Cell culture inoculation equipment and cell culture collection automatic production line

Abstract

The utility model belongs to the technical field of cell culture, and particularly relates to cell culture inoculation equipment and a cell culture collection automatic production line, which comprise a culture dish, the culture dish comprises a plurality of layers of independent overlapped culture cavities, the culture dish is provided with a channel, and the culture cavities are provided with through holes communicated with the channel; a cover is arranged at the opening of the channel; the inoculation device comprises a rack and a sealing cover, and a butt joint window is formed in one side of the sealing cover; the inoculation device further comprises a swing arm mechanism, a first uncovering mechanism, a first manipulator, a translation mechanism, a swing mechanism, a cell input mechanism, a first extraction mechanism, a centrifugal bottle, a culture solution bottle, a second uncovering mechanism, a second extraction mechanism, a conveying line, a second manipulator and a third uncovering mechanism which are arranged in the closed hood; the cell input mechanism is connected with a sealing tank; and the cell input mechanism is provided with an output pipe. The conveying line conveys the culture dishes to the clamping position of the second manipulator, the second manipulator clamps the culture dishes to turn over, and liquid in the culture dishes can be uniformly distributed in the culture cavities of each layer.

Description

TECHNICAL FIELD

[0001] The utility model belongs to cell culture equipment technical field, especially, a kind of cell culture inoculation equipment and cell culture collection automation production line. BACKGROUND

[0002] Cell factory is a kind of cell culture device, maximum culture surface is used in limited space, so space is saved;It can be used for industrial scale production such as vaccine, monoclonal antibody or biological pharmaceutical, especially suitable for adherent cells, also can be used for suspension culture, and, when scale-up from laboratory scale, the dynamics conditions of cell growth are not changed, so that scale-up becomes simple and easy, low pollution risk, space saving.

[0003] The sealing type adherent stem cell culture factory is disclosed in the patent literature CN211848002U, which comprises a bottom box, a cover body and at least one box body stacked between the bottom box and the cover body. Adjacent corners of the box body are respectively provided with an air inlet channel and an air outlet channel, and an arc-shaped surrounding plate is vertically arranged along the edges of the air inlet channel and the air outlet channel. A side hole is formed above the arc-shaped surrounding plate, which connects the culture area of the box body and the air inlet channel and the air outlet channel. Adjacent corners of the cover body are respectively provided with an air inlet pipe and an air outlet pipe, which are arranged one by one corresponding to the air inlet channel and the air outlet channel below. The inner side walls of the bottom box, the box body and the cover body are respectively provided with a plurality of corresponding sealing mechanisms. The bottom of the sealing mechanism is provided with a movable inverted trapezoidal buckle, and the top is provided with a buckle hole matched with the inverted trapezoidal buckle. The bottom box, the box body and the cover body arranged adjacent to each other are connected by the sealing mechanism buckle.

[0004] For another example, the integrated adherent cell culture and separation device is disclosed in the patent literature CN212128204U, which comprises a box body, a cell culture unit, a pressing mechanical hand, a grabbing mechanical hand, a liquid adding device, a blowing and beating mechanism and a conveying belt. The box body comprises a culture cavity, a blowing and beating cavity and a sampling cavity. The pressing mechanical hand is used to buckle connect or separate the box, the box body and / or the cover body. The grabbing mechanical hand is used to grab the bottom box and / or the box body and transfer them to the blowing and beating cavity. The liquid adding device is used to provide cell culture solution for the cell culture unit. The blowing and beating mechanism is used to blow and beat the cultured cells in the bottom box and / or the box body. The conveying belt is used to convey the bottom box and / or the box body processed by the blowing and beating mechanism to the sampling cavity. The cell culture unit is a laminated structure composed of the box body stacked between the bottom box and the cover body, which is suitable for the culture of adherent stem cells and ensures the required culture area during the culture process. The number of stacked box bodies can be adjusted to meet the culture needs of different amounts of adherent cells, and the device is flexible and convenient to use.

[0005] In the patent document CN211848002U mentioned above, the culture process is formed by stacking multiple boxes, and each layer is connected by a snap-fit ​​method. There are no interconnected channels. Therefore, when adding culture medium, each layer can only be added and then stacked step by step. When the cultured cell tissue is removed, each layer needs to be opened step by step and then separated and removed. This leads to low efficiency and cannot be used for large-scale culture. In addition, when the boxes are stacked and snapped together, and when the boxes are disassembled one by one, debris easily enters the cell tissue, causing contamination. Utility Model Content

[0006] The purpose of the utility model is to provide a cell culture inoculation device and a cell culture collection automatic production line, which are used to solve the problems of low efficiency of existing cell culture inoculation and collection and the risk of secondary contamination.

