CN219279898U - Automatic change high accuracy cell mar device - Google Patents

Abstract

The utility model discloses an automatic high-precision cell scratching device in the technical field of cell scratching equipment, which comprises a main body, a mechanical arm, a clamping mechanism and a base, wherein the mechanical arm is arranged on the main body; a culture container and a pipette tip placement box are detachably arranged on the base; the main machine body is arranged on the base, and a controller is arranged on the main machine body; the mechanical arm support is arranged on the main body machine, the clamping mechanism can vertically float up and down and is arranged at the abduction end of the mechanical arm, the operation of scratching the cells of the culture container can be automatically performed, the stability of the scratches is high, the depth and the force control of the scratches are accurate, the device can accurately set and scratch lines, the scratches of the full automation can be performed, the comparison experiment can be performed on the cells in a plurality of culture dishes at the same time, and the scratch path, the force and the depth of the cells in the culture container of the comparison experiment can be completely consistent, so that the comparison precision is higher.

Description

Automatic change high accuracy cell mar device

Technical Field

The utility model relates to the technical field of cell scratching equipment, in particular to an automatic high-precision cell scratching device.

Background

In the cell biology experiment, the cell scratch experiment is a very commonly used method for detecting the migration capability of cells, and the migration capability of cells can be detected by simulating the cell under the stimulation of external force or exogenous substances through the cell scratch experiment. And the method can also be used for evaluating the repair and proliferation capacity of the cells after injury under the action of mechanical external force.

The cell scratch (repair) method is a simple method for measuring the migration movement and repair capability of cells, and is similar to an in vitro wound healing model, a trace gun head or other hard objects are used for streaking a single-layer adherent cell cultured on an in vitro culture dish or a flat plate, the cells in the central part are removed, then the cells are continuously cultured for a set time of experiments, then a cell culture plate is taken out, whether peripheral cells grow (repair) to the central scratch area is observed, and the growth migration Xiong Li of the cells is judged, wherein in the experiments, normally, a normal control group, an experimental group and the like are set, and certain treatment factors or medicines, exogenous genes and the like are added. The migration and repair capacity of each group of cells can be judged by the repair capacity of the cells among different groups on the scratch area.

The current cell scratch experiment is mainly carried out in a manual operation mode, the gun head of the micro-pipetting gun is pressed by fingers, so that the gun head is scratched through the cell culture dish at a certain speed, cells are in an attached state at the moment, and the cell surface is scratched to form scratches by relatively rapid scratching between the gun head of the pipetting gun and the cell culture dish. The secondary method is completely dependent on manual operation, but the manual operation method has uncertainty, so that the force, angle and path of scribing of scratches cannot be accurately controlled in operation, the same scribing path cannot be ensured to be the same as that of design each time, irregular shape of scratches is easy to cause, the edges are disordered and unclear, experimental results are seriously influenced, in contrast experiments, two culture dishes are required, preferably, the depth, force and lines of scratches are consistent, only the added contrast culture solution is different, the contrast repair and cell migration capacity difference is generated, more accurate contrast is performed, but in this way, only in theory, high-precision experimenters with intensive experience are required to operate so as to achieve higher precision, in addition, a plurality of gun heads are placed in a box of the pipette gun head, generally, 6 holes are arranged, 12 hole plates, 24, 441 holes and 96 holes are used for moving gun heads, manual scribing can only be used for preventing the gun heads with 6 holes or 12 holes from being carelessly polluted, and the gun heads can be moved only slightly beyond the manual gun heads.

At present, a plurality of simple mechanisms can hoist the pipette tip of the cell scratch, the pipette tip is limited horizontally, the height cannot be changed, the force cannot be controlled, the scratch depth cannot be changed, and the automatic operation cannot be realized.

Based on the above, the utility model designs an automatic high-precision cell scratching device to solve the problems.

Disclosure of Invention

The utility model aims to provide an automatic high-precision cell scratching device which can automatically scratch cells in a culture container, is high in scratching stability, accurate in scratching depth and strength control, can accurately set and scratch lines for full-automatic scratching, can simultaneously perform comparison experiments on cells in a plurality of culture dishes, and can completely coincide with cell scratching paths, strength and depth in the culture container for a plurality of comparison experiments, so that the comparison precision is higher.

