Cell Culture Systems

Abstract

The present invention relates to a cell culture system comprising: a body; a movable table having a storage space for storing a culture bag containing a culture medium so that the culture medium can be mixed, and installed so as to be capable of tilting in multiple directions by a central joint installed at a first position of the body; a first actuator installed between the body and a second position of the movable table so as to move the movable table; a second actuator installed between the body and a third position of the movable table so as to move the movable table; and a control unit that applies control signals to the first actuator and the second actuator.

Description

[Technical Field]

[0001] The present invention relates to a cell culture system, and more particularly to a cell culture system that mixes media capable of culturing animal and plant cells for producing pharmaceutical raw materials such as proteins or vaccine raw materials, and enables the cells to be cultured. [Background technology]

[0002] Generally, the cell culture industry, which cultivates animal and plant cells, uses a variety of devices, such as medium mixing devices that mix the medium (culture solution) so that it can be adapted to the culture environment, cell culture devices that can cultivate animal and plant cells in the medium, separation and purification devices that separate desired raw materials from the medium, and other genetic manipulation devices.

[0003] Recently, with the growth of the animal cell culture industry, cell culture systems used in bioprocesses may employ various devices that rotate and mix media using impellers, propellers, etc.

[0004] However, conventional cell mixing methods using such impellers or propellers have many problems, such as the impellers or propellers coming into direct contact with the cells, which can cause cell damage due to shear force, the complex shapes of the impellers or propellers making them difficult to clean completely, which can lead to contamination, and the additional cost of manufacturing the impellers or propellers. Summary of the Invention [Problem to be solved by the invention]

[0005] Conventional culture medium mixing devices use a motor with a stirring wheel to uniformly mix the culture medium contained inside a disposable culture bag. However, such culture medium mixing devices cannot mix the culture medium in various directions, and as the volume of the culture medium to be mixed increases, the required size and number of wheels, as well as the scale, specifications, specifications, and performance of the motor, increase, resulting in a problem of significantly increasing the cost of manufacturing and producing the device.

[0006] Furthermore, conventional culture medium mixers are inefficient due to mechanical limitations such as the rotating wheel, which reduces culture medium mixing performance and wastes a lot of energy, resulting in the inability to improve product performance.

[0007] In addition, conventional culture medium mixers can only mix culture media, so users have to mix the media in the cell culture system, then move the culture bag and culture the cells in a separate culture device, which makes the culture process cumbersome.

[0008] The present invention aims to solve these conventional problems by providing a cell culture system that can mix culture media in multiple directions, including front, back, left, right, up, down, etc., thereby increasing the degree of freedom and mixing of culture media; that has a semi-permanent lifespan because the first actuator, the second actuator, and the auxiliary joint are precisely positioned at 120° intervals from each other relative to the central joint, thereby ensuring stable operation even after multiple cycles; that uses multiple links to significantly improve the size, performance, efficiency, and productivity of the device, thereby significantly reducing costs, manufacturing, and production time; and that can mix culture media and simultaneously culture cells in the culture media. However, these problems are merely examples and are not intended to limit the scope of the present invention. [Means for solving the problem]

[0009] The cell culture system according to the concept of the present invention for solving the above problems includes a body; a movable platform having a storage space for storing a culture bag containing a culture medium so that the culture medium can be mixed, the movable platform being installed so as to be tiltable in multiple directions by a central joint installed at a first position of the body; a first actuator installed between the body and a second position of the movable platform so as to move the movable platform; a second actuator installed between the body and a third position of the movable platform so as to move the movable platform; and a control unit applying control signals to the first actuator and the second actuator. The body includes a main frame having the first actuator installed on a left side, the second actuator installed on a right side, and the central joint installed at the center; a case for protecting the main frame; and a plurality of caster wheels installed on the main frame. The body further includes a wheel frame installed between the caster wheels and the main frame; and a plurality of load cells installed between the main frame and the wheel frame. The load cell is installed at a position corresponding to the caster wheel to acquire a load signal of a load applied to the ground, and the control unit compares a reference load signal applied from the load cell when the fluid flow characteristics of the culture medium are normal and stored in advance with a real-time load signal applied from the load cell to determine whether the culture medium is operating normally or abnormally, and applies control signals to the first actuator and the second actuator so as to follow the normal state.

[0010] Also, according to the present invention, the device may further include an auxiliary joint portion installed between the body and the fourth position of the movable table to prevent vibration of the movable table.

[0011] Furthermore, according to the present invention, a first angle between a first reference line extending from the first position to the second position and a second reference line extending from the first position to the third position may be 120°, a second angle between the second reference line and a third reference line extending from the first position to the fourth position may be 120°, and a third angle between the third reference line and the first reference line may be 120°.

