Active oscillation type sliding table mechanism of culture vessel and shaking table culture box

Abstract

According to the active oscillation type sliding table mechanism for the culture vessel and the shaking table incubator, it can be ensured that the culture vessel in the shaking table incubator completely extends out, meanwhile, the overall rigidity and stability of the sliding table mechanism are improved, side bending moment is avoided, meanwhile, the assembly complexity of a stroke amplification mechanism can be simplified, and the number of parts can be reduced. The active oscillation type sliding table mechanism for the culture vessel comprises a sliding table power transmission device, a sliding table stroke amplification mechanism and a sliding table mounting plate. The sliding table power transmission device can convert rotary motion of an output shaft of the sliding table driving motor into linear displacement in the width direction. The sliding table stroke amplification mechanism amplifies the stroke of the linear displacement of the sliding table power transmission device in the width direction. Rigid multi-stage rails are installed on the two sides, located in the length direction of the incubator body, of the sliding table installation plate. The plurality of stages of tracks partially slide out relative to each other through the plurality of stages of tracks for supporting the fully extended culture vessel carrier mounting plate after the stroke is amplified.

Description

Active oscillating slide mechanism for culture vessels and shaking incubator Technical Field

[0001] The present invention relates to the technical field of biopharmaceutical production equipment, and specifically relates to an active oscillating slide mechanism for culture vessels used in an automated shaking incubator, and a shaking incubator having the active oscillating slide mechanism for culture vessels. The active oscillating slide mechanism for culture vessels can cause a culture vessel carrier for carrying culture vessels to automatically slide out and fully extend to facilitate automatic sampling, culture medium addition, and can also achieve active oscillation of the culture vessel carrier after the culture vessel carrier is retracted. Background Art

[0002] Biopharmaceuticals are in a period of rapid development, and large-molecule drugs such as antibodies are developing rapidly. In the research and development and production of large-molecule drugs such as antibodies, a large number of consumables such as shake flasks, shake tubes, and well plates are used for carrier and target product cultivation. Shaker incubators are essential production equipment.

[0003] Traditional shaking incubators mainly rely on manual observation, testing, sampling, and adding culture medium by staff. They are difficult to connect with newly developed automated transfer systems, liquid operation centers, and intelligent scheduling and management software. They cannot adapt to the rapid and large-scale automated R&D and production processes of biological drugs, and are also unable to realize intelligent data collection, storage, and transmission of the production process.

[0004] In order to automate the traditional shaking incubator, not only must the shaking incubator carrier be able to slide out automatically, but the distance the carrier slides out must be greater than the carrier's own width, that is, the carrier must be able to fully extend. Therefore, a stroke amplification mechanism must be designed into it.

[0005] To this end, the inventor of the present invention has proposed an automatic sliding-out structure for a fully automatic shaker incubator carrier in Chinese utility model patent ZL202120623168.3, which includes a slide housing, a second layer of slide rails installed at the bottom of the culture carrier and on the right side of the support wheel, and a middle fixed plate of the slide rails installed on the lower side of the second layer of slide rails. A first layer of slide rails is provided at the bottom of the inner wall of the slide housing and at the lower side of the middle fixed plate of the slide rail. A V-shaped wheel is installed in the middle of the right side of the middle fixed plate of the slide rail, and a wire rope is installed on the V-shaped wheel. When in use, the reducer is started, and the reducer drives the gear to rotate through its output shaft, thereby driving the rack to move forward, and at the same time drives the middle plate of the slide rail and the V-shaped wheel to move forward, and then drives the wire rope to rotate, thereby driving the culture carrier to move forward relative to the V-shaped wheel. In the culture unit, the culture carrier automatically slides in and out, and seamlessly connects with the automatic transfer system; in addition, the wire rope can amplify the second stroke, so that the automatic sliding out mechanism can achieve long-distance sliding in a limited space, thereby realizing the culture carrier to completely slide out of the culture unit.

[0006] In short, in Chinese utility model patent ZL202120623168.3, by adopting a double-layer slide rail (a first-layer slide rail and a second-layer slide rail) to achieve a second stroke amplification, it is possible to ideally fully extend the culture vessels in the shaking incubator. However, due to the secondary extension of the second-layer slide rail relative to the first-layer slide rail, this structure significantly reduces the rigidity and stability of the entire structure after full extension, and may deform or sway (there is a lateral bending moment), causing the position of the culture carrier used to carry the culture vessel to deviate from the target position. In this case, when the culture carrier is operated by a manipulator of the automation system, the automation system has to judge whether the culture carrier has deviated from the target position and what kind of deviation has occurred each time, resulting in a significant decrease in automation efficiency. When the culture carrier is severely deformed, it may even be impossible to continue the automated operation.

[0007] In addition, in the aforementioned method of using a double-layer slide rail to achieve the second stroke amplification, there are still problems such as a large number of parts types and complex equipment assembly.

[0008] Therefore, how to ensure that the culture vessels in the shaker incubator are ideally fully extended while improving the overall rigidity and stability of the slide mechanism, avoiding the generation of lateral bending moments, and simplifying the assembly complexity of the stroke amplification mechanism and reducing the number of parts has become a technical problem that needs to be solved urgently.

[0009] Disclosure of the invention

[0010] Technical problem to be solved by the invention

[0011] The present invention is made to solve the above technical problems, and its purpose is to provide a culture vessel active oscillation slide mechanism and a shaking incubator having the culture vessel active oscillation slide mechanism to solve the problems raised in the above background technology.