The utility model is realized in the following way: an automated high precision cell streaking device comprising:

the device comprises a main body, a mechanical arm, a clamping mechanism and a base;

a culture container and a pipette tip placement box are detachably arranged on the base;

the main machine body is arranged on the base, and a controller is arranged on the main machine body;

the mechanical arm support is arranged on the main body, and the clamping mechanism can vertically float up and down and is arranged at the abduction end of the mechanical arm;

the clamping jaw at the bottom of the clamping mechanism can move up and down and stretch and bend to hover above the base through the mechanical arm, and the clamping mechanism is kept vertical;

the clamping mechanism and the mechanical arm are connected with the controller.

Further, the base is a flat bottom plate, a hollow groove which is sunken downwards is formed in the base, the culture container and the pipette tip placement box are respectively and independently clamped in the hollow groove at the top of the base, and the culture container and the pipette tip placement box are in interference fit with the hollow groove of the base;

the culture container is fixedly provided with a plurality of culture dishes, and the pipette tip placement box is stably provided with a plurality of disposable drip tubes.

Further, the mechanical arm comprises an extension rotating shaft, a clamping cantilever, an initial rotating arm and a lifting rotating arm, wherein the initial rotating arm can be vertically erected on the main body in a rotating way, the rotating axis of the initial rotating arm is vertically arranged, the lifting rotating arm is horizontally arranged, and the lifting rotating arm is horizontally erected on the initial rotating arm through a motor;

the stretching rotating shaft can horizontally rotate along the vertical rotating shaft and is erected on the initial rotating arm, the top of the clamping cantilever is provided with a rotating joint block, and the clamping cantilever is circumferentially and rotatably arranged at the bottom of the abduction end of the stretching rotating shaft along the vertical axis through the rotating joint block on the horizontal plane;

the clamping groove is formed in the vertical side wall of one side of the clamping cantilever and is a square groove which is recessed towards the inside of the clamping cantilever horizontally, and the clamping groove is opened on the vertical side wall of the clamping cantilever.

Further, the clamping mechanism comprises a gear, a clamping jaw, a detection block and a sleeve block;

the clamping mechanism is sleeved on the floating rod in a sliding way, springs are arranged at gaps between the upper end and the lower end of the clamping mechanism and the clamping groove, the springs are sleeved at the upper end and the lower end of the floating rod, and the clamping mechanism can be clamped in the clamping groove through the sliding arrangement of the springs on the floating rod in a floating way;

the sleeve block is of a hollow frame structure with an upper opening and a lower opening, the top of the sleeve block is tightly installed with the detection block, a gravity sensor is arranged in the detection block, and the detection block and the sleeve block are assembled and then clamped in the clamping groove;

the clamping jaw is provided with two clamping jaws, the two clamping jaws form a two-jaw clamp, the bottoms of the clamping jaws are mutually assembled into a round hole clamp, round holes assembled by the clamping jaws are mutually clamped with a pipetting gun head, the tops of the clamping jaws are racks, gears are clamped between the racks at the tops of the two clamping jaws, the gears and the racks at the tops of the two clamping jaws are arranged inside a hollow frame of a sleeve block, the two clamping jaw tops are horizontally arranged in the sleeve block, the clamping ends of the clamping jaws extend out of the lower part of the sleeve block, the gears are driven by a motor, and a driving motor of the gears is connected with a controller.

Further, the controller is a control panel, and a singlechip is arranged inside the controller.

Further, the automatic feeding device also comprises a waste box, wherein the waste box is an opening at the top and a box, and the waste box is stably arranged right below the mechanical arm.

The beneficial effects of the utility model are as follows: 1. according to the utility model, the mechanical arm is controlled by the host machine body, so that the moving path of the mechanical arm can be conveniently set, and the pipette tip pipettors of scratches can be replaced according to the requirements, so that the automatic operation of scratches can be performed on cells in the culture dishes, and a plurality of different cells can be automatically replaced according to the settings to carry out sliding arrangement, and the same pipette tip pipettor can be used for performing the operation of scratches on the cells in the plurality of different culture dishes according to the actual operation, thereby realizing full automation, and also realizing the complete automatic operation of scratches on the cells in the culture dishes at different positions according to the settings;

2. the scratches with the same path, strength and depth can be performed on the cells in a plurality of culture dishes through the highly precise control of the mechanical arm and the path planning of the mechanical arm, and the conditions of the scratch experiment are the same in height, so that the purpose of reducing the experimental variables is achieved, and the effect of high-precision scratch experiment is achieved;

3. the fixture is through the floating screens inslot of installing at the centre gripping cantilever of the spring of vertical setting to make whole fixture all slightly float from top to bottom, make the gravity influence that fixture received less, when the fixture carries out the mar to the cell downwards moreover, the downforce degree is more balanced stable, even the cell has the unevenness, also can filter and alleviate through fixture's upper and lower floating, thereby make the mar that the cell received more stable accurate.