[0012] Furthermore, according to the present invention, the first actuator and the second actuator may include: a motor installed in the body; a first link rotated by the motor; and a second link having one end linked to the first link and the other end linked to the movable table.

[0013] Also, according to the present invention, the central joint portion may include a universal joint.

[0014] Furthermore, according to the present invention, the movable platform may include a box-shaped culture medium storage tank having an opening formed at the top and the storage space formed therein; a lid for covering the opening of the culture medium storage tank; a temperature control device installed on the bottom surface of the culture medium storage tank so as to adjust the temperature of the culture medium; and a storage tank frame installed on the bottom surface of the culture medium storage tank so as to support the culture medium storage tank.

[0015] According to the present invention, the movable table may further include a culture bag pressing device that pressurizes the culture bag when the culture bag accommodated in the accommodation space is expanded.

[0016] Furthermore, according to the present invention, the culture bag pressing device can include a pressing frame consisting of a horizontal bar and a vertical bar.

[0017] Furthermore, according to the present invention, the movable table further includes a pressing actuator installed on the lid for raising and lowering the culture bag pressing device; and an expansion pressure measuring device for measuring the expansion pressure transmitted to the pressing frame; and the control unit can apply a lifting and lowering control signal to the pressing actuator in response to an expansion pressure measurement signal from the expansion pressure measuring device.

[0018] Furthermore, according to the present invention, the case may be formed with a link hole on the top surface through which the second link passes loosely so that at least a portion of the first link or the second link can be housed inside.

[0019] Furthermore, according to the present invention, the control unit can select at least one of a first actuator up-second actuator up control signal, a first actuator up-second actuator down control signal, a first actuator down-second actuator up control signal, and a first actuator down-second actuator down control signal and apply it to the first actuator and the second actuator so as to continuously tilt the movable platform in the forward / backward and left / right directions.

[0020] Furthermore, according to the present invention, the control unit can apply a temporary interruption control signal that controls the movable platform to tilt continuously in the forward / backward and left / right directions, and suspends operation for a certain period of time and then resumes operation.

[0021] Furthermore, according to the present invention, the control unit controls the movable platform to tilt continuously in the forward / backward and left / right directions, and when the operation is interrupted midway and then restarted, it can apply an original position control signal that returns the movable platform to the interrupted state or to a horizontal state.

[0022] Furthermore, according to the present invention, when both the first actuator and the second actuator are raised and both the second position and the third position are raised, the movable table can tilt backward, and when both the first actuator and the second actuator are lowered and both the second position and the third position are lowered, the movable table can tilt forward.

[0023] Furthermore, according to the present invention, when the first actuator is raised and the second actuator is lowered, the second position is raised and the third position is lowered, the movable table tilts to the right, and when the first actuator is lowered and the second actuator is raised, the second position is lowered and the third position is raised, the movable table tilts to the left.

[0024] The cell culture system according to the concept of the present invention for solving the above problems includes a body; a movable platform having a storage space for storing a culture bag containing a culture medium so that the culture medium can be mixed, and installed so as to be tiltable in multiple directions by a central joint installed at a first position of the body; a first actuator installed between the body and a second position of the movable platform so as to move the movable platform; a second actuator installed between the body and a third position of the movable platform so as to move the movable platform; and a control unit that applies control signals to the first actuator and the second actuator; and a first reference line extending from the first position to the second position, a second reference line extending from the first position to the third position, and a third reference line extending from the first position to the third position. a second reference line extending to the third position from the first position, and a third reference line extending to a fourth position from the first position, and an angle between the third reference line and the first reference line is the same as an angle between the third reference line and the second reference line; the body includes a main frame on which the first actuator is installed on the left side, the second actuator is installed on the right side, and the central joint unit is installed at the center; a case for protecting the main frame; and a plurality of caster wheels installed on the main frame; and the body includes a wheel frame installed between the caster wheels and the main frame; and a plurality of load cells installed between the main frame and the wheel frame. The load cell is installed at a position corresponding to the caster wheel to acquire a load signal of a load applied to the ground, and the control unit compares a reference load signal applied from the load cell when the fluid flow characteristics of the culture medium are normal and stored in advance with a real-time load signal applied from the load cell to determine whether the culture medium is operating normally or abnormally, and applies control signals to the first actuator and the second actuator so as to follow the normal state.

