Two-dimensional driving mechanism for full-automatic cell harvesting instrument

Abstract

The two-dimensional driving mechanism for the full-automatic cell harvesting instrument comprises a cross beam and a liquid injection mechanism, the liquid injection mechanism comprises a liquid injection needle translation assembly, a liquid injection needle lifting assembly and a liquid injection needle set, and the liquid injection needle translation assembly comprises a guide rail fixing plate, a guide rail vertical plate and a first guide rail; the guide rail fixing plate and the guide rail vertical plate are respectively fixed on the cross beam, first guide rails are respectively fixed on the guide rail fixing plate and the guide rail vertical plate, translation sliding blocks are fixed on the liquid injection needle lifting assembly, the two first guide rails are in sliding connection with the two translation sliding blocks, and the liquid injection needle lifting assembly further comprises a liquid injection electric cylinder and a liquid injection linear module; the two liquid injection linear modules are in sliding connection with the liquid injection electric cylinder. The movement of the liquid injection needle set in the X direction is achieved through the two first guide rails and the translation sliding block, the movement of the liquid injection needle set in the Y direction is achieved through the liquid injection electric cylinder, the first liquid injection linear module and the second liquid injection linear module, and the mechanism runs more stably through the double sliding modules.

Description

Technical Field

[0001] The utility model relates to the technical field of bioengineering equipment, in particular to a two-dimensional driving mechanism for a full-automatic cell harvester. Background Art

[0002] The fully automatic cell harvester is mainly used for cytogenetics chromosome karyotype analysis, and can automatically harvest metaphase chromosomes from peripheral blood, bone marrow, amniotic fluid and other samples. The harvesting process is cumbersome and repetitive, requiring a highly stable transmission mechanism.

[0003] The prior art usually uses a sliding module to achieve movement in a certain direction, so there are problems of bumpy and unstable movement. Utility Model Content

[0004] In order to overcome the deficiencies of the prior art, the purpose of the utility model is to provide a fully automatic two-dimensional drive mechanism for a cell harvester that can improve motion stability.

[0005] The purpose of the utility model is achieved by the following technical solutions:

[0006] A two-dimensional drive mechanism for a fully automatic cell harvester comprises a crossbeam and an injection mechanism, the injection mechanism comprising an injection needle translation assembly, an injection needle lifting assembly and an injection needle group, the injection needle translation assembly comprising a guide rail fixing plate, a guide rail vertical plate and a first guide rail, the guide rail fixing plate and the guide rail vertical plate are respectively fixed on the crossbeam, the plane where the guide rail fixing plate is located is perpendicular to the plane where the guide rail vertical plate is located, the first guide rail is respectively fixed on the guide rail fixing plate and the guide rail vertical plate, the injection needle lifting assembly comprises a translation slider, an injection electric cylinder and an injection linear module, the two first guide rails are slidably connected to the two translation sliders, the translation slider is fixedly connected to the injection electric cylinder, the plane where the injection electric cylinder is located is perpendicular to the plane where the crossbeam is located, there are two injection linear modules, and both of the two injection linear modules are slidably connected to the injection electric cylinder.

[0007] Furthermore, the injection needle lifting assembly also includes a slider adapter plate, an injection back plate, an injection lifting transmission plate and an injection mounting plate, the translation slider is fixed on the slider adapter plate, the injection back plate is fixedly connected to the slider adapter plate, the injection lifting transmission plate and the injection back plate are arranged opposite to each other, the injection electric cylinder is located between the injection lifting transmission plate and the injection back plate, the injection linear module includes a first injection linear module and a second injection linear module, the first injection linear module and the second injection linear module are installed on the injection mounting plate, and the injection mounting plate is fixedly connected to the injection lifting transmission plate.

