CN212247057U - A fully automatic operation device for cell passage - Google Patents

Abstract

The utility model provides a fully automatic operating device for cell passage. The fully automatic operating device for cell passage includes: an installation base, an observation area located on the left side of the installation base, and an automatic operation area located on the right side of the installation base; the automatic operation area is provided with a second Clamping manipulator, shaker, test tube rack, two-degree-of-freedom linear motion module, operating manipulator, orifice plate operating table, homemade pipette tip box, waste well, reagent bottle, peristaltic pump, waste well, centrifuge, The third gripping manipulator, the second single degree of freedom linear motion module and the third single degree of freedom linear motion module. The advantages are: (1) Each type of manipulator can flexibly adjust its position, height and orientation, thereby realizing the clamping and transfer of target objects, and fully automatic operation of cell passage, saving manpower and improving work efficiency. (2) Maintain a sterile environment in the entire operating space to reduce the chance of contamination of the cell culture environment.

Description

A fully automatic operation device for cell passage

technical field

The utility model belongs to the technical field of cell manipulation and culture, in particular to a fully automatic manipulation device for cell passage.

Background technique

Cell culture refers to a method that simulates the in-vivo environment in vitro, including conditions such as sterility, suitable temperature, pH and certain nutritional conditions, to make it survive, grow, reproduce and maintain its main structure and function. Cell culture is also called cell cloning technology, and the formal term in biology is cell culture technology. No matter for the whole bioengineering technology or one of the biological cloning technologies, cell culture is an essential process, and cell culture itself is the large-scale cloning of cells. Cell culture technology is an important and commonly used technique in cell biology research methods. Through cell culture, a large number of cells can be obtained, and cell signal transduction, cell anabolism, cell growth and proliferation can be studied by means of cell culture.

At this stage, the operation of cell culture is mainly completed by manual operation, which is labor-intensive and easy to pollute the culture environment and affect the quality of cultured cells. Therefore, there is an urgent need to design and manufacture a cell culture equipment that can realize fully automatic culture operation.

Utility model content

In view of the defects existing in the prior art, the present invention provides a fully automatic operation device for cell passage, which can effectively solve the above problems.

The technical scheme adopted by the utility model is as follows:

The utility model provides a fully automatic operation device for cell passage, comprising: an installation base (1), an observation area (2) located on the left side of the installation base (1), and an automatic operation device located on the right side of the installation base (1). Operation area (3); take the length direction of the mounting base (1) as the X direction, the width direction as the Y direction, and the height direction as the Z direction;

The observation area (2) is provided with a first clamping manipulator (2.1), an observation device (2.2) and a first single-degree-of-freedom linear motion module (2.3); wherein, the first single-degree-of-freedom linear motion module (2.3) Set along the X direction; the first gripping manipulator (2.1) is set on the first single-degree-of-freedom linear motion module (2.3), and the first single-degree-of-freedom linear motion module (2.3) ), the first clamping manipulator (2.1) performs linear motion in the X direction;

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

Wherein, the third single-degree-of-freedom linear motion module (3.15) is arranged along the X direction, and is arranged coaxially with the first single-degree-of-freedom linear motion module (2.3); the third single-degree-of-freedom linear motion The second gripping manipulator (3.1) is arranged on the top of the motion module (3.15), and driven by the third single-degree-of-freedom linear motion module (3.15), the second gripping manipulator (3.1) performs Linear motion in the X direction;

On one side of the third single-degree-of-freedom linear motion module (3.15), the orifice plate operating table (3.6) and the shaking table (3.2) are arranged and installed in sequence;

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

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

The test tube rack (3.3), the homemade pipette tip box (3.7), the waste well (3.8), the reagent bottle (3.9), the peristaltic pump (3.10) and the waste well (3.11) Dispersely arranged in the inner space of the automatic operation area (3).

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

Wherein, the first lifting module is assembled on the first single-degree-of-freedom linear motion module (2.3); the first electric turntable is assembled on the top of the first lifting module, and the first electric turntable is on the first The turntable rotates under the drive of the servo motor; the first electric finger is assembled on the first electric turntable; the first electric finger realizes the gripping function under the drive of the first finger servo motor; Above the rotation path, the observation device (2.2) is set.