[0025] The cell culture system according to the concept of the present invention for solving the above problems includes a body; a movable platform having a storage space for storing a culture bag containing a culture medium so that the culture medium can be mixed, the movable platform being installed so as to be tiltable in multiple directions by a central joint installed at a first position of the body; a first actuator installed between the body and a second position of the movable platform so as to move the movable platform; a second actuator installed between the body and a third position of the movable platform so as to move the movable platform; and a control unit applying control signals to the first actuator and the second actuator. The movable platform further includes a culture bag pressing device for pressurizing the culture bag when the culture bag stored in the storage space is expanded. The body includes a main frame having the first actuator installed on a left side and the second actuator installed on a right side and the central joint installed at the center. A case for protecting the main frame; and a plurality of caster wheels installed on the main frame. The body further includes a wheel frame installed between the caster wheels and the main frame, and a plurality of load cells installed between the main frame and the wheel frame. The load cell is installed at a position corresponding to the caster wheel to acquire a load signal of a load applied to the ground, and the control unit compares a reference load signal applied from the load cell when the fluid flow characteristics of the culture medium are normal and stored in advance with a real-time load signal applied from the load cell to determine whether the culture medium is operating normally or abnormally, and applies control signals to the first actuator and the second actuator so as to follow the normal state. [Effects of the Invention]

[0026] According to some embodiments of the present invention, the absence of an impeller or propeller can significantly reduce damage to cells contained in a culture medium, prevent contamination of the culture medium by an impeller or propeller, significantly reduce equipment manufacturing costs, enable multi-directional mixing of the culture medium, including front-back, left-right, and up-down, thereby increasing the degree of freedom and mixing of the culture medium, accurately position the first actuator, the second actuator, and the auxiliary joint at 120° intervals relative to the central joint, providing stable operation even after multiple cycles, thereby providing a semi-permanent lifespan, significantly improve the size, performance, efficiency, and productivity of the device by using multiple links, significantly reduce costs, manufacturing time, and production time, and enable mixing of the culture medium while culturing cells in the culture medium, and suppress or address the expansion of the culture bag due to biological gas. Of course, these effects are not intended to limit the scope of the present invention. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is a schematic perspective view of a cell culture system according to some embodiments of the present invention. FIG. [Figure 2] FIG. 2 is an exploded perspective view of the cell culture system of FIG. 1. [Figure 3] 3 is a perspective view showing a central joint, a first actuator, a second actuator, and an auxiliary joint of the cell culture system of FIG. 2. FIG. [Figure 4] FIG. 4 is a side view showing the operation state of the cell culture system of FIG. 3. [Figure 5] FIG. 4 is a front view showing the operating state of the cell culture system of FIG. 3. [Figure 6] FIG. 4 is a plan view showing the cell culture system of FIG. 3. [Figure 7] FIG. 10 is a schematic perspective view of a cell culture system according to some other embodiments of the present invention. [Figure 8] FIG. 8 is an exploded perspective view of the cell culture system of FIG. 7. [Figure 9] FIG. 10 is an external perspective view conceptually illustrating a cell culture system according to some further embodiments of the present invention. [Figure 10] FIG. 10 is an exploded perspective view of the cell culture system of FIG. 9. [Figure 11] FIG. 10 is an external perspective view conceptually illustrating a cell culture system according to some further embodiments of the present invention. [Figure 12] FIG. 12 is an exploded perspective view of the cell culture system of FIG. 11. [Figure 13] FIG. 10 is an external perspective view conceptually illustrating a cell culture system according to some further embodiments of the present invention. [Figure 14] FIG. 14 is an exploded perspective view of the cell culture system of FIG. 13. [Figure 15] 14 is a cross-sectional view showing a culture bag pressing device of the cell culture system of FIG. 13. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0028] Various preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0029] The examples of the present invention are provided to more completely explain the present invention to those skilled in the art, and the following examples can be modified into various other forms, and the scope of the present invention is not limited to the following examples. Rather, these examples are provided to make the present disclosure more complete and complete, and to fully convey the concept of the present invention to those skilled in the art. In addition, the thickness and size of each layer in the drawings are exaggerated for convenience and clarity of explanation.

[0030] Throughout the specification, when a component, such as a film, region, or substrate, is referred to as being located "on," "connected to," "stacked to," or "coupled to" another component, it can be interpreted as meaning that the component is directly in contact with the other component, "on," "connected to," "stacked to," or "coupled to," or that there may be another component intervening therebetween. Conversely, when a component is referred to as being located "directly on," "directly connected to," or "directly coupled to" another component, it is interpreted as meaning that there is no other component intervening therebetween. Like numbers refer to like components. As used herein, the term "and / or" includes any one and all combinations of one or more of the associated listed items.

[0031] In this specification, terms such as "first" and "second" are used to describe various members, components, regions, layers, and / or portions, but it is clear that these members, components, regions, layers, and / or portions should not be limited by these terms. These terms are used only to distinguish one member, component, region, layer, or portion from another region, layer, or portion. Therefore, a first member, component, region, layer, or portion described in detail below can refer to a second member, component, region, layer, or portion without departing from the teachings of the present invention.

