Loading methods for pipette tips, pipetting methods and related products

Abstract

This application discloses a method for loading pipette tips, a pipetting method, and related products. The method is used to load pipette tips onto a pipette body, the pipette body being provided with an adapter for fitting and connecting with the pipette tip, the direction in which the pipette tip points toward the adapter being a target direction. The method includes: controlling the adapter to move toward the pipette tip; acquiring the force exerted on the adapter in the target direction; if the force exerted on the adapter in the target direction is greater than or equal to a first force threshold, determining that the pipette tip has been loaded onto the adapter. The loading device controls the adapter to move toward the pipette tip, allowing the adapter to be inserted into the pipette tip. If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold, the loading device determines that the pipette tip has been loaded onto the adapter, thereby improving the success rate of loading the pipette tip onto the adapter.

Description

Technical Field

[0001] This application relates to the field of pipetting technology, and in particular to a method for loading pipette tips, a pipetting method, and related products. Background Technology

[0002] In the industrial field, pipette tips are often used to perform pipetting operations. The current pipetting method involves moving an adapter that is used to connect with the pipette tip to the starting position, and then controlling the adapter to move towards the pipette tip from the starting position. When the adapter descends to a preset height, it is confirmed that the pipette tip has been loaded onto the adapter, and then pipetting is performed through the pipette tip.

[0003] However, different pipette tips have varying heights. Using this pipetting method to load the tip onto the adapter can easily lead to uneven stress on the tip after loading, resulting in poor airtightness between the tip and adapter and a low success rate of tip-to-adapter loading. This low success rate further reduces pipetting accuracy. Therefore, improving the success rate of tip-to-adapter loading is crucial for improving pipetting accuracy. Summary of the Invention

[0004] This application provides a method for loading pipette tips, a pipetting method, and related products, which can improve the success rate of loading pipette tips into the adapter.

[0005] In a first aspect, a method for loading a pipette tip is provided. The method involves loading a pipette tip onto a pipette body, wherein the pipette body is provided with an adapter for fitting and connecting with the pipette tip, and the direction in which the pipette tip points toward the adapter is a target direction. The method includes:

[0006] Control the adapter to move toward the suction head;

[0007] Obtain the force exerted on the adapter in the target direction;

[0008] If the force exerted on the adapter in the target direction is greater than or equal to a first force threshold, it is determined that the suction head has been loaded onto the adapter.

[0009] In conjunction with any embodiment of this application, determining that the suction head has been loaded onto the adapter if the force exerted on the adapter in the target direction is greater than or equal to a first force threshold includes:

[0010] If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold and less than or equal to the second force threshold, it is determined that the suction head has been loaded onto the adapter.

[0011] In conjunction with any embodiment of this application, determining that the suction head has been loaded onto the adapter if the force exerted on the adapter in the target direction is greater than or equal to a first force threshold includes:

[0012] If the force exerted on the adapter in the target direction is greater than or equal to a first force threshold, and the adapter is subjected to pressure in a direction different from the target direction, it is determined that the suction head has been loaded onto the adapter.

[0013] In any embodiment of this application, the target direction is a vertically upward direction.

[0014] In any embodiment of this application, the pipette body is mounted on a robotic arm, and controlling the adapter to move toward the pipette tip includes:

[0015] The robotic arm is controlled to move the adapter toward the suction head in a first motion mode;

[0016] The method further includes:

[0017] If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold, the robotic arm is controlled to stop moving.

[0018] In conjunction with any embodiment of this application, the step of controlling the robotic arm to stop moving if the force exerted on the adapter in the target direction is greater than or equal to the first force threshold includes:

[0019] If the force exerted on the adapter in the target direction reaches the third force threshold, the robotic arm is controlled to stop moving;

[0020] When the response time of the robotic arm as the adapter continues to move toward the suction head in the first motion mode is obtained, the first incremental value of the force exerted on the adapter in the target direction during the response time is greater than or equal to the first force threshold.

[0021] In conjunction with any embodiment of this application, before controlling the robotic arm to move the adapter toward the suction head in a first motion manner, the method further includes:

[0022] The robotic arm is controlled to move the adapter toward the suction head in a second motion mode; the average motion speed of the second motion mode is greater than the average motion speed of the first motion mode.

[0023] The control of the robotic arm to move the adapter toward the suction head in a first motion mode includes:

[0024] If the force exerted on the adapter in the target direction is greater than or equal to the fourth force threshold, the robotic arm is controlled to move the adapter toward the suction head in the first motion mode; wherein the fourth force threshold is less than the first force threshold.

[0025] In conjunction with any embodiment of this application, before controlling the robotic arm to move the adapter toward the suction head in a first motion manner, the method further includes:

[0026] The robotic arm is controlled to move the adapter toward the suction head in a second motion mode; the average motion speed of the second motion mode is greater than the average motion speed of the first motion mode.

[0027] If the force exerted by the adapter in the target direction reaches the fifth force threshold, the robotic arm is controlled to stop moving.

[0028] When the adapter continues to move toward the suction head in the second motion mode for the response duration, the second incremental value of the force exerted on the adapter in the target direction during the response duration is obtained, and the sum of the fifth force threshold and the second incremental value is less than the third force threshold.

[0029] In any embodiment of this application, the fifth force threshold is 5N to 15N, and the third force threshold is 25N to 40N.

[0030] In any embodiment of this application, controlling the adapter to move toward the suction head includes:

[0031] Obtain the target position of the suction head;

[0032] Based on the target location, the initial moving position of the adapter is determined, and the initial moving position is spaced at a preset distance from the target location in the target direction;

[0033] Control the adapter to move from the initial moving position toward the suction head.

[0034] In a second aspect, a pipetting method is provided, including a method for loading pipette tips as described in the first aspect and any embodiment thereof.

