Automatic production equipment for cell drugs

Abstract

The utility model discloses automatic production equipment for cell drugs. The automatic production equipment comprises a process operation cavity and a cell factory incubator, the cell factory incubator is communicated with the process operation cavity; the process operation cavity is provided with a cell harvesting area and a cell inoculation liquid changing area; a centrifugal bottle pipetting and cover opening and closing assembly, a centrifugal assembly, a subpackaging assembly and a first transfer mechanism are arranged in the cell harvesting area; the first transfer mechanism is used for transferring the centrifugal bottle between the centrifugal bottle pipetting and cover opening and closing assembly and the centrifugal assembly; a cell factory pipetting and cover opening and closing assembly and a second transfer mechanism are arranged in the cell inoculation liquid changing area; the second transfer mechanism is used for transferring the cell factory among the cell factory pipetting and cover opening and closing assembly, the cell factory incubator and the centrifugal bottle pipetting and cover opening and closing assembly. By means of the arrangement, the function of full-process automation is achieved, and the purposes of reducing manual intervention and improving operation efficiency and sterility are achieved.

Description

Technical Field

[0001] This utility model relates to the field of biological cell culture, and in particular to an automated production equipment for cell drugs. Background Technology

[0002] In the field of biological cell culture, cell factories, as commonly used large-scale culture consumables, directly impact production efficiency and product quality through the degree of automation in their operation. Currently, the use of cell factories for cell culture in laboratories has certain drawbacks:

[0003] Existing equipment can only automate some processes (such as automatic liquid addition and flipping), but cannot automate the entire process from cell inoculation to finished product packaging. That is, key steps such as cell inoculation, liquid change, harvesting and packaging require manual operation to transfer materials or connect pipelines, which poses a high risk of contamination. Moreover, the operation is cumbersome and time-consuming, resulting in low overall efficiency.

[0004] Therefore, an automated cell drug production system is needed to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide an automated cell drug production equipment to achieve full-process automation, thereby reducing manual intervention and improving operational efficiency and aseptic properties.

[0006] To solve the above-mentioned technical problems, this utility model provides an automated cell drug production equipment, including: a process operation chamber and a cell factory incubator;

[0007] The cell factory incubator has an inlet / outlet for the cell factory to enter and exit, and the inlet / outlet is connected to the process operation chamber.

[0008] The process operation chamber includes a cell harvesting area and a cell inoculation and medium exchange area.

[0009] The cell harvesting area is equipped with a centrifuge bottle pipetting and cap opening / closing assembly, a centrifugation assembly, a dispensing assembly, and a first transfer mechanism.

[0010] The centrifuge bottle pipetting and capping assembly is used for opening and closing the cap of the centrifuge bottle, and for injecting and drawing liquid from the centrifuge bottle.

[0011] The dispensing component is connected to the centrifuge bottle pipetting and cap opening / closing component via a pipeline, and is used to receive and dispense the cell suspension inside the centrifuge bottle;

[0012] The first transfer mechanism is used to transfer the centrifuge bottle between the centrifuge bottle pipetting and cap opening / closing assembly and the centrifugation assembly;

[0013] The cell seeding and medium exchange area is equipped with a cell factory pipetting and opening / closing cap assembly and a second transfer mechanism.

[0014] The cell factory pipetting and capping assembly is used for opening and closing the cap of the cell factory and for injecting and aspirating liquids within the cell factory.

[0015] The second transfer mechanism is used to transfer the cell factory between the cell factory pipetting and capping assembly, the cell factory incubator, and the centrifuge bottle pipetting and capping assembly.

[0016] Furthermore, a stack is provided in the cell seeding and medium exchange area, and the stack is used to place the cell factory;

[0017] A waste liquid pouring port is provided on the bottom wall of the cell operation chamber, and the waste liquid pouring port is located between the first transfer mechanism and the second transfer mechanism;

[0018] The first transfer mechanism is used to transfer the centrifuge bottle between the centrifuge bottle pipetting and cap opening assembly, the centrifugation assembly, and the waste liquid pouring port;

[0019] The second transfer mechanism is used to transfer the cell factory between the stack, the cell factory pipetting and capping assembly, the waste liquid pouring port, the cell factory incubator, and the centrifuge bottle pipetting and capping assembly.

[0020] Furthermore, the centrifuge bottle pipetting and cap opening / closing assembly includes a positioning frame, an X-axis horizontal linear module, a clamping and rotating mechanism, a first suction mechanism, and a second suction mechanism;

[0021] The positioning frame has at least two clamping stations, which are used for positioning the initial centrifuge bottle and positioning the centrifuge bottle after centrifugation, respectively.

