A pipette tip changer with adapter plate

Abstract

This invention discloses a pipette tip replacement device with an adapter plate, comprising a pipette tip connected to an actuator, wherein a zero-position sensor is disposed therein to sense the zero position of the actuator; a clamping and locking mechanism for clamping and locking the pipette tip; a driving mechanism for engaging with the pipette tip and driving the pipette tip to cause the actuator to perform a corresponding action; and an electrically connected controller and adapter plate. The controller controls the operation of the pipette tip and the driving mechanism, and the adapter plate is disposed on the pipette tip. The controller communicates with the pipette tip through the adapter plate. By replacing the pipette tip of the same specification and shape connected to different actuators with a pipette tip of the same type, the purpose of replacing different actuators can be achieved. Furthermore, the pipette tip replacement device with an adapter plate has a simple structure, is convenient and quick to replace, and can obtain information about the replaced actuator through communication between the adapter plate and the pipette tip.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, and in particular relates to a pipette tip replacement device with an adapter plate. Background Technology

[0002] In fields such as hospitals, research institutes, biochemistry, food processing, and industrial production, there is a need to test and study certain reagent samples. In order to improve the testing efficiency, it is necessary to aspirate the sample reagents from multiple test tubes at once and transfer them to the testing dish for testing and study. This process is called pipetting. Pipetting requires a hydraulic cylinder or pneumatic cylinder with multiple pipette tips to aspirate the sample reagents from multiple test tubes or dishes at once to improve work efficiency.

[0003] Depending on the sample reagent being tested and the diameter of the test tube containing the reagent, different ranges of hydraulic cylinders or pneumatic cylinders are required. Therefore, when testing different reagents, it is necessary to continuously change hydraulic cylinders or pneumatic cylinders with different ranges.

[0004] Currently, there are several methods for replacing hydraulic cylinders or pneumatic cylinders:

[0005] 1. Manually replacing hydraulic or pneumatic cylinders is time-consuming, labor-intensive, and inefficient. In the process of replacement, sample reagents may be spilled, contaminating the samples.

[0006] Second, replacing hydraulic cylinders or air cylinders by electric or pneumatic means results in complex equipment structures, high costs, and low stability.

[0007] Third, different hydraulic cylinders or air cylinders are controlled by multiple pipetting arms. When it is necessary to replace a hydraulic cylinder or air cylinder, the hydraulic cylinder or air cylinder is moved by moving parts. This replacement method has a complex structure, the overall equipment is relatively large, and the cost is high. Summary of the Invention

[0008] This invention aims to solve the problems mentioned in the background art above, and provides a pipette tip replacement device with an adapter plate. By replacing the pipette tip of the same specification connected to the actuator with a pipette tip replacement device with an adapter plate, the purpose of replacing different actuators can be achieved. Moreover, the structure is simple and the replacement is convenient and quick.

[0009] The present invention provides a pipette tip replacement device with an adapter plate, comprising:

[0010] The pipette tip is connected to the actuator and has a zero-position sensor inside that senses the zero position of the actuator.

[0011] A clamping and locking mechanism is used to clamp and lock the pipette tip;

[0012] A drive mechanism is used to engage with the pipette tip and drive the pipette tip to cause the actuator to perform corresponding actions;

[0013] The controller and adapter board are electrically connected. The controller controls the operation of the pipette tip and the drive mechanism. The adapter board is mounted on the pipette tip, and the controller communicates with the pipette tip through the adapter board.

[0014] Preferably, the pipette tip includes a zero-position sensor and a storage chip for detecting the zero-position signal of the actuator, and the storage chip stores the data of the actuator;

[0015] The adapter plate includes:

[0016] The reference ground contact conductor provides a working reference ground for the zero-position sensor and the memory chip;

[0017] The power contact conductor provides operating voltage to the zero-position sensor and the memory chip;

[0018] Communication contact conductor: This is the clock signal line through which the controller communicates with the memory chip;

[0019] Data contact conductor: This is the data line through which the controller communicates with the memory chip;

[0020] Zero-position contact conductor: Acquires the zero-position signal of the actuator detected by the zero-position sensor;

[0021] The first-state contact conductor and the second-state contact conductor together determine the type of the actuator;

[0022] The lengths of the reference ground contact conductor and the power contact conductor gradually decrease, and the lengths of the first state contact conductor and the second state contact conductor are the shortest and equal.

[0023] Preferably, the communication contact conductor and the data contact conductor are designed to be of equal length.

[0024] Preferably, the actuator is a pneumatic cylinder or a hydraulic cylinder;

[0025] The pipette tip also includes a pipette presence sensor for detecting whether the pipette is on the pipette tip;

[0026] The adapter plate also includes:

[0027] Straw in position contact conductor: The straw in position signal detected by the straw in position sensor is obtained, and the length of the straw in position contact conductor is greater than the length of the first state contact conductor and less than the length of the power contact conductor.

[0028] Preferably, the strategy for determining the type of actuator connected to the pipette head using the first state contact conductor and the second state contact conductor is as follows:

[0029] The first state contact conductor is on, the second state contact conductor is off, and the actuator is a cylinder or a hydraulic cylinder;

[0030] The first state contact conductor is closed, the second state contact conductor is open, and the actuator is a mechanical gripper;

[0031] Both the first state contact conductor and the second state contact conductor are conductive, and the actuator is a barcode scanning module;

[0032] The first state contact conductor and the second state contact conductor are both not connected, and the installation has failed.

[0033] Preferably, the clamping and locking mechanism includes

[0034] The clamping body has a through hole and a clamping mounting hole communicating with the through hole, and the pipette head is disposed in the through hole;

[0035] A clamping assembly is disposed within the clamping mounting hole for circumferentially clamping the pipette tip;

[0036] A support locking assembly is disposed on the clamping body at the lower part of the clamping assembly, and is used to support and lock the pipette head axially.