[0035] Thirdly, a pipette tip loading device is provided, the loading device being used to load a pipette tip onto a pipette body, the pipette body being provided with an adapter for adapting and connecting to the pipette tip, the direction in which the pipette tip points toward the adapter being a target direction, the loading device comprising:

[0036] Control unit, used to control the adapter to move toward the suction head;

[0037] An acquisition unit is used to acquire the force exerted on the adapter in the target direction;

[0038] A determining unit is configured to determine that the suction head has been loaded onto the adapter if the force exerted on the adapter in the target direction is greater than or equal to a first force threshold.

[0039] In conjunction with any embodiment of this application, the determining unit is specifically used for:

[0040] If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold and less than or equal to the second force threshold, it is determined that the suction head has been loaded onto the adapter.

[0041] In conjunction with any embodiment of this application, the determining unit is specifically used for:

[0042] If the force exerted on the adapter in the target direction is greater than or equal to a first force threshold, and the adapter is subjected to pressure in a direction perpendicular to the target direction, it is determined that the suction head has been loaded onto the adapter.

[0043] In any embodiment of this application, the target direction is a vertically upward direction.

[0044] In any embodiment of this application, the pipette body is mounted on a robotic arm, and the control unit is specifically used for:

[0045] The robotic arm is controlled to move the adapter toward the suction head in a first motion mode;

[0046] The control unit is further configured to control the robotic arm to stop moving if the force exerted on the adapter in the target direction is greater than or equal to the first force threshold.

[0047] In conjunction with any embodiment of this application, the control unit is specifically used for:

[0048] If the force exerted on the adapter in the target direction reaches the third force threshold, the robotic arm is controlled to stop moving;

[0049] The response time of the robotic arm as the adapter continues to move toward the suction head in the first motion mode is obtained, the first increment value of the force exerted on the adapter in the target direction during the response time is obtained, and the sum of the third force threshold and the first increment value is greater than or equal to the first force threshold.

[0050] In conjunction with any embodiment of this application, the control unit is further configured to:

[0051] The robotic arm is controlled to move the adapter toward the suction head in a second motion mode; the average motion speed of the second motion mode is greater than the average motion speed of the first motion mode.

[0052] If the force exerted on the adapter in the target direction is greater than or equal to the fourth force threshold, the robotic arm is controlled to move the adapter toward the suction head in the first motion mode; wherein the fourth force threshold is less than the first force threshold.

[0053] In conjunction with any embodiment of this application, the control unit is further configured to:

[0054] The robotic arm is controlled to move the adapter toward the suction head in a second motion mode; the average motion speed of the second motion mode is greater than the average motion speed of the first motion mode.

[0055] If the force exerted by the adapter in the target direction reaches the fifth force threshold, the robotic arm is controlled to stop moving.

[0056] The response time during which the adapter continues to move toward the suction head in the second motion mode is obtained, the second incremental value of the force exerted on the adapter in the target direction during the response time is obtained, and the sum of the fifth force threshold and the second incremental value is less than the third force threshold.

[0057] In any embodiment of this application, the fifth force threshold is 5N to 15N, and the third force threshold is 25N to 40N.

[0058] In conjunction with any embodiment of this application, the control unit is specifically used for:

[0059] Obtain the target position of the suction head;

[0060] Based on the target location, the initial moving position of the adapter is determined, and the initial moving position is spaced at a preset distance from the target location in the target direction;

[0061] Control the adapter to move from the initial moving position toward the suction head.

[0062] Fourthly, a pipetting apparatus is provided, including a loading device for pipetting tips as described in the second aspect and any embodiment thereof.

[0063] Fifthly, an electronic device is provided, characterized in that it comprises: a processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs a method as described in the first aspect above and any possible implementation thereof, or the electronic device performs a method as described in the second aspect above and any possible implementation thereof.

[0064] In a sixth aspect, another electronic device is provided, comprising: a processor, a transmitting device, an input device, an output device, and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs the method as described in the first aspect above and any possible implementation thereof, and the electronic device performs the method as described in the second aspect above and any possible implementation thereof.

[0065] In a seventh aspect, a computer-readable storage medium is provided, wherein a computer program is stored therein, the computer program including program instructions that, when executed by a processor, cause the processor to perform a method as described in the first aspect above and any possible implementation thereof, or cause the processor to perform a method as described in the second aspect above and any possible implementation thereof.

[0066] Eighthly, a computer program product is provided, the computer program product comprising a computer program or instructions that, when the computer program or instructions are executed on a computer, cause the computer to perform the method of the first aspect and any possible implementation thereof, or cause the computer to perform the method of the second aspect and any possible implementation thereof.

[0067] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application.

[0068] In this embodiment, the loading device controls the adapter to move toward the suction head, allowing the adapter to be inserted into the suction head. Then, the force exerted on the adapter in the target direction is acquired, and the force exerted on the adapter in the target direction is used as a basis to determine whether the suction head is loaded onto the adapter. Specifically, if the force exerted on the adapter in the target direction is greater than or equal to a first force threshold, it is determined that the suction head has been loaded onto the adapter, thereby improving the success rate of loading the suction head onto the adapter. Attached Figure Description

[0069] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0070] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0071] Figure 1 A schematic flowchart illustrating a method for loading a pipette tip according to an embodiment of this application;

[0072] Figure 2 A schematic diagram illustrating the relationship between the movement time and the vertically upward force experienced by an adapter during the first stage of movement, as provided in an embodiment of this application.

[0073] Figure 3 The relationship between the motion time and the vertically upward force experienced by an adapter provided in this application embodiment during the first and second stage of motion;

[0074] Figure 4 This is a schematic diagram illustrating a process for loading a suction head onto an adapter, as provided in an embodiment of this application.