[0022] Furthermore, a Y-axis horizontal linear module is provided in the middle of the positioning frame, and a bottle cap placement platform is installed on the Y-axis horizontal linear module;

[0023] The X-axis horizontal linear module is positioned above the positioning frame;

[0024] The clamping and rotating mechanism is connected to the X-axis horizontal linear module through the lifting module and can move between the two clamping stations for unscrewing or tightening the cap of the centrifuge bottle.

[0025] The first suction mechanism and the second suction mechanism are also connected to the X-axis horizontal linear module through the lifting module and are located on both sides of the clamping and rotating mechanism;

[0026] The first suction mechanism is used to draw liquid from the cell factory and inject it into the initial centrifuge bottle;

[0027] A culture medium storage tank is provided on one side of the centrifuge bottle pipetting and cap opening / closing assembly;

[0028] The second suction mechanism is used to aspirate the culture medium in the culture medium storage tank and inject it into the centrifuge bottle after centrifugation, and to aspirate the cell suspension in the centrifuge bottle after injecting the culture medium and inject it into the dispensing assembly.

[0029] Furthermore, the clamping station has an electric gripper assembly, which is used to fix the body of the centrifuge bottle so as to cooperate with the clamping and rotating mechanism to open or tighten the cap of the centrifuge bottle.

[0030] Furthermore, the first suction mechanism has two first needles and a first peristaltic pump. One of the first needles is connected to the X-axis horizontal linear module through the lifting module and is used to inject liquid into the centrifuge bottle. The other first needle is set at an angle and is used to extract liquid from the cell factory.

[0031] The second suction mechanism has two suction units, and each suction unit includes a second needle and a second peristaltic pump. The two second needles are arranged side by side and adjacent to each other, and are both connected to the X-axis horizontal linear module through a lifting module.

[0032] One of the second needles is used to draw liquid from the culture medium storage tank and inject the liquid into a centrifuge bottle, while the other second needle is used to draw liquid from the centrifuge bottle and inject the liquid into the mother bag of the dispensing component.

[0033] Furthermore, the cell harvesting area also has a built-in centrifuge bottle storage rack, which is located on the opposite side of the centrifuge bottle pipetting and cap opening / closing assembly, and the first transfer mechanism is located between the centrifuge bottle storage rack and the centrifuge bottle pipetting and cap opening / closing assembly.

[0034] Furthermore, the cell factory pipetting and cap opening / closing assembly includes: a support plate, multiple dispensing needles, and a four-axis robot;

[0035] The support plate has a horizontal surface and a vertical surface;

[0036] The horizontal surface is provided with multiple pinholes, and multiple liquid injection needles are inserted into the pinholes of the support plate;

[0037] A third peristaltic pump, matching the number of liquid injection needles, is installed on the vertical surface;

[0038] Below the support plate are multiple sets of storage tanks for storing different culture media, and the storage tanks are connected to the corresponding liquid injection needles through the third peristaltic pump;

[0039] The four-axis robot is positioned above the support plate and has an electric rotating gripper at its output end.

[0040] The electric rotary gripper is used to open or tighten the cover of the cell factory and to hold the liquid injection needle to be inserted into the cell factory for liquid injection.

[0041] Furthermore, a detection component is also provided in the cell seeding and medium exchange area, the detection component including an inverted microscope;

[0042] The second transfer mechanism is also used to transfer the cell factory in the cell factory incubator to the stage of the inverted microscope to observe the growth status of the cells in the cell factory and determine whether the cell factory needs to be changed.

[0043] Furthermore, both the first transfer mechanism and the second transfer mechanism are six-axis robots.

[0044] Furthermore, the cell culture chamber includes a base and a frame;

[0045] The frame and the base together form the process operation cavity with an opening on one side;

[0046] The cell factory incubator is sealed to the opening of the process operation chamber.