[0007] To achieve the above-mentioned object, the present invention provides a cell culture inoculation device, comprising: a culture dish, the culture dish comprising multiple layers of superimposed culture chambers, each of the culture chambers being independent of each other; the culture dish having a channel, each of the culture chambers having a through hole communicating with the channel; and a lid for covering the mouth of the channel;

[0008] An inoculation device, comprising a frame and a sealing cover disposed on the frame, wherein the sealing cover and the top side of the frame form an enclosed space, and a normally closed docking window is provided on one side of the sealing cover; the inoculation device also includes a swing arm mechanism, a first cover opening mechanism, a first manipulator, a translation mechanism, a rocking mechanism, a cell input mechanism, a first extraction mechanism, a centrifuge bottle, a culture medium bottle, a second cover opening mechanism, a second extraction mechanism, a conveyor line, a second manipulator, and a third cover opening mechanism disposed within the enclosed space;

[0009] The cell input mechanism is connected with a sealed tank for storing cell raw materials; a plurality of the culture dishes are placed on the conveying line which is provided with a positioning member for positioning the culture dishes, and the third cover opening mechanism is located above the conveying line for opening the cover of the culture dishes; the first mechanical hand is used for clamping the centrifugal bottle positioned on the swing arm mechanism and clamping the culture solution bottle placed on the swing mechanism; the cell input mechanism is provided with an output pipe located above the swing arm mechanism, and the first cover opening mechanism is located on one side of the swing arm mechanism for opening the bottle cap of the centrifugal bottle; the swing mechanism is provided on the translation mechanism, and the swing mechanism is provided with a clamping position for clamping the culture solution bottle; the first extraction mechanism, the second cover opening mechanism and the second extraction mechanism are provided on one side of the translation mechanism, and the second extraction mechanism has an output end located at the upper end of the positioning member; and the second mechanical hand is used for clamping the culture dish input with the culture solution and cell mixture to flip and push into the docking window.

[0010] Further, the cell input mechanism includes a first support seat, a first lifting drive, a first quantitative pump and a conveying pipe, the first support seat is provided on the rack, the first lifting drive is provided on the first support seat, the output pipe is provided on the first lifting drive, and the conveying pipe connects the output pipe and the first quantitative pump;

[0011] The second extraction mechanism includes a second support seat, a second lifting drive, a second quantitative pump, a suction pipe, a hose, a moving assembly, a lifting assembly and an injection pipe; the second support seat and the moving assembly are provided on the rack, the second lifting drive is provided on the second support seat, the suction pipe is connected with the second lifting drive, the lifting assembly is provided on the moving assembly, and the injection pipe is provided on the lifting assembly; the hose connects the suction pipe, the second quantitative pump and the injection pipe.

[0012] Further, the first extraction mechanism includes a third support seat, a third lifting drive, a pushing mechanism and a syringe; the third support seat is provided on the rack, the third lifting drive is provided on the third support seat, the pushing mechanism is provided on the third lifting drive, and the syringe is connected with the pushing mechanism for pushing and pulling the syringe.

[0013] Further, the conveying line comprises a first conveying belt, a second conveying belt and a transfer mechanism; the first conveying belt and the second conveying belt are arranged on the rack, and the second conveying belt is sequentially provided with a plurality of telescopic positioning members; the transfer mechanism comprises a second translation mechanism and a positioning seat arranged on the second translation mechanism; the second translation mechanism is located at the output end of the first conveying belt and the input end of the second conveying belt; the positioning seat is provided with a positioning cavity, and the bottom of the positioning cavity is provided with a conveying roller, so that the culture dish in the positioning cavity is pushed to move to the second conveying belt.

[0014] Further, the first cover opening mechanism, the second cover opening mechanism and the third cover opening mechanism are all electric cover opening mechanisms, comprising a mounting seat, a lifting module, a motor and a clamping jaw; the mounting seat is arranged on the rack, the lifting module is arranged on the mounting seat, the motor is arranged on the lifting module, and the clamping jaw is arranged on the main shaft of the motor.

[0015] Further, the rocking mechanism comprises two support plates, a rotating seat and a driving motor, the two support plates are arranged on the moving seat of the translation mechanism, the rotating seat is rotatably connected between the two support plates, and the driving motor is connected with the rotating seat and used for driving the rotating seat to rotate; the rotating seat comprises a body, two vertical plates and a clamping member, the two vertical plates are arranged on the body and form a placing groove; the clamping member comprises a plurality of connecting rods, a connecting plate, a push plate and a spring; the connecting rods pass through the two vertical plates, the connecting plate and the push plate are arranged at two ends of the connecting rod respectively, the connecting plate is provided with a pushing part which passes through one vertical plate and extends into the placing groove, and the spring is arranged between the push plate and the other vertical plate.

[0016] The above one or more technical solutions in the cell culture inoculation equipment provided by the embodiments of the present application have at least the following technical effects:

