CN212247057U - Full-automatic cell passage operation device - Google Patents

Abstract

The utility model provides a full automatic operation device of cell passage, full automatic operation device of cell passage includes: the device comprises an installation base, an observation area positioned on the left side of the installation base and an automatic operation area positioned on the right side of the installation base; the automatic operation area is provided with a second clamping manipulator, a shaking table, a test tube rack, a two-degree-of-freedom linear motion module, an operation manipulator, a pore plate operation table, a self-made pipettor gun head box, a waste liquid well, a reagent bottle, a peristaltic pump, a waste well, a centrifugal machine, a third clamping manipulator, a second single-degree-of-freedom linear motion module and a third single-degree-of-freedom linear motion module. Has the advantages that: (1) each manipulator can flexibly adjust the position, height and orientation of the manipulator, so that the clamping and transfer of the target object are realized, the full-automatic operation of cell passage is realized, and the work efficiency is improved while the labor is saved. (2) The whole operation space keeps an aseptic environment, and the probability of polluting a cell culture environment is reduced.

Description

Full-automatic cell passage operation device

Technical Field

The utility model belongs to the technical field of cell operation culture, concretely relates to full automatic operation device of cell passage.

Background

Cell culture refers to a method of simulating in vivo environment in vitro, including conditions such as sterility, proper temperature, pH value and certain nutritional conditions, so as to enable the cells to survive, grow and reproduce and maintain the main structure and function. Cell culture is also called cell cloning technology, and the formal term in biology is cell culture technology. Cell culture is an essential process for both the whole bioengineering technique and one of the biological cloning techniques, and is itself a large-scale cloning of cells. Cell culture techniques are important and commonly used in cell biology research methods, and a large number of cells can be obtained through cell culture, and signal transduction, anabolism, growth and proliferation of cells and the like of the cells can be researched.

At present, the operation of cell culture is mainly completed by manual operation, which easily causes pollution to the culture environment while consuming manpower and affects the quality of cultured cells. Therefore, there is an urgent need to design and manufacture a cell culture apparatus that realizes a fully automated culture operation.

SUMMERY OF THE UTILITY MODEL

To the defect that prior art exists, the utility model provides a full automatic operation device of cell passage can effectively solve above-mentioned problem.

The utility model adopts the technical scheme as follows:

the utility model provides a full automatic operation device of cell passage, include: the device comprises a mounting base (1), an observation area (2) positioned on the left side of the mounting base (1) and an automatic operation area (3) positioned on the right side of the mounting base (1); the length direction of the mounting base (1) is taken as the X direction, the width direction is the Y direction, and the height direction is the Z direction;

the observation area (2) is provided with a first clamping manipulator (2.1), observation equipment (2.2) and a first single-degree-of-freedom linear motion module (2.3); the first single-degree-of-freedom linear motion module (2.3) is arranged along the X direction; the first clamping manipulator (2.1) is arranged on the first single-degree-of-freedom linear motion module (2.3), and the first clamping manipulator (2.1) performs linear motion in the X direction under the driving of the first single-degree-of-freedom linear motion module (2.3);

the automatic operation area (3) is provided with a second clamping mechanical arm (3.1), a shaking table (3.2), a test tube rack (3.3), a two-degree-of-freedom linear motion module (3.4), an operation mechanical arm (3.5), a pore plate operation table (3.6), a self-made pipette gun head box (3.7), a waste liquid well (3.8), a reagent bottle (3.9), a peristaltic pump (3.10), a waste well (3.11), a centrifuge (3.12), a third clamping mechanical arm (3.13), a second single-degree-of-freedom linear motion module (3.14) and a third single-degree-of-freedom linear motion module (3.15);

the third single-degree-of-freedom linear motion module (3.15) is arranged along the X direction and is coaxial with the first single-degree-of-freedom linear motion module (2.3); the second clamping manipulator (3.1) is arranged on the third single-degree-of-freedom linear motion module (3.15), and the second clamping manipulator (3.1) performs linear motion in the X direction under the driving of the third single-degree-of-freedom linear motion module (3.15);

the pore plate operating platform (3.6) and the shaking table (3.2) are sequentially arranged and installed on one side of the third single-degree-of-freedom linear motion module (3.15);

the two-degree-of-freedom linear motion module (3.4) is a linear motion module with the degrees of freedom in the X direction and the Y direction, and the operation manipulator (3.5) is assembled on the two-degree-of-freedom linear motion module (3.4) and can move in the automatic operation area (3) under the drive of the two-degree-of-freedom linear motion module (3.4);

the second single-degree-of-freedom linear motion module (3.14) is arranged along the Y direction; the third clamping manipulator (3.13) is arranged on the second single-degree-of-freedom linear motion module (3.14); -arranging the centrifuge (3.12) on the movement path of the third gripping manipulator (3.13);

the test tube rack (3.3), the self-made pipette gun head box (3.7), the waste liquid well (3.8), the reagent bottle (3.9), the peristaltic pump (3.10) and the waste well (3.11) are dispersedly arranged in the inner space of the automatic operation area (3).

