Integrated cell treatment super clean bench

Abstract

The invention relates to the technical field of biological engineering, and particularly discloses an integrated cell treatment super-clean bench, which comprises a super-clean bench body with a fan system, and a pipetting mechanism, an uncovering mechanism, a centrifugal mechanism and a pipe cap opener which are arranged in the super-clean bench body, the super clean bench further comprises a first feeding and discharging mechanism and a second feeding and discharging mechanism, the first feeding and discharging mechanism is used for feeding / discharging culture dishes into / out of the super clean bench body through the feeding and discharging channel, and the second feeding and discharging mechanism is used for feeding / discharging test tubes into / out of the super clean bench body through the feeding and discharging channel. According to the scheme, the problem that a culture dish storage area and a test tube storage area are arranged in the super clean bench and occupy a large space in integrated equipment is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of bioengineering, in particular to an integrated cell processing clean bench. Background Art

[0002] In biological research and clinical testing, cell culture and related operations (such as passaging, packaging, and plating) are core components of the experimental workflow. These operations typically require manual execution of a series of highly repetitive and meticulous steps: pipetting, centrifugation, opening and closing culture dishes and test tube caps, gradient dilution, and mixing of cell suspensions. Traditional manual operations are not only time-consuming and labor-intensive, but can also easily lead to sample contamination, decreased cell viability, and even experimental failure due to fatigue or operational errors. According to statistics, a skilled laboratory technician spends over 60% of their daily time performing these basic operations, significantly compromising time and resources for data analysis and innovative research. With the rapidly growing demand for high-throughput, standardized experiments in the biopharmaceutical industry, the development of automated equipment to replace manual operations has become a key development direction for the industry.

[0003] In recent years, a number of integrated biological laboratory workstations have emerged on the market. Their design goal is to automate the entire "sample-in, result-out" process through robotic arms, sensors, and programmable control modules. These devices typically integrate core functions such as pipetting, centrifuges, decappers, and storage areas for culture dishes, flasks, and tubes / samples within a closed, ultra-clean environment, aiming to cover the entire process chain from cell processing to testing and analysis. However, the structural design of existing automated equipment still faces significant challenges. First, to achieve multifunctional integration, the equipment must simultaneously accommodate multiple independent modules. Some modules are bulky and only partially utilized during operation. For example, a large centrifuge module, similar in structure to a standalone centrifuge, can simultaneously centrifuge multiple tubes. Alternatively, dedicated storage areas for culture dishes, reagent tubes, and consumables also take up significant space. This "big and comprehensive" design concept results in a bulky overall device, significantly increasing the cost of integrated cleanroom construction and air purification systems. It also limits its deployment in space-constrained laboratories, such as university research facilities.

[0004] Furthermore, large-scale integrated equipment is complex and difficult to maintain. Some consumables, such as culture dishes, well plates, test tubes, and pipette tips, often sit idle due to a low number of experiments. These issues combine to prevent existing automated workstations from theoretically replacing manual labor due to their high purchase costs (often exceeding one million yuan) and limited adaptability, severely restricting their adoption in small and medium-sized research institutions and specialized experimental projects. Summary of the Invention

[0005] The present invention aims to provide an integrated cell processing clean bench to solve the problem that the clean bench is provided with a culture dish storage area and a test tube storage area, which occupy a large amount of space inside the integrated equipment.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: An integrated cell processing clean bench includes a clean bench body with a fan system, a pipetting mechanism, a cover opening mechanism, a centrifugal mechanism, and a tube cap opener arranged in the clean bench body, an inlet and outlet channel is provided on the clean bench body, and also includes a first inlet and outlet mechanism and a second inlet and outlet mechanism. The first inlet and outlet mechanism is used to deliver culture dishes into / out of the clean bench body through the inlet and outlet channel, and the second inlet and outlet mechanism is used to deliver test tubes into / out of the clean bench body through the inlet and outlet channel.

[0007] The principle and advantage of this solution are: when this solution is adopted, the clean bench body is also equipped with a pipetting mechanism, a lid opening mechanism, a centrifugal mechanism, and a tube cap opener like many existing integrated equipment. However, the culture dish of this solution does not directly occupy a specific area in the clean bench, but is only sent into the culture dish / test tube from the inlet and outlet channel with the help of the first inlet and outlet mechanism and the second inlet and outlet mechanism when needed. The used culture dish or test tube can also be sent out through the inlet and outlet channel after use in the clean bench, thereby ensuring that culture dishes / test tubes that will not be used in cell processing experiments are not placed in the clean bench for a long time, thereby greatly reducing the space occupied by culture dishes and test tubes in the clean bench. On the one hand, the area of the clean bench body can be reduced, thereby increasing the applicable scenarios of the clean bench of this solution. On the other hand, after the test tube storage area and culture dish storage area no longer exist in the clean bench, the structure inside the clean bench is simpler, which is convenient for disinfection and maintenance inside the clean bench.

[0008] In addition, because the clean bench is equipped with a fan system that contains a filter, the clean bench is always in a positive pressure state during the cell processing process, thus ensuring that even if there are inlet and outlet channels, it is difficult for external bacteria to enter the clean bench.

[0009] Preferably, as an improvement, the first feed and discharge mechanism includes a feed and discharge turntable and a receiving conveyor belt, which are located in the clean bench body, and the feed and discharge turntable includes a fixedly mounted tray and a rotatable turntable, the tray is provided with a through hole for avoiding the air flow of the receiving conveyor belt, the turntable is located above the tray, and at least two air-avoiding holes are provided on the turntable, which can cooperate with the culture dish or the orifice plate, and after the turntable rotates, the culture dish / orifice plate on the tray is transferred to the receiving conveyor belt, and the transfer mechanism provided on the outside of the clean bench body can send the culture dish / orifice plate from the feed and discharge channel to the air-avoiding holes and the tray of the feed and discharge turntable. This solution not only realizes the delivery of culture dishes / well plates into the clean bench through the first feed-in and feed-out mechanism, but also realizes the delivery of culture dishes / well plates entering the clean bench through reverse control of the first feed-in and feed-out mechanism. This is convenient for cell operations. After the first batch of operations is completed, the second batch, the third batch...the Nth batch are sequentially delivered into the clean bench for operation, ensuring that the cell processing operation is not restricted by the culture dishes / well plates stored in the clean bench, and avoiding the problem of further increasing the internal space of the clean bench in order to reserve more culture dishes in the clean bench to meet the needs of multi-batch cell operations / multi-type cell operations.

