WO2023000590A1 - 细胞表型控制装置的辅助拆装机构及拆装系统 - Google Patents

细胞表型控制装置的辅助拆装机构及拆装系统 Download PDF

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Publication number
WO2023000590A1
WO2023000590A1 PCT/CN2021/138002 CN2021138002W WO2023000590A1 WO 2023000590 A1 WO2023000590 A1 WO 2023000590A1 CN 2021138002 W CN2021138002 W CN 2021138002W WO 2023000590 A1 WO2023000590 A1 WO 2023000590A1
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Prior art keywords
light source
arm
control box
source control
trigger
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PCT/CN2021/138002
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English (en)
French (fr)
Inventor
王雷
郦野
金帆
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深圳先进技术研究院
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Publication of WO2023000590A1 publication Critical patent/WO2023000590A1/zh

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    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/02—Form or structure of the vessel
    • C12M23/12—Well or multiwell plates
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/46—Means for fastening
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/48—Holding appliances; Racks; Supports
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/50—Means for positioning or orientating the apparatus
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/52—Mobile; Means for transporting the apparatus
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/06—Means for regulation, monitoring, measurement or control, e.g. flow regulation of illumination
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/48—Automatic or computerized control

Definitions

  • the invention relates to the technical field of incubators, in particular to an auxiliary disassembly mechanism and a disassembly system of a cell phenotype control device.
  • the cell phenotype control device such as the "cell phenotype control device" disclosed in the Chinese invention patent application number CN202011476070.6, mainly includes a cell culture plate and a light source control box, and the cell culture plate is set on the top outside of the light source control box. In actual use, it is often necessary to remove the cell culture plate separately to perform other treatments on the cells in the cell culture plate. At present, the disassembly of the cell culture plate is completed manually by the experimenter, and it is difficult to realize the automatic disassembly, which cannot meet the requirements of the automated biological experiment process.
  • the purpose of the present invention is to provide an auxiliary disassembly mechanism and disassembly system of a cell phenotype control device, so as to solve the problem that it is difficult to automatically disassemble the cell culture plate.
  • the present invention proposes an auxiliary disassembly mechanism for a cell phenotype control device.
  • the cell phenotype control device includes a cell culture plate and a light source control box that are engaged with each other.
  • the auxiliary disassembly mechanism limits the lateral and In the longitudinal direction, it includes: a support seat arranged along the transverse direction; a placement table connected to the support seat through a longitudinally stretchable elastic member for placing the cell phenotype control device; at least one lever assembly pivotally Connected to the support seat to form a fulcrum, the lever assembly clamps or releases the light source control box on the placement table by pivoting around the fulcrum; the trigger member is configured to be activated by the placement table When pressed down, the lever assembly is driven to pivot in the direction of clamping the light source control box; the locking member is connected to the support base and is configured to lock the light source control box when the lever assembly clamps the light source control box.
  • the trigger is releasably locked, and
  • the locking member is configured to lock or release the triggering member when pressed by the triggering member, and the pressing comes from the action of the trigger on the placement table.
  • the down pressure of the parts is configured to lock or release the triggering member when pressed by the triggering member, and the pressing comes from the action of the trigger on the placement table.
  • the locking member is a push lock.
  • the lever assembly includes a lying arm and a vertical arm, one end of the lying arm is a pressure end, the other end of the lying arm is connected to the vertical arm, and the lying arm
  • the part between the two ends of the arm is pivotally connected to the support base to form the fulcrum
  • the trigger member is longitudinally movable between the pressurized end and the placement table
  • the vertical arm Located on the side of the placement table, the trigger member drives the vertical arm to pivot toward the direction of clamping the light source control box by pressing down the pressed end.
  • auxiliary dismounting mechanism wherein, a guide post for guiding the longitudinal movement of the placement platform and the trigger member is fixed on the support surface, and the placement platform and the trigger member are respectively slidably sleeved longitudinally. Outside the guide column, the placement platform, the trigger and the lever assembly are sequentially opposed from top to bottom in the longitudinal direction.
  • the trigger member includes a collar, and an insertion part and a trigger part fixed on the outside of the collar, and the collar is longitudinally slidably sleeved on the outside of the guide post , the number of the insertion parts and the locking parts are equal and corresponding in the longitudinal direction, each of the insertion parts is used to insert each of the locking parts, the number of the trigger part and the lever assembly is equal and corresponding in the longitudinal direction, and each of the The trigger parts are respectively used to press down each of the lever assemblies to drive each of the lever assemblies to pivot synchronously.
  • the placement platform includes a placement plate for placing the cell phenotype control device and a sleeve fixed at the bottom of the placement plate, and the placement plate passes through the elastic member Connected to the support seat, the sleeve is longitudinally slidably sleeved outside the guide column and abuts against the trigger piece, and the placement platform presses down the trigger piece through the sleeve.
  • a flange is provided on the outer wall of the light source control box, and the lever assembly includes a block, and the block realizes locking the light source control box by pressing the flange. The card is tight.
  • the auxiliary dismounting mechanism includes two lever assemblies arranged opposite to each other, and the trigger can drive the two lever assemblies toward the side that clamps the light source control box.
  • the direction is synchronously pivoted so that the two lever assemblies clamp the light source control box together from opposite sides of the light source control box.
  • each of the lever assemblies further includes a limit frame, and when the two lever assemblies clamp the light source control box together, the limit frame of the two lever assemblies The positioning frame jointly limits the position of the cell culture plate in the transverse direction, so that the cell culture plate and the light source control box are aligned in the longitudinal direction.
  • the lever assembly includes a horizontal arm and a vertical arm that are pivotally connected, a tension spring is connected between the horizontal arm and the vertical arm, and the horizontal arm can Pivotally connected to the support base for the trigger member to press down, the vertical arm is used to clamp the light source control box, the light source control box is clamped on the vertical arm, and the locking member
  • the placement platform presses down the trigger, so that the trigger drives the lying arm to pivot away from the vertical arm, and at the same time presses the trigger the lock until the lock releases the trigger.
  • a limiting member is sandwiched between the lying arm and the vertical arm, and the limiting member limits the minimum angle between the lying arm and the vertical arm.
  • the limit frame of one of the lever assemblies includes a first cross arm and two second cross arms connected to opposite ends of the first cross arm and parallel to each other
  • Another limiting frame of the lever assembly includes a third cross arm, and the third cross arm is opposite to and parallel to the first cross arm.
  • the present invention also provides a disassembly and assembly system, which includes a mechanical arm and the above-mentioned auxiliary disassembly and assembly mechanism. Cell culture plate.
  • the auxiliary dismounting mechanism of the present invention adopts a pivotable lever assembly to clamp the light source control box, and uses a trigger to trigger the lever assembly to pivot, and uses a lock to lock the trigger to position the lever assembly so that the mechanical arm can move the cell
  • the culture plate is removed from the light source control box and the cell culture plate is installed on the light source control box, realizing automatic disassembly without manual operation by the experimenter, improving the efficiency of the experiment;
  • the locking and unlocking of the triggering part can be completed synchronously by means of the applied force of disassembling and installing the cell culture plate, which makes the disassembly and assembly more efficient and further improves the experimental efficiency ;
  • two lever assemblies are provided to jointly clamp the light source control box from the opposite sides of the light source control box, thereby improving the clamping stability;
  • the elastic support for the placement platform is realized by setting the elastic member to support the placement platform, so that the placement platform can move longitudinally, so that the downward force of the mechanical arm on the cell phenotype control device can be transmitted to the trigger member.
