Liquid synchronous proportioning and sampling automation device

Abstract

The application discloses a liquid synchronous proportioning and sampling automation device and belongs to the technical field of laboratory automation equipment. The module comprises a mechanical execution unit and a control unit. The control unit stores individualized parameters of each container and executes a core uniform sampling algorithm: the volume of solute and solvent is calculated according to the target total amount and concentration ratio; the solvent liquid feeding time length is calculated at a set solvent speed; the required solute liquid feeding speed of the solute is inversely deduced according to the solvent liquid feeding time length; and finally, the solvent pump and the solute pump are controlled to synchronously operate at their respective speeds for the solvent liquid feeding time length, so that real-time uniform mixing and sampling are realized. The application integrates automatic cleaning, parameterized batch management, intermittent liquid feeding and other functions, solves the problems of low proportioning efficiency, uneven mixing, poor precision and easy cross contamination in the prior art, and realizes efficient, accurate and flexible automatic liquid filling.

Description

Technical Field

[0001] This invention relates to the field of laboratory automation equipment technology, and more specifically, to an automated device for simultaneous liquid proportioning and dispensing. Background Technology

[0002] In fields such as chemical analysis and biological sample preparation, it is often necessary to precisely add solvents (such as water) and different types of ionic solutions to test tubes in specific volume ratios, and the homogeneity of the solution mixing directly affects the accuracy of experimental results. As the amount of experimental samples increases, traditional manual or semi-automated solution preparation and addition methods can no longer meet the requirements.

[0003] The closest existing technical solution is a "simple manual adjustment liquid dosing device," which typically includes a single-channel syringe pump, a manual valve, a dosing needle, and a simple support. Operation requires manual calculation and measurement of the liquid, manual adjustment of parameters, dosing the solution into each test tube individually, and manual cleaning of the tubing when changing solutions. This solution has significant drawbacks: poor mixing accuracy, low efficiency, uneven mixing of solvent and solute, susceptibility to cross-contamination, lack of personalized batch processing capabilities, and no real-time monitoring or safety control mechanisms.

[0004] Furthermore, in actual experimental environments, the physical properties of solvents and solutes, such as temperature and viscosity, may change due to fluctuations in room temperature and variations in solution concentration. This can cause deviations between the theoretical and actual flow rates of the drive mechanism, thus affecting the accuracy of the final mixing ratio. Simultaneously, for solutes prone to rapid reactions or volatile solvents, conventional continuous synchronous sampling may lead to unnecessary side reactions or solvent loss within the sampling needle or mixing device. Existing technologies lack adaptive sampling strategies for such special liquids. Summary of the Invention

[0005] To address these issues, this application provides an automated liquid simultaneous proportioning and dispensing device, which aims to overcome the problems of poor proportioning accuracy, low efficiency, uneven mixing of solvent and solute, easy cross-contamination, lack of personalized batch processing capabilities, and lack of real-time monitoring and safety control mechanisms in the prior art.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] In a first aspect, this application provides an automated device for simultaneous liquid proportioning and dispensing, comprising:

[0008] Mechanical actuators and control units;

[0009] The mechanical actuator includes:

[0010] Solvent-driven mechanism and solute-driven mechanism;

[0011] A mixing device having a first inlet, a second inlet, and an outlet, wherein the first inlet is in fluid communication with the outlet of the solvent driving mechanism, and the second inlet is in fluid communication with the outlet of the solute driving mechanism; a dispensing needle being in fluid communication with the outlet of the mixing device; and a moving positioning mechanism being drivenly connected to the dispensing needle for driving the dispensing needle to move to a target position.

[0012] The control unit is electrically connected to the solvent driving mechanism, the solute driving mechanism and the moving positioning mechanism respectively;

[0013] The control unit is configured to perform uniform injection control, the uniform injection control including:

[0014] It stores a set of personalized parameters corresponding to multiple sample containers, each set of personalized parameters containing at least the total amount of the target solution and the solute volume ratio; and receives the solvent injection rate set by the user.

[0015] For the container currently being processed, based on its corresponding personalized parameter set and the solvent injection rate, uniform injection control is performed, including:

[0016] Calculate the required solute volume and solvent volume based on the total target solution volume and the solute volume ratio, respectively.

[0017] Based on the solvent volume and the solvent inlet rate, calculate the solvent inlet time; based on the solute volume and the solvent inlet time, calculate the solute inlet rate required by the solute pump.

[0018] The solvent driving mechanism is controlled by the solvent inlet rate and the solvent inlet duration, and the solute driving mechanism is controlled synchronously by the solute inlet rate and the solvent inlet duration.

[0019] Furthermore, it also includes: waste liquid tank;

[0020] The control unit is also configured to:

[0021] The mobile positioning mechanism is controlled to drive the liquid injection needle to move above the waste liquid tank in order to perform pipeline cleaning or dredging operations;

[0022] The pipeline cleaning or purging operation includes:

[0023] First, pure solvent is extracted to clean the flow path, and then the target concentration solution is prepared and rinsed.

[0024] And before performing uniform injection control for the current container, read the solute type identifier from the current container's personalized parameter set;

[0025] If the identifier read is different from the identifier used by the previous container, then the control will execute the pipeline cleaning procedure.

[0026] Furthermore, the solvent driving mechanism is a multi-channel pump configured to draw in solvent from a solvent source and simultaneously dispense solvent to multiple outlets;

[0027] The solute driving mechanism is a multi-channel pump configured to draw in solute from a solute source and simultaneously distribute solute to multiple outlets.