[0017] The multiple culture dishes after sterilization and disinfection can be arranged on the conveying line, and the culture dishes are conveyed one by one by the conveying line to the positioning member, the culture dish cover is opened by the third cover opening mechanism, and the output end of the second extraction mechanism is inserted into the channel. The first mechanical arm places the culture solution bottle on the swinging mechanism, and the second cover opening mechanism opens the bottle cap of the culture solution bottle; the first mechanical arm places the centrifugal bottle on the swing arm mechanism, and the first cover opening mechanism opens the bottle cap of the centrifugal bottle, then the swing arm mechanism moves the centrifugal bottle to the bottom end of the output pipe of the cell input mechanism, the cell tissue liquid to be cultured is extracted into the centrifugal bottle by the cell input mechanism, and the swing arm mechanism moves the centrifugal bottle to the first extraction mechanism, the tissue liquid in the centrifugal bottle is extracted into the culture solution bottle by the first extraction mechanism, and the bottle cap of the culture solution bottle is closed, the culture solution bottle is shaken by the swinging mechanism, so that the cell tissue and the culture solution are mixed uniformly. The second extraction mechanism is inserted into the culture solution bottle to extract the liquid into the culture dish. The first cover opening mechanism closes the cover on the mouth of the channel. The conveying line conveys the culture dish to the clamping position of the second mechanical arm, and the second mechanical arm clamps the culture dish and turns it over multiple times, so that the liquid in the culture dish can be uniformly distributed to each layer of the culture cavity. Therefore, the cell tissue is automatically inoculated in the culture dish, which replaces the existing inoculation scheme in each layer of the box body. The efficiency is improved, and a large amount of planting and culture can be adapted. And it can also effectively avoid the problem of secondary pollution.

[0018] An automatic production line for cell culture and collection comprises the cell culture inoculation device, a culture rack, a culture box, a transfer robot and a cell collection device; one side of the culture rack is provided with a controller, the culture rack is provided with multiple culture positions for placing the culture box; the culture position is provided with multiple connection ports connected to the controller; one side of the culture box is provided with a transfer port connected to the corresponding connection port; the transfer robot is used for transferring the culture box on the culture position to the docking window to receive the culture dish, and transferring the culture box on the culture position to the cell collection device.

[0019] Further, the cell collecting device comprises a machine table and a machine cover arranged on the machine table, the machine cover and the machine table form a closed cavity, one side of the machine cover is provided with a second docking window which is normally closed and used for docking with the incubator; the cell collecting device further comprises a third mechanical arm, a standing box, a first collecting mechanism, a second collecting mechanism, a cleaning liquid input mechanism, a digestive liquid input mechanism, a fourth mechanical arm, a third collecting mechanism, a fourth cover opening mechanism and a fifth cover opening mechanism, and a separation device connected with the third collecting mechanism; the third mechanical arm is used for clamping the culture dish input by the second docking window, and is moved to the fourth cover opening mechanism to open the cover, is moved to the first collecting mechanism to pour supernatant, is moved to the cleaning liquid input mechanism to inject cleaning liquid, is moved to the second collecting mechanism to pour cleaning liquid, is moved to the digestive liquid input mechanism to inject digestive liquid into the culture dish, is moved to the fourth cover opening mechanism to cover the cover on the mouth of the channel, and is moved and placed in the standing box; the fourth mechanical arm is used for clamping the culture dish in the standing box and moving to the fifth cover opening mechanism to open the cover, and moving to the third collecting mechanism to pour the cells and mixed liquid in the culture dish; the cells collected by the third collecting mechanism are transported to the separation device.

[0020] Further, the first collecting mechanism comprises a collecting bucket and a first collecting cylinder, the first collecting cylinder is connected with the collecting bucket in a pipeline mode; the cell collecting device further comprises a backflow mechanism used for injecting supernatant into the culture dish taken out from the standing box; the backflow mechanism comprises a backflow pump, a lifting mechanism and a liquid injection pipe; the lifting mechanism is arranged on the machine table, the liquid injection pipe is arranged on the lifting mechanism, and the backflow pump is connected with the collecting cylinder and the liquid injection pipe.

[0021] Further, the cell collecting device further comprises a sampling device used for extracting supernatant in the culture dish.

[0022] The one or more technical solutions in the cell culture collecting automatic production line provided by the embodiment of the utility model have at least the following technical effects:

[0023] The transfer robot transfers the incubator to the docking window, the docking window is opened, the second mechanical arm pushes the culture dish into the incubator, and then the transfer robot transfers the incubator to the culture position of the culture rack, meanwhile, the transfer port is docked with the corresponding connection port, and the controller controls the temperature, humidity and air content in the incubator. After the cell tissue is cultured in the incubator to the mature time, the transfer robot transfers the incubator to the cell collecting device, and the cell collecting device collects the cultured cells. Therefore, the cell inoculation, culture and collection are fully automated, the efficiency is high, and the problem of secondary pollution can be effectively avoided. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0025] Figure 1 The structural diagram of the cell culture and collection automation production line provided by the embodiments of the present application is provided.

[0026] Figure 2 The structural diagram of the culture rack of the cell culture and collection automation production line provided by the embodiments of the present application is provided.

[0027] Figure 3 The structural diagram of the culture box of the cell culture and collection automation production line provided by the embodiments of the present application is provided.

[0028] Figure 4 The structural diagram of the cell culture and inoculation equipment provided by the embodiments of the present application is provided.

[0029] Figure 5 The top view of the cell culture and inoculation equipment provided by the embodiments of the present application is provided.

[0030] Figure 6 The structural diagram of the first mechanical hand part of the cell culture and inoculation equipment provided by the embodiments of the present application is provided.

[0031] Figure 7 The structural diagram of the second extraction mechanism part of the cell culture and inoculation equipment provided by the embodiments of the present application is provided.