  • the elastic member Cooperating with the locking block of the lever assembly, the flange on the outer wall of the light source control box can be clamped to realize the clamping of the lever assembly to the light source control box.
  • Fig. 1 is a three-dimensional structural schematic diagram of an auxiliary dismounting mechanism according to an embodiment of the present invention
  • Fig. 2 is a schematic diagram of placing the cell phenotype control device on the auxiliary disassembly mechanism in Fig. 1 by using a robotic arm;
  • Fig. 3 is a schematic diagram of the three-dimensional structure of the cell phenotype control device placed on the auxiliary disassembly mechanism in Fig. 2;
  • Fig. 4 is the sectional view of Fig. 3;
  • Fig. 5 is a schematic diagram of the structure of the auxiliary dismounting mechanism in Fig. 4 removing the placement table;
  • Fig. 6 and Fig. 7 are the three-dimensional structural schematic diagrams of Fig. 5;
  • Fig. 8 is a cross-sectional view of the lever assembly clamping the light source control box after the mechanical arm exerts pressure on the light source control box;
  • Fig. 9 is a cross-sectional view of the lever assembly clamping the light source control box in Fig. 8;
  • Fig. 10 is a sectional view of the auxiliary dismounting mechanism in Fig. 9;
  • Fig. 11 is a three-dimensional schematic diagram of a lever assembly in the present invention.
  • Fig. 12 is a schematic perspective view of another lever assembly in the present invention.
  • Fig. 13 is a schematic diagram of the three-dimensional structure of the lying arm in the present invention.
  • Fig. 14 is a schematic diagram of the three-dimensional structure of the neutral arm of the present invention.
  • Fig. 15 is a schematic diagram of a three-dimensional structure of a limiting member in the present invention.
  • Fig. 16 is a schematic diagram of the three-dimensional structure of the trigger in the present invention.
  • Fig. 17 is a schematic diagram of the three-dimensional structure of the lock in the present invention.
  • Fig. 18 is a schematic diagram of the three-dimensional structure of the elastic member in the present invention.
  • Fig. 19 and Fig. 20 are the three-dimensional structure schematic diagrams of placing platform in the present invention.
  • Fig. 21 is a schematic perspective view of the three-dimensional structure of the support seat in the present invention.
  • connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, a direct connection, or an indirect connection through an intermediary.
  • the present invention provides an auxiliary disassembly mechanism 100 for a cell phenotype control device.
  • the cell phenotype control device includes a cell culture plate 200 and a light source control box 300 (as shown in FIG. 2 and FIG. 3 ). shown), the auxiliary disassembly mechanism 100 is used to remove the cell culture plate 200 from the light source control box 300, or install the cell culture plate 200 on the light source control box 300, the auxiliary disassembly mechanism 100 is limited to the horizontal and vertical directions, as shown in the figure 1. As shown in Fig. 6 and Fig.
  • the auxiliary dismounting mechanism 100 includes a support base 101, a placement table 102, at least one lever assembly 103, a trigger 104 and a locking member 105, the support base 101 is arranged laterally, and the placement table 102 is used for Place the cell phenotype control device, the placement platform 102 is connected to the support base 101 through the longitudinally stretchable elastic member 106, that is, the placement platform 102 can move longitudinally, the lever assembly 103 is pivotally connected to the support base 101 to form a fulcrum 107, the lever The assembly 103 clamps (as shown in FIG. 9 ) or loosens (as shown in FIG.
  • the locking member 105 is connected to the support base 101 , and is configured to releasably lock the trigger 104 when the lever assembly 103 clamps the light source control box 300, so that the lever assembly 103 maintains the state of clamping the light source control box 300, after the lock 105 releases the trigger 104 , the trigger member 104 touches the limit of the lever assembly 103 , and the lever assembly 103 releases the light source control box 300 .
  • the auxiliary dismounting mechanism 100 of the present invention is used in cooperation with a mechanical arm 400 , and the mechanical arm 400 has a clamping claw 401 .
  • the operation of disassembling the cell culture plate 200 is as follows:
  • Step S11 as shown in FIG. 2 , the gripper 401 of the mechanical arm 400 clamps the light source control box 300 , and places the light source control box 300 on the placement table 102 ;
  • Step S12 As shown in FIG. 8, the gripper 401 of the mechanical arm 400 clamps the light source control box 300, and applies vertical downward pressure on the light source control box 300, so that the light source control box 300 drives the placement table 102 to move downward, and places
  • the trigger member 105 is limited by the trigger member 104, so that the lever assembly 103 maintains the state of clamping the light source control box 300, thereby positioning the light source control box 300 on the placement table 102;
  • Step S13 the gripper 401 of the mechanical arm 400 grips the cell culture plate 200, and removes the cell culture plate 200 from the light source control box 300, and the disassembly is completed.
  • the operation of installing the cell culture plate 200 is as follows:
  • Step S21 the gripper 401 of the mechanical arm 400 grips the cell culture plate 200, and places the cell culture plate 200 on the light source control box 300;
  • Step S22 The gripper 401 of the mechanical arm 400 clamps the cell culture plate 200, and presses down on the cell culture plate 200, so that the cell culture plate 200 and the light source control box 300 are engaged, and the installation is completed.
  • the locking member 105 is configured to lock or release (that is, unlock) the triggering member 104 when pressed by the triggering member 104, and the pressing of the triggering member 104 to the locking member 105 comes from Due to the pressing down of the trigger piece 104 by the placement table 102, the advantage of this arrangement is that the locking and unlocking of the trigger piece 104 can be completed synchronously by means of the applied force of disassembling and installing the cell culture plate 200, and the clever design makes disassembly and assembly quicker.
  • step S12 the placement table 102 presses down the trigger 104, and the trigger 104 drives the lever assembly 103 to pivot in the direction of clamping the light source control box 300 while pressing the lock 105, While the lever assembly 103 clamps the light source control box 300, the trigger piece 104 is locked by the locking piece 105; in step S22, the jaw 401 of the mechanical arm 400 presses down the cell culture plate 200, and the placing platform 102 presses down the trigger piece 104, The trigger piece 104 presses the lock piece 105, and when the cell culture plate 200 and the light source control box 300 are engaged, the trigger piece 104 is released by the lock piece 105, and the lever assembly 103 releases the light source control box 300, so that the assembled cells
  • the phenotypic control device disengages from the auxiliary disassembly mechanism 100 (see FIG. 4 ).
  • the locking member 105 is a push lock, and its structure is in the prior art, so it will not be described in detail.