Preferably, the first gripping manipulator (2.1) is a gripping manipulator having a first electric finger, a first electric turntable and a first lifting module;

wherein the first lifting module is assembled on the first single-degree-of-freedom linear motion module (2.3); the first electric rotary table is assembled on the first lifting module and driven by a first rotary table servo motor to rotate; the first electric finger is assembled on the first electric turntable; the first electric finger is driven by a first finger servo motor to realize a clamping function; above the first motorised finger path of rotation, the observation device (2.2) is arranged.

Preferably, the second gripping manipulator (3.1) is a gripping manipulator having a second electric finger (3.1.1), a second electric turntable (3.1.2) and a second lifting module (3.1.3);

wherein the second lifting module (3.1.3) is assembled on the third single-degree-of-freedom linear motion module (3.15); the second electric rotary table (3.1.2) is assembled on the second lifting module (3.1.3), and the second electric rotary table (3.1.2) is driven by a second rotary table servo motor (3.1.4) to rotate; the second electric finger (3.1.1) is assembled on the second electric turntable (3.1.2); the second electric finger (3.1.1) is driven by a second finger servo motor (3.1.5) to realize the clamping function; and the orifice plate operating platform (3.6) and the shaking table (3.2) are arranged on the rotating path of the second electric finger (3.1.1).

Preferably, the orifice plate console (3.6) is an orifice plate console having a function of clamping an orifice plate, and includes: the limiting plate (3.6.3), the clamping plate (3.6.2) and the clamping plate driving motor (3.6.1); the limiting plate (3.6.3) and the clamping plate (3.6.2) are arranged on two sides of the operating table relatively, and the clamping plate driving motor (3.6.1) drives the clamping plate (3.6.2) to move linearly, so that the clamping plate (3.6.2) is close to or far away from the limiting plate (3.6.3).

Preferably, the third gripping manipulator (3.13) comprises a test tube gripping seat (3.13.1), a first Z-direction linear motion module (3.13.2), a test tube gripping turntable (3.13.3), a test tube gripping turntable drive motor (3.13.4) and a test tube gripping electric finger (3.13.5); the test tube clamping seat (3.13.1) is arranged on the second single-degree-of-freedom linear motion module (3.14) and is driven by the second single-degree-of-freedom linear motion module (3.14) to move along the Y direction;

the first Z-direction linear motion module (3.13.2) is fixedly arranged on the test tube clamping seat (3.13.1); the test tube clamping rotary table (3.13.3) is mounted on the first Z-direction linear motion module (3.13.2), and the test tube clamping rotary table (3.13.3) is driven by the first Z-direction linear motion module (3.13.2) to perform Z-direction lifting motion; the test tube clamping rotary table driving motor (3.13.4) drives the test tube clamping rotary table (3.13.3) to axially rotate;

the test tube clamping electric finger (3.13.5) is assembled on the test tube clamping rotary table (3.13.3), and when the test tube clamping rotary table (3.13.3) rotates, the test tube clamping electric finger (3.13.5) is driven to rotate; the centrifuge (3.12) is mounted on the rotation path of the test tube gripping electric finger (3.13.5).

Preferably, the peristaltic pump (3.10) comprises a peristaltic pump body (3.10.1) and a reagent tube (3.10.2); the liquid inlet end of the peristaltic pump body (3.10.1) is connected with the reagent bottle (3.9); the liquid outlet end of the peristaltic pump body (3.10.1) is connected with the reagent tube (3.10.2), and the peristaltic pump body (3.10.1) quantitatively pumps the reagent in the reagent bottle (3.9) into the reagent tube (3.10.2).

Preferably, the operating manipulator (3.5) comprises a fourth clamping manipulator (3.5.1), a liquid transfer unit and a second Z-direction linear motion module (3.5.5);

the top of the second Z-direction linear motion module (3.5.5) is assembled with the two-degree-of-freedom linear motion module (3.4);

the fourth clamping manipulator (3.5.1) and the liquid transferring unit are both arranged on the second Z-direction linear motion module (3.5.5), and the fourth clamping manipulator (3.5.1) and the liquid transferring unit are driven by the second Z-direction linear motion module (3.5.5) to integrally move up and down along the Z direction;

wherein the fourth gripping manipulator (3.5.1) is a gripping manipulator with a fourth electric finger and a fourth electric turntable;

the pipetting unit comprises a pipette (3.5.2), a pipette fixture (3.5.3) and a pipette handling device (3.5.4);

the pipettor (3.5.2) is arranged below the pipettor operating device (3.5.4) through the pipettor fixing device (3.5.3), and the pipettor (3.5.2) is driven by the pipettor operating device (3.5.4) to realize the operations of replacing and sucking a gun head to discharge a reagent.

