An automatic liquid sampling and pipetting system

Abstract

The present invention relates to the field of chemical experimental equipment, and specifically to an automatic liquid-taking and sample-transferring system, which includes a nitrogen gas chamber, multiple transition devices, a robotic arm, a bottle opener, a workbench, a grasping device, and a liquid-taking device. The robotic arm can place a tray into the transition box of the transition device. With the help of an external air extractor and inflator, the transport box transports the tray to the area where the grasping device can operate. The grasping device grabs a Shimadzu bottle from the tray and transports the Shimadzu bottle to the bottle opener to cooperate in opening the bottle cap of the Shimadzu bottle. Then the grasping device transports the Shimadzu bottle with the opened bottle cap to the workbench, and the liquid-taking device moves to the workbench to take liquid. The grasping device grabs the Shimadzu bottle to the bottle opener and then places the Shimadzu bottle back into the original tray. The transport box transports the tray to the transition box, and finally the robotic arm places the tray in the transition box back into the loading chamber, thereby solving the technical problem of low automation of liquid-taking and sample-transferring in the existing laboratory.

Description

Technical Field

[0001] The present invention relates to the field of chemical experimental equipment, and specifically to an automatic liquid sampling and pipetting system. Background Art

[0002] In traditional laboratories, the daily work of synthetic experimentalists mainly includes route design and synthesis work, that is, implementing chemical reaction experiments step by step according to the designed synthesis strategy. In addition, to complete a full reaction, synthetic experimentalists need to do a lot of preparatory work before and post-treatment work, such as material preparation, preparation of experimental utensils and equipment, and also need to perform a series of operations such as sampling and testing, post-treatment and purification for each reaction, and record and update the experimental process and data information in a timely manner. The whole process is time-consuming and laborious, and a large number of repetitive simple operations occupy the precious time of synthetic experimentalists.

[0003] The emergence of a management platform for realizing the informatization and automation of modern laboratories and compound robots has brought many benefits to the management of modern comprehensive laboratories, replacing the high-density workload in the laboratory. Its application greatly improves the overall business ability of the laboratory, improves work efficiency, reduces the fatigue of researchers, guards against product safety risks, and reduces costs. Bid farewell to the situation where test experiments almost completely rely on manual operation, with cumbersome steps, a long time span, and certain uncertainties in the implementation by experimentalists.

[0004] Based on this, the present application proposes an automatic liquid sampling and pipetting system to realize the automation of laboratory work. Summary of the Invention

[0005] In order to solve the technical problem of low automation of liquid sampling and pipetting in existing laboratories, the present invention provides an automatic liquid sampling and pipetting system, which solves the above technical problems.

[0006] The technical solution adopted by the present invention to solve its technical problems is:

[0007] The present invention provides an automatic liquid sampling and pipetting system, comprising: a nitrogen gas chamber, which includes a feeding chamber and a sealing chamber. The feeding chamber is configured with a storage rack for placing a tray containing a Shimadzu bottle or a reaction dish, and the sealing chamber is filled with nitrogen gas; a plurality of transition devices, each of which includes a transition box and a transport box. The transition box is configured between the feeding chamber and the sealing chamber and is provided with an external air extractor and an inflator to prevent the gas in the feeding chamber from entering the sealing chamber. The transport box is configured in the sealing chamber and is used to transport the tray between the sealing chamber and the transition box; a robotic arm, which is configured in the feeding chamber and is used to transport the tray between the feeding chamber and the transition box; a bottle screwing device, which is configured in the sealing chamber and is used to open and tighten the cap of the Shimadzu bottle; a workbench, which is configured in the sealing chamber and is used to place the Shimadzu bottle; a grasping device, which is configured in the sealing chamber. The grasping device takes out the Shimadzu bottle from the tray to the bottle screwing device and the workbench, and then puts the Shimadzu bottle back to its original position; a liquid sampling device, which takes out the solution in the Shimadzu bottle and fills it into the reaction dish.

[0008] Further, the transition box includes: a first box body, which is configured with an upper position and a lower position for placing the tray inside. Two air exchange holes are opened on the first box body, and air pipes are configured at the air exchange holes to be respectively connected to an external air extractor and an inflator. A sealing ring is configured on the outer end surface of the first box body; two groups of sealed moving doors, which are movably configured on the first box body through limit sliding rails. One group of the sealed moving doors is configured at the connection between the first box body and the feeding chamber, and the other group of the sealed moving doors is configured at the connection between the first box body and the sealing chamber; a moving pressing module, which is configured between the first box body and the moving door. The moving pressing module includes a pressing component and a locking component. The pressing component is configured on the first box body and is located at the closed position of the sealed moving door, and the locking component is configured on the first box body and is located on the moving path of the sealed moving door; a plurality of elastic pulley modules, which are configured at the mating position between the sealed moving door and the first box body.

[0009] Further, the pressing component includes: a pressing piece, the middle section of which is hinged on the box body, and a pressing claw for pressing the sealed moving door is formed at the first end of the pressing piece; a pressing driving cylinder, the piston rod of which pushes the second end of the pressing piece to make the pressing piece rotate.

