Pipetting device

Abstract

The invention relates to the technical field of pipetting tools, and discloses a pipetting device. The pipetting device comprises a corrugated pipe, a pipette, a motor, a pressure sensor and a controller, the pipette is communicated with the corrugated pipe; the motor is connected with the corrugated pipe and can drive the corrugated pipe to deform; the pressure sensing device is configured to collect internal pressure parameters of the corrugated pipe; the controller is configured to control the motor according to the preset target liquid suction amount when the liquid suction end of the liquid suction pipe makes contact with liquid to be transferred, so that the motor drives the corrugated pipe to stretch, and the liquid suction pipe sucks the liquid to be transferred through negative pressure till the internal pressure parameter of the corrugated pipe reaches the target pressure parameter. According to the embodiment of the invention, the liquid taking precision can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of liquid transfer tools, and in particular to a liquid transfer device. Background Art

[0002] In the fields of physics, chemistry, biology, etc., it is often necessary to take out a small amount of liquid from a certain reagent for the purpose of sampling, matching, etc., so people have designed pipetting devices.

[0003] In the related art, the pipetting device needs to be manually operated by the staff, that is, the liquid is manually extracted from a certain reagent using the pipetting device. However, when batch operation is required, the staff is prone to problems such as fatigue and reduced liquid extraction accuracy, which will affect the test results and the ratio. Summary of the invention

[0004] The purpose of the present application is to provide a liquid transfer device, aiming to improve the accuracy of liquid collection.

[0005] The present application provides a liquid transfer device, comprising: Bellows; A liquid suction tube, connected to the bellows; A motor connected to the bellows and capable of driving the bellows to deform; A pressure sensor device configured to collect internal pressure parameters of the bellows; The controller is electrically connected to the motor and the pressure sensor device, and is configured to control the motor according to a preset target suction volume when the suction end of the suction tube contacts the liquid to be transferred, so that the motor drives the bellows to stretch, so that the suction tube sucks the liquid to be transferred under negative pressure until the internal pressure parameter of the bellows reaches the target pressure parameter.

[0006] In some embodiments, the pipetting device further comprises: A vertical position sensor device, configured to collect vertical position parameters of the pipette; A horizontal position sensor device, configured to collect horizontal position parameters of the pipette; The controller is electrically connected to the vertical position sensor device and the horizontal position sensor device, and is configured to determine the vertical relative distance between the pipette and the liquid to be transferred based on the vertical position parameters of the pipette, and to determine the horizontal relative distance between the pipette and the target pipetting area based on the horizontal position parameters of the pipette.

[0007] In some embodiments, the controller is configured to cause the motor to drive the bellows to stretch when the vertical relative distance between the pipette and the liquid to be transferred is less than a vertical relative threshold distance, so that the pipette sucks the liquid to be transferred under negative pressure.

[0008] In some embodiments, the controller is configured to cause the motor to drive the bellows to compress when the horizontal relative distance between the pipette and the target pipetting area is less than a horizontal relative threshold distance, so that the pipette releases the liquid to be transferred.

[0009] In some embodiments, the pipetting device further comprises: A displacement sensor device configured to collect expansion and contraction parameters of the bellows; The controller is electrically connected to the displacement sensor device and is configured to control the motor to stretch or compress the bellows according to the expansion and contraction amount parameter of the bellows.

[0010] In some embodiments, the pipetting device further comprises: A weight sensor device configured to collect a weight parameter of the liquid to be transferred; The controller is electrically connected to the weight sensor device and is configured to control the motor to stretch or compress the bellows according to a weight parameter of the liquid to be transferred.

[0011] In some embodiments, the motor is connected to the bellows via a connecting rod, and the connecting rod can be displaced in a direction of stretching or compressing the bellows when acted upon by an electromagnetic force of a magnet of the motor.

[0012] In some embodiments, the motor is a voice coil motor.

[0013] In some embodiments, the controller is configured to generate a closed-loop control parameter and output it to the motor so that the motor drives the bellows to stretch; the closed-loop control parameter is fitted by the total control parameter and the controller control parameter, and the total control parameter is fitted by the first control component, the second control component, the third control component and the fourth control component, the first control component is determined based on the relationship between the current parameter and the mechanical performance parameter of the motor, the second control component is determined based on the relationship between the internal pressure parameter and the volume change parameter of the bellows, the third control component is determined based on the time delay parameter of the bellows, and the fourth control component is determined based on the control strategy parameter of the controller.