[0075] Figure 5 This is a schematic diagram of the structure of a pipette tip loading device provided in an embodiment of this application;

[0076] Figure 6 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0077] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0078] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0079] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0080] In industrial applications, pipette tips are frequently used for liquid pipetting. Specifically, the pipette body has an adapter for connecting the pipette tip, and this adapter has an air passage. When the adapter is connected to the pipette tip, the air passage of the adapter is connected to the air passage of the pipette tip. At this time, the pipette body can control the pipette tip to aspirate and dispense liquid by controlling the air pressure in the air passage.

[0081] During pipetting, the pipette body needs to control the air pressure within the airway. The airtightness of the connection between the pipette tip's airway and the adapter's airway affects pipetting accuracy. Specifically, the better the airtightness of the connection, the higher the pipetting accuracy. Therefore, loading a pipette tip into the adapter requires not only inserting the adapter into the pipette tip but also ensuring the airtightness of the connection. Thus, whether the pipette tip is successfully loaded into the adapter is an indicator of the airtightness of the connection. In other words, a successful loading of the pipette tip into the adapter indicates a good airtightness, while a failure to load it indicates a poor airtightness.

[0082] Current pipette tip loading technology involves controlling a robotic arm carrying the adapter to move towards the desired position, using the adapter's taught position as the desired position. The taught position of the adapter represents its position when the pipette tip is loaded. The robotic arm's movement then inserts the adapter into the pipette tip. However, due to potential errors in the taught position, this loading technique may result in poor airtightness between the pipette tip and adapter, potentially leading to the pipette tip not being loaded into the adapter or not being securely connected, thus resulting in a low success rate. Therefore, this application provides a pipette tip loading method to improve the success rate of loading pipette tips into adapters.

[0083] The execution subject of this application embodiment is a pipette tip loading device (hereinafter referred to as the loading device), wherein the loading device can be any electronic device capable of executing the pipette tip loading technology solution disclosed in the method embodiments of this application. Optionally, the loading device can be one of the following: a computer, a server. It should be understood that the pipette tip loading technology solution disclosed in this application can also be implemented by a processor executing computer program code. The embodiments of this application are described below with reference to the accompanying drawings. Please refer to... Figure 1 , Figure 1 This is a schematic flowchart of a pipette tip loading method provided in an embodiment of this application.

[0084] 101. Control the adapter to move toward the suction head.

[0085] In one possible implementation, the pipette body is mounted on a robotic arm, and the loading device controls the robotic arm to move the pipette body, which is equipped with an adapter, toward the pipette tip.

[0086] 102. Obtain the force exerted on the adapter in the target direction.

[0087] In this embodiment of the application, the target direction is the direction in which the suction head points to the adapter. For example, when the adapter is in a vertically upward position relative to the suction head, the direction in which the suction head points to the adapter is vertically upward. When the adapter is in a vertically downward position relative to the suction head, the direction in which the suction head points to the adapter is vertically downward.

[0088] In one possible implementation, the pipette body is mounted on a robotic arm, which is equipped with a force sensor capable of detecting forces at least in the target direction. Preferably, this force sensor is a six-dimensional force sensor. The loading device can obtain the force exerted on the adapter in the target direction through this six-dimensional force sensor.

[0089] 103. If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold, it is determined that the suction head has been loaded onto the adapter.

[0090] In this embodiment, the first force threshold is the minimum force exerted on the suction head in the target direction when the suction head is loaded onto the adapter. In other words, to load the suction head onto the adapter, the minimum force exerted on the suction head in the target direction must be the first force threshold. For example, if the target direction is vertically upward and the first force threshold is 25 Newtons, then when loading the suction head onto the adapter, the minimum force exerted on the suction head in the vertically upward direction must be 25 Newtons. That is, the suction head can only be successfully loaded onto the adapter if the force exerted on the suction head in the vertically upward direction is greater than or equal to 25 Newtons. If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold, it indicates that the suction head has been successfully loaded onto the adapter.

[0091] In this embodiment, the loading device controls the adapter to move toward the suction head, allowing the adapter to be inserted into the suction head. Then, the force exerted on the adapter in the target direction is acquired, and the success of loading the suction head onto the adapter is determined based on this force. Specifically, if the force exerted on the adapter in the target direction is greater than or equal to a first force threshold, it is determined that the suction head has been loaded onto the adapter, thereby improving the success rate of loading the suction head onto the adapter.

[0092] As an optional implementation, the loading device performs the following steps during step 103:

[0093] 201. If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold and less than or equal to the second force threshold, it is determined that the suction head has been loaded onto the adapter.

[0094] By pressing the suction head and adapter tightly together, the airtightness of the connection between the suction head and adapter can be improved. However, if the suction head and adapter are pressed too tightly, the suction head may be damaged. In this embodiment, the second force threshold is the maximum allowable force that the suction head can withstand in the target direction. That is, if the force on the suction head in the target direction is greater than the second force threshold, the suction head may be damaged; if the force on the suction head in the target direction is less than or equal to the second force threshold, the suction head will not be damaged.

[0095] In this embodiment, if the force exerted on the adapter in the target direction is greater than or equal to the first force threshold and less than or equal to the second force threshold, it is determined that the suction head has been loaded onto the adapter. This can improve the success rate of loading the suction head onto the adapter while reducing the probability of the suction head being damaged by the adapter.

[0096] As an optional implementation, the loading device performs the following steps during step 103:

[0097] 301. If the force on the adapter in the target direction is greater than or equal to the first force threshold, and the adapter is subjected to pressure in a direction different from the target direction, it is determined that the suction head has been loaded onto the adapter.