[0008] Furthermore, the injection needle group includes a rotating motor, a first bracket, a second bracket and a plurality of injection needles, the first bracket is fixedly connected to the injection lifting transmission plate, the rotating motor is located in the first bracket, the second bracket is located below the first bracket, the second bracket is fixedly connected to the first bracket, the injection needle is located below the second bracket, the injection needle includes a curved needle and a straight needle, and the curved needle is located inside the straight needle.

[0009] Furthermore, the injection needle group also includes an injection connecting block, an injection needle holder and an injection clamping block, the injection connecting block is located below the second bracket, the injection connecting block is fixedly connected to the second bracket, the injection needle holder is located below the injection connecting block, the injection needle holder is fixedly connected to the injection connecting block, and the injection needle is connected to the injection needle holder via the injection clamping block.

[0010] Furthermore, the distance between the curved needle and the straight needle is smaller than the diameter of the test tube.

[0011] Furthermore, the ends of the curved needle and the straight needle are half-open.

[0012] Furthermore, the two-dimensional driving mechanism for the fully automatic cell harvester also includes a liquid aspiration mechanism, and the liquid aspiration mechanism includes a liquid aspiration needle translation assembly, and the structure of the liquid aspiration needle translation assembly is the same as the structure of the liquid injection needle translation assembly.

[0013] Furthermore, the liquid suction mechanism also includes a liquid suction needle lifting assembly, which includes a liquid suction back plate, a liquid suction electric cylinder, a liquid suction first mounting block, a liquid suction second mounting block and a liquid suction linear module. The first liquid suction mounting block and the liquid suction electric cylinder are fixed on the liquid suction back plate, the liquid suction linear module is fixed on the second liquid suction mounting block, and the second liquid suction mounting block is fixedly connected to the first liquid suction mounting block.

[0014] Furthermore, the number of the liquid suction linear modules is two.

[0015] Furthermore, the liquid aspiration mechanism also includes a liquid aspiration needle group, which includes a liquid aspiration connecting block, a liquid aspiration needle rack, multiple liquid aspiration clamping blocks and multiple liquid aspiration needles, the liquid aspiration needle rack is located below the liquid aspiration first mounting block, the liquid aspiration needle rack is connected to the liquid aspiration first mounting block through the liquid aspiration connecting block, and the liquid aspiration needle is connected to the liquid aspiration needle rack through the liquid aspiration clamping block.

[0016] Compared with the prior art, the two-dimensional drive mechanism of the utility model for the fully automatic cell harvester has the following advantages:

[0017] (1) The present application is for a two-dimensional driving mechanism of a fully automatic cell harvester, wherein the plane where the guide rail fixing plate is located is perpendicular to the plane where the guide rail vertical plate is located, the guide rail fixing plate and the guide rail vertical plate are respectively fixed with a first guide rail, and the injection needle lifting assembly is fixed with a translation slider corresponding to the first guide rail. The first guide rail and the translation slider are used to realize the movement of the injection needle group in the X direction, and the injection electric cylinder, the first injection linear module and the second injection linear module are used to realize the movement of the injection needle group in the Y direction. The double sliding modules make the mechanism run more smoothly;

[0018] (2) The two-dimensional drive mechanism of the fully automatic cell harvester of the present application is provided with a straight needle and a curved needle in the injection needle group, and the distance between the curved needle and the straight needle is smaller than the diameter of the test tube, so that the injection of two liquids can be completed in one action, which simplifies the work process and improves the work efficiency;

[0019] (3) The two-dimensional drive mechanism of the present application for a fully automatic cell harvester has half-open ends of the curved needle and the straight needle. When injecting liquid, the added solution flows out along the end of the injection needle and flows into the test tube through the test tube wall, thus avoiding liquid splashing and secondary contamination. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a two-dimensional driving mechanism for a fully automatic cell harvester of the utility model;

[0021] Figure 2 for Figure 1 Schematic diagram of the injection mechanism structure of the two-dimensional drive mechanism for the fully automatic cell harvester;

[0022] Figure 3 for Figure 2 A schematic diagram of the structure of the injection needle translation component and the injection needle lifting component;