Drawings

The utility model will be further described with reference to examples of embodiments with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic view of the overall rear structure of the present utility model;

FIG. 3 is a schematic side view of a clamping mechanism and a clamping cantilever according to the present utility model;

FIG. 4 is a schematic view showing the overall installation of the clamping mechanism and the clamping cantilever according to the present utility model;

FIG. 5 is a schematic view of a clamping groove on a clamping cantilever according to the present utility model;

FIG. 6 is an exploded view of the clamping mechanism of the present utility model;

FIG. 7 is a schematic diagram of the cooperation structure of the clamping jaw and the gear according to the present utility model;

FIG. 8 is a schematic view of the floating rod and spring engagement of the present utility model.

In the drawings, the list of components represented by the various numbers is as follows:

the device comprises a main body, a controller, a waste box, a mechanical arm, a stretching rotating shaft, a clamping cantilever, a clamping groove, a rotating lug, an initial rotating arm, a lifting rotating arm, a clamping mechanism, a gear, a clamping jaw, a detection block, a sleeve block, a base, a pipette tip accommodating box, a culture container, a floating rod and a spring.

Detailed Description

Referring to fig. 1 to 8, the present utility model provides a technical solution: an automated high precision cell streaking device comprising:

the robot comprises a main body 1, a mechanical arm 2, a clamping mechanism 3 and a base 4;

a culture container 42 and a pipette tip placement box 41 are detachably arranged on the base 4;

the main body 1 is arranged on the base 4, and the controller 11 is arranged on the main body 1;

the mechanical arm 2 is arranged on the main body 1 in a supporting way, and the clamping mechanism 3 can vertically float up and down and is arranged at the abduction end of the mechanical arm 2;

the clamping jaw at the bottom of the clamping mechanism 3 can move up and down and stretch and bend to hover above the base 4 through the mechanical arm 2, and the clamping mechanism 3 is kept vertical;

the fixture 3 and the mechanical arm 2 are connected with the controller 11, so that the scratch operation can be automatically performed on cells in the culture container 42, the stability of the scratches is high, the depth and the force control of the scratches are accurate, the device can accurately set and scratch lines, full-automatic scratches are performed, control experiments can be performed on cells in a plurality of culture dishes at the same time, and the device can completely coincide with the scratch paths, the force and the depth of the cells in the culture container in a plurality of control experiments, so that the control precision is higher.

The base 4 is a flat bottom plate, a hollow groove which is recessed downwards is formed in the base 4, the culture container 42 and the pipette tip placement box 41 are respectively and independently clamped in the hollow groove at the top of the base 4, and the culture container 42 and the pipette tip placement box 41 are in interference fit with the hollow groove of the base 4;

a plurality of culture dishes are fixedly arranged on the culture container 42, and a plurality of disposable drip tubes are stably arranged on the pipette tip arranging box 41, so that synchronous control experiments on the plurality of culture dishes are facilitated;

the mechanical arm 2 comprises an extension rotating shaft 21, a clamping cantilever 22, an initial rotating arm 23 and a lifting rotating arm 24, wherein the initial rotating arm 23 can be vertically erected on the main machine body 1 in a rotating way, the rotating axis of the initial rotating arm 23 is vertically arranged, the lifting rotating arm 24 is horizontally arranged, and the lifting rotating arm 24 is erected on the initial rotating arm 23 in a horizontally lifting way through a motor;

the stretching rotating shaft 21 can horizontally rotate along a vertical rotating shaft and is erected on the initial rotating arm 23, a rotating joint block 222 is arranged at the top of the clamping cantilever 22, and the clamping cantilever 22 is circumferentially and rotatably arranged at the bottom of the abduction end of the stretching rotating shaft 21 along a vertical axis through the rotating joint block 222 on a horizontal plane;

