CN215560386U - Liquid adding manipulator for culturing biological tissue - Google Patents

Abstract

The utility model discloses a liquid adding manipulator for culturing biological tissues, and relates to the technical field of biological tissue culture; a liquid adding manipulator for culturing biological tissues comprises a transverse moving assembly, a longitudinal moving assembly and a liquid absorbing assembly, wherein the transverse moving assembly is used for driving the longitudinal moving assembly to transversely move, and the longitudinal moving assembly is used for driving the liquid absorbing assembly to longitudinally move; the liquid suction assembly comprises an insertion rod, a first linear driver mechanism, a pipe separating clamping jaw and a second linear driving mechanism, wherein the lower end of the insertion rod is used for inserting a liquid suction head, the insertion rod is provided with a suction channel used for connecting a negative pressure source and the liquid suction head, the first linear driving mechanism is used for driving the insertion rod to move up and down, and the second linear driving mechanism is used for driving the pipe separating clamping jaw to abut against the side wall of the rod part of the insertion rod. The utility model can automatically absorb the biological tissue culture solution and drop the culture solution into the culture dish, thereby meeting the requirement of batch culture of biological tissues.

Description

Liquid adding manipulator for culturing biological tissue

Technical Field

The utility model relates to the technical field of biological tissue culture, in particular to a liquid adding manipulator for culturing biological tissue.

Background

In Vitro Fertilization (ivvitro Fertilization) refers to a technique In which sperm and eggs of a mammal complete the Fertilization process In an environment controlled manually In Vitro, abbreviated as IVF. The existing in vitro culture of human embryos is realized by placing a culture dish filled with embryos in a time difference incubator or a conventional carbon dioxide incubator for culture and simultaneously ensuring the temperature, humidity and cleanliness of the culture environment.

When a culture dish for culturing embryos is placed in an incubator, a culture solution for culturing embryos and a cover oil are added to the culture dish. Among the prior art, adopt the mode of artifical liquid feeding to drip culture solution and cover oil into the culture dish in proper order usually, the liquid feeding is efficient, is difficult to satisfy the demand of batched embryo culture.

SUMMERY OF THE UTILITY MODEL

Aiming at the technical problem that the automatic, intelligent and batch embryo culture requirements are difficult to meet by adopting manual liquid feeding during the existing human embryo culture; the utility model provides a liquid adding manipulator for culturing biological tissues, which can automatically absorb a biological tissue culture solution and meet the requirement of batch culture of the biological tissues.

The utility model is realized by the following technical scheme:

a liquid adding manipulator for culturing biological tissues comprises a transverse moving assembly, a longitudinal moving assembly and a liquid absorbing assembly, wherein the transverse moving assembly is used for driving the longitudinal moving assembly to transversely move, and the longitudinal moving assembly is used for driving the liquid absorbing assembly to longitudinally move; the liquid suction assembly comprises an insertion rod, a first linear driver mechanism, a pipe separating clamping jaw and a second linear driving mechanism, wherein the lower end of the insertion rod is used for inserting a liquid suction head, the insertion rod is provided with a suction channel used for connecting a negative pressure source and the liquid suction head, the first linear driving mechanism is used for driving the insertion rod to move up and down, and the second linear driving mechanism is used for driving the pipe separating clamping jaw to abut against the side wall of the rod part of the insertion rod.

When the culture medium sucking device is used, a sucking channel in the insertion rod is connected with a negative pressure source (for example, the sucking channel is connected with negative pressure generating equipment such as a plunger pump, a peristaltic pump and the like), a corresponding liquid sucking cap is sleeved at the lower end part of the insertion rod, the liquid sucking assembly is moved to the upper part of a culture medium storage container through the matching of the transverse moving assembly and the longitudinal moving assembly, then the insertion rod is driven to move downwards through the first linear driving mechanism, the lower end of the liquid sucking head extends into the culture medium, and the negative pressure is sucked from the sucking channel through the negative pressure source, so that the culture medium is sucked. After the liquid suction head sucks a set amount of culture liquid, the first linear driving mechanism retracts, the liquid suction head is moved out of the culture liquid storage container, the liquid suction assembly is moved to the upper portion of a culture cabin of a culture dish through the cooperation of the transverse moving assembly and the longitudinal moving assembly, the insertion rod is driven by the first linear driving mechanism to move downwards again, and after the liquid suction head moves to a set height, negative pressure of a suction channel is removed to enable the culture liquid to be dripped into the culture cabin, and culture addition is completed.