[0023] Figure 4 for Figure 2 A schematic diagram of the structure of the injection needle lifting assembly and the injection needle group;

[0024] Figure 5 This is a partial structural exploded view of the liquid needle lifting assembly;

[0025] Figure 6 It is a schematic diagram of the structure of the injection needle group;

[0026] Figure 7 for Figure 6 Exploded diagram of the injection needle assembly structure;

[0027] Figure 8 for Figure 6 A schematic diagram of the partial structure of the injection needle assembly;

[0028] Fig. 9 for Figure 6A partial enlarged view of the structure of the injection needle assembly;

[0029] Fig.10 for Figure 6 A schematic diagram of the structure of the injection needle assembly from another perspective;

[0030] Fig.11 for Figure 1 Schematic diagram of the liquid suction mechanism structure;

[0031] Fig.12 for Fig.11 Exploded diagram of the structure of the pipette needle lifting assembly;

[0032] Fig.13 for Fig.11 Exploded diagram of the pipette needle group structure.

[0033] In the figure: 10, crossbeam; 20, injection mechanism; 21, injection needle translation assembly; 211, guide rail fixing plate; 212, guide rail vertical plate; 213, first guide rail; 214, horizontal driving member; 215, synchronous belt; 216, first optical coupler; 217, first baffle; 22, injection needle lifting assembly; 221, injection back plate; 222, injection lifting transmission plate; 223, injection electric cylinder; 224, injection mounting plate; 225, slider adapter plate; 226, translation slider; 227, injection first linear module; 228, injection second linear module; 23, injection needle assembly; 231, injection connection block; 232, injection needle holder; 233, injection clamping block; 23 4. Injection needle; 2341. Straight needle; 2342. Curved needle; 235. Rotating motor; 236. First bracket; 237. Second bracket; 238. Third optical coupler; 239. Third baffle; 30. Liquid aspiration mechanism; 31. Liquid aspiration needle translation assembly; 32. Liquid aspiration needle lifting assembly; 321. Liquid aspiration back plate; 322. Liquid aspiration first mounting block; 323. Liquid aspiration second mounting block; 324. Liquid aspiration electric cylinder; 325. Liquid aspiration first linear module; 326. Liquid aspiration second linear module; 327. Fourth optical coupler; 328. Fourth baffle; 33. Liquid aspiration needle assembly; 331. Liquid aspiration connecting block; 332. Liquid aspiration needle holder; 333. Liquid aspiration clamping block; 334. Liquid aspiration needle. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be another intermediate component through which it is fixed. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be another intermediate component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be another intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0037] Figure 1 to Figure 13 The utility model is a two-dimensional driving mechanism for a fully automatic cell harvester, such as Figure 1 As shown, the two-dimensional driving mechanism for the fully automatic cell harvester includes a crossbeam 10 , a liquid injection mechanism 20 and a liquid suction mechanism 30 , and the liquid injection mechanism 20 and the liquid suction mechanism 30 are installed on the crossbeam 10 .

[0038] like Figure 2~Figure 3 As shown, the injection mechanism 20 includes an injection needle translation assembly 21, an injection needle lifting assembly 22 and an injection needle group 23. The injection needle translation assembly 21 includes a guide rail fixing plate 211, a guide rail vertical plate 212, a first guide rail 213, a horizontal driving member 214, and a synchronous belt 215.

[0039] Specifically, the horizontal driving member 214 is a linear motor. In some other embodiments, the horizontal driving member 214 is any motion mechanism that enables the injection mechanism 20 to move horizontally.

[0040] The guide rail fixing plate 211 and the guide rail vertical plate 212 are fixed on the cross beam 10 , and the guide rail fixing plate 211 and the guide rail vertical plate 212 are respectively fixed with a first guide rail 213 .

[0041] Specifically, the plane where the guide rail fixing plate 211 is located is perpendicular to the plane where the guide rail vertical plate 212 is located. The number of the first guide rails 213 is multiple.