[0037] Preferably, the support locking assembly includes a latch, the latch having a connecting end rotatably connected to the outer surface of the clamping body, and a first end and a second end respectively disposed on both sides of the connecting end, the first end being elastically connected to the clamping body, and the second end being engaged with the pipette tip.

[0038] Preferably, each of the clamping assemblies includes a top block, a clamping elastic element, and a top seat that are sequentially connected and disposed within the clamping mounting hole. The top block is fixed to the outer side of the pipette head, and the top seat is detachably connected to the clamping mounting hole.

[0039] Preferably, the pipette includes a pipette body disposed within the through hole and a sliding and rotating assembly disposed within the pipette body;

[0040] The clamping assembly clamps the outer surface of the pipette head body, and the support and locking assembly supports and locks the pipette head body axially.

[0041] The sliding rotation component is engaged with the drive mechanism.

[0042] Preferably, the pipette head body includes a clamping part and a base connected vertically, the clamping part is disposed in the through hole and clamped and locked, and the base supports the clamping body.

[0043] Preferably, the sliding rotation assembly includes a driven shaft that passes through the pipette head body and extends out of the pipette head body at both its upper and lower ends, a driven connecting shaft fixedly connected to the upper end of the driven shaft, a nut that is threadedly engaged with the driven shaft inside the pipette head body, and a second bushing that is sleeved on the outside of the nut inside the pipette head body and fixedly connected to it. The second bushing is slidably connected to the pipette head body, and the lower end of the second bushing is connected to the actuator.

[0044] The active connecting shaft is engaged with the drive mechanism.

[0045] Preferably, the drive mechanism includes a motor, a first bushing fixedly connected to the output shaft of the motor, and an active connecting shaft with one end elastically connected to the output shaft of the motor inside the first bushing and the other end extending out of the first bushing.

[0046] The active connecting shaft is engaged with the driven connecting shaft.

[0047] Preferably, the lower end of the active connecting shaft is provided with a slot, and the upper end of the driven connecting shaft is provided with a locking block. When the active connecting shaft is driven to rotate until the slot and the locking block are aligned, they engage.

[0048] By adopting the above technical solution, the present invention has the following beneficial effects:

[0049] 1. The pipette tip replacement device with adapter plate of the present invention allows for replacement... connect The same specifications and shape of pipette head are available for actuators such as cylinders with different ranges and number of channels, mechanical claws with different shapes and sizes, robot end effectors, and scanning modules. This allows for the replacement of different cylinders, mechanical claws, robot end effectors, and scanning modules, making it highly compatible and easy to replace, thereby improving work efficiency.

[0050] 2. The contact conductors on the adapter board of the present invention are designed with unequal lengths. The reference ground contact conductor L3 is set to be the longest, the power contact conductor L1 is the second longest, and the first state contact conductor L5 and the second state contact conductor L6 are set to be the shortest and of equal length. When the type of actuator can be determined, it is ensured that other contact conductors and contact springs are in close contact, and the data read by the controller is real data, without communication abnormalities.

[0051] 3. The contact conductors and contact springs on the adapter board of the present invention are designed to be non-inserted, which has a longer lifespan and is less prone to loosening and poor contact compared to using plug-in terminals;

[0052] 4. When replacing pipette tips of the same specification connected to different actuators, the present invention can automatically identify the type of the replaced actuator and obtain the data in the actuator's storage chip, so as to facilitate the operator to identify the replaced actuator.

[0053] 5. The clamping and locking mechanism of the present invention does not require a power source or air source, making it convenient for use in various scenarios. It does not require manual intervention and is conducive to automated integration.

[0054] These and other features, aspects, and advantages of this application will become more readily understood with reference to the following description. The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application. Attached Figure Description

[0055] This specification sets forth the complete and illustrative disclosure of this application, including its best practices, to those skilled in the art. Reference is made to the accompanying drawings, in which:

[0056] Figure 1 This is one of the structural schematic diagrams of a pipette tip replacement device with an adapter plate provided in an embodiment of the present invention;

[0057] Figure 2 This is a second schematic diagram of a pipette tip replacement device with an adapter plate provided in an embodiment of the present invention;

[0058] Figure 3 This is one of the schematic diagrams of the drive mechanism, clamping and locking mechanism, and assembly structure of a pipette tip replacement device with an adapter plate provided in an embodiment of the present invention;

[0059] Figure 4 This is a second schematic diagram of the drive mechanism, clamping and locking mechanism, and assembly structure of a pipette tip replacement device with an adapter plate provided in an embodiment of the present invention.

[0060] Figure 5 A schematic cross-sectional view of the drive mechanism, clamping and locking mechanism, and pipette head of a pipette head replacement device with an adapter plate provided in an embodiment of the present invention;

[0061] Figure 6 This is a schematic diagram of the drive mechanism of a pipette tip replacement device with an adapter plate provided in an embodiment of the present invention;

[0062] Figure 7 This is a schematic diagram of the assembly of the clamping assembly, locking support assembly, and pipette head of a pipette head replacement device with an adapter plate provided in an embodiment of the present invention;

[0063] Figure 8 A cross-sectional view of a pipette tip in a pipette tip replacement device with an adapter plate provided in an embodiment of the present invention;

[0064] Figure 9 This is a schematic diagram of the clamping and locking mechanism of a pipette tip replacement device with an adapter plate provided in an embodiment of the present invention;

[0065] Figure 10 A cross-sectional view of the clamping and locking mechanism of a pipette tip replacement device with an adapter plate provided in an embodiment of the present invention;

[0066] Figure 11 A schematic diagram of the clamping and locking mechanism of a pipette tip replacement device with an adapter plate provided in an embodiment of the present invention;

[0067] Figure 12 This is a schematic diagram of the structure of the adapter plate in a pipette tip replacement device with an adapter plate provided in an embodiment of the present invention.