[0014] In some embodiments, the calculation formula of the closed-loop control parameter is: , The calculation formula of the total control parameter is: , The calculation formula of the first control component is: , The calculation formula of the second control component is: , The calculation formula of the third control component is: , The calculation formula of the fourth control component is: , in, is the closed-loop control parameter, is the total control parameter, is the controller control parameter, is the first control component, is the second control component, is the third control component, is the fourth control component, m is the weight of the connecting rod of the motor connecting the bellows, s is a complex variable, b is the damping coefficient, k is the spring stiffness of the spring that limits the displacement of the connecting rod of the motor connecting the bellows, n and R are constants, T is the time constant, is the initial volume of the bellows, is the coefficient related to the volume change of the bellows, x is the displacement of the bellows, e is a natural constant, is the time delay parameter of the bellows, is the proportionality coefficient, is the integration coefficient, is the differential coefficient.

[0015] The beneficial effects of the present application are as follows: the liquid to be transferred is sucked in by a motor-driven bellows to form a negative pressure, and the internal pressure parameters of the bellows are monitored by a pressure sensor. The motor is controlled by a controller according to the internal pressure parameters of the bellows, so that the motor drives the bellows to form the required stretching amount and sucks the liquid to be transferred through the suction tube under negative pressure until the internal pressure parameters of the bellows reach the target pressure parameters. In this way, since the liquid to be transferred is sucked in by a motor-driven bellows to form a negative pressure and the suction amount of the liquid to be transferred is controlled according to the internal pressure parameters of the bellows, the required amount of liquid to be transferred can be accurately sucked in, errors caused by manual operation can be avoided, and the liquid collection accuracy can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the cross-sectional structure of the liquid transfer device provided in an embodiment of the present application.

[0017] Figure 2 It is a schematic diagram of the electrical structure of the liquid transfer device provided in an embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of an application scenario of the pipetting device provided in the first embodiment of the present application.

[0019] Figure 4 It is a schematic diagram of an application scenario of the pipetting device provided in the second embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0021] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown can be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second" and the like in the specification, claims and drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0023] Combined with reference Figure 1 and Figure 2 In some embodiments, the pipetting device includes a bellows 100 , a pipette 200 , a motor 300 , a pressure sensor device 400 , and a controller 500 .

[0024] The pipette 200 is connected to the bellows 100, and the motor 300 is connected to the bellows 100, and the motor 300 can drive the bellows 100 to deform. Specifically, the bellows 100 is fixed in a cavity of a shell, and the pipette 200 is arranged at one end of the shell, and the pipette 200 extends inward from the outside of the shell until it is connected to the bellows 100. A through hole is arranged at the other end of the shell, and the movable shaft of the motor 300 can penetrate into the cavity of the shell through the through hole and connect with the bellows 100. After the motor 300 is started, its movable shaft can be displaced accordingly to drive the bellows 100 to deform.

[0025] The controller 500 is electrically connected to the motor 300 and the pressure sensor device 400. The pressure sensor device 400 is configured to collect the internal pressure parameters of the bellows 100. The controller 500 is configured to control the motor 300 according to a preset target liquid suction amount when the liquid suction end of the pipette 200 contacts the liquid to be transferred, so that the motor 300 drives the bellows 100 to stretch, so that the liquid suction end of the pipette 200 sucks the liquid to be transferred under negative pressure until the internal pressure parameter of the bellows 100 reaches the target pressure parameter. Specifically, the sampling end of the pressure sensor device can be set in the inner cavity of the bellows 100 or the lumen of the pipette 200. By performing pressure sensing detection on the inner cavity of the bellows 100 or the lumen of the pipette 200, the internal pressure parameters of the bellows 100 are collected. The pressure sensor device 400 converts the collected internal pressure parameters of the bellows 100 into corresponding level signals and outputs them to the controller 500. The controller 500 receives the level signal output by the pressure sensor device 400, and controls the motor 300 according to a preset target liquid absorption amount when the liquid absorption end of the pipette 200 contacts the liquid to be transferred, so that the motor 300 drives the bellows 100 to stretch, so that the pipette 200 negatively pressure sucks in the target volume of liquid to be transferred. The controller 500 determines whether the liquid to be transferred sucked in by the negative pressure of the pipette 200 reaches the target volume based on the internal pressure parameters of the bellows 100 and the target pressure parameters corresponding to the target volume of liquid to be transferred.

