Pipetting device

Abstract

Embodiments of the present application provide a pipetting device. The pipetting device comprises a pipetting apparatus, a first driving apparatus and a second driving apparatus, the pipetting apparatus is movable in a first direction under the driving of the first driving apparatus and is movable in a second direction under the driving of the second driving apparatus, the first direction is different from the second direction, wherein the pipetting apparatus comprises a linkage assembly and a plurality of pipetting assemblies, the plurality of pipetting assemblies are arranged in a row in the first direction, the plurality of pipetting assemblies comprise a first pipetting assembly and a second pipetting assembly, the first driving apparatus comprises a first driving assembly and a second driving assembly, the first driving assembly is connected to the first pipetting assembly, the second driving assembly is connected to the second pipetting assembly, the linkage assembly connects the plurality of pipetting assemblies together, and the spacing between the plurality of pipetting assemblies is adjustable under the driving of the first driving assembly and / or the second driving assembly and under the driving of the linkage assembly. The plurality of pipetting assemblies do not need to be manually adjusted in spacing, thereby saving labor costs.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a pipetting device. Background Technology

[0002] Pipettes can be used for liquid transfer, and are therefore widely used in mass spectrometry, DNA sequencing, HPLC, and multi-label detection.

[0003] To improve pipetting efficiency, pipetting equipment can be equipped with multiple pipetting assemblies. Each pipetting assembly corresponds to a specific material. The material can include a container and the liquid contained within it. Containers can be, for example, well plates or test tubes. Each pipetting assembly can aspirate the liquid from its corresponding material. Due to limitations imposed by the well plate itself or the test tube holder, the spacing between materials cannot be uniform. Therefore, the spacing between multiple pipetting assemblies needs to be adaptively adjusted to achieve simultaneous liquid aspiration.

[0004] However, when the spacing of multiple pipetting components in existing pipetting devices needs to be adjusted, manual adjustment is required. This results in high manpower consumption, low efficiency, and a high risk of errors. Therefore, there is an urgent need for a new type of pipetting device. Summary of the Invention

[0005] To at least partially address the problems existing in the prior art, embodiments of the present invention provide a pipetting device. The pipetting device includes a pipetting assembly, a first driving device, and a second driving device. The pipetting assembly is movable along a first direction under the drive of the first driving device and along a second direction under the drive of the second driving device. The first direction is different from the second direction. The pipetting assembly includes a linkage assembly and a plurality of pipetting components arranged in a row along the first direction. The plurality of pipetting components includes a first pipetting component and a second pipetting component. The first driving device includes a first driving assembly and a second driving assembly. The first driving assembly is connected to the first pipetting component, and the second driving assembly is connected to the second pipetting component. The linkage assembly connects the plurality of pipetting components together. Under the drive of the first driving assembly and / or the second driving assembly and driven by the linkage assembly, the spacing between the plurality of pipetting components is adjustable.

[0006] For example, the first drive assembly includes a first motor and a first transmission mechanism drivenly connected to the first motor, and the second drive assembly includes a second motor and a second transmission mechanism drivenly connected to the second motor. The first transmission mechanism is connected to the first pipetting assembly, and the second transmission mechanism is connected to the second pipetting assembly.

[0007] For example, the first transmission mechanism includes a lead screw extending along the first direction and a nut threadedly connected to the lead screw, the lead screw being connected to the output shaft of the first motor, and the first pipetting assembly being connected to the nut.

[0008] For example, the second transmission mechanism includes a driven wheel, a driving wheel connected to the output shaft of the second motor, and a transmission belt sleeved on the driving wheel and the driven wheel, and the second pipetting assembly is connected to the transmission belt.

[0009] For example, the linkage assembly includes a scissor-type telescopic frame, which includes multiple scissor link groups corresponding one-to-one with the plurality of pipetting components. Each scissor link group includes a first link, a second link, and an intra-group pivot. The intra-group pivot rotatably connects the first link and the second link, and is disposed on the corresponding pipetting component. The end of the first link is rotatably connected to the end of the second link of the adjacent scissor link group via a first inter-group pivot, and the end of the second link is rotatably connected to the end of the first link of the adjacent scissor link group via a second inter-group pivot.

[0010] For example, the first pipetting assembly and the second pipetting assembly are respectively located at both ends of the plurality of pipetting assemblies along the first direction.

[0011] For example, the first driving component has a first driving speed for driving the first pipetting component to move along the first direction, and the second driving component has a second driving speed for driving the second pipetting component to move along the first direction. The pipetting device moves along the first direction under the drive of the first driving component by making the difference between the first driving speed and the second driving speed equal to zero.

[0012] For example, the first driving component has a first driving speed for moving the first pipetting component along the first direction, and the second driving component has a second driving speed for moving the second pipetting component along the first direction. The spacing between the plurality of pipetting components along the first direction is adjustable by making the difference between the first driving speed and the second driving speed non-zero.

[0013] For example, the pipetting device further includes a first guide rail extending along the first direction, and each of the plurality of pipetting components is provided with a slider slidably connected to the first guide rail.

[0014] For example, there are multiple first guide rails arranged side by side, and the sliders on adjacent pipetting assemblies are slidably connected to different first guide rails, and the projections of the sliders of adjacent pipetting assemblies on a plane perpendicular to the first direction are completely staggered.

[0015] For example, sliders on a pair of pipetting assemblies spaced apart by one pipetting assembly are slidably connected to the same first guide rail.