[0028] Furthermore, the control unit is also configured to:

[0029] When performing uniform injection control for a single container, the calculated solvent volume and solute volume are divided into N equal parts, where N≥2 and are integers;

[0030] The solvent driving mechanism and the solute driving mechanism are controlled to operate synchronously for N liquid addition cycles;

[0031] Each liquid addition cycle includes: controlling two drive mechanisms to run synchronously for a first duration at the solvent inlet rate and the solute inlet rate, and then synchronously stopping for an adjustable second duration.

[0032] Furthermore, the control unit is also configured to:

[0033] Before performing uniform injection control for multiple containers, the solvent injection time and solute injection rate for each container are pre-calculated and stored in batches based on the personalized parameter set of all containers and the solvent injection rate.

[0034] And to acquire and report at least one of the following status information in real time:

[0035] The currently processed container identifier, the real-time coordinates of the mobile positioning mechanism, the real-time operating speed of the solvent driving mechanism and the solute driving mechanism, and the remaining amount of solvent and solute.

[0036] Furthermore, it also includes: physical property sensors installed on solvent pipelines and / or solute pipelines for real-time acquisition of the temperature and viscosity of the solvent and / or the temperature and viscosity of the solute;

[0037] The control unit is also configured to perform dynamic flow rate correction control, including:

[0038] The system receives data collected by the physical property sensor; based on a preset physical property-flow rate correction model, it corrects the calculated solvent inlet rate and / or solute inlet rate in real time; and controls the corresponding drive mechanism to operate at the corrected rate.

[0039] Furthermore, the control unit is also configured to perform alternating pulse sampling control for processing readily reactive solutes, including:

[0040] The solvent infusion time and the solute infusion time are each divided into 2N sampling cycles, where N≥1 and is an integer.

[0041] During the first N cycles, the solvent driving mechanism is controlled to operate at the solvent inlet speed, and the solute driving mechanism is controlled to stop.

[0042] During the subsequent N cycles, the solute driving mechanism is controlled to operate at the solute inlet rate, and the solvent driving mechanism is controlled to stop.

[0043] Furthermore, the control unit is also configured to perform gradient flow rate loading control for handling volatile solvents, including:

[0044] The solvent volume is divided into at least three stages, and a different solvent inlet rate is set for each stage;

[0045] The solvent driving mechanism is controlled to operate according to the set stage sequence and corresponding speed, while the solute driving mechanism is controlled to operate synchronously at the speed calculated by the stage volume ratio.

[0046] Furthermore, the control unit controls the operating speed of the solvent driving mechanism and the solute driving mechanism via pulse signals.

[0047] Furthermore, the mobile positioning mechanism is a three-axis gantry or a robotic arm.

[0048] The application employs the above technical solution and has at least the following beneficial effects:

[0049] 1. It fundamentally solves the problem of uneven solution mixing and achieves highly uniform and precise proportioning.

[0050] The core algorithm of "uniform injection control" calculates the volumes of solvent and solute based on the target total volume and volume ratio. Using the user-defined solvent rate (vsolvent) as a benchmark, it calculates a unique synchronization time T and a matching solute rate (vsolvent). By controlling the two drive mechanisms to run synchronously for the same duration T for both vsolvent and vsolvent, it ensures that different volumes of solvent and solute can be mixed in real-time within the mixing device at precise ratios, starting and ending simultaneously. This completely eliminates concentration gradients and mixing dead zones caused by sequential sample addition or flow rate mismatches in traditional methods, resulting in a significant improvement in sample concentration consistency.

[0051] 2. It has achieved efficient batch automation, which has greatly improved experimental efficiency.

[0052] By storing personalized parameter sets corresponding to multiple sample containers, the device can acquire and manage the formulation of an entire batch of samples at once. Combined with a mobile positioning mechanism that automatically drives the dispensing needle to position itself sequentially to each container, the entire process of "parameter call-calculation-positioning-synchronous sample dispensing" requires no manual intervention. This frees operators from tedious, repetitive manual labor, enabling continuous and automated processing of multiple test tubes, with overall efficiency several times higher than manual operation.

[0053] 3. It offers highly flexible configurability to adapt to complex experimental needs.

[0054] The device provides independent configuration capabilities for the "target total solution volume" and "solute volume ratio" for each container through a "personalized parameter set." This means that within the same batch process, each test tube can have a unique concentration and volume. This flexibility allows the device to easily handle complex experimental scenarios such as gradient concentration configurations and different treatments for multiple samples, overcoming the limitations of traditional equipment with fixed parameters and the ability to process only a single ratio.

[0055] 4. The system's adaptability to environmental fluctuations and special liquids has been enhanced, further ensuring accuracy and reliability.

[0056] By introducing dynamic flow rate correction control, the system can sense and compensate for flow rate deviations caused by changes in temperature and viscosity in real time, stabilizing the mixing accuracy within an extremely high range. Alternating pulse dispensing control effectively separates the contact time between readily reactive solutes and solvents, reducing their in-situ reactions in the delivery pipeline and mixing points. Gradient flow rate dispensing control optimizes the dispensing strategy for volatile solvents, reducing their evaporation losses during the dispensing process. These intelligent control modes expand the application scenarios of the device.