[0012] Technical solutions used to solve technical problems

[0013] In order to achieve the above-mentioned object, the present invention provides a culture vessel active oscillation slide mechanism, which is arranged inside an incubator body and includes: a slide protection shell, which protects the various components of the culture vessel active oscillation slide mechanism arranged inside it in the circumferential direction; and a slide drive motor, which is used to make the culture vessel carrier mounting plate of the culture vessel active oscillation slide mechanism slide out and slide in relative to the incubator body, wherein the culture vessel active oscillation slide mechanism also includes: a slide power transmission device, which is connected to the output shaft of the slide drive motor for outputting rotational power through a coupling, and It can convert the rotational motion of the output shaft into a linear displacement in the width direction of the incubator body; a slide stroke amplification mechanism, which is fixed to the slide power transmission device and is used to amplify the stroke of the linear displacement of the slide power transmission device in the width direction; and a slide mounting plate, on which a part of the slide power transmission device and the slide drive motor are fixedly mounted, and rigid multi-stage rails are installed on both sides of the slide mounting plate in the length direction of the incubator body, and the multi-stage rails partially slide out relative to each other through each stage of the rails to support the culture vessel carrier mounting plate that is fully extended after the stroke is amplified.

[0014] According to the above structure, compared with the prior art, the culture vessel active oscillation slide mechanism of the present invention has the following beneficial effects:

[0015] 1. Utilizing an active oscillating slide mechanism for culture vessels disposed within the incubator body, the culture vessel carrier mounting plate (more accurately, the culture vessel carrier assembly mounted thereon) automatically slides in and out relative to the incubator body, seamlessly interfacing with the automatic transport system.

[0016] 2. In the culture vessel active oscillating slide mechanism, a slide stroke amplification mechanism outside the multi-stage track is utilized to ensure that the culture vessel carrier mounting plate (the culture vessel carrier assembly in the shaker incubator) of the culture vessel active oscillating slide mechanism is ideally fully extended. This allows the culture vessel active oscillating slide mechanism to slide out over a long distance within a limited space, thereby enabling the culture vessel carrier mounting plate (more accurately, the culture vessel carrier assembly mounted thereon) to slide completely out of the incubator body of the shaker incubator, facilitating automated operation of the external truss robot.

[0017] 3. Since the multi-stage track is not used for stroke amplification but is only used to support the culture vessel carrier mounting plate after the stroke is amplified, the multi-stage track is allowed to partially slide out relative to each other through each stage of the track, compared to when the multi-stage track is used for stroke amplification and each stage of the track must be completely slid out relative to each other as much as possible, the overall rigidity and stability of the slide mechanism can be improved, the generation of lateral bending moment can be avoided, and at the same time, the fully extended culture vessel carrier mounting plate (more accurately, the culture vessel carrier assembly mounted thereon) can be prevented from being supported by the slide rail called a cantilever.

[0018] Preferably, the slide power transmission device is a screw structure having a screw and a screw nut screwed onto the screw, and the screw is connected to the output shaft of the slide drive motor through a coupling, and the screw and the coupling of the slide power transmission device are fixedly mounted on the slide mounting plate.

[0019] According to the above configuration, the conversion of the rotational motion of the output shaft into the linear displacement in the width direction of the incubator body can be realized with a simple structure.

[0020] Preferably, the slide stroke amplification mechanism is a multi-link mechanism composed of a first multi-link and a second multi-link, and comprises a fixed portion, a stroke amplification portion, and a fulcrum portion. More preferably, the slide power transmission device is disposed along the width direction of the incubator body at a mid-position in the longitudinal direction of the slide mounting plate, with the fixed portion, the fulcrum portion, and the stroke amplification portion being in a straight line.

[0021] According to the above configuration, the culture vessel carrier mounting plate can be reliably slid in and out linearly along the width direction.

[0022] In this case, it is further preferred that the distance between the stroke amplification portion and the fulcrum portion in the width direction is greater than or equal to the distance between the fulcrum portion and the fixed portion in the width direction, thereby enabling the slide power transmission device to achieve rapid sliding in and out of the culture vessel carrier mounting plate with a smaller linear displacement stroke, and the linear displacement stroke can be expanded by more than double.

[0023] In addition, as a specific structure, the first multi-section connecting rod and the second multi-section connecting rod have the same structure, and are both three-section connecting rods composed of a first connecting rod, a second connecting rod and a third connecting rod connected in sequence by fasteners, wherein one end of each first connecting rod is connected to each other to form a fixed part, the respective third connecting rods are connected to each other to form a stroke amplification part, and the respective second connecting rods are connected in the middle to form a fulcrum part.

[0024] Therefore, compared with the existing structure that uses double-layer slide rails (first-layer slide rails and second-layer slide rails) to achieve secondary stroke amplification, the assembly complexity of the stroke amplification mechanism can be simplified and the number of parts can be reduced.

[0025] In this case, it is preferred that, in the length direction, the connection parts between the first link and the second link and the connection parts between the third link and the second link of each of the first multi-section link and the second multi-section link are close to the multi-level rails on both sides of the slide mounting plate.

[0026] According to the above configuration, the space in the longitudinal direction of the interior of the slide housing can be effectively utilized, thereby preventing the slide stroke amplification mechanism from being enlarged in the width direction.