[0010] Further, the locking assembly includes: a keyhole configured at the edge of the door panel of the sealed moving door; a locking member, the middle section of the locking member is hinged to the first box body, and a locking tongue that passes through the limiting slide rail and extends into the keyhole is formed at the first end of the locking member; a locking driving cylinder, the piston rod of the locking driving cylinder pushes the second end of the locking member to make the locking member rotate; a reset member, the reset member is configured between the locking member and the limiting edge of the limiting slide rail, and the reset member is configured near the locking tongue.

[0011] Further, the transport box includes: a second box body; a lifting cylinder configured in the first box body to lift the lower tray; a transport shovel slidably configured in the horizontal direction in the sealed chamber, and with the cooperation of the lifting cylinder, the transport shovel extends into the first box body and brings the tray into the second box body; a lifting assembly, the lifting assembly includes a lifting frame slidably assembled on the second box body in the vertical direction, and the lifting frame and the transport shovel are arranged in a staggered manner to transport the tray on the transport shovel from a low position to a high position; a pushing assembly, the pushing assembly includes a pushing member and a pushing groove, the pushing groove is horizontally arranged on the inner wall of the second box body to limit the tray in the vertical direction, the pushing groove is on the same horizontal plane as the upper position in the first box body, and the horizontal distance between the pushing groove and the upper position is less than the short side length of the bottom of the tray, and the pushing member is slidably configured in the horizontal direction in the sealed chamber to push the tray into the pushing groove and push the tray to the upper position of the first box body.

[0012] Further, the elastic pulley module includes: a movable rod, the first end of the movable rod is hinged to the side of the sealed moving door, and a roller that cooperates with the sliding edge of the limiting slide rail is connected to the second end of the movable rod; an elastic member, the elastic member is configured between the movable rod and the door panel of the sealed moving door so that the door panel of the sealed moving door in the natural state is away from the sliding edge of the limiting slide rail.

[0013] Further, the bottle twister includes: a frame body fixedly configured in the sealed chamber; a twisting rod rotatably configured on the frame body, and a sleeve for accessing the cap of the Shimadzu bottle is formed at one end of the twisting rod; a tightening module, the tightening module includes a tightening sleeve and a tightening driving assembly for driving the movement of the tightening sleeve, and the tightening sleeve is movably configured on the twisting rod along the axial direction of the twisting rod to tighten the sleeve.

[0014] Further, the tightening drive assembly includes: a linkage rod, the middle section of the linkage rod is hinged on the frame body, the driving end of the linkage rod is movably fitted on the tightening sleeve to push the tightening sleeve to move, and the force-receiving end of the linkage rod is movably fitted to a tightening cylinder; a tightening cylinder, the tightening cylinder is arranged on the frame body, and the piston rod of the tightening cylinder extends to push the force-receiving end of the linkage rod.

[0015] Further, the grasping device includes: a first three-axis moving carrier, the first three-axis moving carrier is arranged in the sealed chamber; a clamping jaw, the clamping jaw is arranged at the end of the first three-axis moving carrier to grasp the Shimadzu bottle and realize the transportation of the Shimadzu bottle.

[0016] Further, the liquid taking device includes: a second three-axis moving carrier, the second three-axis moving carrier is arranged in the sealed chamber; a liquid taking gun, the liquid taking gun is arranged at the end of the second three-axis moving carrier.

[0017] Based on the above technical solutions, the technical effects that the present invention can achieve are:

[0018] The automatic liquid taking and sample transferring system of the present application includes a nitrogen chamber, a plurality of transition devices, a robotic arm, a bottle screwing device, a workbench, a grasping device and a liquid taking device. After the preparation work is done, the robotic arm can place the tray with the Shimadzu bottle into the transition box of the transition device. The transition box is evacuated by an external air extractor and then filled with nitrogen by an inflator to prevent the water and oxygen-containing gas in the loading chamber from entering the sealed chamber and affecting the nitrogen environment in the sealed chamber. Then the transport box transports the tray to the area where the grasping device can operate. The grasping device grasps the Shimadzu bottle from the tray and transports the Shimadzu bottle to the bottle screwing device to cooperate in opening the cap of the Shimadzu bottle. The grasping device then transports the Shimadzu bottle with the cap opened to the workbench. The liquid taking device moves to the workbench to take liquid. After taking the liquid, the grasping device grabs the Shimadzu bottle to the bottle screwing device, screws on the cap, and then the grasping device places the Shimadzu bottle back into the original tray. The transport box transports the tray to the transition box, and finally the robotic arm places the tray in the transition box back into the loading chamber, thereby solving the technical problem of low automation of liquid taking and sample transferring in the existing laboratory.