[0098] When the suction head is loaded into the adapter, the adapter is in an inserted state, and it comes into contact with the inner wall of the suction head. This causes the adapter to experience pressure from the suction head, and this pressure is in a direction different from the target direction. For example, the adapter may experience radial pressure from the suction head, where radial pressure is pressure in a direction perpendicular to the target direction. Therefore, to improve the success rate of loading the suction head into the adapter, the loading device considers whether the suction head is experiencing pressure in a direction different from the target direction as a condition that the suction head has been successfully loaded into the adapter.

[0099] Optionally, the adapter is equipped with a pressure sensor. The loading device obtains the pressure on the adapter through the pressure sensor, and then determines whether the adapter is subjected to pressure in a direction different from the target direction. This allows the device to determine whether the adapter enters the suction head and makes close contact with the suction head.

[0100] In this embodiment, if the force on the adapter in the target direction is greater than or equal to the first force threshold, and the adapter is subjected to pressure in a direction perpendicular to the target direction, it is determined that the suction head has been loaded onto the adapter, which can further improve the success rate of loading the suction head onto the adapter and reduce the probability of misjudgment.

[0101] Furthermore, the magnitude of the pressure exerted on the adapter in a direction different from the target direction can be limited. When this pressure exceeds the set target pressure value, it is determined that the suction head has been successfully loaded onto the adapter. This ensures a tight connection between the adapter and the suction head, further improving the success rate of loading the suction head onto the adapter and reducing the chance of false positives.

[0102] As an optional implementation, the pipette body is mounted on a robotic arm, meaning that movement of the robotic arm moves the pipette body, which in turn moves the adapter. In this implementation, the loading device performs the following steps during step 101:

[0103] 401. Control the robotic arm to drive the adapter toward the suction head in the first motion mode.

[0104] In this embodiment, the first motion mode is any motion mode, for example, the first motion mode is uniform motion, or for example, variable speed motion, or even uniformly accelerated motion.

[0105] After completing step 401, the loading device also performs the following steps:

[0106] 402. If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold, control the robotic arm to stop moving.

[0107] If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold, it indicates that the suction head has been loaded onto the adapter. Then, by controlling the robotic arm to stop moving, the movement of the adapter is stopped, thereby increasing the success rate of loading the suction head onto the adapter while reducing the chance of the suction head being crushed by the adapter.

[0108] As an optional implementation, the loading device performs the following steps during step 402:

[0109] 501. If the force exerted on the adapter in the target direction reaches the third force threshold, control the robotic arm to stop moving.

[0110] 502. When the adapter continues to move toward the suction head in the first motion manner as described above, the first incremental value of the force exerted on the adapter in the target direction within the response time of the robotic arm is obtained.

[0111] In this embodiment, the robotic arm has a response time, which refers to the time from when the loading device sends a control command to the robotic arm to when the robotic arm executes the operation indicated by the command. For example, if the loading device sends a stop command to the robotic arm at time t1, and the robotic arm stops moving at time t2, then the response time of the robotic arm is t2-t1.

[0112] In other words, the operation performed by the robotic arm based on the control commands sent by the loading device has a lag compared to the time it takes for the loading device to send the control commands. For example, if the robotic arm's response time is 200 milliseconds, and the loading device sends a stop control command to the robotic arm at time t1, then the robotic arm will stop moving at time (t1 + 200 milliseconds).

[0113] Therefore, after the loading device controls the robotic arm to stop moving, the adapter will continue to move towards the suction head for the duration of the robotic arm's response. The duration of the robotic arm's response to the adapter moving towards the suction head in the first motion mode will increase the force on the adapter in the target direction. Specifically, the increment of the force on the adapter in the target direction is the first increment value.

[0114] For example, if the first increment is 10 Newtons and the response time is 200 milliseconds, then if the robotic arm moves the adapter toward the suction head in the first motion mode for 200 milliseconds, the pressure between the suction head and the adapter will increase by 10 Newtons.

[0115] In this embodiment, the sum of the third force threshold and the first increment value is greater than or equal to the first force threshold. That is, when the adapter stops moving, the force exerted on the adapter in the target direction is greater than or equal to the first force threshold. In other words, when the adapter stops moving, the suction head has been loaded onto the adapter. The third force threshold can be less than the first force threshold.

[0116] In this embodiment, the loading device controls the robotic arm to move the adapter toward the suction head in a first motion mode. When the force on the adapter in the target direction reaches a third force threshold, the loading device controls the robotic arm to stop moving. Because the robotic arm's response to the loading device's control is delayed, after the loading device stops the robotic arm, the adapter continues to move toward the suction head in the first motion mode for a specified response time. This response time increases the force on the adapter in the target direction by a first increment, making the force on the adapter in the target direction the sum of the third force threshold and the first increment. Since the sum of the third force threshold and the first increment is greater than or equal to the first force threshold, the adapter can load the suction head onto the adapter through the response time.

[0117] As an optional implementation, the loading device further performs the following steps before performing step 401:

[0118] 601. Control the robotic arm to drive the adapter toward the suction head in the second motion mode.

[0119] In this embodiment of the application, the second motion mode can be any motion mode. For example, the second motion mode is uniform motion, or variable motion, or uniformly accelerated motion.

[0120] The average speed of the second motion mode is greater than that of the first motion mode. For example, both the first and second motion modes are uniform motions, with the first motion mode having a speed of 1 millimeter per second and the second motion mode having a speed of 10 millimeters per second.

[0121] After completing step 601, the loading device performs the following steps during step 401:

[0122] 602. If the force on the adapter in the target direction is greater than or equal to the fourth force threshold, control the robotic arm to drive the adapter toward the suction head in the first motion mode.

[0123] In this embodiment, if the force exerted on the adapter in the target direction is greater than or equal to the fourth force threshold, it indicates that the adapter has made contact with the suction head; if the fourth force threshold is less than the first force threshold, it indicates that the suction head has not been loaded onto the adapter. In other words, the adapter can make contact with the suction head by moving towards the suction head in a second motion manner, but the suction head is not loaded onto the adapter.