[0027] In addition, as a specific configuration, the multi-stage track located on both sides of the slide mounting plate within the slide housing includes a fixed track and two-stage slide rails, namely, a first-stage slide rail and a second-stage slide rail. As the culture vessel carrier mounting plate extends, the first-stage slide rail partially slides out relative to the fixed track, and the second-stage slide rail partially slides out relative to the first-stage slide rail, thereby supporting the culture vessel carrier mounting plate. Furthermore, more preferably, the first-stage slide rail slides out no more than halfway relative to the fixed track, and the second-stage slide rail slides out no more than halfway relative to the first-stage slide rail.

[0028] According to the structure as described above, the culture vessel carrier mounting plate (or the culture vessel carrier assembly mounted thereon) can be prevented from being fully extended and supported by a slide rail called a cantilever. Compared with the existing method of using a double-layer slide rail (a first-layer slide rail and a second-layer slide rail) to achieve stroke amplification, the second-layer slide rail has to be slid out as much as possible relative to the first-layer slide rail. While ensuring that the culture vessel carrier mounting plate (or the culture vessel carrier assembly mounted thereon) is ideally fully extended, the overall rigidity and stability of the slide mechanism can be more reliably improved to avoid the generation of lateral bending moment.

[0029] In addition, the culture vessel active oscillation slide mechanism of the present invention further includes an oscillation main motor, which is fixedly mounted on the slide mounting plate and is used to actively oscillate the culture vessel active oscillation slide mechanism. More specifically, an oscillation main drive shaft and a plurality of oscillation driven shafts are provided below the slide mounting plate, and each of the oscillation main drive shaft and the oscillation driven shaft includes: a bearing seat fixed below the slide mounting plate; a rolling bearing provided in each of the bearing seats; and an eccentric shaft that is eccentric relative to each of the rolling bearings. The eccentric shafts of the oscillation main drive shaft and the oscillation driven shaft are connected by a pulley, and the eccentric shaft of the oscillation main drive shaft is connected to the output shaft of the oscillation main motor.

[0030] According to the structure as described above, the oscillation main motor drives the eccentric shaft of the oscillation main drive shaft to oscillate relative to the bearing seat and the rolling bearing, and the eccentric shafts of other oscillation driven shafts are driven by pulleys to oscillate relative to the bearing seat 573a and the rolling bearing. As a result, the active oscillation slide mechanism of the culture vessel and the culture vessel of the culture vessel carrier assembly can be made to oscillate more uniformly.

[0031] The present invention also provides a shaking incubator equipped with the aforementioned culture vessel active oscillation slide mechanism. The culture vessel active oscillation slide mechanism can automatically slide the culture vessel carrier assembly out of the incubator body and fully extend after the automatic opening and closing door of the automatic sealing door assembly is opened. It can also automatically slide the culture vessel carrier assembly into the incubator body before the automatic opening and closing door of the automatic sealing door assembly is closed, and actively oscillate after the automatic opening and closing door of the automatic sealing door assembly is closed. Furthermore, the automatic sealing door assembly and the culture vessel active oscillation slide mechanism constitute the automation components.

[0032] In addition, according to the above structure, compared with the prior art, the shaking incubator of the present invention has the following beneficial effects:

[0033] 1. Through the automation design of the shaking incubator, in particular, the aforementioned culture vessel active oscillation slide mechanism and automatic sealing door assembly, fully automatic operations such as automatic door opening, automatic slide-out of the carrier plate, automatic sampling and placement, automatic slide-in of the carrier plate, automatic door closing, and start and stop of active oscillation can be achieved, thereby reducing labor costs and reducing human operational errors and risks.

[0034] 2. The overall design of the automated shaker incubator can be integrated with automated production systems to achieve large-scale deployment and significantly improve production capacity and throughput;

[0035] 3. Through the overall design of the automated shaker incubator, it can be integrated with the information system to realize automatic uploading and storage of various types of data, facilitate product tracking, and ensure data integrity and traceability.

[0036] Effects of the Invention

[0037] According to the structure described above, the culture vessel active oscillation slide mechanism of the present invention and the shaking incubator having the culture vessel active oscillation slide mechanism can ensure that the culture vessels in the shaking incubator are ideally fully extended while improving the overall rigidity and stability of the slide mechanism and avoiding the generation of lateral bending moments. At the same time, it can simplify the assembly complexity of the stroke amplification mechanism and reduce the number of parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG1 is a schematic perspective view schematically showing the overall structure and internal structure of an automated shaking incubator according to the present invention.

[0039] FIG2 is a perspective view showing the active oscillating slide mechanism of the culture vessel of the present invention from the upper side.

[0040] FIG3 is a perspective view showing the active oscillating slide mechanism of the culture vessel of the present invention from another perspective from the lower side.

[0041] FIG4 is a cross-sectional view of the active oscillating slide mechanism of the culture vessel of the present invention cut along the longitudinal direction (left-right direction).

[0042] FIG5 is a longitudinal sectional view of the active oscillating slide mechanism of the culture vessel according to the present invention, taken along the width direction (front-back direction).

[0043] FIG6 is a schematic diagram showing the initial state of the active oscillating slide mechanism of the culture vessel of the present invention in a retracted state.

[0044] FIG. 7 is a schematic diagram showing a fully extended sliding state of the active oscillating slide mechanism of the culture vessel of the present invention.

