Pipetting and clamping jaw composite module system

Abstract

The invention discloses a pipetting and clamping jaw composite module system. The system comprises a carrying rack, the X-axis assembly comprises an X-direction guide rail mounted on the carrying rack and a plurality of X-direction driving assemblies capable of moving along the X-direction guide rail; the number of the Y-axis assemblies is in one-to-one correspondence with that of the X-direction driving assemblies, each X-direction driving assembly drives the Y-axis assembly corresponding to the X-direction driving assembly to move in the X-axis direction, and each Y-axis assembly comprises a Y-direction guide rail and one or more Y-direction driving assemblies capable of moving along the Y-direction guide rail; the number of the Z-axis assemblies is in one-to-one correspondence with the number of the Y-direction driving assemblies, the Z-axis assemblies are detachably connected to the power ends of the Y-direction driving assemblies respectively, each Y-direction driving assembly drives the corresponding Z-axis assembly to move in the Y-axis direction, and each Z-axis assembly comprises one or more Z-direction guide rails and one or more Z-direction driving assemblies in one-to-one correspondence with the Z-direction guide rails; and the power end of the Z-direction driving assembly is connected with a pipetting device or a clamping jaw device. A three-coordinate module and a robot form can be selected.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a pipetting and gripper composite module system. Background Art

[0002] In the fields of semiconductor manufacturing, biological manufacturing, intelligent detection, etc., pipetting and gripping and transporting samples are key process steps. With the continuous progress of technology, the demand for high throughput, high precision, and high flexibility of equipment is increasing day by day. Traditional pipetting and gripping and transporting equipment usually adopts a parallel module form with a fixed program flow or a highly flexible robot form, but both have their own advantages and disadvantages and are difficult to meet the requirements of high throughput and small volume at the same time.

[0003] The equipment in the form of parallel modules has a compact structure, small volume, and can achieve high-throughput sample processing. This form usually adopts multiple parallel robotic arms or pipette tips and can process multiple samples simultaneously, significantly improving production efficiency. However, the program flow of the parallel module form is fixed and the flexibility is relatively low, making it difficult to adapt to complex and changeable operation requirements. For example, in biological manufacturing, the shapes, sizes, and operation requirements of samples may vary, and it is difficult for the parallel module with a fixed program to flexibly cope with these changes.

[0004] The equipment in the form of a robot has a high degree of flexibility and can adapt to various complex operation processes. Robots are usually equipped with robotic arms with multiple degrees of freedom and can achieve precise positioning and flexible operation. This form is suitable for application scenarios that require high precision and high flexibility, such as precision assembly and detection in semiconductor manufacturing. However, the equipment in the form of a robot usually has a large volume and a relatively low processing throughput, making it difficult to meet the requirements of high-throughput production.

[0005] Therefore, there is an urgent need for a pipetting and gripping and transporting device that can take into account high throughput, small volume, and high flexibility according to the needs of the scenario. Summary of the Invention

[0006] The purpose of the present invention is to provide a pipetting and gripper composite module system that meets the needs of different application scenarios and takes into account high throughput, small volume, and high flexibility.

[0007] To solve the above problems, the present invention provides a pipetting and gripper composite module system, including: A handling rack; An X-axis assembly, the X-axis assembly includes an X-direction guide rail installed on the handling rack and a plurality of X-direction driving components that can move along the X-direction guide rail; A plurality of Y-axis assemblies, the number matching and corresponding one by one with the X-direction driving components, each X-direction driving component can drive the corresponding Y-axis assembly to move along the X-axis direction, and each Y-axis assembly includes a Y-direction guide rail and one or more Y-direction driving components that can move along the Y-direction guide rail; Multiple Z-axis components, the number of which matches and corresponds one by one to the Y-direction driving components, are respectively detachably connected to the power ends of the Y-direction driving components. Each Y-direction driving component can drive the corresponding Z-axis component to move along the Y-axis direction. Each Z-axis component includes one or more Z-direction guide rails and one or more Z-direction driving components corresponding to the Z-direction guide rails one by one. A pipetting device or a gripper device is connected to the power end of the Z-direction driving component so that the pipetting device or the gripper device moves along the Z-direction guide rail.