[0124] Since the average speed of the first motion mode is less than that of the second motion mode, when the adapter has contacted the suction head but the suction head has not been loaded onto the adapter, the control robot arm can move the adapter toward the suction head in the first motion mode, so that the suction head can be loaded onto the adapter and the probability of the suction head being crushed by the adapter can be reduced.

[0125] As an optional implementation, the loading device further performs the following steps before performing step 401:

[0126] 701. Control the robotic arm to drive the adapter toward the suction head in the second motion mode.

[0127] The implementation method for this step can be found in the implementation method of step 601, and will not be repeated here.

[0128] 702. If the force exerted by the adapter in the target direction reaches the fifth force threshold, control the robotic arm to stop moving.

[0129] When the force exerted by the adapter in the target direction reaches the fifth force threshold, it indicates that the adapter has made contact with the suction head. Due to the lag in the robotic arm's response to the loading device's control, when the force exerted by the adapter in the target direction reaches the fifth force threshold, the robotic arm stops moving, and the adapter continues to move towards the suction head according to the second motion mode. (The response time of the robotic arm is not specified.)

[0130] 703. Obtain the second incremental value of the force exerted on the adapter in the target direction during the response time when the adapter continues to move toward the suction head in the second motion manner as described above.

[0131] As described in step 702, after the loading device controls the robotic arm to stop moving, the adapter will continue to move towards the suction head in the second motion mode for the duration of the robotic arm's response. The duration of the robotic arm's response to the adapter moving towards the suction head in the second motion mode will increase the force on the adapter in the target direction. Specifically, the increment of the force on the adapter in the target direction is the second increment value. For example, if the second increment value is 5 Newtons and the response time is 200 milliseconds, then the robotic arm moving the adapter towards the suction head in the second motion mode for 200 milliseconds will increase the pressure between the suction head and the adapter by 5 Newtons.

[0132] In this embodiment, the sum of the fifth force threshold and the second incremental value is less than the third force threshold, that is, when the adapter stops moving in the second motion mode, the force on the adapter in the target direction is less than the third force threshold.

[0133] In this embodiment, the loading device controls the robotic arm to move the adapter toward the suction head in a second motion mode. When the force on the adapter in the target direction reaches the fifth force threshold, the loading device controls the robotic arm to stop moving. Because the robotic arm's response to the loading device's control is delayed, the response time of the robotic arm after the loading device stops the robotic arm moving in the second motion mode is calculated. By increasing the response time of the second motion mode, the force on the adapter in the target direction increases by a second increment, thereby making the force on the adapter in the target direction the sum of the fifth force threshold and the second increment.

[0134] Since the sum of the fifth force threshold and the second incremental value is less than the third force threshold, the loading device controls the robotic arm to continue moving the adapter toward the suction head in the first motion mode until the force on the adapter in the target direction reaches the third force threshold, at which point the robotic arm stops moving. Because the robotic arm's response to the loading device's control is delayed, the response time of the robotic arm after the loading device stops the robotic arm moving in the first motion mode is calculated. This response time increases the force on the adapter in the target direction by the first incremental value, making the force on the adapter in the target direction the sum of the third force threshold and the first incremental value. Since the sum of the third force threshold and the first incremental value is greater than or equal to the first force threshold, the adapter can load the suction head onto the adapter through the motion response time.

[0135] In this process, the adapter moves toward the suction head in a second motion mode to bring the adapter into contact with the suction head, and then moves toward the suction head in a first motion mode to load the suction head onto the adapter. Since the average speed of the second motion mode is greater than the average speed of the first motion mode, the time taken from when the adapter is not in contact with the adapter to when the adapter and the adapter are in contact can be shortened by moving toward the suction head in the second motion mode, thereby shortening the time to load the suction head onto the adapter.

[0136] As an optional implementation, the third force threshold ranges from 25 Newtons to 40 Newtons, and the fifth force threshold ranges from 5 Newtons to 15 Newtons.

[0137] Based on this implementation method, this application provides a possible application scenario. The suction head is placed vertically on a shelf, and a robotic arm drives the adapter to move from directly above the suction head towards the suction head to load the suction head onto the adapter, with the target direction being vertically upward. To shorten the time for loading the suction head onto the adapter and improve the efficiency of loading the suction head onto the adapter, a two-stage motion method can be used to control the movement of the adapter towards the suction head. That is, first, the robotic arm is controlled to drive the adapter towards the suction head in a second motion mode, and then the robotic arm is controlled to drive the adapter towards the suction head in a first motion mode. This can improve the success rate of loading the suction head onto the adapter and reduce the probability of the suction head being damaged by the adapter.

[0138] Specifically, the average speed of the first motion mode is 1 mm / s, the average speed of the second motion mode is 10 mm / s, the third force threshold is 40 N, and the fifth force threshold is 15 N. The loading device first controls the robotic arm to move the adapter towards the suction head at a constant speed of 10 mm / s. When the adapter experiences an upward vertical force of 15 N, the robotic arm's motion is switched from a constant speed of 10 mm / s to a constant speed of 1 mm / s. Finally, when the adapter experiences an upward vertical force of 40 N, the robotic arm stops moving.