[0047] Compared with the prior art, the present invention has at least the following beneficial effects:

[0048] By dividing the process operating chamber into a cell harvesting area and a cell inoculation and medium exchange area, which respectively undertake the tasks of cell harvesting and dispensing, cell inoculation, and cell medium exchange, the system automates the entire cell culture process. The cell harvesting area is equipped with a centrifuge bottle pipetting and capping assembly, a centrifugation assembly, a dispensing assembly, and a first transfer mechanism. The cell inoculation and medium exchange area is equipped with a cell factory pipetting and capping assembly and a second transfer mechanism. The first transfer mechanism facilitates the transfer of centrifuge bottles between the centrifuge bottle pipetting and capping assembly and the centrifugation assembly, working in conjunction with the centrifuge bottle pipetting and capping assembly to perform cap opening and closing, liquid injection, and aspiration operations. This allows the dispensing assembly to smoothly receive and dispense the cell suspension from the centrifuge bottles, completing cell harvesting and dispensing. Simultaneously, the second transfer mechanism facilitates the transfer of cell factory components between the cell factory pipetting and capping assembly, the cell factory incubator, and the centrifuge bottle pipetting and capping assembly, working in conjunction with the cell factory pipetting and capping assembly to perform cap opening and closing, liquid injection, and aspiration operations, completing cell inoculation and medium exchange. This achieves fully automated operation of the cell culture process, reducing manual intervention, lowering the risk of contamination, and improving production efficiency and product quality. Attached Figure Description

[0049] Figure 1This is a front view of an automated cell drug production equipment according to an embodiment of the present invention;

[0050] Figure 2 This is a top sectional view of an automated cell drug production equipment according to an embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram of the centrifuge bottle pipetting and cap opening / closing assembly of an automated cell drug production equipment according to an embodiment of the present invention;

[0052] Figure 4 This is a schematic diagram of the structure of the centrifuge bottle pipetting and cap opening / closing assembly of the automated cell drug production equipment in one embodiment of the present invention, when combined with the culture medium storage tank.

[0053] Figure 5 This is a schematic diagram of the cell factory pipetting and opening / closing cap assembly of an automated cell drug production equipment according to an embodiment of the present invention;

[0054] Figure 6 This is a schematic diagram of the structure of the cell factory pipetting and opening / closing cap assembly of the automated cell drug production equipment in one embodiment of the present invention, when combined with the storage tank.

[0055] Icon labels:

[0056] 1. First transshipment agency;

[0057] 2. Sub-assembly of components;

[0058] 3. Centrifuge bottle pipetting and cap opening / closing assembly; 31. Positioning frame; 311. Clamping station; 32. X-axis horizontal linear module; 33. Clamping and rotating mechanism; 34. First suction mechanism; 35. Second suction mechanism;

[0059] 4. Waste liquid pouring outlet;

[0060] 5. Stack;

[0061] 6. Cell factory pipetting and capping assembly; 61. Support plate; 62. Addition needle; 63. Four-axis robot; 631. Electric rotary gripper;

[0062] 7. Cell factory incubator;

[0063] 8. Detection components;

[0064] 9. Second transshipment facility;

[0065] 10. Centrifuge assembly;

[0066] 11. Base;

[0067] 12. Centrifuge bottle storage rack;

[0068] 13. Framework;

[0069] 14. Culture medium storage container;

[0070] 15. Liquid storage tank. Detailed Implementation

[0071] The automated cell drug production equipment of this invention will now be described in more detail with reference to the schematic diagrams, which illustrate preferred embodiments of this invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0072] The present invention will be described in more detail below by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0073] like Figure 1 and Figure 2 As shown in the figure, this utility model embodiment proposes an automated cell drug production equipment, including: a process operation chamber and a cell factory incubator 7.

[0074] The cell factory incubator 7 has an inlet / outlet for the cell factory to enter and exit, and the inlet / outlet is connected to the process operation chamber. This allows the cell factory to be transferred to the process operation chamber or input into the cell factory incubator 7 via the inlet / outlet, for automated reception and output of the cell factory.

[0075] The process operation chamber has a cell harvesting area and a cell inoculation and medium exchange area, which are used to complete cell harvesting and dispensing, cell inoculation and cell medium exchange, respectively.

[0076] In this embodiment, the cell harvesting area is equipped with a centrifuge bottle pipetting and cap opening / closing assembly 3, a centrifugation assembly 10, a dispensing assembly 2, and a first transfer mechanism 1.

[0077] The centrifuge bottle pipetting and capping assembly 3 is used for opening and closing the cap of the centrifuge bottle, and for injecting and drawing liquid from the centrifuge bottle.

[0078] The dispensing component 2 is connected to the centrifuge bottle pipetting and cap opening / closing component 3 via a pipeline, and is used to receive and dispense the cell suspension inside the centrifuge bottle.