Preferably, the waste liquid well (3.8) and the waste well (3.11) are in communication with the outside.

The utility model provides a pair of full automatic operation device of cell passage has following advantage:

(1) set up multiple manipulator, its position, height and orientation can be adjusted in a flexible way to every manipulator, and then realize pressing from both sides and get and shift the target object, realize the full automatic operation of cell passage, improved work efficiency when using manpower sparingly. (2) The whole operation space keeps a sterile environment, the uncertainty caused by manual operation is effectively reduced, the sterile environment is ensured, and the probability of polluting a cell culture environment is reduced.

Drawings

FIG. 1 is a perspective view of the cell passage removal chamber door of the fully automatic cell passage manipulator of the present invention;

FIG. 2 is an isometric view of the box of the fully automatic cell passage manipulator provided by the present invention;

FIG. 3 is an integral perspective view of the fully automatic cell passaging manipulator provided by the present invention;

FIG. 4 is a 3.5 perspective view of the manipulator of the fully automatic cell passage manipulator of the present invention;

fig. 5 is an axonometric view of the self-made pipette tip box of the cell passage fully automatic operation device provided by the present invention;

FIG. 6 is a structural diagram of a peristaltic pump of the fully automatic cell passaging operation device provided by the present invention;

FIG. 7 is a structural diagram of a shaking table of the fully automatic cell passaging operation device provided by the present invention;

FIG. 8 is a structural diagram of a well plate operating table of the fully automatic cell passaging operation device according to the present invention;

fig. 9 is a structural diagram of a third clamping manipulator of the full-automatic cell passage manipulator provided by the present invention;

fig. 10 is a structural diagram of the second gripper robot of the fully automatic cell passaging operation device according to the present invention.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to further explain the present invention in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

The utility model provides a full automatic operation device of cell passage, as shown in figure 1, figure 2 and figure 3, include: a mounting base 1, an observation area 2 located on the left side of the mounting base 1, and an automatic operation area 3 located on the right side of the mounting base 1.

Therefore, the full-automatic cell passage operation device consists of an observation area 2 and an automatic operation area 3, and a transmission port is reserved on the vertical wall on the left side of the observation area 2 and can be connected with a cell passage batch culture and detection device so as to receive an external cell orifice plate. The automatic operation area 3 mainly realizes an operation function of automatically culturing cells.

For the convenience of description, the utility model discloses the regulation: the length direction of the mounting base 1 is defined as the X direction, the width direction is defined as the Y direction, and the height direction is defined as the Z direction.

The observation area 2 and the automatic operation area 3 are described in detail below, respectively:

(I) observation area 2

The observation area 2 is provided with a first clamping manipulator 2.1, observation equipment 2.2 and a first single-degree-of-freedom linear motion module 2.3;

wherein, the first single-degree-of-freedom linear motion module 2.3 is arranged along the X direction; the first clamping manipulator 2.1 is arranged on the first single-degree-of-freedom linear motion module 2.3, and the first clamping manipulator 2.1 performs linear motion in the X direction under the driving of the first single-degree-of-freedom linear motion module 2.3;

the structure of the first gripping manipulator 2.1 is the same as that of the second gripping manipulator shown in fig. 10, and specifically, the first gripping manipulator 2.1 is a gripping manipulator having a first electric finger, a first electric turntable, and a first lifting module;

the first lifting module is assembled on the first single-degree-of-freedom linear motion module 2.3; the first electric turntable is assembled on the first lifting module and driven by a first turntable servo motor to rotate; the first electric finger is assembled on the first electric turntable; the first electric finger realizes a clamping function under the drive of the first finger servo motor; above the first motorised finger path of rotation, a viewing device 2.2 is provided. Therefore, the height of the first clamping manipulator 2.1 is adjusted through the first lifting module; the orientation of the first clamping manipulator 2.1 is adjusted through the first electric rotary table; the adjustment of the position of the first clamping manipulator 2.1 along the X direction is realized through the first single-degree-of-freedom linear motion module 2.3.

Therefore, with the above structure, flexible and free adjustment of the position, the rotation direction, and the height of the first electric finger of the first gripping manipulator 2.1 in the X direction can be realized.

(II) automatic operation area 3

The automatic operation area 3 is provided with a second clamping mechanical arm 3.1, a shaking table 3.2, a test tube rack 3.3, a two-degree-of-freedom linear motion module 3.4, an operation mechanical arm 3.5, a pore plate operation table 3.6, a self-made pipette gun head box 3.7, a waste liquid well 3.8, a reagent bottle 3.9, a peristaltic pump 3.10, a waste well 3.11, a centrifuge 3.12, a third clamping mechanical arm 3.13, a second single-degree-of-freedom linear motion module 3.14 and a third single-degree-of-freedom linear motion module 3.15.

