A liquid transfer mechanism

Abstract

The present invention discloses a liquid preparation transfer mechanism, including a liquid preparation mechanism and a transfer mechanism, wherein the liquid preparation mechanism includes a column, a large beam is installed on the column, a small beam is installed on the large beam for movement in the X direction, and a drip assembly is installed on the small beam for movement in the Y direction. The liquid preparation action is automatically completed by the liquid preparation mechanism, so that the position, size and shape of the titrated droplets can be regular, and the titration amount of the liquid can be accurately controlled, and the amount of oil covering the liquid can also be accurately controlled; in addition, after the liquid preparation action is completed, the transfer mechanism can immediately put the titrated liquid into an incubator for pretreatment of temperature and pH value adjustment; finally, the entire liquid preparation process does not require manual intervention, thereby greatly reducing labor costs. It is suitable for the preparation and pretreatment of culture dishes before embryo culture.

Description

Technical Field

[0001] The invention relates to the technical field of embryo culture, in particular to a liquid preparation transfer mechanism. Background Art

[0002] At present, in the field of assisted reproduction, during the embryo culture process, it is necessary to prepare the culture dish for embryo culture in advance. This process is called liquid preparation. The operation process is to use burette A to extract a certain amount of culture liquid; and use burette B to extract a certain amount of mineral oil liquid; then squeeze burette A to titrate the culture liquid in a certain arrangement in the culture dish. The amount of titration is measured by the number of squeezes, the titration position is manually controlled, and the size of the titration is manually controlled by the operator's observation; then squeeze burette B to titrate a certain amount of mineral oil liquid, so that the mineral oil completely covers the culture liquid droplets to prevent the water in the culture liquid from volatilizing and affecting the change of the osmotic pressure of the culture liquid; after the dripping is completed, the prepared culture dish is manually placed in a constant temperature and humidity incubator with a certain constant concentration of CO2, so that the temperature of the culture liquid in the culture dish rises to the temperature of the incubator, and the pH value of the culture liquid is adjusted to the optimal value through the CO2 in the incubator. This manual liquid preparation method has the following problems in actual operation:

[0003] 1. The shape and position of the culture solution droplets in manual titration are irregular, and the titration amount is difficult to accurately control;

[0004] 2. The amount of mineral oil titrated manually is difficult to accurately control;

[0005] 3. The movement and placement of the culture dishes are completely manually operated;

[0006] 4. The process of preparing culture dishes usually requires long-term manual operation, which is a great waste of manpower. Summary of the invention

[0007] The object of the present invention is to provide a reserve liquid transfer mechanism to solve the problems raised in the above background technology.

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a liquid preparation transfer mechanism, including a liquid preparation mechanism and a transfer mechanism, wherein the liquid preparation mechanism includes a column, a large beam is installed on the column, a small beam is installed on the large beam for movement in the X direction, and a drip assembly is installed on the small beam for movement in the Y direction. The liquid preparation action is automatically completed by the liquid preparation mechanism, so that the position, size and shape of the droplets of the titration can be regular, and the liquid titration amount can be accurately controlled, and the amount of oil covering the liquid can also be accurately controlled; in addition, after the liquid preparation action is completed, the transfer mechanism can immediately put the titrated liquid into the incubator for pretreatment of temperature and pH adjustment; finally, the entire liquid preparation process does not require manual intervention, thereby greatly reducing labor costs.

[0009] The present invention provides a liquid preparation transfer mechanism having the following beneficial effects:

[0010] 1. The liquid preparation mechanism automatically completes the liquid preparation action, so that the position, size and shape of the titrated droplets can be regular, and the liquid titration amount can be accurately controlled, and the amount of oil covered by the liquid can also be accurately controlled; 2. After the liquid preparation action is completed, the transfer mechanism can immediately put the titrated liquid into the incubator for pretreatment of temperature and pH adjustment; finally, the entire liquid preparation process does not require manual intervention, which greatly reduces the labor cost; 3. The droplet plunger pump is used to control the liquid suction and titration of the droplet burette, so that the liquid titration amount can be accurately controlled; 4. By controlling the X-direction movement of the small crossbeam and the Y-direction and Z-direction movement of the droplet assembly, the position of the droplet burette can be accurately controlled, and then combined with the control of the titration amount, the position, size and shape of the titrated droplets can be accurately controlled; 5. The oil cover plunger pump is used to control the oil suction and titration of the oil cover burette, so that the oil titration amount can be accurately controlled; 6. By controlling the X-direction movement of the small crossbeam, the Y-direction movement of the droplet assembly, and the Z-direction movement of the droplet assembly, the position of the droplet burette can be accurately controlled, and then combined with the control of the titration amount, the position, size and shape of the titrated droplets can be accurately controlled; 7. The cover oil burette position can be precisely controlled by controlling the displacement of the cover oil assembly in the Y and Z directions, and the position and amount of the cover oil can be precisely controlled by controlling the titration amount; 8. The dish box cover can be taken and placed flexibly by controlling the X-direction movement of the small crossbeam and the Y and Z-direction movement of the dish box cover operating assembly; 9. The additional cover suction slider guide hole and the dripping slider guide hole can avoid the interference between the dripping assembly and the dish box cover operating assembly on the one hand, and can also It plays a guiding role, thereby improving the stability of the movement; 10. By designing the dish box moving component into a movable structure, the full automation of the liquid preparation action and the full automation of placing the finished product into the incubator can be simply realized in cooperation with the transfer mechanism; at the same time, the added dish box cooling plate can prevent the liquid from evaporating; 11. By designing an oil bottle cooling plate in the oil bottle placement component, the volatilization of liquid and oil can be reduced; 12. The added liquid level sensor can accurately detect the liquid level of the oil, which is convenient for accurately controlling the depth of the burette into the oil bottle to ensure smooth oil absorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the three-dimensional structure of the liquid preparation instrument; Figure 2 for Figure 1 Another perspective structural diagram of; Figure 3 for Figure 1 Another perspective structural schematic diagram of ; Figure 4 for Figure 1 Schematic diagram of the main structure; Figure 5 for Figure 1 A side view structural schematic diagram of; Figure 6 for Figure 1A schematic diagram of a top view structure; Figure 7 It is a structural schematic diagram of the liquid preparation mechanism; Figure 8 for Figure 7 Another perspective structural diagram of; Fig. 9 for Figure 7 Schematic diagram of the main structure; Fig.10 for Figure 7 A side view structural schematic diagram of; Fig.11 for Figure 7 A schematic diagram of a top view structure; Fig.12 It is a structural schematic diagram of the transfer mechanism; Fig.13 for Fig.12 Another perspective structural diagram of; Fig.14 for Fig.12 Another perspective structural schematic diagram of ; Fig.15 for Fig.12 Schematic diagram of the main structure; Fig.16 for Fig.12 A side view structural schematic diagram of; Fig.17 for Fig.12 FIG. 18 is a schematic diagram of the structure of the incubator; FIG. Fig.19 for Fig.18 Another perspective structural diagram of; Fig. 20 for Fig.18 Schematic diagram of the main structure; Fig.21 for Fig.18 A side view structural schematic diagram of; Fig. 22 for Fig.18 Another side view of the structure schematic diagram; Fig.23 for Fig.18 A schematic diagram of a top view structure; Fig.24 Schematic diagram of the internal structure of the incubator; Fig.25 It is a structural schematic diagram from another perspective of FIG. 24; Fig.26 for Fig.24 Another perspective structural schematic diagram of ; Fig. 27 It is a structural schematic diagram of the dish box moving component; Fig.28 for Fig. 27 Another perspective structural diagram of; Fig.29 A schematic diagram of the structure for placing components for the oil bottle; Fig.30 for Fig.29 Another perspective structural diagram of; Fig.31 It is a schematic diagram of the structure of the pallet; Fig.32 for Fig.30 Another perspective structural diagram of; Fig.33 This is a schematic diagram of the main structure of the pallet; Fig.34 For along Fig.33 Schematic diagram of the cross-section structure along the AA line; Fig.35 For along Fig.33 Schematic diagram of the cross-sectional structure along the middle BB line; Fig.36It is a schematic diagram of the cross-sectional structure along the CC line in Figure 33. DETAILED DESCRIPTION

[0012] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0013] like Figure 1-36 As shown, the present invention provides a technical solution: an automatic liquid preparation instrument, comprising a liquid preparation mechanism 1, a transfer mechanism 2 and an incubator 3, wherein the liquid preparation mechanism 1, the transfer mechanism 2 and the incubator 3 are all installed on the same bottom plate to form an integrated structure, and the liquid preparation mechanism 1 and the incubator 3 are located on the same side of the transfer mechanism 2. The liquid preparation mechanism 1 is used to complete the liquid preparation action to obtain a finished product, and the transfer mechanism 2 is used to place the finished product into the incubator 3 for pretreatment. The liquid preparation action is automatically completed by the liquid preparation mechanism 1, so that the position, size and shape of the titrated droplets can be regular, and the titration amount of the liquid can be accurately controlled, and the amount of oil covering the liquid can also be accurately controlled; in addition, after the liquid preparation action is completed, the titrated liquid can be immediately placed in the incubator 3 for pretreatment by the transfer mechanism 2; finally, the entire liquid preparation process does not require manual intervention, thereby greatly reducing labor costs.

