Patent ID: 12221598

26-1drive mechanism,26-2shaker base plate,26-3centrifuge bottle clamp,26-31bottom seat,26-32centrifuge bottle support seat,26-33elastic clamping element,26-34reinforcing ring,26-35auxiliary ring.

DETAILED DESCRIPTION OF THE EMBODIMENTS

In conjunction withFIG.1, a full-automatic cell production line is provided, including a culture region1(with a B-level environment at the lowest for cost saving) and an operation region (with an A-level environment for bio-safety). The culture region1is used for cell culture and refrigeration; the operation region2is used for operations in a cell culture process, such as liquid exchange, centrifugation and freezing. According to the present invention, a mechanical arm is employed for operation in the culture region1and the operation region2respectively, to achieve full automation of cell culture.

To better illustrate the technical solutions of the present invention, description will be made hereinafter in conjunction with specific embodiments.

FIGS.2and3Regarding the Culture Region

As shown inFIG.2, the culture region includes a B-level platform body, where the B-level platform body includes a culture area1-2, a refrigeration area1-3and a sterile robot equipped with a motion track1-5. Preferably, a transfer window1-4is further provided.

The culture area, the refrigeration area1-3and the transfer window1-4are arranged to surround the motion track1-5and are all located within an operation area of the robot; the motion track1-5of the robot is arranged at a bottom of the B-level platform body in a linear manner. The motion track1-5of the robot is made of stainless steel. The motion track1-5is positioned in a manner that a gripper of the robot can reach any working area of the B-level platform body. The culture area1-2is equipped with a plurality of incubators, the incubators are each provided with an inner door and an outer door, the outer door is provided with a display screen, and the inner door and the outer door are each provided with a handle, for opening and closing by a chuck of the robot. The refrigeration area1-3is equipped with a plurality of refrigerators, the refrigerators are set at 4° C. as thermostatic freezers. The incubators and the refrigerators are powered and controlled individually. Besides, the incubator is provided with a temperature data monitoring system for real-time data monitoring.

With reference toFIG.3, the transfer window1-4is arranged to have as at least one window, and the B-level platform body transfers materials with the outside through the transfer window1-4. The operation region transfers materials with the culture region through the automatic transfer window1-1. As shown inFIG.2, a distance measuring sensor1-6, a surveillance camera1-7, and a quick-change chuck1-8are arranged at the gripper of the robot. The distance measuring sensor1-6and the surveillance camera1-7cooperate with each other to achieve position detection, transmission of the situation of the materials and areas in the B-level platform body to the monitoring system, and real-time monitoring respectively. The quick-change chuck1-8is configured to realize various operations of the robot.

In summary, the B-level platform body cooperates with motions of automatic transfer window1-1, to achieve full-automatic unmanned operation of cell culture, the automatic monitoring and management functions of cell culture is realized, operations such as fluid change in a later period can be requested automatically according to the situation of cell culture.

FIGS.4to32Regarding the Operation Region

As shown inFIGS.4to7, the operation region is provided with a liquid storage table, a Cell Factory liquid exchange device and a centrifugal bottle liquid exchange device in an integrated manner; the liquid storage table, the Cell Factory liquid exchange device and the centrifugal bottle liquid exchange device are arranged around the mechanical arm in the operation region and are located within a control range of the mechanical arm. A centrifuge bottle shaker, a Cell Factory shaker, a cryogenic vial opening and aliquoting device, full-automatic centrifuge, etc. are also integrated in the operation region. The liquid storage table, the Cell Factory liquid exchange device, the centrifugal bottle liquid exchange device, the centrifuge bottle shaker, the Cell Factory shaker, the cryogenic vial opening and aliquoting device, and the full-automatic centrifuge integrated in the operation region are arranged to surround the mechanical arm located in the operation region. Operation of the mechanical arm to each of the devices has a zero position, and the operation of the mechanical arm to each device by is performed when the device is in at zero position, and each device is equipped with an automatic cap opening device and a zero position detection device.

Materials are transferred between the culture region and the operation region through a transfer window, the transfer window has a transfer turnplate and a transfer turnplate drive mechanism; the transfer turnplate has a zero position for the robot of the culture region to pick up and place the materials, and a working position for the mechanical arm of the operation region to pick up and place the materials; the transfer turnplate is configured to be driven by the transfer turnplate drive mechanism to rotate, to achieve switching between the zero position and the working position.

The operation region is specifically as follows. As shown inFIG.4, the liquid storage table includes a liquid storage bag swaying mechanism, a waste liquid collection device21-5, a pipeline switching device21-4, a sterilization pipeline table and a liquid storage bag weighing table21-3.

The liquid storage bag swaying mechanism includes a liquid storage box21-1and a liquid storage bag shaking device21-2. As shown inFIG.5, the liquid storage box21-1is set as a frame body, a mechanical snap structure is used for fixation, to open or close the liquid storage box21-1. An inside of the liquid storage box21-1is used for placing the liquid storage bag; an upper end of the liquid storage box21-1is provided with a liquid collection pipe; front and rear ends of the liquid storage box21-1are provided with a fixing disk21-7and a robot gripper disk, respectively, and the liquid storage box21-1is automatically placed on the liquid storage bag shaking device21-2by the robot, to be fixed with the liquid storage bag shaking device21-2. The liquid collection pipe at the upper end of the liquid storage box21-1is in communication with the liquid storage box21-1in a run-through manner, thus liquid adding can be realized.

The shaker drive mechanism and the storage bag box are drivably connected in a detachable manner. In some embodiments, the liquid storage box21-1and the liquid storage bag shaking device21-2are fixed as follows. The fixing disk21-7at the side of the liquid storage box21-1includes a circular bottom disk and a protruding block; the liquid storage bag shaking device21-2includes a fixing platform, a clamping disk, a decelerator and a motor, and the fixing platform is provided with a through hole; one side of the clamping disk is connected to the decelerator, and the other side of the clamping disk passes through the through hole to be fixedly connected to the fixing disk21-7. Specifically, The protruding block of the fixing disk21-7passes through a hollow position at a middle of the clamping disk, to make a surface of the circular bottom disk and a surface of the clamping disk be fitted to each other, so as to realize fixation. The liquid storage bag shaking device21-2is driven by a 40-watt motor and the decelerator with a reduction ratio of 30, to achieve uniformity of operation. This swaying can realize the sway of the liquid storage bag at any angle and frequency, to achieve the function of mixing the liquid in the liquid storage bag. The fixing platform is equipped with a limiting laser detection sensor, which is used to detect the presence or absence of the device in the liquid storage box21-1.

A waste liquid collection device21-5is provided with a waste liquid collection box. A discharge pipeline21-8is arranged at the waste liquid collection box, the discharge pipeline21-8is in communication with a Cell Factory liquid removing device or a centrifuge bottle liquid removing device through a peristaltic pump21-6, to collect the waste liquid into the waste liquid collection box. The waste liquid collection box employs a drawer-type structure, a robot handle is arranged at a side end of the waste liquid collection box, and extension and retraction of the drawer is realized by the robot; the drawer is further provided with an extension and retraction limiting switch and a mechanical seizing device, to facilitate detection of whether the drawer is fully opened or closed.