  • the lever assembly 103 includes a lying arm 108 and a vertical arm 109, one end of the lying arm 108 is the pressure end 110, and the other end of the lying arm 108 is connected to the vertical arm 109, that is, the lever assembly 103 is roughly L-shaped, and the part between the two ends of the lying arm 108 is pivotally connected to the support base 101 to form a fulcrum 107.
  • the vertical arm 109 is located on the side of the placement platform 102, and the trigger 104 drives the vertical arm 109 to pivot toward the direction of clamping the light source control box 300 by pressing down the pressure receiving end 110, so as to realize the alignment of the light source control box 300 The card is tight.
  • the triggering member 104 limits the position of the lying arm 108, so that the vertical arm 109 keeps clamping the light source control box 300.
  • the lying arm 108 is supported by the fulcrum 107 and The trigger pieces 104 are supported together, and the lying arm 108 is roughly horizontal (as shown in Figures 9 and 10); after the locking piece 105 releases the trigger piece 104, the trigger piece 104 releases the limit on the lying arm 108, and the vertical arm 109 relies on It pivots to the support base 101 by its own gravity and automatically releases the light source control box 300.
  • the lying arm 108 is jointly supported by the fulcrum 107 and the support base 101, and the lying arm 108 is in an inclined state (as shown in FIGS. 6 and 7).
  • a guide post 111 for guiding the longitudinal movement of the placement platform 102 and the trigger member 104 is fixed on the support base 101, and the placement platform 102 and the trigger member 104 can be vertically moved respectively. Slidingly sleeved on the guide post 111 , the placement table 102 , the trigger member 104 and the lever assembly 103 are opposed to each other sequentially from top to bottom in the longitudinal direction.
  • the trigger member 104 includes a collar 112, and an insertion part 113 and a trigger part 114 fixed on the outside of the collar 112, and the collar 112 is longitudinally slidably sleeved on the guide post 111, the number of inserting parts 113 and locking parts 105 are equal and corresponding in longitudinal direction, and each insertion part 113 is respectively used for inserting in each locking part 105, and the number of triggering part 114 and lever assembly 103 is equal and corresponding in longitudinal direction, and each triggering part 114 is respectively It is used to press down each lever assembly 103 to drive each lever assembly 103 to pivot synchronously (as shown in FIG. 4 and FIG. 5 ).
  • the placing table 102 includes a placing plate 115 for placing the cell phenotype control device and a sleeve 136 fixed on the bottom of the placing plate 115, and the placing plate 115 is elastically
  • the member 106 is connected to the support base 101 , the sleeve 136 is longitudinally slidably sleeved outside the guide post 111 and abuts against the trigger member 104 , and the placing table 102 presses down the trigger member 104 through the sleeve 136 .
  • guide slopes 116 are provided around the top surface of the placement board 115, so as to guide the light source control box 300 when the mechanical arm 400 places the light source control box 300 on the placement board 115. To the middle area of the placement board 115, the position of the light source control box 300 is prevented from shifting.
  • a plurality of guide rails 117 are provided on the outer wall of the guide column 111, and the plurality of guide rails 117 are arranged at intervals along the circumference of the guide column 111, and each guide rail 117 extends longitudinally
  • the side wall of the collar 112 of the trigger 104 is provided with a plurality of first slide grooves 118 that are respectively slidably matched with a plurality of guide rails 117, and the side wall of the sleeve 136 of the placement table 102 is provided with a plurality of guide rails 117 that slide respectively.
  • the extended directions of the matched second chute 119 , the first chute 118 and the second chute 119 are both longitudinal, so as to realize the longitudinal guidance of the guide column 111 to the trigger 104 and the placement platform 102 .
  • the elastic member 106 includes a cylinder 120 fixed on the support base 101 , a spring 121 disposed in the cylinder 120 and a top post 122 protruding into the cylinder 120 One end of the top column 122 is against the spring 121, and the other end of the top column 122 is in contact with the placement plate 115 of the placement platform 102 to form elastic support for the placement platform 102, so that the placement platform 102 can move longitudinally.
  • a flange 301 is provided on the outer wall of the light source control box 300 , and the lever assembly 103 includes a block 123 . The clamping of the light source control box 300.
  • step S12 the position where the gripper 401 of the mechanical arm 400 clamps the light source control box 300 is the position where the bottom of the gripper 401 abuts against the top of the flange 301, so that the gripper 401 of the robotic arm 400 can pass through the pressing protrusion.
  • the edge 301 exerts downward pressure on the light source control box 300, so that the light source control box 300 drives the placement table 102 to move downward.
  • the clamping of the light source control box 300 by the lever assembly 103 is to press the light source control box 300 from the top of the flange 301 by the block 123 of the lever assembly 103, and the elastic member 106 is tightened from the bottom of the placing table 102.
  • the light source control box 300 is realized together.
  • the auxiliary dismounting mechanism 100 includes two lever assemblies 103 disposed opposite to each other, and the trigger 104 can drive the two lever assemblies 103 to pivot synchronously in the direction of clamping the light source control box 300 so that the two lever assemblies 103 clamp the light source control box 300 together from opposite sides of the light source control box 300, thereby improving the clamping stability.
  • the trigger 104 includes two trigger parts 114 and two insertion parts 113, the two trigger parts 114 and the two insertion parts 113 are alternately arranged at 90° around the longitudinal center line, and the two trigger parts 114 are respectively connected to the two
  • the pressure end 110 of each lever assembly 103 corresponds longitudinally
  • the two insertion parts 113 correspond longitudinally to the two locking pieces 105 respectively, so the triggering piece 104 pivots synchronously in the direction of clamping the light source control box 300 when driving the two lever assemblies 103 Insert the two locking pieces 105 at the same time, and when the two lever assemblies 103 clamp the light source control box 300, the two locking pieces 105 lock the trigger piece 104, so as to limit the two lever assemblies 103 synchronously.
  • each lever assembly 103 also includes a limit frame 124 , and when the two lever assemblies 103 clamp the light source control box 300 together, the two lever assemblies 103 The limit frame 124 together limits the position of the cell culture plate 200 in the transverse direction, so that the cell culture plate 200 and the light source control box 300 are aligned in the longitudinal direction.
  • the clamping claw of the mechanical arm 400 is used when the lever assembly 103 clamps the light source control box 300 by setting the limit frame 124 401 Place the cell culture plate 200 between the two spacer frames 124, and the two spacer frames 124 play a role in correcting the position of the cell culture plate 200, so that the cell culture plate 200 can be closely attached to the light concentrating plate below, Avoid the problem of light source interference between microwells.
  • the sides of the cell culture plate 200 are in contact with the inner surfaces of the two spacers 124.
  • the jaw 401 of the mechanical arm 400 presses down on the cell culture plate 200, it will drive the placement platform 102 to move downward.
  • the placement platform 102 touches the trigger 104, if it continues to press down, the pressed end 110 of the lever assembly 103 will have a tendency to rotate downward, but due to the lever assembly 103
  • the fitting of the limiting frame 124 and the cell culture plate 200 will cause the limiting frame 124 and the vertical arm 109 to be locked by the cell culture plate 200 and cannot rotate with the pressed end 110 .
