Pipetting mechanical arm for cell culture

Abstract

The invention relates to the technical field of cell culture, in particular to a pipetting mechanical arm for cell culture, which comprises an arm frame, a fixing seat, a pipetting mechanism, a pipetting mechanism and a control system, the top of the arm frame is provided with a three-axis moving platform, and the fixing seat is fixed at the tail end of the three-axis moving platform; the plurality of movable seats are sequentially arranged along the Y-axis direction of the rectangular coordinate system; and the unfolding and folding mechanism is mounted on the fixed seat. By arranging the fixed seat, the movable seat and the unfolding and folding mechanism, a plurality of pipettes can be mutually unfolded or folded along the Y-axis direction of a rectangular coordinate system. When a plurality of pipettors are in a mutually folded state, operations such as liquid taking and liquid transferring can be normally carried out. When a culture solution needs to be added into a cell culture container, a plurality of pipettors can be in a mutually unfolded state, the distance between the pipettors is relatively large, and mutual interference is avoided, so that the pipettors can be inserted into the corresponding cell culture container at the same time, and the pipetting work can be smoothly carried out.

Description

Technical Field

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

[0002] The pipetting robot is generally installed in a pipetting workstation. It can control the robot to add and remove culture fluid through pre-set programs, thereby completing the entire cell culture process. This type of equipment can achieve efficient culture and expansion of a large number of cells without human intervention, so it is widely used in the field of cell culture.

[0003] In the prior art, a conventional pipetting robot usually includes a three-axis moving mechanism and a fixture capable of carrying a pipette. Specifically, during operation, the pipetting robot needs to carry a pipette to first absorb a certain amount of target solution, and then transfer the target solution to a cell culture container. However, when there are many cell culture containers, the pipetting robot needs to carry a pipette to transfer back and forth between the target solution and the cell culture container, resulting in low pipetting efficiency.

[0004] In addition, if multiple pipettes are arranged at the movable end of the pipetting robot arm, and the multiple pipettes correspond to a number of cell culture containers one by one, then the distance between two adjacent pipettes needs to be adapted to the distance between two adjacent cell culture containers, which results in the overall width of the multiple pipettes being too large. When the pipette is used to absorb the target solution, due to the limited volume of the vessel of the target solution, the multiple pipettes cannot be inserted into the target vessel at the same time, which causes trouble in the aspiration step and leads to low pipetting efficiency. To this end, we propose a pipetting robot arm for cell culture to solve the above-mentioned drawbacks well. Summary of the invention

[0005] The object of the present invention is to provide a pipetting robot for cell culture, which is used to solve the problem that in the prior art proposed in the above background technology, multiple pipettes are set. When the target solution is sucked by the pipette, due to the limited volume of the vessel for the target solution, several pipettes cannot be inserted into the target vessel at the same time, which causes trouble in the aspiration step and leads to low pipetting efficiency.

[0006] The present invention is realized by the following technical scheme: a liquid transfer robot arm for cell culture, comprising an arm frame, a three-axis moving platform is installed on the top of the arm frame, and further comprising:

[0007] A fixed seat, the fixed seat is fixed to the end of the three-axis moving platform;

[0008] A plurality of movable seats are arranged in sequence along the Y-axis direction of the rectangular coordinate system, and a pipette is connected to each movable seat;

[0009] The unfolding and retracting mechanism is installed on the fixed seat and is used to make the movable seats unfold or retract with each other along the Y-axis direction of the rectangular coordinate system.

[0010] Optionally, a plurality of guide slide bars are fixed on the fixed seat in parallel and at intervals, and each guide slide bar moves through each movable seat along the Y-axis direction of the rectangular coordinate system, and a magnetic attraction component for fixing each movable seat is arranged on the fixed seat.

[0011] Optionally, the magnetic attraction component includes a bar magnet fixed on a fixed seat, the bar magnet is arranged along the Y-axis direction of the rectangular coordinate system, and an iron sheet matching the bar magnet is fixed on each movable seat.

[0012] Optionally, the extension and retraction mechanism includes a telescopic rod fixed to the top of each movable seat, each telescopic rod is arranged along the Z-axis direction of the rectangular coordinate system, and a limit block is fixed at the upper end of each telescopic rod.