[0057] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a schematic diagram illustrating the components of an automated liquid simultaneous proportioning and dispensing device according to an exemplary embodiment;

[0060] Figure 2This is a schematic diagram illustrating the solvent-solute pipeline and mixing device connection of a liquid synchronous proportioning and dispensing device according to an exemplary embodiment;

[0061] Figure 3 This is a schematic diagram illustrating the composition of an automated liquid simultaneous proportioning and dispensing device according to an exemplary embodiment. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] For specific implementation details, please refer to [link / reference]. Figure 1 , Figure 1 This is a schematic diagram illustrating the composition of an automated liquid simultaneous proportioning and dispensing device according to an exemplary embodiment. The device includes:

[0064] Mechanical actuator 20 and control unit 10;

[0065] The mechanical actuation unit 20 includes:

[0066] Solvent driving mechanism 21 and solute driving mechanism 22;

[0067] The mixing device 24 has a first inlet, a second inlet, and an outlet. The first inlet is in fluid communication with the outlet of the solvent driving mechanism 21, and the second inlet is in fluid communication with the outlet of the solute driving mechanism 22. The dispensing needle 25 is in fluid communication with the outlet of the mixing device 24. The moving positioning mechanism 23 is drivenly connected to the dispensing needle 25 and is used to drive the dispensing needle 25 to move to the target position.

[0068] The control unit 10 is electrically connected to the solvent driving mechanism 21, the solute driving mechanism 22 and the moving positioning mechanism 23 respectively;

[0069] The control unit 10 is configured to perform uniform injection control, the uniform injection control including:

[0070] It stores a set of personalized parameters corresponding to multiple sample containers, each set of personalized parameters containing at least the total amount of the target solution and the solute volume ratio; and receives the solvent injection rate set by the user.

[0071] For the container currently being processed, based on its corresponding personalized parameter set and the solvent injection rate, uniform injection control is performed, including:

[0072] Calculate the required solute volume and solvent volume based on the total target solution volume and the solute volume ratio, respectively.

[0073] Based on the solvent volume and the solvent inlet rate, calculate the solvent inlet time; based on the solute volume and the solvent inlet time, calculate the solute inlet rate required by the solute pump.

[0074] The solvent driving mechanism is controlled by the solvent inlet rate and the solvent inlet duration, and the solute driving mechanism is controlled synchronously by the solute inlet rate and the solvent inlet duration.

[0075] This embodiment provides an automated liquid simultaneous mixing and dispensing device. Its core lies in achieving personalized, high-precision, and uniform mixing of batch samples through hardware and software collaboration, enabling automated liquid preparation and dispensing. It mainly includes four stages: parameter preset and storage, device initialization, cyclic execution (cleaning-calculation-positioning-dispensing), and process completion. The control unit 10, acting as the "brain," executes the core "uniform dispensing algorithm" based on a preset set of personalized parameters and coordinates the synchronous and precise operation of all components in the mechanical execution unit 20.

[0076] The hardware of this device consists of a mechanical execution unit 20 and a control unit 10.

[0077] Mechanical actuator 20, comprising:

[0078] The driving mechanism includes a solvent driving mechanism 21 (such as a six-channel syringe pump) and at least one solute driving mechanism 22 (such as three independent three-channel syringe pumps). These mechanisms are responsible for the precise extraction and delivery of liquids.

[0079] Mixing device 24: It adopts a Y-type three-way pipe, whose two inlets are respectively connected to the outlet of solvent driving mechanism 21 and the outlet of the currently selected solute driving mechanism 22 through pipelines, and its outlet is connected to the liquid addition needle 25 to ensure that the two liquids can be mixed immediately after they merge.

[0080] Mobile positioning mechanism 23: In this embodiment, a three-axis gantry (X, Y, Z axes) is used. The liquid dispensing needle 25 is fixed to the Z-axis end of the gantry and driven thereto. The gantry receives control commands and can drive the needle to move precisely in three-dimensional space, positioning it directly above any test tube or waste liquid tank.

[0081] Control Unit 10:

[0082] Its core is a programmable logic controller (PLC), which is electrically connected to and controls the solvent drive mechanism 21, the solute drive mechanism 22 and the motion controller of the three-axis gantry via cables.

[0083] Furthermore, the basic components of the system also include:

[0084] Electrical power supply system: The device adopts 220V mains power supply, and the internal distribution cabinet has a rated power of 2.5KW, which provides continuous and stable power to all components such as injection pump, gantry drive motor, control unit 10 (PLC) to ensure the reliability of long-term operation.

[0085] To enable users to easily control complex experimental procedures, the system features a human-machine interface. This interface is typically an industrial touchscreen, providing users with a graphical operating environment. Its core functions include:

[0086] Receive and validate user-input personalized parameter sets (such as target total amount, concentration ratio, and intermittent infusion parameters).

[0087] Set up and issue process control commands (such as start, pause, reset).

[0088] Real-time status feedback information from the PLC (such as coordinates, speed, and remaining quantity) is displayed centrally in the form of charts, numbers, etc.

[0089] The PLC and the human-machine interface together constitute the control unit 10. They exchange data through a stable and efficient communication transmission system, which serves as the high-level data interaction channel within the control unit 10. In this embodiment, the system adopts an industrial Ethernet architecture based on the TCP / IP protocol and has been optimized to ensure communication determinism.