a clamping groove 221 is formed in a vertical side wall of one side of the clamping cantilever 22, the clamping groove 221 is a square groove recessed horizontally towards the inside of the clamping cantilever 22, and the clamping groove 221 is opened on the vertical side wall of the clamping cantilever 22, so that the stretching and retracting of the mechanical arm 2 can be controlled conveniently, and accurate scribing operation can be performed;

the clamping mechanism 3 comprises a gear 31, a clamping jaw 32, a detection block 33 and a sleeve block 34;

the clamping groove 221 is vertically provided with a floating rod 5, the clamping mechanism 3 is sleeved on the floating rod 5 in a sliding manner, a gap between the upper end and the lower end of the clamping mechanism 3 and the clamping groove 221 is provided with a spring 51, the spring 51 is sleeved on the upper end and the lower end of the floating rod 5, and the clamping mechanism 3 can be clamped in the clamping groove 221 through the sliding arrangement of the spring 51 on the floating rod 5 in a vertically floating manner;

the sleeve block 34 is a hollow frame structure with an upper opening and a lower opening, the top of the sleeve block 34 is tightly mounted with the detection block 33, a gravity sensor is arranged in the detection block 33, and the detection block 33 and the sleeve block 34 are assembled and then clamped in the clamping groove 221;

the two clamping jaws 32 are arranged, the two clamping jaws 32 form a two-jaw clamp, the bottoms of the clamping jaws 32 are mutually assembled to form a circular hole clamp, the assembled circular holes of the clamping jaws 32 are mutually clamped with a pipette tip, the top of the clamping jaws 32 is provided with racks, the gear 31 is clamped between the racks at the tops of the two clamping jaws 32, the racks at the tops of the gear 31 and the two clamping jaws 32 are arranged in a hollow frame of the sleeve block 34, the tops of the two clamping jaws 32 are horizontally and smoothly arranged in the sleeve block 34, the clamping ends of the clamping jaws 32 extend out of the lower part of the sleeve block 34, the gear 31 is driven by a motor, a driving motor of the gear 31 is connected with the controller 11, and the pipette tip is clamped and floated by the clamping mechanism 3, so that the force of pressing down a scribing line is controlled;

the controller 11 is a control panel, the controller 11 is internally provided with a single chip microcomputer, the structure is simple, the control of the device is convenient, the single chip microcomputer can only complete the control of a motor in the mechanical arm 2, the mechanical arm 2 belongs to a conventional technical means, the mechanical arm 2 of the device is a relatively mature technology, the mechanical arm 2 of the device only has requirements on the running state and angle, and the running and structure of the mechanical arm 2 are not limited;

still include waste material box 12, waste material box 12 is open-top and box, waste material box 12 stable arrangement is in the arm 2 under, is convenient for retrieve the liquid-transfering gun head pipettor of abandonment, avoids polluting.

In one embodiment of the utility model:

the embodiment of the utility model solves the technical problems encountered by providing an automatic high-precision cell scratching device, which comprises the following steps: 1. at present, most of cell scratch experiments are manual, and the experimental results are very difficult to achieve the same operation by the same person because of the large difference of human factor results, so that even if the same person operates, the experimental results are also greatly error; 2. the scribing guide plate is used for scribing, the height of a liquid-transferring gun head of the scribing is controlled, the scribing operation path is single and can only be operated in a straight line in a reciprocating mode, lateral variation mainly depends on manual operation, the device cannot be matched with various pore plates, the force and the angle cannot be controlled well, and the effect is not ideal; 3. when a plurality of culture dishes on the culture container 42 are scratched, the upper parts of the culture dishes are opened to facilitate the scratching operation, no matter the operation is performed completely manually or performed by using a scribing guide plate, power pushing or sliding is required to be provided by hands, the operation is performed frequently above the culture dishes manually, sebum or secretion on hands and other powder or carried dust particles can fall into the culture dishes more easily, pollution is easy to cause, and the aseptic culture operation specification is not met.

The technical problems solved by the utility model are as follows: through this device, carry out aseptic, automatic cell scratch experiment to a plurality of culture dishes simultaneously to the dynamics, the degree of depth, angle and the route that the experimentation can accomplish the mar are all the same, obtain fine experimental data.