[0016] For example, the pipetting device further includes a mounting base and a second guide rail extending along the second direction, the mounting base being slidably connected to the second guide rail, the pipetting device and the first driving device being disposed on the mounting base, and the mounting base being slidable along the second guide rail under the drive of the second driving device.

[0017] For example, the pipetting device further includes a transport device movable along the first direction and a second guide rail extending along the second direction, both the transport device and the pipetting device being slidably connected to the second guide rail.

[0018] For example, each of the plurality of pipetting assemblies includes a variable pitch element, a pipetting channel, and a drive element. The linkage assembly connects the variable pitch elements of the plurality of pipetting assemblies together. The variable pitch element is provided with a third guide rail extending along a third direction. The pipetting channel is slidably connected to the third guide rail. The pipetting channel is slidable along the third guide rail under the drive of the drive element. The third direction is perpendicular to the first direction and the second direction.

[0019] The pipetting device provided in this invention allows for adjustment of the spacing between multiple pipetting components via a first driving component and / or a second driving component. This eliminates the need for manual adjustment of the spacing between the multiple pipetting components, thus saving labor costs. Furthermore, compared to manual adjustment, the first driving component and / or the second driving component take less time to adjust the spacing between the multiple pipetting components, thereby saving time costs. Also, compared to manual adjustment, the first driving component and / or the second driving component provide higher accuracy in adjusting the spacing between the multiple pipetting components. Therefore, the pipetting device exhibits high efficiency and stability, thus possessing strong market competitiveness.

[0020] A series of simplified concepts are introduced in the description of the invention, which will be further explained in detail in the detailed description section. This description is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0021] The advantages and features of the present invention will be described in detail below with reference to the accompanying drawings. Attached Figure Description

[0022] The following figures are included as part of this invention for understanding its principles. The figures illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention. In the figures,

[0023] Figure 1 A perspective view of a pipetting device according to an exemplary embodiment of the present invention, wherein the door is in the closed position; and

[0024] Figure 2 for Figure 1 The image shows a perspective view of the pipetting apparatus, with the door in the open position;

[0025] Figure 3 for Figure 1 The image shows a perspective view of the pipetting device from one angle, with the cover and door removed.

[0026] Figure 4 for Figure 3 Another perspective view of the pipetting device shown in the image;

[0027] Figure 5 for Figure 3 A perspective view of some components of the pipetting device shown in the image;

[0028] Figure 6 for Figure 5 A perspective view of some components of the pipetting device shown in the image;

[0029] Figure 7 for Figure 6 The front view of the pipetting apparatus shown in the image;

[0030] Figure 8 for Figure 7 A partial enlarged view of the pipetting apparatus shown in the image;

[0031] Figure 9 for Figure 3 A perspective view of some components of the pipetting device shown in the figure; and

[0032] Figure 10 for Figure 9 A partial enlarged view of the pipetting apparatus shown in the image.

[0033] The above figures include the following reference numerals:

[0034] 1000. Pipette device; 1100. Linkage assembly; 1110. Scissor link assembly; 1111. First link; 1112. Second link; 1113. Intra-group pivot; 1120. Scissor link assembly; 1121. First link; 1122. Second link; 1123. Intra-group pivot; 1131. First inter-group pivot; 1132. Second inter-group pivot; 1200. Pipette assembly; 1201. First pipetting assembly; 1202. Second pipetting assembly; 1203. Third pipetting assembly; 1204. Fourth pipetting assembly; 1210. Sliding element; 1220. Variable distance element; 1221. Third guide rail; 1230. Pipette channel; 1240. Drive Moving component; 2000, First drive device; 2100, First drive assembly; 2110, First motor; 2120, First transmission mechanism; 2121, Lead screw; 2122, Nut; 2200, Second drive assembly; 2210, Second motor; 2220, Second transmission mechanism; 2221, Driven wheel; 2222, Transmission belt; 3000, Second drive device; 4100, First guide rail; 4200, Second guide rail; 4300, Mounting base; 5000, Handling device; 6100, Base; 6110, Target position; 6120, Designated position; 6200, Cover; 6210, Opening; 6300, Door; 6400, Accommodation space. Detailed Implementation

[0035] In the following description, numerous details are provided to enable a thorough understanding of the invention. However, those skilled in the art will appreciate that the following description merely illustrates preferred embodiments of the invention, and that the invention can be practiced without one or more of these details. Furthermore, to avoid obscuring the invention, some technical features well-known in the art have not been described in detail.

[0036] Embodiments of the present invention provide a pipetting device. The pipetting device can perform liquid aspiration and pipetting operations. The liquid includes, but is not limited to, sample solutions or pharmaceutical reagents. The pipetting device of the present invention will be described in detail below with reference to the accompanying drawings.

[0037] like Figure 3-5 As shown in Figures 9-10, the pipetting device may include a pipetting device 1000, a first driving device 2000, and a second driving device 3000.

[0038] The first driving device 2000 can be connected to the pipetting device 1000. Under the drive of the first driving device 2000, the pipetting device 1000 can move along a first direction YY. The first driving device 2000 can be any type of driving device known in the art or that may appear in the future, including but not limited to motor driving devices, cylinder driving devices and / or electric cylinder driving devices.