[0026] In actual application, the controller 500 obtains the target volume of liquid to be transferred that the user needs to inhale and the current internal pressure parameter of the bellows 100 collected by the pressure sensor 400, and determines the internal pressure parameter of the bellows 100 when the target volume of liquid to be transferred is inhaled through the pipette 200 according to the preset control logic, and the current required to drive the motor 300 when the bellows 100 reaches the internal pressure parameter, and then generates a corresponding control instruction and outputs it to the motor 300, so that the motor 300 runs with the corresponding current and drives the bellows 100 to stretch, so that the pipette 200 negatively inhales the target volume of liquid to be transferred until the internal pressure parameter of the bellows 100 reaches the target pressure parameter. In this way, the required volume of liquid to be transferred can be accurately inhaled, and the liquid collection accuracy is improved.

[0027] Combined with reference Figures 2 to 4In some embodiments, the pipetting device further includes a vertical position sensor 600 and a horizontal position sensor 700. The vertical position sensor 600 is configured to collect the vertical position parameters of the pipette 200, and the horizontal position sensor 700 is configured to collect the horizontal position parameters of the pipette 200. The controller 500 is electrically connected to the vertical position sensor 600 and the horizontal position sensor 700. The controller 500 is configured to determine the vertical relative distance between the pipette 200 and the liquid to be transferred according to the vertical position parameters of the pipette 200, and to determine the horizontal relative distance between the pipette 200 and the target pipetting area according to the horizontal position parameters of the pipette 200. Specifically, the sampling end of the vertical position sensor 600 may be set at the liquid aspiration end of the pipette 200, and the distance detection is performed along the liquid aspiration direction of the pipette 200. When the liquid aspiration end of the pipette 200 is above the liquid to be transferred, the controller 500 may determine the vertical relative distance between the pipette 200 and the liquid to be transferred based on the vertical position parameters of the pipette 200 collected by the vertical position sensor 600. The sampling end of the horizontal position sensor 700 may be set in the target pipetting area, and the distance detection is performed along the liquid release direction of the pipette 200 within the range of the target pipetting area. When the liquid aspiration end of the pipette 200 is transferred to above the target pipetting area, the horizontal position sensor 700 may detect that the pipette 200 is above the target pipetting area. The controller 500 can determine the horizontal relative distance between the pipette 200 and the target pipetting area based on the horizontal position sensor 700 collecting the position of the pipette 200 above the target pipetting area. The sampling end of the horizontal position sensor 700 can also be set at the pipette end of the pipette 200 to collect the position coordinate parameters of the pipette 200. When the pipette end of the pipette 200 is transferred, the horizontal position sensor 700 can detect the displacement direction and displacement distance of the pipette end of the pipette 200. The controller 500 can determine the horizontal relative distance between the pipette 200 and the target pipetting area based on the original position, displacement direction and displacement distance of the pipette end of the pipette 200 and the position of the target pipetting area.

[0028] Furthermore, in some embodiments, the controller 500 is configured to cause the motor 300 to drive the bellows 100 to stretch when the vertical relative distance between the pipette 200 and the liquid to be transferred is less than the vertical relative threshold distance, so that the pipette 200 sucks the liquid to be transferred under negative pressure. Specifically, the preset vertical relative threshold distance is the vertical relative distance between the pipette 200 and the liquid to be transferred when the pipette end of the pipette 200 contacts the liquid surface of the liquid to be transferred. When the vertical relative distance between the pipette 200 and the liquid to be transferred is less than the vertical relative threshold distance, that is, the pipette end of the pipette 200 contacts the liquid surface of the liquid to be transferred or is below the liquid surface of the liquid to be transferred, the controller 500 outputs a control instruction to the motor 300, so that the motor 300 drives the bellows 100 to stretch and form a negative pressure, so that the pipette 200 sucks the liquid to be transferred under negative pressure.

[0029] Furthermore, in some embodiments, the controller 500 is configured to cause the motor 300 to drive the bellows 100 to compress when the horizontal relative distance between the pipette 200 and the target transfer area is less than the horizontal relative threshold distance, so that the pipette 200 releases the liquid to be transferred. Specifically, the preset horizontal relative threshold distance is the horizontal relative distance between the pipette 200 and the target transfer area when the pipette end is within the target transfer area. When the horizontal relative distance between the pipette 200 and the target transfer area is less than the horizontal relative threshold distance, that is, the pipette end is within the target transfer area, the controller 500 outputs a control instruction to the motor 300, so that the motor 300 drives the bellows 100 to compress and release the negative pressure, so that the pipette 200 negative pressure sucks the liquid to be transferred.