[0068] Figure label:

[0069] 1-Drive mechanism; 11-Motor; 12-Coupling; 13-First bushing; 14-Drive shaft; 15-First elastic element 15;

[0070] 2-Clamping and locking mechanism;

[0071] 21-Clamping body; 221-Through hole;

[0072] 22-Clamping assembly; 221-Top block; 222-Clamping elastic element; 223-Top seat;

[0073] 23-Support locking assembly; 231-Lock; 232-Locking elastic element;

[0074] 2311 - Connecting end; 2312 - Elastic connector; 2313 - Clip; 23131 - First side; 23132 - Second side;

[0075] 3-Pipette head; 31-Driven connecting shaft; 32-Bearing; 33-Driven shaft; 34-Nut; 35-Second bushing; 36-Bearing cap; 37-Pipette head body; 371-Annular groove; 372-Snap-fit ​​groove; 373-Bearing mounting hole; 374-Driven shaft mounting hole; 375-Bushing mounting hole; 376-Slide groove; 351-Slider; 331-First step; 332-Second step. Detailed Implementation

[0076] The embodiments of this application will now be described in detail with reference to the figures, including one or more examples of embodiments of this application. Each example is provided for the purpose of explaining this application and not for limiting it. In fact, those skilled in the art will appreciate that various modifications and variations can be made to this application without departing from the scope or spirit of this application. For example, a feature illustrated or described as part of one embodiment may be used with another embodiment to produce yet another embodiment. Therefore, it is intended that this application cover such modifications and variations, which are within the scope of the appended claims and their equivalents. As used in this specification, the terms “first,” “second,” etc., are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of the components. As used in this specification, unless the context clearly indicates otherwise, the terms “a,” “an,” “the,” and “the” are intended to indicate the presence of one or more elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be other elements in addition to those listed.

[0077] Referring now to the accompanying drawings, in which the same numbers in all the drawings denote the same elements, the present invention will be further explained and described below in conjunction with specific embodiments.

[0078] The pipette tip replacement device with adapter plate of the present invention allows the pipette tip to be connected to different actuators, such as multi-head or single-head cylinders or hydraulic cylinders with different volume ranges, or mechanical grippers of different specifications, or different scanning modules that need to be scanned, or other occasions where different specifications of actuators need to be frequently changed. The pipette tip replacement device with adapter plate of the present invention achieves the purpose of changing different actuators by setting the pipette tips to the same shape and specification and replacing the pipette tip connected to different actuators. The cylinder (cylinder or hydraulic cylinder) connected to the pipette tip varies depending on the type of sample reagent to be aspirated, the test tube or vessel holding the reagent type is also different, the corresponding diameter of the test tube or vessel is also different, and the volume range of the cylinder or hydraulic rod that aspirates the sample reagent from the test tube or vessel for detection is also different. Therefore, multi-head or single-head cylinders with different volume ranges are required. Correspondingly, because the size of the objects being gripped and the gripping position are different, different mechanical grippers are required. Therefore, different mechanical grippers need to be replaced according to the different objects being gripped. Here, mechanical grippers, cylinders or hydraulic cylinders, and scanning modules are collectively referred to as actuators.

[0079] The following explanation uses a pneumatic or hydraulic cylinder as an example to illustrate the pipetting head replacement device with an adapter plate.

[0080] When communication is not required, such as Figure 1 The pipette tip replacement device with an adapter plate of the present invention includes:

[0081] The pipette head 3 is connected to a pneumatic or hydraulic cylinder;

[0082] The clamping and locking mechanism 2 is used to clamp and lock the pipette head 3;

[0083] The drive mechanism 1 is used to engage with the pipette head 3 and drive the cylinder or hydraulic cylinder to draw sample reagents from the test tube or vessel.

[0084] Drive mechanism 1

[0085] like Figure 1-5 As shown, the drive mechanism includes a motor 11, a coupling 12, a first bushing 13, a first elastic element 15, and a drive connecting shaft 14 connected in sequence. The first bushing 13 has three stepped holes with gradually decreasing inner diameters: a first stepped hole, a second stepped hole, and a third stepped hole. The first end of the coupling 12 is connected to the output shaft of the motor 11, and the second end is located in the first stepped hole and pinned to the first bushing 13. However, the inner diameter of the second end of the coupling 12 is smaller than the inner diameter of the first stepped hole but larger than the inner diameter of the second stepped hole, so the coupling 12 can only be located in the first stepped hole. The drive connecting shaft 14 is located in the second and third stepped holes and connects to the first bushing 14 located in the second stepped hole. The first end of the elastic element 15 is connected to the second end of the coupling 12, and the second end of the first elastic element 15 is connected to the first end of the active connecting shaft 14. In order to prevent the active connecting shaft 14 from falling off the lower end of the first bushing 13, the outer side of the active connecting shaft 14 has a downward step. The outer diameter of the active connecting shaft 14 above the step is larger than the inner diameter of the third stepped hole. Therefore, the active connecting shaft 14 above the step is set in the second stepped hole, and the active connecting shaft 14 below the step is set in the third stepped hole and extends out of the third stepped hole.

[0086] When the motor 11 starts, the active connecting shaft 14 rotates synchronously through the action of the coupling 12 and the first elastic element 15. The first bushing 13 restricts the circumferential displacement of the active connecting shaft 14 so that the active connecting shaft 14 rotates concentrically with the first bushing 13. Due to the presence of the first elastic element 15, the active connecting shaft 14 can move up and down within the first bushing 13.

[0087] In some embodiments, the coupling 12 may not be provided. In this case, the first bushing 13 is directly connected to the output shaft of the motor 11, the first end of the first elastic member 1 is directly connected to the output shaft of the motor 11, and the second end is connected to the active connecting shaft 14.

[0088] Pipette 3

[0089] like Figures 1 to 5 As shown, the lower part of the pipette head 3 can be connected to the cylinder body, and during assembly, the pipette head 3 is installed in the clamping and locking mechanism 2.