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

Wherein, the second lifting module (3.1.3) is assembled on the third single-degree-of-freedom linear motion module (3.15); the second electric turntable (3.1.2) is assembled on the second lifting module (3.1) .3), the second electric turntable (3.1.2) rotates under the drive of the second turntable servo motor (3.1.4); the second electric finger (3.1.1) is assembled on the second Above the electric turntable (3.1.2); the second electric finger (3.1.1) realizes the gripping function under the driving of the second finger servo motor (3.1.5); on the second electric finger (3.1.1) On the rotation path, the orifice plate operating table (3.6) and the shaking table (3.2) are arranged.

Preferably, the orifice plate operating table (3.6) is an orifice plate operating table with the function of clamping the orifice plate, comprising: a limit plate (3.6.3), a clamping plate (3.6.2) and a clamping plate driving motor (3.6.1); the limiting plate (3.6.3) and the clamping plate (3.6.2) are arranged on opposite sides of the operating table, and the clamping plate driving motor (3.6.1) drives the The clamping plate (3.6.2) performs a linear motion, thereby making the clamping plate (3.6.2) approach or move away from the limiting plate (3.6.3).

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

The first Z-direction linear motion module (3.13.2) is fixedly installed on the test tube clamping seat (3.13.1); the test tube clamping turntable (3.13.3) is installed on the first Z-direction Above the linear motion module (3.13.2), the test tube clamping turntable (3.13.3) is driven by the first Z-direction linear motion module (3.13.2) to perform a Z-direction lifting motion; the test tube The clamping turntable driving motor (3.13.4) drives the test tube clamping turntable (3.13.3) to rotate axially;

The test tube gripping electric finger (3.13.5) is assembled on the test tube gripping turntable (3.13.3), and when the test tube gripping turntable (3.13.3) rotates, it drives the test tube gripping electric finger (3.13.5) Rotation; install the centrifuge (3.12) on the rotation path of the electric finger (3.13.5) for gripping the test tube.

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

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

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

The fourth gripping manipulator (3.5.1) and the pipetting unit are both installed on the second Z-direction linear motion module (3.5.5), and the second Z-direction linear motion module (3.5.5) is installed on the second Z-direction linear motion module (3.5.5). 3.5.5), drive the fourth gripping manipulator (3.5.1) and the liquid pipetting unit to move up and down along the Z direction as a whole;

Wherein, the fourth gripping manipulator (3.5.1) is a gripping manipulator having a fourth electric finger and a fourth electric turntable;

The pipetting unit comprises a pipette (3.5.2), a pipette fixing device (3.5.3) and a pipette operating device (3.5.4);

The pipette (3.5.2) is mounted under the pipette operating device (3.5.4) through the pipette fixing device (3.5.3), and the pipette operating device (3.5) .4), the pipette (3.5.2) realizes the operations of replacing the pipette tip and sucking to discharge the reagent.

Preferably, the waste liquid well (3.8) and the waste well (3.11) communicate with the outside world.

The fully automatic operation device for cell passage provided by the utility model has the following advantages:

(1) Set up a variety of manipulators, each manipulator can flexibly adjust its position, height and orientation, thereby realizing the clamping and transfer of the target object, realizing the automatic operation of cell passage, saving manpower and improving work efficiency. (2) The entire operation space maintains a sterile environment, effectively reducing the uncertainty caused by manual operation, ensuring a sterile environment, and reducing the probability of cell culture environment being polluted.

Description of drawings

Fig. 1 is the axonometric perspective view of the removal box door of the cell passaging automatic operating device provided by the utility model;

Fig. 2 is the box axonometric view of the cell passaging automatic operating device provided by the utility model;

Fig. 3 is the overall axonometric perspective view of the fully automatic operating device for cell passaging provided by the utility model;

Fig. 4 is the 3.5 isometric perspective view of the operating manipulator of the fully automatic operating device for cell passaging provided by the utility model;

Fig. 5 is the axonometric perspective view of the self-made pipette tip box of the cell passaging automatic operating device provided by the utility model;

Fig. 6 is the structure diagram of the peristaltic pump of the cell passaging automatic operating device provided by the utility model;

Fig. 7 is the structure diagram of the shaker of the cell passaging automatic operation device provided by the utility model;

Fig. 8 is the structure diagram of the well plate operating table of the cell passaging automatic operating device provided by the utility model;

9 is a structural diagram of the third gripping manipulator of the fully automatic operating device for cell passaging provided by the present invention;

FIG. 10 is a structural diagram of the second gripping manipulator of the fully automatic operating device for cell passaging provided by the present invention.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

The utility model provides a cell passaging automatic operation device, as shown in FIG. 1 , FIG. 2 and FIG. 3 , comprising: an installation base 1 , an observation area 2 located on the left side of the installation base 1 , and an automatic operation device located on the right side of the installation base 1 . Operating area 3.