[0032] Figure 8 The structural diagram of the first extraction mechanism of the cell culture and inoculation equipment provided by the embodiments of the present application is provided.

[0033] Figure 9 The structural diagram of the conveying line of the cell culture and inoculation equipment provided by the embodiments of the present application is provided.

[0034] Figure 10 The structural diagram of the swing mechanism of the cell culture and inoculation equipment provided by the embodiments of the present application is provided.

[0035] Figure 11 The structural diagram of the culture dish of the cell culture and inoculation equipment provided by the embodiments of the present application is provided.

[0036] Figure 12 The sectional view of the culture dish of the cell culture and inoculation equipment provided by the embodiments of the present application is provided.

[0037] Figure 13 The structural diagram of the cell collection device of the cell culture collection automation production line is provided.

[0038] Figure 14 The top view of the cell collection device of the cell culture collection automation production line is provided.

[0039] Figure 15 The structural diagram of the backflow mechanism of the cell culture collection automation production line is provided. DETAILED DESCRIPTION

[0040] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the embodiments of the present application, and cannot be understood as a limitation of the present application.

[0041] In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0042] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0043] In the embodiments of the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0044] In an embodiment of the cell culture collection automation production line of the utility model, please refer to Figures 1 to 4 , the cell culture collection automation production line is to realize the full automation of cell inoculation, culture and collection, improve the efficiency of cell culture and reduce the pollution risk. Specifically, the cell culture collection automation production line comprises a cell culture inoculation device 100, a culture rack 200, a culture box 300, a transfer robot 400 and a cell collection device 500. One side of the culture rack 200 is provided with a controller 600, the culture rack 200 is provided with a plurality of culture sites 210 for placing the culture box 300; the culture site 210 is provided with a plurality of connection ports 211 connected with the controller 600; one side of the culture box 300 is provided with a transfer port 301 connected with the corresponding connection port 211. The transfer robot 400 is used for transferring the culture box 300 on the culture site 210 to the docking window 101 of the cell culture inoculation device 100, receiving the culture dish 110 of the cell culture inoculation device 100, and transferring the culture box 300 on the culture site 210 to the cell collection device 500. Specifically, the transfer robot 400 transfers the culture box 300 to the docking window 101, the docking window 101 is opened, the culture dish 110 in the cell culture inoculation device 100 is pushed into the culture box 300, and then the culture box 300 is transferred to the culture site 210 of the culture rack 200 by the transfer robot 400, at the same time, the transfer port 301 is connected with the corresponding connection port 211, and the temperature, humidity and air content in the culture box are controlled by the controller 600, so as to control the culture environment in the culture box 300. Specifically, the connection port 211 comprises a power interface, an exhaust port, a carbon dioxide input port and a hydrogen peroxide input port. Since the cooperation environment control belongs to the conventional technology in the field, this embodiment will not be described herein. After the cell tissue is cultured in the culture box 300 to the mature time, the transfer robot 400 transfers the culture box 300 to the cell collection device 500, and the cell collection device 500 collects the cultured cells. Thus, the cell inoculation, culture and collection are fully automated, high in efficiency, and can effectively avoid the problem of secondary pollution.

[0045] Please refer to Figures 4 to 12 , the cell culture inoculation device 100 comprises a culture dish 110 and an inoculation device 120. The culture dish 110 comprises a plurality of stacked culture cavities 111, and each culture cavity 111 is independent of each other. The culture dish 110 is provided with a channel 112, and each culture cavity 111 is provided with a through hole 113 communicated with the channel 112. The mouth of the channel 112 is provided with a cover 114 for covering; wherein the culture dish 110 is an integral structure and cannot be disassembled. And it is processed by acrylic material.

[0046] Specifically, refer to Figures 4 to 9The inoculation device 120 comprises a rack 121 and a sealing cover 122 arranged on the rack 121, and the sealing cover 122 and the top side of the rack 121 form a closed space. The sealing cover 122 is provided with a normally closed docking window 101 on one side. The inoculation device 120 further comprises a swing arm mechanism 123, a first cover opening mechanism 124, a first mechanical arm 125, a translation mechanism 126, a swing mechanism 127, a cell input mechanism 128, a first extraction mechanism 129, a centrifugal bottle 130, a culture solution bottle 131, a second cover opening mechanism 132, a second extraction mechanism 133, a conveying line 134, a second mechanical arm 135 and a third cover opening mechanism 136 arranged in the closed space. The first mechanical arm 125 and the second mechanical arm 135 are preferably six-axis robots, which can realize arbitrary position and angle adjustment.