Since the whole production line is controlled by automation, the pipeline switching between the washing passage and the sterilization passage needs to be controlled by automation, so a side where the waste liquid collection box is located is equipped with the pipeline switching device21-4. As shown inFIG.6, the pipeline switching device21-4includes an external support21-19, and a switching device drive mechanism and a reversing mechanism both supported by the external support21-19. The external support21-19is provided with a guide protrusion, and a sterilization pipeline is also arranged on the external support21-19; the sterilization pipeline on the external support21-19has one end in communication with a liquid removing pipe of the Cell Factory liquid exchange device through a pipe switching joint21-11, and the other end in communication with a sterilization pipeline of liquid storage table21-22. The switching device drive mechanism includes a drive motor21-13provided with a protruding element in a fixed manner, rotation output of the drive motor21-13is performed by a gear shaft21-14. The reversing mechanism has a driven shaft, a pipe switching joint21-11is fixed at a beginning end of the driven shaft through a bracket21-12, and the bracket21-12is allowed to rotate with respect to the driven shaft under an action of an external force (relative rotation between the bracket12-21and the driven shaft may be realized by a shaft sleeve, or by any technical solution in the conventional technology which can realize the technology, only the implementation of this technology is involved in this application). The pipe switching joint21-11has a working position for inserting into the sterilization pipeline on the external support21-19during the rotation of the bracket21-12. A follower disk21-10, a gear disk21-9and a guide rod21-15are sequentially arranged at a shaft body section of the driven shaft; the follower disk21-10is connected to the drive motor21-13; the follower disk21-10is located below the protruding element; the gear disk21-9and the gear shaft21-14are in gear transmission; an outer surface the guide rod21-15is provided with a helical groove configured for the guide protrusion21-16to slide in; a beginning end of the helical groove has a beginning horizontal segment, and a tail end of the helical groove has a tail horizontal segment.

The operation principle is that: the drive motor21-13rotates, the gear shaft21-14drives the gear disk21-9to rotate, and the gear disk21-9drives the driven shaft to rotate. When the guide protrusion21-16is located at a beginning end of the helical groove (the beginning end is defined as the end located near the end of the pipe switching joint21-11fixed at the driven shaft, and the other end is defined as a tail end), at the start of the rotation of the drive motor21-13, the pipe switching joint21-11is located at a zero position, at this time, it is convenient for the mechanical arm to connect the liquid removing pipe of the Cell Factory liquid exchange device to the pipe switching joint21-11. The guide protrusion21-16slides horizontally along a circle in the beginning horizontal segment, at this time, the driven shaft drives the pipe switching joint21-11to rotate to be adjusted to a switched working position (to connect with the sterilization pipeline on the external support21-19); at the same time, the follower disk21-10only performs rotation around the axis. By the time the guide protrusion21-16passes the beginning horizontal segment and reaches a helical segment, the pipe switching joint21-11also reaches the corresponding working position. With the rotation of the drive motor21-13, the guide protrusion21-16rotates downward around the helical groove, while the follower disk21-10drives the drive motor21-13and the gear shaft21-14to move downward synchronously so that the gear disk21-9and the gear shaft21-14always rotate synchronously, and the pipe switching joint is locked by the corresponding working position and only extends downward relative to the working position, in this case, the bracket21-12will rotate relative to the driven shaft. When the guide protrusion21-16rotates to the tail horizontal segment, the pipe switching joint21-11reaches a fixed working position; the guide protrusion21-16rotates in the horizontal segment, and the working position is fixed by the tail horizontal segment when the pipe switching joint21-11is working, so as to avoid the pipe switching joint from falling off when it is working.

The sterilization pipeline table is provided with a sterilization pipeline locking structure. Referring toFIG.7, the sterilization pipeline locking structure includes a sterilization pipeline of liquid storage table21-22, stepper motor and a rocker-slider structure.

One end21-17of the sterilization pipeline of liquid storage table21-22is connected to the pipe switching joint21-11, and the other end of the sterilization pipeline of liquid storage table is in communication with an external sterilization condensing pipeline when being used for sterilization for the Cell Factory liquid exchange device, and in communication with a liquid adding pipe of the centrifuge bottle liquid exchange device when being used for combined sterilization for the Cell Factory liquid exchange device and the centrifuge bottle liquid exchange device.

The rocker-slider structure includes a slider, a slideway21-18and a two-bar linkage. The slider has a locking slot21-21, and the locking slot21-21is used to lock the sterilization pipeline of liquid storage table21-22. The sterilization pipeline of liquid storage table21-22is provided with a sterilization pipeline joint of the sterilization pipeline of liquid storage table21-22, an outer surface of the sterilization pipeline joint has varying diameters from top to bottom and has a smallest diameter at the uppermost, that is, the outer surface of the sterilization pipeline joint has a stepped structure. The locking slot21-21is defined as a groove matching the stepped structure, and the groove is engaged with the stepped structure by clamping. The locking slot21-21may be set to have a groove on a lower surface of the end, and the joint of the sterilization pipeline of liquid storage table21-22has a protrusion at a set position, the protrusion and the groove can cooperate to realize locking of the sterilization pipeline of liquid storage table21-22under high-temperature sterilization, mainly to avoid pipe vibration caused by high temperature and high pressure during the high-temperature sterilization. The slideway21-18is used to allow the slider to slide along a set route. One end of the two-bar linkage is driven by the stepper motor, and the other end is driven by the stepper motor to drive the slider to slide along the slideway21-18. Herein, the sterilization pipeline switching is realized by employing the robot to insert the pipeline of the Cell Factory liquid removing device or the pipeline of the centrifuge bottle liquid removing device into the sterilization pipeline joint. Preferably, said sterilization pipeline locking structure is further provided with a pushing piece and two U-shaped optoelectronic switches21-20, and the pushing piece has a zero position and detection position relative to the two U-shaped optoelectronic switches21-20. The two U-shaped optoelectronic switches21-20are arranged at a side of the slideway21-18and pushing piece is provided at a side of the slider. When the slider is at the zero position, the locking slot21-21is away from the sterilization pipeline joint; and when the slider is at the detection position, the locking slot21-21locks the sterilization pipeline joint in a snap-in manner. The U-shaped optoelectronic switches21-20transmit linear photoelectric signals at the zero position and the detection position respectively.

The liquid storage bag weighing device is arranged above the waste liquid collection device21-5to save space, which includes a weight sensor, and a weighing platform that is detected by the weight sensor. The liquid storage bag weighing table21-3is used to weigh the weight of the liquid storage bag and the liquid therein in the liquid storage box. The robot can automatically place the liquid storage box21-1onto the liquid storage bag weighing table21-3through the robot gripper disk at a front end of the liquid storage box21-1, and when the overall weight is measured and then the tare is removed, the weight of the liquid in the liquid storage bag can be known and the liquid aliquoting effect can be checked.

