Pipetting workbench used based on cell culture

Abstract

The invention discloses a pipetting workbench used based on cell culture, and belongs to the technical field of cell culture equipment, the pipetting workbench comprises a box body, a mechanical arm and a module unit are installed in the box body, the mechanical arm is used for carrying out pipetting operation on the module unit, the module unit comprises a base, the lower end of the base is fixedly installed at the inner bottom of the box body; the carrying table is movably arranged at the upper end of the base, and the upper end of the carrying table is used for installing a pore plate; a translation assembly is fixedly installed at the lower end of the carrying table, a containing groove is formed in the upper end of the base, a first driving assembly is installed in the containing groove, and the first driving assembly is matched with the mechanical arm and used for driving the translation assembly to move one time in the horizontal direction after the mechanical arm works every time; the first driving assembly comprises a stepping motor. According to the pipetting workbench used based on cell culture, by arranging the translation assembly, the pore plate can be driven to cooperate with the operation of the mechanical arm to perform intermittent movement, so that the movement track of the mechanical arm each time is fixed, and the planning difficulty of the walking path of the mechanical arm is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of cell culture equipment, and in particular relates to a liquid transfer workbench used for cell culture. Background Art

[0002] A pipetting workbench, also known as a pipetting workstation, is an automated or semi-automated device specifically used for liquid transfer. Currently, when conducting cell culture, especially when conducting cell proliferation tests, cytotoxicity tests, or cell secretion product tests, it is often necessary to inoculate cells on well plates, or collect supernatant after the culture is completed, so a pipetting workbench is often needed.

[0003] The existing pipetting workbench generally realizes pipetting of the well plate on the module unit by multi-axis control of the robot arm, wherein the well plate includes an ELISA plate or a 96-well plate, etc., such as the pipetting platform for the fully automatic pipetting workstation mentioned in patent publication number CN 114164086 B. Since the holes on the well plate are arranged in an array, the robot arm has to adjust its position every time it is working, which undoubtedly increases the difficulty of path planning and setting.

[0004] To this end, we proposed a pipetting workbench based on cell culture to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to solve the problem of complex setting of the movement trajectory of the robot arm in the prior art, and to propose a pipetting workbench for use in cell culture.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A liquid transfer workbench for cell culture, comprising a box body, wherein a mechanical arm and a module unit are installed in the box body, wherein the mechanical arm is used to perform a liquid transfer operation on the module unit, and the module unit comprises:

[0008] A base, the lower end of which is fixedly mounted on the inner bottom of the box;

[0009] A carrier, movably arranged at the upper end of the base, the upper end of the carrier being used for mounting the orifice plate;

[0010] A translation assembly is fixedly mounted at the lower end of the carrier, a receiving slot is provided at the upper end of the base, a first driving assembly is installed in the receiving slot, and the first driving assembly cooperates with the mechanical arm to drive the translation assembly to move once in the horizontal direction after each operation of the mechanical arm;

[0011] The first driving component includes a stepper motor, a screw is fixedly installed on the output end of the stepper motor, the other end of the screw is installed in the accommodating groove through a connecting seat, the screw is threadedly connected to the translation component, when the stepper motor is started, the screw is driven to rotate to drive the translation component to move horizontally, and the stepper motor is started and stopped once after each operation of the robotic arm is completed.

[0012] Preferably, it also includes a second driving assembly, which is installed in the accommodating groove and is used to drive the translation assembly to rotate horizontally so that the orifice plate can be reversed.

[0013] Preferably, the translation assembly rotates around its vertical axis, and the vertical axis of the translation assembly coincides with the center line of the orifice plate, so that the orifice plate is symmetrically distributed about the vertical axis of the translation assembly.

[0014] Preferably, the translation assembly includes a moving seat, a threaded hole cooperating with a screw rod is opened on the moving seat, the lower end of the moving seat contacts and slides with the bottom of the accommodating groove, the upper end of the moving seat is fixedly connected to a fixed shaft, the fixed shaft outer sleeve is provided with a connecting piece, the upper end of the connecting piece is fixedly connected to a sleeve, and the upper end of the sleeve is fixedly connected to the lower end of the carrier.