[0090] Specifically, the pipette tip 3 includes a pipette tip body 37 and a sliding rotation assembly disposed within the pipette tip body 37. The sliding rotation assembly includes a driven shaft 33 disposed within the pipette tip body 37, with both its upper and lower ends extending outside the pipette tip body 37, and a driven connecting shaft 31 fixedly connected to the upper end of the driven shaft 33. The sliding rotation assembly rotates by engaging the driven connecting shaft 31 with the driving connecting shaft 14. The driven connecting shaft 31 and the driven shaft 33 are fixedly connected by an interference fit, a pin connection, or a set screw connection.

[0091] To facilitate the engagement of the driving and driven connecting shafts 14 and 31, the second end of the driving connecting shaft 14 has a groove 141, and the upper end of the driven connecting shaft 31 has a locking block 311. When the driving and driven connecting shafts 14 and 31 are connected, the locking block 311 engages with the groove 141, thereby allowing the drive mechanism 1 to drive the driven shaft 33 inside the pipette head 3 to rotate. Figure 6 and 7 As shown.

[0092] To facilitate connection with a pneumatic or hydraulic cylinder, a drive assembly is needed to move the piston of the pneumatic or hydraulic cylinder up and down so that the suction head of the pneumatic or hydraulic cylinder can draw sample reagents from the test tube or vessel. For this purpose, the sliding rotation assembly also includes a nut 34 and a second bushing 35. Part of the driven shaft 33 is set as a lead screw, and a nut 34 is mounted on this part of the driven shaft 33. A second bushing 35 is fitted on the outside of the nut 34 and fixed to the nut 34. The lower end of the second bushing 35 is connected to the pneumatic or hydraulic cylinder. When the driven shaft 33 is driven to rotate by the drive mechanism 1, the nut 34, along with the second bushing 35 and the pneumatic or hydraulic cylinder, moves upward along the driven shaft 33 to draw sample reagents from the test tube. After the drawing is completed, the motor 11 reverses, and the nut, along with the second bushing 35 and the pneumatic or hydraulic cylinder, moves downward a certain distance to expel the gas or residual sample reagents from the pneumatic or hydraulic cylinder, preparing for the next drawing.

[0093] To prevent the driven shaft 33 from wobbling during the up-and-down movement of the second bushing 35, which could affect the alignment of the cylinder or hydraulic cylinder with the test tube containing the sample reagent, it is necessary to limit the circumferential displacement of the driven shaft 33. For example... Figure 5 and 8As shown, the pipette head body 37 has a bearing mounting hole 373 and a bushing mounting hole 375 located vertically within its body. A driven shaft mounting hole 374, connecting the bearing mounting hole 373 and the bushing mounting hole 375 and having an inner diameter smaller than both, is also provided. The outer surface of the corresponding driven shaft 33 has a second step 332 and a first step 331 located vertically. The outer diameter of the first step 331 is greater than or equal to the inner diameter of the driven shaft mounting hole 374. Therefore, the driven shaft 33 below the first step 331 is positioned within the bushing mounting hole 375 and cannot pass through the driven shaft mounting hole 374, thus restricting the vertical upward displacement of the driven shaft 33. In addition, the driven shaft 33 below the first step 331 is a lead screw, on which a nut 34 is mounted. The outer diameter of the nut 34 is larger than the inner diameter of the driven shaft mounting hole 374, so the nut 34 always moves up and down in the bushing mounting hole 375. The outer surface of the second bushing 35 is in contact with the inner surface of the bushing mounting hole 375, so the second bushing 35 restricts the circumferential displacement of the lower part of the driven shaft 33.

[0094] To further limit the circumferential displacement of the driven shaft 33, a circumferential limit is needed on the upper part of the driven shaft 33. Therefore, the sliding rotation assembly also includes a bearing 32, which is disposed on the lower part of the driven connecting shaft 14, sleeved on the driven shaft 33, and simultaneously disposed within the bearing mounting hole 373. The inner ring of the bearing 32 is engaged with the upper part of the second step 332 and fixedly connected to the driven shaft 33. The outer ring of the bearing 32 is fixedly connected to the bearing mounting hole 373, wherein the fixing method is interference fit, bonding, or set screw connection, etc. The driven connecting shaft 31 is in vertical contact with the inner ring of the bearing 32, without affecting the rotation of the bearing 32. Since the bearing 32 is located in the bearing mounting hole 373 at the upper end of the pipette head body 37, and the bearing 32 is fixedly connected to the driven shaft 33, while the pipette head body 37 is clamped and locked by the clamping and locking mechanism 2, not only is the circumferential of the upper end of the driven shaft 33 limited, but the driven shaft 33, nut 34 and second bushing 35 will not fall off from the lower end of the pipette head body 37, and will only rotate together with the driven connecting shaft 31 and the driving connecting shaft 14.

[0095] To further prevent the risk of the bearing 32 detaching from the upper end of the pipette head body 37, the sliding rotation assembly also includes a bearing cover 36. The bearing cover 36 is spaced outside the driven connecting shaft 31 and contacts the upper end face of the pipette head body 37 and the outer ring of the bearing 32. The bearing cover 36 is fixedly connected to the pipette head body 37. Because of the driven shaft 33 fixedly connected to the bearing 32, the bearing cover 36 that presses the bearing 32 and is fixedly connected to the pipette head body 37, and the nut 34 that is threadedly engaged with the driven shaft 33, the driven shaft 33 will not protrude from the upper end of the pipette head body 37 when rotating.

[0096] To ensure smooth up-and-down movement of the second bushing 35, a pair of sliding grooves 376 are provided on the inner side of the pipette head body 37, which pass through the bearing mounting hole 373, the driven shaft mounting hole 374, and the bushing mounting hole 375. A pair of sliders 351 are provided on the outer side of the second bushing 35, and the sliders 351 are disposed in the sliding grooves 376. When the second bushing 35 moves up and down in the bushing mounting hole 375, the sliders 351 move up and down along the sliding grooves 376.