[0010] Preferably, as an improvement, the receiving conveyor belt includes synchronous, parallel, and equal-height conveyor belts, there is a spacing between the two conveyor belts, and a tilting mechanism is provided between the two conveyor belts. The tilting mechanism includes a pusher and a push rod and a baffle fixed at the output end of the pusher. The push rod is used to push the culture dish. The spacing between the push rod and the baffle is greater than the radius of the culture dish and smaller than the diameter of the culture dish. The baffle is used to tilt the culture dish against the baffle when the push rod eccentrically pushes the culture dish, so as to facilitate the pipette to absorb the liquid in the culture dish.

[0011] Preferably, as an improvement, the second feeding and discharging mechanism includes a rotatable rotating disc and a fixedly installed enclosing ring. Both the rotating disc and the enclosing ring are located in the clean bench body. The enclosing ring is a circular ring structure with a notch. A plurality of placement holes are provided in the circumference of the rotating disc. The projection of the placement holes onto the horizontal plane is U-shaped. The U-shaped opening of the placement holes faces outward and faces the inner ring side of the enclosing ring. The placement holes are used to place test tubes. The feeding and discharging structure provided on the outside of the clean bench body is used to send the test tubes into / out of the placement holes corresponding to the notch through the feeding and discharging channel. The tube cap opener can open or close the test tubes on the rotating disc.

[0012] Beneficial effect: Through the design of the rotating disc, the enclosing ring and the material inlet and outlet structure, the test tube can be sent into and out of the clean bench as early as the rotating disc rotates one circle. The whole structure is simple and convenient.

[0013] Preferably, as an improvement, the feed and discharge structure includes a hanging feed structure and a hanging discharge structure, and the hanging feed structure and the hanging discharge structure both include a left support and a right support, and the space between the left support and the right support is used for the test tube body to pass through, and the test tube cap is used to be suspended on the left support and the right support at the same time, and the hanging feed structure and the hanging discharge structure are used to respectively align with the U-shaped opening side of the placement hole at the notch position, and the left support and the right support of the hanging feed structure are inclined downward toward the placement hole, and the left support and the right support of the hanging discharge structure are inclined upward toward the placement hole. This solution places all the required test tubes on the hanging feeding structure outside the clean bench. With the rotation of the rotating disc and the hanging feeding structure with an inclined downward support, the test tubes will continuously enter the placement holes under their own weight and be sent to the uncapping station of the tube cap opener under the drive of the rotating disc, completing the use of the test tubes. The used test tubes will be aligned with the hanging discharging structure as the rotating disc continues to rotate. The test tubes will automatically slide out of the clean bench along the downward inclined left and right supports. The entire feeding and discharging structure does not require a power source and can automatically realize feeding and discharging by using the test tubes' own weight. The structure is simple and easy to implement.

[0014] Preferably, as an improvement, the pipetting mechanism includes a space mover and a pipetting assembly installed at the output end of the space mover, the space mover is used to drive the pipetting assembly to move in space, the pipetting assembly includes a presser, a rotating seat and multiple pipette guns, the rotating seat and the presser are both installed at the output end of the space mover, the multiple pipette guns are distributed circumferentially on the rotating seat, the rotating seat is used to rotate the pipette gun to the working position, the presser is used to press the pressing head of the pipette gun located in the working position to absorb or discharge liquid, and the presser is used to press the push head rod after aligning the push head rod of the pipette gun to replace the gun head.

[0015] Beneficial effects: When adopting this scheme, when cell passaging is required, the liquid raw materials required for cell passaging, such as PBS, digestion solution, stop solution, and complete culture medium, are first packed in test tubes with tube caps, and new test tubes required for centrifugation are prepared. These test tubes are placed on the material standby mechanism. Each time the pipetting mechanism needs to take the corresponding liquid, the culture dish is opened by using the cover opener, and the caps of the test tubes are opened by using the material standby mechanism, thereby facilitating the pipette gun located at the working position of the pipetting mechanism to perform pumping and drainage actions, such as aspirating the liquid in the culture dish, aspirating the liquid in the test tube, discharging the aspirated liquid into a waste container, and adding the aspirated liquid to the culture dish / new test tube, etc.; when the pipetting mechanism is in action, since multiple pipette guns can be installed on the rotating seat of the pipetting mechanism, the selection of these pipette guns can be selected with different ranges according to the passaging requirements, ensuring that passaging operations with different passaging numbers (such as 1 to 3, 1 to 5) can be met, thereby making the passaging application range wide.

[0016] Moreover, in this solution, although there are multiple pipettes in the pipette assembly, each pipette needs to rotate the rotating seat to the working position before the pipetting operation can be performed, that is, multiple pipettes share a presser, thereby simplifying the structure of the pipette assembly and also simplifying the difficulty of operating the pipette assembly.

[0017] In addition, the presser on the pipette assembly can not only press the pressing head of the pipette, thereby facilitating the extraction of the liquid by pressing, but also, with the cooperation of the rotating seat, after driving the pipette to rotate the angle, let the presser align with the push rod for replacing the pipette tip and press the push rod to realize automatic replacement of the pipette tip, meeting the need to replace a new pipette tip each time pipetting during cell passaging. When the pipette needs to use a new tip, it is only necessary to first align the used tip with the waste container, and then press the push rod so that the used tip is pushed out and falls into the waste container under the push of the push rod. Then the pipette mechanism drives the pipette to align with the required tip on the tip group and insert it downward onto the new tip, thus completing the assembly of the new tip. This solution makes the entire cell passaging device highly automated and has a wide range of applications, and the pipetting mechanism has a simple structure and low control difficulty.

[0018] Preferably, as an improvement, the pipetting mechanism also includes a waste container located below the pipette and a gun tip group containing multiple gun tips of different specifications. The pipette can be inserted into the gun tip of the gun tip group to assemble a new gun tip, and the gun tip or waste liquid pushed out of the pipette can be received by the waste container.

[0019] Preferably, as an improvement, the presser includes a reciprocating pressure rod, a rotator and a pressing block, the reciprocating pressure rod is used to drive the pressing block away from or close to the pressing head of the pipette, the pressing block and the pressing head can fit together in a concave and convex manner, and the rotator is used to drive the pressing block to rotate, so as to act on the pressing block through the rotator, and then the pressure amount of the pipette is adjusted by screwing the pressing head with the pressing block.

[0020] Preferably, as an improvement, a plurality of suction volume data acquisition modules are provided on the rotating seat, and each suction volume data acquisition module is used to acquire the range of a corresponding pipette.