FIGS.8to13Showing the Schematic View of the Liquid Exchange Device of the Present Invention

The Cell Factory liquid exchange device and the centrifuge bottle liquid exchange device have the substantially same structure, so they are described in a unified manner. The main idea is to use an automatic cap twisting device, an automatic liquid removing device (Cell Factory liquid removing device or centrifuge bottle liquid removing device), and an automatic liquid adding device (Cell Factory liquid storage device or centrifuge bottle liquid storage device), to control the cap twisting device to twist the cap, control the liquid removing device to suck liquid from a cell storage container, and control the liquid adding device to add the culture medium to the cell storage container by the control system (externally arranged), and finally the cap twisting device is used to twist the cap to seal the cell storage container, to finally realize the liquid adding or liquid removing of the cell storage container. A weighing platform is further provided, the weighing platform is located below the liquid adding device and the liquid removing device. When being used for Cell Factory liquid exchange, the Cell Factory liquid exchange device is provided with the Cell Factory liquid storage device, the Cell Factory removing device, the Cell Factory liquid adding device and the sterilization pipeline of the Cell Factory liquid exchange device in an integrated manner. When being used for centrifuge bottle liquid exchange, the centrifugal bottle liquid exchange device is provided with the centrifuge bottle liquid storage device, the centrifuge bottle liquid removing device, the centrifuge bottle liquid adding device, and the sterilization pipeline of the centrifuge bottle liquid exchange device in an integrated manners.

With reference toFIG.13, the cap twisting device is used for unscrew or screw the cap of the cell storage container. The cap twisting device includes a cap twisting mechanism and a clamping jaw control mechanism.

The cap twisting mechanism includes a cap twisting main shaft22-11and a clamping jaw set. The cap twisting main shaft22-11is driven by the cap twisting servo motor22-1to rotate around its own axis, where a belt22-4may be used for driving. The clamping jaw set controlled by a motor for opening and closing clamping jaw22-2is mounted at an end of the cap twisting main shaft22-11. The clamping jaw set includes a clamping jaw limiting component and a plurality of clamping jaws. The clamping jaw limiting component includes a plurality of elastic rings22-7. Each of the clamping jaws includes a clamping portion22-9, a mounting pivot22-10connected to the cap twisting main shaft22-11and a limiting structure arranged in sequence. The limiting structure corresponds to the cap twisting main shaft, one side of the limiting structure facing the cap twisting main shaft22-11has a slope surface structure22-15, and the slope surface structure22-15is defined as a inclined surface structure inclined toward the cap twisting main shaft22-11. The slope surface structures22-15of the clamping jaws of the clamping jaw set together form a cavity approximate to a circular truncated cone. Each of the plurality of elastic rings22-7is sleeved on another side of the limiting structure of each clamping jaw of the clamping jaw set.

In order to realize the adjustment of the opening degree of the clamping jaw set, the clamping jaw set has the following characteristics according to this application.

When the slope surface structures22-15of the clamping jaw set are arranged inside the cap twisting main shaft22-11, each clamping jaw of the clamping jaw set has a mounting pivot22-10through which the clamping jaw is mounted on the cap twisting main shaft22-11; each clamping jaw has a clamping portion22-9, the clamping portion22-9being located at an end of the cap twisting main shaft22-11; each jaw has a slope surface structure22-15, which is located inside the end of the cap twisting main shaft22-11. Besides, all the slope surface structures22-15of the clamping jaw set form the structure approximate to the circular truncated cone. An outside of each of the slope surface structures22-15is provided with slots22-18, the elastic rings22-7are arranged outside the clamping jaw set, and each of elastic rings22-7is sleeved in the corresponding slots22-18located at outer sides of the clamping jaws of the clamping jaw set. When the control terminal22-14moves upward along an axis of a clamping jaw control shaft22-3, the control terminal22-14overcomes the force of the elastic rings22-7, making the cavity approximate to circular truncated cone of the clamping jaw set gradually change to a cylindrical cavity, at the same time, each clamping jaw rotates with the help of the mounting pivot22-10, making a clamping size of the clamping jaw set become smaller. This structure is suitable for situations that the entire cap twisting main shaft22-11is raised by a height same as a rotate-out distance during the cap twisting process, or is lowered by a height same as a rotate-in distance during the cap twisting process (which is suitable for situations that the cap twisting main shaft22-11passes through the support plate22-5by means of threads and threaded hole). It is also suitable for situations that the mechanical arm gripping the Cell Factory is lowered by a height same as a rotate-out distance during the cap twisting process, or is raised by a height same as a rotate-in distance during the cap twisting process.

Preferably, the liquid exchange device is further provided with a buffer device. The buffer device includes a shaft sleeve for mounting clamping jaw22-13mounted on the cap twisting main shaft22-11. The shaft sleeve for mounting clamping jaw22-13is capable of rotating coaxially with cap twisting main shaft22-11, i.e. shaft sleeve for mounting clamping jaw22-13is fixed relative to the cap twisting main shaft22-11in a radial direction in a slide groove and slide boss connection manner; and, a length of the slide groove is longer than that of the slide boss. In another illustration way, if the shaft sleeve for mounting clamping jaw22-13is provided with a slide groove and cap twisting main shaft22-11is provided with a slide boss, and a length of the slide groove is longer than that of the slide boss, to ensure that the shaft sleeve for mounting clamping jaw22-13has a certain space for axial movement relative to the cap twisting main shaft22-11; alternatively, if the shaft sleeve for mounting clamping jaw22-13is provided with a slide boss and the cap twisting main shaft22-11is provided with a slide groove, and a length of the slide groove is longer than that of the slide boss, to ensure that the shaft sleeve for mounting clamping jaw22-13has a certain space for axial movement relative to the cap twisting main shaft22-11.

The clamping jaw set is mounted on the shaft sleeve for mounting clamping jaw22-13in such a way that it can rotate around a radial direction of the shaft sleeve for mounting clamping jaw22-13. An end of the shaft sleeve for mounting clamping jaw22-13is provided with a passage22-16for rotation of the clamping jaw set. Specifically, each clamping jaw in the clamping jaw set has the mounting pivot22-10through which the clamping jaw is mounted on one end of the shaft sleeve for mounting clamping jaw22-13. Preferably, the end of the shaft sleeve for mounting clamping jaw22-13has a plurality of lug bosses22-17protruding outward, a mounting bracket is formed between each two adjacent lug bosses22-17, and the mounting pivot22-10is mounted on the mounting bracket through pins or screws. During rotation of the clamping jaw, a rotation path of the limiting structure of the clamping jaw passes through the passage22-16.

Each clamping jaw has a clamping portion22-9, and the clamping portion22-9is located outside the shaft sleeve for mounting clamping jaw22-13. Each clamping jaw has a slope surface structure22-15, and the slope surface structure22-15corresponds to the cap twisting main shaft22-11. Besides, all the slope surface structures22-15of the clamping jaw set form the circular truncated cone structure; an outside of each of the slope surface structures22-15is provided with slots22-18, the elastic rings22-7are arranged outside the clamping jaw set, and each of elastic rings22-7is sleeved in the corresponding slots22-18located at outer sides of the clamping jaws of the clamping jaw set. When the control terminal22-14moves upward along an axis of a clamping jaw control shaft22-3, the control terminal22-14overcomes the force of the elastic rings22-7, making the circular truncated cone structure of the clamping jaw set gradually change to the cylindrical structure, at the same time, each clamping jaw rotates with the help of the mounting pivot22-10, making a clamping size of the clamping jaw set become smaller. Each clamping jaw is provided with a clamping plate22-8at the other end (i.e., the other end of the clamping jaw, where the mounting pivot22-10is located relative to the slope surface structure22-15), during the rotation of the clamping jaws, the clamping plates22-8in the clamping jaw set performs opening and closing movement, and the clamping plates22-8drive, in cooperation with the rotation of the cap twisting main shaft22-11, the Cell Factory cap or the centrifugal bottle cap to be unscrewed or screwed.