[0042] Preferably, the number of the first guide rails 213 is two.

[0043] The horizontal driving member 214 is fixedly mounted on the guide rail fixing plate 211 . The horizontal driving member 214 drives the synchronous belt 215 through the driving wheel, so that the injection mechanism 20 moves horizontally along the length direction of the beam 10 through the injection needle translation assembly 21 . The slider adapter plate 225 is fixedly connected to the synchronous belt 215 .

[0044] The injection needle translation assembly 21 also includes a first optical coupler 216 and a first baffle 217. The first optical coupler 216 is located on the guide rail fixing plate 211, and the first baffle 217 is fixed on the slider adapter plate 225. When the first baffle 217 is located in the first optical coupler 216, the injection needle translation assembly 21 is located at the initial position.

[0045] like Figure 4~Figure 5 As shown, the injection needle lifting assembly 22 includes an injection back plate 221, an injection lifting transmission plate 222, an injection electric cylinder 223, an injection mounting plate 224, a translation slider 226, a slider adapter plate 225, an injection first linear module 227, and an injection second linear module 228. The injection back plate 221 is fixedly connected to the slider adapter plate 225, and the injection back plate 221 is fixedly connected to the injection lifting transmission plate 222.

[0046] Specifically, the liquid injection back plate 221 and the liquid injection lifting transmission plate 222 are arranged opposite to each other, and the liquid injection electric cylinder 223 is located between the liquid injection back plate 221 and the liquid injection lifting transmission plate 222 .

[0047] The slider adapter plate 225 is T-shaped, and translation sliders 226 are fixed to both ends of the slider adapter plate 225 , respectively. The translation slider 226 is slidably connected to the first guide rail 213 .

[0048] Specifically, there are multiple translation sliders 226 .

[0049] Preferably, the number of translation sliders 226 is two.

[0050] By providing two groups of sliding members, and the planes where the two groups of sliding members are located are perpendicular to each other, the movement of the injection mechanism 20 in the horizontal direction is made more stable and reliable.

[0051] The liquid injection mounting plate 224 is fixedly connected to the liquid injection lifting transmission plate 222. The liquid injection mounting plate 224 is L-shaped. The liquid injection first linear module 227 and the liquid injection second linear module 228 are fixed on the liquid injection mounting plate 224. The liquid injection first linear module 227 and the liquid injection second linear module 228 are slidingly connected to the liquid injection electric cylinder 223 respectively.

[0052] Specifically, the plane where the first liquid injection linear module 227 is located and the plane where the second liquid injection linear module 228 is located are perpendicular to each other.

[0053] By providing two groups of linear modules, and the planes where the two groups of linear modules are located are perpendicular to each other, the vertical movement of the injection mechanism 20 is made more stable and reliable.

[0054] The injection needle lifting assembly 22 also includes a second optical coupler and a second baffle. The second optical coupler is installed on the injection back plate 221, and the second baffle is installed on the injection lifting transmission plate 222.

[0055] Specifically, the second optical coupler is a zero-point optical coupler, which is used to determine the initial position.

[0056] like Figure 6~Figure 10 As shown, the injection needle group 23 also includes an injection connecting block 231, an injection needle holder 232, an injection clamping block 233 and an injection needle 234. The injection connecting block 231 is located below the second bracket 237 and is fixedly connected to the second bracket 237. The injection needle holder 232 is located below the injection connecting block 231 and is fixedly connected to the injection connecting block 231. The injection needle 234 is connected to the injection needle holder 232 via the injection clamping block 233.

[0057] Specifically, the injection needle holder 232 is cross-shaped and can fix at least two injection needles 234 in four directions. The injection needle holder 232 includes a groove and an opening, and the injection clamping block 233 has another groove adapted to the groove. The injection clamping block 233 is provided with an opening corresponding to the injection needle holder 232. The injection needle 234 passes through the groove and is clamped with the injection needle holder 232. The bolt passes through the corresponding opening to further tighten the injection needle 234.