[0079] The first transfer mechanism 1 is used to transfer centrifuge bottles between the centrifuge bottle pipetting and cap opening / closing assembly 3 and the centrifugation assembly 10. Specifically, the first transfer mechanism 1 uses the centrifuge bottle containing the inoculated and replaced cell factory liquid to transfer it from the centrifuge bottle pipetting and cap opening / closing assembly 3 to the centrifugation assembly 10 to complete the centrifugation operation. After the waste liquid is poured out, the centrifuge bottle is transferred back to the centrifuge bottle pipetting and cap opening / closing assembly 3 to cooperate with the dispensing assembly 2 to complete cell harvesting and dispensing.

[0080] The cell seeding and medium exchange area is equipped with a cell factory pipetting and opening / closing cap assembly 6 and a second transfer mechanism 9.

[0081] The cell factory pipetting and capping assembly 6 is used for opening and closing the cap of the cell factory and for injecting and aspirating liquids within the cell factory.

[0082] The second transfer mechanism 9 is used to transfer the cell factory between the cell factory pipetting and capping assembly 6, the cell factory incubator 7, and the centrifuge bottle pipetting and capping assembly 3.

[0083] This device divides the process operating chamber into a cell harvesting area and a cell inoculation and medium exchange area, which respectively undertake the tasks of cell harvesting and dispensing, cell inoculation, and cell medium exchange. The cell harvesting area is equipped with a centrifuge bottle pipetting and cap opening / closing assembly 3, a centrifugation assembly 10, a dispensing assembly 2, and a first transfer mechanism 1. The cell inoculation and medium exchange area is equipped with a cell factory pipetting and cap opening / closing assembly 6 and a second transfer mechanism 9. The first transfer mechanism 1 enables the transfer of centrifuge bottles between the centrifuge bottle pipetting and cap opening / closing assembly 3 and the centrifugation assembly 10. Working in conjunction with the centrifuge bottle pipetting and cap opening / closing assembly 3, it completes the cap opening / closing, liquid injection, and aspiration operations of the centrifuge bottles, allowing the dispensing assembly 2 to smoothly receive and dispense the cell suspension from the centrifuge bottles, thus completing cell harvesting and dispensing. Simultaneously, the second transfer mechanism 9 enables the transfer of the cell factory between the cell factory pipetting and cap opening / closing assembly 6, the cell factory incubator 7, and the centrifuge bottle pipetting and cap opening / closing assembly 3. Working in conjunction with the cell factory pipetting and cap opening / closing assembly 6, it completes the cap opening / closing, liquid injection, and aspiration operations of the cell factory, thus completing cell inoculation and medium exchange. The goal is to achieve fully automated cell culture operations, reduce manual intervention, lower the risk of contamination, and improve production efficiency and product quality.

[0084] In a further embodiment, since the cell factory needs to be stored and retrieved in an orderly manner before and after inoculation and medium change, manual handling is prone to operational errors and affects efficiency. Therefore, a stack 5 is added to realize automated storage management of the cell factory. In addition, since the waste liquid after centrifugation and the waste liquid generated during medium change need to be treated in a timely manner during cell culture, manual dumping is prone to increase the risk of contamination and is cumbersome. Therefore, a waste liquid dumping port 4 is added so that the waste liquid can be automatically dumped during the transfer of centrifuge bottles and cell factory. The specific arrangement is shown below.

[0085] A stack 5 is provided in the cell inoculation and medium exchange area, and the stack 5 is used to place the cell factory.

[0086] The bottom wall of the cell operation chamber is provided with a waste liquid pouring port 4, which is located between the first transfer mechanism 1 and the second transfer mechanism 9.

[0087] The first transfer mechanism 1 is used to transfer centrifuge bottles between the centrifuge bottle pipetting and cap opening / closing assembly 3, the centrifugation assembly 10, and the waste liquid pouring port 4. By transferring centrifuge bottles between the centrifuge bottle pipetting and cap opening / closing assembly 3, the centrifugation assembly 10, and the waste liquid pouring port 4 through the first transfer mechanism 1, the entire process of centrifuge bottle handling, centrifugation, waste liquid pouring, and dispensing is automated, avoiding manual intervention and improving the efficiency and sterility of the cell harvesting process.