In order to adjust the change of the height of the clamping jaw set during the cap twisting process, the other end of the shaft sleeve for mounting clamping jaw22-13is provided with a buffer element22-6. The buffer element22-6is arranged at the other end of the shaft sleeve for mounting clamping jaw22-13, and is used to compensate for a distance difference between the shaft sleeve for mounting clamping jaw22-13and the cap twisting main shaft22-11during the rotation of the cap twisting main shaft22-11. The buffer element22-6employs a spring, one end of which is connected to the shaft sleeve for mounting clamping jaw22-13(for example, a positioning device22-12is used, such as a lug boss22-17having a through-hole) and the other end is fixed to a platform. The platform is used for mounting of both the cap twisting main shaft22-11and the clamping jaw control shaft22-3, i.e. the above support plate22-5; or the platform is any plane above the shaft sleeve for mounting clamping jaw22-13.

The clamping jaw control mechanism includes the clamping jaw control shaft22-3coaxially arranged with the cap twisting main shaft22-11, and the clamping jaw control shaft is allowed to move along its own axial direction. The control terminal22-14is arranged at the end of the clamping jaw control shaft22-3, the control terminal22-14is located in the cavity approximate to the circular truncated cone, in a case that a position of the control terminal22-14with respect to the cavity approximate to the circular truncated cone is changed, a rotation angle of the mounting pivot22-10of the clamping jaw is changed, and an opening degree of the clamping jaw set is also changed.

The liquid removing device includes a liquid removing needle22-21, a liquid removing pipe, a liquid removing peristaltic pump22-23and a waste liquid reservoir which are sequentially in communication with each other, to remove the liquid in the cell storage container. For convenience or space saving, the waste liquid reservoir employs the waste liquid collection device on the liquid storage table. In a working passage or the washing passage, the liquid removing pipe is in communication with the discharge pipeline on the liquid storage table via the liquid removing peristaltic pump22-23, to discharge the waste liquid into the waste liquid collection device. When the overall communication is realized, the liquid removing peristaltic pump22-23and the peristaltic pump of the liquid storage table may be integrated into one piece.

The liquid adding device includes a liquid adding needle22-22, a liquid adding pipe, a liquid adding peristaltic pump22-19and a liquid storage device which are sequentially in communication with each other, to add the culture medium into the cell storage container. When being used for cell culture, the culture medium is stored in the liquid storage device; and when being used for washing, a buffer solution is stored in the liquid storage device.

The weighing platform is used for weighing the cell storage container, and its structure mainly adopts the weighing structure of the conventional technology, which is only applied in this application without improvement, and does not affect the understanding of the technical solution of this application by the person skilled in the art.

In order to facilitate practical application, main bodies of the cap twisting device, the liquid removing device and the liquid adding device are supported by a bracket. The liquid adding peristaltic pump22-19, the liquid storage device, the liquid removing peristaltic pump22-23, and the waste liquid reservoir are placed in an operation cabinet under the platform. In order to facilitate the operation of the mechanical arm for liquid adding or removing, the operation cabinet is provided with a telescopic drawer, and the waste liquid reservoir and the liquid storage device are placed in the telescopic drawer.

As a transmission mechanism, the cap twisting main shaft22-11and the clamping jaw control shaft22-3are coaxially arranged, that is, a diameter of the clamping jaw control shaft22-3is smaller than that of the cap twisting main shaft22-11, and the clamping jaw control shaft22-3is arranged inside (runs through) the cap twisting main shaft22-11. The cap twisting main shaft22-11only performs rotation around its own axis, and the clamping jaw control shaft22-3only performs linear movement along its own axis. In order to ensure the stability of the above two shafts in their respective independent movements (e.g. to reduce the wobble amplitude of the clamping jaw control shaft22-3during the telescopic movement along its own axis; and also to increase the choices of diversified raw materials in the production of the clamping jaw control shaft22-3); and also to increase the service life of the above two shafts (e.g. the deviation of cap twisting caused by uncoaxiality due to frictional wear during long-term use). A shaft sleeve is provided between the clamping jaw control shaft22-3and the cap twisting main shaft22-11, that is, the shaft sleeve effectively ensures the coaxiality between the clamping jaw control shaft22-3and the cap twisting main shaft22-11, and the relative degree of freedom between the two shafts.

Preferably, a sterilization device is provided according to the present invention. As shown inFIG.12, the sterilization device includes a sterilization pipeline and a sterilization source22-20. The sterilization source22-20is communicated at an inlet of the liquid adding peristaltic pump22-19, the sterilization pipeline has one end in communication with the liquid adding needle22-22and the other end in communication with the liquid removing needle22-21. In order to simplify the overall structure and to facilitate automatic operation, the sterilization pipeline is supported by a rotating bracket, the rotating bracket has a first limit position at which the sterilization pipeline can be controlled to be parallel to the liquid adding needle22-22, or the sterilization pipeline can be controlled to be parallel to the liquid removing needle22-21; and the rotating bracket has a second limit position which ensures that the sterilization pipeline has one end connected to the liquid adding needle22-22and the other end connected to the liquid removing needle22-21. In order to ensure that the sterilization passage22-16is completely closed during sterilization, at least one annular sealing ring is provided on each of the liquid removing needle22-21and the liquid adding needle22-22.

As shown inFIG.13, in order to ensure that the liquid in the liquid storage device connected to the liquid adding pump can be used up, the liquid storage device includes a liquid storage tank22-24and a liquid storage bag located in the liquid storage tank22-24. The liquid storage tank22-24is provided with a through hole, the liquid storage bag is provided with a liquid outlet joint at the bottom, and the liquid outlet joint passes the through hole to be connected to the liquid adding pipe. The liquid storage tank is provided with a sloping surface22-25, and a liquid storage bag fixing portion22-26is arranged at the top of the sloping surface22-25. When being applied, the top of the liquid storage bag is fixed at the liquid storage bag fixing portion22-26, the liquid storage bag is supported by the sloping surface22-25, and the bottom of the liquid storage bag is overhung. In order to reduce costs, the sloping surface22-25employs a grid structure, that is, the sloping surface structure is formed by a plurality of transverse rods interlaced with a plurality of longitudinal rods.

Preferably, in this application, the cap twisting device, liquid adding device and liquid removing device work independently in the non-sterilized state, so in practical application, two or more groups may be used as required to realize cap twisting, liquid adding and liquid removing of multiple cell storage containers simultaneously.

The liquid storage table, the Cell Factory liquid exchange device and the centrifuge bottle liquid exchange device may work independently (each module works independently), or may be communicated to each other for washing, or may be communicated to each other for sterilization.