[0047] The cell input mechanism 128 is connected with a sealed tank 137 for storing raw materials for culturing cell tissues. The sealed tank 137 is placed outside the rack 121 for convenient replacement. A plurality of culture dishes 110 are placed on the conveying line 134, and the conveying line 134 is provided with a positioning member for positioning the culture dishes 110. The third cover opening mechanism 136 is located above the conveying line 134 for opening the cover 114 of the culture dishes 110. The first mechanical arm 125 is used to clamp the centrifugal bottle 130 and position it on the swing arm mechanism 123, and is used to clamp the culture solution bottle and place it on the swing mechanism 127. The cell input mechanism 128 is provided with an output pipe 1230 located above the swing arm mechanism 123. The first cover opening mechanism 124 is located on one side of the swing arm mechanism 123 for opening the bottle cap of the centrifugal bottle. The swing mechanism 127 is arranged on the translation mechanism 126 and is provided with a clamping position 1270 for clamping the culture solution bottle 131. Preferably, three sets of clamping positions 1270 are arranged on the swing mechanism 127, and three sets of culture solution bottles 131 can be arranged on the swing mechanism 127 at the same time. The first extraction mechanism 129, the second cover opening mechanism 132 and the second extraction mechanism 133 are arranged on one side of the translation mechanism 126. The second extraction mechanism 133 has an output end located at the upper end of the positioning member. The second mechanical arm 135 is used to clamp the culture dish 110 containing the culture solution and cell mixture, turn it over and push it into the docking window 101. The swing arm mechanism 127 comprises a motor, a swing arm connected with the motor and a clamping member arranged at the end of the swing arm.

[0048] More specifically, the plurality of culture dishes 110 after sterilization and disinfection can be arranged on the conveying line 134, and the culture dishes 110 are conveyed one by one by the conveying line 134 to the positioning member, the culture dishes 110 are positioned by the positioning member, the cover 114 of the culture dish 110 is opened by the third cover opening mechanism 136, and the output end of the second extraction mechanism 133 is inserted into the channel 112. The first mechanical arm 125 places the culture solution bottle 131 on the swing mechanism 127, and the second cover opening mechanism 132 opens the bottle cap of the culture solution bottle 131; the first mechanical arm 125 places the centrifugal bottle 130 on the swing arm mechanism 123, and after the first cover opening mechanism 124 opens the bottle cap of the centrifugal bottle 130, the swing arm mechanism 124 moves the centrifugal bottle 130 to the bottom end of the output pipe 1284 of the cell input mechanism 128, the cell tissue liquid to be cultured is extracted into the centrifugal bottle 130 by the cell input mechanism 128, and after the swing arm mechanism 124 shakes the tissue liquid in the centrifugal bottle 130 uniformly, the centrifugal bottle 130 is moved to the first extraction mechanism 129, the tissue liquid in the centrifugal bottle 130 is extracted into the culture solution bottle 131 by the first extraction mechanism 129, and the bottle cap of the culture solution bottle 131 is closed, and the culture solution is shaken by the swing mechanism 127, so that the cell tissue and the culture solution are mixed uniformly. The second extraction mechanism 133 is inserted into the culture solution bottle 131 to extract the liquid in the culture solution bottle 131 into the culture dish 110. The first cover opening mechanism 124 closes the cover on the mouth of the channel 112. The conveying line 134 conveys the culture dish 110 to the clamping position of the second mechanical arm 135, and the second mechanical arm 135 clamps the culture dish 110 and turns it over multiple times, so that the liquid in the culture dish 110 can be uniformly distributed to each layer of the culture cavity 111. Therefore, the cell tissue is automatically inoculated in the culture dish 110, which replaces the existing inoculation scheme in each layer of the box body. The efficiency is improved, and a large amount of planting and culture can be adapted. Moreover, the problem of secondary pollution can be effectively avoided.

[0049] Further, with reference to Figure 5 and Figure 6 , the cell input mechanism 128 comprises a first support seat 1280, a first lifting driving member 1281, a first constant flow pump 1282, and a conveying pipe 1283. The first support seat 1280 is arranged on the rack 121, the first lifting driving member 1281 is arranged on the first support seat 1280, the output pipe 1284 is arranged on the first lifting driving member 1281, and the conveying pipe 1283 is connected to the output pipe 1284 and the first constant flow pump 1282. The first lifting driving member 1281 can be an electric linear module. In this embodiment, the output pipe 1284 is driven by the first lifting driving member 1281 to descend and extend into the centrifugal bottle 130, and the cell tissue is extracted into the centrifugal bottle 130 by the first constant flow pump 1282.

[0050] With reference to Figure 6 and Figure 7The second extraction mechanism 133 includes a second support base 1330, a second lifting driving member 1331, a second constant volume pump 1332, a suction pipe 1333, a hose 1337, a moving assembly 1334, a lifting assembly 1335 and an injection pipe 1336. The second support base 1330 and the moving assembly 1334 are arranged on the rack 121, the second lifting driving member 1331 is arranged on the second support base 1330, the suction pipe 1333 is connected to the second lifting driving member 1331, the lifting assembly 1335 is arranged on the moving assembly 1334, the injection pipe 1336 is arranged on the lifting assembly 1335, and the hose 1337 is connected to the suction pipe 1333, the second constant volume pump 1332 and the injection pipe 1336. In this embodiment, the injection pipe 1336 is driven by the moving assembly 1334 to move above the channel 112 of the culture dish 110, and the injection pipe 1336 is driven by the lifting assembly 1335 to extend into the channel 112. The suction pipe 1333 is driven by the second lifting driving member 1331 to extend into the culture solution bottle 131, and the culture solution in the culture solution bottle 131 is extracted by the second constant volume pump 1332 and injected into the culture dish 110.