Therefore, the cell passaging automatic operation device is composed of two parts: observation area 2 and automatic operation area 3. There is a transmission port on the left vertical wall of observation area 2, which can be connected with the cell passaging batch culture and detection device, and then receive the external cell holes. plate. The automatic operation area 3 mainly realizes the operation function of automatically culturing cells.

For the convenience of description, the present invention stipulates that the length direction of the mounting base 1 is the X direction, the width direction is the Y direction, and the height direction is the Z direction.

The following describes the observation area 2 and the automatic operation area 3 in detail:

(1) Observation area 2

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

Among them, the first single-degree-of-freedom linear motion module 2.3 is arranged along the X direction; the first gripping manipulator 2.1 is arranged on the first single-degree-of-freedom linear motion module 2.3, and is driven by the first single-degree-of-freedom linear motion module 2.3 Next, the first gripping manipulator 2.1 performs linear motion in the X direction;

The structure of the first gripping manipulator 2.1 is the same as the structure of the second gripping manipulator shown in FIG. 10 . Specifically, the first gripping manipulator 2.1 has a first electric finger, a first electric turntable and a first lifting module. gripping manipulator;

Wherein, the first lifting module is assembled on the first single-degree-of-freedom linear motion module 2.3; the first electric turntable is assembled on the top of the first lifting module, and the first electric turntable rotates under the drive of the first turntable servo motor; The electric finger is assembled on the first electric turntable; the first electric finger realizes the gripping function under the drive of the first finger servo motor; on the rotation path of the first electric finger, an observation device 2.2 is arranged. Therefore, through the first lifting module, the height adjustment of the first gripping manipulator 2.1 is realized; through the first electric turntable, the orientation adjustment of the first gripping manipulator 2.1 is realized; through the first single-degree-of-freedom linear motion module 2.3, The adjustment of the position of the first gripping manipulator 2.1 along the X direction is realized.

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

(2) Automatic operation area 3

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

The main components of automatic operation area 3 are introduced as follows:

(2.1) The second gripper manipulator 3.1

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

Referring to FIG. 10 , the second gripping manipulator 3.1 is a gripping manipulator having a second electric finger 3.1.1, a second motorized turntable 3.1.2 and a second lifting module 3.1.3;

Among them, the second lifting module 3.1.3 is assembled on the third single-degree-of-freedom linear motion module 3.15; the second electric turntable 3.1.2 is assembled on the top of the second lifting module 3.1.3, and the second electric turntable 3.1.2 is located on the top of the second lifting module 3.1.3. Driven by the second turntable servo motor 3.1.4 to rotate; the second electric finger 3.1.1 is assembled on the second electric turntable 3.1.2; the second electric finger 3.1.1 is driven by the second finger servo motor 3.1.5 Clamping function; on the rotation path of the second electric finger 3.1.1, set the orifice plate operating table 3.6 and the shaking table 3.2.

Therefore, through the second lifting module 3.1.3, the height of the second gripping manipulator 3.1 can be adjusted; through the second electric turntable 3.1.2, the orientation of the second gripping manipulator 3.1 can be adjusted; through the third single degree of freedom The linear motion module 3.15 realizes the adjustment of the position of the second gripping manipulator 3.1 along the X direction.

On the rotation path of the second electric finger 3.1.1, a well plate operating table 3.6 and a shaker 3.2 are arranged, so that the cell well plate clamped by the second gripper manipulator 3.1 can be placed on the well plate operating table 3.6 and the shaking table 3.2. Function.

(2.2) Orifice plate operating table 3.6 and shaking table 3.2

On one side of the third single-degree-of-freedom linear motion module 3.15, an installation orifice operating table 3.6 and a shaking table 3.2 are arranged in sequence.