When being used in sterilization for the Cell Factory, washing should be performed before sterilization, and the communication manner is as follows.

In a case that the Cell Factory liquid adding device is in communication with the Cell Factory liquid storage device, the buffer solution is stored in the Cell Factory liquid storage device, the sterilization pipeline of the Cell Factory liquid exchange device is in communication with the Cell Factory liquid adding device and the Cell Factory liquid removing device, and the Cell Factory liquid removing device is in communication with the discharge pipeline of the waste liquid collection device via the liquid removing pipe, thus a washing passage of the Cell Factory liquid exchange device is formed. In a case that the Cell Factory liquid adding device is in communication with an outside high-temperature sterilization source, the sterilization pipeline of the Cell Factory liquid exchange device is in communication with the Cell Factory liquid adding device and the Cell Factory liquid removing device, the liquid removing pipe of the Cell Factory liquid removing device is in communication with the sterilization pipeline of the liquid storage table via the pipeline switching device, and the sterilization pipeline of the liquid storage table is in communication with an external sterilization condensing pipeline, thus a sterilization passage of the Cell Factory liquid exchange device is formed.

When being used in sterilization for the liquid storage table, the Cell Factory liquid exchange device and the centrifugal bottle liquid exchange device, washing should be performed before sterilization, and the communication manner is as follows.

In a case that the centrifuge bottle liquid adding device is in communication with the centrifuge bottle liquid storage device, the buffer solution is stored in the centrifuge bottle liquid storage device, the sterilization pipeline of the centrifuge bottle liquid exchange device is in communication with the centrifuge bottle liquid adding device and the centrifuge bottle liquid removing device, and the centrifuge bottle liquid removing device is in communication with the discharge pipeline of the waste liquid collection device via the liquid removing pipe, thus a washing passage of the centrifuge bottle liquid exchange device is formed. In a case that the Cell Factory liquid adding device is in communication with the external high-temperature sterilization source, the sterilization pipeline of the Cell Factory liquid exchange device is in communication with Cell Factory liquid adding device and the Cell Factory liquid removing device, the Cell Factory liquid removing device is in communication with the sterilization pipeline of the liquid storage table via the pipe switching joint, the sterilization pipeline of the liquid storage table is in communication with the centrifuge bottle liquid adding device, the centrifuge bottle liquid adding device is in communication with the centrifuge bottle liquid removing device via the sterilization pipeline of the centrifuge bottle liquid exchange device, and the centrifuge bottle liquid removing device is in communication with the external sterilization condensing pipeline, thus a combined sterilization passage is formed.

FIGS.14to17are schematic views showing the structure of a centrifuge, in some embodiments:

The operation region is provided with a full-automatic centrifuge in an integrated manner, the full-automatic centrifuge includes a drive mechanism and a rotation mechanism, the drive mechanism is configured to provide a driving force, and the rotation mechanism is configured to be driven by the driving force, to rotate around an axis of a drive shaft23-2of the drive mechanism.

As shown inFIG.14, the drive mechanism includes a servo motor23-1provided with a zero-position switch23-4, and an output shaft of the servo motor23-1is connected to the drive shaft23-2.

The rotation mechanism includes a horizontal rotor23-3configured to rotate around the axis of the drive shaft23-2. The horizontal rotor23-3has a plurality of arms of force extending in a radial direction by taking any point at the axis as a starting point. An end of the each of the plurality of arms of force is provided with a first arm of force component23-3-1and a second arm of force component23-3-2, and a clamping portion is formed by the first arm of force component23-3-1of an end of one of the plurality of arms of force and the second arm of force component23-3-2of an end of an arm of force adjacent to the one of the plurality of arms of force. An included angle of the clamping portion preferably is 30°, 450 or 60°, correspondingly, the number of swinging buckets23-5that can be centrifuged are 12, 8 or 6. The included angle may be set to make the number of the arm of force be an even number, which is convenient for the centrifuging in a special case that the swinging buckets23-5are not full-loaded, for example, in a special situation that only two centrifuge containers23-6are used for centrifuging. Each of the swinging buckets23-5includes an annular wall and a bottom wall obliquely extending along a direction of the axis by taking a bottom circle of the annular wall as a starting point, and an upper end of the annular wall is mounted at the clamping portion. The annular wall is mainly used to limit the centrifuge container23-6, and the bottom wall is used to support the centrifuge container23-6.

In order to make it convenient for the mechanical arm to identify the presence of the centrifuge bottle in the swinging bucket23-5, specifically, as shown inFIG.16, the centrifuge is further provided with optical fiber detection switches arranged to surround the swinging buckets23-5in one-to-one correspondence. Each of the optical fiber detection switches23-7includes a signal emission unit configured to emit a signal23-8in a direction parallel to a plane where the rotation mechanism is located, and a signal reception unit configured to receive the signal which is reflected. The main principle is to use the linear transmission of the signal, and the difference of the light signal obtained at the reception site after reflection, refraction and scattering of the signal to detect the presence of the centrifuge bottle in the swinging basket23-5. The signal can pass through the middle of the centrifuge bottle (in this case, the swinging basket23-5is correspondingly provided with a hole for the signal to pass through); or the signal can pass through the bottom of the centrifuge bottle.

As shown inFIGS.15and16, to alleviate the vibration of the centrifuge, the rotating mechanism is supported by a buffer plate23-10. Besides, to detect the vibration of the centrifuge, the horizontal rotor is placed in an annular inner cover23-12, the annular inner cover23-12is mounted on the buffer plate, and the annular inner cover23-12is provided with a signal hole in the path of the signal, when the centrifuge vibrates abnormally (signal is reflected by the annular inner cover), the signal acquired by the optical fiber detection switch23-7is an abnormal signal.

To solve the problem of overheating of the centrifuge, in this embodiment, an emergency braking mechanism is added to the above technical solution of the centrifuge. As shown inFIG.17, the emergency braking mechanism includes a spiral body made of a shape memory alloy with a two way memory effect and an emergency braking button arranged on the servo motor23-1. The spiral body has an annular heated body23-11formed by a spiral action, and the annular heated body23-11has two extension ends with flanges23-14. A first state of the spiral body is that the annular heated body is in a clearance fit with the drive shaft23-2, and a second state of the spiral body is that the annular heated body is attached to a surface of the drive shaft23-2. When the spiral body is in the second state, the extension ends turn on the emergency braking button by the flanges; and when the spiral body is in the first state, the flanges23-14have a set distance from the emergency braking button. The emergency braking button controls an input power connected to the servo motor23-1, and when the spiral body is in the second state, the flanges23-14turns on the emergency braking button, to achieve emergency braking of the servo motor23-1. The design of this embodiment effectively avoids the harm to cell culture caused by overheating after centrifuge failure or continuous long time of operation, and the most reasonable phase change temperature of the annular heated body can be obtained through theoretical design and limited times of test verification. The design of the specific shape memory alloy material with two ways memory effect according to the phase change temperature can be realized through the research on shape memory alloy in the conventional technology, which will not described in detail in this application.