[0088] The second transfer mechanism 9 is used to transfer the cell factory between the stack 5, the cell factory pipetting and capping assembly 6, the waste liquid pouring port 4, the cell factory incubator 7, and the centrifuge bottle pipetting and capping assembly 3. By automatically transferring the cell factory from the stack 5 to the cell factory pipetting and capping assembly 6 to complete the inoculation or medium change operation, and then transferring it to the cell factory incubator 7 for culture, the waste liquid generated during medium change is treated through the waste liquid pouring port 4. Alternatively, according to process requirements, the cell factory can be transferred to the centrifuge bottle pipetting and capping assembly 3 to exchange materials with the centrifuge bottle (such as transferring cell suspension), thus realizing the fully automated flow of the cell factory from storage, inoculation and medium change, culture, waste liquid treatment to cross-regional material transfer.

[0089] like Figure 3 and Figure 4 As shown, in a further embodiment, a specific centrifuge bottle pipetting and cap opening / closing assembly 3 is also proposed to better realize functions such as opening and closing the centrifuge bottle cap, injecting the inoculated and medium-replaced cell factory into the centrifuge bottle, inputting the culture medium into the centrifuge bottle after centrifugation, and aspirating the cell suspension in the centrifuge bottle after injecting the culture medium.

[0090] The centrifuge bottle pipetting and cap opening / closing assembly 3 includes a positioning frame 31, an X-axis horizontal linear module 32, a clamping and rotating mechanism 33, a first suction mechanism 34, and a second suction mechanism 35.

[0091] The positioning frame 31 has at least two clamping stations 311, which are used for positioning the initial centrifuge bottle and positioning the centrifuge bottle after centrifugation, respectively.

[0092] Furthermore, a Y-axis horizontal linear module is provided in the middle of the positioning frame 31, and a bottle cap placement platform is installed on the Y-axis horizontal linear module, so that the clamping and rotating mechanism 33 can accurately place the bottle cap on the bottle cap placement platform, and the bottle cap on the bottle cap placement platform will not interfere with the movement of the clamping and rotating mechanism 33 through the drive of the Y-axis horizontal linear module.

[0093] The X-axis horizontal linear module 32 is positioned above the positioning frame 31 and is used to drive the clamping rotation mechanism 33, the first suction mechanism 34 and the second suction mechanism 35 to move along the X-axis direction and move to the position above the clamping station 311 to complete different functions.

[0094] Specifically, the clamping and rotating mechanism 33 is connected to the X-axis horizontal linear module 32 via a lifting module, and can move between the two clamping stations 311 for unscrewing or tightening the cap of the centrifuge bottle.

[0095] The first suction mechanism 34 and the second suction mechanism 35 are also connected to the X-axis horizontal linear module 32 through the lifting module and are located on both sides of the clamping and rotating mechanism 33.

[0096] In this embodiment, a culture medium storage tank 14 is provided on one side of the centrifuge bottle pipetting and cap opening / closing assembly 3. The first suction mechanism 34 is used to aspirate liquid from the cell factory and inject it into the initial centrifuge bottle. The second suction mechanism 35 is used to aspirate the culture medium in the culture medium storage tank 14 and inject it into the centrifuge bottle after centrifugation, and to aspirate the cell suspension in the centrifuge bottle after injecting the culture medium and inject it into the dispensing assembly 2.

[0097] To facilitate the explanation of the cell harvesting process, a cell harvesting method is proposed here, which specifically includes the following steps:

[0098] An initial centrifuge bottle is placed on the clamping station 311, and the cap of the initial centrifuge bottle is opened by the clamping and rotating mechanism 33, and the opened cap is placed on the cap placement platform.

[0099] The liquid in the inoculated and replaced cell factory is injected into the initial centrifuge bottle through the first suction mechanism 34, and the cap of the initial centrifuge bottle is closed by the clamping and rotating mechanism 33 to obtain a centrifuge bottle containing cell fluid.

[0100] The first transfer mechanism 1 is controlled to move the centrifuge bottle containing cell fluid into the centrifugation assembly 10 for centrifugation.

[0101] After centrifugation, the centrifuge bottle is reinserted into the clamping station 311, and the cap is opened with the help of the clamping and rotating mechanism 33.

[0102] The first transfer mechanism 1 controls the discharge of waste liquid from the centrifuge bottle after centrifugation to the waste liquid pouring port 4. After discharge, the cap is closed under the action of the clamping and rotating mechanism 33 and the clamping station 311.

[0103] The culture medium in the culture medium storage tank 14 is injected into the centrifuge bottle after centrifugation through the injection end of the second suction mechanism 35. After the injection is completed, the cell fluid in the centrifuge bottle is drawn into the dispensing component 2 through the suction end of the second suction mechanism 35 to complete the harvesting and dispensing of cells.