[0019] The transition box of the present application has two groups of sealed moving doors and, with the help of an external air extractor and an inflator, effectively achieves the partition effect between the loading chamber and the sealed chamber. The space in the transition box is small, which also reduces the pressure on the inflator to fill nitrogen. Description of the Drawings

[0020] Figure 1 is the overall structural schematic diagram of the automatic liquid taking and sample transferring system of the present invention;

[0021] Figure 2 is the schematic diagram of another perspective of the automatic liquid taking and sample transferring system of the present invention;

[0022] Figure 3 It is a schematic diagram of another perspective of the automatic liquid extraction and sample transfer system of the present invention;

[0023] Figure 4 It is an external schematic diagram of the automatic liquid extraction and sample transfer system of the present invention;

[0024] Figure 5 It is a partial schematic diagram of the automatic liquid extraction and sample transfer system of the present invention;

[0025] Figure 6 It is a schematic diagram of the transition box of the automatic liquid extraction and sample transfer system of the present invention;

[0026] Figure 7 It is a schematic diagram of the pressing component of the automatic liquid extraction and sample transfer system of the present invention;

[0027] Figure 8 It is a schematic diagram of another perspective of the transition box of the automatic liquid extraction and sample transfer system of the present invention;

[0028] Figure 9 It is a schematic diagram of the elastic pulley module of the automatic liquid extraction and sample transfer system of the present invention;

[0029] Figure 10 It is a cooperation diagram of the locking component and the sealing moving door of the automatic liquid extraction and sample transfer system of the present invention;

[0030] Figure 11 It is a schematic diagram of the locking component of the automatic liquid extraction and sample transfer system of the present invention;

[0031] Figure 12 It is a schematic diagram of the transport box of the automatic liquid extraction and sample transfer system of the present invention;

[0032] Figure 13 It is a schematic diagram of another perspective of the transport box of the automatic liquid extraction and sample transfer system of the present invention;

[0033] Figure 14 It is a schematic diagram of the bottle screwing device of the automatic liquid extraction and sample transfer system of the present invention;

[0034] Figure 15 It is a schematic diagram of the liquid extraction device of the automatic liquid extraction and sample transfer system of the present invention.

[0035] Wherein: a - Shimadzu bottle; b - solution bottle; c - reaction vessel; d - tray; e - storage tray; 1 - nitrogen chamber, 11 - loading chamber, 111 - storage rack, 12 - sealing chamber; 2 - transition device, 21 - transition box, 211 - first box body, 2111 - upper position, 2112 - lower position, 2113 - sealing ring, 212 - sealing moving door, 2121 - limiting slide rail, 21211 - limiting edge, 21212 - sliding edge, 213 - pressing component, 2131 - pressing piece, 2132 - pressing claw, 2133 - pressing drive cylinder, 2134 - first wedge block, 2135 - first pulley, 214 - locking component, 2141 - keyhole, 2142 - locking piece, 2143 - locking tongue, 2144 - locking drive cylinder, 2145 - reset piece, 2146 - second wedge block, 2147 - connecting frame, 2148 - slider, 21481 - lateral protrusion, 215 - elastic pulley module, 2151 - movable rod, 2152 - roller, 2153 - elastic piece, 2154 - protruding piece, 22 - transport box, 221 - second box body, 222 - lifting cylinder, 223 - transport shovel, 2231 - transport cylinder, 224 - lifting component, 2241 - lifting frame, 2242 - lifting cylinder, 225 - pushing component, 2251 - pushing piece, 2252 - pushing groove, 2253 - pushing cylinder; 3 - robotic arm; 4 - bottle screwing device, 41 - frame body, 42 - screwing rod, 421 - ferrule, 422 - motor, 423 - clamping piece, 43 - tightening module, 431 - tightening sleeve, 4311 - limiting ring, 432 - tightening drive component, 4321 - linkage rod, 4322 - tightening cylinder, 4323 - second pulley, 4324 - buffer piece; 5 - workbench; 6 - grasping device, 61 - clamping jaw, 62 - first three-axis motion carrier; 7 - liquid extraction device, 71 - liquid extraction gun, 711 - TIP head, 72 - second three-axis motion carrier; 8 - sorting device, 81 - sampling platform, 82 - clamping component, 83 - clamping cylinder. Detailed implementation manners

[0036] The automatic liquid extraction and sample transfer system of the present application is mainly used for testing special original product solutions, such as testing for deterioration (the testing process does not necessarily require a nitrogen environment). The special feature of the original product solution is that it is prone to deterioration and needs to be frequently tested, such as being tested before each use. However, the original product solution cannot be in contact with water and oxygen in the air. In such a case, if the method of manually entering the nitrogen chamber for testing is adopted, it will become rather cumbersome, time-consuming and laborious, and during the process, it is extremely easy for the original product solution to come into contact with air, resulting in the deterioration of the original product solution in the entire Shimadzu bottle.

[0037] Such as Figures 1-15As shown, in a specific embodiment of the present application, the automatic liquid sampling and pipetting system includes a nitrogen gas chamber 1, a robotic arm 3, a bottle screwing device 4, a workbench 5, a grasping device 6, a liquid sampling device 7, and an arranging device 8 to achieve automatic liquid sampling and pipetting in a laboratory.