[0015] Preferably, the connecting member comprises a fixing ring, the fixing ring is sleeved on the outside of the fixing shaft, the upper end of the fixing ring is fixedly connected to the lower end of the sleeve, a driving wheel is arranged outside the fixing ring, and the driving wheel is fixedly connected to the fixing ring through a one-way bearing;

[0016] The second driving assembly includes a driving bar slidably arranged on the side wall of the accommodating groove, and the driving bar is arranged in a horizontal direction. When the driving wheel moves to the position of the driving bar and engages with the driving bar, the driving bar drives the driving wheel to rotate, and the fixing ring rotates synchronously under the action of the one-way bearing.

[0017] Preferably, a through hole is provided at the center of the driving bar, and the opening direction of the through hole is consistent with the length direction of the driving bar, a sliding shaft is provided through the through hole, and both ends of the sliding shaft are respectively fixedly connected to the side walls of the accommodating groove, one end of the driving bar is fixedly connected to the first permanent magnet, and a first electromagnet is installed on the inner wall of the accommodating groove. When the first electromagnet is energized, it can generate a magnetic field that attracts the first permanent magnet to drive the driving bar to move horizontally, and a reset spring is connected between the end of the driving bar away from the first permanent magnet and the side wall of the accommodating groove.

[0018] Preferably, a second permanent magnet is provided at the bottom of the fixing ring, and a second electromagnet corresponding to the second permanent magnet is fixedly mounted on the upper end of the movable seat. When the second electromagnet is energized, it can generate a magnetic field that repels the second permanent magnet to drive the fixing ring to move upward.

[0019] Preferably, a conductive tube is installed on the connecting seat, a conductive plug rod is fixedly installed on the end surface of the movable seat, and the conductive tube and the conductive plug rod are connected in series between the second electromagnet and the external power supply, and the first electromagnet is connected in parallel with the second electromagnet.

[0020] Preferably, a connecting plate is fixedly connected to the upper end of the sleeve, a connecting groove is formed at the lower end of the carrier, and the connecting plate is welded in the connecting groove.

[0021] Preferably, both sides of the lower end of the connecting plate are fixedly connected to limiting columns, and both sides of the upper end of the accommodating groove are fixedly connected to cover plates, and the cover plates are provided with sliding grooves corresponding to the limiting columns, and the sliding grooves are parallel to the direction of the screw, and a slideway parallel to the sliding groove is formed between the two cover plates, and the sleeve is arranged in the slideway.

[0022] To sum up, the technical effects and advantages of the present invention are as follows: the pipetting workbench used for cell culture can drive the well plate to move intermittently in coordination with the operation of the robotic arm by setting a translation component, thereby fixing the movement trajectory of the robotic arm each time, thereby reducing the difficulty of planning the walking path of the robotic arm.

[0023] By setting up a second drive assembly, the translation assembly can be driven to rotate so that the orifice plate can change direction. After the orifice plate rotates, the stepper motor is controlled to rotate in the opposite direction to move the translation assembly toward the initial position. Therefore, after the orifice plate completes the operation, the translation assembly does not need to move the entire path to reset, thereby reducing waiting time and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the module unit in the present invention;

[0026] Figure 3 It is a schematic diagram of the internal structure of the base in the present invention;

[0027] Figure 4 A schematic diagram of the positional relationship between the first driving assembly and the translation assembly in the present invention;

[0028] Figure 5 It is a structural schematic diagram of the translation assembly in the present invention;

[0029] Figure 6is a schematic cross-sectional structural diagram of the translation assembly in the present invention;

[0030] Figure 7 A schematic diagram of the positional relationship between the second driving assembly and the translation assembly in the present invention;

[0031] Figure 8 for Figure 7 A is an enlarged structural diagram;

[0032] Fig. 9 The working state of the present invention is shown in FIG. Figure 1 ;

[0033] Fig.10 The working state of the present invention is shown in FIG. Figure 2 ;

[0034] Fig.11 The working state of the present invention is shown in FIG. Figure 3 ;

[0035] Fig.12 The working state of the present invention is shown in FIG. Figure 4 ;

[0036] Fig.13 It is a schematic diagram of the circuit connection relationship in the present invention.

