Multi-axis linkage automatic cleaning pipetting workstation

Abstract

The invention discloses a multi-axis linkage automatic cleaning and pipetting workstation which comprises a fixed base, a support assembly and a pipetting assembly, the support assembly comprises a fixed support and a movable support, the fixed support is installed on the fixed base, and the movable support is arranged on the fixed support in a sliding fit mode; the pipetting assembly comprises a pipetting base and a pipetting arm, the pipetting base is arranged on the movable support in a sliding fit mode, and the pipetting arm is arranged on the pipetting base in a sliding fit mode; a first clamping channel is arranged on the pipetting arm, a first clamping arm suitable for clamping a pipetting gun is arranged in the first clamping channel, a pipetting pump is arranged on the pipetting arm, and the pipetting pump is suitable for being communicated with the pipetting gun; a second clamping channel is further arranged on the pipetting arm, a second clamping arm suitable for clamping a cleaning gun is arranged in the second clamping channel, a cleaning pump is further arranged on the pipetting arm, the reagent tray can be automatically cleaned, reagent liquid can be rapidly injected, and the production efficiency and the production quality are improved.

Description

Technical Field

[0001] The invention relates to a multi-axis linkage automatic cleaning and liquid transfer workstation, belonging to the technical field of medical equipment. Background Art

[0002] At present, with the continuous development of medical technology, the requirements for sample pipetting operations in laboratory work are gradually increasing, especially in the fields of medical testing, molecular biology, drug development, etc. Accurate pipetting operations are the key steps to ensure the reliability of experimental results. Traditional pipetting operations are usually completed manually, which not only depends on the technical level of the operator, but may also be affected by factors such as fatigue and operating environment, thereby causing errors and affecting the accuracy of experimental results. After searching, it was found that the Chinese patent with announcement number CN221310713U disclosed a fully automatic quantitative multi-axis linkage automatic cleaning pipetting workstation. In this patent, after the operator sets the pipetting parameters through the operation screen, the moving component drives the liquid tube to be positioned above the target container, and the motor drives the screw rod to drive the lifting plate to rise and fall vertically along the guide rod, and the piston rod moves in the liquid tube through the piston rod; the scale plate monitors the lifting stroke in real time, and the precise thread transmission of the screw rod is used to realize quantitative control. When the liquid is sucked, the liquid tube descends and immerses in the liquid, and the piston is withdrawn. When the liquid is discharged, the piston is pressed down to accurately distribute the fixed volume of liquid to the target position. However, this patent requires that the liquid tube be cleaned and installed on the device before pipetting. During the transportation and installation of the liquid tube, the liquid tube may be contaminated and the quality of the reagent injected into the liquid tube may be affected. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a multi-axis linkage automatic cleaning and liquid transfer workstation, which can automatically clean the reagent tray and quickly inject reagent liquid, thereby improving production efficiency and production quality.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: a multi-axis linkage automatic cleaning and pipetting workstation, comprising: Fixed base; A bracket assembly, the bracket assembly comprising a fixed bracket and a movable bracket, the fixed bracket is mounted on the fixed base, and the movable bracket is slidably mounted on the fixed bracket; A pipetting assembly, the pipetting assembly comprising a pipetting base and a pipetting arm, the pipetting base is slidably mounted on the movable bracket, and the pipetting arm is slidably mounted on the pipetting base; The pipetting arm is provided with a first clamping channel, the first clamping channel is provided with a first clamping arm suitable for clamping a pipetting gun, the pipetting arm is provided with a pipetting pump, and the pipetting pump is suitable for being connected to the pipetting gun; The pipetting arm is also provided with a second clamping channel, in which a second clamping arm suitable for clamping a cleaning gun is provided, and the pipetting arm is also provided with a cleaning pump, which is suitable for being connected to the cleaning gun; The movable bracket is suitable for slidingly fitting on the fixed bracket to drive the liquid transfer gun and the cleaning gun to move along the X-axis direction to adjust the relative positions of the liquid transfer gun and the cleaning gun and the fixed base; The pipetting base is suitable for slidingly fitting on the movable bracket to drive the pipetting gun and the cleaning gun to move along the Y-axis direction to adjust the relative positions of the pipetting gun and the cleaning gun and the fixed base; The pipetting arm is suitable for slidingly fitting on the pipetting base to drive the pipetting gun and the cleaning gun to move along the Z-axis direction to adjust the relative positions of the pipetting gun and the cleaning gun and the fixed base.