[0139] Figure 2 This diagram illustrates the relationship between the adapter's motion time and the upward vertical force acting on it during the first stage of its motion. The horizontal axis represents the adapter's motion time, and the vertical axis represents the force acting on the adapter in the vertical direction. Figure 2 As shown, the adapter experiences an upward vertical force that tends to stabilize between 0 and 1.6 seconds, indicating that the adapter has not yet made contact with the suction head during this period. It should be understood that the fluctuations in the vertical force on the adapter between 0 and 1.6 seconds are due to the movement of the robotic arm. Around 1.6 seconds, the upward vertical force on the adapter suddenly increases, indicating that the adapter makes contact with the suction head around 1.6 seconds. From approximately 1.6 to 1.8 seconds, the vertical force on the adapter exhibits two oscillations. This is because the suction head has two slots at its end, and the insertion of these slots into the adapter causes the vertical force on the adapter to first decrease and then increase. It is understandable that the oscillations may differ depending on the suction head's structure. From approximately 1.8 seconds onwards, the vertical force on the adapter reaches 15 Newtons and tends to stabilize, indicating that the adapter has completed the first stage of movement around 1.8 seconds.

[0140] Figure 3 The diagram illustrates the relationship between the travel time of the adapter during the first and second phases of motion and the upward vertical force acting on it. The horizontal axis represents the travel time of the adapter, and the vertical axis represents the force acting on the adapter in the vertical direction. Figure 3As shown, approximately 0 to 2.2 seconds characterize Figure 2 The first stage of motion shown, starting at 2.2 seconds, represents the second stage of motion of the adapter. Specifically, starting around 2.5 seconds, the force on the adapter in the vertical direction begins to increase, indicating that the second stage of motion of the adapter begins at 2.5 seconds. The second stage of motion is completed and stops around 3.9 seconds when the force on the adapter in the vertical direction exceeds 40 Newtons, at which point the suction head has been loaded onto the adapter.

[0141] As an optional implementation, the loading device performs the following steps during step 101:

[0142] 801. Obtain the target position of the above-mentioned suction head.

[0143] In this embodiment, the target position can be the position of the tip of the suction head, or it can be the taught position of the suction head (i.e., the position where the suction head is tightly connected to the adapter). The taught position is the position of the suction head when it is loaded onto the adapter, determined through teaching. For example, if the position of the suction head when it is loaded onto the adapter is determined to be p1 through teaching, then the taught position of the suction head is p1.

[0144] 802. Based on the target location mentioned above, determine the initial moving position of the adapter.

[0145] In this embodiment, the initial moving position and the target position are spaced apart by a preset distance in the target direction. Optionally, the preset distance is 15 mm. For example, when the target direction is vertically upward, the initial moving position is located 15 mm directly above the target position.

[0146] The loading device determines the initial moving position of the adapter based on the target location and a preset distance. Optionally, the adapter is loaded onto a robotic arm, and after determining the initial moving position of the adapter, the loading device controls the movement of the robotic arm to move the adapter to the initial moving position.

[0147] Optionally, the direction of the vector pointing from the target position to the initial movement position is the target direction. For example, if the target direction is vertically upward, then the direction of the vector pointing from the target position to the initial movement position is vertically upward.

[0148] 803. Control the adapter to move from the initial moving position toward the suction head.

[0149] In this embodiment, after acquiring the target position of the suction head, the loading device determines the initial moving position of the adapter based on the target position. Since the distance between the target position and the initial moving position is a preset interval, the initial moving position of the adapter can be adjusted by adjusting this preset interval. Specifically, by adjusting the preset interval, the distance between the initial moving position and the tip of the suction head can be reduced while ensuring that the initial moving position does not contact the tip. In this way, controlling the adapter to move towards the suction head from the initial moving position shortens the time spent from the adapter not contacting the suction head to contacting it, thereby shortening the time it takes for the suction head to be loaded onto the adapter.

[0150] Based on the pipette tip loading method provided above, this application also provides a possible implementation method. In this implementation method, an adapter for connecting the pipette tip is provided on the pipette body, and the pipette body and the adapter can be moved by a robotic arm. The pipette tip is placed vertically on the shelf, and now the pipette tip needs to be loaded onto the adapter by moving the adapter.

[0151] Figure 4 The diagram shows the process of loading the suction head onto the adapter. Figure 4 As shown, after the loading device obtains the position of the tip of the adapter (i.e., the target position mentioned above), it controls the robotic arm to move the adapter to a position 15 mm directly above the tip of the adapter. The adapter is equipped with a six-dimensional force sensor, which detects the external force acting on the adapter. When the adapter is 15 mm directly above the tip of the adapter, the initial six-dimensional force data of the adapter is obtained through the six-dimensional force sensor. Then, the robotic arm is controlled to move the pipette body and the adapter downwards at a speed of 10 mm / s to pick up the tip, i.e., the robotic arm moves the adapter towards the tip at a speed of 10 mm / s. The movement of the robotic arm stops when the force on the adapter in the vertical direction exceeds 15 Newtons. Then, the robotic arm is controlled to move the pipette body and the adapter downwards at a speed of 1 mm / s to pick up the tip, i.e., the robotic arm moves the adapter towards the tip at a speed of 1 mm / s. The movement of the robotic arm stops when the force on the adapter in the vertical direction exceeds 40 Newtons.

[0152] Finally, the pipette body is lifted by the robotic arm, and then the adapter is checked to see if it is subjected to pressure in a direction different from the vertical direction, such as whether the adapter is subjected to pressure in the horizontal direction. If so, it is determined that the adapter has successfully attached the pipette tip (i.e., the pipette tip has been loaded into the adapter). If not, it is determined that the adapter has not attached the pipette tip (i.e., the pipette tip has not been loaded into the adapter).

[0153] Using the loading method of this application, the force exerted on the suction head in the target direction can be kept basically consistent during the loading process for suction heads of different sizes. Compared with the traditional loading method using a fixed position, even if there is an error in the height of the taught suction head position, the force threshold control can automatically adjust the depth of suction head insertion to secure the suction head.

[0154] Based on the pipette tip loading method provided above, this application also provides a pipetting method. The pipetting method is executed by a pipetting device, which can be any electronic device capable of executing the pipetting technology disclosed in the embodiments of this application. Optionally, the pipetting device can be one of the following: a computer, a server. It should be understood that the pipetting method disclosed in this application can also be implemented by a processor executing computer program code.