[0008] The pipetting and gripper composite module system of the present invention has the following beneficial effects: It is provided with multiple X-direction driving components, which can respectively drive the corresponding Y-axis components to move along the X-axis direction. Each Y-direction driving component can drive the corresponding Z-axis component to move along the Y-axis direction. Each Z-axis component includes one or more Z-direction driving components connected to the pipetting device or the gripper device. Each X-direction driving component, Y-direction driving component, and Z-direction driving component can move independently. By combining multiple sets of three-coordinate form modules for parallel processing of operations such as sample transplanting, pipetting, extraction, centrifugation, and lid opening and closing, using a common base, multiple sets of Z-axes can be set for parallel time-sharing operations. The overall structure is compact, and high-throughput sample processing can be achieved. At the same time, the Z-axis component used to connect the pipetting device or the gripper device is detachably connected to the power end of the Y-direction driving component. When it needs to be applied to a scenario with high flexibility, the Z-axis component can be separately disassembled and installed at the end of a six-degree-of-freedom robot, thereby improving the accuracy and solving the problem of meeting the requirements of different application scenarios and taking into account high throughput, small volume, and high flexibility.

[0009] In some embodiments, the X-axis component includes an X-direction rack installed on the handling rack and arranged parallel to the X-direction guide rail. The X-direction driving component includes an X-direction slider slidably connected to the X-direction guide rail, an X-direction gear meshing with the X-direction rack, an X-direction power device for driving the X-direction gear to rotate, and an X-direction moving plate fixedly connected to the X-direction slider. The X-direction power device is installed on the X-direction moving plate and is power-connected to the X-direction gear through the X-direction moving plate.

[0010] Thus, by driving the X-direction gear to rotate on the X-direction rack through the X-direction power device, since the X-direction rack is fixed on the handling rack, the meshing X-direction gear moves in the X direction while rotating, thereby driving the X-direction moving plate and the X-direction power device connected to the X-direction gear to move in the X direction together. At the same time, the X-direction slider moves on the X-direction guide rail to play a guiding role.

[0011] In some embodiments, an extension plate is connected to the X-direction moving plate, the Y-direction guide rail is installed on the extension plate, and each Y-axis assembly further includes a Y-direction rack installed on the extension plate and arranged parallel to the Y-direction guide rail; the Y-direction driving assembly includes a Y-direction slider slidably connected to the Y-direction guide rail, a Y-direction gear meshing with the Y-direction rack, a Y-direction power device for driving the Y-direction gear to rotate, and a Y-direction moving plate fixedly connected to the Y-direction slider. The Y-direction power device is installed on the Y-direction moving plate and is power-connected to the Y-direction gear through the Y-direction moving plate.

[0012] Thus, the extension plate follows the X-direction moving plate to displace in the X direction, and multiple Y-axis assemblies can independently move in the X direction through the extension plate. At the same time, the Y-direction driving assembly in each Y-axis assembly also realizes independently generating a displacement in the Y direction in the form of setting a power device, a gear, and a rack, so as to realize the independent movement of the Y-direction driving assemblies of different Y-axis assemblies. Then, the corresponding Z-axis assembly is driven to follow the movement through the Y-direction moving plate to perform parallel operations.

[0013] In some embodiments, a vertical plate is connected to the Y-direction moving plate, and the Z-direction guide rail is installed on the vertical plate; the Z-direction driving assembly includes a Z-direction slider slidably connected to the Z-direction guide rail, a Z-direction lead screw installed on the vertical plate and arranged parallel to the Z-direction guide rail, a lead screw nut fixedly connected to the Z-direction slider and in threaded cooperation with the Z-direction lead screw, and a Z-direction power device for driving the Z-direction lead screw to rotate. The Z-direction power device is installed on the vertical plate; the liquid transfer device and the gripper device are connected to the lead screw nut.

[0014] Thus, the vertical plate follows the Y-direction moving plate to displace in the Y direction, and multiple Z-axis assemblies can independently move in the Y direction through the vertical plate. At the same time, the Z-direction driving assembly in each Z-axis assembly also realizes independently generating a lifting movement in the Z direction in the form of a lead screw and a nut, so as to realize the independent movement of the Z-direction driving assemblies of different Z-axis assemblies.