[0032] Additionally, relative terms such as "above" or "upper" and "below" or "lower" may be used herein to describe the relationship of an element to other elements as illustrated in the drawings. Relative terms may be understood to be intended to include other orientations of the elements in addition to the orientation depicted in the drawings. For example, if an element is turned over in the drawings, an element depicted as being on top of another element will now have an orientation on the bottom of the other element. Thus, the exemplary term "above" can encompass both an orientation of "below" and "upper," depending on the particular orientation of the drawing. When an element is otherwise oriented (rotated 90 degrees relative to the other orientation), the relative descriptions used herein may be interpreted accordingly.

[0033] The terms used in this specification are used to describe specific embodiments and are not intended to limit the present invention. As used in this specification, the singular forms can include the plural forms unless the context clearly dictates otherwise. Furthermore, as used in this specification, the words "comprise" and / or "comprising" specify the presence of a stated shape, number, step, operation, member, element, and / or group thereof, but do not exclude the presence or addition of one or more other shapes, numbers, operations, members, elements, and / or groups.

[0034] Hereinafter, embodiments of the present invention will be described with reference to the drawings that schematically illustrate ideal embodiments of the present invention. In the drawings, variations in the illustrated shapes can be expected due to, for example, manufacturing techniques and / or tolerances. Therefore, embodiments of the concept of the present invention should not be interpreted as being limited to the specific shapes of regions illustrated in this specification, and should include, for example, variations in shapes that occur during manufacturing.

[0035] FIG. 1 is an external perspective view conceptually showing a cell culture system 100 according to some embodiments of the present invention, FIG. 2 is an exploded perspective view of the parts of the cell culture system 100 of FIG. 1, FIG. 3 is a perspective view showing the central joint J, the first actuator 30, the second actuator 40, and the auxiliary joint K of the cell culture system 100 of FIG. 2, FIG. 4 is a side view showing the operating state of the cell culture system 100 of FIG. 3, FIG. 5 is a front view showing the operating state of the cell culture system 100 of FIG. 3, and FIG. 6 is a plan view showing the cell culture system 100 of FIG. 3.

[0036] As shown in FIGS. 1 to 6, a cell culture system 100 according to some embodiments of the present invention may broadly include a body 10, a movable stage 20, a first actuator 30, a second actuator 40, and a control unit 50.

[0037] For example, as shown in FIG. 3, the body 10 has sufficient durability and strength to support the movable platform 20, the first actuator 30, and the second actuator 40, and may be made up of various types of vertical members, horizontal members, and panels.

[0038] More specifically, as shown in FIGS. 1 and 3, the body 10 may include a main frame 11 on which the first actuator 30 is installed on the left side and the second actuator 40 is installed on the right side, the main frame 11 having the central joint J installed at the center, a case 12 for protecting the main frame 11, and a caster wheel 13 installed on the main frame 11.

[0039] Furthermore, for example, the body 10 may further include a wheel frame 14 installed between the caster wheel 13 and the main frame 11, and at least one load cell 15 installed between the main frame 11 and the wheel frame 14, and may further include, for example, four load cells 15 corresponding to each caster wheel 13.

[0040] Therefore, the control unit 50 can apply control signals to the first actuator 30 and the second actuator 40 in response to the load signal applied from the load cell 15 .

[0041] For example, the control unit 50 may pre-store a reference load signal generated by the load cell 15 when the fluid flow characteristics of the culture medium (culture solution) contained in the culture bag 1 are normal, depending on the operating state, operating position, operating voltage, operating current, operating load, etc. of the first actuator 30 or the second actuator 30, and then compare the reference load signal with the real-time load signal of the load cell 15 to determine whether the operation is normal or abnormal. In the case of abnormal operation, the control unit may take subsequent measures such as outputting an operation interruption signal, a normal state tracking signal, a feedback signal, or a warning signal.

[0042] Therefore, by using such a load cell 15, it is possible to determine in real time whether the large-capacity culture bag 1 is being mixed normally, and also to prevent accidents caused by failure or malfunction of various parts in advance.

[0043] Furthermore, for example, in order to prevent the links R1 and R2 from being exposed to the outside to the greatest extent possible and improve the safety of the device, the case 12 may be formed with a link hole 12a on the upper surface through which the second link R2, described below, is loosely passed, so that at least a portion of the first link R1 or the second link R2 can be housed inside.

[0044] However, the shapes and types of the main frame 11, the case 12, the caster wheel 13, the wheel frame 14 and the load cell 15 are not necessarily limited to those shown in the drawings, and various shapes and types may be applied.