[0005] Furthermore, in order to improve the stability of the pipetting process, the movable bracket is slidably mounted on the fixed bracket via at least one first guide rail slider mechanism; wherein, The first guide rail slider mechanism comprises: A first guide rail mounted on the fixing bracket; A first sliding block is mounted on the movable bracket.

[0006] Furthermore, in order to reduce operational errors, a multi-axis linkage automatic cleaning and pipetting workstation also includes an X-axis drive mechanism, which includes an X-axis drive motor, a first driving wheel, a first driven wheel and a first transmission belt. The X-axis drive motor is installed at one end of the fixed bracket, the first driving wheel is connected to the movable end of the X-axis drive motor, the first driven wheel is installed at the other end of the fixed bracket, the first transmission belt is suitable for connecting the first driving wheel and the first driven wheel, and the first slider is installed on the first transmission belt.

[0007] Furthermore, the pipetting base is slidably mounted on the movable bracket via at least one second guide rail and slider mechanism; wherein, The second guide rail slider mechanism comprises: A second guide rail mounted on the movable bracket; A second slide is mounted on the pipetting base.

[0008] Furthermore, a multi-axis linkage automatic cleaning and pipetting workstation also includes a Y-axis drive mechanism, which includes a Y-axis drive motor, a second driving wheel, a second driven wheel and a second transmission belt. The Y-axis drive motor is installed at one end of the movable bracket, the second driving wheel is connected to the movable end of the Y-axis drive motor, the second driven wheel is installed at the other end of the movable bracket, the second transmission belt is suitable for connecting the second driving wheel and the second driven wheel, and the second slider is installed on the second transmission belt.

[0009] Furthermore, in order to adjust the tension of the first transmission belt and improve the stability of transmission, a first tensioning mechanism is also provided on the fixed bracket, the first tensioning mechanism includes a first movable seat and a first base, the first driven wheel is installed on the first movable seat, the fixed bracket is provided with a first groove adapted to the first movable seat, the first movable seat is slidably fitted in the first groove, the first base is fixedly installed on the fixed bracket, the first base is connected to the first movable seat by at least one first screw-nut pair, the first screw-nut pair includes a first screw installed on the first base and a nut installed on the first movable seat, and screwing the first screw is suitable for driving the first movable seat to move.

[0010] Furthermore, a multi-axis linkage automatic cleaning pipetting workstation also includes a Z-axis drive mechanism, which includes a Z-axis drive motor and a telescopic rod. The Z-axis drive motor is installed on the pipetting base, one end of the telescopic rod is connected to the movable end of the Z-axis drive motor, and the other end of the telescopic rod is connected to the pipetting arm.

[0011] Further, in order to obtain accurate position feedback, at least one X-axis travel sensor is provided on the fixed bracket, and the X-axis travel sensor is suitable for detecting the moving position of the movable bracket in the X-axis direction and transmitting the position signal to the controller; At least one Y-axis travel sensor is disposed on the movable bracket, and the Y-axis travel sensor is suitable for detecting the moving position of the pipetting base in the Y-axis direction and transmitting the position signal to the controller.

[0012] Furthermore, the fixed base is provided with a workbench on which a reagent tray is mounted, the pipetting gun is suitable for pipetting the reagent tray when the pipetting arm moves into position, and the cleaning gun is suitable for cleaning the reagent tray when the pipetting arm moves into position.

[0013] Furthermore, in order to clean the inner wall of the reagent disk, a cleaning head is provided on the top of the cleaning gun, and a plurality of cleaning holes facing the inner wall of the reagent disk are provided on the cleaning head; A cleaning water tank is also installed on the fixed base, and a clean water chamber and a sewage chamber are arranged inside the cleaning water tank. A first connecting pipe and a second connecting pipe are arranged on the cleaning pump. The first connecting pipe is connected to the clean water chamber, and the second connecting pipe is connected to the sewage chamber.