[0039] The second drive device 3000 can be directly or indirectly connected to the pipetting device 1000. Driven by the second drive device 3000, the pipetting device 1000 can move along the second direction XX. The second drive device 3000 can be any type of drive device known in the art or that may emerge in the future, including but not limited to motor drive devices, cylinder drive devices, or electric cylinder drive devices. The first direction YY and the second direction XX can be different. The angle between the first direction YY and the second direction XX can be arbitrary, including but not limited to 30 degrees, 45 degrees, or 60 degrees. In the embodiment shown in the figure, the first direction YY and the second direction XX can be perpendicular to each other. The first direction YY can be the lateral direction of the pipetting device; the second direction XX can be the longitudinal direction of the pipetting device.

[0040] The pipetting apparatus 1000 may include a linkage assembly 1100 and pipetting components 1200. The number of pipetting components 1200 may be multiple, such as two, three, or more. Different pipetting components 1200 may have the same or different structures. Multiple pipetting components 1200 may be arranged in a row along a first direction YY. Furthermore, multiple pipetting components 1200 may move along the first direction YY. Each pipetting component 1200 can perform individual aspiration and dispensing.

[0041] Multiple pipetting components 1200 may include a first pipetting component 1201 and a second pipetting component 1202. The positional relationship between the first pipetting component 1201 and the second pipetting component 1202 can be arbitrary, for example, they can be adjacent, spaced apart by one pipetting component, or spaced apart by more pipetting components. The first driving device 2000 may include a first driving component 2100 and a second driving component 2200. The first driving component 2100 and the second driving component 2200 may be the same or different. The first driving component 2100 may be connected to the first pipetting component 1201. The second driving component 2200 may be connected to the second pipetting component 1202. A linkage assembly 1100 can connect the multiple pipetting components 1200 together. Under the drive of the first driving component 2100 and the linkage assembly 1100, the spacing between the multiple pipetting components 1200 is adjustable; and / or under the drive of the second driving component 2200 and the linkage assembly 1100, the spacing between the multiple pipetting components 1200 is adjustable. The connecting rod assembly 1100 can adopt the structure described below, or it can be any other assembly capable of connecting multiple pipetting assemblies 1200 together and cooperating with the first drive assembly 2100 and / or the second drive assembly 2200 to achieve adjustable spacing between the multiple pipetting assemblies 1200. In some embodiments, the adjustable range of the spacing between adjacent pipetting assemblies 1200 can be between 9 mm and 18.8 mm. Of course, if necessary, the adjustable range of the spacing between adjacent pipetting assemblies 1200 can also be expanded or reduced.

[0042] In practical applications, personnel can load the first material into the pipetting device. The first material may include a first container and the liquid contained within it. The first container may be, for example, a well plate or a test tube. The second drive device 3000 can drive the pipetting device 1000 to move along a second direction XX. The first drive assembly 2100 and the second drive assembly 2200 can respectively drive the first pipetting assembly 1201 and the second pipetting assembly 1202, thereby enabling the first pipetting assembly 1201 and the second pipetting assembly 1202 to move synchronously along a first direction YY. Thus, driven by the linkage assembly 1100, the pipetting device 1000 can move along the first direction YY. In this way, driven by the first drive device 2000 and the second drive device 3000, the pipetting device 1000 can move to the first material at the target position 6110.

[0043] Taking a well plate as an example, since the spacing between the holes in well plates of different specifications is different, the spacing between the multiple pipetting components 1200 needs to be adjusted to be consistent with or substantially consistent with the spacing between the holes in the well plate before liquid aspiration. Specifically, the spacing between the multiple pipetting components 1200 can be adjusted by the first driving component 2100 and / or the second driving component 2200. More specifically, the first driving component 2100 can drive the first pipetting component 1201, thereby causing the first pipetting component 1201 to move along the first direction YY, and thus causing the first pipetting component 1201 to move closer to or further away from the second pipetting component 1202. In this way, the spacing between the multiple pipetting components 1200 can be adjusted under the drive of the connecting rod assembly 1100. Alternatively, the second driving component 2200 can drive the second pipetting component 1202, thereby causing the second pipetting component 1202 to move along the first direction YY, and thus causing the second pipetting component 1202 to move closer to or further away from the first pipetting component 1201. Thus, the spacing between the multiple pipetting components 1200 can be adjusted under the drive of the linkage assembly 1100. Alternatively, the first drive assembly 2100 can drive the first pipetting component 1201, and the second drive assembly 2200 can drive the second pipetting component 1202, thereby causing the first pipetting component 1201 and the second pipetting component 1202 to move closer or further apart along the first direction YY. Thus, the spacing between the multiple pipetting components 1200 can be adjusted under the drive of the linkage assembly 1100. When the spacing between the multiple pipetting components 1200 is consistent with or substantially consistent with the orifice spacing of the orifice plate, each of the multiple pipetting components 1200 can aspirate liquid from the first container of its corresponding first material.

[0044] After liquid aspiration is completed, the liquid can be stored in the pipetting assembly 1200. Driven by the first drive device 2000 and the second drive device 3000, the pipetting device 1000 can move to the second container located at the target position 6110. The second container can be, for example, a well plate or a test tube. Taking a test tube as an example, in this case, a tray usually carries multiple test tubes. When the spacing between the multiple test tubes is different from the spacing between the multiple pipetting assemblies 1200, the first drive assembly 2100 and / or the second drive assembly 2200 can adjust the spacing between the multiple pipetting assemblies 1200 in the same way as described above, which will not be elaborated here. The multiple pipetting assemblies 1200 can discharge the liquid into the second container one by one to complete the pipetting. Therefore, the multiple pipetting assemblies 1200 of the pipetting device 1000 can complete the pipetting work at the target position 6110. Then, the relevant personnel can discharge the second material (i.e., the second container and the liquid therein) from the pipetting device.