[0037] In the figure: 1, box; 2, mechanical arm; 3, module unit; 5, translation assembly; 6, first drive assembly; 7, second drive assembly;

[0038] 31. base; 32. carrier; 33. orifice plate; 34. cover plate;

[0039] 311, receiving slot; 341, slide slot; 342, yielding opening; 343, slideway;

[0040] 51. Moving seat; 52. Fixed shaft; 53. Sleeve; 54. Connecting plate; 55. Connecting piece;

[0041] 511, conductive rod; 521, second electromagnet; 522, limit plate; 541, limit column; 551, fixing ring; 552, one-way bearing; 553, driving wheel; 554, second permanent magnet;

[0042] 61. screw rod; 62. connecting seat; 621. conductive tube;

[0043] 71. Sliding shaft; 72. Driving bar; 73. Return spring; 74. First electromagnet; 75. First permanent magnet. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0045] At present, when conducting cell culture, especially when conducting cell proliferation detection and cytotoxicity test or cell secretion product detection, it is often necessary to inoculate cells on the well plate, or collect the supernatant after the culture is completed, so a pipetting workbench is often needed. The existing pipetting workbench generally realizes the pipetting of the well plate on the module unit through multi-axis control of the robotic arm. Since the holes on the well plate are arranged in an array, the robotic arm has to adjust its position every time it is in operation, which undoubtedly increases the difficulty of path planning setting. For example, when performing a plate laying operation, it is necessary to operate the pipette tip to take samples from a fixed position and inject them into different positions in turn. Since the positions are equidistantly distributed, the release position needs to be fine-tuned each time the pipette tip is released, which undoubtedly increases the difficulty of the robotic arm path planning. Moreover, due to the different number and specifications of holes in the well plate, it is also necessary to plan according to the specific model of the well plate, which is more cumbersome.

[0046] In order to solve the above problems, this application adopts the following solutions:

[0047] like Figure 1-Figure 13 As shown, a liquid transfer workbench for cell culture includes a box body 1, in which a mechanical arm 2 and a module unit 3 are installed. The number of the module units 3 can be set as multiple groups of modules with different functions as needed. The mechanical arm 2 is used to perform liquid transfer operations on the module units 3. The module units 3 include:

[0048] The base 31, the lower end of the base 31 is fixedly mounted on the inner bottom of the box body 1, and can be connected specifically by bolt fixing to facilitate detachability. At the same time, a corresponding socket is provided on the base 31, and a plug is provided on the inner bottom of the box body 1. When the base 31 is installed, the module unit 3 is also electrically connected to the workbench.

[0049] The carrier 32 is movably disposed on the upper end of the base 31 . The upper end of the carrier 32 is used to mount the orifice plate 33 . The orifice plate 33 and the carrier 32 are detachably connected by bolts to facilitate replacement of the orifice plate 33 .

[0050] The lower end of the stage 32 is fixedly mounted with a translation assembly 5, and the upper end of the base 31 is provided with a receiving groove 311, the opening of the receiving groove 311 is upward and directly facing the stage 32, and the first driving assembly 6 is installed in the receiving groove 311, and the first driving assembly 6 cooperates with the robot 2 to drive the translation assembly 5 to move once in the horizontal direction after each operation of the robot 2. In this way, the movement trajectory of the robot 2 can be kept consistent each time, and there is no need to carry out complex planning of the movement trajectory of the robot 2 to reduce the difficulty of operation. The spacing of each movement of the translation assembly 5 is the same as the spacing of the holes in adjacent rows of the orifice plate 33.