Referring to Figure 8, it is a structural diagram of the orifice plate operating table; the orifice plate operating table 3.6 is an orifice plate operating table with the function of clamping the orifice plate, including: limit plate 3.6.3, clamping plate 3.6.2 and clamping plate The drive motor 3.6.1; the limit plate 3.6.3 and the clamping plate 3.6.2 are arranged on both sides of the operating table, and the clamping plate drive motor 3.6.1 drives the clamping plate 3.6.2 to perform linear motion, thereby making the clamp The tight plate 3.6.2 is close to or away from the limit plate 3.6.3.

In addition, through the cooperation of the well plate operating table and the second gripping manipulator 3.1, the function of opening the cell well plate can be realized.

Referring to FIG. 7 , which is a structural diagram of a shaker, the shaker mainly realizes the function of shaking the cell well plate placed on the shaker.

In practical application, two orifice plate operating table and shaking table can be set up and installed side by side on the mounting base with screws.

(2.3) Operating the manipulator 3.5

The two-degree-of-freedom linear motion module 3.4 is a linear motion module with degrees of freedom in the X and Y directions. The manipulator 3.5 is assembled on the two-degree-of-freedom linear motion module 3.4, and can be driven by the two-degree-of-freedom linear motion module 3.4. down, exercise in the automatic operation area 3;

Referring to FIG. 4, it is an axonometric perspective view of the operating manipulator 3.5; the operating manipulator 3.5 includes a fourth gripping manipulator 3.5.1, a pipetting unit and a second Z-direction linear motion module 3.5.5;

The top of the second Z-direction linear motion module 3.5.5 is assembled with the two-degree-of-freedom linear motion module 3.4; through the second Z-direction linear motion module 3.5.5, the fourth gripping manipulator 3.5.1 and The height of the pipetting unit is adjusted and controlled.

The fourth gripping manipulator 3.5.1 and the pipetting unit are both installed on the second Z-direction linear motion module 3.5.5, and driven by the second Z-direction linear motion module 3.5.5, the fourth gripping manipulator is driven 3.5.1 and the liquid pipetting unit as a whole move up and down along the Z direction; and because the second Z-direction linear motion module 3.5.5 is assembled on the two-degree-of-freedom linear-motion module 3.4, therefore, through the two-degree-of-freedom linear motion module 3.4 In cooperation with the second Z-direction linear motion module 3.5.5, the function of moving the fourth gripping manipulator 3.5.1 and the pipetting unit to any point in the automatic operation area can be realized.

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

The pipetting unit includes a pipette 3.5.2, a pipette fixing device 3.5.3 and a pipette operating device 3.5.4;

The pipette 3.5.2 is installed under the pipette operating device 3.5.4 through the pipette fixing device 3.5.3, and under the driving of the pipette operating device 3.5.4, the pipette 3.5.2 realizes the gun The operation of head replacement, aspiration to discharge reagents. In terms of specific implementation, the pipette operating device 3.5.4 is equipped with a pressing device, and the pipette 3.5.2 can be replaced and sucked to discharge the reagent through the pressing device.

(2.4) The third gripper manipulator 3.13

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

Referring to FIG. 9, it is a structural diagram of the third gripping manipulator 3.13. The third gripping manipulator 3.13 includes a test tube gripping seat 3.13.1, a first Z-direction linear motion module 3.13.2, a test tube gripping turntable 3.13.3, Test tube gripping turntable drive motor 3.13.4 and test tube gripping electric finger 3.13.5; test tube gripping seat 3.13.1 is installed on the second single-degree-of-freedom linear motion module 3.14, on the second single-degree-of-freedom linear motion module Driven by 3.14, move along the Y direction;

The first Z-direction linear motion module 3.13.2 is fixedly installed on the test tube clamping seat 3.13.1; the test tube clamping turntable 3.13.3 is installed on the first Z-direction linear motion module 3.13.2, and the test tube clamping turntable 3.13 .3 Under the driving of the first Z-direction linear motion module 3.13.2, carry out the Z-direction lifting movement; the test tube clamping turntable drive motor 3.13.4 drives the test tube clamping turntable 3.13.3 to perform axial rotation;

The test tube gripping electric finger 3.13.5 is assembled on the test tube gripping turntable 3.13.3. When the test tube gripping turntable 3.13.3 rotates, it drives the test tube gripping electric finger 3.13.5 to rotate; in the test tube gripping electric finger 3.13.5 On the rotation path, install the centrifuge 3.12.