[0045] In summary, the pipetting device provided in this embodiment of the invention allows for adjustment of the spacing between multiple pipetting components 1200 via the first driving component 2100 and / or the second driving component 2200. This eliminates the need for manual adjustment of the spacing between the multiple pipetting components 1200, thereby saving labor costs. Furthermore, compared to manual adjustment, the first driving component 2100 and / or the second driving component 2200 take less time to adjust the spacing between the multiple pipetting components 1200, thus saving time costs. Additionally, compared to manual adjustment, the first driving component 2100 and / or the second driving component 2200 achieve higher accuracy in adjusting the spacing between the multiple pipetting components 1200. Therefore, the pipetting device exhibits high efficiency and stability, thus possessing strong market competitiveness.

[0046] For example, such as Figure 5 As shown, each of the plurality of pipetting assemblies 1200 may include a variable pitch element 1220, a pipetting channel 1230, and a drive element 1240. A linkage assembly 1100 can connect the variable pitch elements 1220 of the plurality of pipetting assemblies 1200 together. The variable pitch element 1220 can serve as a base for the pipetting assembly 1200. A third guide rail 1221 may be provided on the variable pitch element 1220. The third guide rail 1221 may extend along a third direction ZZ. The third direction ZZ may be perpendicular to the first direction YY and the second direction XX. In the embodiment shown in the figure, the third direction ZZ may be the vertical direction of the pipetting device. The pipetting channel 1230 may be slidably connected to the third guide rail 1221. The drive element 1240 may be connected to the pipetting channel 1230. Under the drive of the drive element 1240, the pipetting channel 1230 may slide along the third guide rail 1221. The drive element 1240 includes, but is not limited to, a motor, a cylinder, or an electric cylinder. The drive unit 1240 can drive the pipetting channel 1230 to slide along the third guide rail 1221, thereby approaching the first and second containers for easy aspiration and dispensing. After aspiration and dispensing, the drive unit 1240 can drive the pipetting channel 1230 back along the third guide rail 1221 for easy pipetting. The pipetting channel 1230 includes, but is not limited to, a pipette. With this configuration, the pipetting assembly 1200 has rich functionality and provides a better user experience.

[0047] For example, the first driving component 2100 may have a first driving speed for driving the first pipetting component 1201 to move along the first direction YY. The second driving component 2200 may have a second driving speed for driving the second pipetting component 1202 to move along the first direction YY. Under the drive of the first driving device 2000, when the difference between the first driving speed and the second driving speed is equal to zero, the pipetting device 1000 can move along the first direction YY. It should be noted that since velocity is a vector, when the value and direction of the first driving speed are exactly the same as the value and direction of the second driving speed, the difference between the first driving speed and the second driving speed can be equal to zero. In this way, the first driving component 2100 and the second driving component 2200 can drive the first pipetting component 1201 and the second pipetting component 1202 to move synchronously along the first direction YY, respectively. Thus, under the drive of the connecting rod assembly 1100, the pipetting device 1000 can move along the first direction YY.

[0048] For example, when the difference between the first driving speed and the second driving speed is not equal to zero, the spacing between multiple pipetting components 1200 along the first direction YY can be adjusted. It should be noted that the difference between the first driving speed and the second driving speed may not be equal to zero when the values ​​of the first driving speed and the second driving speed are different, and / or when the directions of the first driving speed and the second driving speed are different. Specifically, when the values ​​of the first driving speed and the second driving speed are different, and the directions of the first driving speed and the second driving speed are the same, the first pipetting component 1201 and the second pipetting component 1202 can move in the same direction, and they can move closer or further apart. When the values ​​of the first driving speed and the second driving speed are the same, and the directions of the first driving speed and the second driving speed are different, the first pipetting component 1201 and the second pipetting component 1202 can move in opposite directions or towards each other, thereby moving closer or further apart. When the values ​​of the first driving speed and the second driving speed are different, and the directions of the first driving speed and the second driving speed are different, the first pipetting assembly 1201 and the second pipetting assembly 1202 can move in opposite directions or towards each other, thereby moving closer to or further away from each other.

[0049] For example, such as Figure 5-7As shown, the first drive component 2100 may include a first motor 2110. The second drive component 2200 may include a second motor 2210. Both the first motor 2110 and the second motor 2210 can be servo motors. Compared with other drive components (such as stepper motors), servo motors have many advantages, such as higher control precision, better operational stability, larger starting torque, stronger overload resistance, lower heat generation, and lower noise. The difference between the first drive speed and the second drive speed can be determined by the pulse difference between the first motor 2110 and the second motor 2210. As is known to those skilled in the art, by changing the pulses of the first motor 2110 and the second motor 2210, the rotational speeds of the first motor 2110 and the second motor 2210 can be changed, thereby changing the first drive speed and the second drive speed, and thus changing the difference between the first drive speed and the second drive speed.