[0013] Optionally, the stowage mechanism further comprises a slot plate fixed to the top of the arm, the slot plate is located above the three-axis mobile platform, and variable pitch holes and positioning notches are sequentially arranged on the slot plate along the X-axis direction of the rectangular coordinate system;

[0014] The number of the variable pitch holes is the same as the number of the telescopic rods, and the variable pitch holes are arranged in sequence along the Y-axis direction of the rectangular coordinate system and communicate with the positioning notch.

[0015] Optionally, the variable pitch hole includes a first straight slot hole, a connecting slot hole and a second straight slot hole arranged in sequence along the X-axis direction of the rectangular coordinate system, and the second straight slot hole is communicated with the positioning notch;

[0016] The distance between two adjacent first straight slot holes is greater than the distance between two adjacent second straight slot holes.

[0017] Optionally, the movable seat comprises a box body and a seat body which are arranged in sequence from top to bottom, and the box body and the seat body cooperate to form a convex shape; the telescopic rod is fixed to the outer top of the box body, and the guide slide rod movably passes through the seat body;

[0018] A flip shaft is rotatably connected inside the box, and the flip shaft is arranged along the X-axis direction of the rectangular coordinate system. One end of the flip shaft extends outside the box and is fixedly connected to the pipette.

[0019] Optionally, a worm gear located in the box body is fixed on the flip shaft; a cavity communicated with the box body is provided in the base body, a rotating sleeve is rotatably connected in the cavity, the rotating sleeve is arranged along the Y-axis direction of the rectangular coordinate system, and a worm meshing with the worm gear is fixed on the rotating sleeve.

[0020] Optionally, a rotating shaft is rotatably connected to the fixed seat, and the rotating shaft moves through the rotating sleeve along the Y-axis direction of the rectangular coordinate system. A plurality of ridges are fixed on the rotating shaft at circumferential intervals, and each ridge is arranged along the axial direction of the rotating shaft. A groove that matches each ridge is opened on the inner wall of the rotating sleeve.

[0021] Optionally, gears are fixed at both ends of the rotating shaft, racks corresponding to the gears are fixed at the bottom of the slot plate, and the racks are arranged along the Z-axis direction of the rectangular coordinate system;

[0022] When the pipettes are in a mutually unfolded state and move along the Z-axis direction of the rectangular coordinate system, the gear can mesh with the rack.

[0023] Compared with the prior art, the present invention provides a liquid transfer robot for cell culture, which has the following beneficial effects:

[0024] 1. The present invention can make multiple pipettes expand or retract along the Y-axis direction of the rectangular coordinate system by setting a fixed seat, a movable seat and an expansion and retraction mechanism. When multiple pipettes are in a mutually retracted state, operations such as taking liquid and pipetting can be performed normally. When it is necessary to add culture fluid into the cell culture container, multiple pipettes can be in a mutually expanded state. At this time, the distance between each pipette is large and there is no interference with each other, so that they can be inserted into the corresponding cell culture container at the same time, ensuring that the pipetting work can be carried out smoothly.

[0025] 2. The present invention provides a telescopic rod, a limit block, a slot plate, a variable pitch hole and a positioning notch. When the end of the three-axis mobile platform moves to a corresponding position, the pipettes can be automatically deployed to each other without adding additional power, and the use cost is low.

[0026] 3. The present invention provides a flip shaft, a worm gear, a worm, a rotating sleeve, a rotating shaft, ridges, grooves, gears and racks. When each pipette is in a mutually expanded state and moves downward to add liquid, each pipette can be driven to rotate along the corresponding flip shaft, so that the pipette tip of each pipette is in an inclined state, so that the pipette tip can be close to the side wall of the cell culture container, and then the liquid can flow down along the side wall of the cell culture container to avoid impacting the cells in the cell culture container. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A state diagram of the pipette of the present invention being located in a storage area;

[0028] Figure 2 It is a structural schematic diagram of the fixing seat of the present invention;

[0029] Figure 3 It is a structural schematic diagram of the worm of the present invention;

[0030] Figure 4 It is a structural schematic diagram of the rotating shaft of the present invention;

[0031] Figure 5 It is a structural schematic diagram of the slot plate of the present invention;

[0032] Figure 6 It is a state diagram of the pipette of the present invention being located in the culture area;

[0033] Figure 7 is a schematic diagram of the pipette of the present invention in a vertical state;

[0034] Figure 8 It is a schematic diagram of the pipette of the present invention in a tilted state.