  • the inventor designs the vertical arm 109 and the horizontal arm 108 of the lever assembly 103 to be pivotable Connected so that relative rotation can take place between the two, a tension spring 125 is connected between the lying arm 108 and the vertical arm 109 .
  • the vertical arm 109 When the cell culture plate 200 is installed, the vertical arm 109 is in the state of clamping the light source control box 300, and the trigger part 104 is in the state of being locked by the locking part 105 (as shown in Figure 9), and the gripper 401 of the mechanical arm 400 cultures the cells
  • the gripper 401 of the mechanical arm 400 presses down on the cell culture plate 200, so that the cell culture plate 200 is engaged with the light source control box 300, and at the same time drives the placing table 102 to move downward.
  • the placement table 102 presses down the trigger 104, so that the trigger 104 drives the lying arm 108 to pivot away from the vertical arm 109, the angle between the lying arm 108 and the vertical arm 109 increases, and the tension spring 125 is stretched. Simultaneously, the trigger piece 104 presses the lock piece 105, and the lock piece 105 releases the trigger piece 104 after being pressed. Clamping of the control box 300 (see FIG. 4 ), the gripper 401 of the mechanical arm 400 can clamp the light source control box 300 and remove the cell phenotype device from the placement platform 102 .
  • a limiter 126 is sandwiched between the lying arm 108 and the vertical arm 109, and the limiter 126 limits the minimum angle between the lying arm 108 and the vertical arm 109, for example The minimum included angle is 90°.
  • the limiting member 126 is fixed on an end of the lying arm 108 close to the vertical arm 109 , for example, the limiting member 126 is a limiting plate.
  • each limiter 124 is provided with a chamfered structure 127 for guiding the cell culture plate 200 , and the cell culture plate 200 is placed between two clamping jaws 401 of the mechanical arm 400 When between the limit frames 124 , the chamfered structure 127 on the limit frame 124 guides the cell culture plate 200 to move to the position between the two limit frames 124 .
  • the limit frame 124 of one of the lever assemblies 103 includes a first cross arm 128 and two second cross arms 129 connected to opposite ends of the first cross arm 128 and parallel to each other (as shown in FIG. 12), the limit frame 124 of the other lever assembly 103 includes a third cross arm 130 (as shown in FIG.
  • the arm 128 and the third transverse arm 130 are used to limit the position of the cell culture plate 200 in the left and right direction, and the two second transverse arms 129 are used to limit the position of the cell culture plate 200 in the front and rear direction.
  • the transverse arm that limits the position of the cell culture plate 200 in the front-rear direction is not provided on the other lever assembly 103, in order to prevent interference with the gripper 401 of the mechanical arm 400, so that the gripper 401 can move from the third transverse arm
  • the two ends of 130 clamp the cell culture plate 200 .
  • the lying arm 108 and the vertical arm 109 are all channel steel, so that the spacer 124, the block 123, the tension spring 125 and the spacer plate are connected to the channel steel by pins. side wall connection.
