (5804). A right-side X-axis support plate (5805) is provided above the right-side Y-axis motion mechanism. The right-side X-axis motion mechanism is mounted on the right-side X-axis support plate. The right-side second Y-axis motion mechanism is connected to the right-side X-axis motion mechanism. The right-side Z-axis motion mechanism is connected to the right-side second Y-axis motion mechanism. A pipetting assembly (5806), a vacuum suction cup assembly, and a cap opening assembly (5808) are provided on the right-side Z-axis motion mechanism.

26. The cell culture apparatus as described in claim 25, characterized in that, The right Z-axis motion mechanism (5803) is provided with two symmetrical right Z-axis motor slide assemblies. The pipetting assembly (5806) is provided with two sets. The vacuum chuck assembly, the cap opening assembly (5808) and the two sets of pipetting assemblies are respectively connected to one right Z-axis motor slide assembly. The vacuum chuck assembly includes a right vacuum pump (5809), an L-shaped connecting plate and a vacuum chuck (5807). The L-shaped connecting plate is connected to the right Z-axis motor slide assembly. The right vacuum pump is mounted on the L-shaped connecting plate. The vacuum chuck is connected to the right vacuum pump through a hose. The pipetting assembly includes a plunger pump (5811) and a pipette (5812). The plunger pump is connected to the Z-axis motor slide assembly via a connecting plate, and the pipette is connected to the plunger pump via a hose. The cap opening assembly includes a right-side electric gripper (5813) and a right-side clamp. The right-side electric gripper is connected to the Z-axis motor slide assembly, and the right-side clamp is respectively set on the fingers of the right-side electric gripper. The right-side electric gripper engages with the cap of the cell culture flask.

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