[0038] The nitrogen gas chamber 1 is a large sealed chamber. The nitrogen gas chamber 1 includes a loading chamber 11 and a sealing chamber 12. In the loading chamber 11, there is a storage rack 111 for placing the tray d. In this embodiment, there are two storage racks 111 in total. The sealing chamber 12 is filled with nitrogen gas.

[0039] The robotic arm 3 is arranged in the loading chamber 11 and is used to transport the tray d between the loading chamber 11 and the transition box 21.

[0040] The transition device 2 includes a transition box 21 and a transport box 22. In this embodiment, there are three transition devices 2 in total. They are arranged in the nitrogen gas chamber 1 and are distributed at the junction of the loading chamber 11 and the sealing chamber 12, in a straight line. One of the two transition devices 2 on the left and right is used to input the original product solution to be tested, and the other is used to input the test solution. The middle transition device 2 is used to output the reaction vessel that has been added with the original product solution and the test solution. The transition device 2 uses an external air extractor and inflator to prevent the gas in the loading chamber 11 from entering the sealing chamber 12.

[0041] Specifically, the transition box 21 includes a first box body 211, two groups of sealed moving doors 212, a moving pressing module, and an elastic pulley module 215. Inside the first box body 211, there are an upper position 2111 and a lower position 2112 for placing the tray d. The first box body 211 is open at both ends. One end is connected to the feeding chamber 11, and the other end is connected to the sealing chamber 12. Sealed moving doors 212 are arranged at both ends. At the same time, two air exchange holes are opened on the side wall of the first box body 211, and air pipes are arranged at the two air exchange holes to be respectively connected to an external air extractor and an inflator. When the sealed moving door 212 connected to the feeding chamber 11 of the first box body 211 is opened and the other sealed moving door 212 is closed, the robot arm 3 transports the tray d with the Shimadzu bottle a containing the original product solution into the lower position 2112 of the first box body 211, and the robot arm 3 leaves the first box body 211. At this time, the opened sealed moving door 212 is closed, that is, a sealed cavity is formed inside the first box body 211. The air extractor evacuates the sealed cavity through the air pipe, and the inflator fills the sealed cavity with nitrogen through the air pipe. After the sealed cavity is filled with nitrogen, the sealed moving door 212 at the connection with the sealing chamber 12 is opened, and the tray d with the Shimadzu bottle a containing the original product solution is received into the sealing chamber 12 by the transport box 22. Further, the sealed moving door 212 is movably arranged on the end face of the first box body 211 through a limit slide rail 2121. The limit slide rail 2121 includes a sliding edge 21212 and a limit edge 21211 that are opposite in position. The sliding edge 21212 is formed by the frame edge at one end of the first box body 211, and the limit edge 21211 is formed by a right-angle side of an angle steel fixedly connected to the first box body 211. The pressing component 213 of the moving pressing module is arranged on the first box body 211 and is located at the closing position of the sealed moving door 212, that is, at the limit position when the sealed moving door 212 is closed. The pressing component 213 includes a pressing piece 2131 and a pressing driving cylinder 2133. The pressing piece 2131 is a right-angle piece. The middle section of the pressing piece 2131, that is, the folded corner of the pressing piece 2131, is hinged to the box body. A pressing claw 2132 for pressing the sealed moving door 212 is formed at the first end of the pressing piece 2131. When the sealed moving door 212 moves to the limit position, the pressing claw 2132 will rotate under the drive of the pressing cylinder, so that the pressing part of the pressing claw 2132 contacts the outer end face of the door panel of the sealed moving door 212, and the door panel of the sealed moving door 212 is pressed against the outer end face of the first box body 211. Further, a first wedge-shaped block 2134 is arranged at the end of the piston rod of the pressing driving cylinder 2133, and a first pulley 2135 that fits on the wedge-shaped surface of the first wedge-shaped block 2134 is installed at the second end of the pressing piece 2131. In this way, the piston rod of the pressing driving cylinder 2133 can push the second end of the pressing piece 2131 to make the pressing piece 2131 rotate. Here, in order to ensure the sealing performance, a sealing ring 2113 is arranged on the outer end face of the first box body 211, and the sealing effect is achieved when the door panel of the sealed moving door 212 is pressed against the sealing ring 2113.The sealed moving door 212 can move closer to and away from the outer end face of the first box body 211 by relying on the elastic pulley module 215. Four groups of elastic pulley modules 215 are arranged on each sealed moving door 212. The elastic pulley module 215 includes a movable rod 2151 and an elastic member 2153. The first end of the movable rod 2151 is hinged to the side of the sealed moving door 212. A roller 2152 that cooperates with the sliding edge 21212 of the limit sliding rail 2121 is connected to the second end of the movable rod 2151. The elastic member 2153 is arranged between the movable rod 2151 and the door panel of the sealed moving door 212 so that the door panel of the sealed moving door 212 in the natural state is far away from the sliding edge 21212 of the limit sliding rail 2121. The elastic member 2153 is a spring. One end of the elastic member 2153 abuts against the rod body of the movable rod 2151, and the other end of the elastic member 2153 abuts against the protruding member 2154 of the door panel of the sealed moving door 212. In order to lock the sealed moving door 212, the locking assembly 214 includes a keyhole 2141, a locking member 2142, a locking driving cylinder 2144 and a reset member 2145. The keyhole 2141 is arranged on the edge of the door panel of the sealed moving door 212. The middle section of the locking member 2142 is hinged to the first box body 211. A locking tongue 2143 that passes through the limit edge 21211 of the limit sliding rail 2121 and extends into the keyhole 2141 is formed at the first end of the locking member 2142. The piston rod of the locking driving cylinder 2144 pushes the second end of the locking member 2142 to make the locking member 2142 rotate. Further, a second wedge block 2146 is arranged at the end of the piston rod of the locking driving cylinder 2144. A connecting frame 2147 is arranged on the side of the first box body 211. A limit-sliding slider 2148 is arranged in the connecting frame 2147. A transverse protrusion 21481 is arranged on the slider 2148. The transverse protrusion 21481 cooperates with the wedge surface of the second wedge block 2146. The middle section of the locking member 2142 is hinged to the connecting frame 2147. The second end of the locking member 2142 is pushed by the slider 2148 to realize the rotation of the locking member 2142 itself. The reset member 2145 is a spring. The reset member 2145 is arranged between the locking member 2142 and the limit edge 21211 of the limit sliding rail 2121, and the reset member 2145 is arranged near the locking tongue 2143. In the natural state, the reset member 2145 will act on the locking member 2142 to make the locking tongue 2143 of the locking member 2142 disengage from the keyhole.,