The following describes the main components of the automation area 3:

(2.1) second gripping manipulator 3.1

The third single-degree-of-freedom linear motion module 3.15 is arranged along the X direction and is arranged coaxially with the first single-degree-of-freedom linear motion module 2.3; a second clamping manipulator 3.1 is arranged on the third single-degree-of-freedom linear motion module 3.15, and the second clamping manipulator 3.1 performs linear motion in the X direction under the driving of the third single-degree-of-freedom linear motion module 3.15;

referring to fig. 10, the second gripping manipulator 3.1 is a gripping manipulator having a second electric finger 3.1.1, a second electric turn table 3.1.2 and a second lifting module 3.1.3;

wherein, the second lifting module 3.1.3 is assembled on the third single-degree-of-freedom linear motion module 3.15; the second electric turntable 3.1.2 is assembled on the second lifting module 3.1.3, and the second electric turntable 3.1.2 is driven by a second turntable servo motor 3.1.4 to rotate; the second electric finger 3.1.1 is assembled on the second electric turntable 3.1.2; the second electric finger 3.1.1 realizes the clamping function under the driving of a second finger servo motor 3.1.5; on the second power finger 3.1.1 rotation path, a well plate console 3.6 and a cradle 3.2 are provided.

Therefore, the height of the second clamping manipulator 3.1 is adjusted through the second lifting module 3.1.3; the orientation of the second clamping manipulator 3.1 is adjusted through the second electric rotary table 3.1.2; and the adjustment of the position of the second clamping manipulator 3.1 along the X direction is realized through the third single-degree-of-freedom linear motion module 3.15.

The pore plate operating platform 3.6 and the shaking table 3.2 are arranged on the rotating path of the second electric finger 3.1.1, so that the function of placing the cell pore plate clamped by the second clamping mechanical arm 3.1 on the pore plate operating platform 3.6 and the shaking table 3.2 can be realized.

(2.2) Orifice plate worktop 3.6 and cradle 3.2

And a mounting hole plate operating platform 3.6 and a shaking table 3.2 are sequentially arranged on one side of the third single-degree-of-freedom linear motion module 3.15.

Referring to fig. 8, a structural view of the orifice plate operating table is shown; orifice plate console 3.6 is an orifice plate console with a function of clamping an orifice plate, comprising: the limiting plate 3.6.3, the clamping plate 3.6.2 and the clamping plate driving motor 3.6.1; the limiting plate 3.6.3 and the clamping plate 3.6.2 are arranged on two sides of the operating table relatively, and the clamping plate driving motor 3.6.1 drives the clamping plate 3.6.2 to perform linear motion, so that the clamping plate 3.6.2 is close to or far away from the limiting plate 3.6.3.

In addition, the function of opening the cover of the cell pore plate can be realized through the matching of the pore plate operating platform and the second clamping mechanical arm 3.1.

Referring to FIG. 7, which is a structural view of a rocking bed, the rocking bed mainly performs a function of oscillating a cell well plate placed on the rocking bed.

In practical application, the orifice plate operation platform and the shaking table can be respectively provided with two orifice plate operation platforms and two shaking tables, and the orifice plate operation platforms and the shaking tables are arranged on the installation base side by side through screws.

(2.3) manipulator 3.5

The two-degree-of-freedom linear motion module 3.4 is a linear motion module with the degrees of freedom in the X direction and the Y direction, and the operation manipulator 3.5 is assembled on the two-degree-of-freedom linear motion module 3.4 and can move in the automatic operation area 3 under the driving of the two-degree-of-freedom linear motion module 3.4;

referring to fig. 4, a perspective view of the manipulator 3.5 axis; the operating manipulator 3.5 comprises a fourth clamping manipulator 3.5.1, a liquid transfer unit and a second Z-direction linear motion module 3.5.5;

the top of the second Z-direction linear motion module 3.5.5 is assembled with the two-degree-of-freedom linear motion module 3.4; the heights of the fourth clamping manipulator 3.5.1 of the operating manipulator 3.5 and the pipetting unit are adjusted and controlled through the second Z-direction linear motion module 3.5.5.

The fourth clamping manipulator 3.5.1 and the liquid transfer unit are both arranged on the second Z-direction linear motion module 3.5.5, and the fourth clamping manipulator 3.5.1 and the liquid transfer unit are driven to integrally move up and down along the Z direction under the driving of the second Z-direction linear motion module 3.5.5; and because the second Z-direction linear motion module 3.5.5 is assembled on the two-degree-of-freedom linear motion module 3.4, the function of moving the fourth clamping manipulator 3.5.1 and the liquid transfer unit to any point in the space in the automatic operation area can be realized through the matching of the two-degree-of-freedom linear motion module 3.4 and the second Z-direction linear motion module 3.5.5.