Through the above structure, it is possible to realize the adjustment and control of the height, orientation and position along the Y-axis of the test tube gripped by the test tube gripping electric finger 3.13.5.

(2.5) Other related equipment

The test tube rack 3.3, the self-made pipette tip box 3.7, the waste liquid well 3.8, the reagent bottle 3.9, the peristaltic pump 3.10 and the waste well 3.11 are scattered in the inner space of the automatic operation area 3.

Among them, referring to FIG. 6 , it is a structural diagram of a peristaltic pump and a reagent bottle. The peristaltic pump 3.10 includes a peristaltic pump body 3.10.1 and a reagent tube 3.10.2; the liquid inlet end of the peristaltic pump body 3.10.1 is connected to the reagent bottle 3.9; the liquid outlet end of the peristaltic pump body 3.10.1 is connected to the reagent tube 3.10.2 , 3.10.1 of the body of the peristaltic pump quantitatively extracts the reagent in the reagent bottle 3.9 into the reagent tube 3.10.2 to avoid waste and contamination of the reagent.

In the present invention, three reagent bottles 3.9 are configured, and the reagents in each reagent bottle 3.9 are different, including at least washing liquid and cell culture liquid. Therefore, the three groups of reagent bottles and the three groups of peristaltic pumps are connected by rubber hoses, and are mounted on the mounting base with screws.

The self-made pipette tip box 3.7 is used to accommodate the pipette tips. Figure 5 shows the structure diagram of the self-made pipette tip box 3.7.

The test tube rack 3.3 is installed on the rear vertical wall of the automatic operation area by screws, and is used for accommodating clean test tubes.

The waste liquid well 3.8 and the waste well 3.11 communicate with the outside world. The sterilization of the operating environment is achieved by continuously blowing sterilized clean air directly above it, thereby ensuring the sterilization of the environment during the entire cell culture process.

The utility model also provides an operation method of a cell passaging automatic operation device, comprising the following steps:

Step 1, the waste well 3.11 and the waste liquid well 3.8 are communicated with the outside world, by continuously blowing sterilized clean air into the interior of the automatic operation area 3 from directly above, thereby ensuring the sterilization of the operating environment inside the automatic operation area 3;

Step 2, when the cells need to be subcultured, driven by the first single-degree-of-freedom linear motion module 2.3, the first gripper manipulator 2.1 moves along the X direction to the left side of the observation area 2, and from the left side of the observation area 2. The transfer port on the side grips the cell well plate, and then, the first gripping manipulator 2.1 moves reversely in the X direction to the front of the observation device 2.2, and then rotates the first gripping manipulator 2.1 to place the gripped cell well plate. In the observation field of observation equipment 2.2, observe the cell well plate through observation equipment 2.2;

Then, the first gripping manipulator 2.1 that grips the cell well plate continues to move to the right side of the observation area 2 along the X direction, so that the gripped cell well plate is located at the transfer gate position of the partition plate between the observation area 2 and the automatic operation area 3 ;

Step 3: Driven by the third single-degree-of-freedom linear motion module 3.15, the second gripping manipulator 3.1 moves along the X direction to a position close to the transfer gate, the second gripping manipulator 3.1 grips the cell well plate, and then the first gripping manipulator 3.1 The gripping manipulator 2.1 loosens the cell well plate to realize the handover of the cell well plate;

The second gripping manipulator 3.1 holding the cell well plate moves reversely in the X direction to the front of the well plate operating table 3.6, and the second gripping manipulator 3.1 is driven by the turntable to rotate, and then the cell well plate is placed on the well plate for operation. The table top of the stage 3.6; then, the second gripping manipulator 3.1 releases the gripping effect on the cell well plate;

Operate the clamping plate driving motor 3.6.1 of the orifice plate operating table 3.6, and the clamping plate driving motor 3.6.1 drives the clamping plate 3.6.2 to move, through the clamping plate 3.6.2 and the limit plate 3.6.3. Work together to hold the lower position of the cell well plate; the second gripping manipulator 3.1 clamps the upper position of the cell well plate, and then moves the second gripping manipulator 3.1 upwards, thereby driving the hole cover of the cell well plate to move upwards , to realize the function of opening the cover of the cell well plate; then, the second gripping manipulator 3.1 that holds the well cover of the cell well plate places the well cover of the cell well plate in the back space of the automatic operation area 3;