The technical effects are realized as follows: 1. according to the utility model, the mechanical arm 2 is controlled by the main body 1, so that the moving path of the mechanical arm 2 can be conveniently set, and the pipette tip pipettors of scratches can be conveniently replaced on the pipette tip placement box 41 according to the requirements, so that the operations of scratches on cells of a plurality of culture dishes in the culture container 42 can be automatically performed, a plurality of different cells can be automatically replaced by the pipette tip pipettors according to the settings, the operations of scratches on the cells in a plurality of different culture dishes can be performed by the same pipette tip pipettor according to the actual operations, the full automation is realized, and the operations of scratches on the cells in different culture dishes can be completely automated according to the settings;

2. the scratch of the cells in a plurality of culture dishes with the same or different paths, forces and depths can be achieved through the highly precise control of the mechanical arm 2 and the path planning of the mechanical arm 2, and the conditions of the scratch experiment are the same, so that the variable of the experiment is reduced, and the effect of high-precision scratch comparison experiment is achieved;

3. the fixture 3 is installed in the screens groove 221 of the centre gripping cantilever 22 through the spring 51 of vertical setting in a floating way to make whole fixture 3 all slightly float from top to bottom, make the gravity influence that the fixture 3 received less, when fixture 3 is to the cell scratch down moreover, the downforce degree is more balanced stable, even the cell has the unevenness, also can filter and alleviate through fixture's upper and lower float, thereby make the cell scratch more stable accurate.

The technical scheme in the embodiment of the utility model aims to solve the problems, and the overall thought is as follows:

in order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

When the utility model is manufactured, firstly, a conventional base 4 is manufactured, two independent grooves are formed at the top of the base 4, the grooves are downwards concavely arranged on the base 4, one groove is clamped with a culture container 42, the other groove is clamped with a pipette tip arranging box 41, the grooves are all required to be in interference fit, the clamping stability is ensured, the horizontal size and thickness of the culture container 42 are required to be the same, but the number of culture dishes arranged on the culture container 42 can be different, the culture dishes on the culture container 42 are of an integrated structure, the pipette tip arranging boxes 41 are the same in area, the number of pipette tips on the culture dishes can be arranged according to the requirement, the pipette tip arranging boxes 41 are generally 96-hole plates, and disposable pipette tip pipettes are distributed on the pipette tip arranging boxes;

then, a main body 1 is arranged at the rear side of the base 4, the main body 1 is mainly provided with a driving motor and a controller 11, and a singlechip is arranged in the controller 11 and used for controlling the motor in the main body 1;

the mechanical arm 2 is also required to be installed, the mechanical arm 2 is a high-precision 4-axis mechanical arm, the clamping mechanism 3 is required to be kept in a vertical state all the time and stably translated and lifted, the upside down or the inclined angle overturning of the clamping mechanism 3 is avoided, and the stable vertical state of the clamping mechanism 3 is required to be kept;

the mechanical arm 2 comprises 4 rotating arms, namely a four-axis robot, namely an initial rotating arm 23, a lifting rotating arm 24, an extension rotating shaft 21 and a clamping cantilever 22, which are sequentially and outwards extended and unfolded from the main body 1 in the sequence, wherein the initial rotating arm 23 is vertically erected on the main body 1 and the initial rotating arm 23 rotates along a constant circumference of a vertical axis, the lifting rotating arm 24 is non-rotatable and horizontally erected, the lifting rotating arm 24 vertically lifts on the initial rotating arm 23 through a linear motor, the extension rotating shaft 21 is horizontally erected, the extension rotating shaft 21 is connected with the lifting rotating arm 24 through a vertical rotating shaft, the extension rotating shaft 21 can rotate relative to the lifting rotating arm 24 on a horizontal plane, the clamping cantilever 22 is arranged at the abduction end of the extension rotating shaft 21, the clamping cantilever 22 is vertically arranged, and the clamping cantilever 22 and the extension rotating shaft 21 also rotate along a constant circumference of the vertical axis, so that the extension rotating shaft 21 can be at the same rotation angle and constant positions, but not inclinable, and always keeps a vertical state; the rotating joint of the device can rotate through the coupling connection.