Wherein the fourth gripping manipulator 3.5.1 is a gripping manipulator with a fourth electric finger and a fourth electric turntable;

the pipetting unit comprises a pipette 3.5.2, a pipette fixture 3.5.3 and a pipette operator 3.5.4;

the pipette 3.5.2 is mounted below the pipette operating device 3.5.4 through the pipette fixing device 3.5.3, and is driven by the pipette operating device 3.5.4 to perform operations of replacing and sucking a tip of the pipette 3.5.2 to discharge a reagent. In a specific implementation, the pipette operating device 3.5.4 is configured with a pressing device, and the pressing device is used for replacing and sucking a tip of the pipette 3.5.2 to discharge a reagent.

(2.4) third Gripper robot 3.13

The second single-degree-of-freedom linear motion module 3.14 is arranged along the Y direction; the third clamping manipulator 3.13 is arranged on the second single-degree-of-freedom linear motion module 3.14; on the movement path of the third gripping manipulator 3.13, a centrifuge 3.12 is arranged;

referring to fig. 9, which is a structural diagram of the third gripping robot 3.13, the third gripping robot 3.13 includes a test tube gripping base 3.13.1, a first Z-direction linear motion module 3.13.2, a test tube gripping turntable 3.13.3, a test tube gripping turntable driving motor 3.13.4, and a test tube gripping electric finger 3.13.5; the test tube clamping seat 3.13.1 is arranged on the second single-degree-of-freedom linear motion module 3.14 and is driven by the second single-degree-of-freedom linear motion module 3.14 to move along the Y direction;

the first Z-direction linear motion module 3.13.2 is fixedly mounted on the test tube clamping seat 3.13.1; the test tube clamping rotary table 3.13.3 is mounted on the first Z-direction linear motion module 3.13.2, and the test tube clamping rotary table 3.13.3 is driven by the first Z-direction linear motion module 3.13.2 to perform Z-direction lifting motion; the test tube clamping turntable driving motor 3.13.4 drives the test tube clamping turntable 3.13.3 to axially rotate;

the test tube clamping electric finger 3.13.5 is assembled on the test tube clamping rotary table 3.13.3, and when the test tube clamping rotary table 3.13.3 rotates, the test tube clamping electric finger 3.13.5 is driven to rotate; on the rotation path of the test tube gripping power finger 3.13.5, centrifuge 3.12 is mounted.

With the above configuration, the height, the orientation, and the position in the Y axis direction of the test tube gripped by the test tube gripping electric finger 3.13.5 can be adjusted and controlled.

(2.5) other related devices

The test tube rack 3.3, the homemade pipettor gun head box 3.7, the waste liquid well 3.8, the reagent bottle 3.9, the peristaltic pump 3.10 and the waste well 3.11 are dispersedly arranged in the inner space of the automatic operation area 3.

Referring to fig. 6, a diagram of a peristaltic pump and a reagent bottle is shown. The peristaltic pump 3.10 comprises a peristaltic pump body 3.10.1 and a reagent tube 3.10.2; the liquid inlet end of the peristaltic pump body 3.10.1 is connected with the reagent bottle 3.9; the liquid outlet end of the peristaltic pump body 3.10.1 is connected with the reagent tube 3.10.2, and the peristaltic pump body 3.10.1 quantitatively pumps the reagent in the reagent bottle 3.9 into the reagent tube 3.10.2, so that the waste and pollution of the reagent are avoided.

In the utility model, the reagent bottle 3.9 is configured to be three, and the reagent in every reagent bottle 3.9 is different, includes lotion and cell culture solution at least. Therefore, the three groups of reagent bottles and the three groups of peristaltic pumps are correspondingly connected through rubber tubes and are installed on the installation base through screws.

The self-made pipette tip box 3.7 is used for accommodating a pipette tip, and is a structural diagram of the self-made pipette tip box 3.7 as shown in fig. 5.

The test-tube rack 3.3 is installed on the wall behind the automatic operation district through the screw for the clean test tube of holding.

The waste liquid well 3.8 and the waste well 3.11 are communicated with the outside. The sterile operation environment is realized by continuously blowing in the sterilized clean air from the right upper part of the cell culture device, and the sterile environment in the whole cell culture process is further ensured.