In some embodiments, as shown inFIGS.18to29, the operation region further includes an automatic cryogenic vial opening and aliquoting device, which is illustrated in detail as follows. The automatic cryogenic vial opening and aliquoting device includes a translation module24-3, lifting module for cap screwing24-41, and lifting module for liquid adding24-71mounted on the support platform24-1.

The translation module24-3includes a base plate24-36, a base plate slideway24-31, a pallet slider24-32, a first tray pallet24-33, a second tray pallet24-34, a horizontal drive device and a robot gripper24-35. The horizontal drive device is arranged below the base plate slideway24-31, the horizontal drive device includes a serve motor and a screw rod for driving. The robot places the metal bath with the cryogenic vials on the translation module24-3by the robot gripper24-3, multiple cryogenic vials are placed on the second tray pallet24-34, and the first tray pallet24-33is used to place the unscrewed vial caps. The horizontal drive device is arranged in the electric control cabinet24-2, including the 400-watt serve motor and a screw rod for driving.

One side of the horizontal drive device (screw rod) is connected to the pallet slider24-32, to realize the horizontal movement of the pallet slider24-32on the base plate slideway24-31. A cable interface at a lower end of the servo motor is connected to an actuator of the motor, the translation module24-3moves the metal bath with the cryogenic vials to a robot pick-and-place position, i.e., the position of the robot gripper24-35, and the robot automatically passes out the cryogenic vials. Preferably, the first tray pallet24-33, the second tray pallet24-34and the base plate24-36are each provided with a plurality of round openings each having a diameter corresponding to that of the cryogenic vials, so as to better place the cryogenic vials and play a fixing role. The further improvement is that one side of the pallet slider24-32corresponding to the second tray pallet24-34is provided with a plurality of cryogenic vial fixing shafts24-37, each has a structure specifically having six arc-shaped axial surfaces for fixing, and the transverse axial surface is circular-shaped, to form a bottom protection shaft from the bottom up for the corresponding cryogenic vial, which can further protect play the cryogenic vials.

The cryogenic vials are horizontally moved into the cap screwing main shaft24-4by the translation module24-3to get ready for cap screwing, and the cap screwing method is specifically realized as follows. The fixing platform includes a vial cap detection device24-42, a vial body detection device24-43, a cap screwing servo motor24-44and a vial cap detaching device24-45. The vial cap detection device24-42is embodied as a reflective fiber optic sensor, and multiple reflective fiber optic sensors may be provided. In this embodiment, the number of the reflective fiber optic sensors is 10, so as to correspond to the figures. The reflective fiber optic sensors are 10 reflective laser sensors24-512arranged below the fixing platform and configured to detect a distance between the vial cap detaching device24-45and the vial cap. A laser pulse aiming at the vial cap is emitted by a laser emitting diode, and the distance between the vial cap detaching device24-45and the vial cap can be determined by recording and processing the elapsed time from the emitting to the and reception after return of the laser pulse. The principle of the vial body detection device24-43is the same, a single reflective fiber optic sensor is arranged, when the scattered light is not in a straight line, indicating that a cryogenic vial is brought to an upper position by the vial cap detaching device24-45, that is, a group of vial bodies are not in the straight line.

The lifting module for cap screwing24-41includes a guide rail24-401, a slider24-402, and a motor24-403and a screw rod for driving, the motor24-403is arranged on the guide rail24-401, an output end of the motor24-403is connected to the slider24-402; the guide rail24-401, the slider24-402and the fixing platform are arranged in a mutually parallel connection manner. The fixing platform is able to move up and down along the guide rail24-401under the driving of the motor24-403, and the vial cap detaching device24-45can be moved to the position of the vial cap of the cryogenic vial according to actual operation choice.

A group of ten cap screwing servo motors24-44are arranged according to this embodiment, and are respectively connected to the vial cap detaching device24-45. The cap screwing servo motor24-44employs a 50-watt servo motor. The vial cap detaching device24-45is controllably connected to the cap screwing servo motor24-44. The vial cap detaching device24-45includes a spring24-451, a guide pipe24-452provided with L-shaped movement openings at two surfaces, a slider moving pipe24-453and a casing pipe mounting plate24-454. The slider moving pipe24-453is provided with two circular protrusions24-455, and the guide pipe24-452is arranged at an outer periphery of the slider moving pipe24-453. A rotation shaft is arranged inside the slider moving pipe24-453, the rotation shaft has one end connected to the vial cap and another end connected to the casing pipe mounting plate24-454. When the vial cap is being opened, the cap screwing servo motor24-44works to drive the casing pipe mounting plate24-454and the rotation shaft inside the slider moving pipe24-453to perform forward rotation and upward lifting movement, i.e., the protrusions24-455on the slider moving pipe24-453performs L-shaped movement on the surface of the guide pipe24-452, which is in line with the path of the L-shaped movement opening, to perform forward rotation and upward lifting movement, and an inner side of a lower end of the guide pipe24-452is provided with threads engaged with the vial cap, thus the action of opening the vial cap is realized. The spring24-451is sleeved on an outer periphery of the guide pipe24-452in a snap-in manner, and the snap-in position on the guide pipe24-452is provided in a manner that hollow parts and solid parts are alternatively arranged at intervals, which not only realizes a stable snap-in structure of the spring24-451and the guide pipe24-452, but also realizes securing the vial cap because part of the spring24-451itself is in contact with the vial cap. When the vial cap is being screwed, the path is reversed, the cap screwing servo motor24-44works to drive the casing pipe mounting plate24-454and the rotation shaft inside the slider moving pipe24-453to perform downward and reversed rotation movement, i.e., the protrusions24-455on the slider moving pipe24-453performs reversed L-shaped movement on the surface of the guide pipe24-452, which is in line with the path of the L-shaped movement opening, to perform downward and reversed rotation movement, and thus the screwing of the vial cap is completed.

The guide pipe24-452, slider moving pipe24-453and vial cap detaching device24-45as a whole are arranged in a detachable manner, i.e., the guide pipe24-452and slider moving pipe24-453are replaceable and can be specifically set according to the shape and structure of the cryogenic vial cap. Generally, the cryogenic vial cap is a circular edge with threads, or the cryogenic vial cap is polygonal. When the cryogenic vial cap is a circular edge with threads, a lower end of the vial cap detaching device24-45is provided with a circular cap opening structure matching the vial cap (which is specifically the present embodiment); however, when the cryogenic vial cap is polygonal, the lower end of the vial cap detaching device24-45is provided with a polygonal slider moving pipe24-453matching the vial cap, and the outer periphery of the polygonal slider moving pipe24-453is provided with a circular guide pipe24-452pressing device, the polygonal slider moving pipe24-453clamps the corresponding cryogenic vial cap, and the guide pipe24-452pressing device supplies an inward pressing force to realize the cap screwing. The polygonal slider moving pipe24-453matches the shape of the cryogenic vial cap and thus playing the role of grasping and fixing. Therefore, it is necessary to correspondingly set the vial cap detaching device24-45according to the cryogenic vial cap, and the arrangement is in a moveable connection manner, which is detachable and replaceable, and has a wider applicable range.