[0045] (Explanation of Symbols)

[0046] 10 shaker incubator;

[0047] 100 incubator body;

[0048] 110 Automatic sealing door assembly;

[0049] 111 Automatic door opening and closing;

[0050] 112 Observation window;

[0051] 120 support legs;

[0052] 200 equipment lighting / purification / disinfection unit;

[0053] 300 intelligent integrated control system unit;

[0054] 400 culture vessel carrier assembly;

[0055] 410 carrier plate;

[0056] 420 culture vessels;

[0057] 500 culture vessel active oscillating slide mechanism;

[0058] 510 slide housing;

[0059] 520 oscillation main motor;

[0060] 530 slide drive motor;

[0061] 531 output shaft;

[0062] 540 slide power transmission device;

[0063] 541 screw;

[0064] 542 screw nut;

[0065] 543 Coupling;

[0066] 550 slide stroke amplification mechanism;

[0067] 551 carrier mounting plate connection portion;

[0068] 552 First multi-section connecting rod;

[0069] 552a a first connecting rod of a first multi-jointed connecting rod;

[0070] 552b the second connecting rod of the first multi-jointed connecting rod;

[0071] 552c The third link of the first multi-link;

[0072] 553 Second multi-jointed connecting rod;

[0073] 553a The first link of the second multi-jointed link;

[0074] 553b the second connecting rod of the second multi-jointed connecting rod;

[0075] 553c The third link of the second multi-link;

[0076] 560 culture vessel carrier mounting plate;

[0077] 561 culture vessel carrier positioning pin;

[0078] 570 Slide mounting plate;

[0079] 571 Multi-level track;

[0080] 571a fixed track;

[0081] 571b First level slide rail;

[0082] 571c Second stage slide;

[0083] 572 oscillation main drive shaft;

[0084] 572a Bearing seat of the oscillating main drive shaft;

[0085] 572b Rolling bearing of the oscillating main drive shaft;

[0086] 572c eccentric shaft of the oscillating main drive shaft;

[0087] 573 Oscillating driven shaft;

[0088] 573a oscillates from the bearing seat of the drive shaft;

[0089] 573b The vibration is driven from the rolling bearing of the drive shaft;

[0090] 573c Oscillation is from the eccentric shaft of the drive shaft. DETAILED DESCRIPTION

[0091] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0092] First, the automated shaking incubator 10 of the present invention will be described in detail with reference to FIG. 1 .

[0093] The automated shaking incubator 10 of the present invention shown in FIG1 includes an incubator body 100 , on the front of which is provided an automatic sealing door assembly 110 . The automatic sealing door assembly 110 includes: an automatic opening and closing door 111 that can be automatically opened and closed according to system control; and, for example, an opening and closing door drive motor, a driving gear, and a driven gear (not shown) for realizing the automatic opening and closing of the automatic opening and closing door 111 .

[0094] In this embodiment, an observation window 112 is provided on the front of the automatic door 111. The automatic door 111 is connected to the incubator body 100 of the shaker incubator 10, for example, by a meshing connection. Furthermore, in this embodiment, although not shown, a driving gear is provided at the driving end of the door drive motor, and a driven gear is connected to the automatic door 111, and the driving and driven gears are meshed. However, the present invention is not limited to this embodiment. Automatic door 111 can also be opened and closed automatically, for example, by a drive pulley, a driven pulley, and a belt transmission, or by the extension and retraction of a connecting rod.

[0095] In addition, a visual operation portion (not shown) is provided on the front side of the incubator body 100 (the right side in FIG1 ). The visual operation portion is, for example, a touch screen that can simultaneously realize mode operation and visual confirmation of the current status. However, the present invention is not limited to this. It can also be a combination of a button that realizes mode operation alone and a display screen that realizes visual confirmation of the current status alone.

[0096] In addition, a plurality of (e.g., six) support legs 120 are provided at the bottom of the shaking incubator 10. Due to viewing angle limitations, only four of the support legs 120 are depicted in FIG1 . However, the present invention is not limited thereto. As long as the shaking incubator 10 can ensure stability during operation, it may also have no support legs, or may have another number of support legs other than six.

[0097] In addition, as shown in Figure 1, the interior of the incubator body 100 of the shaking incubator 10 includes: an equipment lighting / purification / disinfection unit 200, which has an ultraviolet lamp and a fluorescent lamp for illuminating, purifying and disinfecting the interior of the incubator body 100; an intelligent integrated control system unit 300, which has a PLC controller, a data storage chip, a data transmission device and a remote control device, and is used to control the actions of various automated components inside the incubator body 100; an environmental control unit (omitted from the figure), which has a temperature sensor, a humidity sensor and a light sensor for grasping environmental parameters such as temperature, humidity and light inside the incubator body 100; a shake flask / shake tube / well plate carrier assembly (also referred to as a "culture vessel carrier assembly 400"), which has The carrier plate 410 and the shake flask / shake tube / well plate etc. (also referred to as "culture vessel 420") carried on the carrier plate 410; the culture vessel active oscillation slide mechanism 500, which can automatically slide the culture vessel carrier assembly 400 relative to the incubator main body 100 and fully extend after the automatic opening and closing door 111 of the automatic sealing door assembly 110 is opened, so that the robotic arm of the external truss robot can perform automated operation on the culture vessel 420 on the culture vessel carrier assembly 400, and the culture vessel active oscillation slide mechanism 500 can automatically slide the culture vessel carrier assembly 400 into the incubator main body 100 before the automatic opening and closing door 111 of the automatic sealing door assembly 110 is closed, and actively oscillate after the automatic opening and closing door 111 of the automatic sealing door assembly 110 is closed, thereby also serving as a shaker mechanism for shaking the culture vessel carrier assembly 400.