[0014] The liquid preparation mechanism 1 comprises a column 1a mounted on a bottom plate, a large beam 1b is mounted on the column 1a, a small beam 1c is mounted on the large beam 1b for movement in the X direction, and a liquid dripping assembly 1d is mounted on the small beam 1c for movement in the Y direction. A small beam moving belt conveyor 1i is provided on the large beam 1b for driving the small beam 1c to move. The dripping assembly 1d includes a dripping burette 1d1, a dripping shaft 1d2 and a dripping plunger pump 1d3, wherein the upper end of the dripping burette 1d1 is connected to the lower end of the dripping shaft 1d2, and the upper end of the dripping shaft 1d2 is connected to the dripping plunger pump 1d3, the dripping shaft 1d2 is arranged along the Z direction and is provided with a dripping rack 1d4 along the axial direction, a dripping slider 1d5 is axially slidably installed on the dripping shaft 1d2 at a position corresponding to the dripping rack 1d4, the dripping slider 1d5 is provided with a dripping gear meshing with the dripping rack 1d4, the dripping gear is slidably mounted on the dripping spline shaft 1d6 along the Y direction through an internal spline, and the dripping spline shaft 1d6 is arranged along the Y direction and is rotatably installed on the small crossbeam 1c On the above, the dripping spline shaft 1d6 is driven to rotate by the dripping motor 1d7, and a dripping Y-direction moving belt 1d8 is provided on the small crossbeam 1c at a position corresponding to the dripping slider 1d5, and the dripping Y-direction moving belt 1d8 is connected to the dripping slider 1d5, and a dripping belt machine 1d9 is provided on the small crossbeam 1c for driving the dripping Y-direction moving belt 1d8 to move. The dripping plunger pump 1d3 is used to control the liquid aspiration and titration of the dripping burette 1d1, so that the liquid titration amount can be accurately controlled; at the same time, by controlling the X-direction movement of the small crossbeam 1c, the Y-direction and Z-direction movement of the dripping assembly 1d, the position of the dripping burette 1d1 can be accurately controlled, and then combined with the control of the titration amount, the position, size and shape of the titrated droplets can be accurately controlled. The small crossbeam 1c is provided with a first liquid level sensor 1d10 for detecting the liquid level. The added first liquid level sensor 1d10 can accurately detect the height of the liquid surface, so that it is convenient to accurately control the depth of the dripping burette 1d1 into the liquid bottle to ensure smooth liquid aspiration.

[0015] There are two small crossbeams 1c, the drip assembly 1d is mounted on one of the small crossbeams 1c, and the other small crossbeam 1c is mounted with an oil cover assembly 1e that moves along the Y direction. The oil cover assembly 1e includes an oil cover burette 1e1, an oil cover shaft 1e2, and an oil cover plunger pump 1e3. The upper end of the oil cover burette 1e1 is connected to the lower end of the oil cover shaft 1e2, and the upper end of the oil cover shaft 1e2 is connected to the oil cover plunger pump 1e3. The oil cover plunger pump 1e3 is mounted on On the upper end of the oil cover shaft 1e2 or on the corresponding small crossbeam 1c, the oil cover shaft 1e2 is arranged along the Z direction and is axially provided with an oil cover rack 1e4, an oil cover slider 1e5 is axially slidably installed on the oil cover shaft 1e2 corresponding to the position of the oil cover rack 1e4, and the oil cover slider 1e5 is provided with an oil cover gear meshing with the oil cover rack 1e4, and the oil cover gear is slidably sleeved on the oil cover spline shaft 1e6 along the Y direction through an internal spline, and the oil cover spline shaft 1e6 Arranged along the Y direction and rotatably installed on the corresponding small crossbeam 1c, the cover oil spline shaft 1e6 is driven to rotate by the cover oil motor 1e7, and the corresponding small crossbeam 1c is provided with a cover oil Y-direction moving belt 1e8 at the position corresponding to the cover oil slider 1e5, and the cover oil Y-direction moving belt 1e8 is connected to the cover oil slider 1e5, and the corresponding small crossbeam 1c is provided with a cover oil belt conveyor 1e9 for driving the cover oil Y-direction moving belt 1e8 to move. The cover oil plunger pump 1e3 is used to control the oil suction and titration of the cover oil burette 1e1, so that the titration amount of the oil can be accurately controlled; at the same time, by controlling the X-direction movement of the small crossbeam 1c, the movement of the cover oil assembly 1e in the Y and Z directions, the position of the cover oil burette 1e1 can be accurately controlled, and then combined with the control of the titration amount, the position and amount of the cover oil can be accurately controlled. The corresponding small crossbeam 1c is provided with a second liquid level sensor 1e10 for detecting the oil level. The added second liquid level sensor 1e10 can accurately detect the liquid level of the oil, so that it is convenient to accurately control the depth of the oil cap burette 1e1 into the oil bottle to ensure smooth oil suction.