[0042] Specifically, the transport box 22 includes a second box body 221, a lifting cylinder 222, a transport shovel 223, a lifting assembly 224, and a pushing assembly 225. The lifting cylinder 222 is arranged inside the first box body 211 and is used to lift the tray d. The lifting cylinder 222 is arranged at the lowermost end inside the first box body 211 and is used to lift the tray d at the lower position 2112. The transport shovel 223 slides horizontally by means of a transport cylinder 2231. The transport shovel 223 is arranged inside the sealed chamber 12. The piston rod of the lifting cylinder 222 extends to lift the tray d. The transport shovel 223 extends into the first box body 211 and is located below the tray d at the lower position 2112. The piston rod of the lifting cylinder 222 retracts, and the tray d falls onto the transport shovel 223. The transport shovel 223 brings the tray d into the sealed chamber 12 and transports the tray d to the lifting path of the lifting frame 2241 of the lifting assembly 224 inside the second box body 221. The lifting frame 2241 of the lifting assembly 224 slides vertically by means of a lifting cylinder 2242, and the lifting frame 2241 and the transport shovel 223 are arranged in an interleaved manner. The lifting frame 2241 is assembled on the second box body 221. When the lifting frame 2241 moves upward through the transport shovel 223, the tray d is transported from the lower position to the higher position. After the gripping device 6 grabs the Shimadzu bottle a and returns it to its original position, the pushing assembly 225 pushes the tray d to the upper position 2111 inside the first box body 211, and then the robotic arm 3 takes out the tray d to the loading chamber 11. The pushing assembly 225 includes a pushing member 2251 and a pushing groove 2252. The pushing groove 2252 is horizontally arranged on the inner wall of the second box body 221 to limit the tray d in the vertical direction. The pushing groove 2252 and the upper position 2111 inside the first box body 211 are on the same horizontal plane, and the horizontal distance between the pushing groove 2252 and the upper position 2111 is less than the short side length of the bottom of the tray d. The pushing member 2251 slides horizontally by means of a pushing cylinder 2253. The pushing member 2251 is arranged inside the sealed chamber 12 to push the tray d into the pushing groove 2252 and push the tray d to the upper position 2111 of the first box body 211.

[0043] The bottle screwing device 4 includes a frame body 41, a screwing rod 42 and a tightening module 43. The frame body 41 is fixedly arranged in the sealing chamber 12. The screwing rod 42 is rotatably arranged on the frame body 41 by means of a motor 422. A sleeve 421 for engaging with the cap of the Shimadzu bottle a is formed at one end of the screwing rod 42. The tightening module 43 includes a tightening sleeve 431 and a tightening driving assembly 432 for driving the movement of the tightening sleeve 431. The tightening sleeve 431 is movably arranged on the screwing rod 42 along the axial direction of the screwing rod 42 to tighten the sleeve 421. Specifically, the sleeve 421 is composed of a plurality of clamping pieces 423. The mating part of the clamping piece 423 and the tightening sleeve 431 is a conical surface that is wider at the bottom and narrower at the top. In this way, when the tightening sleeve 431 moves towards the cap, the plurality of clamping pieces 423 can be tightened to clamp the cap. A limiting ring 4311 is provided on the tightening sleeve 431. A second pulley 4323 is arranged at the driving end of the linkage rod 4321 of the tightening driving assembly 432. The second pulley 4323 is fitted in the limiting ring 4311 with a clearance fit. The middle section of the linkage rod 4321 is hinged on the frame body 41. The force-receiving end of the linkage rod 4321 is fitted with the piston rod of the tightening cylinder 4322 of the tightening driving assembly 432. A small hole is provided at the force-receiving end of the linkage rod 4321, and the piston rod of the tightening cylinder 4322 passes through the small hole with a clearance fit. The tightening cylinder 4322 is vertically arranged on the frame body 41. At the same time, an outward convex part is formed on the piston rod of the tightening cylinder 4322 below the small hole. A buffer member 4324 is placed on the outward convex part. The buffer member 4324 is a spring. The buffer member 4324 is sleeved on the piston rod of the tightening cylinder 4322. One end of the buffer member 4324 abuts against the outward convex part, and the other end abuts against the force-receiving end of the linkage rod 4321.