[0155] A pipette apparatus controls the pipette tip to aspirate and dispense liquid, thus completing the pipetting process. Specifically, the pipette body is equipped with an adapter for connecting the pipette tip, and the adapter has an air passage. The pipette tip can be loaded onto the adapter using the pipette tip loading method described above. The air passage of the adapter is connected to the air passage of the pipette tip. At this point, the pipette apparatus controls the air pressure within the air passage through the pipette body to control the aspiration and dispensing of liquid by the pipette tip.

[0156] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0157] The methods of the embodiments of this application have been described in detail above, and the apparatus of the embodiments of this application is provided below.

[0158] Please see Figure 5 , Figure 5 This is a schematic diagram of a pipette tip loading device 1 provided in an embodiment of this application. The loading device 1 is used to load pipette tips onto a pipette body. The pipette body is provided with an adapter for connecting and adapting to the pipette tip. The direction in which the pipette tip points to the adapter is the target direction. The loading device 1 includes: a control unit 11, an acquisition unit 12, and a determination unit 13. Specifically:

[0159] Control unit 11 is used to control the adapter to move toward the suction head;

[0160] Acquisition unit 12 is used to acquire the force exerted on the adapter in the target direction;

[0161] The determining unit 13 is used to determine that the suction head has been loaded onto the adapter if the force exerted on the adapter in the target direction is greater than or equal to a first force threshold.

[0162] In any embodiment of this application, the determining unit 13 is specifically used for:

[0163] If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold and less than or equal to the second force threshold, it is determined that the suction head has been loaded onto the adapter.

[0164] In any embodiment of this application, the determining unit 13 is specifically used for:

[0165] If the force exerted on the adapter in the target direction is greater than or equal to a first force threshold, and the adapter is subjected to pressure in a direction perpendicular to the target direction, it is determined that the suction head has been loaded onto the adapter.

[0166] In any embodiment of this application, the target direction is a vertically upward direction.

[0167] In any embodiment of this application, the pipette body is mounted on a robotic arm, and the control unit 11 is specifically used for:

[0168] The robotic arm is controlled to move the adapter toward the suction head in a first motion mode;

[0169] The control unit 11 is further configured to control the robotic arm to stop moving if the force exerted on the adapter in the target direction is greater than or equal to the first force threshold.

[0170] In any embodiment of this application, the control unit 11 is specifically used for:

[0171] If the force exerted on the adapter in the target direction reaches the third force threshold, the robotic arm is controlled to stop moving;

[0172] When the response time of the robotic arm as the adapter continues to move toward the suction head in the first motion mode is obtained, the first incremental value of the force exerted on the adapter in the target direction during the response time is greater than or equal to the first force threshold.

[0173] In conjunction with any embodiment of this application, the control unit 11 is further configured to:

[0174] The robotic arm is controlled to move the adapter toward the suction head in a second motion mode; the average motion speed of the second motion mode is greater than the average motion speed of the first motion mode.

[0175] If the force exerted on the adapter in the target direction is greater than or equal to the fourth force threshold, the robotic arm is controlled to move the adapter toward the suction head in the first motion mode; wherein the fourth force threshold is less than the first force threshold.

[0176] In conjunction with any embodiment of this application, the control unit 11 is further configured to:

[0177] The robotic arm is controlled to move the adapter toward the suction head in a second motion mode; the average motion speed of the second motion mode is greater than the average motion speed of the first motion mode.

[0178] If the force exerted by the adapter in the target direction reaches the fifth force threshold, the robotic arm is controlled to stop moving.

[0179] When the adapter continues to move toward the suction head in the second motion mode for the response duration, the second incremental value of the force exerted on the adapter in the target direction during the response duration is obtained, and the sum of the fifth force threshold and the second incremental value is less than the third force threshold.

[0180] In any embodiment of this application, the fifth force threshold is 5N to 15N, and the third force threshold is 25N to 40N.

[0181] In any embodiment of this application, the control unit 11 is specifically used for:

[0182] Obtain the target position of the suction head;

[0183] Based on the target location, the initial moving position of the adapter is determined, and the initial moving position is spaced at a preset distance from the target location in the target direction;

[0184] Control the adapter to move from the initial moving position toward the suction head.

[0185] In this embodiment, the loading device controls the adapter to move toward the suction head, allowing the adapter to be inserted into the suction head. Then, the force exerted on the adapter in the target direction is acquired, and the force exerted on the adapter in the target direction is used as a basis to determine whether the suction head is loaded onto the adapter. Specifically, if the force exerted on the adapter in the target direction is greater than or equal to a first force threshold, it is determined that the suction head has been loaded onto the adapter, thereby improving the success rate of loading the suction head onto the adapter.

[0186] This application provides a pipetting device, which includes... Figure 5 The shown is a pipette tip loading device.

[0187] In some embodiments, the functions or modules of the apparatus provided in this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0188] Figure 6 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. The electronic device 2 includes a processor 21 and a memory 22. Optionally, the electronic device 2 also includes an input device 23 and an output device 24. The processor 21, memory 22, input device 23, and output device 24 are coupled together via connectors, which include various interfaces, transmission lines, or buses, etc., and are not limited in this embodiment. It should be understood that in the various embodiments of this application, coupling refers to mutual connection in a specific way, including direct connection or indirect connection through other devices, such as through various interfaces, transmission lines, buses, etc.

[0189] Processor 21 may include one or more processors, such as one or more central processing units (CPUs). If the processor is a CPU, it may be a single-core CPU or a multi-core CPU. Optionally, processor 21 may be a processor group consisting of multiple CPUs, with the multiple processors coupled to each other via one or more buses. Optionally, the processor may also be other types of processors, etc., which are not limited in this embodiment.