  • the support base 101 is a square plate, and the four sides of the square plate are respectively connected with a vertical plate 131 to form a box-like structure with an open top.
  • the jaw 401 of the arm 400 interferes, and the vertical plate 131 is configured as a structure having an avoidance groove 132 , thereby leaving space for movement and operation of the jaw 401 of the mechanical arm 400 .
  • each mounting rings 133 is used to fix the locking member 105
  • each set of mounting plates 135 is two, and is used to connect the lying arm 108 through a pivot shaft.
  • the present invention also provides a disassembly system, including a mechanical arm 400 and an auxiliary disassembly mechanism 100 in Embodiment 1. Pressure is applied and the cell culture plate 200 can be clamped.
  • the jaws 401 clamp the light source control box 300, and by applying pressure to the light source control box 300, pressure is applied to the placement table 102.
  • the jaws 401 clamp the cell culture plate 200, and by applying pressure to the cell culture plate 200, pressure is applied to the stage 102.

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Abstract

一种细胞表型控制装置的辅助拆装机构（100）及拆装系统，包括：支撑座（101），沿横向设置；放置台（102），通过可纵向伸缩的弹性件（106）连接至支撑座（101），用于放置细胞表型控制装置；至少一个杠杆组件（103），可枢转地连接至支撑座（101）以形成支点（107），杠杆组件（103）通过绕支点（107）枢转将放置台（102）上的光源控制盒（300）卡紧或松开；触发件（104），被配置为在受到放置台（102）的下压时，驱动杠杆组件（103）朝卡紧光源控制盒（300）的方向枢转；锁定件（105），连接至支撑座（101），并被配置为在杠杆组件（103）卡紧光源控制盒（300）时将触发件（104）可释放地锁定，杠杆组件（103）在锁定件（105）将触发件释放后松开光源控制盒（300）。实现了细胞表型控制装置的细胞培养板的自动化拆卸，无需实验人员手动操作，提高实验效率。

Description

细胞表型控制装置的辅助拆装机构及拆装系统 技术领域
本发明涉及培养箱技术领域，尤其是一种细胞表型控制装置的辅助拆装机构及拆装系统。
 背景技术
细胞表型控制装置，例如申请号为CN202011476070.6的中国发明专利公开的“细胞表型控制装置”，主要包括细胞培养板和光源控制盒，细胞培养板套设在光源控制盒的顶部外侧。在实际使用过程中，经常需要单独拆下细胞培养板，以对细胞培养板中的细胞进行其他处理。目前细胞培养板的拆卸由实验人员手动操作完成，难以实现自动化拆卸，无法满足自动化生物实验流程的要求。
 技术问题
本发明的目的是提供一种细胞表型控制装置的辅助拆装机构及拆装系统，以解决细胞培养板难以实现自动化拆卸的问题。
 技术解决方案
为达到上述目的，本发明提出一种细胞表型控制装置的辅助拆装机构，所述细胞表型控制装置包括相卡接的细胞培养板和光源控制盒，所述辅助拆装机构限定横向和纵向，包括：支撑座，沿所述横向设置；放置台，通过可纵向伸缩的弹性件连接至所述支撑座，用于放置所述细胞表型控制装置；至少一个杠杆组件，可枢转地连接至所述支撑座以形成支点，所述杠杆组件通过绕所述支点枢转将所述放置台上的光源控制盒卡紧或松开；触发件，被配置为在受到所述放置台的下压时，驱动所述杠杆组件朝卡紧所述光源控制盒的方向枢转；锁定件，连接至所述支撑座，并被配置为在所述杠杆组件卡紧所述光源控制盒时将所述触发件可释放地锁定，所述杠杆组件在所述锁定件将所述触发件释放后松开所述光源控制盒。
如上所述的辅助拆装机构，其中，所述锁定件被配置为在受到所述触发件的按压时，将所述触发件锁定或释放，所述按压来自于所述放置台对所述触发件的下压。
如上所述的辅助拆装机构，其中，所述锁定件为按压锁扣。
如上所述的辅助拆装机构，其中，所述杠杆组件包括卧臂和立臂，所述卧臂的一端为受压端，所述卧臂的另一端连接所述立臂，所述卧臂的两端之间的部分可枢转地连接至所述支撑座以形成所述支点，所述触发件可纵向移动地设于所述受压端与所述放置台之间，所述立臂位于所述放置台的侧向，所述触发件通过下压所述受压端驱动所述立臂朝卡紧所述光源控制盒的方向枢转。
如上所述的辅助拆装机构，其中，在所述锁定件将所述触发件锁定的状态下，所述触发件对所述卧臂限位，以使所述立臂保持卡紧所述光源控制盒的状态；在所述锁定件释放所述触发件后，所述触发件解除对所述卧臂的限位，所述立臂依靠自身重力枢转至所述支撑座上，以自动松开所述光源控制盒。
如上所述的辅助拆装机构，其中，所述支撑面上固定有用于引导所述放置台和所述触发件纵向移动的导向柱，所述放置台和所述触发件分别可纵向滑动地套在所述导向柱外，所述放置台、所述触发件和所述杠杆组件在所述纵向上由上至下依次相抵。
如上所述的辅助拆装机构，其中，所述触发件包括套环、以及固定于所述套环外侧的插入部和触发部，所述套环可纵向滑动地套设在所述导向柱外，所述插入部和所述锁定件的数量相等且纵向对应，各所述插入部分别用于插入各所述锁定件，所述触发部和所述杠杆组件的数量相等且纵向对应，各所述触发部分别用于下压各所述杠杆组件，以驱动各所述杠杆组件同步枢转。
如上所述的辅助拆装机构，其中，所述放置台包括用于放置所述细胞表型控制装置的放置板和固定在所述放置板底部的套筒，所述放置板通过所述弹性件连接至所述支撑座，所述套筒可纵向滑动地套设在所述导向柱外并与所述触发件相抵，所述放置台通过所述套筒下压所述触发件。
如上所述的辅助拆装机构，其中，所述光源控制盒的外壁上设有凸缘，所述杠杆组件包括卡块，所述卡块通过压紧所述凸缘实现对所述光源控制盒的卡紧。
如上所述的辅助拆装机构，其中，所述辅助拆装机构包括两个彼此相对设置的所述杠杆组件，所述触发件能驱动两个所述杠杆组件朝卡紧所述光源控制盒的方向同步枢转，以使两个所述杠杆组件从所述光源控制盒的相对两侧共同卡紧所述光源控制盒。
如上所述的辅助拆装机构，其中，每个所述杠杆组件还包括限位架，在两个所述杠杆组件共同卡紧所述光源控制盒的状态下，两个所述杠杆组件的限位架共同对所述细胞培养板在所述横向上的位置进行限位，以使所述细胞培养板和所述光源控制盒在所述纵向上对正。
如上所述的辅助拆装机构，其中，所述杠杆组件包括可枢转地连接的卧臂和立臂，所述卧臂和所述立臂之间连接有拉紧弹簧，所述卧臂可枢转地连接至所述支撑座以供所述触发件下压，所述立臂用于卡紧所述光源控制盒，在所述立臂卡紧所述光源控制盒，且所述锁定件将所述触发件锁定的状态下，所述放置台通过下压所述触发件，使所述触发件驱动所述卧臂朝远离所述立臂的方向枢转，同时使所述触发件按压所述锁定件，直至所述锁定件释放所述触发件。