[0016] The small crossbeam 1c on which the drip assembly 1d is installed is provided with a dish box cover operating assembly 1f that moves along the Y direction. The dish box cover operating assembly 1f includes a cover suction tube 1f1 and a cover suction shaft 1f2. The upper end of the cover suction tube 1f1 is connected to the lower end of the cover suction shaft 1f2. The upper end of the cover suction shaft 1f2 is connected to a negative pressure source. The cover suction shaft 1f2 is arranged along the Z direction and is provided with a cover suction rack 1f4 along the axial direction. The position of the cover suction shaft 1f2 corresponding to the cover suction rack 1f4 is arranged along the Z direction. A suction cover slider 1f5 is axially slidably installed, and a suction cover gear meshing with the suction cover rack 1f4 is provided on the suction cover slider 1f5. The suction cover gear is slidably mounted on the suction cover spline shaft 1f6 along the Y direction through an internal spline. The suction cover spline shaft 1f6 is arranged along the Y direction and can be rotatably installed on the corresponding small crossbeam 1c. The suction cover spline shaft 1f6 is driven to rotate by the suction cover motor 1f7, and the dripping Y-direction moving belt 1d8 is also connected to the suction cover slider 1f5. The suction cover pipe 1f1 is used in conjunction with the negative pressure source to control the placement of the dish box cover, so that the full automation of the dish box liquid preparation can be realized; at the same time, by controlling the X-direction movement of the small crossbeam 1c and the Y-direction and Z-direction movements of the dish box cover operating component 1f, the flexible placement of the dish box cover can be realized. A suction cover slider guide hole matching the dripping spline shaft 1d6 is provided on the suction cover slider 1f5 at a position corresponding to the dripping spline shaft 1d6, and a dripping slider guide hole matching the suction cover spline shaft 1f6 is provided on the dripping slider 1d5 at a position corresponding to the suction cover spline shaft 1f6. The additional suction cover slider guide hole and dripping slider guide hole can avoid the interference between the dripping assembly 1d and the dish box cover operating assembly 1f on the one hand, and can also play a guiding role on the other hand, thereby improving the stability of the action.

[0017] Of course, it is also possible to design only one small crossbeam 1c, and install the dripping assembly 1d, the oil cover assembly 1e and the dish box cover operating assembly 1f on the same small crossbeam 1c; it is also possible to design two small crossbeams 1c, and combine the dripping assembly 1d, the oil cover assembly 1e and the dish box cover operating assembly 1f in pairs on one small crossbeam 1c; it is also possible to design three small crossbeams 1c, and install the dripping assembly 1d, the oil cover assembly 1e and the dish box cover operating assembly 1f on different small crossbeams 1c respectively.

[0018] This embodiment also includes a dish box moving assembly 1g, which includes a dish box slide rail 1g1, a dish box cooling plate 1g2 and a dish box placement platform 1g3. The dish box cooling plate 1g2 is slidably mounted on the dish box slide rail 1g1, and the dish box placement platform 1g3 is mounted on the dish box cooling plate 1g2. By designing the dish box moving assembly 1g as a movable structure, the full automation of the liquid preparation action and the full automation of placing the finished product into the incubator 3 can be simply realized in cooperation with the transfer mechanism 2; at the same time, the additional dish box cooling plate 1g2 can prevent the liquid from volatilizing. A tray positioning placement groove is provided on the top surface of the dish box placement platform 1g3, and claw avoidance grooves for easy clamping are provided on both sides of the tray positioning placement groove. The dish box moving assembly 1g is located between two small beams 1c, and the moving direction of the dish box moving assembly 1g is arranged perpendicular to the moving direction of the small beam 1c.

[0019] The side of the dish box moving component 1g is also provided with an oil bottle placement component 1h, and the oil bottle placement component 1h includes an oil bottle placement positioning frame 1h1, and the bottom surface of the oil bottle placement positioning frame 1h1 is provided with an oil bottle cooling plate 1h2. There are steps and grooves of different sizes on the positioning frame 1h1, which can adapt to oil bottles or containers of different sizes and heights. By designing the oil bottle cooling plate 1h2 in the oil bottle placement component 1h, the volatilization of liquid and oil can be reduced. The number of oil bottle placement components 1h is two groups, one group is liquid, and the other group is oil, and the two groups of oil bottle placement components 1h are respectively arranged on both sides of the dish box moving component 1g.

