Patent ID: 7816128
Filing Date: 2010-10-19
Classification: C12M,Y10S,Y10T

Abstract:
1. An automatic cell cultivation apparatus having a multijoint robot, comprising a cultivation apparatus main body for cultivating cells in one or more culture containers, the cultivation apparatus main body being equipped with one or more incubators accommodating the one or more culture containers, a chemical suction machine for sucking chemicals in the culture container, and a multijoint robot for conveying the culture container, wherein the multijoint robot has functions of conveying the culture container, detaching and attaching the lid of the culture container, and inclining the container when sucking chemicals in the culture container; wherein the multijoint robot includes a gripping hand having gripping hand members operatively coupled to a linear slide and arranged to open and close in a linear direction, each of the gripping hand members including a leading end portion having a rectangular cross-section, each of the gripping hand members having a container gripping portion and a tube gripping portion; the container gripping portion of each gripping hand member defined in part by a cut on an upper inside part of each leading end portion, the cut on each leading end portion forming a first pair of corners sized to engage a culture container at two points; and wherein the tube gripping portion of each leading end portion defined in part by a vertical arc formed on an inside part of each leading end portion, the vertical arc on each leading end portion forming a second pair of corners sized to engage a vertically oriented tube at two points.