如上所述的辅助拆装机构，其中，所述卧臂和所述立臂之间夹设有限位件，所述限位件限定所述卧臂和所述立臂之间的最小夹角。
如上所述的辅助拆装机构，其中，其中一个所述杠杆组件的限位架包括第一横臂和连接在所述第一横臂的相对两端且相互平行的两个第二横臂，另一个所述杠杆组件的限位架包括第三横臂，所述第三横臂与所述第一横臂彼此相对且相互平行。
本发明还提供一种拆装系统，包括机械臂和如上所述的辅助拆装机构，所述机械臂具有夹爪，所述夹爪能对所述放置台施加压力，并能夹持所述细胞培养板。
 有益效果
本发明的细胞表型控制装置的辅助拆装机构及拆装系统的特点和优点是：
1、本发明的辅助拆装机构采用可枢转的杠杆组件卡紧光源控制盒，并采用触发件触发杠杆组件枢转，采用锁定件锁定触发件，以将杠杆组件定位，便于机械臂将细胞培养板从光源控制盒上卸下及将细胞培养板安装在光源控制盒上，实现了自动化拆卸，无需实验人员手动操作，提高实验效率；
2、本发明通过将锁定件设置为按压式锁定和解锁，借助拆卸和安装细胞培养板的施力，即可同步完成对触发件的锁定和解锁，使拆装更快捷高效，进一步提高实验效率；
3、本发明通过设置两个杠杆组件，从光源控制盒的相对两侧共同卡紧光源控制盒，从而提高卡紧稳固性；
4、本发明通过设置弹性件支撑放置台，实现对放置台的弹性支撑，使放置台可纵向移动，从而使机械臂对细胞表型控制装置的下压力得以传递至触发件，另外，弹性件与杠杆组件的卡块配合，能将光源控制盒外壁上的凸缘夹紧，实现杠杆组件对光源控制盒的卡紧。
 附图说明
以下附图仅旨在于对本发明做示意性说明和解释，并不限定本发明的范围。其中：
图1是本发明一实施例的辅助拆装机构的立体结构示意图；
图2是采用机械臂将细胞表型控制装置放置于图1中辅助拆装机构上的示意图；
图3是图2中细胞表型控制装置放置于辅助拆装机构上的立体结构示意图；
图4是图3的剖视图；
图5是图4中辅助拆装机构除去放置台的结构示意图；
图6和图7是图5的立体结构示意图；
图8是采用机械臂对光源控制盒施加压力后，杠杆组件将光源控制盒卡紧的剖视图；
图9是图8中杠杆组件将光源控制盒卡紧的剖视图；
图10是图9中辅助拆装机构的剖视图；
图11是本发明中一个杠杆组件的立体结构示意图；
图12是本发明中另一个杠杆组件的立体结构示意图；
图13是本发明中卧臂的立体结构示意图；
图14是本发明中立臂的立体结构示意图；
图15是本发明中限位件的立体结构示意图；
图16是本发明中触发件的立体结构示意图；
图17是本发明中锁定件的立体结构示意图；
图18是本发明中弹性件的立体结构示意图；
图19和图20是本发明中放置台的立体结构示意图；
图21是本发明中支撑座的立体结构示意图。
主要元件标号说明：
100、辅助拆装机构；
101、支撑座；102、放置台；103、杠杆组件；104、触发件；105、锁定件；
106、弹性件；107、支点；108、卧臂；109、立臂；110、受压端；111、导向柱；
112、套环；113、插入部；114、触发部；115、放置板；116、导向斜面；
117、导轨；118、第一滑槽；119、第二滑槽；120、筒体；121、弹簧；
122、顶柱；123、卡块；124、限位架；125、拉紧弹簧；126、限位件；
127、倒角结构；128、第一横臂；129、第二横臂；130、第三横臂；
131、立板；132、避让槽；133、安装圈；134、安装座；135、安装板；
136、套筒；200、细胞培养板；300、光源控制盒；301、凸缘；
400、机械臂；401、夹爪。
 本发明的实施方式
为了对本发明的技术特征、目的和效果有更加清楚的理解，现对照附图说明本发明的具体实施方式。其中，形容词性或副词性修饰语“上”和“下”、“顶”和“底”、“内”和“外”、“横”和“纵”的使用仅是为了便于多组术语之间的相对参考，且并非描述对经修饰术语的任何特定的方向限制。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。在本发明的描述中，除非另有说明，术语“连接”应做广义理解，例如，可以是固定连接，可以是可拆卸连接，可以是直接连接，可以是通过中间媒介间接连接，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本专利中的具体含义。
实施方式一
如图1所示，本发明提供一种细胞表型控制装置的辅助拆装机构100，细胞表型控制装置包括相卡接的细胞培养板200和光源控制盒300（如图2、图3所示），辅助拆装机构100用于将细胞培养板200从光源控制盒300上拆下，或者将细胞培养板200安装到光源控制盒300上，辅助拆装机构100限定横向和纵向，如图1、图6、图7所示，辅助拆装机构100包括支撑座101、放置台102、至少一个杠杆组件103、触发件104和锁定件105，支撑座101沿横向设置，放置台102用于放置细胞表型控制装置，放置台102通过可纵向伸缩的弹性件106连接至支撑座101，即放置台102可纵向移动，杠杆组件103可枢转地连接至支撑座101以形成支点107，杠杆组件103通过绕支点107枢转将放置台102上的光源控制盒300卡紧（如图9所示）或松开（如图4所示），触发件104被配置为在受到放置台102的下压时，驱动杠杆组件103朝卡紧光源控制盒300的方向枢转，以使杠杆组件103卡紧光源控制盒300（如图8、图9所示），锁定件105连接至支撑座101，并被配置为在杠杆组件103卡紧光源控制盒300时将触发件104可释放地锁定，以使杠杆组件103保持卡紧光源控制盒300的状态，在锁定件105将触发件104释放后，触发件104接触对杠杆组件103的限位，杠杆组件103松开光源控制盒300。
本发明的辅助拆装机构100与机械臂400配合使用，机械臂400具有夹爪401。
拆卸细胞培养板200的操作如下：
步骤S11：如图2所示，机械臂400的夹爪401夹持光源控制盒300，将光源控制盒300放置在放置台102上；
步骤S12：如图8所示，机械臂400的夹爪401夹持光源控制盒300，并对光源控制盒300施加纵向向下的压力，使光源控制盒300驱动放置台102向下移动，放置台102下压触发件104，触发件104驱动杠杆组件103朝卡紧光源控制盒300的方向枢转，直至杠杆组件103卡紧光源控制盒300，同时锁定件105锁定触发件104，此时锁定件105对触发件104限位，使杠杆组件103保持卡紧光源控制盒300的状态，从而将光源控制盒300定位在放置台102上；
步骤S13：机械臂400的夹爪401夹持细胞培养板200，将细胞培养板200从光源控制盒300上取下，拆卸完成。
安装细胞培养板200的操作如下：
步骤S21：机械臂400的夹爪401夹持细胞培养板200，将细胞培养板200放置在光源控制盒300上；
步骤S22：机械臂400的夹爪401夹持细胞培养板200，并下压细胞培养板200，使细胞培养板200和光源控制盒300卡接，安装完成。
在一实施例中，如图8所示，锁定件105被配置为在受到触发件104的按压时，将触发件104锁定或释放（即解锁），触发件104对锁定件105的按压，来自于放置台102对触发件104的下压，这样设置的好处在于，借助拆卸和安装细胞培养板200的施力，同步完成对触发件104的锁定和解锁，设计巧妙，使拆装更快捷。
采用本实施例的辅助拆装机构100，在步骤S12中，放置台102下压触发件104，触发件104驱动杠杆组件103朝卡紧光源控制盒300的方向枢转的同时按压锁定件105，在杠杆组件103卡紧光源控制盒300的同时，触发件104被锁定件105锁定；在步骤S22中，机械臂400的夹爪401下压细胞培养板200，放置台102下压触发件104，触发件104按压锁定件105，在细胞培养板200和光源控制盒300卡接的同时，触发件104被锁定件105释放，杠杆组件103也就松开光源控制盒300，从而使组装好的细胞表型控制装置脱离辅助拆装机构100（参见图4）。