[0090] Network configuration: The PLC is pre-configured with a fixed IP address (e.g., 192.168.0.31), and the HMI is configured with a fixed address within the same network segment (e.g., 192.168.0.100), with a subnet mask of 255.255.255.0 for both. This fixed IP architecture eliminates the risk of communication interruptions caused by dynamic address allocation, providing a definite addressing basis for the control network.

[0091] In one embodiment, the uniform injection control function is implemented through the following steps:

[0092] 1. Parameter Storage and Reception: The PLC's registers store a parameter matrix. For example, for 10 test tubes, each test tube corresponds to an independent set of personalized parameters, including: the target total solution volume (Vtotal, stored in a register such as VD13100) and the solute volume ratio (R, stored in a register such as VD13140). The solvent injection rate (vsolvent) set by the user through the human-machine interface is also received and stored.

[0093] 2. Algorithm execution (taking test tube #1 as an example):

[0094] Volume calculation: Read Vtotal from VD13100 and R from VD13140, and calculate: Vsolvent = Vtotal × R; Vsolvent = Vtotal × (1-R).

[0095] Duration calculation: Based on the user-defined agent V, calculate the time required for the solvent pump to completely dispense agent V, i.e., solvent dispensing time T = agent V / agent V. This T will become the baseline time for synchronization between solvent and solute.

[0096] Rate matching calculation: To ensure that all solute is added within the same time period T, calculate the solute inlet rate v_dissolved = V_dissolved / T.

[0097] Synchronous control execution: The PLC simultaneously sends commands to the solvent driving mechanism 21 and the selected solute driving mechanism 22, controlling the former to run at a speed vsolvent and the latter at a speed vsolute, with the running duration of both strictly synchronized at T. Thus, solvents and solutes of different volumes can be injected into the mixing device 24 in precise proportions, starting and ending simultaneously, achieving instantaneous uniform mixing and sample addition.

[0098] In one embodiment, a waste liquid tank is provided in the mechanical execution unit 20. When it is necessary to perform pipeline cleaning or drain residual droplets at the tip of the needle, the control unit 10 (PLC) controls the three-axis gantry to drive the liquid injection needle 25 to move to a preset coordinate position above the waste liquid tank (the coordinates are stored in registers such as VD13234), and then starts the drive mechanism to discharge the waste liquid, thereby keeping the pipeline clean and preventing cross-contamination.

[0099] In one embodiment, to improve batch processing efficiency, the drive mechanism employs a special multi-channel pump. The solvent drive mechanism 21 is a six-channel injection pump that draws solvent from a common solvent tank (solvent source) but can independently or synchronously dispense solvent to six outlets, simultaneously connecting to six mixing paths. The solute drive mechanism 22 consists of three three-channel injection pumps, each corresponding to a different ionic solution (solute source). Each pump can independently draw liquid from its solute source and dispense it to three outlets. This "one-in, multiple-out" architecture forms the basis for achieving multi-channel parallel or rapid solution switching.

[0100] In one embodiment, to achieve automatic cleaning, the control unit 10 performs a judgment before each uniform sample injection control to the next test tube. Specifically, the PLC reads the solute type identifier from the current test tube parameter set (for example, reading the value 2 from register VD13050 to represent ion number 1) and compares it with the identifier used by the previous test tube stored in temporary memory. If the two are different, the PLC automatically triggers the cleaning program, controlling the drive mechanism to extract pure solvent to rinse the relevant solute tubing. Only after this is completed will the calculation and sample addition for the current test tube be performed, thus "streamlining" and preventing cross-contamination.

[0101] In one embodiment, to meet the need for slow mixing in certain special reactions, this device supports an intermittent liquid addition mode. When this function is enabled, for a single container, the control unit 10 divides the calculated Vagent and Vsolvent into N equal portions (N is a preset value, such as 3). Subsequently, the solvent and solute driving mechanism 22 is controlled to synchronously run N liquid addition cycles. Each cycle includes: the two mechanisms running synchronously at the rates of Vagent and Vsolvent for a first duration (i.e., T / N), and then synchronously stopping for an adjustable second duration (i.e., the interval time). This is repeated until all portions are added.

[0102] In one embodiment, to optimize process efficiency, the control unit 10 supports a batch pre-calculation mode. Before starting batch processing, the PLC reads the parameter set and reagent value of all test tubes (e.g., 10 tubes) at once, and pre-calculates the corresponding T and v-solution values ​​for each test tube, storing these results in another set of registers. During actual execution, the PLC does not need to calculate for each test tube in real time, but directly calls the pre-stored results to issue execution instructions, thereby reducing calculation waiting time and improving overall throughput.

[0103] In one embodiment, this device possesses a comprehensive status feedback system. The control unit 10 acquires and can provide feedback on various status information in real time through a human-machine interface, such as: the number of the test tube currently being processed, the real-time coordinates of each axis of the three-axis gantry (e.g., left and right axis coordinates read from VD13188) and speed, the actual operating speeds of the solvent pump and solute pump, and the remaining liquid volume in the solvent tank and each solute tank (e.g., remaining solvent volume read from VD13034). This information provides users with transparent process monitoring and early warning.

[0104] To achieve transparent monitoring and traceability of the experimental process, the control unit 10 acquires and provides feedback on comprehensive status information in real time:

[0105] Process step feedback: Register VD13184 stores and updates the current running step number in real time (e.g., "19" represents sample addition in test tube 1, "65" represents sample addition in all test tubes 10), and displays the progress intuitively.