[0020] The transfer mechanism 2 comprises a transverse mechanical arm 2a, a lifting mechanical arm 2b and a clamp 2c, wherein the clamp 2c is mounted on the lifting part of the lifting mechanical arm 2b, and the mounting part of the lifting mechanical arm 2b is mounted on the transverse part of the transverse mechanical arm 2a. The moving direction of the transverse mechanical arm 2a is arranged parallel to the moving direction of the small crossbeam 1c.

[0021] The above-mentioned incubator 3 comprises a box body 3a, in which a plurality of incubator chambers 3b are fixedly arranged, a drawer track 3c is arranged at a position of the box body 3a corresponding to one outer side of the incubator chamber 3b, a compartment cover driving assembly 3d is arranged at a position of the box body 3a corresponding to another outer side of the incubator chamber 3b, a compartment cover 3e is arranged at the outer end of the drawer track 3c and the outer end of the compartment cover driving assembly 3d corresponding to the position of the incubator chamber 3b, and a bracket 3g is arranged on the inner surface of the compartment cover 3e. By designing the drawer track 3c at the periphery of the incubator chamber 3b, it is possible to prevent the oil in the drawer track 3c from contaminating the incubator chamber 3b.

[0022] The above-mentioned bin cover driving assembly 3d includes a bin cover belt conveyor 3d1 and a bin cover driving belt 3d2 respectively installed in the box body 3a, the bin cover driving belt 3d2 is driven by the bin cover belt conveyor 3d1, and the bin cover driving belt 3d2 is provided with a drawer rod 3d3, and the outer end of the drawer rod 3d3 is connected to the bin cover 3e. The bin cover 3e is provided with an anti-condensation heating film. The additional anti-condensation heating film can prevent condensation from occurring on the surface of the bin cover 3e. The inner surface of the bin cover 3e is also provided with a gas sealing ring 3i that matches the mouth of the culture chamber 3b. The additional gas sealing ring 3i can improve the sealing performance of the culture chamber 3b.

[0023] A bin cover position sensor assembly 3f for monitoring the position of the bin cover 3e is provided in the box 3a. The bin cover position sensor assembly 3f includes a bin cover position contact piece 3f1 and a bin cover sensor 3f2 that cooperate with each other. The bin cover position contact piece 3f1 is installed on the connection portion between the bin cover drive belt 3d2 and the drawer rod 3d3. The two bin cover sensors 3f2 are respectively installed in the box 3a at positions corresponding to the two ends of the bin cover drive belt 3d2.

[0024] This embodiment also includes a tray 4 for placing dish boxes. After the liquid preparation mechanism 1 completes the liquid preparation action of the dish boxes on the tray 4, the transfer mechanism 2 places the tray 4 into the incubator 3 for pretreatment. The bottom plate is provided with a tray positioning structure for positioning and placing the tray, such as a positioning column. The tray 4 includes a tray body 4a, and the top surface of the tray body 4a is provided with a first dish box placement positioning hole 4b. The additional first dish box placement positioning hole 4b facilitates the placement and positioning of the dish boxes, and provides conditions for automated liquid preparation. The top surface of the tray body 4a is also provided with a stacking positioning support column 4c. The additional stacking positioning support column 4c can realize multi-layer stacking of trays, thereby saving the floor space of the tray and realizing liquid preparation of multiple trays. The bottom surface of the tray body 4a is provided with a stacking positioning hole 4d that matches the stacking positioning support column 4c at a position corresponding to the stacking positioning support column 4c. The bottom surface of the tray body 4a is provided with a clamping claw grabbing groove 4e on both sides. The additional gripper grabbing groove 4e facilitates the gripper to smoothly grab the tray. The bottom surface of the tray body 4a is also provided with a two-dimensional code groove 4f. The two-dimensional code can be marked in the additional two-dimensional code groove 4f, so that the information of each tray can be marked. The tray body 4a is provided with a positioning guide hole 4g. The positioning guide hole 4g ​​cooperates with the tray positioning structure. The additional positioning guide hole 4g ​​facilitates the positioning of the tray. The tray body 4a is also provided with a weight reduction hole 4h. The additional weight reduction hole 4h can effectively reduce the weight of the tray without affecting the strength and use function of the tray. The tray body 4a is a 96-well plate structure. The number of the first dish box placement positioning holes 4b is 6, and the 6 first dish box placement positioning holes 4b are evenly arranged. The top surface of the tray body 4a is concentrically provided with a second dish box placement positioning hole 4i of different diameters corresponding to the position of the first dish box placement positioning hole 4b, and the second dish box placement positioning hole 4i and the first dish box placement positioning hole 4b are distributed on different horizontal planes. By designing positioning holes for placing dishes of different diameters, the present tray can be applied to dishes of different models, thereby improving the applicability of the tray. The number of the positioning guide holes 4g is 6, and the 6 positioning guide holes 4g are symmetrically arranged. By designing the number of the positioning guide holes 4g to be 6, and the 6 positioning guide holes 4g are symmetrically arranged, the direction of the tray can be ignored when positioning and placing the tray.