[0021] Beneficial effects: This solution facilitates the automatic adjustment of the range of different pipetting processes in different biological processing experiments through the setting of the aspiration volume data acquisition module. For example, the range of a pipette is 20-200ul. When 100ul needs to be taken, the aspiration volume of the pipette is adjusted through the rotator and the pressing block. The adjusted aspiration volume value can be directly displayed on the display of the pipette. The displayed value is collected by the aspiration volume data acquisition module. When the aspiration volume value is displayed as 100ul, the rotator is controlled by the control system to stop rotating the pressing block, thereby ensuring automatic adjustment of the aspiration volume under different usage requirements, further improving the degree of automation.

[0022] Preferably, as an improvement, the centrifuge mechanism includes a rotatable centrifuge frame, which is provided with a counterweight and a placement hole symmetrical about the centrifuge frame's rotation axis. This solution makes the centrifuge mechanism very simple in structure and very small in size, so the space occupied by the clean bench is also very small. In addition, the setting of the counterweight ensures that even if there is only one test tube being centrifuged, the centrifuge frame can rotate stably during centrifugation, thereby ensuring the centrifugal effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the three-dimensional structure of an embodiment of the present invention.

[0024] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the Zhongjiang clean bench after the top and surrounding areas are disassembled (to show that there are two types of air-avoidance holes on the turntable, one for placing culture dishes and the other for placing orifice plates, the orifice plates are reflected in the figure. In actual use, the turntable can only transfer culture dishes or orifice plates in one rotation).

[0025] Figure 3 for Figure 2 Schematic diagram of the three-dimensional structure after rotation angle.

[0026] Figure 4 Schematic diagram of the three-dimensional structure of the pipetting mechanism in an embodiment of the present invention.

[0027] Figure 5 for Figure 4 Schematic diagram of the three-dimensional structure of the pipette assembly when the reciprocating pressure rod moves downward to the concave-convex fit of the pressing block and the pressing head of the pipette (the spatial mover is not shown in the figure, only the pipette assembly is shown, and the pressing block and the pressing head of the pipette are matched concavely in the figure).

[0028] Figure 6 for Figure 5 Schematic diagram of the three-dimensional structure after rotation (the connecting rod and end plate are removed to facilitate the display of the hollow cavity of the rotating structure of the rotating seat).

[0029] Figure 7 for Figure 5 main view.

[0030] Figure 8 for Figure 6 Projected view toward the bottom end face of the rotating seat.

[0031] Figure 9 This is a schematic diagram of the three-dimensional structure when the push rod of the pipette is facing the pressing block of the presser after the rotating base rotates a certain angle in an embodiment of the present invention.

[0032] Figure 10 for Figure 5 A three-dimensional schematic diagram of the pipetting component after rotation at an angle, a schematic diagram of the explosion state of the connecting rod and the end plate relative to the rotating seat, and a three-dimensional combined schematic diagram of the end plate after relative rotation at an angle (the figure shows a schematic diagram of the reciprocating pressure rod constructed by the pressing drive source to rotate the gear driven by the motor, and then the reciprocating movement of the rack driven by the gear, showing that the end plate at the end of the connecting rod blocks the end of the hollow cavity, the installation position of the vision module, and the circumferential uniform distribution of the rolling elements and rollers).

[0033] Figure 11 for Figure 10 Section II in the figure.

[0034] Figure 12 for Figure 2 Schematic diagram of the three-dimensional structure after disassembling the pipetting mechanism.

[0035] Figure 13 It is a schematic diagram of the three-dimensional structure of the 12-gold display opening mechanism and the receiving conveyor belt.

[0036] Figure 14 for Figure 13 A schematic diagram of the three-dimensional structure of the first feeding and discharging mechanism is shown in FIG.

[0037] Figure 15 for Figure 14 Top view of .

[0038] Figure 16 Schematic diagram of the three-dimensional structure of the tilting mechanism according to an embodiment of the present invention.

[0039] Figure 17 This is a front view of the process in which the tilting mechanism pushes the culture dish to an inclined position (in order to conveniently show the action process of the tilting mechanism, only the second conveying section is shown which does not block the front view of the tilting mechanism).

[0040] Figure 18 for Figure 2 Only the three-dimensional structure diagram between the second feeding and discharging mechanism, centrifugal mechanism, tube cap opener, and feeding and discharging turntable is shown ( Figure 18 The culture dishes and well plates were disassembled).

[0041] Figure 19for Figure 18 Schematic diagram of the three-dimensional structure after rotation angle DETAILED DESCRIPTION The following is further described in detail through specific implementation methods: The reference numerals in the drawings of the specification include: pipetting mechanism 1, space mover 11, pipetting assembly 12, mounting base 121, Presser 122, pressing drive source 1221, reciprocating pressure rod 1222, rotator 1223, pressing block 1224, rotating seat 123, fixed structure part 1230, hollow cavity 1231, pusher 124, pipette 125, pressing head 1251, pushing head rod 1252, suction volume data acquisition module 126, connecting rod 127, end plate 128, visual module 129, rolling body 1281, roller 1282, gun head group 13, waste container 14, first feeding and discharging mechanism 2, mark recognition module 21, feeding and discharging turntable 22, tray 221, air-avoiding slot 2211, observation hole 2212, turntable Table 222, air avoidance hole 2221, receiving conveyor belt 23, cover opening mechanism 3, multi-axis motion actuator 31, suction cup 32, elastic rod 33, tilting mechanism 4, pusher 41, push rod 42, push rod body 421, elastic member 422, baffle 43, second feed and discharge mechanism 5, rotating assembly 51, rotating disc 511, enclosing ring 512, placement hole 510, tube clamp 52, hanging feed structure 53, hanging discharge structure 54, pushing block 55, tube cap opener 7, centrifugal mechanism 6, placement hole 61, counterweight 62, culture dish 100, orifice plate 101, clean bench body 1000, feed and discharge channel 1001.

[0042] The embodiment is basically as shown in the attached Figures 1 to 19 shown.

[0043] Combine Figures 1 to 3 An integrated cell processing clean bench includes a pipetting mechanism 1, a cover opening mechanism 3, a centrifugal mechanism 6, and a tube cap opener 7 arranged in the clean bench body 1000. The clean bench body 1000 is equipped with a fan system, which includes a filter. The fan system is used to provide air with a set cleanliness level into the clean bench body 1000, so that the clean bench body 1000 is in a positive pressure state when the clean bench is performing cell operations. The clean bench body 1000 is also equipped with an ultraviolet disinfection lamp and a lighting lamp; an inlet and outlet channel 1001 is opened on the clean bench.