[0058] The injection needle 234 includes a straight needle 2341 and a curved needle 2342, wherein the curved needle 2342 is located inside the straight needle 2341. Specifically, the length of the curved needle 2342 is less than the length of the straight needle 2341. There are multiple straight needles 2341. There are multiple curved needles 2342. The injection needle 234 can rotate 45°.

[0059] Preferably, the number of the straight needles 2341 is 4. The number of the curved needles 2342 is equal to the number of the straight needles 2341.

[0060] In a preferred embodiment, the ends of the curved needle 2342 and the straight needle 2341 are half-open, so that when injecting liquid, the added solution flows out along the end of the injection needle 234 and flows into the test tube through the test tube wall, thereby avoiding liquid splashing and secondary contamination.

[0061] In a preferred embodiment, the distance between the curved needle 2342 and the straight needle 2341 is smaller than the diameter of the test tube, so that the filling of the two liquids can be completed in one action, which simplifies the work process and improves work efficiency.

[0062] The injection needle group 23 includes a rotating motor 235, a first bracket 236, a coupling and a second bracket 237. The first bracket 236 is located below the injection lifting transmission plate 222. The first bracket 236 is fixedly connected to the injection lifting transmission plate 222. The rotating motor 235 is located in the first bracket 236. The second bracket 237 is located below the first bracket 236 and is fixedly connected to the first bracket 236. The coupling is located in the second bracket 237.

[0063] The injection needle assembly 23 further includes a third optical coupler 238 and a third baffle 239 . The third optical coupler 238 is fixed on the second bracket 237 , and the third baffle 239 is fixed on the injection clamping block 233 .

[0064] Specifically, the third optical coupler 238 is a zero-point optical coupler, which is used to determine the initial position.

[0065] The liquid aspiration mechanism 30 includes a liquid aspiration needle translation component 31 , a liquid aspiration needle lifting component 32 and a liquid aspiration needle group 33 . The liquid aspiration needle group 33 is located below the liquid aspiration needle lifting component 32 , and the liquid aspiration needle group 33 is fixedly connected to the liquid aspiration needle lifting component 32 .

[0066] Specifically, the structure of the aspiration needle translation assembly 31 is the same as that of the injection needle translation assembly 21, and will not be described in detail here.

[0067] like Figure 11~Figure 13 As shown, the liquid suction needle lifting assembly 32 includes a liquid suction back plate 321, a first liquid suction mounting block 322, a second liquid suction mounting block 323, a liquid suction electric cylinder 324, a first liquid suction linear module 325 and a second liquid suction linear module 326. The liquid suction electric cylinder 324 and the first liquid suction mounting block 322 are fixed on the liquid suction back plate 321, the second liquid suction mounting block 323 is fixed on the first liquid suction mounting block 322, and the first liquid suction linear module 325 and the second liquid suction linear module 326 are respectively fixed on the second liquid suction mounting block 323.

[0068] Specifically, the first liquid suction mounting block 322 and the second liquid suction mounting block 323 are distributed at 90 degrees.

[0069] Specifically, the plane where the first liquid aspiration linear module 325 is located and the plane where the second liquid aspiration linear module 326 is located are perpendicular to each other.

[0070] Specifically, the first liquid suction linear module 325 and the second liquid suction linear module 326 are slidably connected to the liquid suction electric cylinder 324 respectively.

[0071] By providing two groups of linear modules, and the planes where the two groups of linear modules are located are perpendicular to each other, the vertical movement of the liquid suction mechanism 30 is made more stable and reliable.

[0072] The pipette needle lifting assembly 32 further includes a fourth optical coupler 327 and a fourth baffle 328 . The fourth optical coupler 327 is located on the pipette back plate 321 , and the fourth baffle 328 is located on the first pipette mounting block 322 .