[0015] In some embodiments, the X-axis assembly includes four X-direction driving assemblies, namely, the X1-direction driving assembly, the X2-direction driving assembly, the X3-direction driving assembly, and the X4-direction driving assembly; Correspondingly, it includes four Y-axis assemblies, namely, the Y1-axis assembly, the Y2-axis assembly, the Y3-axis assembly, and the Y4-axis assembly. The X1-direction driving assembly drives the Y1-axis assembly, the X2-direction driving assembly drives the Y2-axis assembly, the X3-direction driving assembly drives the Y3-axis assembly, and the X4-direction driving assembly drives the Y4-axis assembly; the Y1-axis assembly includes one Y-direction driving assembly, namely, the Y1-direction driving assembly; the Y2-axis assembly includes two Y-direction driving assemblies, namely, the Y2-1-direction driving assembly and the Y2-2-direction driving assembly; the Y3-axis assembly includes two Y-direction driving assemblies, namely, the Y3-1-direction driving assembly and the Y3-2-direction driving assembly; the Y4-axis assembly includes one Y-direction driving assembly, namely, the Y4-direction driving assembly; Correspondingly, it includes six Z-axis components, namely, a Z1-axis component driven by a Y1-direction driving component, a Z2-1-axis component driven by a Y2-1-direction driving component, a Z2-2-axis component driven by a Y2-2-direction driving component, a Z3-1-axis component driven by a Y3-1-direction driving component, a Z3-2-axis component driven by a Y3-2-direction driving component, and a Z4-axis component driven by a Y4-direction driving component.

[0016] In some embodiments, the Z1-axis component includes four Z-direction driving components, the Z2-1-axis component includes three Z-direction driving components, the Z2-2-axis component includes one Z-direction driving component, the Z3-1-axis component includes four Z-direction driving components, the Z3-2-axis component includes one Z-direction driving component, and the Z4-axis component includes four Z-direction driving components.

[0017] In some embodiments, the four Z-direction driving components of the Z4-axis component are arranged symmetrically in the front, back, left, and right directions. Thus, four independent Z-direction driving components are used for a cross-shaped distribution to form a compact structure.

[0018] In some embodiments, the X-direction power device, Y-direction power device, and Z-direction power device adopt reduction motors.

[0019] In some embodiments, the pipetting device includes a pipette or a liquid addition needle, and the gripper device includes a turnover rack gripper or an open lid rotary gripper. Thus, operations such as parallel processing of sample transplantation, pipetting, extraction, centrifugation, and lid opening and closing are realized through the pipette, liquid addition needle, turnover rack gripper, or open lid rotary gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional schematic diagram of a pipetting and gripper composite module system according to an embodiment of the present invention; Figure 2 is Figure 1 a three-dimensional schematic diagram of another perspective of the shown pipetting and gripper composite module system; Figure 3 is Figure 1 the front view of Figure 4 is Figure 2 an enlarged view of part A in Figure 5 a three-dimensional schematic diagram of the X-axis component; Figure 6 a three-dimensional schematic diagram of the Y-axis component; Figure 7 a three-dimensional schematic diagram of the Z-direction driving component; Figure 8 a three-dimensional schematic diagram of the Z4-axis component.

[0021] In the figure: 1. Handling frame; 2. X-direction guide rail; 21. X-direction rack; 3. X-direction drive assembly; 31. X-direction slider; 32. X-direction gear; 33. X-direction moving plate; 34. Extension plate; 35. X1-direction drive assembly; 36. X2-direction drive assembly; 37. X3-direction drive assembly; 38. X4-direction drive assembly; 4. Y-direction guide rail; 41. Y-direction rack; 5. Y-direction drive assembly; 51. Y-direction gear; 52. Y-direction moving plate; 53. Vertical plate; 6. Z-direction guide rail; 7. Z-direction drive assembly; 71. Z-direction lead screw; 72. Lead screw nut; 73. Z1-axis assembly; 74. Z2-1 axis assembly; 75. Z2-2 axis assembly; 76. Z3-1 axis assembly; 77. Z3-2 axis assembly; 78. Z4-axis assembly; 8. Pipette; 9. Liquid addition needle; 10. Turnover rack jaw; 11. Open cover rotary jaw. Detailed implementation mode