The utility model also provides an operation method of the full-automatic cell passage operation device, which comprises the following steps:

step 1, the waste well 3.11 and the waste liquid well 3.8 are communicated with the outside, and sterilized clean air is continuously blown into the automatic operation area 3 from the right upper part, so that the sterility of the operation environment in the automatic operation area 3 is ensured;

step 2, when the cells need to be subcultured, under the drive of the first single-degree-of-freedom linear motion module 2.3, the first clamping manipulator 2.1 moves to the left side of the observation area 2 along the X direction, clamps the cell pore plate from the transmission port on the left side of the observation area 2, then reversely moves the first clamping manipulator 2.1 to the front of the observation equipment 2.2 along the X direction, then rotates the first clamping manipulator 2.1, further places the clamped cell pore plate in the observation field of the observation equipment 2.2, and observes the cell pore plate through the observation equipment 2.2;

then, the first clamping manipulator 2.1 for clamping the cell pore plate moves to the right side of the observation area 2 along the X direction, so that the clamped cell pore plate is positioned at the position of a transfer door of a partition plate between the observation area 2 and the automatic operation area 3;

step 3, under the drive of a third single-degree-of-freedom linear motion module 3.15, a second clamping manipulator 3.1 moves to a position close to a conveying door along the X direction, the cell pore plate is clamped by the second clamping manipulator 3.1, and then the cell pore plate is loosened by a first clamping manipulator 2.1 to realize the connection of the cell pore plate;

the second clamping mechanical arm 3.1 for clamping the cell pore plate reversely moves to the front of the pore plate operating platform 3.6 along the X direction, the second clamping mechanical arm 3.1 rotates under the driving of the rotary table, and then the cell pore plate is arranged on the table surface of the pore plate operating platform 3.6; then, the second gripping manipulator 3.1 releases the gripping action on the cell well plate;

a clamping plate driving motor 3.6.1 of the pore plate operating platform 3.6 is operated, the clamping plate driving motor 3.6.1 drives a clamping plate 3.6.2 to move, and the lower position of the cell pore plate is clamped through the combined action of the clamping plate 3.6.2 and the limiting plate 3.6.3; the second clamping mechanical arm 3.1 clamps the upper part of the cell pore plate, and then the second clamping mechanical arm 3.1 moves upwards to drive the pore cover of the cell pore plate to move upwards, so that the function of opening the pore plate is realized; then, a second clamping manipulator 3.1 which clamps the cell well plate hole covers places the cell well plate hole covers in the space at the back side of the automatic operation area 3;

step 4, the second clamping manipulator 3.1 clamps the uncapped cell pore plate, moves to the front of the shaking table 3.2 under the drive of the third single-degree-of-freedom linear motion module 3.15, and places the cell pore plate on the shaking table 3.2;

step 5, under the drive of the two-degree-of-freedom linear motion module 3.4, the operating manipulator 3.5 moves to the position above a self-made pipette tip box 3.7, and the pipette 3.5.2 is assembled with a clean pipette tip by operating and controlling a pipetting unit;

then the peristaltic pump 3.10.1 is operated, the peristaltic pump 3.10.1 quantitatively pumps the washing liquid in one reagent bottle 3.9 into the reagent tube 3.10.2;

the position of the manipulator 3.5 is adjusted to move above the reagent tube 3.10.2, and the pipette tip sucks the washing solution from the reagent tube 3.10.2 by operating and controlling the pipette unit;

step 6, adjusting the position of the operating manipulator 3.5 to move the operating manipulator above the shaking table 3.2, and then operating and controlling the liquid transfer unit to inject the washing liquid in the pipette tip into the cell pore plate on the shaking table 3.2;

step 7, shaking and oscillating the original cells and the newly injected washing liquid in the cell pore plate under the action of a shaking table 3.2;

step 8, adjusting the position of the operating manipulator 3.5 to move the operating manipulator to the front of the test tube rack 3.3; the fourth clamping mechanical arm 3.5.1 of the operating mechanical arm 3.5 is operated and controlled, so that the fourth clamping mechanical arm 3.5.1 clamps a clean test tube;

then, the position of the operating manipulator 3.5 is continuously adjusted to move in front of the third gripping manipulator 3.13; then, the third clamping manipulator 3.13 is operated and controlled to clamp the test tube clamped by the fourth clamping manipulator 3.5.1, and the fourth clamping manipulator 3.5.1 loosens the clamped test tube, so that the test tube is handed over;

step 9, after the shaking oscillation time reaches the set time, operating the manipulator 3.5 to suck the mixture of the cells and the washing liquid after shaking oscillation from the cell pore plate, and injecting the sucked mixture into the test tube clamped by the third clamping manipulator 3.13;

step 10, operating and controlling the third clamping mechanical arm 3.13, placing the test tube clamped by the third clamping mechanical arm and filled with the mixture into a centrifuge 3.12, and starting the centrifuge 3.12 to perform centrifugal operation; when the centrifugal time reaches the set time, closing the centrifugal machine 3.12; standing the mixture in the test tube, and then layering, wherein the upper layer is lotion and the lower layer is cells;

step 11, controlling the liquid transfer unit of the operating manipulator 3.5 to enable the liquid transfer gun head to absorb upper-layer washing liquid from the test tube and inject the washing liquid into the waste liquid well 3.8; then, the pipette tip aspirates cells from the test tube;

meanwhile, the second clamping manipulator 3.1 clamps a new empty cell well plate from the transmission port on the left side of the observation area 2 and places the new empty cell well plate on the shaking table 3.2;