[0045] Therefore, the user can easily transport the body 10 to a desired location using the caster wheels 13, and the movable table 20, the first actuator 30, and the second actuator 40 can be firmly supported.

[0046] Also, for example, as shown in FIG. 2, the movable table 20 may be a box-like structure having a storage space A formed therein that can store the culture medium or a culture bag 1 containing the culture medium so that the culture medium can be mixed, and that is installed so that it can tilt in multiple directions by a central joint J installed at a first position P1 of the body 10.

[0047] Here, the central joint J may include a universal joint that is capable of freely rotating on multiple axes, but various other types of joints, such as a ball joint, may also be used.

[0048] More specifically, as shown in FIG. 2, the movable base 20 may include a box-shaped culture medium storage tank 21 having an opening formed at the top and the storage space A formed therein, a lid 22 covering the opening of the culture medium storage tank 21, a temperature control device 23 installed on the bottom of the culture medium storage tank 21 to control the temperature of the culture medium, and a storage tank frame 24 installed on the bottom of the culture medium storage tank 21 to support the culture medium storage tank 21.

[0049] Here, the temperature control device 23 is a device that can heat or cool the culture medium storage tank 21, and various cooling devices can be used, such as a heater or thermoelectric element that uses electrical resistance heat, a water-cooled heat exchanger that can circulate a refrigerant, or an air-cooled heat exchanger that can use natural convection or a blower fan.

[0050] Therefore, the user can place the culture medium or culture bag 1 inside the culture medium storage tank 21, cover it with the lid 22 to keep it warm, and use the temperature control device 23 to maintain the culture medium at the optimal culture temperature.

[0051] Meanwhile, although not shown, for more accurate cultivation, the culture medium storage vessel 21 may be equipped with at least one of a weight measuring sensor for measuring the weight of the culture medium, a temperature measuring sensor for measuring the temperature of the culture medium, an oxygen measuring sensor for measuring the concentration of oxygen contained in the culture medium, an oxygen supplying device for supplying oxygen to the culture medium, an acidity measuring sensor for measuring the acidity of the culture medium, an acid / base supplying device for supplying acidic or basic substances to the culture medium, a nutrient concentration measuring sensor for measuring the concentration of nutrients in the culture medium, a nutrient supplying device for supplying nutrients to the culture medium, and combinations thereof.

[0052] Also, for example, as shown in Figures 3 to 6, the first actuator 30 is a device installed between the body 10 and the second position P2 of the movable table 20 so as to move the movable table 20, and may be installed with various types of power sources such as a motor, a cylinder, etc., and various types and types of power transmission devices that can receive power from such power sources and convert it into lifting motion, rotational motion, etc.

[0053] More specifically, as shown in FIGS. 3 to 6, the first actuator 30 may include a motor M installed on the body 10, a first link R1 rotated by the motor M, and a second link R2 having one end linked to the first link R1 and the other end linked to the movable table 20.

[0054] Here, the motor M can include various servo motors, step motors, and various gear boxes that can rotate the first link R1 angularly.

[0055] In addition, the first link R1 and the second link R2 are rod-shaped links that are hinged to each other, and may be either installed with a multi-axis joint or loosely installed so that the movable table 20 can smoothly tilt in multiple axial directions.

[0056] Therefore, when the motor M rotates the first link R1 at a first link angle, one end of the second link R2 moves along the rotation path of the first link R1, while the other end can raise or lower the second position P2 of the movable table 20.

[0057] Also, for example, as shown in Figures 3 to 5, the second actuator 40 is a device installed between the body 10 and the third position P3 of the movable table 20 so as to move the movable table 20, and may be equipped with various types of power sources such as a motor, a cylinder, etc., and a power transmission device that can receive power from such a power source and convert it into lifting motion, rotational motion, etc.

[0058] More specifically, as shown in FIGS. 3 to 5, the second actuator 40 may also include a motor M installed on the body 10, a first link R1 rotated by the motor M, and a second link R2 having one end linked to the first link R1 and the other end linked to the movable table 20.

[0059] Here, the motor M, the first link R1 and the second link R2 have the same configurations and roles as those of the first actuator 40, and therefore detailed description thereof will be omitted.

[0060] Therefore, when the motor M rotates the first link R1 at a first link angle, one end of the second link R2 moves along the rotation path of the first link R1, while the other end can raise or lower the third position P3 of the movable table 20.

[0061] Here, as shown in FIG. 6, a first angle Q1 between a first reference line L1 extending from the first position P1 to the second position P2 and a second reference line L2 extending from the first position P1 to the third position P3 may be exactly 120°.