[0022] The present invention will be further described in detail below with reference to the accompanying drawings.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. The terms "include", "comprise", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0024] Figures 1 to 3Schematically shows a pipetting and gripper composite module system according to an embodiment of the present invention. The composite module system includes a handling rack 1, an X-axis assembly, a plurality of Y-axis assemblies, and a plurality of Z-axis assemblies. The X-axis assembly includes an X-direction guide rail 2 mounted on the handling rack 1 and a plurality of X-direction driving assemblies 3 movable along the X-direction guide rail 2. The number of Y-axis assemblies matches and corresponds one-to-one with the X-direction driving assemblies 3. Each X-direction driving assembly 3 can drive the corresponding Y-axis assembly to move along the X-axis direction. Each Y-axis assembly includes a Y-direction guide rail 4 and one or more Y-direction driving assemblies 5 movable along the Y-direction guide rail 4. The number of Z-axis assemblies matches and corresponds one-to-one with the Y-direction driving assemblies 5 and is detachably connected to the power end of the Y-direction driving assemblies 5 respectively. Each Y-direction driving assembly 5 can drive the corresponding Z-axis assembly to move along the Y-axis direction. Each Z-axis assembly includes one or more Z-direction guide rails 6 and one or more Z-direction driving assemblies 7 corresponding one-to-one with the Z-direction guide rails 6. The power end of the Z-direction driving assembly 7 is connected with a pipetting device or a gripper device to enable the pipetting device or the gripper device to move along the Z-direction guide rail 6.

[0025] In the pipetting and gripper composite module system in the above embodiment, there are a plurality of X-direction driving assemblies 3. The plurality of X-direction driving assemblies 3 can respectively drive the corresponding Y-axis assemblies to move along the X-axis direction. Each Y-direction driving assembly 5 can drive the corresponding Z-axis assembly to move along the Y-axis direction. Each Z-axis assembly includes one or more Z-direction driving assemblies 7 connecting the pipetting device or the gripper device. Each X-direction driving assembly 3, Y-direction driving assembly 5, and Z-direction driving assembly 7 can move independently. The pipetting device can include a pipetting gun 8 or a liquid adding needle 9. The gripper device can include a turnover rack gripper 10 or an open cover rotary gripper 11. By combining multiple sets of three-coordinate form modules for parallel processing of sample transplanting, pipetting, extraction, centrifugation, and cover opening and closing operations, through the use of a common base, multiple sets of Z-axes can be set for parallel time-sharing operations. The overall structure is compact, and high-throughput sample processing can be achieved. Through the parallel and progressive processing process of multiple sets of three-coordinate modules, high-throughput processing efficiency can be realized. At the same time, the Z-axis assembly for connecting the pipetting device or the gripper device is detachably connected to the power end of the Y-direction driving assembly 5. When it is necessary to apply it to a scenario with high flexibility, the Z-axis assembly can be separately disassembled and installed at the end of a six-degree-of-freedom robot, thereby improving the accuracy and solving the problem of meeting the requirements of different application scenarios, such as being applied in fields such as semiconductors, biological manufacturing, and intelligent detection, so as to balance the problems of high throughput, small volume, and high flexibility.

[0026] Based on the above structure, in a specific embodiment, please combine Figures 1 to 5As shown in the figure, the X-axis component includes an X-direction rack 21 installed on the handling rack 1 and arranged parallel to the X-direction guide rail 2. The X-direction drive component 3 includes an X-direction slider 31 slidably connected to the X-direction guide rail 2, an X-direction gear 32 meshing with the X-direction rack 21, an X-direction power device for driving the X-direction gear 32 to rotate, and an X-direction moving plate 33 fixedly connected to the X-direction slider 31. The X-direction power device is a reduction motor installed on the X-direction moving plate 33 and is power-connected to the X-direction gear 32 through the X-direction moving plate 33. The present invention does not limit the specific driving form of the drive component, and the gear-rack drive is only one of the implementation manners. Thus, by driving the X-direction gear 32 to rotate on the X-direction rack 21 through the X-direction power device, since the X-direction rack 21 is fixed on the handling rack 1, the X-direction gear 32 engaged therewith moves in the X direction while rotating, thereby driving the X-direction moving plate 33 and the X-direction power device connected to the X-direction gear 32 to move in the X direction together. At the same time, the X-direction slider 31 moves on the X-direction guide rail 2 to play a guiding role; the X-axis shares the X-direction guide rail 2 and the X-direction rack 21, and each X-direction moving plate 33 realizes independent movement through the reduction motor and the gear. To improve the guiding performance of the overall system, an X-direction guide rail 2 is installed on each side of the handling rack 1 (as shown in Figure 1 ).