[0014] After adopting the above technical solution, the present invention has the following beneficial effects: 1. In the present invention, by providing a combined structure of a fixed bracket and a movable bracket, and arranging a pipetting base and a pipetting arm on the movable bracket, the pipetting gun and the cleaning gun can be flexibly moved in the three directions of X, Y, and Z, which greatly improves the accuracy and convenience of pipetting and cleaning operations.

[0015] The first guide rail slider mechanism is used to realize the smooth movement of the movable bracket in the X-axis direction, and the X-axis drive mechanism and the first tensioning mechanism are used to ensure the stability and reliability of the transmission in the X-axis direction. The second guide rail slider mechanism is used to realize the precise positioning of the pipetting base in the Y-axis direction, and the Y-axis drive mechanism is used to ensure the stability and reliability of the transmission in the X-axis direction. The Z-axis drive mechanism controls the up and down movement of the pipetting arm, so that the pipetting gun and cleaning gun can adapt to containers of different heights during operation; By setting up the X-axis and Y-axis travel sensors, the position information of the pipette gun and the cleaning gun can be monitored in real time and fed back to the controller, thus improving the positioning accuracy.

[0016] 2. In the present invention, a plurality of cleaning holes are designed on the head of the cleaning gun, and combined with the separation design of the clean water chamber and the sewage chamber, the cleaning work of the inner wall of the reagent disk can be completed cyclically to ensure the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A three-dimensional multi-axis linkage automatic cleaning and liquid transfer workstation of the present invention Figure 1 ; Figure 2 A three-dimensional multi-axis linkage automatic cleaning and liquid transfer workstation of the present invention Figure 2 ; Figure 3 It is a front view of a multi-axis linkage automatic cleaning and liquid transfer workstation of the present invention; Figure 4 A top view of a multi-axis linkage automatic cleaning and liquid transfer workstation of the present invention; Figure 5 A partial cross-sectional view of the pipetting arm of the present invention; Figure 6 It is a schematic diagram of the connection between the cleaning water tank and the cleaning gun of the present invention. DETAILED DESCRIPTION

[0018] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0019] like Figure 1-6 As shown, a multi-axis linkage automatic cleaning and pipetting workstation comprises: Fixed base 1; A bracket assembly, the bracket assembly includes a fixed bracket 21 and a movable bracket 22, the fixed bracket 21 is installed on the fixed base 1, and the movable bracket 22 is slidably fitted on the fixed bracket 21; The pipetting assembly includes a pipetting base 31 and a pipetting arm 32. The pipetting base 31 is slidably mounted on the movable bracket 22, and the pipetting arm 32 is slidably mounted on the pipetting base 31. The pipetting arm 32 is provided with a first clamping channel 321, and a first clamping arm 322 suitable for clamping a pipetting gun 42 is provided in the first clamping channel 321. The pipetting arm 32 is provided with a pipetting pump 41, and the pipetting pump 41 is suitable for being connected to the pipetting gun 42. The pipetting arm 32 is also provided with a second clamping channel, in which a second clamping arm suitable for clamping a cleaning gun 52 is provided. The pipetting arm 32 is also provided with a cleaning pump 51, which is suitable for being connected to the cleaning gun 52. The movable bracket 22 is suitable for slidingly fitting on the fixed bracket 21 to drive the liquid transfer gun 42 and the cleaning gun 52 to move along the X-axis direction to adjust the relative positions of the liquid transfer gun 42 and the cleaning gun 52 and the fixed base 1; The liquid transfer base 31 is suitable for slidingly fitting on the movable bracket 22 to drive the liquid transfer gun 42 and the cleaning gun 52 to move along the Y-axis direction to adjust the relative positions of the liquid transfer gun 42 and the cleaning gun 52 and the fixed base 1; The pipetting arm 32 is suitable for slidingly fitting on the pipetting base 31 to drive the pipetting gun 42 and the cleaning gun 52 to move along the Z-axis direction to adjust the relative positions of the pipetting gun 42 and the cleaning gun 52 and the fixed base 1 .

[0020] In this embodiment, the pipetting gun 42 and the cleaning gun 52 are installed in parallel on the pipetting arm 32. When the pipetting arm 32 moves downward, the pipetting gun 42 and the cleaning gun 52 are driven to move downward synchronously.