[0062] Also, for example, the cell culture system 100 according to some embodiments of the present invention may further include an auxiliary joint part K installed between the body 10 and the fourth position P4 of the movable table 20 to prevent vibration of the movable table 20.

[0063] Here, the second angle Q2 between the second reference line L2 and the third reference line L3 extending from the first position P1 to the fourth position P4 may also be exactly 120°, and the third angle Q3 between the third reference line L3 and the first reference line L1 may also be exactly 120°.

[0064] That is, the total angle of one cycle, which is the sum of the first angle Q1, the second angle Q2, and the third angle Q3, can be exactly 360°, so even if the cycle is repeated multiple times later, the starting point of the cycle is the same. Therefore, the operation is very stable, no stress is placed on the parts, and the lifespan can be semi-permanent.

[0065] However, the case where the first angle Q1, the second angle Q2, and the third angle Q3 are 120° is merely an example, and the technical idea of ​​the present invention is not limited thereto.

[0066] For example, the first angle Q1, the second angle Q2, and the third angle Q3 may have a difference of about 1° in consideration of manufacturing tolerances, and may have a range of, for example, 119° to 121°.

[0067] Furthermore, for example, a first reference line extending from the first position to the second position, a second reference line extending from the first position to the third position, and a third reference line extending from the first position to a fourth position may be set, and the angle between the third reference line and the first reference line and the angle between the third reference line and the second reference line may be the same angle, which may be in a range greater than 0° and less than 180°.

[0068] Therefore, as shown in FIG. 4, when both the first actuator 30 and the second actuator 40 are raised and both the second position P2 and the third position P3 are raised, the movable table 20 can tilt backward, and when both the first actuator 30 and the second actuator 40 are lowered and both the second position P2 and the third position P3 are lowered, the movable table 20 can tilt forward.

[0069] Also, as shown in FIG. 5, when the first actuator 30 is raised and the second actuator 40 is lowered, the second position P2 rises and the third position P3 falls, the movable platform 20 tilts to the right, and when the first actuator 30 is lowered and the second actuator 40 is raised, the second position P2 falls and the third position P3 rises, the movable platform 20 tilts to the left.

[0070] To this end, the control unit 50 applies control signals to the first actuator 30 and the second actuator 40, and can select at least one of a first actuator up-second actuator up control signal, a first actuator up-second actuator down control signal, a first actuator down-second actuator up control signal, and a first actuator down-second actuator down control signal to apply to the first actuator 30 and the second actuator 40 so as to continuously tilt the movable platform 20 in the forward, backward, leftward, and rightward directions according to a certain program or command input device.

[0071] Here, the control unit 50 may be installed inside the body 10 or separately installed outside the body 10, and may be configured using a separate PCB control board or microprocessor, or a personal computer, server computer, etc.

[0072] In addition, for example, the control unit 50 may control the movable platform 20 to continuously tilt in the forward, backward, leftward, and rightward directions so that the culture medium can be temporarily stabilized after mixing, and may apply a temporary interruption control signal to interrupt operation for a certain period of time and then restart operation.

[0073] For example, the control unit 50 may control the movable platform 20 to continuously tilt in the forward, backward, leftward, and rightward directions during on / off operation to enhance ease of use, and may apply a home position control signal to return the movable platform 20 to the interrupted state or to a horizontal state when the operation is interrupted and then restarted. In addition, the control unit 50 may be programmed to perform various operations according to inputs from an operator.

[0074] Therefore, since no impeller or propeller is used, damage to cells contained in the culture medium can be significantly reduced, contamination of the culture medium due to impellers or propellers can be prevented, and the cost of manufacturing the equipment can be significantly reduced. The culture medium can be mixed in multiple directions, including front, back, left, right, up, down, etc., which increases the flexibility and mixing degree of the culture medium. The lifespan is semi-permanent. The use of multiple links greatly improves the size, performance, efficiency, and productivity of the device, greatly reducing costs, manufacturing time, and production time. Furthermore, the culture medium can be mixed while simultaneously culturing cells in the culture medium.

[0075] FIG. 7 is an external perspective view conceptually showing a cell culture system 200 according to some other embodiments of the present invention, and FIG. 8 is an exploded perspective view of parts of the cell culture system 200 of FIG.

[0076] As shown in Figures 7 and 8, in some other embodiments of the cell culture system 200 of the present invention, the auxiliary joint K, the caster wheel 13, the wheel frame 14, the load cell 15, etc. described in Figures 1 to 6 may be omitted.

[0077] FIG. 9 is an external perspective view conceptually showing a cell culture system 300 according to some further embodiments of the present invention, and FIG. 10 is an exploded perspective view of parts of the cell culture system 300 of FIG.