[0030] Combined with reference Figure 1 to Figure 2In some embodiments, the liquid transfer device further includes a displacement sensor 800. The displacement sensor 800 is configured to collect the expansion and contraction parameters of the bellows 100, and the controller 500 is electrically connected to the displacement sensor 800. The controller 500 is configured to control the motor 300 to stretch or compress the bellows 100 according to the expansion and contraction parameters of the bellows 100. Specifically, the displacement sensor 800 may be arranged on one side of the motor 300 and connected to the movable shaft of the motor 300. The displacement of the movable shaft of the motor 300 is collected to collect the expansion and contraction parameters of the bellows 100. The displacement sensor 800 converts the expansion and contraction parameters of the bellows 100 into corresponding level signals and outputs them to the controller 500. The controller 500 determines the volume of the liquid to be transferred by the pipette 200 under negative pressure according to the expansion and contraction parameters of the bellows 100, thereby controlling the motor 300 to stretch the bellows 100 so that the pipette 200 negatively absorbs the target volume of the liquid to be transferred, or controlling the motor 300 to compress the bellows 100 when the pipette 200 is transferred to the target transfer area so that the liquid to be transferred is released from the pipette 200. Preferably, the displacement sensor 800 is a grating ruler.

[0031] Combined with reference Figures 2 to 3 In some embodiments, the liquid transfer device further includes a weight sensor device 900. The weight sensor device 900 is configured to collect the weight parameter of the liquid to be transferred, and the controller 500 is electrically connected to the weight sensor device 900. The controller 500 is configured to control the motor 300 to stretch or compress the bellows 100 according to the weight parameter of the liquid to be transferred. Specifically, the weight sensor device 900 is disposed at the bottom of the container containing the liquid to be transferred to collect the weight parameter of the liquid to be transferred. The weight sensor device 900 converts the collected weight parameter of the liquid to be transferred into a corresponding level signal and outputs it to the controller 500. The controller 500 determines the weight parameter of the liquid to be transferred sucked by the pipette 200 under negative pressure according to the weight change of the liquid to be transferred in the container, thereby controlling the motor 300 to stretch the bellows 100, so that the pipette 200 sucks the target weight of the liquid to be transferred under negative pressure.

[0032] In some embodiments, the motor 300 is connected to the bellows 100 via a connecting rod, and the connecting rod can be displaced in a direction of stretching or compressing the bellows 100 when acted upon by the electromagnetic force of the magnet of the motor 300 .

[0033] In some embodiments, the motor 300 is a voice coil motor.

[0034] In some embodiments, the controller 500 is configured to generate a closed-loop control parameter and output it to the motor 300, so that the motor 300 drives the bellows 100 to stretch. The closed-loop control parameter is obtained by fitting the total control parameter and the controller control parameter, the total control parameter is obtained by fitting the first control component, the second control component, the third control component and the fourth control component, the first control component is determined according to the relationship between the current parameter and the mechanical performance parameter of the motor 300, the second control component is determined according to the relationship between the internal pressure parameter and the volume change parameter of the bellows 100, the third control component is determined according to the time delay parameter of the bellows 100, and the fourth control component is determined according to the control strategy parameter of the controller 500.

[0035] In some embodiments, the calculation formula of the closed-loop control parameter is: , The calculation formula of the total control parameter is: , The calculation formula of the first control component is: , The calculation formula of the second control component is: , The calculation formula of the third control component is: , The calculation formula of the fourth control component is: , in, is the closed-loop control parameter, is the total control parameter, is the controller control parameter, is the first control component, is the second control component, is the third control component, is the fourth control component, m is the weight of the connecting rod of the motor connecting the bellows, s is a complex variable, b is the damping coefficient, k is the spring stiffness of the spring that limits the displacement of the connecting rod of the motor connecting the bellows, n and R are constants, T is the time constant, is the initial volume of the bellows, is the coefficient related to the volume change of the bellows, x is the displacement of the bellows, e is a natural constant, is the time delay parameter of the bellows, is the proportionality coefficient, is the integration coefficient, is the differential coefficient.

[0036] In summary, the liquid transfer device provided in the embodiment of the present application uses a motor to drive the bellows to form a negative pressure to suck in the liquid to be transferred, and uses a pressure sensor to monitor the internal pressure parameters of the bellows. The controller controls the motor according to the internal pressure parameters of the bellows, so that the motor drives the bellows to form the required stretching amount and sucks in the liquid to be transferred through the suction tube under negative pressure until the internal pressure parameters of the bellows reach the target pressure parameters. In this way, since the motor drives the bellows to form a negative pressure to suck in the liquid to be transferred and controls the suction amount of the liquid to be transferred according to the internal pressure parameters of the bellows, the required amount of liquid to be transferred can be accurately sucked in, errors caused by manual operation can be avoided, and the accuracy of liquid collection can be improved.