[0044] The grasping device 6 includes a first three-axis moving carrier 62 and a clamping jaw 61. The first three-axis moving carrier 62 is arranged in the sealing chamber 12. The clamping jaw 61 is arranged at the end of the first three-axis moving carrier 62 to grasp the Shimadzu bottle a and realize the transportation of the Shimadzu bottle a. The clamping jaw 61 first grasps the Shimadzu bottle a at the highest position of the second box body 221 and moves it to the bottle opener to cooperate with the bottle opener to open the cap. Specifically, when the screwing rod 42 of the bottle opener makes the action of opening the cap, the clamping jaw 61 should cooperate to move the Shimadzu bottle a vertically downward to prevent the cap from being limited and unable to escape from the bottle body of the Shimadzu bottle a. Then the clamping jaw 61 transports the Shimadzu bottle a with the cap opened to the workbench 5. After the liquid taking device 7 has taken the original product solution, the clamping jaw 61 moves in the reverse direction. First, the clamping jaw 61 transports the Shimadzu bottle a to the bottle opener to cooperate with the bottle opener to screw on the cap. Specifically, during the process of screwing on the cap, it cooperates to move the Shimadzu bottle a vertically upward. After the cap is screwed on, since the clamping force of the sleeve 421 on the cap is much smaller than the clamping force of the clamping jaw 61 on the Shimadzu bottle a, the clamping jaw 61 can directly move downward while clamping the Shimadzu bottle a to take the Shimadzu bottle a out of the bottle opener. Then the clamping jaw 61 can put the Shimadzu bottle a back on the tray d at the highest position of the second box body 221.

[0045] The liquid extraction device 7 includes a second three-axis moving vehicle 72 and a liquid extraction gun 71. The second three-axis moving vehicle 72 is arranged in the sealed chamber 12, and the liquid extraction gun 71 is arranged at the end of the second three-axis moving vehicle 72 to cooperate with liquid extraction. In this embodiment, the liquid extraction gun 71 is selected as a liquid extraction gun 71 that can automatically replace the TIP head 711. The liquid extraction device 7 has two functions. First, it sucks the test solution and drops the test solution into the reaction dish. After the dropping is completed, the TIP head 711 is automatically replaced. Then, the TIP head 711 of the liquid extraction gun 71 extends into the Shimadzu bottle a located on the workbench 5 to extract the original product solution and drop it into the reaction dish. After the dropping is completed, the TIP head 711 is automatically replaced.

[0046] The sorting device 8 is arranged in the loading chamber 11. After the robotic arm 3 takes out the tray d containing the reaction dish from the first box body 211 in the middle position, the robotic arm 3 will transport the tray d containing the reaction dish to the sorting device 8. The sorting device 8 will take out the reaction dishes from the tray d one by one, put them into the storage tray e, and complete the entire liquid extraction and sample transfer process. Specifically, the sorting device 8 includes a sampling platform 81 that can move horizontally in a straight line, multiple groups of clamping components 82, and a clamping cylinder 83 that drives the multiple groups of clamping components 82. The sampling platform 81 is used to place the tray d and the storage tray e, and can also cooperate with the clamping components 82 to facilitate the clamping of the reaction dish. Multiple groups of clamping components 82 can select the most suitable group according to the size and shape of the reaction dish. When the sampling platform 81 moves to the multiple groups of clamping components 82, the clamping components 82 will sort the reaction dishes into the storage tray e.