[0051] Further, referring to Figure 6 and Figure 8 The first extraction mechanism 129 includes a third support base 1290, a third lifting driving member 1291, a pushing mechanism 1292 and a syringe 1293. The third support base 1290 is arranged on the rack 121, the third lifting driving member 1291 is arranged on the third support base 1290, the pushing mechanism 1292 is arranged on the third lifting driving member 1291, and the syringe 1293 is connected to the pushing mechanism 1292 for pushing and pulling the syringe 1293. In this embodiment, the syringe 1293 is driven by the third lifting driving member 1291 to extend into the centrifugal bottle 130, and the pushing mechanism 1292 drives the syringe 1293 to extract the liquid in the centrifugal bottle 130 and inject it into the culture solution bottle 131 in the swinging mechanism 127 one by one. Specifically, the pushing mechanism 1292 includes a clamping position for fixing the main body part of the syringe 1293, and a moving driving member provided with a clamping groove for fixing the piston part of the syringe 1293, so that the piston of the syringe 1293 can be pushed and pulled by the moving driving member. Further, the syringe 1293 is disposable, replaced by the first mechanical arm 125, and the rack 121 is provided with a syringe placement position for placing the syringe 1293.

[0052] Further, referring to Figure 9The conveying line 134 comprises a first conveying belt 1340, a second conveying belt 1341 and a transfer mechanism 1342. The first conveying belt 1340 and the second conveying belt 1341 are arranged on the frame 121, and the second conveying belt 1341 is sequentially provided with a plurality of telescopic positioning members 1343. Therefore, the dishes 110 on the second conveying belt 1341 can be positioned by the telescopic positioning members 1343, so that the dishes 110 on the second conveying belt 1341 are distributed at equal intervals. More preferably, in order to increase the number of dishes 110, the first conveying belt 1340 can be in multiple groups and symmetrically arranged on both sides of the second conveying belt 1341. In order to ensure that the positions of the channels 112 on the dishes 110 are consistent, a turning mechanism is arranged on the moving path of the second conveying belt 1341. The second manipulator 135 clamps the dishes 110 on the second conveying belt 1341 and places them on the turning mechanism. After the dishes 110 are turned by the turning mechanism, the second manipulator 135 clamps the dishes 110 and flips them and pushes them out of the docking port 101. The transfer mechanism 1342 comprises a second translation mechanism 1344 and a positioning seat 1345 arranged on the second translation mechanism 1344. The second translation mechanism 1344 is located at the output end of the first conveying belt 1340 and the input end of the second conveying belt 1341. The positioning seat 1345 is provided with a positioning cavity, and the bottom of the positioning cavity is provided with a conveying roller 1346 for pushing the dishes 110 in the positioning cavity to move to the second conveying belt 1341. Specifically, in this embodiment, the dishes 110 on the first conveying belt 1341 are conveyed into the positioning cavity. The second translation mechanism 1344 drives the dishes 110 to move to the liquid injection position. After the liquid injection is completed, the conveying roller 1346 drives the dishes 110 to be transferred to the second conveying belt 1341, and the second conveying belt 1341 conveys the dishes 110 to the position clamped by the second manipulator 135.

[0053] Further, with reference to Figure 10 The swinging mechanism 127 comprises support plates 1271, a rotating seat 1272 and a driving motor 1273. The two support plates 1271 are arranged on the moving seat of the translation mechanism 126, the rotating seat 1272 is rotationally connected between the two support plates 1271, and the driving motor 1273 is connected to the rotating seat 1272 for driving the rotating seat 1272 to rotate. The rotating seat 1272 comprises a body 1274, upright plates 1275 and clamping members 1276. The two upright plates 1275 are arranged on the body 1274 and form a placing groove. The clamping members 1276 comprise a plurality of connecting rods, connecting plates, push plates and springs. The connecting rods pass through the two upright plates 1275, the connecting plates and the push plates are respectively arranged at the two ends of the connecting rods, the connecting plates are provided with extrusion portions passing through one of the upright plates 1275 and extending into the placing groove, and the springs are arranged between the push plates and the other upright plates 1275. Thus, the clamping member 1270 can be formed.

[0054] Please refer to Figure 13 and Figure 14The cell collecting device 500 comprises a machine table 502 and a machine cover 503 arranged on the machine table 502, the machine cover 503 and the machine table 502 form a closed cavity, one side of the machine cover 503 is provided with a second docking window 501 which is normally closed and used for docking with the incubator 300. The cell collecting device 500 further comprises a third mechanical arm 510, a static box 506, a first collecting mechanism 530, a second collecting mechanism 540, a cleaning liquid input mechanism 550, a digestive liquid input mechanism 560, a fourth mechanical arm 570, a third collecting mechanism 580, a fourth cover opening mechanism 504 and a fifth cover opening mechanism 505, and a separation device 590 connected with the third collecting mechanism 580. The third mechanical arm 510 is used for clamping the culture dish 110 input by the second docking window 501, and is moved to the fourth cover opening mechanism 504 to open the cover, is moved to the first collecting mechanism 530 to pour the supernatant, is moved to the cleaning liquid input mechanism 550 to inject the cleaning liquid, is moved to the second collecting mechanism 540 to pour the cleaning liquid, is moved to the digestive liquid input mechanism 560 to inject the digestive liquid into the culture dish 110, is moved to the fourth cover opening mechanism 504 to cover the mouth of the passage, and is moved and placed in the static box 506 for static. Therefore, the digestive liquid makes the cells separate from the inner wall of the culture cavity 111. The fourth mechanical arm 570 is used for clamping the culture dish 110 in the static box 506 and is sequentially moved to the fifth cover opening mechanism 505 to open the cover, is moved to the third collecting mechanism 580 to pour the cells and the mixed liquid in the culture dish 110; the cells collected by the third collecting mechanism 580 are transported to the separation device 590.