Step 4: The second gripping manipulator 3.1 holds the opened cell well plate, moves to the front of the shaker 3.2 driven by the third single-degree-of-freedom linear motion module 3.15, and places the cell well plate on the shaker. Above the bed 3.2;

Step 5: Driven by the two-degree-of-freedom linear motion module 3.4, the manipulator 3.5 is operated to move above the self-made pipette tip box 3.7, and the pipette 3.5.2 is assembled cleanly by operating and controlling the pipetting unit. of pipette tips;

Then operate the peristaltic pump body 3.10.1, and the peristaltic pump body 3.10.1 quantitatively pumps the lotion in a reagent bottle 3.9 into the reagent tube 3.10.2;

Adjust the position of the operating manipulator 3.5 to move it to the top of the reagent tube 3.10.2, and control the pipetting unit to make the pipette tip suck the lotion from the reagent tube 3.10.2;

Step 6: Adjust the position of the operating manipulator 3.5 to move it above the shaker 3.2, and then control the pipetting unit so that the lotion in the pipette tip is injected into the cell well above the shaker 3.2. inside the board;

Step 7, the original cells in the cell well plate and the newly injected washing solution are shaken under the action of shaker 3.2;

Step 8, adjust the position of the operating manipulator 3.5 to move it to the front of the test tube rack 3.3; control the operation of the fourth gripping manipulator 3.5.1 of the operating manipulator 3.5, so that the fourth gripping manipulator 3.5.1 grips a clean test tube;

Then, continue to adjust the position of the operating manipulator 3.5 to move it to the front of the third gripping manipulator 3.13; then control the third gripping manipulator 3.13 to grip the fourth gripping manipulator 3.5.1 Clamp the test tube, and make the fourth clamping manipulator 3.5.1 release the clamped test tube, so as to realize the handover action of the test tube;

Step 9. After the shaking and shaking time reaches the set time, operate the manipulator 3.5 to aspirate the mixture of cells and washing solution after shaking and shaking from the cell well plate, and inject the sucked mixture into the test tube held by the third gripping manipulator 3.13. ;

Step 10: Control the operation of the third gripping manipulator 3.13, so that the test tube that has been filled with the mixture is placed in the centrifuge 3.12, and the centrifuge 3.12 is started to perform the centrifugation operation; when the centrifugation time reaches the set time, it is turned off. Centrifuge 3.12; the mixture in the test tube is left to stand and then stratified, the upper layer is the washing liquid, and the lower layer is the cells;

Step 11, control the pipetting unit of the operating manipulator 3.5, so that the pipette tip sucks the upper washing liquid from the test tube and injects it into the waste liquid well 3.8; then, the pipette tip sucks the cells from the test tube;

At the same time, the second gripping manipulator 3.1 grips a new empty cell well plate from the transfer port on the left side of the observation area 2 and places it on the shaker 3.2;

The cells sucked by the pipette tip of the manipulator 3.5 are injected into the new empty cell well plate above the shaker 3.2;

Operate the pipette tip of the manipulator 3.5 to suck the cell culture fluid from another reagent tube 3.10.2, and inject the cell culture fluid into the cell well plate above the shaker 3.2, so that the cells and the cell culture fluid are shaken and cultured. ;

When the cell culture reaches the set time, the second gripper manipulator 3.1 grips the cultured cell well plate from the shaker 3.2 and transfers it to the first gripper manipulator 2.1; the first gripper manipulator 2.1 will grip the cultured cell plate The resulting cell well plate is sent to the observation area of the observation device 2.2 for observation, and is sent to the transmission port on the left side of the observation area 2 after the observation.

It should be emphasized that the operation process of the automatic cell passaging device described above is only an example of use in practical applications. In practical applications, according to the specific requirements for cell culture, the cell passaging provided by the present invention can be flexibly adopted. The fully automatic operating device can perform cell culture operations with different requirements, which is not limited by the present invention.