[0027] In another specific embodiment, an extension plate 34 is connected to the X-direction moving plate 33 (as shown in Figure 2 ). Please refer to Figure 1 and Figure 5 . The Y-direction guide rail 4 is installed on the extension plate 34. Each Y-axis component further includes a Y-direction rack 41 installed on the extension plate 34 and arranged parallel to the Y-direction guide rail 4; the Y-direction drive component 5 includes a Y-direction slider (blocked and not shown) slidably connected to the Y-direction guide rail 4, a Y-direction gear 51 meshing with the Y-direction rack 41, a Y-direction power device for driving the Y-direction gear 51 to rotate, and a Y-direction moving plate 52 fixedly connected to the Y-direction slider. The Y-direction power device is a reduction motor installed on the Y-direction moving plate 52 and is power-connected to the Y-direction gear 51 through the Y-direction moving plate 52. As shown in Figure 6 , to improve the guiding performance, two parallel Y-direction guide rails 4 are installed on the extension plate 34, and the Y-direction rack 41 is arranged between the two parallel Y-direction guide rails 4. In this way, the extension plate 34 moves in the X direction following the X-direction moving plate 33, and multiple Y-axis components can independently move in the X direction through the extension plate 34. At the same time, the Y-direction drive component 5 in each Y-axis component also realizes independent displacement in the Y direction by setting the power and the form of the gear and the rack, so as to realize the independent movement of the Y-direction drive components 5 of different Y-axis components, and then drive the corresponding Z-axis components to move following through the Y-direction moving plate 52 for parallel operation.

[0028] In another specific embodiment, as shown in Figure 7, a vertical plate 53 is connected to the Y-direction moving plate 52, and the Z-direction guide rail 6 is installed on the vertical plate 53; the Z-direction driving assembly 7 includes a Z-direction slider (blocked in the figure) slidably connected to the Z-direction guide rail 6, a Z-direction lead screw 71 installed on the vertical plate 53 and arranged parallel to the Z-direction guide rail 6, a lead screw nut 72 fixedly connected to the Z-direction slider and threadedly engaged with the Z-direction lead screw 71, and a Z-direction power device for driving the Z-direction lead screw 71 to rotate, and the Z-direction power device is installed on the vertical plate 53; the liquid transfer device and the gripper device are connected to the lead screw nut 72. Thus, the vertical plate 53 follows the Y-direction moving plate 52 to displace in the Y direction, and multiple Z-axis assemblies can independently move in the Y direction through the vertical plate 53. At the same time, the Z-direction driving assembly 7 in each Z-axis assembly realizes an independent lifting movement in the Z direction through the form of a lead screw and a nut, so as to realize the independent movement of the Z-direction driving assemblies 7 of different Z-axis assemblies.