[0098] The structure of the culture vessel active oscillation slide mechanism 500 of the present invention within the incubator body 100 will be described in detail below with reference to Figures 2 to 7. Figure 2 is a perspective view of the culture vessel active oscillation slide mechanism 500 of the present invention from one perspective, as viewed from the upper side. Figure 3 is a perspective view of the culture vessel active oscillation slide mechanism 500 of the present invention from another perspective, as viewed from the lower side. Figure 4 is a cross-sectional view of the culture vessel active oscillation slide mechanism 500 of the present invention taken along the longitudinal direction (left-right direction). Figure 5 is a longitudinal cross-sectional view of the culture vessel active oscillation slide mechanism 500 of the present invention taken along the width direction (front-back direction). Figure 6 is a schematic diagram of the culture vessel active oscillation slide mechanism 500 of the present invention in its initial state, when retracted. Figure 7 is a schematic diagram of the culture vessel active oscillation slide mechanism 500 of the present invention in its fully extended, slid-out state.

[0099] As shown in FIG3 , the active oscillating slide mechanism 500 for the culture vessel inside the incubator body 100 of the fully automatic shaking incubator 10 of the embodiment of the present invention includes a slide protective shell 510 , which circumferentially protects the various components of the active oscillating slide mechanism 500 for the culture vessel arranged therein.

[0100] In order to better illustrate the various components of the culture vessel active oscillating slide mechanism 500, the slide housing 510 is omitted in the illustrations of Figures 2, 4, and 5.

[0101] As shown in Figures 2 to 5, the culture vessel active oscillation slide mechanism 500 includes: an oscillation main motor 520, which is used to actively oscillate the culture vessel active oscillation slide mechanism 500 (more specifically, the slide mounting plate 570 and the culture vessel carrier mounting plate 560 described later); a slide drive motor 530, which is used to slide the culture vessel active oscillation slide mechanism 500 (more specifically, the culture vessel carrier mounting plate 560 described later) relative to the incubator body 100, and has an output shaft 531 (see Figure 5) that outputs rotational power; a slide power transmission device 540, which is arranged in the middle of the left and right direction (length direction) along the front-to-back direction (width direction) and is connected to the output shaft 531 of the slide drive motor 530 through a coupling 543, and can convert the rotational motion of the output shaft 531 into a rotational power in the front-to-back direction. (linear displacement in the width direction); a slide stroke amplification mechanism 550, the slide stroke amplification mechanism 550 is fixed to the slide power transmission device 540, and is used to amplify the stroke of the linear displacement of the slide power transmission device 540 in the front-to-back direction (width direction), and a carrier mounting plate connection portion 551 for mounting the culture vessel carrier mounting plate 560 described later is fixed on the slide stroke amplification mechanism 550; a slide mounting plate 570, the oscillation main motor 520, the slide drive motor 530 and (a part of) the slide power transmission device 540 are fixed on the slide mounting plate 570, and rigid multi-stage rails 571 are installed on both sides of the slide mounting plate 570 in the left and right directions (length direction), and the multi-stage rails 571 partially slide out relative to each other through each stage of the rails to support the culture vessel carrier mounting plate 560 that is fully extended after the stroke is amplified.In addition, as shown in Figure 3, an oscillating main drive shaft 572 and a plurality of oscillating driven shafts 573 are provided below the slide mounting plate 570, and each of the oscillating main drive shaft 572 and the oscillating driven shaft 573 includes: a bearing seat 572a, 573a fixed below the slide mounting plate 570; rolling bearings 572b, 573b provided in each bearing seat 572a, 573a; and eccentric shafts 572c, 573c respectively eccentric to each rolling bearing 572b, 573b, and the eccentric shafts 572c, 573c of the oscillating main drive shaft 572 and the oscillating driven shaft 573 are connected to each other. The eccentric shaft 572c of the oscillating main driving shaft 572 is connected to the output shaft of the oscillating main motor 520 through a pulley not shown in the figure. The oscillating main motor 520 drives the eccentric shaft 572c of the oscillating main driving shaft 572 to oscillate relative to the bearing seat 572a and the rolling bearing 572b, and the eccentric shaft 573c of the other oscillating driven shaft 573 is driven by the pulley to oscillate relative to the bearing seat 573a and the rolling bearing 573b. As a result, the active oscillation slide mechanism 500 for the culture vessel, and further the oscillation of the culture vessel 420 of the culture vessel carrier assembly 400 can be made more uniform.

[0102] In an embodiment of the present invention, as a specific example, the slide power transmission device 540 may be, for example, a screw structure having a screw rod 541 and a screw nut 542 screwed onto the screw rod 541 as shown in Figures 4 to 7 . The screw rod 541 is connected to the output shaft 531 of the slide drive motor 530 via a coupling 543. The screw rod 541 and the coupling 543 of the slide power transmission device 540 are fixedly mounted on the slide mounting plate 570.