[0044] The pipetting mechanism 1 is provided with a pipette gun 125 for performing pipetting operations during cell passage.

[0045] The cover opening mechanism 3 is used to open or close the cover of the culture dish 100 in the cell processing operation area.

[0046] The centrifugal mechanism 6 is used to perform centrifugal operation on the cell fluid in the test tube.

[0047] The tube cap opener 7 is used to open / close the tube cap of the test tube.

[0048] The first inlet and outlet mechanism 2 and the second inlet and outlet mechanism 5 are used to deliver culture dishes 100 and well plates 101 into and out of the clean bench body 1000 through corresponding inlet and outlet channels 1001. The second inlet and outlet mechanism 5 is used to deliver test tubes into and out of the clean bench body 1000 through corresponding inlet and outlet channels 1001.

[0049] The specific structure is as follows: 1. Pipetting mechanism 1 Combine Figures 4 to 11 The pipetting mechanism 1 includes a spatial mover 11 and a pipetting assembly 12 installed at the output end of the spatial mover 11. The spatial mover 11 is used to drive the pipetting assembly 12 to move in space. The spatial mover 11 of this embodiment can be a multi-degree-of-freedom robot or a truss manipulator that can move in the X-axis, Y-axis, and Z-axis, a three-dimensional linear module, or a spatial module that moves in the X-axis and Y-axis as shown in the accompanying drawings of this embodiment. The spatial mover 11 drives the pipetting assembly 12 to move in space (such as spatial movement of the XYZ axis, such as horizontal movement of the XY axis). The spatial mover 11 only needs to meet the liquid collection and discharge requirements of the pipetting mechanism 1.

[0050] The pipetting assembly 12 includes a mounting seat 121, a presser 122, a rotating seat 123, multiple pushers 124 and multiple pipette guns 125. The mounting seat 121 is fixed to the output end of the space mover 11. The rotating seat 123 and the presser 122 are both installed on the mounting seat 121. Multiple pushers 124 are circumferentially distributed around the rotating structure of the rotating seat 123. The pressing direction of the presser 122 and the pushing direction of the pusher 124 are both parallel to the Z axis. A pipette gun 125 is installed at the output end of each pusher 124. The rotating seat 123 is used to rotate the pipette gun 125 to the working position. The pusher 124 is used to control the pipette gun 125 to approach or move away from the object to be sucked when the rotating seat 123 rotates the pipette gun 125 to the working position. The presser 122 is used to press the pipette gun 125 located in the working position to absorb or discharge liquid.

[0051] The pusher 124 is a linear module, and the output slider of the linear module can move back and forth along the Z axis. A connecting seat is fixedly installed on the output slider. The connecting seat is engaged with the pipette gun 125 and the connecting seat is provided with a strap to facilitate the disassembly and assembly of the pipette gun 125 on the connecting seat.

[0052] In addition, the multiple pipettes 125 provided with the pipette assembly 12 can be conveniently installed with a variety of pipettes 125 of different ranges to meet different usage requirements, such as the need to suck out the old culture medium in the culture dish 100 during cell processing, the need to add PBS rinse solution to the culture dish 100, the need to add stop solution, the need to add new complete culture medium, etc.

[0053] In addition, because the pipette 125 has a pushing rod 1252 for replacing the pipette head 125 in addition to the pressing head 1251 for aspirating liquid, every time the pipette 125 needs to replace the pipette head 125, it is only necessary to control the rotating seat 123 to rotate so that the pressing head 1251 is aligned with the pushing rod 1252, and the used pipette head 125 can be automatically pushed out, thereby improving the degree of automation of the pipette mechanism 1.

[0054] The presser 122 includes a pressing drive source 1221, a reciprocating rod 1222, a rotator 1223, and a pressing block 1224. The pressing drive source 1221 is used to drive the reciprocating rod 1222 to move along the Z axis. The rotator 1223 is fixed to the downward output end of the reciprocating rod 1222. The pressing block 1224 is fixedly mounted at the output end of the rotator 1223. The rotator 1223 is used to drive the pressing block 1224 to rotate about its axis. The reciprocating rod 1222 is used to drive the pressing block 1224 away from or toward the suction control pressing head 1251 of the pipette 125. The pressing block 1224 and the pressing head 1251 of the pipette 125 can be matched in a concave-convex manner. After the pressing block 1224 and the pressing head 1251 of the pipette 125 are matched in concave and convex manner, the rotator 1223 is started and the pressing block 1224 rotates. The pressing block 1224 realizes the screwing of the pressing head 1251 through the concave and convex matching. After the pressing head 1251 of the pipette 125 is screwed, the suction volume of the pipette 125 is adjusted, so as to facilitate the automatic adjustment of the suction volume of the pipette 125 through the rotator 1223 according to different liquid filling volume requirements, thereby improving the degree of automation. Because the pipette 125 is installed on the rotating structure of the rotating seat 123 along with the pusher 124, after the rotating seat 123 rotates to the point where the pressing block 1224 is aligned with the pushing rod 1252 for replacing the pipette tip of the pipette 125, the pressing of the pushing rod 1252 by the pressing block 1224 can push out the pipette 125 head on the pipette 125, thereby facilitating the automatic replacement of the pipette 125 head on the pipette 125.

[0055] The rotating structure of the rotating seat 123 is also provided with a suction volume data acquisition module 126 for capturing images of the suction volume of the pipette gun 125. The suction volume data acquisition module 126 uses a camera. The number of cameras in the suction volume data acquisition module 126 is the same as the number of the pipette guns 125, so that each pipette gun 125 has a corresponding camera to monitor the suction volume and ensure the accuracy of the suction volume.

[0056] A hollow cavity 1231 is provided in the middle of the rotating seat 123, and the pipette gun 125 is installed on the four sides of the rotating seat 123. The camera used by the suction volume data acquisition module 126 is installed on the side wall of the hollow cavity 1231, and the image acquisition end of the camera is hidden in the outer periphery of the rotating seat 123 or extends out of the outer periphery of the rotating seat 123 (the accompanying drawings of this embodiment take the camera extending a small section of the rotating seat 123 as an example), and the bottom of the camera is inserted into the rotating seat 123, and the connected wires and data cables are placed in the hollow cavity 1231.