[0051] Specifically, the first driving assembly 6 includes a stepper motor, a screw 61 is fixedly mounted on the output end of the stepper motor, the other end of the screw 61 is mounted in the receiving groove 311 through a connecting seat 62, and the screw 61 is threadedly connected to the translation assembly 5. In other words, the stepper motor realizes the horizontal drive of the translation assembly 5 through the screw mechanism. When the stepper motor is started, the screw 61 is driven to rotate to drive the translation assembly 5 to move horizontally. When the robot arm 2 completes each operation, the stepper motor is started and stopped once, and each time the stepper motor is started and stopped, the translation assembly 5 will move horizontally a fixed distance.

[0052] In the above scheme, when the translation assembly 5 moves step by step, it takes a long time to wait for the translation assembly 5 to reset after the operation is completed, which affects the efficiency. Therefore, in order to solve the above problem, in this embodiment, a second driving assembly 7 is also included. The second driving assembly 7 is installed in the receiving groove 311. The second driving assembly 7 is used to drive the translation assembly 5 to rotate horizontally, that is, the translation assembly 5 rotates around its vertical axis so that the orifice plate 33 can turn around.

[0053] That is to say, in this embodiment, when the operation progress of the orifice plate 33 is more than half, the second driving component 7 can be used to rotate the carrier 32 and the orifice plate 33. After the orifice plate 33 rotates, the stepper motor is controlled to rotate in the opposite direction to move the translation component 5 toward the initial position. Therefore, after the orifice plate 33 completes the operation, the translation component 5 does not need to move the entire path to reset, thereby reducing waiting time and improving work efficiency.

[0054] Furthermore, the vertical axis of the translation assembly 5 coincides with the center line of the orifice plate 33, so that the orifice plate 33 is symmetrically distributed about the vertical axis of the translation assembly 5. By such a configuration, when the orifice plate 33 rotates 180 degrees, it can coincide with the original position, so when the operation progress of the orifice plate 33 is half completed, the second drive assembly 7 drives it to rotate 180 degrees, so that the direction of the orifice plate 33 is reversed, so that the positions of the part to be operated and the part that has been operated are exchanged, and then the stepper motor is controlled to rotate in the opposite direction. When the operation of the orifice plate 33 is completed, the translation assembly 5 just returns to the initial position.

[0055] With this design, at the beginning and end, the position of the orifice plate 33 is fixed relative to the base 31, so as to facilitate the disassembly and assembly of the orifice plate 33. At the same time, during the operation of the robot arm 2, the orifice plate 33 can move with the robot arm 2, thereby optimizing the movement path of the robot arm 2 and reducing the difficulty of operation.

[0056] The specific description of the translation component 5 is as follows:

[0057] The translation assembly 5 includes a moving seat 51, on which a threaded hole is provided to cooperate with the screw 61. The lower end of the moving seat 51 contacts and slides with the bottom of the receiving groove 311, which limits the moving seat 51. When the screw 61 rotates, the moving seat 51 is driven to move along the screw 61. The upper end of the moving seat 51 is fixedly connected to a fixed shaft 52, which is arranged in a vertical direction. A connecting member 55 is provided on the outer sleeve of the fixed shaft 52, so that the connecting member 55 can rotate around the fixed shaft 52. The upper end of the connecting member 55 is fixedly connected to a sleeve 53, and the upper end of the sleeve 53 is fixedly connected to the lower end of the carrier 32. The two ends of the sleeve 53 can be respectively connected to the connecting member 55 and the carrier 32 by welding.

[0058] In order to increase the connection strength, a connection plate 54 is fixedly connected to the upper end of the sleeve 53, and a connection groove is opened at the lower end of the carrier 32, and the connection plate 54 is welded in the connection groove.