[0055] Further, the cleaning liquid input mechanism 550 and the digestive liquid input mechanism 560 both adopt a quantitative pump structure. Specifically, the structure is the same as that of the cell input mechanism 128.

[0056] Further, the first cover opening mechanism 124, the second cover opening mechanism 132 and the third cover opening mechanism 136, the fourth cover opening mechanism 504 and the fifth cover opening mechanism 505 are all electric cover opening mechanisms, comprising a mounting seat, a lifting module, a motor and a clamping jaw; the mounting seat is arranged on the machine frame, the lifting module is arranged on the mounting seat, the motor is arranged on the lifting module, and the clamping jaw is arranged on the main shaft of the motor.

[0057] Further, with reference to Figure 15The first collecting mechanism 530 comprises a collecting hopper 531 and a first collecting cylinder 532, and the first collecting cylinder 532 is connected with the collecting hopper 531 by a pipeline. The cell collecting device 500 further comprises a backflow mechanism 520 for injecting supernatant into the culture dish 110 taken out from the static tank 506, so as to terminate the digestion of cells in the culture dish 110. The backflow mechanism 520 comprises a backflow pump 521, a lifting mechanism 522 and an injection pipe 523. The lifting mechanism 522 is arranged on the machine table 502, the injection pipe 523 is arranged on the lifting mechanism 522, and the backflow pump 521 is connected with the collecting cylinder and the injection pipe 523. Therefore, the supernatant collected by the first collecting mechanism 530 can be injected into the culture dish 110.

[0058] Further, the first collecting mechanism 530, the second collecting mechanism 540 and the third collecting mechanism 580 have the same structure.

[0059] Further, the cell collecting device 500 further comprises a sampling device for extracting the supernatant in the culture dish 110. Thus, the supernatant can be tested, and after being qualified, the suction disc in the culture dish 110 can be collected and separated.

[0060] The above is only a preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cell culture seeding apparatus, characterized in that, The application relates to a culture dish and a cell inoculation device. The culture dish comprises multiple culture cavities stacked in layers, and each culture cavity is independent of each other; the culture dish is provided with a channel, and each culture cavity is provided with a through hole communicating with the channel; the mouth of the channel is provided with a cover for covering. The cell inoculation device comprises a rack and a sealed cover arranged on the rack, the sealed cover and the top side of the rack form a closed space, one side of the sealed cover is provided with a normally closed docking window; the cell inoculation device further comprises a swing arm mechanism, a first cover opening mechanism, a first mechanical hand, a translation mechanism, a swing mechanism, a cell input mechanism, a first extraction mechanism, a centrifugal bottle, a culture solution bottle, a second cover opening mechanism, a second extraction mechanism, a conveying line, a second mechanical hand and a third cover opening mechanism arranged in the closed space. The cell input mechanism is connected with a sealed tank for storing cell raw materials; a plurality of culture dishes are placed on the conveying line, the conveying line is provided with a positioning member for positioning the culture dishes, and the third cover opening mechanism is located above the conveying line and used for opening the cover of the culture dish; the first mechanical hand is used for clamping the centrifugal bottle and positioning the centrifugal bottle on the swing arm mechanism, and is used for clamping the culture solution bottle and placing the culture solution bottle on the swing mechanism; the cell input mechanism is provided with an output pipe located above the swing arm mechanism, and the first cover opening mechanism is located on one side of the swing arm mechanism and used for opening the cover of the centrifugal bottle; the swing mechanism is arranged on the translation mechanism, the swing mechanism is provided with a clamping position for clamping the culture solution bottle, and the first extraction mechanism, the second cover opening mechanism and the second extraction mechanism are arranged on one side of the translation mechanism; the second extraction mechanism has an output end located at the upper end of the positioning member; and the second mechanical hand is used for clamping the culture dish containing the culture solution and cell mixture, overturning the culture dish and pushing the culture dish into the docking window.

2. The cell culture seeding apparatus of claim 1, wherein: The cell input mechanism comprises a first supporting seat, a first lifting driving member, a first quantitative pump and a conveying pipe; the first supporting seat is arranged on the rack, the first lifting driving member is arranged on the first supporting seat, the output pipe is arranged on the first lifting driving member, and the conveying pipe is connected with the output pipe and the first quantitative pump. The second extraction mechanism comprises a second supporting seat, a second lifting driving member, a second quantitative pump, a suction pipe, a hose, a moving assembly, a lifting assembly and an injection pipe; the second supporting seat and the moving assembly are arranged on the rack, the second lifting driving member is arranged on the second supporting seat, the suction pipe is connected with the second lifting driving member, the lifting assembly is arranged on the moving assembly, the injection pipe is arranged on the lifting assembly, and the hose is connected with the suction pipe, the second quantitative pump and the injection pipe.