[0104] In a further embodiment, the clamping station 311 is further defined to facilitate the opening or closing of the cap in conjunction with the clamping and rotating mechanism 33. Specifically, the clamping station 311 has an electric gripper assembly for fixing the body of the centrifuge bottle to cooperate with the clamping and rotating mechanism 33 to unscrew or tighten the cap of the centrifuge bottle.

[0105] In other embodiments, the first suction mechanism 34 and the second suction mechanism 35 are further described.

[0106] Specifically, the first suction mechanism 34 has two first needles and a first peristaltic pump. One of the first needles is connected to the X-axis horizontal linear module 32 through the lifting module and is used to inject liquid into the centrifuge bottle. The other first needle is set at an angle and is used to extract liquid from the cell factory.

[0107] The second suction mechanism 35 has two suction units (i.e., the injection end and the suction end of the second suction mechanism 35), and each suction unit includes a second needle and a second peristaltic pump. The two second needles are arranged side by side and adjacent to each other, and are both connected to the X-axis horizontal linear module 32 through the lifting module.

[0108] One of the second needles is used to draw liquid from the culture medium storage tank 14 and inject the liquid into a centrifuge bottle, while the other second needle is used to draw liquid from the centrifuge bottle and inject the liquid into the mother bag of the dispensing component 2.

[0109] In this embodiment, the cell harvesting area is also equipped with a centrifuge bottle storage rack 12, which is located on the opposite side of the centrifuge bottle pipetting and cap opening / closing assembly 3. The first transfer mechanism 1 is located between the centrifuge bottle storage rack 12 and the centrifuge bottle pipetting and cap opening / closing assembly 3 to better realize the recycling of centrifuge bottles.

[0110] like Figure 5 and Figure 6 As shown, in other embodiments, a specific cell factory pipetting and capping assembly 6 is also proposed to better perform capping and liquid changing operations on the cell factory.

[0111] The cell factory pipetting and capping assembly 6 includes: a support plate 61, multiple dispensing needles 62, and a four-axis robot 63.

[0112] The supporting plate 61 has a horizontal plane and a vertical plane.

[0113] The horizontal surface is provided with multiple pinholes, and multiple liquid injection needles 62 are inserted into the pinholes of the support plate 61, while a third peristaltic pump matching the number of liquid injection needles 62 is installed on the vertical surface.

[0114] Furthermore, multiple storage tanks 15 for storing different culture media are arranged below the support plate 61. Each storage tank 15 is connected to a corresponding injection needle 62 via the third peristaltic pump, enabling media replacement in the cell factory through injection via the injection needle 62. In this embodiment, four storage tanks 15 are provided, respectively for storing culture medium, PBS, digestion solution, and cell seed suspension.

[0115] The four-axis robot 63 is positioned above the support plate 61, and its output end has an electric rotating gripper 631. The electric rotating gripper 631 is used to open or tighten the cover of the cell factory and to hold the liquid injection needle 62 to extend into the cell factory for liquid injection.

[0116] In addition, such as Figure 1 As shown, a detection component 8 is also provided in the cell seeding and medium exchange area, and the detection component 8 includes an inverted microscope.

[0117] The second transfer mechanism 9 is also used to transfer the cell factory in the cell factory incubator 7 to the stage of the inverted microscope to observe the growth status of the cells in the cell factory and determine whether the cell factory needs a medium change. If a medium change is needed, the cell factory is moved between the waste liquid outlet 4 and the centrifuge bottle pipetting and cap opening / closing assembly 3 by the second transfer mechanism 9 and the centrifuge bottle pipetting and cap opening / closing assembly 3 to complete the functions of opening the cell factory cap, discharging waste liquid, adding liquid, and closing the cap after adding liquid in sequence; if a medium change is not needed, the cell factory is reintroduced into the cell factory incubator 7 by the second transfer mechanism 9 to await subsequent medium change operations.

[0118] To better illustrate the process of cell seeding and medium change, a cell seeding and medium change method is proposed here, which includes the following two steps.

[0119] Vaccination steps:

[0120] The second transfer mechanism 9 controls the unprocessed cell factory on the stack 5 to be input into the centrifuge bottle pipetting and cap opening / closing assembly 3, so that the cap opening, liquid injection by the dosing needle 62 and cap closing operations are completed sequentially with the cooperation of the electric rotating gripper 631.

[0121] Then, the second transfer mechanism 9 is controlled to input the inoculated cell factory into the cell factory incubator 7 for static culture, thus completing the cell inoculation function.