The automatic cell passaging device and method provided by the utility model have the following advantages:

(1) Set up a variety of manipulators, each manipulator can flexibly adjust its position, height and orientation, thereby realizing the clamping and transfer of the target object, realizing the automatic operation of cell passage, saving manpower and improving work efficiency. (2) The entire operation space maintains a sterile environment, effectively reducing the uncertainty caused by manual operation, ensuring a sterile environment, and reducing the probability of cell culture environment being polluted.

The above is only the preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made. These improvements and Retouching should also be regarded as the protection scope of the present invention.

Claims (8)

1. A fully automatic operating device for cell passage, characterized in that, comprising: a mounting base (1), an observation area (2) located on the left side of the mounting base (1) and a right side of the mounting base (1) The automatic operation area (3); the length direction of the mounting base (1) is the X direction, the width direction is the Y direction, and the height direction is the Z direction; The observation area (2) is provided with a first clamping manipulator (2.1), an observation device (2.2) and a first single-degree-of-freedom linear motion module (2.3); wherein, the first single-degree-of-freedom linear motion module (2.3) Set along the X direction; the first gripping manipulator (2.1) is set on the first single-degree-of-freedom linear motion module (2.3), and the first single-degree-of-freedom linear motion module (2.3) ), the first gripping manipulator (2.1) performs linear motion in the X direction; The automatic operation area (3) is provided with a second gripping manipulator (3.1), a shaking table (3.2), a test tube rack (3.3), a two-degree-of-freedom linear motion module (3.4), an operating manipulator (3.5), an orifice plate Operating table (3.6), self-made pipette tip box (3.7), waste liquid well (3.8), reagent bottle (3.9), peristaltic pump (3.10), waste well (3.11), centrifuge (3.12), third The gripping manipulator (3.13), the second single-degree-of-freedom linear motion module (3.14) and the third single-degree-of-freedom linear motion module (3.15); Wherein, the third single-degree-of-freedom linear motion module (3.15) is arranged along the X direction, and is arranged coaxially with the first single-degree-of-freedom linear motion module (2.3); the third single-degree-of-freedom linear motion The second gripping manipulator (3.1) is arranged on the top of the motion module (3.15), and driven by the third single-degree-of-freedom linear motion module (3.15), the second gripping manipulator (3.1) performs Linear motion in the X direction; On one side of the third single-degree-of-freedom linear motion module (3.15), the orifice plate operating table (3.6) and the shaking table (3.2) are arranged and installed in sequence; The two-degree-of-freedom linear motion module (3.4) is a linear-motion module with degrees of freedom in the X-direction and the Y-direction, and the operating manipulator (3.5) is assembled on the two-degree-of-freedom linear motion module (3.4), and then It can move in the automatic operation area (3) under the driving of the two-degree-of-freedom linear motion module (3.4); The second single-degree-of-freedom linear motion module (3.14) is arranged along the Y direction; the third gripping manipulator (3.13) is mounted on the second single-degree-of-freedom linear motion module (3.14); The centrifuge (3.12) is arranged on the movement path of the third gripping manipulator (3.13); The test tube rack (3.3), the homemade pipette tip box (3.7), the waste well (3.8), the reagent bottle (3.9), the peristaltic pump (3.10) and the waste well (3.11) Dispersely arranged in the inner space of the automatic operation area (3). 2 . The fully automatic operation device for cell passage according to claim 1 , wherein the first gripping manipulator (2.1) is a gripper having a first electric finger, a first electric turntable and a first lifting module. 3 . take the manipulator; Wherein, the first lifting module is assembled on the first single-degree-of-freedom linear motion module (2.3); the first electric turntable is assembled on the top of the first lifting module, and the first electric turntable is on the first The turntable rotates under the drive of the servo motor; the first electric finger is assembled on the first electric turntable; the first electric finger realizes the gripping function under the drive of the first finger servo motor; Above the rotation path, the observation device (2.2) is set. 3. The fully automatic operation device for cell passage according to claim 1, wherein the second gripping manipulator (3.1) is provided with a second electric finger (3.1.1), a second electric turntable (3.1) .2) and the gripping manipulator of the second lifting module (3.1.3); Wherein, the second lifting module (3.1.3) is assembled on the third single-degree-of-freedom linear motion module (3.15); the second electric turntable (3.1.2) is assembled on the second lifting module (3.1) .3), the second electric turntable (3.1.2) rotates under the drive of the second turntable servo motor (3.1.4); the second electric finger (3.1.1) is assembled on the second Above the electric turntable (3.1.2); the second electric finger (3.1.1) realizes the gripping function under the driving of the second finger servo motor (3.1.5); on the second electric finger (3.1.1) On the rotation path, the orifice plate operating table (3.6) and the shaking table (3.2) are arranged. 