[0035] In the figure: 1. arm; 2. three-axis mobile platform; 3. fixed seat; 4. movable seat; 401. box; 402. seat; 5. pipette; 6. unfolding and retracting mechanism; 601. telescopic rod; 602. limit block; 603. slot plate; 604. variable pitch hole; 6041. first straight slot hole; 6042. connecting slot hole; 6043. second straight slot hole; 605. positioning notch; 7. guide slide bar; 8. magnetic suction component; 801. bar magnet; 802. iron sheet; 9. turning axis; 10. worm gear; 11. cavity; 12. rotating sleeve; 13. worm; 14. rotating axis; 15. convex ridge; 16. groove; 17. gear; 18. rack; 19. workbench; 20. culture area; 21. storage area; 22. culture bottle; 23. storage rack; 24. liquid storage tank; 25. waste collection box. DETAILED DESCRIPTION

[0036] 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.

[0037] See also Figures 1 to 8 A liquid transfer robot for cell culture includes an arm frame 1, which is fixed to the top of a workbench 19 to provide support for other components. A three-axis mobile platform 2 is installed on the top of the arm frame 1, and the end of the three-axis mobile platform 2 can achieve precise movement in the three directions of X, Y, and Z. This is a prior art, and its structure will not be described in detail here.

[0038] The present embodiment further includes: a fixed seat 3, a plurality of movable seats 4 and an unfolding and retracting mechanism 6, which are used to solve the problem in the prior art that when a plurality of pipettes are provided, when a target solution is sucked by a pipette, due to the limited volume of the vessel for the target solution, the plurality of pipettes cannot be inserted into the target vessel at the same time, thereby causing trouble in the aspiration step and resulting in low pipetting efficiency.

[0039] Among them, the fixed seat 3 is fixed to the end of the three-axis mobile platform 2, and can move in three directions of X, Y, and Z. A number of movable seats 4 are arranged in sequence along the Y-axis direction of the rectangular coordinate system, and a pipette 5 is connected to each movable seat 4 for taking and releasing liquid. The unfolding and retracting mechanism 6 is installed on the fixed seat 3, and is used to make each movable seat 4 unfold or retract with each other along the Y-axis direction of the rectangular coordinate system. Among them, the pipette 5 adopts an automatic pipette. The automatic pipette is a powerful and widely used laboratory equipment, which can automatically perform operations such as liquid suction and liquid release without manual pressing. This is a prior art and will not be repeated here.

[0040] With the above structure, when the multiple pipettes 5 are in a mutually folded state, operations such as taking liquid and pipetting can be performed normally. When it is necessary to add culture fluid into the cell culture container, the multiple pipettes 5 can be in a mutually expanded state. At this time, the distance between the pipettes 5 is large and they will not interfere with each other, so they can be inserted into the corresponding target container at the same time, ensuring that the pipetting work can be carried out smoothly.

[0041] For the convenience of the following description, the left area of ​​the workbench 19 is named as the culture area 20, and the right area of ​​the workbench 19 is named as the storage area 21. In the culture area 20, a number of culture bottles 22 are arranged in sequence along the Y-axis direction of the rectangular coordinate system. The size of each culture bottle 22 is relatively large and corresponds to the deployed pipette 5 one by one. Functional modules are arranged in the storage area 21, such as a tip storage rack 23, a liquid storage tank 24, and a waste collection box 25.

[0042] In this embodiment, it should be added that a plurality of guide slide bars 7 are fixed in parallel and at intervals on the fixed seat 3, and each guide slide bar 7 moves through each movable seat 4 along the Y-axis direction of the rectangular coordinate system, so that each movable seat 4 can only move along the axial direction of the guide slide bar 7. A magnetic attraction component 8 for fixing each movable seat 4 is provided on the fixed seat 3, which can fix the movable seat 4 so that the movable seat 4 is not easy to slide along the guide slide bar 7 when it is not affected by external forces of the system.

[0043] The magnetic suction component 8 is introduced as follows:

[0044] The magnetic attraction assembly 8 includes a bar magnet 801 fixed on the fixed seat 3, and the bar magnet 801 is arranged along the Y-axis direction of the rectangular coordinate system. An iron sheet 802 that matches the bar magnet 801 is fixed on each movable seat 4. When in use, the movable seat 4 can be adsorbed and fixed by the cooperation of the bar magnet 801 and the iron sheet 802, while the movable seat 4 is not affected to move along the axial direction of the guide slide bar 7.