[0057] The fixed structure part 1230 and the rotating structure part of the rotating seat 123 are both provided with through holes. The through hole of the rotating structure part is the above-mentioned hollow cavity 1231. Both ends of the hollow cavity 1231 have through holes. The top through hole of the hollow cavity 1231 is connected to the through hole of the fixed structure part 1230 of the rotating seat 123, so that the connecting rod 127 provided on the pipetting component 12 can pass through the entire rotating seat 123 and be fixed on the mounting seat 121. The free end of the connecting rod 127 away from the mounting seat 121 is fixed with an end plate 128, and a visual module 129 is installed on the end plate 128. The visual module 129 is used to collect image data below the pipetting component 12. The visual module 129 is close to the working position of the pipetting component 12, so that the visual module 129 can record the working process of the pipetting component 12 as much as possible. For example, the visual module 129 can collect image data of an object that is about to be acted upon, such as a culture dish 100 that is about to be filled with liquid, or the position of a new gun tip that is about to be replaced, to ensure that the movement of the pipetting component 12 is more accurate. In a specific embodiment, the visual module 129 can be a camera.

[0058] In addition, the hollow cavity 1231 is a cylindrical cavity, and a plurality of evenly distributed rolling bodies 1281 are installed on the upper surface of the end plate 128 facing the bottom end surface of the rotating seat 123. The rolling bodies 1281 of this embodiment are ball bearings, and the end plate 128 provides a certain supporting force on the rotating seat 123 through the ball bearings. At the same time, the rolling of the ball bearings makes the rotation of the rotating seat 123 not affected by the end plate 128; in addition, in order to further improve the rotational stability of the rotating structure of the rotating seat 123, a plurality of rollers 1282 are installed on the end plate 128. The rollers 1282 are bearings in this embodiment. The plurality of rollers 1282 are evenly distributed along the circumference of the hollow cavity 1231 and the side surfaces of the rollers 1282 roll and rub against the inner wall of the hollow cavity 1231.

[0059] The pipetting mechanism 1 also includes a waste container 14 below the pipette 125 and a tip group 13 containing a plurality of tips of different specifications. The pipette 125 can be inserted into the tip of the tip group 13 to assemble a new tip. The tips or waste liquid pushed out of the pipette 125 can be received by the waste container 14. In order to store the discarded tips and waste liquid separately, the waste container 14 is divided into two cylinders in this embodiment, which are used to receive the discarded tips and waste liquid respectively. The pipette 125 can adopt the pipette 125 disclosed in patent publication number CN213193738U.

[0060] The automatic pipetting mechanism 1 of this embodiment is equipped with a variety of pipette guns 125 of different ranges at one time, which improves the scope of use and the demand for use. When in use, it is only necessary to control the rotating seat 123 to rotate the corresponding pipette gun 125 to the working position; and the presser 122 is used for both aspirating / discharging liquid from the pipette gun 125 in the working position and automatically pushing out the used gun tips on the pipette gun 125. A plurality of new gun tips of different specifications are also uniformly placed in the boxed gun tip group 13, which is convenient for taking gun tips of different specifications according to needs. In addition, in order to ensure the accuracy of gun tip replacement, the visual module 129 on the pipetting assembly 12 can be used to capture the position and number of the remaining gun tips in the gun tip group 13. The visual module 129 transmits the image data of the remaining gun tips to the control system, and the control system controls the spatial mover 11 to move to a position where the required gun tips can be accurately taken. Finally, the pusher 124 drives the working displacement liquid gun 125 to move downward, completing the insertion of the gun tip on the pipette gun 125.

[0061] The pipetting mechanism 1 of the entire embodiment can automatically adjust the suction volume, automatically control the suction, automatically push out the used gun tip, and automatically insert a new gun tip, which helps to achieve fully automated pipetting operations.

[0062] 2. The first feeding and discharging mechanism 2 Combine Figures 12 to 19 The first loading and unloading mechanism 2 includes a transfer robot, a marker recognition module 21, an loading and unloading turntable 22, and a receiving conveyor belt 23. The transfer robot is a multi-degree-of-freedom robot that serves as a transfer mechanism to facilitate the transfer of culture dishes 100 / well plates 101 required for cell processing. The transfer robot can clamp the covered culture dishes 100 / well plates 101 up and down using upper and lower clamping rods. This type of transfer robot is conventional and will not be described in detail in this embodiment.

[0063] The loading and unloading turntable 22 consists of a fixed tray 221 and a rotating turntable 222, mounted above the tray 221. The turntable 222 is equipped with a driver that controls the direction and angle of rotation of the turntable 222. The turntable 222 is equipped with at least two workstations: a loading and unloading station and a transfer station. The portion of the tray 221 corresponding to the loading and unloading stations is equipped with a clearance slot 2211 for the upper and lower clamping rods of the transfer robot to move up and down. The portion of the tray 221 corresponding to the transfer station is equipped with a through-hole for receiving the conveyor belt 23 without clearance.

[0064] The turntable 222 is provided with an air avoidance hole 2221 corresponding to each workstation. In this embodiment, there are at least two types of air avoidance holes 2221. One air avoidance hole 2221 is used to cooperate with the culture dish 100, and the other air avoidance hole 2221 is used to cooperate with the orifice plate 101, so that when the air avoidance hole 2221 of the turntable 222 corresponds to the loading and unloading station, the culture dish 100 or the orifice plate 101 can transfer the culture dish 100 / orifice plate 101 to the transfer station under the rotation of the turntable 222, and the air avoidance hole 2221 can also avoid the upper and lower clamping rods of the transfer robot.

[0065] The culture dishes 100 / well plates 101 sent to the loading and unloading stations by the transfer robot have all been marked. An observation hole 2212 is provided on the tray 221 corresponding to the loading and unloading stations, and the marking recognition module 21 is installed below the observation hole 2212. The marking recognition module 21 is used to identify objects placed on the tray 221 of the loading and unloading stations. The marking recognition module 21 is connected to the control system of the clean bench to record the identity of the culture dishes 100 / well plates 101 transferred from the loading and unloading turntable 22, thereby improving the accuracy of control. At the same time, it is convenient to know the processing status of the corresponding culture dishes 100 in a marked manner after the cell processing is completed.

[0066] The tag recognition module 21 in this embodiment can be a camera or a radio frequency reader connected to the control system.

[0067] The receiving conveyor belt 23 is located below the pipetting mechanism 1. The receiving conveyor belt 23 includes a first conveying section and a second conveying section that are parallel and arranged along the conveying direction. The first conveying section is a single conveyor belt located at the transfer station. The second conveying section is immediately connected to the end of the first conveying section. The second conveying section includes two parallel, equal-height and synchronized conveyor belts. The receiving conveyor belt 23 is used to support and convey the culture dish 100 / well plate 101.