[0078] As shown in Figures 9 and 10, in some other embodiments of the cell culture system 300 of the present invention, the auxiliary joint K, the wheel frame 14, the load cell 15, etc. described in Figures 1 to 6 may be omitted.

[0079] FIG. 11 is an external perspective view conceptually showing a cell culture system 400 according to some further embodiments of the present invention, and FIG. 12 is an exploded perspective view of parts of the cell culture system 400 of FIG.

[0080] As shown in Figures 11 and 12, in some further embodiments of the cell culture system 400 of the present invention, the auxiliary joint K described in Figures 1 to 6 may be omitted.

[0081] FIG. 13 is an external perspective view conceptually showing some other embodiments of a cell culture system 500 according to the present invention, FIG. 14 is an exploded perspective view of the components of the cell culture system 500 of FIG. 13, and FIG. 15 is a cross-sectional view showing the culture bag pressing device 25 of the cell culture system 500 of FIG. 13.

[0082] As shown in Figures 13 to 15, the movable stage 20 of the cell culture system 500 according to some further embodiments of the present invention may further include a culture bag pressing device 25 that pressurizes the culture bag 1 when the culture bag 1 accommodated in the accommodation space A is expanded.

[0083] Here, the culture bag pressing device 25 may include a window frame-shaped pressing frame made up of horizontal and vertical bars. However, the culture bag pressing device 25 is not necessarily limited to the shapes shown in Figures 3 to 15, and may have a variety of shapes, such as the box-shaped culture bag pressing device 25 shown in Figure 8 or the partial window frame-shaped culture bag pressing device 25 shown in Figure 10.

[0084] More specifically, as shown in FIG. 15, the movable stage 20 may further include a pressure actuator 26 installed on the lid 22 for raising and lowering the culture bag pressure device 25, and an inflation pressure measuring device 27 for measuring the inflation pressure transmitted to the pressure frame.

[0085] Therefore, the control unit 50 applies an elevation control signal to the pressure actuator 26 in response to the inflation pressure measurement signal of the inflation pressure measuring device 27, thereby suppressing the inflation phenomenon caused by biological gases generated during the culture process of the culture bag 1, or activating a separate exhaust valve or exhaust pump.

[0086] The present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and those skilled in the art will recognize that various modifications and equivalent embodiments are possible. Therefore, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims.

Claims

1. Body and a movable base having a receiving space for receiving a culture bag containing the culture medium so that the culture medium can be mixed, the movable base being installed so as to be tiltable in multiple directions by a central joint installed at a first position of the body; a first actuator disposed between the body and the second position of the movable platform so as to move the movable platform; a second actuator disposed between the body and the third position of the movable platform so as to move the movable platform; a control unit that applies a control signal to the first actuator and the second actuator, The body is a main frame on which the first actuator is installed on the left side, the second actuator is installed on the right side, and the central joint unit is installed at the center; a case for protecting the main frame; a plurality of caster wheels mounted on the main frame; The body is A wheel frame installed between the caster wheel and the main frame; and The device further includes a plurality of load cells installed between the main frame and the wheel frame, The load cell is installed at a position corresponding to the caster wheel and acquires a load signal of a load applied to the ground; The control unit compares a reference load signal applied from the load cell when the fluid flow characteristics of the culture medium are normal and stored in advance with a real-time load signal applied from the load cell to determine whether the operation is normal or abnormal, and applies control signals to the first actuator and the second actuator so that the operation can be followed to the normal state.

2. The cell culture system according to claim 1 , further comprising an auxiliary joint installed between the body and the fourth position of the movable platform to prevent vibration of the movable platform.

3. a first angle between a first reference line centered at the first position and extending to the second position and a second reference line centered at the first position and extending to the third position is 120°; a second angle between the second reference line and a third reference line that is centered at the first position and extends to the fourth position is 120°; The cell culture system of claim 2 , wherein a third angle between the third reference line and the first reference line is 120°.

4. The first actuator and the second actuator are a motor installed in the body; a first link that is rotated by the motor; The cell culture system according to claim 1 , further comprising: a second link having one end linked to the first link and the other end linked to the movable platform.

5. The cell culture system of claim 1 , wherein the central articulation comprises a universal joint.

6. The movable table is a box-shaped culture medium storage tank having an opening at the top and the storage space formed therein; a lid for covering the opening of the culture medium storage tank; a temperature control device installed on the bottom surface of the culture medium storage tank so as to control the temperature of the culture medium; The cell culture system according to claim 1 , further comprising: a container frame installed on a bottom surface of the culture medium container so as to support the culture medium container.

7. The movable table is The cell culture system according to claim 6 , further comprising a culture bag pressing device that pressurizes the culture bag when the culture bag accommodated in the accommodation space is expanded.