[0029] In an embodiment of an actual application structure, the X-axis assembly includes four X-direction driving assemblies 3, namely an X1-direction driving assembly 35, an X2-direction driving assembly 36, an X3-direction driving assembly 37, and an X4-direction driving assembly 38; correspondingly, there are four Y-axis assemblies, namely a Y1-axis assembly, a Y2-axis assembly, a Y3-axis assembly, and a Y4-axis assembly. The X1-direction driving assembly 35 drives the Y1-axis assembly, the X2-direction driving assembly 36 drives the Y2-axis assembly, the X3-direction driving assembly 37 drives the Y3-axis assembly, and the X4-direction driving assembly 38 drives the Y4-axis assembly; the Y1-axis assembly includes one Y-direction driving assembly 5, which is a Y1-direction driving assembly; the Y2-axis assembly includes two Y-direction driving assemblies 5, namely a Y2-1-direction driving assembly and a Y2-2-direction driving assembly; the Y3-axis assembly includes two Y-direction driving assemblies 5, namely a Y3-1-direction driving assembly and a Y3-2-direction driving assembly; the Y4-axis assembly includes one Y-direction driving assembly 5, which is a Y4-direction driving assembly; correspondingly, there are six Z-axis assemblies, namely a Z1-axis assembly 73 driven by the Y1-direction driving assembly, a Z2-1-axis assembly 74 driven by the Y2-1-direction driving assembly, a Z2-2-axis assembly 75 driven by the Y2-2-direction driving assembly, a Z3-1-axis assembly 76 driven by the Y3-1-direction driving assembly, a Z3-2-axis assembly 77 driven by the Y3-2-direction driving assembly, and a Z4-axis assembly 78 driven by the Y4-direction driving assembly. Further, the Z1-axis assembly includes four Z-direction driving assemblies 7, which are arranged in a plane. The Z axes parallel in the plane realize the switching of different working tools through their respective independent up and down movements, improving the processing efficiency; the Z2-1-axis assembly 74 includes three Z-direction driving assemblies 7, the Z2-2-axis assembly 75 includes one Z-direction driving assembly 7, the Z3-1-axis assembly 76 includes four Z-direction driving assemblies 7, the Z3-2-axis assembly 77 includes one Z-direction driving assembly 7, and the Z4-axis assembly 78 includes four Z-direction driving assemblies 7 (respectively Figure 8 7a, 7b, 7c, 7d in). As a preferred implementation manner, such asFigure 8 As shown, the four Z-axis drive components 7 of the Z4-axis component 78 are arranged symmetrically in the front, back, left, and right directions. Thus, four independent Z-axis drive components 7 are used for a cross-shaped distribution. Through this matrix Z-axis structure, a compact structure is formed.

[0030] The present invention proposes a new pipetting and gripping handling system. Through the combination of a flexible three-coordinate module form and a robotic form, high-throughput, small-volume, and high-flexibility operations are achieved. The device can arbitrarily select the three-coordinate module form or the robotic form as needed, or integrate the two with each other to meet the requirements of different application scenarios. In the fields of semiconductors, biomanufacturing, intelligent detection, etc., the present invention can significantly improve production efficiency, reduce the volume of the device, and enhance the flexibility of operation.

[0031] In summary, the present invention solves the problem that it is difficult to balance high-throughput, small-volume, and high-flexibility in the prior art through the combination of an innovative parallel module form and a robotic form, and has important application value and market prospects.

[0032] The above are only some embodiments of the present invention. For those of ordinary skill in the art, without departing from the inventive concept of the present invention, several modifications and improvements can still be made. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A pipetting and gripper composite module system, characterized in that: include: Transport racks; An X-axis assembly, the X-axis assembly comprising an X-direction guide rail mounted on the transport frame, and a plurality of X-direction drive assemblies movable along the X-direction guide rail; A plurality of Y-axis components, the number of which matches and corresponds to the X-axis drive components, each of which can drive the corresponding Y-axis component to move along the X-axis direction, and each of which includes a Y-guide rail and one or more Y-drive components that can move along the Y-guide rail; Multiple Z-axis assemblies, the number of which matches and corresponds one to one with the Y-axis drive assemblies, are respectively detachably connected to the power ends of the Y-axis drive assemblies, each of the Y-axis drive assemblies can drive the corresponding Z-axis assembly to move along the Y-axis direction, and each of the Z-axis assemblies includes one or more Z-guide rails, and one or more Z-axis drive assemblies corresponding one to one with the Z-guide rails; the power end of the Z-drive assembly is connected to a pipetting device or a clamping device to enable the pipetting device or the clamping device to move along the Z-guide rail.

2. The pipetting and gripper composite module system according to claim 1, characterized in that: The X-axis assembly includes an X-axis rack installed on the transport frame and arranged parallel to the X-axis guide rail, the X-axis drive assembly includes an X-axis slider slidably connected to the X-axis guide rail, an X-axis gear meshing with the X-axis rack, an X-axis power device driving the X-axis gear to rotate, and an X-axis moving plate fixedly connected to the X-axis slider, the X-axis power device is installed on the X-axis moving plate and is power-connected to the X-axis gear through the X-axis moving plate.