[0021] Specifically, Figure 1-4 As shown, the movable bracket 22 is slidably mounted on the fixed bracket 21 through at least one first guide rail slider mechanism; wherein, The first guide rail slider mechanism comprises: A first guide rail 61 mounted on the fixed bracket 21; The first sliding block 62 is mounted on the movable bracket 22 .

[0022] Specifically, Figure 1-4As shown, a multi-axis linkage automatic cleaning and pipetting workstation also includes an X-axis driving mechanism, which includes an X-axis driving motor 63, a first driving wheel 64, a first driven wheel 65 and a first transmission belt 66. The X-axis driving motor 63 is installed at one end of the fixed bracket 21, the first driving wheel 64 is connected to the movable end of the X-axis driving motor 63, the first driven wheel 65 is installed at the other end of the fixed bracket 21, the first transmission belt 66 is suitable for connecting the first driving wheel 64 and the first driven wheel 65, and the first slider 62 is installed on the first transmission belt 66.

[0023] Specifically, Figure 1-4 As shown, the transfer base 31 is slidably mounted on the movable bracket 22 via at least one second guide rail and slider mechanism; wherein, The second guide rail slider mechanism comprises: A second guide rail 71 mounted on the movable bracket 22; The second slider 72 is mounted on the pipetting base 31 .

[0024] Specifically, Figure 1-4 As shown, a multi-axis linkage automatic cleaning and pipetting workstation also includes a Y-axis driving mechanism, which includes a Y-axis driving motor 73, a second driving wheel 74, a second driven wheel 75 and a second transmission belt 76. The Y-axis driving motor 73 is installed at one end of the movable bracket 22, the second driving wheel 74 is connected to the movable end of the Y-axis driving motor 73, the second driven wheel 75 is installed at the other end of the movable bracket 22, the second transmission belt 76 is suitable for connecting the second driving wheel 74 and the second driven wheel 75, and the second slider 72 is installed on the second transmission belt 76.

[0025] Specifically, Figure 1-4 As shown, a first tensioning mechanism is also provided on the fixed bracket 21, and the first tensioning mechanism includes a first movable seat 81 and a first base 82. The first driven wheel 65 is installed on the first movable seat 81. A first groove 211 adapted to the first movable seat 81 is provided on the fixed bracket 21. The first movable seat 81 is slidably fitted in the first groove 211. The first base 82 is fixedly installed on the fixed bracket 21. The first base 82 is connected to the first movable seat 81 through at least one first screw-nut pair. The first screw-nut pair includes a first screw installed on the first base 82 and a first nut installed on the first movable seat 81. Screwing the first screw is suitable for driving the first movable seat 81 to move.

[0026] In this embodiment, the first screw is screwed clockwise to drive the first movable seat 81 to move toward the first driving wheel 74 to reduce the tension of the first transmission belt 66; The first screw is rotated counterclockwise to drive the first movable seat 81 to move away from the first driving wheel 74 to increase the tension of the first transmission belt 66; Appropriate tension can prevent the first transmission belt 66 from slipping or over-stretching during operation, which helps to extend the service life of the transmission belt and improve the transmission efficiency.

[0027] Specifically, Figure 1-4 As shown, a multi-axis linkage automatic cleaning pipetting workstation also includes a Z-axis drive mechanism, which includes a Z-axis drive motor 91 and a telescopic rod. The Z-axis drive motor 91 is installed on a pipetting base 31, one end of the telescopic rod is connected to the movable end of the Z-axis drive motor 91, and the other end of the telescopic rod is connected to the pipetting arm 32.

[0028] In this embodiment, the pipetting arm 32 is slidably mounted on the pipetting base 31 through at least one third guide rail slider mechanism. The third guide rail slider mechanism includes a third guide rail installed on the pipetting base 31 and a third slider installed on the pipetting arm 32. The third guide rail slider mechanism cooperates with the telescopic rod to realize the up and down movement of the pipetting arm 32, thereby improving the stability of the pipetting arm during movement.