[0068] A tilting mechanism 4 is provided between the two conveyor belts of the second conveyor section. Figures 14 to 17The tilting mechanism 4 includes a pusher 41 and a push rod 42 and a baffle 43 fixed at the output end of the pusher 41. The pusher 42 and the baffle 43 are located between the two conveyor belts of the first conveying section. The pusher 41 drives the pusher 42 and the baffle 43 to rise and fall synchronously along the Z axis. The pusher 42 is used to push the culture dish 100. The distance between the pusher 42 and the baffle 43 is greater than the radius of the culture dish 100 and smaller than the diameter of the culture dish 100. The baffle 43 is used to tilt the culture dish 100 against the baffle 43 when the pusher 42 eccentrically pushes the culture dish 100, so as to facilitate the pipette 125 to absorb the liquid in the culture dish 100. In this embodiment, the baffle 43 is an arc-shaped plate The arc-shaped plate cooperates with the arc structure of the culture dish 100 to further ensure that after the push rod 42 pushes the culture dish 100 to tilt, the culture dish 100 will not fall in other directions. The push rod 42 is an elastic push rod 42, which includes a push rod body 421 and an elastic member 422. The push rod body 421 is slidably connected to the output end of the pusher 41 along the Z axis, and the elastic member 422 is arranged between the push rod body 421 and the output end of the pusher 41. The elastic member 422 of this embodiment is a spring. The elastic member 422 is sleeved on the push rod body 421. One end of the elastic member 422 abuts against the push rod body 421, and the other end abuts against the output end of the pusher 41. The provision of the elastic push rod 42 allows the push rod 42 to slowly push the culture dish 100 using its elasticity, avoiding overturning the culture dish 100 due to excessive pushing.

[0069] 3. Opening mechanism 3 Combine Figure 12 and Figure 13 The lid opening mechanism 3 includes a multi-axis motion actuator 31 and a suction cup 32 installed at the output end of the multi-axis motion actuator 31. The multi-axis motion actuator 31 is fixedly installed and is used to drive the suction cup 32 to move along the X-axis, Y-axis, and Z-axis. The multi-axis motion actuator 31 can specifically adopt a three-axis linear module. The suction cup 32 is connected to the negative pressure so that the suction cup 32 can open the lid of the culture dish 100 / well plate 101 through the multi-axis motion actuator 31 after being adsorbed to the lid, making it convenient for the pipetting mechanism 1 to add or absorb liquid to the culture dish 100 / well plate 101.

[0070] In this embodiment, in order to facilitate opening multiple lids at the same time, the number of suction cups 32 is set to multiple, and the negative pressure of each suction cup 32 is connected without affecting each other, so that each suction cup 32 can adsorb the lid of the culture dish 100 at the corresponding position, making it convenient for the opening mechanism 3 to open the lids of multiple culture dishes 100 at one time.

[0071] In addition, because the lid opening mechanism 3 can move in the XYZ axis, when the cell processing is completed and the culture dish 100 / well plate 101 needs to evenly spread the cell fluid in the container, the suction cup 32 on the lid opening mechanism 3 can be used to firmly suck the lid of the corresponding culture dish 100 / well plate 101 with the lid closed, and then the multi-axis motion actuator 31 can be controlled to drive the suction cup 32 to move in the horizontal plane to simulate the manual cross movement of the culture dish 100 / well plate 101, thereby achieving uniform spreading of the cell fluid in the culture dish 100 / well plate 101.

[0072] In addition, an elastic rod 33 is provided between the suction cup 32 and the output end of the multi-axis motion actuator 31 of this embodiment. The deformation direction of the elastic rod 33 is the Z axis. The elastic rod 33 includes a sliding rod slidably connected to the output end of the multi-axis motion actuator 31. A spring is sleeved on the sliding rod. One end of the spring is against the output end of the actuator, and the other end is against the sliding rod. The free end of the sliding rod is fixed to the suction cup 32. This solution allows the elastic rod 33 to buffer the process when the multi-axis motion actuator 31 drives the suction cup 32 to press down to the lid of the culture dish 100 / well plate 101, thereby avoiding the problem that the multi-axis motion actuator 31 presses down a slightly larger distance and crushes or damages the culture dish 100 / well plate 101.

[0073] 4. Second feeding and discharging mechanism 5, centrifugal mechanism 6 and tube cap opener 7 Combine Figure 12 、 Figures 18 and 19 In this embodiment, the number of second inlet and outlet mechanisms 5 is two, and the two second inlet and outlet mechanisms 5 are respectively close to the front side and the rear side of the clean bench body 1000. One of the second inlet and outlet mechanisms 5 is used to deliver test tubes containing cell treatment fluid and centrifugation test tubes required for cell treatment in the clean bench body 1000 through the corresponding inlet and outlet channel 1001, and the other second inlet and outlet mechanism 5 is used to deliver test tubes for subpackaging into the clean bench body 1000 through the corresponding inlet and outlet channel 1001. The two second inlet and outlet mechanisms 5 are the same, and the tube cap opener 7 can open the tube caps of the test tubes on the two second inlet and outlet mechanisms 5.

[0074] Specifically, the second feeding and discharging mechanism 5 includes a rotating component 51, a tube clamp 52 and a feeding and discharging structure. The rotating component 51 can rotate, and the tube clamp 52 corresponds to the uncapping position of the rotating component 51. The rotating component 51 includes a rotatable rotating disc 511 and a fixedly installed enclosing ring 512. The rotation of the rotating disc 511 is controlled by a rotating driver. The rotating disc 511, the enclosing ring 512 and the tube clamp 52 are all located in the clean bench body 1000. The enclosing ring 512 is a circular ring structure with a notch, and the enclosing ring 512 encloses the rotating disc 511. The rotating disc 511 is provided with a plurality of placement holes 510 in a circumferential direction. The projection of the placement holes 510 onto the horizontal plane is U-shaped. The U-shaped opening of the placement holes 510 faces outward and is directly opposite to the inner ring side of the enclosing ring 512. The placement holes 510 are used to place test tubes. Test tubes with caps can be placed on the placement holes 510 of the rotating component 51 and the test tubes are held up by the rotating component 51. Because the size of the test tube caps is larger than the test tube bodies, when the test tube caps are not opened, the test tubes are equivalent to being hung on the placement holes 510. Since most of the placement holes 510 correspond to the enclosing ring 512, even if there is centrifugal force during the rotation of the rotating disc 511, the test tubes will be restricted by the enclosing ring 512.