[0050] For example, such as Figure 5-7 As shown, the first drive assembly 2100 may further include a first transmission mechanism 2120 that is driveably connected to the first motor 2110. The first transmission mechanism 2120 may be connected to the first pipetting assembly 1201. The first transmission mechanism 2120 includes, but is not limited to, a gear transmission mechanism, a belt transmission mechanism, or a chain transmission mechanism. The first motor 2110 can drive the first pipetting assembly 1201 to move along the first direction YY through the first transmission mechanism 2120. By setting the first transmission mechanism 2120, the position of the first motor 2110 has a higher degree of freedom, so it can be set in a position that is convenient for installation, maintenance, and / or cable connection. Furthermore, the first transmission mechanism 2120 can also be used to change parameters such as torque, so that the effect of the first pipetting assembly 1201 moving along the first direction YY is more in line with requirements.

[0051] For example, such as Figure 5-7 As shown, the second drive assembly 2200 may further include a second transmission mechanism 2220 connected to the second motor 2210. The second transmission mechanism 2220 may be connected to the second pipetting assembly 1202. The second transmission mechanism 2220 includes, but is not limited to, a gear transmission mechanism, a belt transmission mechanism, or a chain transmission mechanism. The second motor 2210 can drive the second pipetting assembly 1202 to move along the first direction YY through the second transmission mechanism 2220. By setting the second transmission mechanism 2220, the second motor 2210 has a higher degree of freedom in its position, and can be set in a position that is convenient for installation, maintenance, and / or cable connection. Furthermore, the second transmission mechanism 2220 can also be used to change parameters such as torque, so that the movement of the second pipetting assembly 1202 along the first direction YY is more in line with requirements.

[0052] For example, such as Figure 5-7As shown in Figures 9-10, the first transmission mechanism 2120 can be a ball screw. Specifically, the first transmission mechanism 2120 can include a screw 2121 and a nut 2122. The screw 2121 can extend along a first direction YY. The nut 2122 can be threaded to the screw 2121. The screw 2121 can be connected to the output shaft of the first motor 2110. The first pipetting assembly 1201 can be connected to the nut 2122. The first motor 2110 can drive the screw 2121 to rotate, thereby causing the nut 2122 to move along the first direction YY, and further causing the first pipetting assembly 1201 to move along the first direction YY. The first drive assembly 2100 using the first transmission mechanism 2120 has many advantages such as high precision, low friction loss, high axial stiffness, high durability, and high reliability.

[0053] For example, such as Figure 5-7 As shown, the second transmission mechanism 2220 can be a belt drive mechanism. Specifically, the second transmission mechanism 2220 may include a driving pulley (not shown due to angle), a driven pulley 2221, and a transmission belt 2222. The driving pulley can be connected to the output shaft of the second motor 2210. The driven pulley 2221 can be spaced apart from the driving pulley. The transmission belt 2222 can be sleeved on the driving pulley and the driven pulley 2221. The second pipetting assembly 1202 can be connected to the transmission belt 2222. The second motor 2210 can drive the driving pulley to rotate, thereby driving the driven pulley 2221 to rotate via the transmission belt 2222, which in turn allows the second pipetting assembly 1202 to move along the first direction YY. The second drive assembly 2200 using the second transmission mechanism 2220 has many advantages such as shock absorption, vibration absorption, smooth operation, and low noise.

[0054] For example, such as Figure 5-7 As shown, the first motor 2110 and the second motor 2210 can be located on the same side of the pipetting device 1000 along the first direction YY. This arrangement allows for centralized wiring of the pipetting device, thereby improving space utilization.

[0055] For example, such as Figure 5-7As shown, since the lead screw 2121 is connected to the output shaft of the first motor 2110, the first rotation axis of the output shaft of the first motor 2110 can be parallel to the lead screw 2121, that is, the first rotation axis can be parallel to the first direction YY. Since the drive wheel is connected to the output shaft of the second motor 2210, the second rotation axis of the output shaft of the second motor 2210 can be parallel to the axis of the drive wheel, that is, the second rotation axis can be perpendicular to the first direction YY. Therefore, the first rotation axis and the second rotation axis can be perpendicular to each other. In the embodiment shown in the figure, the first rotation axis can be parallel to the first direction YY, and the second rotation axis can be parallel to the second direction XX. Along a direction perpendicular to the first rotation axis and the second rotation axis (e.g., the third direction ZZ), the middle parts of the first motor 2110 and the middle parts of the second motor 2210 can be stacked on top of each other. With this arrangement, the structure of the first drive device 2000 is more compact, thereby improving the space utilization within the pipetting device.

[0056] For example, such as Figure 9-10 As shown, the linkage assembly 1100 may include a scissor-type telescopic frame. The scissor-type telescopic frame may include multiple scissor link assemblies. Each scissor link assembly may correspond one-to-one with a pipetting assembly 1200. Each scissor link assembly may include a first link, a second link, and an intra-assembly pivot. The intra-assembly pivot rotatably connects the first and second links. The intra-assembly pivot may be mounted on the corresponding pipetting assembly 1200. With this configuration, the first and second links can rotate relative to their respective pipetting assemblies 1200 about the intra-assembly pivot. The end of the first link and the end of the second link of an adjacent scissor link assembly can be rotatably connected to each other via a first inter-assembly pivot. The end of the second link and the end of the first link of an adjacent scissor link assembly can be rotatably connected to each other via a second inter-assembly pivot.