[0103] As a specific example that can be used in conjunction with the aforementioned screw structure having the screw 541 and the screw nut 542, the slide stroke amplification mechanism 550 can be, for example, a multi-link mechanism consisting of a first multi-link 552 and a second multi-link 553. As shown in Figures 6 and 7, the first multi-link 552 is, for example, a three-link consisting of a first link 552a, a second link 552b, and a third link 552c connected in sequence by fasteners (e.g., bolts), and the second multi-link 553 is, for example, a three-link consisting of a first link 553a, a second link 553b, and a third link 553c connected in sequence by fasteners (e.g., bolts). Furthermore, one end of the first link 552a of the first multi-jointed link 552 and one end of the first link 553a of the second multi-jointed link 553 are connected to each other by fasteners (e.g., bolts) and fixed to the coupling 543. Since the coupling 543 is fixedly mounted to the slide mounting plate 570, one end of the slide stroke amplification mechanism 550 becomes a fixed portion that does not move. One end of the third link 552c of the first multi-jointed link 552 and one end of the third link 553c of the second multi-jointed link 553 are connected to each other by fasteners (e.g., bolts), forming a stroke amplification portion fixedly mounted to the culture vessel carrier mounting plate 560. The second link 552b of the first multi-jointed link 552 and the second link 553b of the second multi-jointed link 553 are connected to each other at the center by a fastener (e.g., a bolt) and fixed to the screw nut 542, forming a fulcrum portion capable of linear displacement in the fore-and-aft direction and serving as a rotational fulcrum for driving the entire slide stroke amplification mechanism 550 to amplify the displacement stroke. In this embodiment, it is preferred that the fixed portion, the fulcrum portion, and the stroke amplification portion are aligned, thereby reliably enabling the culture vessel carrier mounting plate 560 to slide in and out linearly along the fore-and-aft direction (width direction). Furthermore, as shown in Figures 6 and 7, it is further preferred that the distance between the stroke amplification portion and the fulcrum portion in the fore-and-aft direction (width direction) is greater than or equal to the distance between the fulcrum portion and the fixed portion in the fore-and-aft direction (width direction). This allows the slide power transmission device 540 to quickly slide the culture vessel carrier mounting plate 560 in and out with a relatively small linear displacement stroke. On this basis, it is more preferred that the connecting parts of the first link 552a, 553a and the second link 552b, 553b of the first multi-section link 552 and the second multi-section link 553 and the connecting parts of the third link 552c, 553c and the second link 552b, 553b are close to the multi-stage rails 571 on both sides of the slide mounting plate 570 in the left and right direction (length direction). In this way, the space in the left and right direction (length direction) inside the slide shield 510 can be effectively utilized, and the enlargement of the slide stroke amplification mechanism 550 in the front and rear direction (width direction) can be avoided.

[0104] The culture vessel carrier mounting plate 560 is used to place the carrier tray 410 of the culture vessel carrier assembly 400. More specifically, a plurality of (two in FIG. 2 ) culture vessel carrier positioning pins 561 are provided, for example, in a bilaterally symmetrical manner, on one side (e.g., the rear side in FIG. 2 ) of the culture vessel carrier mounting plate 560 in the front-to-back direction (width direction). Furthermore, although not shown, a corresponding plurality of culture vessel carrier positioning holes are provided in the culture vessel carrier assembly 400. By aligning the culture vessel carrier positioning pins 561 of the culture vessel active oscillating slide mechanism 500 with the culture vessel carrier positioning holes of the culture vessel carrier assembly 400, the culture vessel carrier assembly 400 (more specifically, the carrier tray 410) can be accurately positioned and mounted on the culture vessel carrier mounting plate 560 of the culture vessel active oscillating slide mechanism 500. Therefore, as the culture vessel active oscillation slide mechanism 500 slides out or in relative to the incubator main body 100 when the automatic opening and closing door 111 is opened or closed, the culture vessel carrier assembly 400 (more specifically, the carrying plate 410 and the culture vessel 420) positioned and arranged on the culture vessel carrier mounting plate 560 of the culture vessel active oscillation slide mechanism 500 can also be fully extended or fully retracted relative to the incubator main body 100.

[0105] In addition, the multi-level rail 571 located on both sides of the slide mounting plate 570 inside the slide protective shell 510 has a fixed rail 571a and two-level slide rails, namely a first-level slide rail 571b and a second-level slide rail 571c. As the culture vessel carrier mounting plate 560 extends, the first-level slide rail 571b partially slides out relative to the fixed rail 571a, and the second-level slide rail 571c partially slides out relative to the first-level slide rail 571b. The second-level slide rail 571c supports the culture vessel carrier mounting plate 560.

[0106] In this case, it is preferred that the first-stage slide rail 571b slides out no more than half relative to the fixed rail 571a, and the second-stage slide rail 571c slides out no more than half relative to the first-stage slide rail 571b, thereby avoiding the fully extended culture vessel carrier mounting plate 560 (culture vessel carrier assembly 400) being supported by the slide rail called a cantilever. Compared with the use of double-layer slide rails (first-layer slide rails and second-layer slide rails) in Chinese utility model patent ZL202120623168.3 to achieve stroke amplification, the second-layer slide rail has to slide out as much as possible relative to the first-layer slide rail. While ensuring that the culture vessel carrier assembly 400 in the shaker incubator 10 is ideally fully extended, the overall rigidity and stability of the slide mechanism can be improved to avoid the generation of lateral bending moment.

[0107] 6 and 7 , the sliding between the culture vessel active oscillation slide mechanism 500 in the retracted state shown in FIG6 and the culture vessel active oscillation slide mechanism 500 in the fully extended state shown in FIG7 will be described.

[0108] More specifically, when sliding from the retracted state shown in Figure 6 to the fully extended state shown in Figure 7, the slide drive motor 530 is started, the output shaft 531 of the slide drive motor 530 rotates in one direction, and the screw rod 541 is also driven to rotate in one direction through the coupling 543, thereby allowing the screw nut 542 screwed on the screw rod 541 to move forward relative to the screw rod 541. At this time, the fulcrum portion of the slide stroke amplification mechanism 550 fixed to the screw nut 542 moves forward, thereby the second links 552b, 553b of the first multi-section link 552 and the second multi-section link 553 respectively rotate in a manner to increase the angle between them and the first links 552a, 553a, and thereby increase the angle between the second links 552b, 553b and the third links 552c, 553c, thereby increasing the distance between the stroke amplification portion and the fulcrum portion, that is, the displacement stroke of the stroke amplification portion relative to the fixed portion is amplified to achieve full extension of the culture vessel carrier mounting plate 560.