[0106] Motion status feedback: The real-time coordinates of the left-right, up-down, and front-back axes of the gantry (stored in VD13188, VD13196, and VD13204 respectively) and the real-time running speed (stored in VD13192, VD13200, and VD13208 respectively) are fed back in units of pulses, realizing precise monitoring of displacement and speed (in this example, 1 pulse corresponds to 0.002375mm displacement).

[0107] Material and performance feedback: Real-time reminders for users to replenish raw materials are provided regarding the remaining quantities in the solvent tank (VD13034) and each solute tank (VD13038-VD13046) to prevent experimental interruptions. Simultaneously, the PLC uploads the actual liquid inlet speed of the pump in real time, comparing it with the theoretical value calculated by the control algorithm to form a closed-loop verification, ensuring the actual accuracy of uniform sample injection.

[0108] In one embodiment, the control unit 10 specifically comprises a programmable logic controller (PLC) and a human-machine interface (HMI touchscreen). The HMI is responsible for receiving all user parameter inputs (such as target total amount and concentration ratio) and operation commands (such as start and pause), and displaying the status graphically. The PLC is responsible for executing the core control logic, including running the uniform injection algorithm, interacting with the mechanical actuator 20 in real time via I / O, and handling interrupts. The two exchange data via industrial Ethernet.

[0109] In one embodiment, to achieve high-precision control, the control unit 10 (PLC) uses pulse signals to control the speed of the drive mechanism. Specifically, the stepper motor or servo motor in the drive mechanism receives a pulse sequence from the PLC. Each pulse corresponds to a tiny angular displacement of the motor, which is then precisely converted into the displacement of the pump plunger. By controlling the pulse frequency to adjust the motor speed, pulse-level precise control of the agent and solvent is achieved, ensuring a high degree of consistency between the theoretically calculated speed and the actual execution speed.

[0110] In this embodiment, the mobile positioning mechanism 23 is preferably a three-axis gantry, which has a stable structure and high positioning accuracy. However, it should be understood that the function of achieving three-dimensional precise positioning is not limited to this form. As an obvious alternative, a multi-joint robotic arm can be used, for example. As long as the mechanism can receive control commands and drive the liquid dispensing needle 25 to move accurately and reliably to the target position (test tube position or waste liquid tank) set by the program, it should fall within the protection scope of this invention. When using a robotic arm, the kinematic model of the robotic arm itself needs to be used for position control, and the coordinate parameters of the test tube and waste liquid tank in the robotic arm coordinate system need to be updated.

[0111] Furthermore, it also includes: the control unit 10 (PLC) receives and executes advanced control instructions through specific register bits to achieve flexible control and safety protection of the process. For example:

[0112] Set VB13180.0 (overall start), and the device will run automatically according to the preset process;

[0113] Set VB13180.1 (emergency reset) to immediately stop all actions and return to a safe position;

[0114] Setting VB13180.4 (Pause / Resume) allows you to pause or resume the current sample injection and calculation process;

[0115] Set VB13180.3 (return to initial position), and the drive mechanism returns to the origin.

[0116] In addition, the system integrates an anomaly handling mechanism. For example, by setting the bubble compensation amount for each pump piston rod (stored in VD13308-VD13320, default 50 pulses), the system automatically eliminates the slight impact of bubbles on the injection accuracy. After the sample is added, the system controls the gantry to move the liquid injection needle 25 above the waste liquid tank (coordinates stored in VD13234-VD13254) for purging, ensuring the pipeline is clean.

[0117] In practical implementation, the core communication architecture is not limited to Ethernet TCP / IP. For example, it can be replaced with industrial serial communication protocols such as Modbus-RTU and Profibus. Only the hardware communication interface configuration between the PLC and HMI and the underlying driver need to be adjusted; the upper-level parameter storage, uniform injection algorithm, and control logic remain unchanged.

[0118] Furthermore, the drive mechanism is not limited to a syringe pump. To achieve the same high-precision solution dispensing, a high-precision peristaltic pump can be used. When replacing it, the conversion relationship between "pulse-velocity-volume" in the algorithm module of the control unit 10 needs to be adjusted to parameters or calibration formulas that are adapted to the specific flow characteristic curve of the peristaltic pump, so as to achieve the same synchronous control effect.

[0119] Furthermore, the 10-tube processing capacity described in this invention is merely an example. By expanding the address mapping range of the parameter registers (for example, expanding the tube parameter register group from VB13090-VB13099 to VB13090-VB13109, and correspondingly increasing the coordinate storage area), the uniform injection algorithm can support batch processing of 20, 96, or even more containers, and the system has good scalability.

[0120] Furthermore, the uniform injection algorithm offers flexibility in its triggering and execution modes. In addition to the "real-time calculation per tube" mode detailed in the embodiments, a "batch pre-calculation-sequential execution" mode can also be used. That is, before startup, the solvent injection time T and solute injection rate v for all tubes are pre-calculated and stored, and then directly invoked during execution. This improves the system response efficiency during continuous operation.