[0037] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0038] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A liquid transfer device, characterized in that: include: Bellows; A liquid suction tube, connected to the bellows; A motor connected to the bellows and capable of driving the bellows to deform; A pressure sensor device configured to collect internal pressure parameters of the bellows; The controller is electrically connected to the motor and the pressure sensor device, and is configured to control the motor according to a preset target suction volume when the suction end of the suction tube contacts the liquid to be transferred, so that the motor drives the bellows to stretch, so that the suction tube sucks the liquid to be transferred under negative pressure until the internal pressure parameter of the bellows reaches the target pressure parameter.

2. The liquid transfer device according to claim 1, characterized in that: Also includes: A vertical position sensor device, configured to collect vertical position parameters of the pipette; A horizontal position sensor device, configured to collect horizontal position parameters of the pipette; The controller is electrically connected to the vertical position sensor device and the horizontal position sensor device, and is configured to determine the vertical relative distance between the pipette and the liquid to be transferred based on the vertical position parameters of the pipette, and to determine the horizontal relative distance between the pipette and the target pipetting area based on the horizontal position parameters of the pipette.

3. The liquid transfer device according to claim 2, characterized in that: The controller is configured to enable the motor to drive the bellows to stretch when a vertical relative distance between the pipette and the liquid to be transferred is less than a vertical relative threshold distance, so that the pipette sucks the liquid to be transferred under negative pressure.

4. The liquid transfer device according to claim 2, characterized in that: The controller is configured to cause the motor to drive the bellows to compress when the horizontal relative distance between the pipette and the target pipetting area is less than a horizontal relative threshold distance, so that the pipette releases the liquid to be transferred.

5. The liquid transfer device according to claim 1, characterized in that: Also includes: A displacement sensor device configured to collect expansion and contraction parameters of the bellows; The controller is electrically connected to the displacement sensor device and is configured to control the motor to stretch or compress the bellows according to the expansion and contraction amount parameter of the bellows.

6. The liquid transfer device according to claim 1, characterized in that: Also includes: A weight sensor device configured to collect a weight parameter of the liquid to be transferred; The controller is electrically connected to the weight sensor device and is configured to control the motor to stretch or compress the bellows according to a weight parameter of the liquid to be transferred.

7. The liquid transfer device according to claim 1, characterized in that: The motor is connected to the bellows via a connecting rod, and the connecting rod can be displaced in a direction of stretching or compressing the bellows when acted upon by the electromagnetic force of the magnet of the motor.

8. The liquid transfer device according to claim 1, characterized in that: The motor is a voice coil motor.

9. The liquid transfer device according to any one of claims 1 to 8, characterized in that: The controller is configured to generate a closed-loop control parameter and output the closed-loop control parameter to the motor, so that the motor drives the bellows to stretch; The closed-loop control parameter is obtained by fitting the total control parameter and the controller control parameter, and the total control parameter is obtained by fitting the first control component, the second control component, the third control component and the fourth control component. The first control component is determined based on the relationship between the current parameter and the mechanical performance parameter of the motor, the second control component is determined based on the relationship between the internal pressure parameter and the volume change parameter of the bellows, the third control component is determined based on the time delay parameter of the bellows, and the fourth control component is determined based on the control strategy parameter of the controller.

10. The liquid transfer device according to claim 9, characterized in that: The calculation formula of the closed-loop control parameter is: ， The calculation formula of the total control parameter is: ， The calculation formula of the first control component is: ， The calculation formula of the second control component is: ， The calculation formula of the third control component is: ， The calculation formula of the fourth control component is: ， in, is the closed-loop control parameter, is the total control parameter, is the controller control parameter, is the first control component, is the second control component, is the third control component, is the fourth control component, m is the weight of the connecting rod of the motor connecting the bellows, s is a complex variable, b is the damping coefficient, k is the spring stiffness of the spring that limits the displacement of the connecting rod of the motor connecting the bellows, n and R are constants, T is the time constant, is the initial volume of the bellows, is the coefficient related to the volume change of the bellows, x is the displacement of the bellows, e is a natural constant, is the time delay parameter of the bellows, is the proportionality coefficient, is the integration coefficient, is the differential coefficient.

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