[0109] Conversely, when sliding from the fully extended state shown in FIG7 to the retracted state shown in FIG6 , the slide drive motor 530 is activated to rotate the output shaft 531 of the slide drive motor 530 in the opposite direction, thereby enabling the screw nut 542 to move rearward relative to the screw 541. At this time, the fulcrum of the slide stroke amplification mechanism 550 moves rearward, causing the second links 552b and 553b of the first and second multi-section connecting rods 552 and 553 to rotate so that the angles between them and the first links 552a and 553a and the third links 552c and 553c are reduced. This reduces the distance between the stroke amplification mechanism and the fulcrum, thus completely eliminating the displacement amplification effect of the stroke amplification mechanism, thereby achieving complete retraction of the culture vessel carrier mounting plate 560. In addition, after being fully retracted, the oscillation main motor 520 provided below the slide mounting plate 570 can be used to actively oscillate the culture vessel slide mechanism 500 and further evenly oscillate the culture vessel 420 of the culture vessel carrier assembly 400 .

[0110] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

[0111] In an embodiment of the present invention, the slide power transmission device 540 is described in detail using a screw structure as an example, but those skilled in the art should know that the slide power transmission device 540 of the present invention is not limited to the aforementioned screw structure, but can be any suitable structure that can convert the rotational motion of the output shaft 531 into a linear displacement in the front-to-back direction (width direction).

[0112] In addition, in the embodiment of the present invention, the slide stroke amplification mechanism 550 is described by taking the multi-link mechanism composed of the first multi-link 552 and the second multi-link 553 as an example, but the slide stroke amplification mechanism 550 of the present invention is not limited to this. As long as it can be fixed to the slide power transmission device 540 and amplify the stroke of the linear displacement of the slide power transmission device 540 in the front-to-back direction (width direction) in a manner other than multi-layer slide rails, it can be any other suitable structure. In addition, in the example of the multi-link mechanism composed of the first multi-link 552 and the second multi-link 553, the first multi-link 552 and the second multi-link 553 have the same structure as an example, but those skilled in the art should know that as long as the same or equivalent technical effects can be achieved, the first multi-link 552 and the second multi-link 553 can also have different structures.

[0113] In addition, in the embodiment of the present invention, a multi-level track 571 having a fixed track 571a and two-level slide rails, namely a first-level slide rail 571b and a second-level slide rail 571c is used as an example for explanation, but the present invention is not limited to this. As long as the active oscillation slide mechanism 500 of the culture vessel does not become larger and bulky as a whole, it can also have more levels of slide rails, thereby reducing the sliding amount of each slide rail relative to other tracks, improving the supporting rigidity of the culture vessel carrier mounting plate 560, and avoiding the generation of lateral bending moment.

Claims

1. A culture vessel active oscillating slide mechanism (500), the culture vessel active oscillating slide mechanism (500) being arranged inside an incubator body (100) and comprising: A slide protection shell (510), wherein the slide protection shell (510) protects various components of the culture vessel active oscillation slide mechanism (500) disposed therein in a circumferential direction; as well as A slide drive motor (530) is used to slide the culture vessel carrier mounting plate (560) of the culture vessel active oscillating slide mechanism (500) in and out relative to the incubator body (100). Characterized in that the culture vessel active oscillating slide mechanism (500) further comprises: a slide power transmission device (540), the slide power transmission device (540) being connected to an output shaft (531) of the slide drive motor (530) for outputting rotational power via a coupling (543), and being capable of converting the rotational motion of the output shaft (531) into a linear displacement in the width direction of the incubator body (100); a slide stroke amplification mechanism (550), the slide stroke amplification mechanism (550) being fixed to the slide power transmission device (540) and being used to amplify the linear displacement stroke of the slide power transmission device (540) in the width direction; and A slide mounting plate (570) is fixedly mounted with a portion of the slide power transmission device (540) and the slide drive motor (530), and rigid multi-stage rails (571) are mounted on both sides of the slide mounting plate (570) in the longitudinal direction of the incubator body (100), and the multi-stage rails (571) partially slide out relative to each other through each stage of the rails to support the culture vessel carrier mounting plate (560) that is fully extended after the stroke is amplified.

2. The culture vessel active oscillating slide mechanism (500) according to claim 1, characterized in that: The slide power transmission device (540) is a screw structure having a screw (541) and a screw nut (542) screwed onto the screw (541). The screw rod (541) is connected to the output shaft (531) of the slide drive motor (530) through a coupling (543). The screw rod (541) and the coupling (543) of the slide power transmission device (540) are fixedly mounted on the slide mounting plate (570).