[0059] The connecting member 55 includes a fixing ring 551, which is sleeved on the outside of the fixing shaft 52, and the upper end of the fixing ring 551 is fixedly connected to the lower end of the sleeve 53. A driving wheel 553 is arranged outside the fixing ring 551, and the driving wheel 553 is fixedly connected to the fixing ring 551 through a one-way bearing 552. Under the action of the one-way bearing 552, when the driving wheel 553 rotates in one direction, the force can be transmitted to the fixing ring 551 through the one-way bearing 552, so that the fixing ring 551 rotates with the driving wheel 553. When the driving wheel 553 rotates in another direction, the fixing ring 551 will not rotate with it.

[0060] The second driving assembly 7 includes a driving bar 72 that is slidably arranged on the side wall of the accommodating groove 311. The driving wheel 553 and the driving bar 72 can realize power transmission by friction. In this embodiment, the driving wheel 553 is a gear, and the driving bar 72 is a rack. The driving bar 72 is arranged in the horizontal direction. When the driving wheel 553 moves to the position of the driving bar 72 and meshes with the driving bar 72, the driving bar 72 drives the driving wheel 553 to rotate, and the fixing ring 551 rotates synchronously under the action of the one-way bearing 552. When the driving bar 72 moves back, the fixing ring 551 will not move with it. At the same time, it should be noted that the gear ratio of the driving bar 72 and the driving wheel 553 needs to be satisfied. When the driving bar 72 moves a unit length, the driving wheel 553 rotates half a circle, so that the fixing ring 551 drives the carrier 32 and the orifice plate 33 to rotate 180 degrees.

[0061] A through hole is provided at the center of the driving bar 72, and the opening direction of the through hole is consistent with the length direction of the driving bar 72. A sliding shaft 71 is provided in the through hole. In this embodiment, the cross sections of the sliding shaft 71 and the through hole are both circular, and the rear side wall of the driving bar 72 is slidably attached to the side wall of the receiving groove 311, so the driving bar 72 will not rotate around the sliding shaft 71, and it can be ensured that the driving bar 72 can move along the axis of the sliding shaft 71. The two ends of the sliding shaft 71 are respectively fixedly connected to the side walls of the receiving groove 311, one end of the driving bar 72 is fixedly connected to the first permanent magnet 75, and the inner wall of the receiving groove 311 is installed with a first electromagnet 74. When the first electromagnet 74 is energized, it can generate a magnetic field that attracts the first permanent magnet 75 to drive the driving bar 72 to move horizontally, and a reset spring 73 is connected between the end of the driving bar 72 away from the first permanent magnet 75 and the side wall of the receiving groove 311. When the first electromagnet 74 is energized, the return spring 73 is in an extended state, and the drive bar 72 is in the first position. When the magnetic force of the first electromagnet 74 is less than the pulling force of the return spring 73, the return spring 73 drives the drive bar 72 to move to the second position. When the drive bar 72 moves from the first position to the second position, the drive wheel 553 drives the fixed ring 551 to rotate 180 degrees. When the drive bar 72 moves from the second position to the first position, the fixed ring 551 does not rotate.

[0062] Therefore, in the initial state, the first electromagnet 74 can be kept energized, so that the drive bar 72 overcomes the pulling force of the reset spring 73 and is in the first position. When the drive wheel 553 is engaged with the drive bar 72, the current of the first electromagnet 74 is reduced or the circuit of the first electromagnet 74 is directly disconnected, so that the reset spring 73 is reset, and then the drive bar 72 is moved to the second position, so as to drive the fixing ring 551 to rotate, thereby reversing the direction of the orifice plate 33.

[0063] As a further improvement, a second permanent magnet 554 is provided at the bottom of the fixed ring 551, and a second electromagnet 521 corresponding to the second permanent magnet 554 is fixedly installed at the upper end of the movable seat 51. When the second electromagnet 521 is energized, it can generate a magnetic field that repels the second permanent magnet 554 to drive the fixed ring 551 to move upward. The fixed ring 551 can move up and down along the fixed shaft 52, and can also rotate around the fixed ring 551. When the fixed ring 551 moves upward under the action of the second electromagnet 521, the height of the carrier 32 and the orifice plate 33 can be raised, thereby preventing the carrier 32 from colliding with the adjacent module units 3 during the rotation process. In other words, the module units 3 can be tightly installed to make the device more integrated.