[0025] The solution preparation process of this embodiment is as follows:

[0026] First, place a certain number of empty dish boxes a into a corresponding number of trays 4, and stack the trays 4 loaded with dish boxes a on the position of the tray positioning structure on the bottom plate; then, place the oil / liquid bottles respectively on the oil and liquid bottle placement components 1h; then start the machine to prepare the liquid. At this time, the liquid preparation instrument will first control the transfer mechanism 2 to place the tray 4 on the top layer of the tray positioning structure on the dish box placement table 1g3 through the clamp 2c, then control the dish box moving component 1g to move the tray to the liquid preparation station, and then control the dish box cover operating component 1f to suck up and remove the lid of the dish box, and then control the dripping component 1d to titrate the liquid. After the liquid is titrated, control the oil cover component 1e to cover the oil, and then control the dish box cover operating component 1f to cover the lid of the dish box, and then control the dish box cover operating component 1f to cover the lid of the dish box, and so on. The cycle continues until the same All the dish boxes a on a tray 4 have been prepared with liquid; the liquid preparation instrument then controls the dish box moving component 1g to move the tray 4 after liquid preparation back to the initial position, and the transfer mechanism 2 moves the tray 4 after liquid preparation to the incubator 3 through the clamping claw 2c; then, the liquid preparation instrument controls the compartment cover 3e of the incubator 3 to open, and then controls the clamping claw 2c to place the tray 4 after liquid preparation on the bracket 3g on the compartment cover 3e, and finally controls the compartment cover 3e to close to complete the liquid preparation of one tray 4; the liquid preparation instrument then controls the clamping claw 2c to grab the second tray 4 on the tray positioning structure, and repeats this cycle until the liquid preparation of all trays 4 is completed.

[0027] A two-dimensional code scanner 1j is provided on the bottom plate at a position corresponding to the position between the tray positioning structure and the dish box placement platform 1g3. In this way, when the clamp 2c places the tray 4 at the top layer of the tray positioning structure on the dish box placement platform 1g3, the two-dimensional code scanner 1j cooperates with the two-dimensional code in the two-dimensional code slot 4f on the bottom surface of the tray body 4a to quickly obtain the information of the dish box on the tray. A tray presence sensor 3h is provided on the bottom plate at a position corresponding to when the compartment cover 3e pops up, which is used to detect whether there is an empty space on the bracket 3g when the compartment cover 3e pops up. The additional tray presence sensor 3h can ensure that the tray will be placed on the bracket 3g only after it is detected that there is no tray 4 on the bracket 3g.

[0028] In this embodiment, the liquid preparation action is automatically completed by the liquid preparation mechanism 1, so that the position, size and shape of the titrated droplets can be regular, and the titration amount of the liquid can be accurately controlled, and the amount of oil covering the liquid can also be accurately controlled; after the liquid preparation action is completed, the transfer mechanism 2 can immediately put the titrated liquid into the incubator 3 for pretreatment; finally, the entire liquid preparation process does not require manual intervention, thereby greatly reducing labor costs.

[0029] At the same time, this embodiment uses the dripping plunger pump 1d3 to control the liquid suction and titration of the dripping burette 1d1, so that the liquid titration amount can be accurately controlled; by controlling the X-direction movement of the small crossbeam 1c and the Y-direction and Z-direction movement of the dripping assembly 1d, the precise control of the position of the dripping burette 1d1 can be achieved, and combined with the control of the titration amount, the position, size and shape of the titrated droplets can be accurately controlled; the oil suction and titration of the oil cover burette 1e1 is controlled by the oil cover plunger pump 1e3, so that the oil titration amount can be accurately controlled; by controlling the X-direction movement of the small crossbeam 1c and the Y-direction and Z-direction movement of the oil cover assembly 1e, the precise control of the position of the oil cover burette 1e1 can be achieved, and combined with the control of the titration amount, And can accurately control the position and amount of cover oil; through the cover suction tube 1f1 and the negative pressure source to control the taking and placing of the dish box cover, the full automation of dish box liquid preparation can be realized; by controlling the X-direction movement of the small crossbeam 1c and the Y-direction and Z-direction movement of the dish box cover operating component 1f, the flexible taking and placing of the dish box cover can be realized; the added cover suction slider guide hole and the dripping slider guide hole can avoid the interference between the dripping component 1d and the dish box cover operating component 1f on the one hand, and can also play a guiding role on the other hand, thereby improving the stability of the movement; in addition, the added liquid level sensor can accurately detect the liquid level height of the oil, so that it is convenient to accurately control the depth of the burette into the oil bottle to ensure smooth oil suction;.