[0097] In some embodiments, the slider 351 described above may also be disposed on the inner side of the pipette head body 37, and the groove 376 may also be disposed on the outer side of the second bushing 35.

[0098] Clamping and locking mechanism 2

[0099] like Figure 7-11 As shown, the clamping and locking mechanism 2 includes:

[0100] The clamping body 21 is a square body with a through hole 211 in the center that is adapted to the outer side of the pipette head body 37, and a clamping mounting hole that communicates with the through hole 211. The pipette head body 37 is placed in the through hole 211 to limit the circumferential displacement of the pipette head body 37.

[0101] Multiple clamping components 22 are disposed in clamping mounting holes that communicate with through holes 211, for clamping the pipette head body 37 circumferentially;

[0102] A support locking assembly 23 is disposed on the clamping body 21 at the lower part of the clamping assembly 22, for axial support of the pipette head body 37 and locking it on the clamping body 21.

[0103] Clamping body 21 and pipette head body 37

[0104] like Figure 8 The pipette head body 37 shown includes a clamping part and a base connected together. The clamping part is provided with a cylindrical first clamping part, a frustum-shaped circumferential limiting part and a cylindrical second clamping part connected vertically. The base is square. A bearing mounting hole 373, a driven shaft mounting hole 374 and a bushing mounting hole 375 pass through the clamping part and the base from top to bottom.

[0105] The through hole 211 of the clamping body 21 matches the outer surface of the clamped part. The through hole 211 includes a first circular hole, a wedge-shaped hole and a second circular hole that are connected vertically. The clamped part is disposed in the through hole 211. The clamping assembly 22 clamps the clamped part circumferentially. The base supports the clamping body 21.

[0106] Clamping component 22

[0107] like Figure 7-11In the embodiment shown, there are four clamping components 22, each of which includes a top block 221, a clamping elastic element 222, and a top seat 223 connected in sequence.

[0108] The clamping body 21 has four clamping mounting holes that communicate with the through hole 211. A clamping component 22 is installed in each clamping mounting hole. The top block 221 rests on the outer peripheral surface of the clamped part. The top seat 223 is detachably connected to the clamping mounting hole of the clamping body 21, preferably by a threaded connection.

[0109] When the pipette head body 37 is installed in the through hole 211 from the bottom of the clamping body 21, as the pipette head body 37 held by the robot moves upward, the four top blocks 221 are squeezed by the first clamped part. The clamping elastic member 222 connected to the top block 221 is also compressed by the clamping force from the first clamped part. The elastic force of the clamping elastic member 222 acts on the top block 221, so the four top blocks 221 are pressed tightly against the outer peripheral surface of the first clamped part of the pipette head body 37 to clamp it. At this time, the clamping force of the four top blocks 221 on the first clamped part of the pipette head body 37 is greater than the weight of the pipette head body 37 itself. Here, the clamping elastic member 222 is preferably a coil spring.

[0110] To increase the clamping force of the clamping assembly 22 on the pipette head body 37, an annular groove 371 is provided on the upper part of the outer peripheral surface of the first clamped part of the pipette head body 37 in this embodiment, and the top block 221 is a top bead. When the pipette head body 37 is moved upward from the bottom of the through hole 211, the top bead is engaged in the annular groove 371 when the first clamped part passes the position of the top bead. At this time, the arc surface of the top bead not only clamps the first clamped part circumferentially, but also supports the pipette head body 37 axially, increasing the clamping degree of the pipette head body 37, so that the pipette head body 37 is not easy to fall out of the through hole 211.

[0111] In some embodiments, the number of clamping components 22 can be set according to the size of the pipette tip 3, and the number of clamping components 22 can be 2, 3, 5 or more.

[0112] In some embodiments, the top block 221 may be a top column, a top cone, or a top block of other shapes, in addition to a top bead.

[0113] In some embodiments, the clamping elastic element 222 may be an elastic diaphragm, a bellows, or a spring tube, in addition to a helical spring.

[0114] Support locking component 23

[0115] In order to increase the vertical support force on the pipette head body 37 and prevent the pipette head body 37 from falling out of the clamping body 21 when the clamping elastic member 222 loses its elasticity, a support locking assembly 23 is also required to support the pipette head body 37 axially.

[0116] like Figure 7 and 9 As shown in Figure 11, the locking assembly 23 provided on the outer side of the clamping body 21 includes a latch 231 rotatably connected to the clamping body 21 and a locking elastic member 232 that applies an elastic force to the latch 231 to lock the pipette head body 37.

[0117] like Figure 11 As shown, the latch 231 includes a connecting end 2311 rotatably connected to the outer side of the clamping body 21, and a first end and a second end respectively disposed on both sides of the connecting end 2311. A blind hole is provided on the outer side of the clamping body 21, and a locking elastic member 232 is disposed in the blind hole. The first end of the latch 231 is elastically connected to the clamping body 21 through the locking elastic member 232, and the second end is engaged with the outer side of the pipette head body 37, specifically engaged with the second clamped part of the pipette head body 37.

[0118] like Figure 7-11 In the embodiment shown, the locking elastic element 232 is a helical spring, but it can also be an elastic diaphragm, bellows, or spring tube, etc.

[0119] To facilitate the connection between the locking elastic element 232 and the first end of the latch 231, an elastic element connector 2312 is also provided on the inner side of the first end of the latch 231. The latch 231 is connected to the locking elastic element 232 through the elastic element connector 2312, such as... Figure 11 As shown.

[0120] To increase the locking force between the latch 231 and the pipette head body 37, a latch head 2313 is provided on the second end of the latch 231, and a locking groove 372 is provided on the outer peripheral surface of the second clamped part of the pipette head body 37. The latch head 2313 is an upward-opening upper step, and the locking groove 372 is a downward-opening lower step. The axial direction of the elastic connector 2312 is perpendicular to the first side 23131 of the upper step and parallel to the second side 23132. Thus, when the upper and lower steps are engaged, the elastic connector 2312 is positioned within the blind hole, with its axial direction horizontal. The supporting surface of the latch head 2313 on the locking groove 372, i.e., the second side 23132, is horizontal, thus providing support for the locking groove 372.