[0190] The memory 22 can be used to store computer program instructions, as well as various types of computer program code, including program code for executing the present application. Optionally, the memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), which is used for related instructions and data. When the computer program instructions are processed by the processor 21, the processor 21 can execute any of the above-described pipette tip loading methods or pipetting methods.

[0191] Input device 23 is used to input data and / or signals, and output device 24 is used to output data and / or signals. Input device 23 and output device 24 can be independent devices or an integrated device.

[0192] It is understood that in this embodiment of the application, the memory 22 can be used not only to store related instructions, but also to store related data. This embodiment of the application does not limit the specific data stored in the memory.

[0193] Understandable, Figure 6 This is merely a simplified design of an electronic device. In practical applications, the electronic device may also include other necessary components, including, but not limited to, any number of input / output devices, processors, memories, etc., and all electronic devices that can implement the embodiments of this application are within the protection scope of this application.

[0194] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0195] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will also readily understand that the various embodiments of this application have different focuses, and for the sake of convenience and brevity, the same or similar parts may not be repeated in different embodiments. Therefore, parts not described or not described in detail in one embodiment can be referred to the descriptions in other embodiments.

[0196] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0197] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0198] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0199] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).

[0200] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM) or random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method of loading a pipette tip, characterized in that, The method is used to mount a pipette tip onto a pipette body, wherein the pipette body is provided with an adapter for fitting and connecting with the pipette tip, the direction in which the pipette tip points to the adapter is a target direction, and the target direction is a vertically upward direction. The method includes: Control the adapter to move toward the suction head; Obtain the force exerted on the adapter in the target direction; If the force exerted on the adapter in the target direction is greater than or equal to a first force threshold and less than or equal to a second force threshold, it is determined that the suction head has been loaded onto the adapter; wherein, when the suction head is loaded onto the adapter, the first force threshold is the minimum force exerted on the suction head in the target direction, and the second force threshold is the maximum force that the suction head is allowed to exert in the target direction.

2. The method of claim 1, wherein, The step of determining that the suction head has been loaded onto the adapter if the force exerted on the adapter in the target direction is greater than or equal to a first force threshold and less than or equal to a second force threshold includes: If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold and less than or equal to the second force threshold, and the adapter is subjected to pressure in a direction different from the target direction, it is determined that the suction head has been loaded onto the adapter.

3. The method according to claim 1 or 2, characterized in that, The pipette body is mounted on a robotic arm, and controlling the adapter to move toward the pipette tip includes: The robotic arm is controlled to move the adapter toward the suction head in a first motion mode; The method further includes: If the force exerted on the adapter in the target direction is greater than or equal to the first force threshold, the robotic arm is controlled to stop moving.

4. The method of claim 3, wherein, The step of controlling the robotic arm to stop moving if the force exerted on the adapter in the target direction is greater than or equal to the first force threshold includes: If the force exerted on the adapter in the target direction reaches the third force threshold, the robotic arm is controlled to stop moving; When the response time of the robotic arm as the adapter continues to move toward the suction head in the first motion mode is obtained, the first incremental value of the force exerted on the adapter in the target direction during the response time is greater than or equal to the first force threshold.

5. The method of claim 3, wherein, Before controlling the robotic arm to move the adapter toward the suction head in a first motion manner, the method further includes: The robotic arm is controlled to move the adapter toward the suction head in a second motion mode; the average motion speed of the second motion mode is greater than the average motion speed of the first motion mode. The control of the robotic arm to move the adapter toward the suction head in a first motion mode includes: If the force exerted on the adapter in the target direction is greater than or equal to the fourth force threshold, the robotic arm is controlled to move the adapter toward the suction head in the first motion mode; wherein the fourth force threshold is less than the first force threshold.

6. The method of claim 4, wherein, Before controlling the robotic arm to move the adapter toward the suction head in a first motion manner, the method further includes: The robotic arm is controlled to move the adapter toward the suction head in a second motion mode; the average motion speed of the second motion mode is greater than the average motion speed of the first motion mode. If the force exerted by the adapter in the target direction reaches the fifth force threshold, the robotic arm is controlled to stop moving. When the adapter continues to move toward the suction head in the second motion mode for the response duration, the second incremental value of the force exerted on the adapter in the target direction during the response duration is obtained, and the sum of the fifth force threshold and the second incremental value is less than the third force threshold.

7. The method of claim 6, wherein, The fifth force threshold is 5N~15N, and the third force threshold is 25N~40N.

8. The method of claim 1 or 2, wherein, The control of moving the adapter toward the suction head includes: Obtain the target position of the suction head; Based on the target location, the initial moving position of the adapter is determined, and the initial moving position is spaced at a preset distance from the target location in the target direction; Control the adapter to move from the initial moving position toward the suction head.

9. A pipetting method, characterized in that, Including the method of loading pipette tips as described in any one of claims 1-8.

10. A loading device for pipette tips, characterized in that The loading device is used to load a pipette tip onto a pipette body according to the method described in any one of claims 1 to 8, wherein the pipette body is provided with an adapter for fitting and connecting with the pipette tip, and the direction in which the pipette tip points toward the adapter is a target direction, and the loading device includes: Control unit, used to control the adapter to move toward the suction head; An acquisition unit is used to acquire the force exerted on the adapter in the target direction; A determining unit is configured to determine that the suction head has been loaded onto the adapter if the force exerted on the adapter in the target direction is greater than or equal to a first force threshold and less than or equal to a second force threshold.

11. A pipetting device, characterized in that Includes the loading device for the pipette tip as described in claim 10.

12. An electronic device, comprising: include: A processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs the method as claimed in any one of claims 1 to 8, or the electronic device performs the method as claimed in claim 9.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 8, or cause the processor to perform the method of claim 9.

Images