[0064] Regarding the circuit connection between the first electromagnet 74 and the second electromagnet 521, as shown in FIG. Fig.13 As shown, a conductive cylinder 621 is installed on the connecting seat 62, and a conductive plug 511 is fixedly installed on the end surface of the movable seat 51, and the conductive cylinder 621 and the conductive plug 511 are connected in series between the second electromagnet 521 and the external power supply, and the first electromagnet 74 is connected in parallel with the second electromagnet 521. When the conductive plug 511 and the conductive cylinder 621 are not in contact, the first electromagnet 74 and the external power supply form a series circuit, so that the first electromagnet 74 is in a power-on state, thereby generating suction force on the first permanent magnet 75, so that the reset spring 73 is stretched. With the contact between the conductive cylinder 621 and the conductive plug 511, the first electromagnet 74 and the second electromagnet 521 are connected in parallel to the external power supply. According to the basic principle of the circuit, as the conductive cylinder 621 and the conductive plug 511 are continuously inserted, the contact area between the two gradually increases, so that the resistance value of the conductive cylinder 621 and the conductive plug 511 gradually decreases, and then the current in the branch where the second electromagnet 521 is located gradually increases, so that the magnetic force of the second electromagnet 521 gradually increases. When the current in the branch where the second electromagnet 521 is located gradually increases, the current in the branch where the first electromagnet 74 is located gradually decreases.

[0065] That is to say, as the moving seat 51 moves, on the one hand, the conductive plug 511 will be gradually inserted into the conductive tube 621, so that the fixing ring 551 and the sleeve 53 will gradually move upward, and on the other hand, the driving wheel 553 will gradually move to the position of the driving bar 72 along the horizontal direction. At the same time, as the fixing ring 551 gradually moves upward, the driving wheel 553 will gradually move to the position of the driving bar 72 along the vertical direction until the teeth between the driving wheel 553 and the driving bar 72 are fully meshed together. At this time, the magnetic force of the second electromagnet 521 is reduced to a threshold value less than the elastic potential energy of the reset spring 73, so when the reset spring 73 is reset, the driving wheel 553 can be driven to rotate through the driving bar 72. Based on the above driving principle: the carrier 32 and the orifice plate 33 first rise to a certain height, so that the carrier 32 and the orifice plate 33 are displaced from the adjacent module unit 3 up and down, and then rotated to make the carrier 32 and the orifice plate 33 change direction.

[0066] Subsequently, the moving seat 51 moves in the reverse direction, so that the magnetic force of the second electromagnet 521 is gradually weakened, thereby causing the carrier 32 and the orifice plate 33 to gradually descend, and at the same time, causing the driving wheel 553 and the driving bar 72 to move away from each other.

[0067] In order to improve the movement stability and fault tolerance, the lower ends of the connecting plate 54 are fixedly connected with limiting columns 541 on both sides. Specifically, the length direction of the connecting plate 54 is perpendicular to the movement direction of the screw 61, and the limiting columns 541 are respectively arranged on both sides of the screw 61. At the same time, the lower ends of the limiting columns 541 are conical structures. The upper ends of the accommodating grooves 311 are fixedly connected with the cover plates 34 on both sides. The cover plates 34 are provided with slide grooves 341 corresponding to the limiting columns 541. The slide grooves 341 have a bell mouth on the side close to the driving bar 72. When there is an error in the rotation angle of the connecting plate 54, as the moving seat 51 moves, the limiting columns 541 can act on the side wall of the bell mouth to achieve the correction of the connecting plate 54. The slide grooves 341 are parallel to the direction of the screw 61, and a slideway 343 parallel to the slide grooves 341 is formed between the two cover plates 34, and the sleeve 53 is arranged in the slideway 343.