[0029] Specifically, Figure 4 As shown, at least one X-axis travel sensor 212 is provided on the fixed bracket 21, and the X-axis travel sensor 212 is suitable for detecting the moving position of the movable bracket 22 in the X-axis direction and transmitting the position signal to the controller; At least one Y-axis travel sensor 221 is disposed on the movable bracket 22 . The Y-axis travel sensor 221 is suitable for detecting the moving position of the pipetting base 31 in the Y-axis direction and transmitting the position signal to the controller.

[0030] In this embodiment, the X-axis travel sensor 212 and the Y-axis travel sensor may be through-beam photoelectric sensors, and a first blocking plate is provided on the first slider 62. When the first slider 62 slides to a predetermined position, the first blocking plate passes through the through-beam photoelectric sensor and blocks the light emitted by the through-beam photoelectric sensor, so that the through-beam photoelectric sensor generates a signal and transmits it to the controller, thereby determining the position of the movable bracket 22. Similarly, a second blocking plate is provided on the second slider 72. When the second slider 72 slides to a predetermined position, the second blocking plate passes through the opposing photoelectric sensor and blocks the light emitted by the opposing photoelectric sensor, causing the opposing photoelectric sensor to generate a signal and transmit it to the controller, thereby determining the position of the pipetting base 31.

[0031] Specifically, Figure 1 As shown, the fixed base 1 is provided with a workbench 11 on which a reagent tray 111 is mounted. The pipetting gun 42 is suitable for pipetting the reagent tray 111 when the pipetting arm 32 moves into position, and the cleaning gun 52 is suitable for cleaning the reagent tray 111 when the pipetting arm 32 moves into position.

[0032] Specifically, Figure 3-6 As shown, a cleaning head 521 is provided on the top of the cleaning gun 52, and a plurality of cleaning holes 522 facing the inner wall of the reagent disk 111 are provided on the cleaning head 521; A cleaning water tank 523 is also installed on the fixed base 1, and a clean water chamber 523A and a sewage chamber 523B are arranged inside the cleaning water tank 523. A first connecting pipe 524 and a second connecting pipe 525 are arranged on the cleaning pump 51. The first connecting pipe 524 is connected to the clean water chamber 523A, and the second connecting pipe 525 is connected to the sewage chamber 523B.

[0033] In this embodiment, a plurality of reagent tanks are provided on the reagent tray 111, and the cleaning gun 521 extracts clean cleaning medium from the clean water chamber 523A of the cleaning water tank 523 through the cleaning pump 51 and the first connecting pipe 524 and sprays the inner wall of the reagent tank through the cleaning hole 522 to remove pollutants on the inner wall of the reagent tank; After cleaning, the cleaning gun 521 extracts the sewage remaining in the reagent tank through the cleaning pump 51, and flows into the sewage chamber 523B of the cleaning water tank 523 through the second connecting pipe 525. The staff can easily and quickly replenish the cleaning medium and dump the sewage by disassembling the cleaning water tank 523.

[0034] In this embodiment, the distance between the center of the cleaning gun 521 and the center of the pipette gun 42 is equal to the distance between the centers of two adjacent reagent slots in the longitudinal direction on the reagent disk 111. Therefore, when performing cleaning operations and pipetting operations, the cleaning gun 521 and the pipette gun 42 form a step-by-step linkage between the reagent slots arranged in the longitudinal direction. A single Y-axis movement can synchronously update the working positions of the cleaning gun 521 and the pipette gun 42, thereby achieving a seamless connection between the pipetting operation and the cleaning preparation, greatly shortening the processing cycle of the porous reagent disk, and when the cleaning gun 521 and the pipette gun 42 are pressed down once, the cleaning gun 521 and the pipette gun 42 can both be out of the reagent slot, thereby avoiding the conflict between the cleaning gun 521 and the pipette gun 42 in a single operation.

[0035] In this embodiment, the operator starts the multi-axis linkage automatic cleaning and pipetting workstation. After the controller receives the start signal, the X-axis drive motor 63 starts to operate, and drives the first slider 62 to move along the first guide rail 61 through the first transmission belt 66, thereby driving the movable bracket 22 to move to a preset position in the X-axis direction. The X-axis travel sensor 212 monitors the position of the movable bracket 22 and feeds back the position information to the controller; After the movable bracket 22 reaches the specified X-axis position, the Y-axis drive motor 73 is started, and the second slider 72 is driven to move along the second guide rail 71 through the second transmission belt 76, so that the pipetting base 31 moves to the desired position in the Y-axis direction. The Y-axis travel sensor 221 also monitors the position of the pipetting base 31 and feeds back the information to the controller.