[0057] For ease of description, please refer to [see also] Figure 9-10In the embodiment shown, two adjacent scissor link groups are designated as scissor link group 1110 and scissor link group 1120. The working process of the scissor telescopic frame and the linkage relationship between its internal components will be described in detail below with reference to this embodiment. Scissor link group 1110 and scissor link group 1120 can correspond one-to-one with adjacent pipetting assemblies 1200. Scissor link group 1110 may include a first link 1111, a second link 1112, and an internal pivot 1113. The internal pivot 1113 can rotatably connect the first link 1111 and the second link 1112. The internal pivot 1113 can be disposed on the corresponding pipetting assembly 1200. Scissor link group 1120 may include a first link 1121, a second link 1122, and an internal pivot 1123. The internal pivot 1123 can rotatably connect the first link 1121 and the second link 1122. The intra-group pivot 1123 can be mounted on the corresponding pipetting assembly 1200. The ends of the first link 1111 and the second link 1122 can be rotatably connected to each other via the first inter-group pivot 1131. The ends of the second link 1112 and the first link 1121 can be rotatably connected to each other via the second inter-group pivot 1132. In this embodiment, since the scissor link assembly 1120 is located in the middle of the plurality of scissor link assemblies along the first direction YY, one side of it can be connected to the scissor link assembly 1110, while the other side can be connected to other scissor link assemblies. Thus, the middle part of the first link 1121 and the middle part of the second link 1122 can be connected to the intra-group pivot 1123. Thus, the scissor link assembly 1120 can be generally "X" shaped. The two ends of the first link 1121 can be connected to their respective adjacent scissor link assemblies via the second inter-group pivot. The two ends of the second link 1122 can be connected to their adjacent two scissor link groups via a first inter-group pivot. Since the scissor link group 1110 is located at the end of the multiple scissor link groups along the first direction YY, one side can be connected to the scissor link group 1120, while the other side does not need to be connected. Thus, the other end of the first link 1111 and the other end of the second link 1112 can be connected to the intra-group pivot 1113. In this way, the scissor link group 1110 can generally be in a "<" shape. This reduces the overall dimensions of the scissor-type telescopic frame. Alternatively, referring to the scissor link group 1120, the middle of the first link 1111 and the middle of the second link 1112 can be connected to the intra-group pivot 1113. In this way, the scissor link group 1110 can generally be in an "X" shape. Therefore, the scissor link assembly located at the end along the first direction YY in multiple scissor link assemblies can be either “<” shaped or “X” shaped.

[0058] In practical applications, when the first driving component 2100 drives the first pipetting component 1201 away from the second pipetting component 1202 along the first direction YY, the scissor linkage group on the first pipetting component 1201 can drive other scissor linkage groups, so that the first and second inter-group rotation axes between adjacent scissor linkage groups are brought closer to each other, thereby increasing the distance between the multiple pipetting components 1200. Conversely, when the first driving component 2100 drives the first pipetting component 1201 closer to the second pipetting component 1202 along the first direction YY, the scissor linkage group on the first pipetting component 1201 can drive other scissor linkage groups, so that the first and second inter-group rotation axes between adjacent scissor linkage groups are moved away from each other, thereby decreasing the distance between the multiple pipetting components 1200. The principle of the second driving component 2200 driving the second pipetting component 1202 is roughly the same as the principle of the first driving component 2100 driving the first pipetting component 1201, and will not be described again for simplicity.

[0059] The scissor-type telescopic linkage assembly 1100 has a compact structure, facilitating installation and layout. Furthermore, the scissor linkage assembly can be increased or decreased according to the number of multiple pipetting assemblies 1200, thus providing good scalability and broad applicability. Additionally, the linkage assembly 1100 ensures relatively even spacing between the multiple pipetting assemblies 1200.

[0060] For example, such as Figure 9-10 As shown, the first pipetting assembly 1201 and the second pipetting assembly 1202 can be located at opposite ends of the plurality of pipetting assemblies 1200 along the first direction YY. Thus, compared to the pipetting assemblies located in the middle along the first direction YY among the plurality of pipetting assemblies 1200, the first pipetting assembly 1201 and the second pipetting assembly 1202 are located further outwards, providing more space for installation and removal. Therefore, the first drive assembly 2100 and the first pipetting assembly 1201 are easy to install and remove. The second drive assembly 2200 and the second pipetting assembly 1202 are also easy to install and remove.

[0061] For example, such as Figure 3-8As shown, the pipetting device may further include a first guide rail 4100. The first guide rail 4100 may extend along a first direction YY. Each of the plurality of pipetting assemblies 1200 may be provided with a slider 1210. The slider 1210 is slidably connected to the first guide rail 4100. In an embodiment where each of the plurality of pipetting assemblies 1200 includes a variable distance member 1220, a pipetting channel 1230, and a drive member 1240, the slider 1210 may be disposed on the variable distance member 1220. The slider 1210 and the third guide rail 1221 may be located on opposite sides of the variable distance member 1220, respectively. With this arrangement, the first guide rail 4100 can provide better guidance for the plurality of pipetting assemblies 1200, thereby improving the stability of the sliding of the plurality of pipetting assemblies 1200 along the first direction YY. Furthermore, in the embodiment where the first transmission mechanism 2120 includes a lead screw 2121 and a nut 2122, the sliding member 1210 connected to the first guide rail 4100 can prevent the nut 2122 from rotating, thereby allowing the nut 2122 to move along the first direction YY, which in turn can drive the first pipetting assembly 1201 to move along the first direction YY.