[0068] At the same time, it should be noted that a gap is left between the end of the cover plate 34 close to the drive bar 72 and the side wall of the accommodating groove 311 to facilitate the installation of the drive bar 72, and a clearance opening 342 is also left at the position of the cover plate 34 close to the drive bar 72 to facilitate the drive wheel 553 to move upward from the clearance opening 342.

[0069] In addition, in order to further play a limiting role, a limiting groove is opened on the inner wall of the fixed ring 551, and a limiting protrusion is provided near the bottom of the fixed shaft 52. There are two limiting grooves and two limiting protrusions, and they are symmetrically arranged about the axis of the fixed shaft 52. When the fixed ring 551 moves to the lower position, it can engage with the limiting protrusion to prevent it from rotating. When the fixed ring 551 moves upward, it can be separated from the limiting protrusion without affecting the rotation of the fixed ring 551.

[0070] At the same time, in order to prevent the fixing ring 551 from detaching from the top of the fixing shaft 52, a limiting plate 522 is fixedly connected to the upper end of the fixing shaft 52. When the fixing ring 551 moves to the uppermost position, the limiting plate 522 acts on the upper end of the fixing ring 551 to limit the fixing ring 551.

[0071] Here’s how it works:

[0072] like Figure 9-12 As shown, when in use, the operating position of the robot arm 2 relative to the base 31 remains unchanged, and with the cooperation of the robot arm 2 and the stepper motor, the carrier 32 and the orifice plate 33 gradually move in one direction to operate the orifice plate 33.

[0073] When the operation progress of the orifice plate 33 is more than halfway, the moving seat 51 is driven to move forward, so that the conductive plug 511 contacts the conductive cylinder 621, so that the driving wheel 553 rises and moves toward the driving bar 72, and then drives the stage 32 and the orifice plate 33 to rotate, and then controls the moving seat 51 to move in the opposite direction to the previous position. This process can occur while the robot arm 2 moves to other positions for operation, thereby reducing the waste of time.

[0074] At this time, the operated and unoperated parts of the orifice plate 33 are swapped with each other, and then the robot arm 2 continues to operate, and the rotation direction of the stepper motor is reversed. When the operation of the orifice plate 33 is completed, the stage 32 and the orifice plate 33 also move in the opposite direction to the initial position. Therefore, subsequent operations can be performed directly without waiting time.

[0075] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A liquid transfer workbench for cell culture, comprising a housing (1), wherein a mechanical arm (2) and a module unit (3) are installed in the housing (1), wherein the mechanical arm (2) is used to perform a liquid transfer operation on the module unit (3), and wherein: The module unit (3) comprises: A base (31), the lower end of the base (31) being fixedly mounted on the inner bottom of the box body (1); A carrier (32) is movably arranged on the upper end of the base (31), and the upper end of the carrier (32) is used to install the orifice plate (33); A translation assembly (5) is fixedly mounted on the lower end of the carrier (32); a receiving groove (311) is provided on the upper end of the base (31); a first driving assembly (6) is mounted in the receiving groove (311); the first driving assembly (6) cooperates with the mechanical arm (2) and is used to drive the translation assembly (5) to move once in the horizontal direction after each operation of the mechanical arm (2); The first driving assembly (6) comprises a stepping motor, a screw rod (61) is fixedly mounted on the output end of the stepping motor, the other end of the screw rod (61) is mounted in the receiving groove (311) via a connecting seat (62), the screw rod (61) is threadedly connected to the translation assembly (5), when the stepping motor is started, the screw rod (61) is driven to rotate to drive the translation assembly (5) to move horizontally, and each time the robot arm (2) completes an operation, the stepping motor is started and stopped once.

2. A pipetting workbench for cell culture according to claim 1, characterized in that: It also includes a second driving assembly (7), which is installed in the accommodating groove (311), and is used to drive the translation assembly (5) to rotate horizontally so that the orifice plate (33) can be reversed.

3. A liquid transfer workbench for cell culture according to claim 2, characterized in that: The translation assembly (5) rotates around its vertical axis, and the vertical axis of the translation assembly (5) coincides with the center line of the orifice plate (33), so that the orifice plate (33) is symmetrically distributed about the vertical axis of the translation assembly (5).