8. The cell culture system according to claim 7 , wherein the culture bag pressing device includes a pressing frame consisting of horizontal and vertical bars.

9. The movable table is a pressing actuator that is installed on the lid and that raises and lowers the culture bag pressing device; and further comprising an inflation pressure measuring device for measuring an inflation pressure transmitted to the pressing frame; The cell culture system according to claim 8 , wherein the control unit applies a lift control signal to the pressing actuator in response to an expansion pressure measurement signal from the expansion pressure measuring device.

10. The cell culture system of claim 1, wherein the case has a link hole formed on the upper surface through which the second link is loosely passed so that at least a portion of the first link or the second link can be accommodated inside.

11. The control unit The cell culture system of claim 1, wherein at least one of a first actuator up-second actuator up control signal, a first actuator up-second actuator down control signal, a first actuator down-second actuator up control signal, and a first actuator down-second actuator down control signal is selected and applied to the first actuator and the second actuator so as to continuously tilt the movable platform in the forward / backward and left / right directions.

12. The control unit The cell culture system according to claim 11, wherein the movable platform is controlled to tilt continuously in the forward, backward, leftward, and rightward directions, and a temporary suspension control signal is applied to suspend operation for a certain period of time and then resume operation.

13. The control unit The cell culture system of claim 11, wherein the movable platform is controlled to tilt continuously in the forward, backward, leftward, and rightward directions, and when the operation is interrupted and then restarted, an original position control signal is applied to return the movable platform to the interrupted state or to a horizontal state.

14. When both the first actuator and the second actuator are raised and both the second position and the third position are raised, the movable platform tilts backward; The cell culture system of claim 1 , wherein the movable platform tilts forward when both the first actuator and the second actuator are lowered to lower both the second position and the third position.

15. When the first actuator is raised and the second actuator is lowered, the second position is raised and the third position is lowered, the movable platform tilts to the right, The cell culture system of claim 1 , wherein the movable platform tilts to the left when the first actuator is lowered and the second actuator is raised, so that the second position is lowered and the third position is raised.

16. Body and a movable base having a receiving space for receiving a culture bag containing the culture medium so that the culture medium can be mixed, the movable base being installed so as to be tiltable in multiple directions by a central joint installed at a first position of the body; a first actuator disposed between the body and the second position of the movable platform so as to move the movable platform; a second actuator disposed between the body and the third position of the movable platform so as to move the movable platform; a control unit that applies a control signal to the first actuator and the second actuator, a first reference line extending from the first position to the second position, a second reference line extending from the first position to the third position, and a third reference line extending from the first position to a fourth position, wherein an angle between the third reference line and the first reference line is the same as an angle between the third reference line and the second reference line; The body is a main frame on which the first actuator is installed on the left side, the second actuator is installed on the right side, and the central joint unit is installed at the center; a case for protecting the main frame; a plurality of caster wheels mounted on the main frame; The body is A wheel frame installed between the caster wheel and the main frame; and The device further includes a plurality of load cells installed between the main frame and the wheel frame, The load cell is installed at a position corresponding to the caster wheel and acquires a load signal of a load applied to the ground; The control unit compares a reference load signal applied from the load cell when the fluid flow characteristics of the culture medium are normal and stored in advance with a real-time load signal applied from the load cell to determine whether the operation is normal or abnormal, and applies control signals to the first actuator and the second actuator so that the operation can be followed to the normal state.

17. Body and a movable base having a receiving space for receiving a culture bag containing the culture medium so that the culture medium can be mixed, the movable base being installed so as to be tiltable in multiple directions by a central joint installed at a first position of the body; a first actuator disposed between the body and the second position of the movable platform so as to move the movable platform; a second actuator disposed between the body and the third position of the movable platform so as to move the movable platform; a control unit that applies a control signal to the first actuator and the second actuator, the movable table further includes a culture bag pressing device that pressurizes the culture bag when the culture bag accommodated in the accommodation space is expanded; The body is a main frame on which the first actuator is installed on the left side, the second actuator is installed on the right side, and the central joint unit is installed at the center; a case for protecting the main frame; a plurality of caster wheels mounted on the main frame; The body is A wheel frame installed between the caster wheel and the main frame; and The device further includes a plurality of load cells installed between the main frame and the wheel frame, The load cell is installed at a position corresponding to the caster wheel and acquires a load signal of a load applied to the ground; The control unit compares a reference load signal applied from the load cell when the fluid flow characteristics of the culture medium are normal and stored in advance with a real-time load signal applied from the load cell to determine whether the operation is normal or abnormal, and applies control signals to the first actuator and the second actuator so that the operation can be followed to the normal state.

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