[0062] For example, such as Figure 3-8As shown, there can be multiple first guide rails 4100 arranged side by side. In the embodiment shown, adjacent first guide rails 4100 can be spaced apart along a third direction ZZ. Sliders 1210 on adjacent pipetting assemblies 1200 are slidably connected to different first guide rails 4100. The projections of sliders 1210 on adjacent pipetting assemblies 1200 onto a plane perpendicular to the first direction YY are completely offset. Specifically, sliders 1210 on adjacent pipetting assemblies 1200 can each have a first projection area and a second projection area on a plane perpendicular to the first direction YY. The first projection area and the second projection area can be completely offset, so there will be no overlapping areas. In embodiments where the first direction YY is perpendicular to both the second direction XX and the third direction ZZ, both the second direction XX and the third direction ZZ can be located on this plane. In the prior art, the minimum spacing between adjacent pipetting assemblies is limited by the size of the slides on both, i.e., at the minimum spacing, the slides on both are in contact with each other. In contrast, in this embodiment, the sliders 1210 on adjacent pipetting assemblies 1200 can be staggered along a direction perpendicular to the first direction YY (e.g., the third direction ZZ). During the sliding of adjacent pipetting assemblies 1200 along the first guide rail 4100, the sliders 1210 do not affect each other. Even when adjacent pipetting assemblies 1200 are at their minimum spacing, the sliders 1210 will not come into contact with each other. Adjacent pipetting assemblies 1200 can be placed as close as possible. Therefore, with the overall size of the pipetting device 1000 remaining unchanged, the spacing between the pipetting assemblies 1200 is smaller, which can reduce the space occupied by the pipetting assemblies 1200; or, the number of pipetting assemblies 1200 can be increased. The structure of the pipetting device 1000 is more rational, and the space utilization rate is higher.

[0063] For example, such as Figure 5-8 As shown, each of the multiple pipetting assemblies 1200 can have multiple sliders 1210. In this way, each pipetting assembly 1200 can slide along multiple first guide rails 4100, thus improving the stability of the sliding.

[0064] For example, such as Figure 5 and 7As shown in Figure 8, sliders 1210 on a pair of pipetting assemblies 1200 spaced apart by one are slidably connected to the same first guide rail 4100. Exemplarily, in some embodiments, there may be four pipetting assemblies 1200. For ease of description, the plurality of pipetting assemblies 1200 can be sequentially referred to along a first direction YY as a first pipetting assembly 1201, a third pipetting assembly 1203, a fourth pipetting assembly 1204, and a second pipetting assembly 1202. Sliders 1210 on the first pipetting assembly 1201 and the fourth pipetting assembly 1204 are slidably connected to the same first guide rail 4100. Sliders 1210 on the third pipetting assembly 1203 and the second pipetting assembly 1202 are slidably connected to the same other first guide rail 4100. This arrangement results in a relatively small number of first guide rails 4100, thereby reducing manufacturing costs.

[0065] For example, such as Figure 3-4 As shown, the pipetting apparatus may further include a second guide rail 4200 and a mounting base 4300. The mounting base 4300 is slidably connected to the second guide rail 4200. The pipetting device 1000 and the first drive device 2000 may be disposed on the mounting base 4300. The second drive device 3000 may drive the mounting base 4300 to slide along the second guide rail 4200. The second guide rail 4200 may extend in a second direction XX. With this configuration, the second drive device 3000 may drive the pipetting device 1000 to move in the second direction XX.

[0066] For example, such as Figure 3-4 As shown, there can be multiple second guide rails 4200 arranged side by side. In the embodiment shown in the figure, adjacent second guide rails 4200 can be spaced apart along a first direction YY. In this way, the mounting base 4300 can slide along multiple second guide rails 4200, thus improving the stability of the sliding.

[0067] For example, such as Figure 3-4 As shown, the pipetting apparatus may further include a transport device 5000. The transport device 5000 can move along a first direction YY. The transport device 5000 may include transport grippers or transport suction cups, etc., as long as it can transport materials. The transport device 5000 can transport materials (including a first material and a second material) within the pipetting apparatus. This enriches the functionality of the pipetting apparatus and improves the user experience.

[0068] For example, such as Figure 3-4 As shown, both the conveying device 5000 and the pipetting device 1000 are slidably connected to the second guide rail 4200. In this way, the conveying device 5000 can move materials to more locations.

[0069] For example, such as Figure 1-3As shown, the pipetting device may further include a base 6100, a housing 6200, and a door 6300. The base 6100 can be placed on the ground or a table. The base 6100 and the housing 6200 can be combined to form a receiving space 6400. The pipetting device 1000, the first drive device 2000, and the second drive device 3000 can be disposed within the receiving space 6400. The housing 6200 may have an opening 6210 communicating with the receiving space 6400. The door 6300 can be movably connected to the housing 6200 between an open position and a closed position by translation, flipping, or any other suitable means. When the door 6300 is in the open position, the opening 6210 can be opened. Personnel can load and unload materials through the opening 6210. When the door 6300 is in the closed position, the opening 6210 can be closed. This avoids the external environment of the pipetting device from affecting components such as the pipetting device 1000, the first drive device 2000, and the second drive device 3000 within the containment space 6400.

[0070] In some embodiments, the handling device 5000 can handle materials between the inside and outside of the pipetting apparatus through the opening 6210. Of course, other openings may also be provided on the housing 6200 for the handling device 5000 to handle materials between the inside and outside of the pipetting apparatus.