[0121] To reduce the length of the latch 231, the locking component 23 is located on the lower part of the outer side of the clamping body 21.

[0122] In the above embodiments, the limiting part of the pipette head body 37 is a frustum, and a wedge-shaped hole is provided on the through hole 211 to match it. When the pipette head body 37 is placed in the through hole 211 of the clamping body 21, the limiting part of the pipette head body 37 is placed in the wedge-shaped hole, so that the pipette head body 37 and the through hole 211 of the clamping body 21 are concentric, which helps to limit the circumferential displacement of the pipette head body 37 and maintain the stability of the pipette head body 37.

[0123] The following describes the clamping and disassembly process of pipette tip 3:

[0124] Pipette mounting process:

[0125] When installing the pipette head 3, when the robot arm inserts the pipette head 3 connected to the cylinder into the through hole 21 from the lower part of the clamping body, the clamping assembly 22 clamps the first clamped part of the pipette head body 37 in a circumferential manner. At this time, the second clamped part of the pipette head body 37 also needs to be axially supported.

[0126] When clamping and locking the pipette tip 3, it is necessary to first ensure that the support locking component 23 is in the unlocked state before placing the pipette tip 3 into the clamping body 21. Because the first end of the latch 231 is connected to the locking elastic element 232, pressing the first end of the latch 231 from the outside will compress it inward. The first and second ends of the latch 231 act like a lever. When the first end is pressed inward, the second end moves outward with the locking head 2313. At this time, the latch 231 is in the unlocked state. The robotic arm grips the pipette head body 37 and enters the through hole 211 from the bottom of the gripping body 21. When the first clamped part of the pipette head body 37 reaches the first circular hole, the top ball is squeezed back by the first clamped part of the pipette head body 37. When passing through the annular groove 371 on the first clamped part, it is locked into the annular groove 371 under the action of the clamping elastic member 222, realizing circumferential clamping of the first clamped part of the pipette head body 37. Then the pressure on the first end of the latch 231 is released. The first end moves outward and resets under the action of the locking elastic member 232. The second end of the latch 231 rotates towards the second clamped part of the pipette head body 37. The latch 2313 of the second end is locked into the latching groove 372 of the pipette head body 37. The axial support of the pipette head body 37 is realized by supporting the second clamped part. At this time, the latch is in the locked state.

[0127] After the clamping and locking mechanism 2 clamps and locks the pipette head 3, it is necessary to align and lock the pipette head 3 with the driving mechanism 1 and drive the pipette head 3 to carry the connected actuator to draw sample reagents.

[0128] After the pipette head 3 is clamped, the active connecting shaft 14 is compressed, and the motor 11 starts to rotate the active connecting shaft 14. After the slot 141 on the active connecting shaft 14 aligns with the block 311 on the driven connecting shaft 31, the slot 141 and the block 311 engage under the elastic force of the first elastic element 15, thereby realizing the engagement between the drive mechanism 1 and the pipette head 3.

[0129] Disassembly process of pipette tip 3:

[0130] When it is necessary to replace the pipette head body 37 installed on the clamping body 21, press the first end of the latch 231 to disengage the second end of the latch from the latching groove of the pipette head body 37, so that the latch is in the unlocked state. The robot arm applies a downward dragging force to remove the pipette head body 37 from the clamping body 21.

[0131] Adapter 4

[0132] Since a multi-head or single-head cylinder is connected to a pipette tip 3, replacing the pipette tip 3 connected to the multi-head or single-head cylinder is equivalent to replacing the multi-head or single-head cylinder. In order for the pipette tip replacement device with the adapter plate to know the number of channels, range, and correction data of the cylinder to be replaced, each pipette tip connected to the cylinder is equipped with an adapter plate 4 and a storage chip that stores the number of cylinder channels, range, and correction data.

[0133] In order to detect the zero position of the cylinder or hydraulic cylinder, the pipette head 3 also includes a zero position sensor for sensing the zero position of the cylinder or hydraulic cylinder.

[0134] In order to detect whether the pipette fitted on the suction head of the cylinder or hydraulic cylinder is properly assembled, the pipette head 3 also includes a pipette position sensor, which is used to sense whether the pipette fitted on the suction head of the cylinder or hydraulic cylinder is in place: that is, whether it is properly fitted when working and whether it is discarded when not working.

[0135] In order to obtain the zero position information of the cylinder or hydraulic cylinder piston obtained by the zero position sensor, and the information on whether the pipette is in place obtained by the pipette in-place sensor, the pipette head replacement device with the adapter plate of the present invention also includes a controller electrically connected to the adapter plate 4, which obtains the zero position information of the actuator, the pipette in-place information, and the information in the storage chip transmitted through the adapter plate 4, and controls the operation of the pipette head 3 and the drive mechanism 1.

[0136] The adapter plate 4 of the present invention will be described using an actuator connected to a pipette head that is either a pneumatic cylinder or a hydraulic cylinder as an example.

[0137] like Figure 12The adapter plate 4 has eight contact conductors L1 to L8, and correspondingly, eight contacts are set on the pipette head replacement device with the adapter plate. These eight contacts respectively contact the eight contact conductors L1 to L8 to acquire signals from the storage chip and two sensors inside the pipette head. The eight contact conductors L1 to L8 of the adapter plate 4 are as follows:

[0138] Power contact conductor L1: VCC signal, mainly providing working voltage for the memory chip, zero-position sensor and pipette in-place sensor on pipette tip 3;

[0139] Reference ground contact conductor L3: GND signal, provides working reference ground, i.e. power neutral line, for the memory chip, zero position sensor and pipette in-place sensor of pipette head 3;

[0140] The voltage value supplied to the pipette head 3 is determined by the aforementioned reference ground contact conductor L3 and power contact conductor L1.