[0047] The working process of the automatic liquid sampling and pipetting system in this embodiment is as follows: In the preparation stage, an operator manually places the Shimadzu bottle a filled with the original product solution with the bottle cap tightened, the solution bottle b filled with the test solution and open, and the reaction dish into the tray, and places the tray on the storage rack 111 in the loading chamber 11. Then, the robotic arm 3 places the tray filled with the test solution into the lower position 2112 of the first box body 211 of a transition device 2 located at a non-middle position in the nitrogen chamber 1. The robotic arm 3 places the tray filled with the reaction dish into the lower position 2112 of the first box body 211 of the transition device 2 located at the middle position in the nitrogen chamber 1, and waits for the trays filled with the test solution and the reaction dish to move to the upper positions of their respective second box bodies 221. In the testing stage, the robotic arm 3 grabs the tray d of the Shimadzu bottle a filled with the original product solution and places it into the first box body 211 of another transition device 2 located at a non-middle position in the nitrogen chamber 1, specifically at the lower position 2112 of the box body. During the placement process, the sealed moving door 212 connecting the first box body 211 to the loading chamber 11 is first opened. After the robotic arm 3 leaves, the sealed moving door 212 connecting to the loading chamber 11 is closed. After the air extractor and the inflator work until the first box body 211 is filled with nitrogen, the sealed moving door 212 connecting to the sealing chamber 12 is opened. The lifting cylinder 222 lifts the tray d, and the transporting shovel 223 extends under the tray d to bring the tray d into the sealing chamber 12, specifically to the lower position of the second box body 221. The lifting frame 2241 transports the tray d at the lower position to the upper position of the second box body 221. Then, the gripping device 6 grabs the Shimadzu bottle a and moves it to the bottle opener 4 to open the bottle. The gripping device 6 then transports the opened Shimadzu bottle a to the workbench 5. While the gripping device 6 is operating, the liquid sampling device 7 first extracts the test solution at the second box body 221 where the test solution is located and drops the test solution into the reaction dish. After the liquid sampling device 7 replaces the TIP head 711, it moves to the workbench 5 to extract a small amount of the original product solution and drops it into the reaction dish. Then, the gripping device 6 transports the opened Shimadzu bottle a back to the bottle opener 4 to tighten the bottle cap. Then, the gripping device 6 places the Shimadzu bottle a back onto the original tray d. The sealed moving door 212 connecting the first box body 211 to the sealing chamber 12 is opened, and the pushing assembly 225 pushes the tray d to the upper position 2111 close to the first box body 211. The sealed moving door 212 connecting the first box body 211 to the sealing chamber 12 is closed, and the sealed moving door 212 connecting the first box body 211 to the loading chamber 11 is opened. The robotic arm 3 takes out the tray d at the upper position 2111 of the first box body 211 and places it back on the storage rack 111. During the taking-out process, the taking-out processes of the other two trays d with the solution bottle b and the reaction dish are the same as that of the tray d with the Shimadzu bottle a and will not be elaborated here.

Claims

1. An automatic liquid sampling and pipetting system, characterized in that Comprising: A nitrogen gas chamber (1), the nitrogen gas chamber (1) including a feeding chamber (11) and a sealing chamber (12), the feeding chamber (11) being configured with a storage rack (111) for placing a tray (d) containing a Shimadzu bottle (a) or a reaction dish, and the sealing chamber (12) being filled with nitrogen gas; A plurality of transition devices (2), the transition devices (2) including a transition box (21) and a transport box (22), the transition box (21) being configured between the feeding chamber (11) and the sealing chamber (12) with the aid of an external air extractor and inflator to prevent the gas in the feeding chamber (11) from entering the sealing chamber (12), and the transport box (22) being configured within the sealing chamber (12) for transporting the tray (d) between the sealing chamber (12) and the transition box (21); A robotic arm (3), the robotic arm (3) being configured within the feeding chamber (11) for transporting the tray (d) between the feeding chamber (11) and the transition box (21); A bottle screwing device (4), the bottle screwing device (4) being configured within the sealing chamber (12) for opening and tightening the cap of the Shimadzu bottle (a); A workbench (5), the workbench (5) being configured within the sealing chamber (12) for placing the Shimadzu bottle (a); A grasping device (6), the grasping device (6) being configured within the sealing chamber (12), the grasping device (6) taking out the Shimadzu bottle (a) from the tray (d) to the bottle screwing device (4) and the workbench (5), and then putting the Shimadzu bottle (a) back to its original position; A liquid extraction device (7), the liquid extraction device (7) taking out the solution in the Shimadzu bottle (a) and filling it into a reaction dish; The transition box (21) includes: A first box body (211), the first box body (211) being configured with an upper position (2111) and a lower position (2112) for placing the tray (d) therein, two air exchange holes being provided on the first box body (211), air pipes being configured at the air exchange holes to be respectively connected to an external air extractor and inflator, and a sealing ring (2113) being configured on the outer end face of the first box body (211); Two groups of sealing moving doors (212), the sealing moving doors (212) being movably configured on the first box body (211) through a limit slide rail (2121), one group of the sealing moving doors (212) being configured at the connection between the first box body (211) and the feeding chamber (11), and the other group of the sealing moving doors (212) being configured at the connection between the first box body (211) and the sealing chamber (12); A moving pressing module, the moving pressing module being configured between the first box body (211) and the moving door, the moving pressing module including a pressing component (213) and a locking component (214), the pressing component (213) being configured on the first box body (211) and located at the closing position of the sealing moving door (212), and the locking component (214) being configured on the first box body (211) and located on the moving path of the sealing moving door (212); A plurality of elastic pulley modules (215), and the elastic pulley modules (215) are configured at the mating part between the sealed moving door (212) and the first box body (211).