After opening the vial cap, liquid should be added into the cryogenic vial. The liquid adding device24-5includes a liquid adding platform24-51, a sterilization platform24-52and a centrifuge bottle weighing platform24-53. An upper end of the centrifuge bottle weighing platform24-53is provided with a centrifuge bottle placing table24-54, which is used to place the centrifuge bottle. The centrifuge bottle weighing platform24-53is arranged at a lowermost end of the liquid adding device, and the centrifuge bottle weighing platform24-53is equipped with a weighing sensor and an FD-3 weighing module. The centrifuge bottle weighing platform24-53is used to weigh the liquid in the centrifuge bottle, to determine the weight of the liquid after the weight of the bottle is removed. In this embodiment, the weight of the liquid in the centrifuge bottle after the weight of the bottle is removed is 450 ml, which is not limited to this, the liquid is then evenly aliquoted in the cryogenic vials. A liquid removing double-needle24-55is embodied as one-piece, which can be placed on the liquid adding platform24-51or the sterilization platform24-52respectively, and the position is switched by the robot. As specifically shown inFIG.31, upper and lower ends of the liquid removing double-needle24-55are hollow needles, and the position of the liquid removing double-needle24-55is switched between the liquid adding platform24-51and the sterilization platform24-52by the robot. The sterilization platform24-52is provided with a pushrod locking device24-56, which is able to perform radial movement, i.e., one end is fixed and the other end is able to rotate. The pushrod locking device24-56is provided with a fitting opening, which is set in a circular shape, and is specifically corresponding to the circular structure of the liquid removing double-needle24-55. When the fitting opening is rotated to a periphery of the liquid removing double-needle24-55, the pushrod locking function can be realized, to make the liquid removing double-needle24-55be located at the sterilization platform24-52, and to be fixed with the upper structure of the liquid removing double-needle24-55in a snap-in manner; besides, an upright post at a rear side of the liquid removing double-needle24-55is fixed, so that the structure is stable when the position is switched. The liquid adding platform24-51and the sterilization platform24-52are each provided with a laser sensor24-512for detecting the needle position of liquid removing double-needle24-55.

The lifting module for liquid adding24-71and the translation module for liquid adding24-72are driven by a motor24-403and a screw rod. The translation module for liquid adding24-72is connected to the lifting module for liquid adding24-71through a sliding plate, and the translation module for liquid adding24-72is able to move on the lifting module for liquid adding24-71through the guide rail24-401and the sliding plate. A liquid adding needle24-74is arranged at a basic plate24-73, the basic plate24-73is arranged on the translation module for liquid adding24-72, the basic plate24-73is provided with a moving block, and the moving block is arranged to correspond to the guide rail24-401on the translation module for liquid adding24-72. The lifting module for liquid adding24-71has two cable joints24-75connected to an actuator of the motor24-403, to drive, under the driving of the motor24-403, the liquid adding needle24-74on the basic plate24-73to perform up-down or front-back movement. A lower end of the liquid adding needle24-74is connected to a sterilization switching device24-76, the sterilization switching device24-76includes two butting pipes24-761and an outlet pipe24-762, the butting pipes24-761are configured to be connected to the liquid adding needle24-74, the outlet pipe24-762may be understood as a check valve, and the outlet pipe has an upper end in communication with the butting pipes24-761and an opened side end. The liquid removing peristaltic pump24-6is provided with multiple pump heads provided with hoses correspondingly, and is connected to the liquid removing double-needle24-55on the liquid adding platform24-51and the liquid adding needle24-74on the liquid adding main shaft24-7through the hoses respectively. A sealing ring is sleeved on an outer shaft of the liquid adding needle24-74, which plays the role of sealing when being connected to the hose; similarly, the sealing effect is good in butting connection, which prevents steam leakage.

During liquid adding, the liquid removing double-needle24-55on the liquid adding platform24-51is connected to the liquid removing peristaltic pump24-6through the hose, and then the liquid removing peristaltic pump24-6is connected to the liquid adding needle24-74on the liquid adding needle24-7through the hose. Upper and lower ends of the liquid adding needle24-74are hollow and communicated, one side of the needle is connected to the liquid removing peristaltic pump24-6through the hose, and the other side is connected to the cryogenic vial. The liquid removing peristaltic pump24-6pumps a cryogenic solution from the centrifuge bottle into the cryogenic vial to complete liquid adding of the cryogenic vial. The cryogenic vial is then moved to a position below the cap screwing position, to screw on the cryogenic vial cap.

During sterilization, the liquid removing double-needle24-55is first removed from the centrifuge bottle and switched to the sterilization platform24-52. Steam for sterilization comes from a steam generator, flows to the liquid adding needle24-74through pipe connection, then reaches the sterilization switching device24-76, and then flows from the butting pipes24-761to the outlet pipe24-762, which forms a one-way passage. The above are only specific structures that can achieve the above functions, other structures not mentioned in the present invention that can achieve the same function are the equivalent replacement of the present invention.

The overall working process is as follows.

The robot places the set of cryogenic vials on the translation module24-3, the translation module24-3moves to the position of the cap screwing main shaft24-4for cap screwing; the robot places the centrifuge bottle with liquid to be aliquoted on the centrifuge bottle placing table24-54of the liquid adding platform24-51, then takes out the liquid removing double-needle24-55from the sterilization platform24-52and places it into the centrifuge bottle for cell freezing. The cap screwing main shaft24-4performs vial cap opening of a row of the cryogenic vials, then moves to the position of the liquid adding main shaft24-7, and then the liquid removing peristaltic pump24-6pumps the cryogenic solution in the centrifuge bottle into the cryogenic vials, to complete liquid aliquoting for the row of the cryogenic vials. The structure combining the dual-needle and single-needle is employed, the dual-needle structure is used for liquid adding in the rapid liquid aliquoting at an early stage, and the single-needle structure is used for liquid adding at a later stage, which reduces liquid residual at the same time of ensuring the liquid adding efficiency. Then the cryogenic vials are moved to a position below the cap screwing main shaft24-4, and the vial caps are screwed on the cryogenic vials. The opening-aliquoting-screwing process is repeated to complete the operation of all cryogenic vials, the translation module24-3moves the metal bath with cryogenic vials to the pick-and-place position of the robot, and the robot automatically passes out the cryogenic vials. The robot put the liquid removing double-needle24-55in the sterilization position for sterilization, the sterilization is performed at 121° C. for more than 20 minutes, and then the centrifuge bottle is taken out.

In Some Embodiments

Then the operation region is further provided with shakers in an integrated manner, and the shakers include a Cell Factory shaker and a centrifuge bottle shaker.

As shown inFIG.31, the Cell Factory shaker includes an outer frame, where a shaking platform mounting area25-11and a drive mechanism mounted on the shaking platform mounting area25-11are laid on the outer frame; and a shaking platform configured to perform shaking under an action of the drive mechanism. The drive mechanism of the Cell Factory shaker includes a servo motor25-12and an eccentric shaft25-13connected to an output end of the servo motor25-12, and the servo motor25-12is provided with a return-to-zero device; the shaking platform is arranged at a top end of the eccentric shaft25-13; a surface of the shaking platform is provided with a Cell Factory clamping component, and a Cell Factory required to be shaken by the Cell Factory shaker are mounted at the Cell Factory clamping component through a Cell Factory support frame.