When the liquid suction head sleeved on the insertion rod needs to be taken down, the liquid suction assembly is moved to the upper position of a liquid suction head collection station by the manipulator, the insertion rod is driven to move downwards by the first linear driving mechanism, the upper end of the liquid suction head is located at the lower end of the pipe release clamping jaw, the pipe release clamping jaw is driven by the second linear driving mechanism to move outside the insertion rod to be clamped outside the insertion rod, the insertion rod is driven by the first linear driving mechanism to move up and down, the upper end of the liquid suction head is limited by the pipe release clamping jaw to enable the insertion rod to move relative to the liquid suction head, and the liquid suction head is removed from the insertion head.

In conclusion, the utility model can automatically absorb the biological tissue culture solution and meet the requirement of batch culture of biological tissues.

In an optional embodiment, the liquid sucking assembly further comprises a cover taking assembly, the cover taking assembly and the liquid sucking assembly are arranged on the longitudinally moving assembly moving part in parallel, the cover taking assembly comprises a third linear driving mechanism and a sucking disc, and the third linear driving mechanism is used for driving the sucking disc to move up and down. The dish cover of the culture dish is uncovered before the culture liquid is dripped into the culture dish, and the dish cover of the culture dish is covered after the sealing oil is added.

In an alternative embodiment, the lower end of the insertion rod is in the shape of a stepped shaft with a large upper end and a small lower end, so that the liquid suction head can be sleeved at the lower end of the insertion rod.

In an alternative embodiment, the suction channel extends through the insertion rod to facilitate the arrangement of the negative pressure pipeline, and to avoid the pipeline interfering with the movement of the insertion rod.

In an optional embodiment, two insertion rods are arranged in parallel, and the two insertion rods are in driving connection with the corresponding first linear driving mechanism so as to meet the requirement of respectively sucking the culture solution and the cover oil.

In an optional embodiment, the first linear driving mechanism comprises a screw slider mechanism, so that the insertion rod is driven by the screw slider mechanism to move up and down, on one hand, the position precision of the movement of the insertion rod can be ensured, on the other hand, the insertion rod can be maintained at a set height, a brake assembly is not required, and the structure of the liquid adding manipulator is simplified.

In an optional embodiment, the first linear driving mechanism further comprises a synchronous pulley mechanism, and the synchronous pulley mechanism is in transmission connection with the lead screw slider mechanism to ensure the response speed of the first linear driving mechanism.

In an optional embodiment, the pipe-removing claw is provided with a notch matched with the rod part of the insertion rod so as to ensure that the pipe-removing claw can limit the liquid suction head to move upwards along with the insertion rod.

In an optional embodiment, the second linear driving mechanism is an electromagnet driving mechanism, so that the structure of the liquid adding manipulator is simplified and the volume of the liquid adding manipulator is reduced.

In an optional embodiment, the liquid sucking device further comprises a liquid sucking head matched with the insertion rod.

In an alternative embodiment, the third linear driving mechanism is a synchronous pulley mechanism driven by a motor to ensure the up-and-down movement speed of the suction cover assembly, so as to ensure the liquid adding efficiency of the biological tissue culture liquid and the seal oil.