[0036] After the positioning of the pipetting base 31 is completed, the Z-axis drive motor 91 is activated, and the pipetting arm 32 is moved in the Z-axis direction through the telescopic rod, so that the pipetting gun 42 and the cleaning gun 52 penetrate into the reagent tank in the reagent tray 111, and then the cleaning pump 51 draws the cleaning medium from the clean water chamber 523A of the cleaning water tank 523 through the first connecting pipe 524, and sprays the inner wall of the reagent tank through the cleaning hole 522 to remove residual reagents and pollution. After cleaning, the cleaning pump 51 extracts the waste liquid in the reagent tank again, and sends the waste liquid back to the sewage chamber 523B of the cleaning water tank 523 through the second connecting pipe 525.

[0037] After cleaning is completed, the pipetting arm 32 is lifted, and then the pipetting gun 52 is moved to the reagent tank after cleaning through the three-axis mechanism and the pipetting operation is performed on the reagent tank, and so on, the pipetting operation of all reagent tanks on the entire reagent disk is completed.

[0038] The above specific embodiments further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-axis linkage automatic cleaning and pipetting workstation, characterized in that: include: A fixed base (1); A bracket assembly, the bracket assembly comprising a fixed bracket (21) and a movable bracket (22), the fixed bracket (21) being mounted on the fixed base (1), and the movable bracket (22) being slidably mounted on the fixed bracket (21); A pipetting assembly, the pipetting assembly comprising a pipetting base (31) and a pipetting arm (32), the pipetting base (31) being slidably mounted on the movable support (22), and the pipetting arm (32) being slidably mounted on the pipetting base (31); The pipetting arm (32) is provided with a first clamping channel (321), the first clamping channel (321) is provided with a first clamping arm (322) suitable for clamping a pipetting gun (42), the pipetting arm (32) is provided with a pipetting pump (41), and the pipetting pump (41) is suitable for being connected to the pipetting gun (42); The pipetting arm (32) is also provided with a second clamping channel, and a second clamping arm suitable for clamping a cleaning gun (52) is provided in the second clamping channel. The pipetting arm (32) is also provided with a cleaning pump (51), and the cleaning pump (51) is suitable for being connected to the cleaning gun (52); The movable bracket (22) is suitable for being slidably mounted on the fixed bracket (21) to drive the pipetting gun (42) and the cleaning gun (52) to move along the X-axis direction to adjust the relative positions of the pipetting gun (42) and the cleaning gun (52) and the fixed base (1); The pipetting base (31) is suitable for being slidably mounted on the movable bracket (22) to drive the pipetting gun (42) and the cleaning gun (52) to move along the Y-axis direction to adjust the relative positions of the pipetting gun (42) and the cleaning gun (52) and the fixed base (1); The pipetting arm (32) is suitable for slidingly fitting on the pipetting base (31) to drive the pipetting gun (42) and the cleaning gun (52) to move along the Z-axis direction to adjust the relative positions of the pipetting gun (42) and the cleaning gun (52) and the fixed base (1).

2. A multi-axis linkage automatic cleaning and liquid transfer workstation according to claim 1, characterized in that: The movable bracket (22) is slidably mounted on the fixed bracket (21) via at least one first guide rail slider mechanism; wherein: The first guide rail slider mechanism comprises: A first guide rail (61) mounted on the fixed bracket (21); A first sliding block (62) is mounted on the movable bracket (22).

3. A multi-axis linkage automatic cleaning and liquid transfer workstation according to claim 2, characterized in that: Also includes: An X-axis driving mechanism, the X-axis driving mechanism comprising an X-axis driving motor (63), a first driving wheel (64), a first driven wheel (65) and a first transmission belt (66), wherein the X-axis driving motor (63) is mounted on one end of the fixed bracket (21), the first driving wheel (64) is connected to the movable end of the X-axis driving motor (63), the first driven wheel (65) is mounted on the other end of the fixed bracket (21), the first transmission belt (66) is suitable for connecting the first driving wheel (64) and the first driven wheel (65), and the first slider (62) is mounted on the first transmission belt (66).