[0121] For specific implementation details, please refer to [link / reference]. Figure 2 , Figure 3 Based on the actual hardware configuration and pipeline connection requirements, the division of labor of the drive mechanism of the mechanical actuator, the corresponding pipeline relationships, and the mixing and discharging logic are further clarified to ensure that the device is stably adapted to actual application scenarios, as detailed below:

[0122] 1. Clear division of labor and piping parameters of the drive mechanism

[0123] The drive mechanism in the mechanical actuator consists of four injection pumps. The functional division, number of pipelines, and configuration rules of each pump are as follows:

[0124] Solute driving mechanism: It includes three independent three-channel injection pumps, numbered 1, 3 and 4 respectively. Each pump is equipped with three independent pipelines, and each pump corresponds to one type of ionic solute (pump 1 matches ion 1, pump 3 matches ion 2, and pump 4 matches ion 3), realizing the directional delivery of "one solute in and three solute out" to ensure independent control of different solutes;

[0125] Solvent-driven mechanism: It is a six-channel syringe pump, numbered 2, with 6 lines, one of which is a dedicated inlet for solvent (water) and the other 5 are solvent outlets. Its core function is to form a precise mixing flow path with the designated line of the solute pump to meet the needs of multiple mixing and sample addition.

[0126] 2. Corresponding logic for pipeline connections and mixed liquid output

[0127] The solvent pump and solute pump are connected by a fixed pipeline, and real-time mixing of liquids is achieved in conjunction with a Y-type three-way mixing device. The correspondence of each flow path is as follows:

[0128] First mixing flow path: Solvent pump 2's No. 2 pipe → and solute pump 1's No. 2 pipe → are connected together to the A end inlet of the Y-type three-way mixing device → liquid is discharged through the A liquid addition needle;

[0129] Second mixing flow path: Solvent pump 2's No. 3 pipeline → and solute pump 3's No. 2 pipeline → are connected together to the B end inlet of the Y-type three-way mixing device → liquid is discharged through the B liquid dosing needle;

[0130] The third mixing flow path: the No. 4 pipe of solvent pump 2 → the corresponding pipe of solute pump 4 → are connected to the C end inlet of the Y-type three-way mixing device → the liquid is discharged through the C liquid dispensing needle.

[0131] The above-described pipeline connection logic is deeply adapted to the uniform sample injection algorithm of the control unit: the control unit accurately matches the corresponding solute pump and pipeline based on the personalized parameter set of the current sample container (such as solute type identifier), and simultaneously sends out the calculated solvent injection rate (vsolvent) and solute injection rate (vsolvent), ensuring that the solvent and solute converge synchronously and mix in real time within the Y-type three-way mixing device. Finally, precise sample injection is completed through a dedicated injection needle, fully adhering to the core control logic of "speed-time synchronization," ensuring mixing uniformity and proportioning accuracy. The above description is merely a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any equivalent modifications, substitutions, or improvements conceived by those skilled in the art within the spirit and principles of the present invention should be included within the scope of protection of the appended claims.

[0132] In one embodiment, regarding the enhanced automated cleaning and pre-rinsing process:

[0133] The control unit (PLC) further optimizes the process when performing the aforementioned tubing cleaning operation. Taking switching to a new solute concentration as an example, the PLC first controls the solvent pump to draw a sufficient amount of pure solvent (such as deionized water), driving it to flow through the currently selected solute tubing, mixing device, and dispensing needle, thoroughly flushing away any residual solute from the previous solution into the waste tank. Subsequently, the PLC reads the personalized parameters (target total volume, concentration ratio) of the test tube to be sampled, temporarily calculates and simulates a sample dispensing process: controlling the solvent pump and solute pump to run at the calculated speed for a very short time, ensuring that the prepared "target concentration solution" precisely fills the flow path space from the mixing device to the needle tip. This process is equivalent to "rinsing" the tubing with the solution to be added. After rinsing, the needle moves towards the target test tube to perform the formal sample dispensing. This ensures that from the first drop, the concentration of the solution entering the test tube is the target value, eliminating the initial concentration deviation caused by the dead volume of the tubing, and is particularly suitable for precision experiments sensitive to the concentration front.

[0134] In one embodiment, regarding dynamic flow rate correction control:

[0135] To overcome the potential impact of ambient temperature fluctuations (e.g., ±5℃) or viscosity changes caused by high solute concentrations on injection accuracy (theoretical errors may increase to over ±3%), this device incorporates real-time parameter acquisition and dynamic correction capabilities. High-precision miniature temperature sensors (accuracy ±0.1℃) and viscosity sensors (accuracy ±0.1 mPa·s) are installed near the pump outlet on the main solvent line and each solute line. These sensors transmit the acquired data to the control unit (PLC) every 100 ms via an analog input module. The PLC pre-stores a "physical property-flow rate correction model," whose simplified formula can be expressed as: Corrected flow rate = Theoretical calculated flow rate × [1 + k1 × (Actual temperature - Standard temperature) + k2 × (Actual viscosity - Standard viscosity)]

[0136] Where k1 and k2 are industry-adaptive coefficients obtained through experimental calibration for different solvent / solute types (e.g., for water as a solvent, k1≈-0.002 / ℃, k2≈-0.005 / (mPa·s)). The PLC monitors the physical property data in real time. Once it detects that the temperature or viscosity change exceeds the preset threshold (e.g., ΔT>2℃ or Δη>1mPa·s), it automatically triggers the correction algorithm to adjust the pulse frequency (i.e., operating speed) sent to the solvent-driven mechanism and the solute-driven mechanism in real time, thus achieving closed-loop control. Through this mechanism, the proportioning error caused by fluctuations in physical properties can be re-stabilized and controlled within ±0.2%.