4. The fully automatic operation device for cell passage according to claim 1, wherein the orifice plate operating table (3.6) is an orifice plate operating table with the function of clamping the orifice plate, comprising: a limit plate (3.6). 3.6.3), the clamping plate (3.6.2) and the clamping plate driving motor (3.6.1); the limit plate (3.6.3) and the clamping plate (3.6.2) are arranged relative to the operation On both sides of the table top, the clamping plate driving motor (3.6.1) drives the clamping plate (3.6.2) to perform linear motion, so as to make the clamping plate (3.6.2) close to or away from the limit. Bit Board (3.6.3). 5. The fully automatic operation device for cell passage according to claim 1, wherein the third gripping manipulator (3.13) comprises a test tube gripping seat (3.13.1), a first Z-direction linear motion mold Group (3.13.2), test tube gripping turntable (3.13.3), test tube gripping turntable drive motor (3.13.4) and test tube gripping electric fingers (3.13.5); the test tube gripping seat (3.13.1) ) is installed on the top of the second single-degree-of-freedom linear motion module (3.14), and moves along the Y direction under the driving of the second single-degree-of-freedom linear motion module (3.14); The first Z-direction linear motion module (3.13.2) is fixedly installed on the test tube clamping seat (3.13.1); the test tube clamping turntable (3.13.3) is installed on the first Z-direction Above the linear motion module (3.13.2), the test tube clamping turntable (3.13.3) is driven by the first Z-direction linear motion module (3.13.2) to perform a Z-direction lifting motion; the test tube The clamping turntable driving motor (3.13.4) drives the test tube clamping turntable (3.13.3) to rotate axially; The test tube gripping electric finger (3.13.5) is assembled on the test tube gripping turntable (3.13.3), and when the test tube gripping turntable (3.13.3) rotates, it drives the test tube gripping electric finger (3.13.5) Rotation; install the centrifuge (3.12) on the rotation path of the electric finger (3.13.5) for gripping the test tube. 6 . The fully automatic operation device for cell passage according to claim 1 , wherein the peristaltic pump (3.10) comprises a peristaltic pump body (3.10.1) and a reagent tube (3.10.2); the peristaltic pump (3.10.2) The liquid inlet end of the pump body (3.10.1) is connected with the reagent bottle (3.9); the liquid outlet end of the peristaltic pump body (3.10.1) is connected with the reagent tube (3.10.2), and the peristaltic pump body (3.10.2) is connected with the reagent tube (3.10.2). The pump body (3.10.1) quantitatively extracts the reagent in the reagent bottle (3.9) into the reagent tube (3.10.2). 7 . The fully automatic operating device for cell passage according to claim 1 , wherein the operating manipulator (3.5) comprises a fourth gripping manipulator (3.5.1), a pipetting unit and a second Z-direction straight line. 8 . Motion module (3.5.5); The top of the second Z-direction linear motion module (3.5.5) is assembled with the two-degree-of-freedom linear motion module (3.4); The fourth gripping manipulator (3.5.1) and the pipetting unit are both installed on the second Z-direction linear motion module (3.5.5), and the second Z-direction linear motion module (3.5.5) is installed on the second Z-direction linear motion module (3.5.5). 3.5.5), drive the fourth gripping manipulator (3.5.1) and the liquid pipetting unit to move up and down along the Z direction as a whole; Wherein, the fourth gripping manipulator (3.5.1) is a gripping manipulator having a fourth electric finger and a fourth electric turntable; The pipetting unit comprises a pipette (3.5.2), a pipette fixing device (3.5.3) and a pipette operating device (3.5.4); The pipette (3.5.2) is mounted under the pipette operating device (3.5.4) through the pipette fixing device (3.5.3), and the pipette operating device (3.5) .4), the pipette (3.5.2) realizes the operations of replacing the pipette tip and sucking to discharge the reagent. 8. The fully automatic operation device for cell passage according to claim 1, characterized in that, the waste liquid well (3.8) and the waste well (3.11) communicate with the outside world.

Images