3. The pipetting and gripper composite module system according to claim 2, characterized in that: An extension plate is connected to the X-axis moving plate, the Y-guide rail is installed on the extension plate, and each of the Y-axis components also includes a Y-axis rack installed on the extension plate and arranged parallel to the Y-guide rail; the Y-axis driving component includes a Y-axis slider slidably connected to the Y-guide rail, a Y-axis gear meshing with the Y-axis rack, a Y-axis power device driving the Y-axis gear to rotate, and a Y-axis moving plate fixedly connected to the Y-axis slider, the Y-axis power device is installed on the Y-axis moving plate and is dynamically connected to the Y-axis gear through the Y-axis moving plate.

4. The pipetting and gripper composite module system according to claim 3, characterized in that: A vertical plate is connected to the Y-axis movable plate, and the Z-axis guide rail is installed on the vertical plate; the Z-axis driving assembly includes a Z-axis slider slidably connected to the Z-axis guide rail, a Z-axis lead screw installed on the vertical plate and arranged parallel to the Z-axis guide rail, a lead screw nut fixedly connected to the Z-axis slider and threadedly matched with the Z-axis lead screw, and a Z-axis power device for driving the Z-axis lead screw to rotate, and the Z-axis power device is installed on the vertical plate; the pipetting device and the clamping jaw device are connected to the lead screw nut.

5. The pipetting and gripper composite module system according to claim 4, characterized in that: The X-axis assembly includes four X-axis drive assemblies, namely, an X1-axis drive assembly, an X2-axis drive assembly, an X3-axis drive assembly, and an X4-axis drive assembly; Correspondingly, there are four Y-axis components, namely, Y1-axis component, Y2-axis component, Y3-axis component, and Y4-axis component. The X1-axis driving component drives the Y1-axis component, the X2-axis driving component drives the Y2-axis component, the X3-axis driving component drives the Y3-axis component, and the X4-axis driving component drives the Y4-axis component. The Y1-axis component includes a Y-axis driving component, which is the Y1-axis driving component; the Y2-axis component includes two Y-axis driving components, which are the Y2-1-axis driving component and the Y2-2-axis driving component; the Y3-axis component includes two Y-axis driving components, which are the Y3-1-axis driving component and the Y3-2-axis driving component; the Y4-axis component includes a Y-axis driving component, which is the Y4-axis driving component; Correspondingly, there are six Z-axis assemblies, namely, the Z1-axis assembly driven by the Y1-axis driving assembly, the Z2-1-axis assembly driven by the Y2-1-axis driving assembly, the Z2-2-axis assembly driven by the Y2-2-axis driving assembly, the Z3-1-axis assembly driven by the Y3-1-axis driving assembly, the Z3-2-axis assembly driven by the Y3-2-axis driving assembly, and the Z4-axis assembly driven by the Y4-axis driving assembly.

6. The pipetting and gripper composite module system according to claim 5, characterized in that: The Z1-axis assembly includes four Z-axis drive assemblies, the Z2-1-axis assembly includes three Z-axis drive assemblies, the Z2-2-axis assembly includes one Z-axis drive assembly, the Z3-1-axis assembly includes four Z-axis drive assemblies, the Z3-2-axis assembly includes one Z-axis drive assembly, and the Z4-axis assembly includes four Z-axis drive assemblies.

7. The pipetting and gripper composite module system according to claim 6, characterized in that: The four Z-direction drive assemblies of the Z4 axis assembly are arranged in a symmetrical manner front to back and left to right.

8. The pipetting and gripper composite module system according to claim 4, characterized in that: The X-direction power device, the Y-direction power device and the Z-direction power device adopt reduction motors.

9. The pipetting and gripper composite module system according to any one of claims 1 to 8, characterized in that: The liquid transfer device comprises a liquid transfer gun or a liquid adding needle, and the clamping device comprises a turnover frame clamping jaw or a cover opening rotating clamping jaw.

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