The vertical lateral wall on one side of the clamping cantilever 22 is sunken to be offered then at the screens groove 221, the screens groove 221 is square opening, the vertical floating rod 5 that has set up in the screens groove 221, install fixture 3 on the floating rod 5, fixture 3 clamps in the inside of screens groove 221, and the suit is smooth to be established on the floating rod 5, be equipped with the clearance that floats between the upper and lower both ends of screens groove 221 and fixture 3, be convenient for fixture 3 float from top to bottom along the floating rod 5, and screens groove 221 and fixture 3's upper and lower both ends clearance department has still set up spring 51, make whole fixture 3 can cushion and float, and keep stable, spring 51 is selected to offset fixture 3's gravity can, just so can make behind the clamping jaw 32 centre gripping the pipette tip can just in order just right suitable height, gently scratch the cell surface, and the weight influence of applying fixture 3 is not, and when encountering the cell height unevenness, spring 51 can cushion, ensure that disposable pipette tip is to the dynamics of cell marking is stable.

The clamping mechanism 3 is also manufactured, the clamping mechanism 3 is provided with two clamping jaws 32 which are matched and clamped with each other, and the bottom clamping surface of the clamping jaw 32 is tightly matched with the cambered surface at the top of the disposable pipette tip, so that the clamping jaw 32 can stably clamp the disposable pipette tip;

the top of two clamping jaws 32 is the rack, a gear 31 has been meshed between the rack of two clamping jaws 32, gear 31 simultaneously with two rack mutual stable meshing, clamping jaw 32 slides through the guide arm that the level set up and establishes inside sleeve piece 34, sleeve piece 34 inside trompil, clamping jaw 32 and gear 31 are all installed in sleeve piece 34's trompil, and clamping jaw 32 slides in sleeve piece 34's trompil level through the guide arm of level, and sleeve piece 34 top has set up detection piece 33, detection piece 33 inside has set up gravity sensor, can adjust fixture's 3 downforce degree, detection piece 33 covers on sleeve piece 34, constitute complete fixture 3, fixture 3 forms overall structure floating mount on the centre gripping cantilever 22.

The waste box 12 is placed at a fixed point, and the coordinates of the waste box 12 are set on the main body 1.

When the device is used, the transverse lifting sequence of the moving path of the mechanical arm 2 is set through the controller 11, so that the clamping mechanism 3 moves to a required clamping point, the pipette tips on the 96-hole pipette tip placement box 41 are clamped through the clamping jaw 32, then the clamping jaw 32 carries the pipette tips to move above the culture container 42 needing to be scratched, the culture dish at the positioning point descends upwards, the cells slide in a regular shape through the movement of the mechanical arm 2, circles, rectangles, squares or polygons with any size can be drawn, the scribing movement is carried out, after the scribing is completed, the scribing is lifted, the scribing is carried out to the coordinates of the waste box 12, and the used pipette tip pipettor is discharged;

if the same cell is subjected to contrast scratching, the same pipette tip pipette can be used for scratching a plurality of culture dishes, and different scratches can be slipped out;

if the contrast is carried out on different cells, the used pipette tip pipettor can be discarded after the cells in one culture dish are streaked once, then a new pipette tip pipettor is replaced on the pipette tip placement box 41, and streaking is carried out on the cells in the new culture dish in the same route, so that scratches with identical paths, forces, depths and shapes are formed, and the operation is simple and convenient;

when the gravity sensor in the detection block 33 detects that the force changes and keeps the difference, the height of the pipette tip can be controlled by lifting the lifting rotary arm 24, so that the force between the clamping mechanism 3 and the detection block 33 is changed to form the same pressing force, the force of scratches is kept consistent, and the effect of accurate scribing is achieved.

While specific embodiments of the utility model have been described above, it will be appreciated by those skilled in the art that the specific embodiments described are illustrative only and not intended to limit the scope of the utility model, and that equivalent modifications and variations of the utility model in light of the spirit of the utility model will be covered by the claims of the present utility model.