[0141] Communication contact conductor L2: SCL signal, is the clock signal line for communication between the controller of the pipette tip replacement device with adapter plate and the memory chip in the pipette tip 3;

[0142] Data contact conductor L4: SDA signal, is the data line for communication between the controller of the pipette tip replacement device with adapter plate and the memory chip in the pipette tip 3.

[0143] Through the aforementioned communication contact conductor L2 and data contact conductor L4, the controller on the pipette tip replacement device with the adapter plate can obtain the data from the storage chip inside the pipette tip, and understand the number of channels, range, and correction data of the cylinder or hydraulic cylinder connected to the replaced pipette tip, or the opening and closing distance, clamping force, and correction data of the mechanical gripper.

[0144] Zero-position contact conductor L7: MS signal, detected by the zero-position sensor of the cylinder or hydraulic cylinder piston at the zero position. If the actuator is a mechanical gripper, the zero-position sensor detects the zero-position signal when the gripper begins to close.

[0145] The suction tube presence contact conductor L8: TS signal, detects the presence of the suction tube on the suction head of the cylinder or hydraulic cylinder. This signal indicates whether the suction tube is on the suction head during operation and whether it has been discarded when not in operation. If the actuator is a mechanical gripper, the suction tube presence contact conductor L8 is not required.

[0146] The aforementioned pipette tip replacement device with an adapter plate allows connection of a pneumatic or hydraulic cylinder to the pipette tip 3, as well as a mechanical gripper. To better enable the adapter plate to identify whether the actuator connected to the replacement pipette tip is a cylinder, a mechanical gripper, or a scanning module, two status contact conductors are provided:

[0147] First state contact conductor L5: T1 signal, used by the pipette replacement device with adapter plate to confirm the loading status of the replacement pipette;

[0148] The second state contact conductor L6: T2 signal, used by the pipette replacement device with adapter plate to confirm the loading status of the replacement pipette;

[0149] The type of actuator connected to the pipette head 3 is detected jointly by the first state contact conductor L5 and the second state contact conductor L6. The detection strategy adopted is as follows:

[0150] If T1 is open and T2 is closed, the part connected to pipette head 3 is the cylinder. If T1 is closed and T2 is open, the part connected to pipette head 3 is the mechanical gripper. If neither T1 nor T2 is open, the installation has failed. If both T1 and T2 are open, the module is the scanning module, which scans the barcodes on test tubes or other items.

[0151] Because the controller quickly reads the test tube presence signal, piston zero position signal, and data from the storage chip after the first and second state contact conductors L5 and L6 comprehensively determine the actuator type, if other contact conductors are not in contact with the contact spring at this time, the controller will not be able to read the data that should be communicated through the corresponding contact conductor, i.e., a communication abnormality occurs. To prevent this situation, this patent specifically sets the length of the reference ground contact conductor L3 to be the longest, ensuring that the contact makes priority contact with the reference ground contact conductor L3. For safety reasons, the length of the power contact conductor L1 is less than the length of the reference ground contact conductor L3. The connection between the reference ground contact conductor L3 and the power contact conductor L1 provides power to the storage chip, pipette presence sensor, and zero position sensor inside the pipette head.

[0152] Then, the lengths of the first-state contact conductor L5 and the second-state contact conductor L6 are set to the shortest and equal length. The first and second-state contact conductors L5 and L6 are the last to contact the contact spring, ensuring that all other contact conductors are in the ON state when they are in contact with the contact spring. Because the first and second-state contact conductors L5 and L6 contact the contact spring and identify the actuator type, the controller immediately reads the test tube position signal, the piston zero-position signal, and the data in the storage chip. Since the first and second-state contact conductors L5 and L6 are the last to contact the contact spring, and all other contact conductors have already made contact, the controller can normally read the test tube position signal, the piston zero-position signal, and the data in the storage chip, preventing communication abnormalities.

[0153] The communication contact conductor L2 and the data contact conductor L4 mentioned above need to be of equal length because they are required to work together to transmit data.

[0154] The lengths of the zero-position contact conductor L7 and the straw-in-position contact conductor L8 can be set to be equal or unequal, but both must be shorter than the lengths of the first and second state contact conductors L5 and L6.

[0155] Compared with the prior art, the present invention has the following advantages:

[0156] 1. The pipette tip replacement device with adapter plate of the present invention allows for replacement... connect The same specifications and shape of pipette head are available for actuators such as cylinders with different ranges and number of channels, mechanical claws with different shapes and sizes, robot end effectors, and scanning modules. This allows for the replacement of different cylinders, mechanical claws, robot end effectors, and scanning modules, making it highly compatible and easy to replace, thereby improving work efficiency.

[0157] 2. The contact conductors on the adapter board of the present invention are designed with unequal lengths. The reference ground contact conductor L3 is set to be the longest, the power contact conductor L1 is the second longest, and the first state contact conductor L5 and the second state contact conductor L6 are set to be the shortest and of equal length. When the type of actuator can be determined, it is ensured that other contact conductors and contact springs are in close contact, and the data read by the controller is real data, without communication abnormalities.

[0158] 3. The contact conductors and contact springs on the adapter board of the present invention are designed to be non-inserted, which has a longer lifespan and is less prone to loosening and poor contact compared to using plug-in terminals;

[0159] 4. When replacing pipette tips of the same specification connected to different actuators, the present invention can automatically identify the type of the replaced actuator and obtain the data in the actuator's storage chip, so as to facilitate the operator to identify the replaced actuator.

[0160] 5. The clamping and locking mechanism of the present invention does not require a power source or air source, making it convenient for use in various scenarios. It does not require manual intervention and is conducive to automated integration.

[0161] This specification uses examples to disclose this application, including preferred embodiments, and also enables those skilled in the art to practice this application, including making and using any apparatus or system and performing any incorporated methods. The embodiments of this application and the technical solutions obtained by slight modifications to the embodiments are all within the scope of protection of this patent.