[0073] Specifically, the fourth optical coupler 327 is a zero-point optical coupler, which is used to determine the initial position.

[0074] The pipette needle group 33 includes a pipette connecting block 331, a pipette needle rack 332, a pipette clamping block 333 and a pipette needle 334. The pipette connecting block 331 is located below the first pipette mounting block 322, the pipette connecting block 331 is fixedly connected to the first pipette mounting block 322, the pipette needle rack 332 is located below the pipette connecting block 331, the pipette needle rack 332 is fixedly connected to the pipette connecting block 331, and the pipette needle 334 is connected to the pipette needle rack 332 via the pipette clamping block 333.

[0075] Specifically, the liquid suction needle 334 is a straight needle. There are multiple liquid suction needles 334.

[0076] Preferably, the number of the pipetting needles 334 is 8.

[0077] Specifically, the pipette needles 334 are evenly distributed in a circle along the pipette needle holder 332. The pipette needles 334 can rotate 45 degrees.

[0078] When the present application is in use, the horizontal driving member 214 drives the synchronous belt 215 to drive the translation slider 226 to move horizontally along the first guide rail 213, so that the injection mechanism 20 moves horizontally, and the injection electric cylinder 223 provides power, and the first injection linear module 227 and the second injection linear module 228 move vertically along the injection electric cylinder 223, so that the injection needle group 23 moves up and down to complete the injection of liquid; the aspiration needle translation assembly 31 of the aspiration mechanism 30 makes the aspiration needle group 33 move horizontally, and the first aspiration linear module 325 and the second aspiration linear module 326 move vertically along the aspiration electric cylinder 324, so that the aspiration needle group 33 moves horizontally and up and down to complete the aspiration of liquid. The present application is used for a two-dimensional driving mechanism of a fully automatic cell harvester, wherein the plane where the guide rail fixing plate 211 is located is perpendicular to the plane where the guide rail vertical plate 212 is located, the guide rail fixing plate 211 and the guide rail vertical plate 212 are respectively fixed with a first guide rail 213, and the injection needle lifting assembly 22 is fixed with a translation slider 226 corresponding to the first guide rail 213, and the first guide rail 213 and the translation slider 226 are used to realize the movement of the injection needle assembly 23 in the X direction, and the injection electric cylinder 223, the injection first linear module 227 and the injection second linear module 228 are used to realize the movement of the injection needle assembly 23 in the X direction. The linear module 228 realizes the movement of the injection needle group 23 in the Y direction; by arranging a straight needle 2341 and a curved needle 2342 in the injection needle group 23, the distance between the curved needle 2342 and the straight needle 2341 is smaller than the diameter of the test tube, so that the filling of two liquids can be completed in one action, which simplifies the work process and improves work efficiency; the ends of the curved needle 2342 and the straight needle 2341 are half-open, and when injecting liquid, the added solution flows out along the end of the injection needle 234 and flows into the test tube through the test tube wall, avoiding liquid splashing and secondary contamination.

[0079] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the utility model, several modifications and improvements can be made, which are equivalent modifications and improvements made to the above embodiments based on the essential technology of the utility model, and all of them belong to the protection scope of the utility model.

Claims

1. A two-dimensional driving mechanism for a fully automatic cell harvester, comprising a crossbeam, characterized in that: It also includes an injection mechanism, which includes an injection needle translation assembly, an injection needle lifting assembly and an injection needle group, the injection needle translation assembly includes a guide rail fixing plate, a guide rail vertical plate and a first guide rail, the guide rail fixing plate and the guide rail vertical plate are respectively fixed on the crossbeam, the plane where the guide rail fixing plate is located is perpendicular to the plane where the guide rail vertical plate is located, the first guide rail is respectively fixed on the guide rail fixing plate and the guide rail vertical plate, the injection needle lifting assembly includes a translation slider, an injection electric cylinder and an injection linear module, the two first guide rails are slidably connected to the two translation sliders, the translation slider is fixedly connected to the injection electric cylinder, the plane where the injection electric cylinder is located is perpendicular to the plane where the crossbeam is located, the number of the injection linear modules is two, and the two injection linear modules are both slidably connected to the injection electric cylinder.