3. The culture vessel active oscillating slide mechanism (500) according to claim 2, characterized in that: The slide stroke amplification mechanism (550) is a multi-link mechanism consisting of a first multi-link (552) and a second multi-link (553). The slide stroke amplification mechanism (550) has: A fixed portion, wherein the fixed portion is formed by connecting a portion of the first multi-section connecting rod (552) and a portion of the second multi-section connecting rod (553) to each other and fixed to the coupling (543), and the fixed portion is a portion that does not undergo displacement; a stroke amplifying portion, the stroke amplifying portion being formed by interconnecting another portion of the first multi-section connecting rod (552) and the second multi-section connecting rod (553), and having a carrier mounting plate connecting portion (551) fixed to the stroke amplifying portion for mounting the culture vessel carrier mounting plate (560); and The fulcrum portion is formed by connecting another part of the first multi-section connecting rod (552) and the second multi-section connecting rod (553) to each other and fixing them to the screw nut (542). The fulcrum portion can be linearly displaced in the width direction and serves as a rotating fulcrum that drives the entire slide stroke amplification mechanism (550) to amplify the stroke of the linear displacement.

4. The culture vessel active oscillating slide mechanism (500) according to claim 3, characterized in that: The slide power transmission device (540) is provided on the slide mounting plate (570) along the width direction of the incubator body (100) and at a middle position in the length direction. The fixing portion, the fulcrum portion and the stroke amplifying portion are in a straight line.

5. The culture vessel active oscillating slide mechanism (500) according to claim 4, characterized in that: The distance between the stroke amplifying portion and the fulcrum portion in the width direction is greater than or equal to the distance between the fulcrum portion and the fixing portion in the width direction.

6. The culture vessel active oscillating slide mechanism (500) according to any one of claims 3 to 5, characterized in that: The first multi-section connecting rod (552) is a three-section connecting rod composed of a first connecting rod, a second connecting rod and a third connecting rod connected in sequence by fasteners. The second multi-section connecting rod (553) is a three-section connecting rod composed of a first connecting rod, a second connecting rod and a third connecting rod connected in sequence by fasteners. One end of the first connecting rod of the first multi-jointed connecting rod (552) and one end of the first connecting rod of the second multi-jointed connecting rod (553) constitute the fixing portion. One end of the third link of the first multi-jointed link (552) and one end of the third link of the second multi-jointed link (553) constitute the stroke amplification portion. The second link of the first multi-section link (552) and the second link of the second multi-section link (553) form the fulcrum portion at the middle.

7. The culture vessel active oscillating slide mechanism (500) according to claim 6, characterized in that: In the length direction, the connecting parts of the first connecting rod and the second connecting rod and the connecting parts of the third connecting rod and the second connecting rod of each of the first multi-section connecting rod (552) and the second multi-section connecting rod (553) are close to the multi-level rails (571) on both sides of the slide mounting plate (570).

8. The culture vessel active oscillating slide mechanism (500) according to claim 1, characterized in that: The multi-level track (571) located on both sides of the slide mounting plate (570) inside the slide protective shell (510) has a fixed track (571a) and two-level slide rails, namely a first-level slide rail (571b) and a second-level slide rail (571c). As the culture vessel carrier mounting plate (560) is extended, the first-level slide rail (571b) partially slides out relative to the fixed track (571a), and the second-level slide rail (571c) partially slides out relative to the first-level slide rail (571b). The second-level slide rail (571c) supports the culture vessel carrier mounting plate (560).

9. The culture vessel active oscillating slide mechanism (500) according to claim 8, characterized in that: The first-stage slide rail (571b) slides out no more than halfway relative to the fixed rail (571a), The second-stage slide rail (571c) slides out no more than halfway relative to the first-stage slide rail (571b).

10. The culture vessel active oscillating slide mechanism (500) according to claim 1, characterized in that: The culture vessel active oscillating slide mechanism (500) further comprises an oscillating main motor (520), which is fixedly mounted on the slide mounting plate (570) and is used to actively oscillate the culture vessel active oscillating slide mechanism (500).

11. The culture vessel active oscillating slide mechanism (500) according to claim 10, characterized in that: An oscillating main drive shaft (572) and a plurality of oscillating driven shafts (573) are provided below the slide mounting plate (570). Each of the oscillating main drive shaft (572) and the oscillating driven shaft (573) comprises: A bearing seat fixed below the slide mounting plate (570); A rolling bearing disposed in each of the bearing seats; and an eccentric shaft that is eccentric relative to each of the rolling bearings, The eccentric shafts of the oscillating main drive shaft (572) and the oscillating driven shaft (573) are connected via pulleys. The eccentric shaft (572c) of the oscillating main driving shaft (572) is connected to the output shaft of the oscillating main motor (520).

12. A shaking incubator (10), comprising an incubator body (100), an automatic sealing door assembly (110) being provided on the front of the incubator body (100), the automatic sealing door assembly (110) having an automatic opening and closing door (111) capable of automatically opening and closing according to system control, Disposed inside the incubator body (100) are a culture vessel carrier assembly (400) having a carrier plate (410) and a culture vessel (420) carried on the carrier plate (410), and an intelligent integrated control system unit (300) for controlling the actions of various automated components within the shaking incubator (10). It is characterized in that An active oscillating slide mechanism (500) for culture vessels as described in any one of claims 1 to 11 is also provided inside the incubator body (100). The active oscillating slide mechanism (500) for culture vessels can automatically slide out and fully extend the culture vessel carrier assembly (400) relative to the incubator body (100) after the automatic opening and closing door (111) of the automatic sealing door assembly (110) is opened, and can automatically slide the culture vessel carrier assembly (400) into the incubator body (100) before the automatic opening and closing door (111) of the automatic sealing door assembly (110) is closed, and actively oscillate after the automatic opening and closing door (111) of the automatic sealing door assembly (110) is closed.

13. The shaking incubator (10) according to claim 12, characterized in that The automatic sealing door assembly (110) and the culture vessel active oscillating slide mechanism (500) are the automation components.

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