The utility model has the following beneficial effects:

the transverse moving assembly and the longitudinal moving assembly drive the liquid suction assembly to move in a plane, so that a liquid suction head of the liquid suction assembly moves back and forth between the culture solution storage container and the culture dish, the insertion rod is driven to move downwards through the first linear driving mechanism, the lower end of the liquid suction head extends into the culture solution, and a negative pressure source is used for pumping negative pressure to a suction channel, so that the culture solution is sucked; the negative pressure of the suction channel is removed to drop the culture liquid into the culture cabin, the culture addition is completed, the insertion rod is opposite to the pipe-separating clamping jaw to remove the liquid suction head sleeved on the insertion rod, and the automatic replacement of the liquid suction head can be realized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic perspective view of a liquid adding manipulator according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of components mounted on the longitudinal movement assembly according to an embodiment of the present invention;

FIG. 3 is a schematic side view of a wicking assembly according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a pipe-removing jaw mechanism according to an embodiment of the utility model.

Reference numerals: 400-liquid suction assembly, 401-insertion rod, 402-liquid suction head, 403-first linear driving mechanism, 404-pipe-removing claw, 405-second linear driving mechanism, 500-cover taking assembly, 501-sucker, 502-third linear driving mechanism, 600-transverse moving assembly and 700-longitudinal moving assembly.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, the terms "central," "upper," "lower," "left," "right," "vertical," "longitudinal," "lateral," "horizontal," "inner," "outer," "front," "rear," "top," "bottom," and the like refer to orientations or positional relationships that are conventionally used in the manufacture of the present application, or that are routinely understood by those of ordinary skill in the art, but are merely used to facilitate the description and to simplify the description and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be considered limiting of the present application.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "open," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

Examples

With reference to fig. 1 and 2, the present embodiment provides a priming manipulator for culturing biological tissue, comprising a traverse assembly 600, a longitudinal movement assembly 700 and a pipetting assembly 400, wherein the traverse assembly 600 is used for driving the longitudinal movement assembly 700 to traverse, and the longitudinal movement assembly 700 is used for driving the pipetting assembly 400 to longitudinally move; the liquid suction assembly 400 comprises a plug rod 401, a first linear driver mechanism, a pipe separating clamping jaw 404 and a second linear driving mechanism 405, wherein the lower end part of the plug rod 401 is used for plugging a liquid suction head 402, the plug rod 401 is provided with a suction channel used for connecting a negative pressure source and the liquid suction head 402, the first linear driving mechanism 403 is used for driving the plug rod 401 to move up and down, and the second linear driving mechanism 405 is used for driving the pipe separating clamping jaw 404 to abut against the side wall of the rod part of the plug rod 401.

It can be understood that the traverse assembly 600 and the traverse assembly 700 are linear driving mechanisms, and only the moving parts thereof need to be driven to move linearly, and a screw slider mechanism, a synchronous pulley mechanism, a gear and gear mechanism and the like can be driven by a motor. In this embodiment, since the load of the traverse module 600 is large, a screw-slider mechanism driven by a motor is used as the traverse module 600, and since the longitudinal movement module 700 needs to be moved quickly and positioned accurately, a synchronous pulley mechanism driven by a motor is used as the longitudinal movement module 700.

With reference to fig. 2, the lower end of the insertion rod 401 is in a stepped shaft shape with a large top and a small bottom, so as to sleeve the liquid suction head 402 on the lower end of the insertion rod 401.

Preferably, the suction channel penetrates through the insertion rod 401, so that the arrangement of a negative pressure pipeline is facilitated, and the pipeline is prevented from interfering with the movement of the insertion rod 401.

Furthermore, two insertion rods 401 are arranged in parallel, and the two insertion rods 401 are in driving connection with the corresponding first linear driving mechanism 403 so as to meet the requirement of respectively sucking the culture solution and the cover oil. Correspondingly, the pipe-removing clamping jaw assemblies are also provided with two groups.