the cells sucked by the pipette tip of the manipulator 3.5 are injected into a new empty cell well plate on the shaking table 3.2;

operating the pipette tip of the manipulator 3.5 to suck the cell culture solution from the other reagent tube 3.10.2, and injecting the cell culture solution into the cell pore plate on the shaking table 3.2, so that the cells and the cell culture solution are shaken and shake-cultured;

when the cell culture reaches the set time, the second clamping mechanical arm 3.1 clamps the cultured cell pore plate from the upper surface of the shaking table 3.2 and transmits the cell pore plate to the first clamping mechanical arm 2.1; the first clamping manipulator 2.1 conveys the clamped cultured cell pore plate to the observation area of the observation device 2.2 for observation, and after the observation is finished, the cell pore plate is conveyed to the transmission port on the left side of the observation area 2.

It should be emphasized that, the operation process of the cell passage fully automatic operation device described above is only one use example in practical application, and in practical application, according to the specific requirements for cell culture, the cell passage fully automatic operation device provided by the utility model can be flexibly adopted to carry out cell culture operation with different requirements, and the utility model is not limited thereto.

The utility model provides a pair of full-automatic operating means of cell passage and method thereof has following advantage:

(1) set up multiple manipulator, its position, height and orientation can be adjusted in a flexible way to every manipulator, and then realize pressing from both sides and get and shift the target object, realize the full automatic operation of cell passage, improved work efficiency when using manpower sparingly. (2) The whole operation space keeps a sterile environment, the uncertainty caused by manual operation is effectively reduced, the sterile environment is ensured, and the probability of polluting a cell culture environment is reduced.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be viewed as the protection scope of the present invention.

Claims (8)

1. A cell passage full-automatic operation device is characterized by comprising: the device comprises a mounting base (1), an observation area (2) positioned on the left side of the mounting base (1) and an automatic operation area (3) positioned on the right side of the mounting base (1); the length direction of the mounting base (1) is taken as the X direction, the width direction is the Y direction, and the height direction is the Z direction;

the observation area (2) is provided with a first clamping manipulator (2.1), observation equipment (2.2) and a first single-degree-of-freedom linear motion module (2.3); the first single-degree-of-freedom linear motion module (2.3) is arranged along the X direction; the first clamping manipulator (2.1) is arranged on the first single-degree-of-freedom linear motion module (2.3), and the first clamping manipulator (2.1) performs linear motion in the X direction under the driving of the first single-degree-of-freedom linear motion module (2.3);

the automatic operation area (3) is provided with a second clamping mechanical arm (3.1), a shaking table (3.2), a test tube rack (3.3), a two-degree-of-freedom linear motion module (3.4), an operation mechanical arm (3.5), a pore plate operation table (3.6), a self-made pipette gun head box (3.7), a waste liquid well (3.8), a reagent bottle (3.9), a peristaltic pump (3.10), a waste well (3.11), a centrifuge (3.12), a third clamping mechanical arm (3.13), a second single-degree-of-freedom linear motion module (3.14) and a third single-degree-of-freedom linear motion module (3.15);

the third single-degree-of-freedom linear motion module (3.15) is arranged along the X direction and is coaxial with the first single-degree-of-freedom linear motion module (2.3); the second clamping manipulator (3.1) is arranged on the third single-degree-of-freedom linear motion module (3.15), and the second clamping manipulator (3.1) performs linear motion in the X direction under the driving of the third single-degree-of-freedom linear motion module (3.15);

the pore plate operating platform (3.6) and the shaking table (3.2) are sequentially arranged and installed on one side of the third single-degree-of-freedom linear motion module (3.15);

the two-degree-of-freedom linear motion module (3.4) is a linear motion module with the degrees of freedom in the X direction and the Y direction, and the operation manipulator (3.5) is assembled on the two-degree-of-freedom linear motion module (3.4) and can move in the automatic operation area (3) under the drive of the two-degree-of-freedom linear motion module (3.4);

the second single-degree-of-freedom linear motion module (3.14) is arranged along the Y direction; the third clamping manipulator (3.13) is arranged on the second single-degree-of-freedom linear motion module (3.14); -arranging the centrifuge (3.12) on the movement path of the third gripping manipulator (3.13);

the test tube rack (3.3), the self-made pipette gun head box (3.7), the waste liquid well (3.8), the reagent bottle (3.9), the peristaltic pump (3.10) and the waste well (3.11) are dispersedly arranged in the inner space of the automatic operation area (3).

2. The full-automatic cell passaging operation device according to claim 1, wherein the first clamping manipulator (2.1) is a clamping manipulator with a first electric finger, a first electric turntable and a first lifting module;

wherein the first lifting module is assembled on the first single-degree-of-freedom linear motion module (2.3); the first electric rotary table is assembled on the first lifting module and driven by a first rotary table servo motor to rotate; the first electric finger is assembled on the first electric turntable; the first electric finger is driven by a first finger servo motor to realize a clamping function; above the first motorised finger path of rotation, the observation device (2.2) is arranged.