[0045] The following is an introduction to the exhibition and collection mechanism 6:

[0046] The extension and retraction mechanism 6 includes a telescopic rod 601 fixed to the top of each movable seat 4. Each telescopic rod 601 is arranged along the Z-axis direction of the rectangular coordinate system and can be extended and retracted along the Z-axis direction. A limit block 602 is fixed at the upper end of each telescopic rod 601. The limit block 602 cooperates with other components to limit the telescopic rod 601.

[0047] It should be added that the stowage mechanism 6 also includes a slot plate 603 fixed to the top of the arm frame 1, and the slot plate 603 is located above the three-axis mobile platform 2. In this embodiment, the slot plate 603 is located directly above the culture area 20 and does not block the space above the storage area 21. This design allows the end of the three-axis mobile platform 2 to move freely in the storage area 21, and normal operations such as disassembly and assembly of the suction head and liquid collection can be performed.

[0048] In this embodiment, the slot plate 603 is provided with pitch-changing holes 604 and positioning notches 605 in sequence along the X-axis direction of the rectangular coordinate system. The positioning notches 605 are in the shape of a trumpet with a large outside and a small inside. When the telescopic rod 602 moves into the positioning notches 605 and moves toward the inner side of the positioning notches 605, the trumpet-shaped structure can ensure that the telescopic rods 602 can be close to each other, thereby ensuring that the telescopic rods 602 can smoothly enter the pitch-changing holes 604. The number of the pitch-changing holes 604 is the same as the number of the telescopic rods 601. The pitch-changing holes 604 are arranged in sequence along the Y-axis direction of the rectangular coordinate system and communicate with the positioning notches 605. Each telescopic rod 601 can enter the corresponding pitch-changing hole 604 through the positioning notches 605.

[0049] Specifically, the variable pitch hole 604 includes a first straight slot hole 6041, a connecting slot hole 6042, and a second straight slot hole 6043 arranged in sequence along the X-axis direction of the rectangular coordinate system, the second straight slot hole 6043 is connected to the positioning notch 605, and the second straight slot hole 6043 is arranged at one end close to the positioning notch 605 so as to be larger outside and smaller inside, so as to facilitate the telescopic rod 601 to enter the second straight slot hole 6043. The distance between two adjacent first straight slot holes 6041 is greater than the distance between two adjacent second straight slot holes 6043. When the telescopic rod 601 enters the second straight slot hole 6043 along the second straight slot hole 6043 and the connecting slot hole 6042, the distance between each telescopic rod 601 increases, thereby increasing the distance between the pipettes 5. The specific process is as follows: when the telescopic rod 601 moves in the second straight slot hole 6043, each pipette 5 is in a completely retracted state; when the telescopic rod 601 moves in the connecting slot hole 6042, each pipette 5 is in a gradually expanded state; when the telescopic rod 601 moves in the first straight slot hole 6041, each pipette 5 is in a completely expanded state.

[0050] With the above structure, when the fixed seat 3 is located in the storage area 21, the fixed seat 3 can be moved at will under the drive of the three-axis moving platform 2, so that the gun tip disassembly and assembly, liquid collection and other operations can be carried out normally. In addition, when the fixed seat 3 is in the storage area 21, the pipettes 5 on the fixed seat 3 are in a mutually retracted state.

[0051] When the pipette 5 has finished taking liquid, the three-axis mobile platform 2 drives the fixed seat 3 to move to the designated position, so that each telescopic rod 601 can enter the positioning notch 605, and the limit block 602 can be located above the slot plate 603. At this time, the three-axis mobile platform 2 drives the fixed seat 3 to move toward the culture area 20, which can drive the telescopic rod 601 to move in the variable pitch hole 604, thereby increasing the distance between each pipette 5.

[0052] Finally, the three-axis mobile platform 2 drives the fixed seat 3 to move downward, thereby driving the fully expanded pipette 5 to move downward, and the liquid can be released into the culture bottle 22. In this process, due to the presence of the limit block 602, the telescopic rod 601 can be extended and retracted with the movement of the fixed seat 3, so as to prevent the telescopic rod 601 from being separated from the variable pitch hole 604. Therefore, after the liquid is added, the fixed seat 3 needs to return to the storage area 21 along the original route. In the process of returning, the telescopic rod 601 and the variable pitch hole 604 can cooperate to make each pipette 5 automatically retract.