Referring to fig. 3, the first linear driving mechanism 403 includes a screw slider mechanism, so as to drive the insertion rod 401 to move up and down through the screw slider mechanism, which can ensure the position accuracy of the movement of the insertion rod 401 on the one hand, and can ensure that the insertion rod 401 can be maintained at a set height on the other hand, without providing a brake assembly, thereby simplifying the structure of the liquid feeding manipulator.

Preferably, the first linear driving mechanism 403 further includes a synchronous pulley mechanism, and the synchronous pulley mechanism is in transmission connection with the lead screw slider mechanism to ensure the response speed of the first linear driving mechanism 403.

Referring to fig. 4, the tube removing claw 404 is provided with a recess matched with the rod part of the insertion rod 401 to ensure that the tube removing claw 404 can limit the liquid suction head 402 from moving upwards along with the insertion rod 401.

Preferably, the second linear driving mechanism 405 is an electromagnet driving mechanism to simplify the structure and reduce the volume of the liquid adding manipulator.

It will be appreciated that this embodiment also includes a fluid head 402 that is adapted to the insertion rod 401.

With reference to fig. 1 and 2, the present embodiment further includes a cap removing assembly 500, the cap removing assembly 500 and the liquid suction assembly 400 are arranged in parallel on the moving component of the longitudinal movement assembly 700, the cap removing assembly 500 includes a third linear driving mechanism 502 and a suction cup 501, and the third linear driving mechanism 502 is used for driving the suction cup 501 to move up and down. The dish cover of the culture dish is uncovered before the culture liquid is dripped into the culture dish, and the dish cover of the culture dish is covered after the sealing oil is added.

Preferably, the third linear driving mechanism 502 is a synchronous pulley mechanism driven by a motor to ensure the up-and-down moving speed of the suction cap assembly, so as to ensure the liquid adding efficiency of the biological tissue culture solution and the seal oil.

When the device is used, a suction channel and a sucker 501 in the insertion rod 401 are respectively connected with a negative pressure source (for example, connected with negative pressure generating equipment such as a plunger pump, a peristaltic pump and the like), a corresponding liquid suction head 402 is sleeved at the lower end part of the insertion rod 401, so that the inner cavity of the liquid suction head 402 is communicated with the suction channel, the transverse moving assembly 600 drives the longitudinal moving assembly 700 to transversely move, the longitudinal moving assembly 700 moves the liquid suction assembly 400 to the upper part of a culture fluid storage and cover oil storage container, then the insertion rod 401 is driven to downwards move through a first linear driving mechanism 403, the lower end of the liquid suction head 402 on the insertion rod 401 extends into the culture fluid, and the suction channel is sucked through the negative pressure source, so that the culture fluid is sucked; another plug rod 401 is driven to move downwards by another first linear driving mechanism 403, the lower end of a liquid suction head 402 on the plug rod 401 extends into the seal oil, and negative pressure is pumped from a negative pressure source to a suction channel, so that the seal oil is sucked.

After the liquid suction heads 402 suck a set amount of culture liquid, the two first linear driving mechanisms 403 retract, the two liquid suction heads 402 are respectively moved out of the culture liquid and the cover oil storage container, the transverse moving assembly 600 drives the longitudinal moving assembly 700 to transversely move and longitudinally move the cover assembly 500 to the upper side of the culture dish, then the third linear driving mechanism 502 drives the suction cup 501 to downwards move to tightly attach to the dish cover of the culture dish, and then the third linear driving mechanism 502 retracts to upwards move the dish cover.

After the dish is taken down, the transverse moving assembly 600 drives the longitudinal moving assembly 700 to transversely move, the longitudinal moving assembly 700 moves the dish cover to one side above the culture dish, the imbibing assembly 400 is moved to the upper part of a culture cabin of the culture dish, the insertion rod 401 is driven to downwards move by the first linear driving mechanism 403 again, and when the imbibing head 402 at the lower end of the insertion rod 401 moves to a set height, the negative pressure of the imbibing channel is removed to drop the culture liquid in the culture cabin, so that the culture addition is completed; then the traverse motion assembly 600 drives the longitudinal motion assembly 700 to traverse again, the longitudinal motion assembly 700 moves another plug rod 401 to the upper part of the culture dish, another first linear driving mechanism 403 drives the plug rod 401 to move downwards, and when the liquid suction head 402 at the lower end of the plug rod 401 moves to a set height, the negative pressure of the suction channel is removed to drop the cover oil into the culture cabin, so that the addition of the cover oil is completed.