在一具体实施例中，如图17所示，锁定件105为按压锁扣，其结构为现有技术，故不赘述。
在一实施例中，如图1、图11、图12所示，杠杆组件103包括卧臂108和立臂109，卧臂108的一端为受压端110，卧臂108的另一端连接立臂109，即杠杆组件103大致呈L形结构，卧臂108的两端之间的部分可枢转地连接至支撑座101以形成支点107，触发件104可纵向移动地设于受压端110与放置台102之间，立臂109位于放置台102的侧向，触发件104通过下压受压端110驱动立臂109朝卡紧光源控制盒300的方向枢转，以实现对光源控制盒300的卡紧。
具体是，在锁定件105将触发件104锁定的状态下，触发件104对卧臂108限位，以使立臂109保持卡紧光源控制盒300的状态，此时卧臂108由支点107和触发件104共同支撑，卧臂108大致呈水平状态（如图9、图10所示）；在锁定件105释放触发件104后，触发件104解除对卧臂108的限位，立臂109依靠自身重力枢转至支撑座101上并自动松开光源控制盒300，此时卧臂108由支点107和支撑座101共同支撑，卧臂108呈倾斜状态（如图6、图7所示）。
在一实施例中，如图6、图7、图21所示，支撑座101上固定有用于引导放置台102和触发件104纵向移动的导向柱111，放置台102和触发件104分别可纵向滑动地套在导向柱111外，放置台102、触发件104和杠杆组件103在纵向上由上至下依次相抵。
进一步，如图6、图7、图16所示，触发件104包括套环112、以及固定于套环112外侧的插入部113和触发部114，套环112可纵向滑动地套设在导向柱111外，插入部113和锁定件105的数量相等且纵向对应，各插入部113分别用于插入各锁定件105内，触发部114和杠杆组件103的数量相等且纵向对应，各触发部114分别用于下压各杠杆组件103，以驱动各杠杆组件103同步枢转（如图4、图5所示）。
进一步，如图4、图10、图19、图20所示，放置台102包括用于放置细胞表型控制装置的放置板115和固定在放置板115底部的套筒136，放置板115通过弹性件106连接至支撑座101，套筒136可纵向滑动地套设在导向柱111外并与触发件104相抵，放置台102通过套筒136下压触发件104。
更进一步，如图1、图19所示，放置板115的顶面的四周设有导向斜面116，以在机械臂400将光源控制盒300放到放置板115上时，将光源控制盒300引导至放置板115的中部区域，防止光源控制盒300的位置偏移。
进一步，如图16、图20、图21所示，导向柱111的外壁上设有多条导轨117，多条导轨117沿导向柱111的周向间隔排布，每条导轨117沿纵向延伸，触发件104的套环112的侧壁上设有分别与多条导轨117滑动配合的多个第一滑槽118，放置台102的套筒136的侧壁上设有分别与多条导轨117滑动配合的多个第二滑槽119，第一滑槽118和第二滑槽119的延伸方向均为纵向，从而实现导向柱111对触发件104和放置台102的纵向引导。
在一实施例中，如图4、图18所示，弹性件106包括固定在支撑座101上的筒体120、设于筒体120内的弹簧121和伸入筒体120内的顶柱122，顶柱122的一端与弹簧121相抵，顶柱122的另一端与放置台102的放置板115接触，以对放置台102形成弹性支撑，使放置台102可纵向移动。
在一实施例中，如图3、图4、图9所示，光源控制盒300的外壁上设有凸缘301，杠杆组件103包括卡块123，卡块123通过压紧凸缘301实现对光源控制盒300的卡紧。
具体是，在步骤S12中，机械臂400的夹爪401夹持光源控制盒300的位置，为夹爪401底部与凸缘301顶部相抵的位置，以便机械臂400的夹爪401通过下压凸缘301对光源控制盒300施加向下的压力，使光源控制盒300驱动放置台102向下移动，当触发件104被锁定件105锁定时，卡块123恰好随立臂109枢转至凸缘301上方，然后夹爪401松开光源控制盒300，放置台102在弹性件106的回复力的作用下上移，直至凸缘301接触到卡块123被卡块123压紧（如图9所示）。
因此，本实施例中杠杆组件103对光源控制盒300的卡紧，是通过杠杆组件103的卡块123从凸缘301上方压紧光源控制盒300、以及弹性件106从放置台102底部顶紧光源控制盒300共同实现。
在一实施例中，如图9所示，辅助拆装机构100包括两个彼此相对设置的杠杆组件103，触发件104能驱动两个杠杆组件103朝卡紧光源控制盒300的方向同步枢转，以使两个杠杆组件103从光源控制盒300的相对两侧共同卡紧光源控制盒300，从而提高卡紧稳固性。
在图6和图7的示例中，锁定件105为两个，两个锁定件105和两个杠杆组件103围绕一纵向中心线呈90°交替间隔排布，触发件104设于该纵向中心线处，触发件104包括两个触发部114和两个插入部113，两个触发部114和两个插入部113绕该纵向中心线呈90°交替间隔排布，两个触发部114分别与两个杠杆组件103的受压端110纵向对应，两个插入部113分别与两个锁定件105纵向对应，因此触发件104在驱动两个杠杆组件103朝卡紧光源控制盒300的方向同步枢转的同时插入两个锁定件105，在两个杠杆组件103卡紧光源控制盒300的同时，两个锁定件105将触发件104锁定，从而将两个杠杆组件103同步限位。
在一具体实施例中，如图6和图7所示，每个杠杆组件103还包括限位架124，在两个杠杆组件103共同卡紧光源控制盒300的状态下，两个杠杆组件103的限位架124共同对细胞培养板200在横向上的位置进行限位，以使细胞培养板200和光源控制盒300在纵向上对正。
以往在安装细胞培养板200时，很难将细胞培养板200下方的筋条准确插入光源控制盒300上方的卡槽中，导致安装后细胞培养板200的下端面无法与光源控制盒300内聚光板的上端面紧密贴合，导致微孔之间的光源相干扰，而本实施例通过设置限位架124，在杠杆组件103卡紧光源控制盒300的状态下，采用机械臂400的夹爪401将细胞培养板200放置到两个限位架124之间，两个限位架124对细胞培养板200的位置起到纠偏作用，使细胞培养板200与下方的聚光板能够紧密贴合，避免微孔之间光源干扰的问题发生。
当细胞培养板200与光源控制盒300对正时，细胞培养板200的侧面与两个限位架124的内侧面相贴，这种情况下，若机械臂400的夹爪401下压细胞培养板200，会带动放置台102向下移动，当放置台102接触到触发件104时，若继续下压，则会使杠杆组件103的受压端110有向下转动的趋势，但由于杠杆组件103的限位架124与细胞培养板200贴合，会导致限位架124和立臂109被细胞培养板200卡住，而无法随受压端110转动。
为了避免限位架124阻碍受压端110向下转动，在一实施例中，如图11和图12所示，发明人将杠杆组件103的立臂109和卧臂108设计为可枢转地连接，以使二者之间能发生相对转动，卧臂108和立臂109之间连接有拉紧弹簧125。
安装细胞培养板200时，立臂109处于卡紧光源控制盒300的状态，且触发件104处于被锁定件105锁定的状态（如图9所示），机械臂400的夹爪401将细胞培养板200放到两个限位架124之间后，机械臂400的夹爪401下压细胞培养板200，使细胞培养板200与光源控制盒300卡接，同时驱动放置台102向下移动，放置台102下压触发件104，使触发件104驱动卧臂108朝远离立臂109的方向枢转，卧臂108和立臂109之间的夹角增大，拉紧弹簧125被拉伸，同时触发件104按压锁定件105，锁定件105受到按压后释放触发件104，触发件104解除对卧臂108的限位，立臂109依靠自身重力枢转至支撑座101上，从而解除对光源控制盒300的卡紧（参见图4），机械臂400的夹爪401可以夹取光源控制盒300，将细胞表型装置从放置台102上取走。