2. The automatic liquid sampling and pipetting system according to claim 1, wherein The pressing assembly (213) includes: A pressing member (2131), the middle section of the pressing member (2131) is hinged to the box body, and a pressing claw (2132) for pressing the sealed moving door (212) is formed at the first end of the pressing member (2131); A pressing drive cylinder (2133), and the piston rod of the pressing drive cylinder (2133) pushes the second end of the pressing member (2131) to make the pressing member (2131) rotate.

3. The automatic liquid sampling and pipetting system according to claim 1, characterized in that, The locking assembly (214) includes: A keyhole (2141), and the keyhole (2141) is configured at the edge of the door panel of the sealed moving door (212); A locking member (2142), the middle section of the locking member (2142) is hinged to the first box body (211), and a locking tongue (2143) that passes through the limiting slide rail (2121) and extends into the keyhole (2141) is formed at the first end of the locking member (2142); A locking drive cylinder (2144), and the piston rod of the locking drive cylinder (2144) pushes the second end of the locking member (2142) to make the locking member (2142) rotate; A reset member (2145), the reset member (2145) is configured between the locking member (2142) and the limiting edge (21211) of the limiting slide rail (2121), and the reset member (2145) is configured near the locking tongue (2143).

4. The automatic liquid sampling and pipetting system according to claim 1, characterized in that The transport box (22) includes: A second box body (221); A lifting cylinder (222), and the lifting cylinder (222) is configured in the first box body (211) to lift the tray (d) in the lower position (2112); A transport shovel (223), the transport shovel (223) is slidably configured in the sealed chamber (12) in the horizontal direction, and with the cooperation of the lifting cylinder (222), the transport shovel (223) extends into the first box body (211) and brings the tray (d) into the second box body (221); A lifting assembly (224), the lifting assembly (224) includes a lifting frame (2241) slidably assembled on the second box body (221) in the vertical direction, and the lifting frame (2241) and the transport shovel (223) are arranged in an interleaved manner to transport the tray (d) on the transport shovel (223) from a low position to a high position; A pushing component (225), the pushing component (225) includes a pushing member (2251) and a pushing groove (2252), the pushing groove (2252) is horizontally arranged on the inner wall of the second box body (221) to limit the tray (d) in the vertical direction, the pushing groove (2252) is on the same horizontal plane as the upper position (2111) in the first box body (211), and the horizontal distance between the pushing groove (2252) and the upper position (2111) is less than the short side length of the bottom of the tray (d), the pushing member (2251) is slidably configured in the horizontal direction in the sealing chamber (12) to push the tray (d) into the pushing groove (2252) and push the tray (d) to the upper position (2111) of the first box body (211).

5. The automatic liquid sampling and pipetting system according to claim 1, wherein The elastic pulley module (215) includes: A movable rod (2151), the first end of the movable rod (2151) is hinged to the side of the sealing movable door (212), and a roller (2152) that cooperates with the sliding edge (21212) of the limiting slide rail (2121) is connected to the second end of the movable rod (2151); An elastic member (2153), the elastic member (2153) is configured between the movable rod (2151) and the door panel of the sealing movable door (212) so that the door panel of the sealing movable door (212) in the natural state is away from the sliding edge (21212) of the limiting slide rail (2121).

6. The automatic liquid sampling and pipetting system according to claim 1, wherein The bottle screwing device (4) includes: A frame body (41), the frame body (41) is fixedly configured in the sealing chamber (12); A screwing rod (42), the screwing rod (42) is rotatably configured on the frame body (41), and a ferrule (421) for accessing the cap of the Shimadzu bottle (a) is formed at one end of the screwing rod (42); A tightening module (43), the tightening module (43) includes a tightening sleeve (431) and a tightening driving component (432) for driving the movement of the tightening sleeve (431), the tightening sleeve (431) is movably configured on the screwing rod (42) along the axial direction of the screwing rod (42) to tighten the ferrule (421).

7. The automatic liquid sampling and pipetting system according to claim 6, wherein, The tightening driving component (432) includes: A linkage rod (4321), the middle section of the linkage rod (4321) is hinged to the frame body (41), the driving end of the linkage rod (4321) is movably fitted on the tightening sleeve (431) to push the tightening sleeve (431) to move, and the force receiving end of the linkage rod (4321) is movably fitted to a tightening cylinder (4322); A tightening cylinder (4322), the tightening cylinder (4322) is configured on the frame body (41), and the piston rod of the tightening cylinder (4322) extends to push the force receiving end of the linkage rod (4321).

8. The automatic liquid sampling and pipetting system according to claim 1, wherein The grasping device (6) includes: A first three-axis moving carrier (62), the first three-axis moving carrier (62) is configured in the sealing chamber (12); The gripper (61) is arranged at the end of the first three-axis moving vehicle (62) to grasp the Shimadzu bottle (a) and realize the transportation of the Shimadzu bottle (a).

9. The automatic liquid sampling and pipetting system according to claim 1, characterized in that The liquid sampling device (7) includes: A second three-axis moving vehicle (72) arranged inside the sealing chamber (12); A liquid sampling gun (71) arranged at the end of the second three-axis moving vehicle (72).

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