[0053] When performing pipetting, the pipette tip of the pipette 5 is generally inserted vertically into the liquid storage tank 24, and after absorbing the target solution, it is moved to the top of the culture bottle 22, and finally inserted vertically into the culture bottle 22 to release the target solution into the culture bottle 22. However, when releasing the target solution into the culture bottle 22, since the pipette tip is in a vertical state, it will impact the cells in the culture bottle 22, which may easily cause cell damage; at the same time, it is also easy to generate bubbles, which is not conducive to cell growth. In order to solve this problem, the following design was carried out:

[0054] In this embodiment, the movable seat 4 includes a box body 401 and a seat body 402 arranged in sequence from top to bottom, and the box body 401 and the seat body 402 cooperate to form a convex shape, which is compact and saves materials. The telescopic rod 601 is fixed to the outer top of the box body 401, and the guide slide bar 7 movably passes through the seat body 402. The box body 401 is rotatably connected with a flip axis 9, and the flip axis 9 is arranged along the X-axis direction of the rectangular coordinate system. One end of the flip axis 9 extends outside the box body 401 and is fixedly connected to the pipette 5, and the pipette 5 can rotate along the flip axis 9.

[0055] It is worth mentioning that the flip shaft 9 is fixed with a worm wheel 10 located in the box 401; the seat 402 is provided with a cavity 11 connected to the box 401, and a rotating sleeve 12 is rotatably connected in the cavity 11. The rotating sleeve 12 is arranged along the Y-axis direction of the rectangular coordinate system, and a worm 13 meshing with the worm wheel 10 is fixed on the rotating sleeve 12. When the rotating sleeve 12 rotates, the flip shaft 9 can be driven to rotate through the cooperation of the worm 13 and the worm wheel 10, so that the pipette 5 is tilted, so that the pipette head on the pipette 5 can be close to the side wall of the culture bottle 22, and then the liquid can flow down along the side wall of the culture bottle 22, so as to reduce the impact of the liquid and avoid impacting the cells in the culture bottle 22. At the same time, it is not easy to generate bubbles, which is conducive to cell growth.

[0056] It should be noted that the fixed seat 3 is rotatably connected with a rotating shaft 14, and the rotating shaft 14 moves through the rotating sleeve 12 along the Y-axis direction of the rectangular coordinate system. A plurality of convex ridges 15 are fixed on the rotating shaft 14 at intervals along the circumferential direction, and each convex ridge 15 is arranged along the axial direction of the rotating shaft 14. A groove 16 that matches each convex ridge 15 is provided on the inner wall of the rotating sleeve 12. By providing the convex ridges 15 and the grooves 16, when the pipettes 5 are mutually expanded or retracted, the rotating sleeve 12 can be driven to move synchronously along the rotating shaft 14. When the rotating shaft 14 rotates, the rotating sleeve 12 can be driven to rotate synchronously.

[0057] Further, gears 17 are fixed at both ends of the rotating shaft 14, and racks 18 corresponding to each gear 17 are fixed at the bottom of the groove plate 603, and each rack 18 is arranged along the Z-axis direction of the rectangular coordinate system. When each pipette 5 is in a mutually expanded state and moves along the Z-axis direction of the rectangular coordinate system, the gear 17 can mesh with the rack 18. Therefore, when the gear 17 meshes with the rack 18, the pipette 5 can be driven to tilt through the cooperation of the rotating shaft 14, the convex ridge 15, the rotating sleeve 12, the worm 13, the worm wheel 10 and the flip shaft 9. The specific process is: when the pipette 5 in the fully expanded state moves downward to add liquid, the pipette 5 first keeps the vertical state and moves downward, then tilts while moving downward, and then keeps the tilted state and moves downward, so that the suction head in the tilted state enters the culture bottle 22, and finally the suction head stops and releases the target solution, so that the target solution slowly flows down along the side wall of the culture bottle 22, thereby greatly reducing the impact force.

[0058] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0059] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A liquid transfer robot for cell culture, comprising an arm frame (1), a three-axis moving platform (2) being installed on the top of the arm frame (1), characterized in that: Also includes: A fixed seat (3), wherein the fixed seat (3) is fixed to the end of the three-axis moving platform (2); A plurality of movable seats (4), wherein the plurality of movable seats (4) are arranged in sequence along the Y-axis direction of the rectangular coordinate system, and a pipette (5) is connected to each movable seat (4); An expansion and retraction mechanism (6) is installed on the fixed seat (3) and is used to enable the movable seats (4) to expand or retract along the Y-axis direction of the rectangular coordinate system.