进一步，如图11、图12和图15所示，卧臂108和立臂109之间夹设有限位件126，限位件126限定卧臂108和立臂109之间的最小夹角，例如该最小夹角为90°。具体是，例如，限位件126固定在卧臂108上靠近立臂109的一端，例如限位件126为限位板。
进一步，如图11和图12所示，各限位架124上设有倒角结构127，用于对细胞培养板200导向，在机械臂400的夹爪401将细胞培养板200放置到两个限位架124之间时，限位架124上的倒角结构127引导细胞培养板200移动到两个限位架124之间的位置。
进一步，如图1所示，其中一个杠杆组件103的限位架124包括第一横臂128和连接在第一横臂128的相对两端且相互平行的两个第二横臂129（如图12所示），另一个杠杆组件103的限位架124包括第三横臂130（如图11所示，），第三横臂130与第一横臂128彼此相对且相互平行，第一横臂128和第三横臂130用于对细胞培养板200在左右方向的位置限位，两个第二横臂129用于对细胞培养板200在前后方向的位置限位。其中，在另一个杠杆组件103上未设置对细胞培养板200在前后方向的位置限位的横臂，是为了防止对机械臂400的夹爪401造成干涉，便于夹爪401从第三横臂130的两端夹取细胞培养板200。
进一步，如图13和图14所示，卧臂108和立臂109均为槽钢，以便于通过销钉将限位架124、卡块123、拉紧弹簧125和限位板与槽钢的两侧壁连接。
在一实施例中，如图21所示，支撑座101为方形板，方形板的四个侧边分别连接一立板131，以构成顶部敞口的盒状结构，为避免立板131与机械臂400的夹爪401发生干涉，将立板131设置为具有避让槽132的结构，从而为机械臂400的夹爪401留出运动和操作空间。
在一实施例中，如图21所示，支撑座101上设有四个安装圈133、两个安装座134和两组安装板135，四个安装圈133用于固定四个弹性件106，安装座134用于固定锁定件105，每组安装板135为两个，用于通过枢接轴连接卧臂108。
实施方式二
如图2、图8所示，本发明还提供一种拆装系统，包括机械臂400和实施方式一的辅助拆装机构100，机械臂400具有夹爪401，夹爪401能对放置台102施加压力，并能夹持细胞培养板200。
在拆卸细胞培养板200时，夹爪401夹持光源控制盒300，并通过对光源控制盒300施加压力，来对放置台102施加压力，在安装细胞培养板200时，夹爪401夹持细胞培养板200，并通过对细胞培养板200施加压力，来对放置台102施加压力。
本实施方式中辅助拆装机构100的结构、工作原理和有益效果与实施方式一相同，在此不再赘述。
以上所述仅为本发明示意性的具体实施方式，并非用以限定本发明的范围。任何本领域的技术人员，在不脱离本发明的构思和原则的前提下所作的等同变化与修改，均应属于本发明保护的范围。而且需要说明的是，本发明的各组成部分并不仅限于上述整体应用，本发明的说明书中描述的各技术特征可以根据实际需要选择一项单独采用或选择多项组合起来使用，因此，本发明理所当然地涵盖了与本案发明点有关的其它组合及具体应用。

Claims (15)

  1. 一种细胞表型控制装置的辅助拆装机构，所述细胞表型控制装置包括相卡接的细胞培养板和光源控制盒，其特征在于，所述辅助拆装机构限定横向和纵向，包括：
    支撑座，沿所述横向设置；
    放置台，通过可纵向伸缩的弹性件连接至所述支撑座，用于放置所述细胞表型控制装置；
    至少一个杠杆组件，可枢转地连接至所述支撑座以形成支点，所述杠杆组件通过绕所述支点枢转将所述放置台上的光源控制盒卡紧或松开；
    触发件，被配置为在受到所述放置台的下压时，驱动所述杠杆组件朝卡紧所述光源控制盒的方向枢转；
    锁定件，连接至所述支撑座，并被配置为在所述杠杆组件卡紧所述光源控制盒时将所述触发件可释放地锁定，所述杠杆组件在所述锁定件将所述触发件释放后松开所述光源控制盒。
  2. 如权利要求1所述的辅助拆装机构，其特征在于，所述锁定件被配置为在受到所述触发件的按压时，将所述触发件锁定或释放，所述按压来自于所述放置台对所述触发件的下压。
  3. 如权利要求2所述的辅助拆装机构，其特征在于，所述锁定件为按压锁扣。
  4. 如权利要求1所述的辅助拆装机构，其特征在于，所述杠杆组件包括卧臂和立臂，所述卧臂的一端为受压端，所述卧臂的另一端连接所述立臂，所述卧臂的两端之间的部分可枢转地连接至所述支撑座以形成所述支点，所述触发件可纵向移动地设于所述受压端与所述放置台之间，所述立臂位于所述放置台的侧向，所述触发件通过下压所述受压端驱动所述立臂朝卡紧所述光源控制盒的方向枢转。
  5. 如权利要求4所述的辅助拆装机构，其特征在于，在所述锁定件将所述触发件锁定的状态下，所述触发件对所述卧臂限位，以使所述立臂保持卡紧所述光源控制盒的状态；在所述锁定件释放所述触发件后，所述触发件解除对所述卧臂的限位，所述立臂依靠自身重力枢转至所述支撑座上，以自动松开所述光源控制盒。
  6. 如权利要求1所述的辅助拆装机构，其特征在于，所述支撑面上固定有用于引导所述放置台和所述触发件纵向移动的导向柱，所述放置台和所述触发件分别可纵向滑动地套在所述导向柱外，所述放置台、所述触发件和所述杠杆组件在所述纵向上由上至下依次相抵。
  7. 如权利要求6所述的辅助拆装机构，其特征在于，所述触发件包括套环、以及固定于所述套环外侧的插入部和触发部，所述套环可纵向滑动地套设在所述导向柱外，所述插入部和所述锁定件的数量相等且纵向对应，各所述插入部分别用于插入各所述锁定件，所述触发部和所述杠杆组件的数量相等且纵向对应，各所述触发部分别用于下压各所述杠杆组件，以驱动各所述杠杆组件同步枢转。
  8. 如权利要求6所述的辅助拆装机构，其特征在于，所述放置台包括用于放置所述细胞表型控制装置的放置板和固定在所述放置板底部的套筒，所述放置板通过所述弹性件连接至所述支撑座，所述套筒可纵向滑动地套设在所述导向柱外并与所述触发件相抵，所述放置台通过所述套筒下压所述触发件。
  9. 如权利要求1所述的辅助拆装机构，其特征在于，所述光源控制盒的外壁上设有凸缘，所述杠杆组件包括卡块，所述卡块通过压紧所述凸缘实现对所述光源控制盒的卡紧。
  10. 如权利要求1至9任一项所述的辅助拆装机构，其特征在于，所述辅助拆装机构包括两个彼此相对设置的所述杠杆组件，所述触发件能驱动两个所述杠杆组件朝卡紧所述光源控制盒的方向同步枢转，以使两个所述杠杆组件从所述光源控制盒的相对两侧共同卡紧所述光源控制盒。
  11. 如权利要求10所述的辅助拆装机构，其特征在于，每个所述杠杆组件还包括限位架，在两个所述杠杆组件共同卡紧所述光源控制盒的状态下，两个所述杠杆组件的限位架共同对所述细胞培养板在所述横向上的位置进行限位，以使所述细胞培养板和所述光源控制盒在所述纵向上对正。
  12. 如权利要求11所述的辅助拆装机构，其特征在于，所述杠杆组件包括可枢转地连接的卧臂和立臂，所述卧臂和所述立臂之间连接有拉紧弹簧，所述卧臂可枢转地连接至所述支撑座以供所述触发件下压，所述立臂用于卡紧所述光源控制盒，在所述立臂卡紧所述光源控制盒，且所述锁定件将所述触发件锁定的状态下，所述放置台通过下压所述触发件，使所述触发件驱动所述卧臂朝远离所述立臂的方向枢转，同时使所述触发件按压所述锁定件，直至所述锁定件释放所述触发件。
  13. 如权利要求12所述的辅助拆装机构，其特征在于，所述卧臂和所述立臂之间夹设有限位件，所述限位件限定所述卧臂和所述立臂之间的最小夹角。
  14. 如权利要求11所述的辅助拆装机构，其特征在于，其中一个所述杠杆组件的限位架包括第一横臂和连接在所述第一横臂的相对两端且相互平行的两个第二横臂，另一个所述杠杆组件的限位架包括第三横臂，所述第三横臂与所述第一横臂彼此相对且相互平行。
  15. 一种拆装系统，其特征在于，所述拆装系统包括机械臂和如权利要求1至14任一项所述的辅助拆装机构，所述机械臂具有夹爪，所述夹爪能对所述放置台施加压力，并能夹持所述细胞培养板。
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