[0137] In one embodiment, regarding alternating pulse sampling control:

[0138] This mode is activated when the solute to be added is chemically reactive and may precipitate, crystallize, or rapidly decompose upon contact with the solvent. The control unit divides the total addition time T (same for solvent and solute) into 2N equal-length cycles (e.g., N=5, then 10 cycles in total, with cycle length set between 1 and 10 seconds). During the addition process, in the first N cycles, only the solvent drive mechanism is activated, injecting 50% of the total volume of solvent into the mixing device; in the subsequent N cycles, only the solute drive mechanism is activated, injecting 50% of the total volume of solute into the mixing device. The solvent and solute meet in batches within the mixing device, rather than being continuously mixed, greatly reducing the risk of high-concentration reactants persisting in a localized area, making it particularly suitable for the preparation of certain biochemical reagents or unstable compounds.

[0139] In one embodiment, regarding gradient flow rate sampling control:

[0140] When using highly volatile solvents (such as acetone and ethanol), a gradient flow rate strategy can be employed to reduce evaporation losses during the needle dwell time and droplet droplet descent. The control unit divides the total solvent volume into three consecutive stages: the initial stage (rapid injection, accounting for 30% of the total solvent volume), using 120% of the theoretical solvent injection rate; the middle stage (stable injection, accounting for 50%), using 100% of the theoretical rate; and the final stage (slow replenishment, accounting for 20%), using 80% of the theoretical rate. To achieve synchronization, the solute injection rate is also calculated and adjusted synchronously according to the time ratio of the same stage. This "fast-medium-slow" dispensing mode can quickly establish the liquid flow, reduce the solvent exposure time at the needle, and precisely control droplet breakage in the final stage, effectively reducing the overall loss of volatile solvents and ensuring the accuracy of the target total volume.

[0141] In practical implementation, compared with the closest existing technology (i.e., a simple liquid dosing device that relies on manual calculation, manual operation, and a single pump and single channel), the automated liquid synchronous proportioning and dosing device provided by this invention achieves the following significant beneficial effects through integrated innovation of software and hardware:

[0142] 1. Significantly improves solution preparation efficiency and automation level

[0143] By employing a "multi-channel pump" architecture and a "batch pre-calculation" mode, combined with the automatic positioning of the mobile positioning mechanism 23, this invention achieves continuous, unattended automated operation of multiple test tubes. It completely replaces the tedious process of manually calculating, measuring, mixing, and adding samples one by one, freeing operators from repetitive labor. For batch sample processing, its efficiency can be increased by more than 5 times compared to traditional manual methods.

[0144] 2. Achieve high precision and high homogeneity in solution preparation.

[0145] Through the "uniform injection control" algorithm and the precise control of "pulse signals," the solvent and solute are ensured to mix in real time, synchronously, and at the same time according to the preset volume ratio. This fundamentally solves the problems of uneven mixing and concentration gradient caused by the sequential addition or mismatch of speeds in existing technologies. It can control the concentration consistency error between samples within ±1%, and the liquid addition accuracy can reach the 0.1μL level.

[0146] 3. Completely eliminate cross-contamination and ensure sample purity.

[0147] Through an "automatic cleaning program" and "waste tank linkage treatment," the system can automatically flush and drain pipelines before switching to different types or concentrations of solutes. This streamlined design eliminates the risk of residue caused by incomplete manual cleaning and ensures the independence and purity of different samples from a mechanism perspective, making it particularly suitable for biochemical detection that is sensitive to contamination.

[0148] 4. Possesses high operational flexibility and process configurability.

[0149] Through the "personalized parameter set" mapping scheme, users can independently set parameters for each test tube, including "liquid addition / skip," solute type, target total amount, concentration ratio, and other comprehensive parameters. Combined with the "intermittent liquid addition" function (adjustable number of portions and intervals), a single device can flexibly adapt to diverse experimental procedures and schemes, from standard concentration dilution to complex gradient preparation, and from rapid mixing to slow reactions, overcoming the shortcomings of traditional equipment with fixed parameters and limited functionality.

[0150] 5. Transparent and controllable operating status, safe and reliable.

[0151] Through a "multi-dimensional status feedback system" (real-time monitoring of steps, coordinates, speed, and remaining capacity) and control commands such as emergency reset and pause / resume detailed in the instruction manual, operators can monitor the equipment's operating status and material consumption throughout the process and intervene safely and promptly in case of abnormalities. This significantly reduces the risk of entire batches of samples being scrapped due to equipment failure or raw material depletion, and improves the certainty and reliability of the experimental process.

[0152] 6. Strong system compatibility and scalability

[0153] As described in the alternative embodiments of the specification, the control core (uniform sample injection algorithm and parameterized management) of this invention is loosely coupled with specific hardware (such as drive mechanism type, positioning mechanism form, and communication protocol). This means that its core innovation can be adapted to different hardware platforms (such as syringe pumps or peristaltic pumps, gantry cranes or robotic arms), and can easily support larger sample processing scales by expanding register addresses, demonstrating good technical versatility and upgrade potential.

[0154] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0155] It should be noted that in the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "multiple" or "more" means at least two.

[0156] It should be understood that when an element is referred to as "fixed to" or "set on" another element, it may be directly on the other element or may have an intervening element present at the same time; when an element is referred to as "connected to" another element, it may be directly connected to the other element or may have an intervening element present at the same time. In addition, the term "connected" as used herein may include wireless connections; the word "and / or" as used includes any unit and all combinations of one or more of the associated listed items.