2. A liquid transfer robot for cell culture according to claim 1, characterized in that: A plurality of guide slide bars (7) are fixed on the fixed seat (3) in parallel and at intervals, and each guide slide bar (7) moves through each movable seat (4) along the Y-axis direction of the rectangular coordinate system. A magnetic attraction component (8) for fixing each movable seat (4) is arranged on the fixed seat (3).

3. A liquid transfer robot for cell culture according to claim 2, characterized in that: The magnetic attraction component (8) comprises a bar magnet (801) fixed on a fixed seat (3), wherein the bar magnet (801) is arranged along the Y-axis direction of a rectangular coordinate system, and an iron sheet (802) matching the bar magnet (801) is fixed on each movable seat (4).

4. A liquid transfer robot for cell culture according to claim 2, characterized in that: The unfolding and retracting mechanism (6) comprises a telescopic rod (601) fixed to the top of each movable seat (4), each telescopic rod (601) is arranged along the Z-axis direction of the rectangular coordinate system, and a limiting block (602) is fixed at the upper end of each telescopic rod (601).

5. A liquid transfer robot for cell culture according to claim 4, characterized in that: The stowage mechanism (6) further comprises a slot plate (603) fixed to the top of the arm frame (1), the slot plate (603) being located above the three-axis mobile platform (2), and having variable pitch holes (604) and positioning notches (605) arranged in sequence along the X-axis direction of the rectangular coordinate system on the slot plate (603); The number of the variable pitch holes (604) is the same as the number of the telescopic rods (601), and the variable pitch holes (604) are arranged in sequence along the Y-axis direction of the rectangular coordinate system and communicate with the positioning notch (605).

6. A liquid transfer robot for cell culture according to claim 5, characterized in that: The variable pitch hole (604) comprises a first straight slot hole (6041), a connecting slot hole (6042) and a second straight slot hole (6043) arranged in sequence along the X-axis direction of the rectangular coordinate system, and the second straight slot hole (6043) is communicated with the positioning notch (605); The distance between two adjacent first straight slot holes (6041) is greater than the distance between two adjacent second straight slot holes (6043).

7. A liquid transfer robot for cell culture according to claim 5, characterized in that: The movable seat (4) comprises a box body (401) and a seat body (402) arranged in sequence from top to bottom, the box body (401) and the seat body (402) cooperate to form a convex shape; the telescopic rod (601) is fixed to the outer top of the box body (401), and the guide slide rod (7) movably passes through the seat body (402); A flip shaft (9) is rotatably connected inside the box (401), and the flip shaft (9) is arranged along the X-axis direction of the rectangular coordinate system. One end of the flip shaft (9) extends outside the box (401) and is fixedly connected to the pipette (5).

8. A liquid transfer robot for cell culture according to claim 7, characterized in that: A worm wheel (10) located in a box body (401) is fixed on the flip shaft (9); a cavity (11) communicating with the box body (401) is arranged in the seat body (402); a rotating sleeve (12) is rotatably connected in the cavity (11); the rotating sleeve (12) is arranged along the Y-axis direction of the rectangular coordinate system; a worm (13) meshing with the worm wheel (10) is fixed on the rotating sleeve (12).

9. A liquid transfer robot for cell culture according to claim 8, characterized in that: The fixed seat (3) is rotatably connected with a rotating shaft (14), and the rotating shaft (14) moves through the rotating sleeve (12) along the Y-axis direction of the rectangular coordinate system. A plurality of convex ridges (15) are fixed on the rotating shaft (14) at intervals along the circumferential direction, and each convex ridge (15) is arranged along the axial direction of the rotating shaft (14). A groove (16) is provided on the inner wall of the rotating sleeve (12) and is matched with each convex ridge (15).

10. A liquid transfer robot for cell culture according to claim 9, characterized in that: Gears (17) are fixed at both ends of the rotating shaft (14), racks (18) corresponding to the gears (17) are fixed at the bottom of the slot plate (603), and the racks (18) are arranged along the Z-axis direction of the rectangular coordinate system; When the pipettes (5) are in a mutually unfolded state and move along the Z-axis direction of the rectangular coordinate system, the gear (17) can mesh with the rack (18).

Images