[0030] Moreover, this embodiment designs the dish box moving component 1g to be a movable structure, so that it can simply realize the full automation of the liquid preparation action and the full automation of placing the finished product into the incubator 3 by cooperating with the transfer mechanism 2; at the same time, the added dish box cooling plate 1g2 can prevent the liquid from volatilizing; by designing the oil bottle cooling plate 1h2 in the oil bottle placing component 1h, the volatilization of liquid and oil can be reduced.

[0031] Furthermore, in this embodiment, the drawer track 3c is designed to be outside the culture chamber 3b, so that the oil in the drawer track 3c can be prevented from contaminating the culture chamber 3b; the added anti-condensation heating film can prevent condensation from occurring on the surface of the chamber cover 3e; the added tray presence sensor 3h can ensure that the tray will be placed on the bracket 3g only after detecting that there is no tray 4 on the bracket 3g; the added gas sealing ring 3i can improve the sealing performance of the culture chamber 3b.

[0032] Finally, the added first dish box placement positioning hole 4b facilitates the placement and positioning of the dish box, and provides conditions for automated liquid preparation; the added stacking positioning support column 4c can realize multi-layer stacking of the tray, thereby saving the floor space of the tray and realizing liquid preparation for multiple trays; the added clamping claw grabbing groove 4e facilitates the smooth grabbing of the tray by the clamping claw; the added QR code slot 4f can be marked with a QR code, so that the information of each tray can be marked; the added positioning guide hole 4g ​​facilitates the positioning of the tray; the added weight reduction hole 4h can effectively reduce the weight of the tray without affecting the strength and use function of the tray; by designing dish box placement positioning holes of different diameters, the present tray can be suitable for dish boxes of different models, thereby improving the applicability of the tray; by designing the number of positioning guide holes 4g to be 6, and the 6 positioning guide holes 4g are arranged symmetrically, the direction of the tray can be ignored when positioning and placing the tray; the QR code scanner 1j cooperates with the QR code in the QR code slot 4f on the bottom surface of the tray body 4a to quickly obtain the information of the dish box on the tray.

Claims

1. A liquid preparation transfer mechanism, characterized in that: It comprises a liquid preparation mechanism (1) and a transfer mechanism (2), wherein the liquid preparation mechanism (1) comprises a column (1a), a large crossbeam (1b) is mounted on the column (1a), a small crossbeam (1c) is mounted on the large crossbeam (1b) for movement along the X direction, and a liquid dripping assembly (1d) is mounted on the small crossbeam (1c) for movement along the Y direction; The dripping assembly (1d) comprises a dripping burette (1d1), a dripping shaft (1d2) and a dripping plunger pump (1d3); the upper end of the dripping burette (1d1) is connected to the lower end of the dripping shaft (1d2); the upper end of the dripping shaft (1d2) is connected to the dripping plunger pump (1d3); the dripping shaft (1d2) is arranged along the Z direction and is provided with a dripping rack (1d4) along the axial direction; a dripping slider (1d5) is axially slidably mounted on the dripping shaft (1d2) at a position corresponding to the dripping rack (1d4); and the dripping slider (1d5) is provided with a dripping gear meshing with the dripping rack (1d4). The dripping gear is slidably mounted on the dripping spline shaft (1d6) along the Y direction via an internal spline. The dripping spline shaft (1d6) is arranged along the Y direction and is rotatably mounted on the small crossbeam (1c). The dripping spline shaft (1d6) is driven to rotate by a dripping motor (1d7). A dripping Y-direction moving belt (1d8) is provided on the small crossbeam (1c) at a position corresponding to the dripping slider (1d5). The dripping Y-direction moving belt (1d8) is connected to the dripping slider (1d5). A dripping belt machine (1d9) for driving the dripping Y-direction moving belt (1d8) to move is provided on the small crossbeam (1c); The number of the small crossbeams (1c) is two, the drip assembly (1d) is mounted on one of the small crossbeams (1c), and the other small crossbeam (1c) is mounted with an oil cover assembly (1e) movably along the Y direction, the oil cover assembly (1e) comprising an oil cover burette (1e1), an oil cover shaft (1e2) and an oil cover plunger pump (1e3), the upper end of the oil cover burette (1e1) is connected to the lower end of the oil cover shaft (1e2), the upper end of the oil cover shaft (1e2) is connected to the oil cover plunger pump (1e3), the oil cover plunger pump (1e3) is mounted on the upper end of the oil cover shaft (1e2) or on the corresponding small crossbeam (1c), the oil cover shaft (1e2) is arranged along the Z direction and is provided with an oil cover rack (1e4) along the axial direction, and the oil cover shaft (1e2) corresponds to the oil cover rack (1e4). An oil cover slider (1e5) is axially slidably installed at the position, and an oil cover gear meshing with the oil cover rack (1e4) is provided on the oil cover slider (1e5). The oil cover gear is slidably sleeved on the oil cover spline shaft (1e6) along the Y direction through an internal spline. The oil cover spline shaft (1e6) is arranged along the Y direction and rotatably installed on the corresponding small crossbeam (1c). The oil cover spline shaft (1e6) is driven to rotate by the oil cover motor (1e7). An oil cover Y-direction moving belt (1e8) is provided on the corresponding small crossbeam (1c) at a position corresponding to the oil cover slider (1e5). The oil cover Y-direction moving belt (1e8) is connected to the oil cover slider (1e5), and an oil cover belt conveyor (1e9) for driving the oil cover Y-direction moving belt (1e8) is provided on the corresponding small crossbeam (1c); The transfer mechanism (2) comprises a transverse movement robot arm (2a), a lifting robot arm (2b) and a clamp (2c); the clamp (2c) is mounted on the lifting part of the lifting robot arm (2b), and the mounting part of the lifting robot arm (2b) is mounted on the transverse movement part of the transverse movement robot arm (2a).