Claims (6)

1. An automated high-precision cell scoring device, comprising: the device comprises a main body (1), a mechanical arm (2), a clamping mechanism (3) and a base (4);

a culture container (42) and a pipette tip placement box (41) are detachably arranged on the base (4);

the main machine body (1) is erected on the base (4), and the controller (11) is arranged on the main machine body (1);

the mechanical arm (2) is arranged on the main body (1) in a supporting way, and the clamping mechanism (3) can vertically float up and down and is arranged at the abduction end of the mechanical arm (2);

the clamping jaw at the bottom of the clamping mechanism (3) can move up and down and stretch and bend to hover above the base (4) through the mechanical arm (2), and the clamping mechanism (3) is kept vertical;

the clamping mechanism (3) and the mechanical arm (2) are connected with the controller (11).

2. An automated high precision cell scoring apparatus according to claim 1, wherein: the base (4) is a flat bottom plate, the base (4) is provided with a hollow groove which is concave downwards, the culture container (42) and the pipette tip placement box (41) are respectively and independently clamped in the hollow groove at the top of the base (4), and the culture container (42) and the pipette tip placement box (41) are in interference fit with the hollow groove of the base (4);

a plurality of culture dishes are fixedly arranged on the culture container (42), and a plurality of disposable drip tubes are stably arranged on the pipette tip arranging box (41).

3. An automated high precision cell scoring apparatus according to claim 1, wherein: the mechanical arm (2) comprises an extension rotating shaft (21), a clamping cantilever (22), an initial rotating arm (23) and a lifting rotating arm (24), wherein the initial rotating arm (23) can be vertically erected on the main machine body (1), the rotating axis of the initial rotating arm (23) is vertically arranged, the lifting rotating arm (24) is horizontally arranged, and the lifting rotating arm (24) is erected on the initial rotating arm (23) in a horizontal lifting manner through a motor;

the stretching rotating shaft (21) can horizontally rotate along a vertical rotating shaft and is erected on an initial rotating arm (23), a rotating joint block (222) is arranged at the top of the clamping cantilever (22), and the clamping cantilever (22) is circumferentially and rotatably arranged at the bottom of the abduction end of the stretching rotating shaft (21) along the vertical axis on the horizontal plane through the rotating joint block (222);

the clamping cantilever (22) is characterized in that a clamping groove (221) is formed in the vertical side wall of one side of the clamping cantilever (22), the clamping groove (221) is a square groove which is recessed towards the inside of the clamping cantilever (22) horizontally, and the clamping groove (221) is opened on the vertical side wall of the clamping cantilever (22).

4. An automated high precision cell scoring device according to claim 3, wherein: the clamping mechanism (3) comprises a gear (31), a clamping jaw (32), a detection block (33) and a sleeve block (34);

a floating rod (5) is vertically arranged in the clamping groove (221), the clamping mechanism (3) is sleeved on the floating rod (5) in a sliding manner, springs (51) are arranged at gaps between the upper end and the lower end of the clamping mechanism (3) and the clamping groove (221), the springs (51) are sleeved at the upper end and the lower end of the floating rod (5), and the clamping mechanism (3) can be clamped in the clamping groove (221) through the sliding arrangement of the springs (51) on the floating rod (5) in a sliding manner.

The sleeve block (34) is of a hollow frame structure with an upper opening and a lower opening, the top of the sleeve block (34) is tightly installed with the detection block (33), a gravity sensor is arranged in the detection block (33), and the detection block (33) and the sleeve block (34) are assembled and then clamped in the clamping groove (221);

clamping jaw (32) have two, two clamping jaw (32) are constituteed two claw anchor clamps, the bottom of clamping jaw (32) is assembled each other and is round hole form anchor clamps, round hole that clamping jaw (32) were assembled and pipetting head block each other, the top of clamping jaw (32) is the rack, gear (31) block is between the rack at two clamping jaw (32) tops, the inside at the hollow frame of sleeve piece (34) is installed to the rack at gear (31) and two clamping jaw (32) tops, two clamping jaw (32) top level and smooth are established in sleeve piece (34), the clamping end of clamping jaw (32) stretches out in sleeve piece (34) below, gear (31) are through motor drive, the driving motor of gear (31) is connected with controller (11).

5. An automated high precision cell scoring apparatus according to claim 1, wherein: the controller (11) is a control panel, and a singlechip is arranged inside the controller (11).

6. An automated high precision cell scoring apparatus according to claim 1, wherein: the automatic feeding device is characterized by further comprising a waste box (12), wherein the waste box (12) is an open-top and box, and the waste box (12) is stably arranged right below the mechanical arm (2).

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