[0122] Fluid replacement steps:

[0123] Cell Factory Incubator 7 outputs a post-inoculation cell factory;

[0124] The second transport mechanism 9 controls the transfer of the inoculated cell factory to the detection component 8;

[0125] If the detection component 8 detects that the inoculated cell factory does not meet the medium replacement requirements, the second transfer mechanism 9 will re-inoculate the inoculated cell factory into the cell factory incubator 7 and repeat the above steps.

[0126] If the detection component 8 detects that the cell factory after inoculation meets the medium change requirements, the second transfer mechanism 9 inputs it into the centrifuge bottle pipetting and cap opening and closing assembly 3 to open the cap, and inputs it into the waste liquid pouring port 4 for waste liquid pouring.

[0127] After the waste liquid is poured out, the second transfer mechanism 9 is controlled to re-input it into the centrifuge bottle transfer and cap opening / closing assembly 3 for culture medium injection and cap closing operations.

[0128] Finally, under the action of the second transport mechanism 9, the inoculated and medium-changed cell factory is transported back to the cell factory incubator 7 to complete the cell medium change operation.

[0129] It should be noted that when the cell harvesting process is required, the second transfer mechanism 9 can input the inoculated and medium-changed cell factory into the centrifuge bottle pipetting and cap opening / closing assembly 3 to realize the supply of the inoculated and medium-changed cell factory.

[0130] In this embodiment, both the first transfer mechanism 1 and the second transfer mechanism 9 are six-axis robots.

[0131] In a further embodiment, the cell culture chamber includes a base 11 and a frame 13, the frame 13 and the base 11 together forming the process operation chamber with an opening on one side, and the cell factory incubator 7 is sealed to the opening of the process operation chamber to ensure the sterility of the operating environment.

[0132] It should be noted that the inlet and outlet of the cell factory incubator 7 have two states. When cell culture is being carried out, the inlet and outlet of the cell factory incubator 7 are closed; when the culture is completed, the inlet and outlet of the cell factory incubator 7 are opened, and the cell factory in the cell factory incubator 7 is transferred to the process operation chamber through the inlet and outlet for subsequent process operations.

[0133] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A cell drug automated production apparatus characterized by, include: Process operation chamber and cell factory incubator (7); The cell factory incubator (7) has an inlet / outlet for the cell factory to enter and exit, and the inlet / outlet is connected to the process operation chamber; The process operation chamber includes a cell harvesting area and a cell inoculation and medium exchange area. The cell harvesting area is equipped with a centrifuge bottle pipetting and cap opening / closing assembly (3), a centrifugation assembly (10), a dispensing assembly (2), and a first transfer mechanism (1); The centrifuge bottle pipetting and capping assembly (3) is used for opening and closing the cap of the centrifuge bottle, injecting and drawing liquid from the centrifuge bottle; The dispensing component (2) is connected to the centrifuge bottle pipetting and cap opening / closing component (3) via a pipeline and is used to receive and dispense the cell suspension inside the centrifuge bottle; The first transfer mechanism (1) is used to transfer the centrifuge bottle between the centrifuge bottle pipetting and cap opening / closing assembly (3) and the centrifugation assembly (10); The cell seeding and medium exchange area is equipped with a cell factory pipetting and opening / closing cap assembly (6) and a second transfer mechanism (9); The cell factory pipetting and opening / closing assembly (6) is used for opening and closing the cell factory and for injecting and aspirating liquids within the cell factory. The second transfer mechanism (9) is used to transfer the cell factory between the cell factory pipetting and capping assembly (6), the cell factory incubator (7), and the centrifuge bottle pipetting and capping assembly (3).

2. The cell drug automated production apparatus according to claim 1, wherein A stack (5) is provided in the cell seeding and medium exchange area, and the stack (5) is used to place the cell factory; The bottom wall of the cell operation chamber is provided with a waste liquid pouring port (4), which is located between the first transfer mechanism (1) and the second transfer mechanism (9). The first transfer mechanism (1) is used to transfer the centrifuge bottle between the centrifuge bottle pipetting and cap opening assembly (3), the centrifugation assembly (10), and the waste liquid pouring port (4); The second transfer mechanism (9) is used to transfer the cell factory between the stack (5), the cell factory pipetting and capping assembly (6), the waste liquid pouring port (4), the cell factory incubator (7), and the centrifuge bottle pipetting and capping assembly (3).