Claims

1. A pipette tip replacement device with an adapter plate, characterized in that, include: The pipette head (3) is connected to the actuator and has a zero-position sensor inside that senses the zero position of the actuator. The clamping and locking mechanism (2) is used to clamp and lock the pipette head (3); A drive mechanism (1) is used to engage with the pipette head (3) and drive the pipette head (3) to make the actuator perform corresponding actions; The controller and adapter plate (4) are electrically connected. The controller controls the operation of the pipette head (3) and the drive mechanism (1). The adapter plate (4) is set on the pipette head (3). The controller communicates with the pipette head (3) through the adapter plate (4). The pipette head (3) includes a zero-position sensor and a storage chip for detecting the zero-position signal of the actuator. The storage chip stores the data of the actuator. The adapter plate (4) includes: The reference ground contact conductor (L3) provides a working reference ground for the zero-position sensor and the memory chip; The power contact conductor (L1) provides operating voltage for the zero-position sensor and the memory chip; Communication contact conductor (L2): This is the clock signal line through which the controller communicates with the memory chip; Data contact conductor (L4): This is the data line through which the controller communicates with the memory chip; Zero-position contact conductor (L7): Acquires the zero-position signal of the actuator detected by the zero-position sensor; The first-state contact conductor (L5) and the second-state contact conductor (L6) together determine the type of the actuator; The lengths of the reference ground contact conductor (L3) and the power contact conductor (L1) gradually decrease, and the lengths of the first state contact conductor (L5) and the second state contact conductor (L6) are the shortest and of equal length. The strategy for determining the actuator type connected to the pipette tip (3) by the first state contact conductor (L5) and the second state contact conductor (L6) is as follows: The first state contact conductor (L5) is on, and the second state contact conductor (L6) is off. The actuator is a cylinder or a hydraulic cylinder. The first state contact conductor (L5) is closed, the second state contact conductor (L6) is open, and the actuator is a mechanical gripper; Both the first state contact conductor (L5) and the second state contact conductor (L6) are on, and the actuator is a barcode scanning module; The first state contact conductor (L5) and the second state contact conductor (L6) are both not connected, and the installation has failed.

2. The pipette tip replacement device according to claim 1, characterized in that, The communication contact conductor (L2) and the data contact conductor (L4) are designed to be of equal length.

3. The pipette tip replacement device according to claim 2, characterized in that, The actuator is a pneumatic cylinder or a hydraulic cylinder; The pipette tip (3) also includes a pipette presence sensor for detecting whether the pipette is on the pipette tip; The adapter plate (4) also includes: Straw in position contact conductor (L8): Acquires the straw in position signal detected by the straw in position sensor. The length of the straw in position contact conductor (L8) is greater than the length of the first state contact conductor (L5) and less than the length of the power contact conductor (L1).

4. The pipette tip replacement device according to claim 1, characterized in that, The clamping and locking mechanism (2) includes The clamping body (21) has a through hole (211) and a clamping mounting hole communicating with the through hole (211), and the pipette head (3) is disposed in the through hole (211); A clamping assembly (22) is disposed in the clamping mounting hole for circumferentially clamping the pipette head (3); A support locking assembly (23) is disposed on the clamping body (21) at the lower part of the clamping assembly (22) for axial support and locking of the pipette head (3).

5. The pipette tip replacement device according to claim 4, characterized in that, The support locking assembly (23) includes a latch (231), which has a connecting end (2311) rotatably connected to the outer side of the clamping body (21), and a first end and a second end respectively disposed on both sides of the connecting end (2311). The first end is elastically connected to the clamping body (21), and the second end is engaged with the pipette head (3).

6. The pipette tip replacement device according to claim 5, characterized in that, Each of the clamping assemblies (22) includes a top block (221), a clamping elastic element (222), and a top seat (223) that are sequentially connected and disposed in the clamping mounting hole. The top block (221) is fixed on the outer side of the pipette head (3), and the top seat (223) is detachably connected to the clamping mounting hole.

7. The pipette tip replacement device according to claim 6, characterized in that, The pipette (3) includes a pipette body (37) disposed in the through hole (211) and a sliding rotation assembly disposed in the pipette body (37); The clamping assembly (22) clamps the outer side of the pipette head body (37), and the support and locking assembly (23) supports and locks the pipette head body (37) axially. The sliding rotation component is engaged with the drive mechanism (1).

8. The pipette tip replacement device according to claim 7, characterized in that, The pipette head body (37) includes a clamping part and a base connected vertically. The clamping part is clamped and locked in the through hole (211), and the base supports the clamping body (21).

9. The pipette tip replacement device according to claim 8, characterized in that, The sliding rotation assembly includes a driven shaft (33) that passes through the pipette head body (37) and extends out of the pipette head body (37) at both the upper and lower ends, a driven connecting shaft (31) fixedly connected to the upper end of the driven shaft (33), a nut (34) that is threadedly engaged with the driven shaft (33) inside the pipette head body (37), and a second bushing (35) that is sleeved on the outside of the nut (34) inside the pipette head body (37) and fixedly connected to it. The second bushing (35) is slidably connected to the pipette head body (37), and the lower end of the second bushing (35) is connected to the actuator.

10. The pipette tip replacement device according to claim 9, characterized in that, The drive mechanism (1) includes a motor (11), a first bushing (13) fixedly connected to the output shaft of the motor, and an active connecting shaft (14) with one end elastically connected to the output shaft of the motor inside the first bushing (13) and the other end extending out of the first bushing (13); The active connecting shaft (14) is engaged with the driven connecting shaft (31); The active connecting shaft (14) is engaged with the drive mechanism (1).

11. The pipette tip replacement device according to claim 10, characterized in that, The lower end of the active connecting shaft (14) is provided with a slot (141), and the upper end of the driven connecting shaft (31) is provided with a block (311). When the active connecting shaft (14) is driven to rotate, the slot (141) and the block (311) are aligned and engaged.

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