[0075] The inlet and outlet structure installed outside the clean bench body 1000 is used to send the test tube into / out of the placement hole 510 corresponding to the notch through the inlet and outlet channel 1001, and the tube cap opener 7 can open or close the test tube on the rotating disk 511.

[0076] Specifically, the feed and discharge structure includes a fixedly installed hanging feed structure 53 and a hanging discharge structure 54. The hanging feed structure 53 and the hanging discharge structure 54 both include a fixedly installed left support and a right support. The space between the left support and the right support is used for the test tube body to pass through. The test tube cap is used to be suspended on the left support and the right support at the same time. The hanging feed structure 53 and the hanging discharge structure 54 are used to respectively align with the U-shaped opening side of the placement hole 510 at the notch position. The left support and the right support of the hanging feed structure 53 are tilted downward toward the placement hole 510, and the left support and the right support of the hanging discharge structure 54 are tilted upward toward the placement hole 510.

[0077] In one of the improved solutions, in order to ensure that the test tube actively moves toward the hanging discharge structure 54 when it needs to be sent out, the second feeding and discharging structure also includes a pushing block 55 fixedly mounted above the rotating disc 511. The pushing block 55 is directly opposite the hanging discharge structure 54. The side of the pushing block 55 facing the hanging discharge structure 54 is in an arc shape, and an elastic block is attached to the arc surface. The elastic block is such as pearl cotton or sponge. The pushing block 55 can cover at least half of the placement hole 510, so that when the rotating disc 511 drives the test tube to rotate close to the hanging discharge structure 54, the test tube is gradually pushed outward by the elastic block on the arc surface of the pushing block 55 until the test tube falls from the placement hole 510 along the hanging discharge structure 54. In this improved solution, the presence of the elastic body ensures that when the placement hole 510 has not yet aligned with the hanging discharge structure 54, the elastic body will not crush the test tube due to excessive squeezing force.

[0078] In addition, in an improved solution, the end of the hanging discharge structure 54 aligned with the outer periphery of the rotating disk 511 is wrapped with an elastic band, and the elastic band adopts a sponge strip or foam strip with adhesive function to prevent the test tube from scratching the end of the hanging discharge structure 54 and damaging the test tube.

[0079] The tube gripper 52 is used to grip the test tube body rotated to the uncapping station. The tube gripper 52 of this embodiment can adopt a finger cylinder or an electric gripper. The tube gripper 52 includes two gripping fingers that can move closer to or away from each other. The two gripping fingers move closer to each other to clamp the test tube. After the two gripping fingers move away from each other, the test tube can be shuttled between the two gripping fingers as the rotating disk 511 rotates.

[0080] The tube cap opener 7 is used to open the tube cap of the test tube at the cap opening station with the cooperation of the tube clamp 52. The tube cap opener 7 includes a space manipulator and a tube cap opening structure installed at the output end of the space manipulator. The space manipulator is used to drive the tube cap opening structure to move in three-dimensional space. The tube cap opening structure is used to screw the tube cap of the test tube. The specific structure can refer to the tube cap opener 7 composed of a multi-degree-of-freedom robot and a drive-control integrated opening device in the intelligent opening robot for new coronavirus sampling tubes disclosed in CN113003506A.

[0081] The spatial mover 11 is used to drive the pipette gun 125 of the pipetting assembly 12 to extend into the test tube at the capping station to suck or inject liquid.

[0082] The centrifuge mechanism 6 includes a rotatable centrifuge frame with a receiving hole 61 and a counterweight 62 symmetrically arranged about the centrifuge frame's rotation axis. The counterweight 62 ensures stable rotation of the centrifuge frame during centrifugation, even when only a single test tube is being centrifuged, thereby ensuring the centrifugal effect. A tube cap opener 7 is used to place the test tube to be centrifuged from the rotating disc 511 into the receiving hole 61. After centrifugation is complete, the tube cap opener 7 is used to return the centrifuged test tube to the rotating disc 511. The tube cap of the centrifuged test tube is then removed by the cooperation of the tube gripper 52 and the tube cap opener 7.

[0083] The specific process of this embodiment is as follows: 1. Passaging or plating method: The transfer robot delivers the culture dish 100 required for passaging or the well plate 101 required for plating to the inlet and outlet station of the feed turntable. The turntable 222 rotates to rotate the culture dish 100 / well plate 101 to the transfer station. At the transfer station, the culture dish 100 / well plate 101 is received by the conveyor belt 23 and transferred to the bottom of the pipetting mechanism 1.

[0084] The liquids required for passage / plating are all placed in corresponding test tubes, and the test tubes containing liquids and the test tubes for centrifugation are placed on one of the second feeding and discharging mechanisms 5 and sent to the rotating disc 511. The second feeding and discharging mechanism 5 can be called a preparation feeding and discharging mechanism.

[0085] During the passage / plating process, the lid of the culture dish 100 / well plate 101 is opened by the lid opening mechanism 3, and the cap opener 7 opens the cap of the test tube, which facilitates the transfer of liquid by the pipetting mechanism 1. Only one required test tube is opened at a time.

[0086] During the pipetting process, the pipette tip 125 is replaced according to the liquid used for passaging to prevent cross-contamination. After the passaging / plating is completed, the first loading and unloading mechanism 2 is controlled to start in reverse, thereby transporting the culture dish 100 / well plate 101 out of the clean bench. This facilitates the passaging / plating of the next batch of cells.

[0087] Second, cell packaging method: Liquids required for packaging (such as cryopreservation solution and cell solution) are placed in corresponding test tubes. These test tubes and centrifuge tubes are placed on one of the second loading and unloading mechanisms 5 and delivered to the rotating disk 511. This second loading and unloading mechanism 5 is also called the preparation loading and unloading mechanism. The remaining second loading and unloading mechanism 5 is used to load and unload new test tubes for packaging into and out of the clean bench body 1000. This second loading and unloading mechanism 5 is also called the loading and unloading mechanism.

[0088] During packaging, the new test tube gradually slides into the placement hole 510 as the rotating disk 511 on the packaging inlet and outlet mechanism rotates. After the test tube reaches the uncapping station, the corresponding tube clamp 52 clamps the test tube that needs to be uncapped, and then the tube cap opener 7 opens the tube cap of the test tube. Then the pipetting mechanism 1 transfers the liquid to be packaged from the test tube of the preparation inlet and outlet mechanism to the test tube of the packaging inlet and outlet mechanism. The packaging inlet and outlet mechanism fills the single test tube in turn. After the filled test tube is covered with the test tube cap, it approaches the hanging discharge structure 54 as the rotating disk 511 rotates intermittently until the test tube is aligned with the hanging discharge structure 54 and the test tube is sent out.