2. The two-dimensional driving mechanism for a fully automatic cell harvester according to claim 1, characterized in that: The injection needle lifting assembly also includes a slider adapter plate, an injection back plate, an injection lifting transmission plate and an injection mounting plate. The translation slider is fixed on the slider adapter plate. The injection back plate is fixedly connected to the slider adapter plate. The injection lifting transmission plate and the injection back plate are arranged opposite to each other. The injection electric cylinder is located between the injection lifting transmission plate and the injection back plate. The injection linear module includes a first injection linear module and a second injection linear module. The first injection linear module and the second injection linear module are mounted on the injection mounting plate. The injection mounting plate is fixedly connected to the injection lifting transmission plate.

3. The two-dimensional driving mechanism for a fully automatic cell harvester according to claim 2, characterized in that: The injection needle group includes a rotating motor, a first bracket, a second bracket and a plurality of injection needles. The first bracket is fixedly connected to the injection lifting transmission plate. The rotating motor is located in the first bracket. The second bracket is located below the first bracket. The second bracket is fixedly connected to the first bracket. The injection needle is located below the second bracket. The injection needle includes a curved needle and a straight needle. The curved needle is located inside the straight needle.

4. The two-dimensional driving mechanism for a fully automatic cell harvester according to claim 3, characterized in that: The injection needle group also includes an injection connecting block, an injection needle holder and an injection clamping block. The injection connecting block is located below the second bracket, the injection connecting block is fixedly connected to the second bracket, the injection needle holder is located below the injection connecting block, the injection needle holder is fixedly connected to the injection connecting block, and the injection needle is connected to the injection needle holder via the injection clamping block.

5. The two-dimensional driving mechanism for a fully automatic cell harvester according to claim 3, characterized in that: The distance between the curved needle and the straight needle is smaller than the diameter of the test tube.

6. The two-dimensional driving mechanism for a fully automatic cell harvester according to claim 3, characterized in that: The ends of the curved needle and the straight needle are half open.

7. The two-dimensional driving mechanism for a fully automatic cell harvester according to claim 1, characterized in that: The two-dimensional driving mechanism for the fully automatic cell harvester also includes a liquid aspiration mechanism, which includes a liquid aspiration needle translation assembly, and the structure of the liquid aspiration needle translation assembly is the same as that of the liquid injection needle translation assembly.

8. The two-dimensional driving mechanism for a fully automatic cell harvester according to claim 7, characterized in that: The liquid suction mechanism also includes a liquid suction needle lifting assembly, which includes a liquid suction back plate, a liquid suction electric cylinder, a first liquid suction mounting block, a second liquid suction mounting block and a liquid suction linear module. The first liquid suction mounting block and the liquid suction electric cylinder are fixed on the liquid suction back plate, the liquid suction linear module is fixed on the second liquid suction mounting block, and the second liquid suction mounting block is fixedly connected to the first liquid suction mounting block.

9. The two-dimensional driving mechanism for a fully automatic cell harvester according to claim 8, characterized in that: The number of the liquid suction linear modules is two.

10. The two-dimensional driving mechanism for a fully automatic cell harvester according to claim 8, characterized in that: The liquid aspiration mechanism also includes a liquid aspiration needle group, which includes a liquid aspiration connecting block, a liquid aspiration needle rack, multiple liquid aspiration clamping blocks and multiple liquid aspiration needles. The liquid aspiration needle rack is located below the first liquid aspiration mounting block, the liquid aspiration needle rack is connected to the first liquid aspiration mounting block via the liquid aspiration connecting block, and the liquid aspiration needle is connected to the liquid aspiration needle rack via the liquid aspiration clamping block.

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