3. The full-automatic cell passaging operation device of claim 1, wherein the second clamping manipulator (3.1) is a clamping manipulator with a second electric finger (3.1.1), a second electric turntable (3.1.2) and a second lifting module (3.1.3);

wherein the second lifting module (3.1.3) is assembled on the third single-degree-of-freedom linear motion module (3.15); the second electric rotary table (3.1.2) is assembled on the second lifting module (3.1.3), and the second electric rotary table (3.1.2) is driven by a second rotary table servo motor (3.1.4) to rotate; the second electric finger (3.1.1) is assembled on the second electric turntable (3.1.2); the second electric finger (3.1.1) is driven by a second finger servo motor (3.1.5) to realize the clamping function; and the orifice plate operating platform (3.6) and the shaking table (3.2) are arranged on the rotating path of the second electric finger (3.1.1).

4. The full-automatic cell passaging operation device according to claim 1, wherein the orifice plate operation platform (3.6) is an orifice plate operation platform with an orifice plate clamping function, and comprises: the limiting plate (3.6.3), the clamping plate (3.6.2) and the clamping plate driving motor (3.6.1); the limiting plate (3.6.3) and the clamping plate (3.6.2) are arranged on two sides of the operating table relatively, and the clamping plate driving motor (3.6.1) drives the clamping plate (3.6.2) to move linearly, so that the clamping plate (3.6.2) is close to or far away from the limiting plate (3.6.3).

5. The full-automatic cell passaging operation device of claim 1, wherein the third clamping manipulator (3.13) comprises a test tube clamping seat (3.13.1), a first Z-direction linear motion module (3.13.2), a test tube clamping rotary table (3.13.3), a test tube clamping rotary table driving motor (3.13.4) and a test tube clamping electric finger (3.13.5); the test tube clamping seat (3.13.1) is arranged on the second single-degree-of-freedom linear motion module (3.14) and is driven by the second single-degree-of-freedom linear motion module (3.14) to move along the Y direction;

the first Z-direction linear motion module (3.13.2) is fixedly arranged on the test tube clamping seat (3.13.1); the test tube clamping rotary table (3.13.3) is mounted on the first Z-direction linear motion module (3.13.2), and the test tube clamping rotary table (3.13.3) is driven by the first Z-direction linear motion module (3.13.2) to perform Z-direction lifting motion; the test tube clamping rotary table driving motor (3.13.4) drives the test tube clamping rotary table (3.13.3) to axially rotate;

the test tube clamping electric finger (3.13.5) is assembled on the test tube clamping rotary table (3.13.3), and when the test tube clamping rotary table (3.13.3) rotates, the test tube clamping electric finger (3.13.5) is driven to rotate; the centrifuge (3.12) is mounted on the rotation path of the test tube gripping electric finger (3.13.5).

6. A cell passaging full-automatic operation device according to claim 1, wherein the peristaltic pump (3.10) comprises a peristaltic pump body (3.10.1) and a reagent tube (3.10.2); the liquid inlet end of the peristaltic pump body (3.10.1) is connected with the reagent bottle (3.9); the liquid outlet end of the peristaltic pump body (3.10.1) is connected with the reagent tube (3.10.2), and the peristaltic pump body (3.10.1) quantitatively pumps the reagent in the reagent bottle (3.9) into the reagent tube (3.10.2).

7. The full-automatic cell passaging operation device according to claim 1, wherein the operation manipulator (3.5) comprises a fourth clamping manipulator (3.5.1), a pipetting unit and a second Z-direction linear motion module (3.5.5);

the top of the second Z-direction linear motion module (3.5.5) is assembled with the two-degree-of-freedom linear motion module (3.4);

the fourth clamping manipulator (3.5.1) and the liquid transferring unit are both arranged on the second Z-direction linear motion module (3.5.5), and the fourth clamping manipulator (3.5.1) and the liquid transferring unit are driven by the second Z-direction linear motion module (3.5.5) to integrally move up and down along the Z direction;

wherein the fourth gripping manipulator (3.5.1) is a gripping manipulator with a fourth electric finger and a fourth electric turntable;

the pipetting unit comprises a pipette (3.5.2), a pipette fixture (3.5.3) and a pipette handling device (3.5.4);

the pipettor (3.5.2) is arranged below the pipettor operating device (3.5.4) through the pipettor fixing device (3.5.3), and the pipettor (3.5.2) is driven by the pipettor operating device (3.5.4) to realize the operations of replacing and sucking a gun head to discharge a reagent.

8. A cell passaging full-automatic operation device according to claim 1, wherein the waste liquid well (3.8) and the waste well (3.11) are communicated with the outside.

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