[0089] The culture dishes 100, well plates 101, and test tubes used in this embodiment are all placed inside the clean bench when in use and removed from the clean bench after use. Compared to the prior art, the clean bench does not require storage areas for the culture dishes 100, well plates 101, and test tubes, thereby simplifying and reducing the size of the clean bench. The simplification of the centrifugal mechanism 6 further reduces the size of the clean bench. Based on miniaturization, simplified structure, and space optimization, the cost of the entire integrated clean bench is significantly reduced, its application range is wider, and its maintenance is simpler.

[0090] In addition, the pipetting mechanism 1 in this embodiment has multiple pipette guns 125 and can automatically adjust the suction volume of the pipette gun 125 and automatically replace the gun tip according to the cell operation conditions set by the control system, which not only ensures a high degree of automation of the pipetting, but also makes the pipetting operation applicable to different cell processing tests, thereby improving applicability. In addition, the automatic replacement structure of the gun tip set in the pipetting mechanism 1 is simple and can avoid cross contamination of the pipetting, thereby ensuring the reliability of the cell processing test.

[0091] The above is only an embodiment of the present invention, and the common knowledge such as the specific technical solutions and / or characteristics in the solution are not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the description can be used to interpret the content of the claims.

Claims

1. An integrated cell processing clean bench, comprising a clean bench body with a fan system, a pipetting mechanism, a cover opening mechanism, a centrifugal mechanism, and a tube cap opener arranged in the clean bench body, characterized in that: An inlet and outlet channel is provided on the clean bench body, and also includes a first inlet and outlet mechanism and a second inlet and outlet mechanism. The first inlet and outlet mechanism is used to deliver / deliver culture dishes into / out of the clean bench body through the inlet and outlet channel, and the second inlet and outlet mechanism is used to deliver / deliver test tubes into / out of the clean bench body through the inlet and outlet channel.

2. The integrated cell processing clean bench according to claim 1, characterized in that: The first loading and unloading mechanism includes an loading and unloading turntable and a receiving conveyor belt, which are located in the clean bench body. The loading and unloading turntable includes a fixedly installed tray and a rotatable turntable. The tray is provided with a through hole for avoiding the air to receive the conveyor belt. The turntable is located above the tray. The turntable is provided with at least two air avoidance holes, which can cooperate with the culture dish or well plate. After the turntable rotates, the culture dish / well plate on the tray is transferred to the receiving conveyor belt. The transfer mechanism provided on the outside of the clean bench body can send the culture dish / well plate from the loading and unloading channel to the air avoidance holes and tray of the loading and unloading turntable.

3. The integrated cell processing clean bench according to claim 2, characterized in that: The receiving conveyor belt includes synchronous, parallel, and equal-height conveyor belts. There is a distance between the two conveyor belts. A tilting mechanism is provided between the two conveyor belts. The tilting mechanism includes a pusher and a push rod and a baffle fixed at the output end of the pusher. The push rod is used to push the culture dish. The distance between the push rod and the baffle is greater than the radius of the culture dish and smaller than the diameter of the culture dish. The baffle is used to allow the culture dish to tilt against the baffle when the push rod eccentrically pushes the culture dish.

4. The integrated cell processing clean bench according to claim 1, characterized in that: The second feeding and discharging mechanism includes a rotatable rotating disc and a fixedly installed enclosing ring. Both the rotating disc and the enclosing ring are located in the clean bench body. The enclosing ring is a circular ring structure with a notch. A plurality of placement holes are provided in the circumference of the rotating disc. The projection of the placement holes onto the horizontal plane is U-shaped. The U-shaped opening of the placement holes faces outward and faces the inner ring side of the enclosing ring. The placement holes are used to place test tubes. The feeding and discharging structure provided on the outside of the clean bench body is used to send the test tubes into / out of the placement holes corresponding to the notch through the feeding and discharging channel. The tube cap opener can open or close the test tubes on the rotating disc.

5. The integrated cell processing clean bench according to claim 4, characterized in that: The feed and discharge structure includes a hanging feed structure and a hanging discharge structure, each of which includes a left support and a right support, the space between the left support and the right support is used for the test tube body to pass through, and the test tube cap is used to be suspended on the left support and the right support at the same time, the hanging feed structure and the hanging discharge structure are used to respectively align with the U-shaped opening side of the placement hole at the notch position, the left support and the right support of the hanging feed structure are inclined downward toward the placement hole, and the left support and the right support of the hanging discharge structure are inclined upward toward the placement hole.

6. An integrated cell processing clean bench according to any one of claims 1 to 5, characterized in that: The pipetting mechanism includes a space mover and a pipetting assembly installed at the output end of the space mover. The space mover is used to drive the pipetting assembly to move in space. The pipetting assembly includes a presser, a rotating seat and multiple pipette guns. The rotating seat and the presser are both installed at the output end of the space mover. The multiple pipette guns are distributed circumferentially on the rotating seat. The rotating seat is used to rotate the pipette gun to the working position. The presser is used to press the pressing head of the pipette gun located in the working position to absorb or discharge liquid. The presser is used to press the pushing head rod after aligning the pushing head rod of the pipette gun to replace the gun head.

7. The integrated cell processing clean bench according to claim 6, characterized in that: The pipetting mechanism also includes a waste container located below the pipette and a tip group containing multiple tips of different specifications. The pipette can be inserted into the tip of the tip group to assemble a new tip, and the tip or waste liquid pushed out of the pipette can be received by the waste container.

8. The integrated cell processing clean bench according to claim 6, characterized in that: The presser includes a reciprocating rod, a rotator and a pressing block. The reciprocating rod is used to drive the pressing block away from or close to the pressing head of the pipette gun. The pressing block and the pressing head can fit in a concave-convex manner. The rotator is used to drive the pressing block to rotate.

9. The integrated cell processing clean bench according to claim 8, characterized in that: The rotating seat is provided with a plurality of suction volume data acquisition modules, and each suction volume data acquisition module is used to acquire the measurement range of a corresponding pipette.

10. An integrated cell processing clean bench according to any one of claims 1-5, 7-9, characterized in that: The centrifugal mechanism comprises a rotatable centrifugal frame, on which a counterweight symmetrical with respect to a rotating axis of the centrifugal frame and a placement hole are provided.

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