2. A liquid preparation transfer mechanism according to claim 1, characterized in that: The small crossbeam (1c) is provided with a first liquid level sensor (1d10) for detecting the liquid level height.

3. A liquid preparation transfer mechanism according to claim 1, characterized in that: A second liquid level sensor (1e10) for detecting the height of the oil level is provided on the corresponding small crossbeam (1c).

4. A liquid preparation transfer mechanism according to claim 1, characterized in that: A dish box cover operating assembly (1f) is installed on the small crossbeam (1c) on which the drip assembly (1d) is installed so as to move along the Y direction. The dish box cover operating assembly (1f) comprises a cover suction tube (1f1) and a cover suction shaft (1f2). The upper end of the cover suction tube (1f1) is connected to the lower end of the cover suction shaft (1f2). The upper end of the cover suction shaft (1f2) is connected to a negative pressure source. The cover suction shaft (1f2) is arranged along the Z direction and is provided with a cover suction rack (1f4) along the axial direction. The cover suction shaft (1f2) has a corresponding portion thereof. A suction cover slider (1f5) is axially slidably installed at the position, and a suction cover gear meshing with the suction cover rack (1f4) is provided on the suction cover slider (1f5). The suction cover gear is slidably mounted on the suction cover spline shaft (1f6) along the Y direction through an internal spline. The suction cover spline shaft (1f6) is arranged along the Y direction and rotatably installed on the corresponding small crossbeam (1c). The suction cover spline shaft (1f6) is driven to rotate by the suction cover motor (1f7), and the dripping Y-direction moving belt (1d8) is also connected to the suction cover slider (1f5).

5. A liquid preparation transfer mechanism according to claim 4, characterized in that: A suction cover slider guide hole matching the suction cover spline shaft (1d6) is provided on the suction cover slider (1f5) at a position corresponding to the suction cover spline shaft (1d6), and a drip slider guide hole matching the suction cover spline shaft (1f6) is provided on the drip slider (1d5) at a position corresponding to the suction cover spline shaft (1f6).

6. A liquid preparation transfer mechanism according to claim 1, characterized in that: The invention also comprises a dish box moving assembly (1g), wherein the dish box moving assembly (1g) comprises a dish box slide rail (1g1), a dish box cooling plate (1g2) and a dish box placement table (1g3), wherein the dish box cooling plate (1g2) is slidably mounted on the dish box slide rail (1g1), and the dish box placement table (1g3) is mounted on the dish box cooling plate (1g2), and a tray positioning placement groove is provided on the top surface of the dish box placement table (1g3), and claw avoidance grooves for facilitating clamping are provided on both sides of the tray positioning placement groove.

7. A liquid preparation transfer mechanism according to claim 6, characterized in that: An oil bottle placement component (1h) is also provided on the side of the dish box moving component (1g), and the oil bottle placement component (1h) comprises an oil bottle placement positioning frame (1h1), and an oil bottle cooling plate (1h2) is provided on the bottom surface of the oil bottle placement positioning frame (1h1).

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