3. The cell culture seeding apparatus of claim 1, wherein: The first extraction mechanism comprises a third supporting seat, a third lifting driving member, a pushing mechanism and a syringe; the third supporting seat is arranged on the rack, the third lifting driving member is arranged on the third supporting seat, the pushing mechanism is arranged on the third lifting driving member, and the syringe is connected with the pushing mechanism and used for pushing and pulling the syringe.

4. The cell culture seeding apparatus of claim 1, wherein: The conveying line comprises a first conveying belt, a second conveying belt and a transfer mechanism; the first conveying belt and the second conveying belt are arranged on the rack, and the second conveying belt is sequentially provided with a plurality of telescopic positioning members; the transfer mechanism comprises a second translation mechanism and a positioning seat arranged on the second translation mechanism; the second translation mechanism is located at the output end of the first conveying belt and the input end of the second conveying belt; the positioning seat is provided with a positioning cavity, and the bottom of the positioning cavity is provided with a conveying roller, so that the culture dish in the positioning cavity is pushed to move to the second conveying belt.

5. The cell culture seeding apparatus of claim 1, wherein: The first cover opening mechanism, the second cover opening mechanism and the third cover opening mechanism are all electric cover opening mechanisms, comprising a mounting seat, a lifting module, a motor and a clamping jaw; the mounting seat is arranged on the rack, the lifting module is arranged on the mounting seat, the motor is arranged on the lifting module, and the clamping jaw is arranged on the main shaft of the motor.

6. The cell culture seeding apparatus of claim 1, wherein: The swinging mechanism comprises a support plate, a rotating seat and a driving motor, two support plates are arranged on the moving seat of the translation mechanism, the rotating seat is rotatably connected between the two support plates, and the driving motor is connected to the rotating seat and used to drive the rotating seat to rotate; the rotating seat comprises a body, a vertical plate and a clamping member, two vertical plates are arranged on the body and form a placing groove; the clamping member comprises a plurality of connecting rods, a connecting plate, a push plate and a spring; the connecting rods pass through the two vertical plates, the connecting plate and the push plate are arranged at two ends of the connecting rod respectively, the connecting plate is provided with a pushing part which passes through one vertical plate and extends into the placing groove, and the spring is arranged between the push plate and the other vertical plate.

7. A cell culture collection automation line, characterized by The cell culture inoculation device comprises a culture rack, a culture box, a transfer robot and a cell collection device; one side of the culture rack is provided with a controller, the culture rack is provided with a plurality of culture sites for placing the culture box; the culture site is provided with a plurality of connection ports connected to the controller; one side of the culture box is provided with a transfer port connected to the corresponding connection port; the transfer robot is used for transferring the culture box on the culture site to the docking window to receive the culture dish, and transferring the culture box on the culture site to the cell collection device.

8. The cell culture collection automated production line according to claim 7, characterized in that: The cell collecting device comprises a machine table and a machine cover arranged on the machine table, the machine cover and the machine table form a closed cavity, one side of the machine cover is provided with a second docking window which is normally closed and used for docking with the incubator; the cell collecting device further comprises a third mechanical hand, a static box, a first collecting mechanism, a second collecting mechanism, a cleaning liquid input mechanism, a digestive liquid input mechanism, a fourth mechanical hand, a third collecting mechanism, a fourth cover opening mechanism and a fifth cover opening mechanism, and a separation device connected with the third collecting mechanism; the third mechanical hand is used for clamping the culture dish input by the second docking window, and is moved to the fourth cover opening mechanism to open the cover, is moved to the first collecting mechanism to pour supernatant, is moved to the cleaning liquid input mechanism to inject cleaning liquid, is moved to the second collecting mechanism to pour cleaning liquid, is moved to the digestive liquid input mechanism to inject digestive liquid into the culture dish, is moved to the fourth cover opening mechanism to cover the cover on the mouth of the channel, and is moved and placed in the static box; the fourth mechanical hand is used for clamping the culture dish in the static box and moving to the fifth cover opening mechanism to open the cover, moving to the third collecting mechanism to pour the cells and mixed liquid in the culture dish; the cells collected by the third collecting mechanism are mixed and delivered to the separation device.

9. The cell culture collection automated production line according to claim 8, characterized in that: The first collecting mechanism comprises a collecting bucket and a first collecting cylinder, the first collecting cylinder is connected with the collecting bucket by pipeline; the cell collecting device further comprises a backflow mechanism for injecting supernatant into the culture dish taken out from the static box; the backflow mechanism comprises a backflow pump, a lifting mechanism and a liquid injection pipe; the lifting mechanism is arranged on the machine table, the liquid injection pipe is arranged on the lifting mechanism, and the backflow pump is connected with the collecting cylinder and the liquid injection pipe.

10. The cell culture collection automated production line according to claim 8, characterized in that: The cell collecting device further comprises a sampling device for extracting supernatant in the culture dish.

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