In order to avoid the secondary vibration caused by the vibration of the drive shaft during the shaking, the eccentric shaft25-13is further provided with a balancing plate25-15. The balancing plate25-15is arranged in a direction opposite to the vibration direction of the shaking platform, to ensure the overall balance of the automatic shaker of the Cell Factory. Besides, for smooth shaking, four synchronous eccentric shafts25-14are provided, the four synchronous eccentric shafts25-14are arranged at four corners underneath the shaking platform and rotate synchronously with the drive shaft. The problem that the shaking platform cannot evenly shake during large area shaking is addressed, which effectively ensures the stability of the Cell Factory during the batch-type shaking, and at the same time ensures that the direction of the shaking platform unchanged during the shaking.

Particularly, an auxiliary mounting plate25-16is provided, the auxiliary mounting plate25-16is fixed on the outer frame, for example, the outer frame is provided with a mounting hole, and the auxiliary mounting plate25-16is supported by an edge of the mounting hole. The auxiliary mounting plate25-16is provided with a through hole for mounting the eccentric shaft25-13. The servo motor25-12is suspended below the auxiliary mounting plate25-16by a bracket. The four synchronous eccentric shafts25-14each has one end mounted on the auxiliary mounting plate25-16by a bearing and the other end connected to the shaking platform.

From the above, according to the technical solution of the present invention, the servo motor25-12drives the eccentric shaft25-13to rotate through a shaft coupling, the eccentric shaft25-13drives the shaking platform to shake horizontally. The arrangement of the synchronous eccentric shafts25-14not only improves the load but also makes the shaking of the shaking platform smoother.

As shown inFIG.30, the Cell Factory support frame has a Cell Factory placing box; where the Cell Factory placing box includes a bottom plate25-1, a back plate25-2, and two side plates25-3. The bottom plate is partially sunken inward to form a Cell Factory limiting groove25-4, and a sunken depth is between 1/100 to ½ of a height of the Cell Factory itself. A Cell Factory locking structure is provided, where the Cell Factory locking structure has a Cell Factory limiting element25-5and a Cell Factory locking element25-6, one end of the Cell Factory limiting element25-5is mounted at an area of the back plate25-2corresponding to the Cell Factory limiting groove25-4in a manner that the Cell Factory limiting element25-5has one rotational degree of freedom, and one end of the Cell Factory locking element25-6is mounted at an area of the bottom plate25-1corresponding to the Cell Factory limiting groove25-4in a manner that the Cell Factory locking element25-6has one rotational degree of freedom; another end of the Cell Factory limiting element25-5and another end of the Cell Factory locking element25-6are allowed to be locked with each other, after being locked, the Cell Factory limiting element25-5is in parallel with the bottom plate25-1, and the Cell Factory locking element25-6is in parallel with the back plate25-2. Alternatively, the Cell Factory placing box includes a bottom plate25-1, a back plate25-2, and two side plates25-3, where the bottom plate25-1is partially sunken inward to form a Cell Factory limiting groove25-4. A Cell Factory locking structure is provided, where the Cell Factory locking structure has a Cell Factory limiting element25-5and a Cell Factory locking element25-6, one end of the Cell Factory limiting element25-5is mounted at one of the two side plates25-3in a manner that in a manner that the Cell Factory limiting element25-5has one rotational degree of freedom, and one end of the Cell Factory locking element25-6is mounted at the other one of the two side plates25-3in a manner that the Cell Factory locking element25-6has one rotational degree of freedom; another end of the Cell Factory limiting element25-5and another end of the Cell Factory locking element25-6are allowed to be locked with each other, after being locked, the Cell Factory limiting element25-5is in parallel with the bottom plate25-1.

Two sides of an upper end of the back plate are each provided with a positioning element25-9, the bottom plate25-1is provided with a positioning hole at a corresponding width to match the positioning element25-9, and a set distance is provided between the positioning hole and a joint between the back plate25-2and the bottom plate25-1. In practical application, the set distance is generally not less than a distance between a Cell Factory cover and a Cell Factory edge. With the arrangement of the positioning hole, when the Cell Factory support frames are stacked in a vertical direction, there is misalignment between the adjacent two cell factories, to ensure that the Cell Factory cover can be exposed outside the Cell Factory support frame, so as to facilitate machine or manual operation. In other embodiments, multiple Cell Factory placing boxes may be provided in an integrated manner on one layer. Each of the Cell Factory placing boxes is provided with a Cell Factory locking structure.

Further, in order to realize stacking of the cell factories in the vertical direction without wobble between the Cell Factory support frames, an upper portion of the side plate25-3is provided with a first locking element25-7protruding beyond an upper surface of the side plate25-3, a lower portion of the side plate25-3is provided with a second locking element25-8for locking the first locking element25-7, and the second locking element25-8is misaligned with respect to the first locking element25-7by a set distance. When the Cell Factory support frames are being stacked, the positioning hole and the positioning element realize horizontal limitation, and the first locking element and the second locking element25-8realize double limitations in both the horizontal and vertical directions. In this case, it is required that the misalignment with the set distance between the second locking element25-8and the first locking element matches that the set distance between the positioning hole and the joint between the back plate25-2and the bottom plate25-1.

As shown inFIG.32, the centrifuge bottle shaker includes a shaking unit and a shaker base plate26-2, and the shaking unit includes: a drive mechanism26-1for centrifuge bottle shaker, having an output shaft for outputting a rotating torque; a eccentric shake disk arranged at an output end of the output shaft in an eccentric manner and configured to rotate around an axis of the output shaft, the eccentric manner is defined that an axis of the eccentric shake disk is arranged in parallel with and in a preset distance from the axis of the output shaft; a centrifuge bottle clamp26-3, where the centrifuge bottle clamp is arranged at the eccentric shake disk in a manner that the centrifuge bottle clamp has an elastic degree of freedom in an axial direction with respect to the eccentric shake disk, where the axial direction is defined as a direction in parallel with the axis of the output shaft.

Preferably, the number of the shaking unit is plural, the plurality of shaking units are uniformly arranged on the shaker base plate26-2, the eccentric shake disk of each of the shaking units is mounted on a crankshaft via a bearing, and adjacent two eccentric shake disks are elastically connected with each other.

Particularly, the centrifuge bottle clamp26-3has a bottom seat26-31, a centrifuge bottle support seat26-32and an elastic clamping element26-33; where the centrifuge bottle support seat26-32is integrated at the bottom seat26-31, and an upper surface of the centrifuge bottle support seat is partially sunken inward to form a bottom positioning portion matching a bottom of the centrifuge bottle; and the elastic clamping element26-33has a plurality of upright posts and at least one auxiliary ring26-35, the plurality of upright posts each has one end fixed to the bottom seat26-31in a manner that the ends of the upright posts surrounds the centrifuge bottle support seat26-32, to form a centrifuge bottle side clamping structure, the plurality of upright posts each has another end bent backward to form a reinforcing ring26-34; and the auxiliary ring26-35surrounds all the upright posts and is connected to lower portions of all the upright posts.