When the liquid suction head 402 sleeved on the insertion rod 401 needs to be taken down, the manipulator moves the liquid suction assembly to the position on the liquid suction head 402 collecting station, the insertion rod 401 is driven to move downwards through the first linear driving mechanism 403, the upper end of the liquid suction head 402 is located at the lower end of the tube disengaging jaw 404, the tube disengaging jaw 404 is driven by the second linear driving mechanism to be clamped outside the insertion rod 401 through the outer side movement of the insertion rod 401, then the insertion rod 401 is driven to move up and down through the first linear driving mechanism 403, the upper end of the liquid suction head 402 is limited through the tube disengaging jaw 404, so that the insertion rod 401 and the liquid suction head 402 move relatively, and the liquid suction head 402 is removed from the insertion head.

To sum up, this embodiment can absorb biological tissue culture solution, cover oil automatically to and add culture solution and cover oil to the culture dish in, satisfy the demand that biological tissue batched was cultivateed.

The foregoing is only a preferred embodiment of the present invention, and the present invention is not limited thereto in any way, and any simple modification, equivalent replacement and improvement made to the above embodiment within the spirit and principle of the present invention still fall within the protection scope of the present invention.

Claims (9)

1. A liquid adding manipulator for culturing biological tissues, which is characterized by comprising a traverse assembly (600), a longitudinal movement assembly (700) and a liquid absorbing assembly (400), wherein the traverse assembly (600) is used for driving the longitudinal movement assembly (700) to traverse, and the longitudinal movement assembly (700) is used for driving the liquid absorbing assembly (400) to longitudinally move;

the liquid suction assembly (400) comprises an insertion rod (401), a first linear driving mechanism (403), a pipe separating clamping jaw (404) and a second linear driving mechanism (405), wherein the lower end of the insertion rod (401) is used for inserting a liquid suction head (402), the insertion rod (401) is provided with a suction channel used for connecting a negative pressure source and the liquid suction head (402), the first linear driving mechanism (403) is used for driving the insertion rod (401) to move up and down, and the second linear driving mechanism (405) is used for driving the pipe separating clamping jaw (404) to abut against the side wall of the rod part of the insertion rod (401).

2. The feeding manipulator for culturing biological tissue as claimed in claim 1, further comprising a cap removing assembly (500), wherein the cap removing assembly (500) is juxtaposed to the pipetting assembly (400) and is disposed on the moving part of the longitudinal moving assembly (700), the cap removing assembly (500) comprises a third linear driving mechanism (502) and a suction cup (501), and the third linear driving mechanism (502) is used for driving the suction cup (501) to move up and down.

3. The manipulator according to claim 1 or 2, wherein the lower end of the insertion rod (401) is in the shape of a stepped shaft with a large top and a small bottom.

4. The manipulator according to claim 2, characterized in that said suction channel extends through said rod (401).

5. The manipulator according to claim 2, wherein two insertion rods (401) are arranged in parallel, and the two insertion rods (401) are in driving connection with the corresponding first linear driving mechanism (403).

6. The priming manipulator for the culture of biological tissues as claimed in claim 2, characterized in that said tube-removing jaws are provided with notches adapted to the rod portion of said insertion rod (401).

7. The manipulator according to claim 2, wherein said second linear actuator (405) is an electromagnet actuator.

8. The manipulator according to claim 2, further comprising a pipette tip (402) adapted to said insertion rod (401).

9. The priming manipulator of claim 2, wherein said third linear drive mechanism (502) is a motor-driven synchronous pulley mechanism.

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