3. The cell drug automated production apparatus according to claim 1, wherein The centrifuge bottle pipetting and cap opening / closing assembly (3) includes a positioning frame (31), an X-axis horizontal linear module (32), a clamping and rotating mechanism (33), a first suction mechanism (34), and a second suction mechanism (35); The positioning frame (31) has at least two clamping stations (311), which are used for positioning the initial centrifuge bottle and positioning the centrifuge bottle after centrifugation, respectively. Furthermore, a Y-axis horizontal linear module is provided in the middle of the positioning frame (31), and a bottle cap placement platform is installed on the Y-axis horizontal linear module. The X-axis horizontal linear module (32) is positioned above the positioning frame (31); The clamping and rotating mechanism (33) is connected to the X-axis horizontal linear module (32) through the lifting module and can move between the two clamping stations (311) for unscrewing or tightening the cap of the centrifuge bottle; The first suction mechanism (34) and the second suction mechanism (35) are also connected to the X-axis horizontal linear module (32) through the lifting module and are located on both sides of the clamping and rotating mechanism (33); The first suction mechanism (34) is used to draw liquid from the cell factory and inject it into the initial centrifuge bottle; Among them, a culture medium storage tank (14) is provided on one side of the centrifuge bottle pipetting and cap opening and closing assembly (3); The second suction mechanism (35) is used to aspirate the culture medium in the culture medium storage tank (14) and inject it into the centrifuge bottle after centrifugation, and to aspirate the cell suspension in the centrifuge bottle after injecting the culture medium and inject it into the dispensing component (2).

4. The cell drug automated production apparatus according to claim 3, wherein The clamping station (311) has an electric gripper assembly, which is used to fix the body of the centrifuge bottle so as to cooperate with the clamping and rotating mechanism (33) to open or tighten the cap of the centrifuge bottle.

5. The cell drug automated production apparatus according to claim 3, wherein The first suction mechanism (34) has two first needles and a first peristaltic pump. One of the first needles is connected to the X-axis horizontal linear module (32) through the lifting module and is used to inject liquid into the centrifuge bottle. The other first needle is set at an angle and is used to extract liquid from the cell factory. The second suction mechanism (35) has two suction units, and each suction unit includes a second needle and a second peristaltic pump. The two second needles are arranged side by side and adjacent to each other, and are connected to the X-axis horizontal linear module (32) through the lifting module. One of the second needles is used to draw liquid from the culture medium storage tank (14) and inject the liquid into a centrifuge bottle, while the other second needle is used to draw liquid from the centrifuge bottle and inject the liquid into the mother bag of the dispensing component (2).

6. The cell drug automated production apparatus according to claim 1, wherein The cell harvesting area also has a built-in centrifuge bottle storage rack (12), which is located on the opposite side of the centrifuge bottle pipetting and cap opening / closing assembly (3), and the first transfer mechanism (1) is located between the centrifuge bottle storage rack (12) and the centrifuge bottle pipetting and cap opening / closing assembly (3).

7. The cell drug automated production apparatus according to claim 1, wherein The cell factory pipetting and cap opening / closing assembly (6) includes: a support plate (61), multiple dispensing needles (62), and a four-axis robot (63); The support plate (61) has a horizontal surface and a vertical surface; The horizontal surface is provided with a plurality of pinholes, and a plurality of liquid injection needles (62) are inserted into the pinholes of the support plate (61); A third peristaltic pump, matching the number of liquid injection needles (62), is installed on the vertical surface; Below the support plate (61) are multiple sets of storage tanks (15) for storing different culture media. The storage tanks (15) are connected to the corresponding liquid injection needles (62) through the third peristaltic pump. The four-axis robot (63) is positioned above the support plate (61) and has an electric rotating gripper (631) at its output end; The electric rotary gripper (631) is used to open or tighten the cover of the cell factory and to hold the liquid injection needle (62) inserted into the cell factory for liquid injection.

8. The cell drug automated production apparatus according to claim 1, wherein The cell seeding medium exchange area is also equipped with a detection component (8), which includes an inverted microscope; The second transfer mechanism (9) is also used to transfer the cell factory in the cell factory incubator (7) to the stage of the inverted microscope to observe the growth status of the cells in the cell factory and determine whether the cell factory needs to be changed.

9. The cell drug automated production apparatus according to claim 1, wherein Both the first transfer mechanism (1) and the second transfer mechanism (9) are six-axis robots.

10. The cell drug automated production apparatus according to claim 1, wherein The cell culture chamber includes a base (11) and a frame (13); The frame (13) and the base (11) together form the process operation cavity with an opening on one side; The cell factory incubator (7) is sealed to the opening of the process operation chamber.

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