[0071] For example, such as Figure 3-4 As shown, a target position 6110 and a designated position 6120 can be provided on the base 6100. The target position 6110 can be provided with one or more first bases. Each first base can be used for seating a first tray. A first container for placing multiple first materials can be placed on the first tray. The designated position 6120 can be provided with one or more second bases. Each second base can be used for seating a second tray. A second container for placing multiple second materials can be placed on the second tray. The conveying device 5000 can move the first and second trays between the target position 6110 and the designated position 6120, thereby conveying the first and second materials.

[0072] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front", "rear", "up", "down", "left", "right", "horizontal", "vertical", "horizontal", "top", and "bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0073] For ease of description, relative terms such as "above," "over," "on the upper surface of," and "above" are used here to describe the regional positional relationship of one or more components or features shown in the figures to other components or features. It should be understood that relative terms include not only the orientation of the component as depicted in the figure but also different orientations during use or operation. For example, if the components in the figures are inverted as a whole, "above" or "above other components or features" will include cases where the component is "below" or "under" other components or features. Thus, the exemplary term "above" can include both "above" and "below." Furthermore, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document intends to include all such cases.

[0074] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0075] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0076] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipetting device, characterized in that, The device includes a pipetting apparatus, a first driving device, and a second driving device. The pipetting apparatus is movable along a first direction under the drive of the first driving device and along a second direction under the drive of the second driving device. The first direction is different from the second direction. The pipetting device includes a scissor lift frame and multiple pipetting components arranged in a row along the first direction. Each pipetting component includes a first pipetting component and a second pipetting component. The first driving device includes a first driving component and a second driving component. The first driving component is connected to the first pipetting component, and the second driving component is connected to the second pipetting component. The scissor lift frame connects the multiple pipetting components together. Driven by the first driving component and / or the second driving component, and propelled by the scissor lift frame, the spacing between the multiple pipetting components is adjustable. The scissor lift telescopic frame includes multiple scissor link assemblies corresponding one-to-one with the plurality of pipetting components. Each scissor link assembly includes a first link, a second link, and an internal pivot. The internal pivot rotatably connects the first link and the second link, and the internal pivot is mounted on the corresponding pipetting component. The end of the first link is rotatably connected to the end of the second link of the adjacent scissor link assembly via a first inter-assembly pivot. The end of the second link is rotatably connected to the end of the first link of the adjacent scissor link assembly via a second inter-assembly pivot.

2. The pipetting device as described in claim 1, characterized in that, The first drive assembly includes a first motor and a first transmission mechanism that is driven by the first motor. The second drive assembly includes a second motor and a second transmission mechanism that is driven by the second motor. The first transmission mechanism is connected to the first pipetting assembly, and the second transmission mechanism is connected to the second pipetting assembly.

3. The pipetting device as described in claim 2, characterized in that, The first transmission mechanism includes a lead screw extending along the first direction and a nut threadedly connected to the lead screw, the lead screw being connected to the output shaft of the first motor, and the first pipetting assembly being connected to the nut.

4. The pipetting device as described in claim 2, characterized in that, The second transmission mechanism includes a driven wheel, a driving wheel connected to the output shaft of the second motor, and a transmission belt sleeved on the driving wheel and the driven wheel, with the second pipetting assembly connected to the transmission belt.

5. The pipetting device as described in claim 1, characterized in that, The first pipetting assembly and the second pipetting assembly are respectively located at both ends of the plurality of pipetting assemblies along the first direction.

6. The pipetting device as described in claim 1, characterized in that, The first driving component has a first driving speed for moving the first pipetting component along the first direction, and the second driving component has a second driving speed for moving the second pipetting component along the first direction. The pipetting device moves along the first direction under the drive of the first driving device by making the difference between the first driving speed and the second driving speed equal to zero; and / or The spacing between the plurality of pipetting components along the first direction is adjustable by ensuring that the difference between the first driving speed and the second driving speed is not equal to zero.

7. The pipetting device as described in claim 1, characterized in that, The pipetting device further includes a first guide rail extending along the first direction, and each of the plurality of pipetting components is provided with a slider that is slidably connected to the first guide rail.

8. The pipetting device as described in claim 7, characterized in that, The first guide rails are multiple and arranged side by side. The sliders on adjacent pipetting assemblies are slidably connected to different first guide rails, and the projections of the sliders of adjacent pipetting assemblies on a plane perpendicular to the first direction are completely staggered.

9. The pipetting apparatus as described in claim 8, characterized in that, Sliders on a pair of pipettes spaced apart by one pipette assembly are slidably connected to the same first guide rail.

10. The pipetting apparatus as described in claim 1, characterized in that, The pipetting device further includes a mounting base and a second guide rail extending along the second direction. The mounting base is slidably connected to the second guide rail. The pipetting device and the first driving device are disposed on the mounting base. The mounting base is slidable along the second guide rail under the drive of the second driving device.

11. The pipetting apparatus as described in claim 1, characterized in that, The pipetting device further includes a transport device movable along the first direction and a second guide rail extending along the second direction, both the transport device and the pipetting device being slidably connected to the second guide rail.

12. The pipetting apparatus as described in claim 1, characterized in that, Each of the plurality of pipetting assemblies includes a variable pitch element, a pipetting channel, and a drive element. The scissor-type telescopic frame connects the variable pitch elements of the plurality of pipetting assemblies together. The variable pitch element is provided with a third guide rail extending along a third direction. The pipetting channel is slidably connected to the third guide rail. The pipetting channel is slidable along the third guide rail under the drive of the drive element. The third direction is perpendicular to the first direction and the second direction.

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