4. A pipetting workbench for cell culture according to claim 3, characterized in that: The translation assembly (5) comprises a moving seat (51), a threaded hole cooperating with a screw rod (61) is provided on the moving seat (51), the lower end of the moving seat (51) contacts and slides with the bottom of the accommodating groove (311), the upper end of the moving seat (51) is fixedly connected with a fixed shaft (52), the outer sleeve of the fixed shaft (52) is provided with a connecting piece (55), the upper end of the connecting piece (55) is fixedly connected with a sleeve (53), and the upper end of the sleeve (53) is fixedly connected to the lower end of the carrier (32).

5. A liquid transfer workbench for cell culture according to claim 4, characterized in that: The connecting member (55) comprises a fixing ring (551), the fixing ring (551) is sleeved on the outside of the fixing shaft (52), the upper end of the fixing ring (551) is fixedly connected to the lower end of the sleeve (53), and a driving wheel (553) is arranged outside the fixing ring (551), and the driving wheel (553) is fixedly connected to the fixing ring (551) through a one-way bearing (552); The second driving assembly (7) comprises a driving bar (72) slidably arranged on the side wall of the accommodating groove (311), and the driving bar (72) is arranged in the horizontal direction. When the driving wheel (553) moves to the position of the driving bar (72) and engages with the driving bar (72), the driving bar (72) drives the driving wheel (553) to rotate, and under the action of the one-way bearing (552), the fixing ring (551) rotates synchronously.

6. A pipetting workbench for cell culture according to claim 5, characterized in that: A through hole is provided at the center of the driving bar (72), and the opening direction of the through hole is consistent with the length direction of the driving bar (72). A sliding shaft (71) is provided in the through hole, and the two ends of the sliding shaft (71) are respectively fixedly connected to the side walls of the receiving groove (311). One end of the driving bar (72) is fixedly connected to a first permanent magnet (75), and a first electromagnet (74) is installed on the inner wall of the receiving groove (311). When the first electromagnet (74) is energized, it can generate a magnetic field that attracts the first permanent magnet (75) to drive the driving bar (72) to move horizontally, and a reset spring (73) is connected between the end of the driving bar (72) away from the first permanent magnet (75) and the side wall of the receiving groove (311).

7. A pipetting workbench for cell culture according to claim 6, characterized in that: A second permanent magnet (554) is provided at the bottom of the fixed ring (551), and a second electromagnet (521) corresponding to the second permanent magnet (554) is fixedly mounted on the upper end of the movable seat (51). When the second electromagnet (521) is energized, it can generate a magnetic field that repels the second permanent magnet (554) to drive the fixed ring (551) to move upward.

8. A pipetting workbench for cell culture according to claim 7, characterized in that: A conductive tube (621) is mounted on the connecting seat (62), a conductive plug rod (511) is fixedly mounted on the end surface of the movable seat (51), and the conductive tube (621) and the conductive plug rod (511) are connected in series between the second electromagnet (521) and an external power source, and the first electromagnet (74) is connected in parallel with the second electromagnet (521).

9. The liquid transfer workbench for cell culture according to claim 4, characterized in that: The upper end of the sleeve (53) is fixedly connected with a connecting plate (54), the lower end of the carrier (32) is provided with a connecting groove, and the connecting plate (54) is welded in the connecting groove.

10. A pipetting workbench for cell culture according to claim 9, characterized in that: The lower end of the connecting plate (54) is fixedly connected to limiting columns (541) on both sides, and the upper end of the accommodating groove (311) is fixedly connected to a cover plate (34) on both sides. The cover plate (34) is provided with a slide groove (341) corresponding to the limiting column (541), the slide groove (341) is parallel to the direction of the screw rod (61), and a slideway (343) parallel to the slide groove (341) is formed between the two cover plates (34), and the sleeve (53) is arranged in the slideway (343) through.

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