[0157] Any process or method description in the flowchart or otherwise herein can be understood as: representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0158] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0159] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0160] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0161] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0162] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0163] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An automated device for simultaneous liquid proportioning and dispensing, characterized in that, include: Mechanical actuators and control units; The mechanical actuator includes: Solvent-driven mechanism and solute-driven mechanism; A mixing device having a first inlet, a second inlet, and an outlet, wherein the first inlet is in fluid communication with the outlet of the solvent driving mechanism, and the second inlet is in fluid communication with the outlet of the solute driving mechanism; a dispensing needle being in fluid communication with the outlet of the mixing device; and a moving positioning mechanism being drivenly connected to the dispensing needle for driving the dispensing needle to move to a target position. The control unit is electrically connected to the solvent driving mechanism, the solute driving mechanism and the moving positioning mechanism respectively; The control unit is configured to perform uniform injection control, the uniform injection control including: It stores a set of personalized parameters corresponding to multiple sample containers, each set of personalized parameters containing at least the total amount of the target solution and the solute volume ratio; and receives the solvent injection rate set by the user. For the container currently being processed, based on its corresponding personalized parameter set and the solvent injection rate, uniform injection control is performed, including: Calculate the required solute volume and solvent volume based on the total target solution volume and the solute volume ratio, respectively. Based on the solvent volume and the solvent inlet rate, calculate the solvent inlet time; based on the solute volume and the solvent inlet time, calculate the solute inlet rate required by the solute pump. The solvent driving mechanism is controlled by the solvent inlet rate and the solvent inlet duration, and the solute driving mechanism is controlled synchronously by the solute inlet rate and the solvent inlet duration.

2. The apparatus according to claim 1, characterized in that, Also includes: Waste liquid tank; The control unit is also configured to: The mobile positioning mechanism is controlled to drive the liquid injection needle to move above the waste liquid tank in order to perform pipeline cleaning or dredging operations; The pipeline cleaning or purging operation includes: First, pure solvent is extracted to clean the flow path, and then the target concentration solution is prepared and rinsed. And before performing uniform injection control for the current container, read the solute type identifier from the current container's personalized parameter set; If the identifier read is different from the identifier used by the previous container, then the control will execute the pipeline cleaning procedure.

3. The apparatus according to claim 1, characterized in that, The solvent driving mechanism is a multi-channel pump, which is configured to draw in solvent from a solvent source and simultaneously distribute solvent to multiple outlets; The solute driving mechanism is a multi-channel pump configured to draw in solute from a solute source and simultaneously distribute solute to multiple outlets.

4. The apparatus according to claim 1, characterized in that, The control unit is also configured to: When performing uniform injection control for a single container, the calculated solvent volume and solute volume are divided into N equal parts, where N≥2 and are integers; The solvent driving mechanism and the solute driving mechanism are controlled to operate synchronously for N liquid addition cycles; Each liquid addition cycle includes: controlling two drive mechanisms to run synchronously for a first duration at the solvent inlet rate and the solute inlet rate, and then synchronously stopping for an adjustable second duration.

5. The apparatus according to claim 1, characterized in that, The control unit is also configured to: Before performing uniform injection control for multiple containers, the solvent injection time and solute injection rate for each container are pre-calculated and stored in batches based on the personalized parameter set of all containers and the solvent injection rate. And to acquire and report at least one of the following status information in real time: The currently processed container identifier, the real-time coordinates of the mobile positioning mechanism, the real-time operating speed of the solvent driving mechanism and the solute driving mechanism, and the remaining amount of solvent and solute.

6. The apparatus according to claim 1, characterized in that, Also includes: Physical property sensors installed on solvent lines and / or solute lines are used to collect the temperature and viscosity of the solvent and / or the temperature and viscosity of the solute in real time. The control unit is also configured to perform dynamic flow rate correction control, including: Receive data collected by the physical property sensor; Based on a preset physical property-flow rate correction model, the calculated solvent inlet rate and / or solute inlet rate are corrected in real time; the corresponding drive mechanism is controlled to operate at the corrected rate.

7. The apparatus according to claim 1, characterized in that, The control unit is also configured to perform alternating pulse sampling control for processing readily reactive solutes, including: The solvent infusion time and the solute infusion time are each divided into 2N sampling cycles, where N≥1 and is an integer. During the first N cycles, the solvent driving mechanism is controlled to operate at the solvent inlet speed, and the solute driving mechanism is controlled to stop. During the subsequent N cycles, the solute driving mechanism is controlled to operate at the solute inlet rate, and the solvent driving mechanism is controlled to stop.

8. The apparatus according to claim 1, characterized in that, The control unit is also configured to perform gradient flow rate dispensing control for handling volatile solvents, including: The solvent volume is divided into at least three stages, and a different solvent inlet rate is set for each stage; The solvent driving mechanism is controlled to operate according to the set stage sequence and corresponding speed, while the solute driving mechanism is controlled to operate synchronously at the speed calculated by the stage volume ratio.

9. The apparatus according to claim 1, characterized in that, The control unit controls the operating speed of the solvent driving mechanism and the solute driving mechanism via pulse signals.

10. The apparatus according to claim 1, characterized in that, The mobile positioning mechanism is a three-axis gantry or a robotic arm.

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