4. A multi-axis linkage automatic cleaning and liquid transfer workstation according to claim 1, characterized in that: The transfer base (31) is slidably mounted on the movable bracket (22) via at least one second guide rail and slider mechanism; wherein: The second guide rail slider mechanism comprises: A second guide rail (71) mounted on the movable bracket (22); A second slider (72) is mounted on the pipetting base (31).

5. A multi-axis linkage automatic cleaning and liquid transfer workstation according to claim 4, characterized in that: Also includes: A Y-axis driving mechanism, the Y-axis driving mechanism comprising a Y-axis driving motor (73), a second driving wheel (74), a second driven wheel (75) and a second transmission belt (76), wherein the Y-axis driving motor (73) is mounted on one end of the movable bracket (22), the second driving wheel (74) is connected to the movable end of the Y-axis driving motor (73), the second driven wheel (75) is mounted on the other end of the movable bracket (22), the second transmission belt (76) is suitable for connecting the second driving wheel (74) and the second driven wheel (75), and the second slider (72) is mounted on the second transmission belt (76).

6. The multi-axis linkage automatic cleaning and liquid transfer workstation according to claim 3, characterized in that: The fixed bracket (21) is also provided with a first tensioning mechanism, the first tensioning mechanism comprising a first movable seat (81) and a first base (82), the first driven wheel (65) being mounted on the first movable seat (81), the fixed bracket (21) being provided with a first groove (211) adapted to the first movable seat (81), the first movable seat (81) being slidably fitted in the first groove (211), the first base (82) being fixedly mounted on the fixed bracket (21), the first base (82) being connected to the first movable seat (81) via at least one first screw-nut pair, the first screw-nut pair comprising a first screw mounted on the first base (82) and a first nut mounted on the first movable seat (81), and screwing the first screw is suitable for driving the first movable seat (81) to move.

7. The multi-axis linkage automatic cleaning and liquid transfer workstation according to claim 1, characterized in that: Also includes: A Z-axis drive mechanism, the Z-axis drive mechanism comprising a Z-axis drive motor (91) and a telescopic rod, the Z-axis drive motor (91) being mounted on the pipetting base (31), one end of the telescopic rod being connected to the movable end of the Z-axis drive motor (91), and the other end of the telescopic rod being connected to the pipetting arm (32).

8. The multi-axis linkage automatic cleaning and liquid transfer workstation according to claim 1, characterized in that: At least one X-axis travel sensor (212) is provided on the fixed support (21), and the X-axis travel sensor (212) is suitable for detecting the moving position of the movable support (22) in the X-axis direction and transmitting the position signal to the controller; At least one Y-axis travel sensor (221) is provided on the movable bracket (22), and the Y-axis travel sensor (221) is suitable for detecting the moving position of the pipetting base (31) in the Y-axis direction and transmitting the position signal to the controller.

9. The multi-axis linkage automatic cleaning and liquid transfer workstation according to claim 1, characterized in that: The fixed base (1) is provided with a workbench (11), on which a reagent tray (111) is mounted, the pipetting gun (42) is suitable for pipetting the reagent tray (111) when the pipetting arm (32) moves into position, and the cleaning gun (52) is suitable for cleaning the reagent tray (111) when the pipetting arm (32) moves into position.

10. The multi-axis linkage automatic cleaning and liquid transfer workstation according to claim 9, characterized in that: A cleaning head (521) is provided at the top of the cleaning gun (52), and a plurality of cleaning holes (522) facing the inner wall of the reagent disk (111) are provided on the cleaning head (521); A cleaning water tank (523) is also mounted on the fixed base (1), wherein a clean water chamber (523A) and a sewage chamber (523B) are provided inside the cleaning water tank (523), and a first connecting pipe (524) and a second connecting pipe (525) are provided on the cleaning pump (51), wherein the first connecting pipe (524) is connected to the clean water chamber (523A), and the second connecting pipe (525) is connected to the sewage chamber (523B).

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