Automatic switching system of handheld pipettor

Abstract

The invention provides an automatic switching system for handheld pipettors. The automatic switching system comprises the handheld pipettors of various different specifications, the pipettor frame body is provided with a plurality of fixing assemblies which are respectively used for fixing the handheld pipettors; and the pipettor transfer mechanism is movably arranged and is used for taking and transferring the handheld pipettor between the pipettor frame body and the automatic pipettor equipment using the handheld pipettor. The handheld pipettors of different specifications are fixed to the pipettor frame body, then the pipettor transfer mechanism is controlled to move, movement between different positions of the pipettor automation equipment using the handheld pipettors and the pipettor frame body is achieved, the corresponding handheld pipettors are taken or placed, transfer operation is conducted, and the operation efficiency is improved. Therefore, automatic switching of the handheld pipettor is achieved, and the system is small in overall size, simple in structure, low in cost and high in efficiency.

Description

Technical Field

[0001] The present application relates to the field of automatic pipetting technology, and in particular to an automatic switching system for handheld pipettes. Background Art

[0002] Pipetting is widely used in factories, hospitals, and biological laboratories, such as biochemistry and cell biology. The key is to accurately and quickly collect and transfer liquids. A pipette, also known as a pipette gun, is a device used to quantitatively transfer liquids and is one of the most widely used devices for pipetting. Used in conjunction with pipette tips, it can transfer, mix, and add various liquid reagents or samples between containers. Manual pipettes are common manual products used in biopharmaceutical dispensing experiments.

[0003] Most existing liquid preparation experiments are performed manually, requiring the operator to repeatedly press the buttons on a manual pipette to aspirate and dispense liquids, and frequently switching between different specifications of pipettes for each operation. Furthermore, pipetting is a precise and laborious task that requires high concentration and repeated operations, which can easily cause fatigue.

[0004] In order to solve the problem of high labor intensity of workers, there are also automatic switching solutions for pipettes in the prior art. The existing automatic switching solutions for pipettes are switched by a robot, which results in a large size, low efficiency and high price. Summary of the Invention

[0005] In view of this, the present application provides an automatic switching system for handheld pipettes, which realizes the automatic switching of handheld pipettes of different specifications between the pipette automation equipment using the pipette and the pipette rack. It has small size, high efficiency and low cost.

[0006] This manual provides the following technical solutions:

[0007] In the first aspect, the present application provides an automatic switching system for handheld pipettes, comprising: a plurality of handheld pipettes of different specifications; a pipette rack, provided with a plurality of fixing components, respectively used to fix the handheld pipettes; a pipette transport mechanism, movably arranged, used to take and transport the handheld pipette between the pipette rack and the pipette automation equipment using the handheld pipette.

[0008] In combination with the first aspect, in a possible implementation, the handheld pipette includes a mounting block arranged near the handheld part and extending to both sides, and a clamping block arranged below the mounting block, and locking sleeves are respectively provided on the top surfaces of both sides of the mounting block. The pipette frame includes a horizontally arranged panel, and a plurality of notches are provided on the panel to accommodate the handheld part of the handheld pipette. The fixing assembly includes locking buttons on the panel on both sides of the notch, which are used to cooperate with the locking sleeves on the mounting block to fix the handheld pipette.

[0009] In combination with the first aspect, in a possible implementation, the fixing assembly further includes a pressing block disposed above the locking button and movable up and down to unlock or lock the locking button and the locking sleeve.

[0010] In combination with the first aspect, in a possible implementation, the pipette holder further includes a support plate fixed to the panel at one end, the cross-section of the pipette holder is an inverted L-shape, and the fixing assembly further includes an electric push rod provided on the outer surface of the support plate and connected to the clamping block to drive the clamping block to move up and down.

[0011] With reference to the first aspect, in a possible implementation, one of the locking sleeves on both sides of the mounting block is a flexible locking sleeve.

[0012] In combination with the first aspect, in a possible implementation, the two side walls of the clamping block are recessed inwardly to provide countersunk holes, the pipette transport mechanism includes an electric clamp, and the two inner side walls of the electric clamp are respectively provided with pins for cooperating with the countersunk holes to clamp the handheld pipette, and the pipette transport mechanism also includes a drive control unit for controlling the electric clamp to move to a position matching the manual pipette.

[0013] In combination with the first aspect, in a possible implementation, the pipette rack is arranged in a ring around the pipette transport mechanism, and the drive control unit includes a lifting module for controlling the vertical lifting and lowering movement of the electric gripper, a rotation module for controlling the in-plane rotation of the electric gripper, and a horizontal movement module for driving the electric gripper to move toward the handheld pipette.

[0014] In combination with the first aspect, in a possible implementation, the pipette rack is extended along any straight direction, and the drive control unit includes a lifting and moving module for controlling the electric gripper to move up and down in the vertical direction, a walking and moving module for controlling the electric gripper to move along the extension direction of the pipette rack to any corresponding position of the handheld pipette, and a horizontal moving module for driving the electric gripper to move toward the handheld pipette.

[0015] In combination with the first aspect, in a possible implementation, there are two pipette transport mechanisms, one of which is used to remove the handheld pipette from the pipette automation device and fix it on the pipette rack, and the other is used to remove the designated handheld pipette from the pipette rack and mount it on the pipette automation device.

[0016] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above technical solutions adopted in this specification include at least:

[0017] The present application fixes handheld pipettes of various specifications on a pipette rack, and then controls the movement of a pipette transport mechanism to achieve movement between a pipette automation device using a handheld pipette and different positions of the pipette rack, and to pick up or place the corresponding handheld pipette and perform transport operations, thereby realizing automatic switching of handheld pipettes. The overall system has a small size, a simple structure, low cost and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 This is a schematic diagram of the overall structure of the handheld pipette automatic switching system of Example 1 of the present application.

[0020] Figure 2 It is a structural schematic diagram of the handheld pipette of Example 1 of the present application.

[0021] Figure 3 Schematic diagram of the structure of the pipette holder of Example 1 of the present application.

[0022] Figure 4 It is a structural schematic diagram of the pipette automation equipment of Example 1 of the present application.

[0023] Figure 5 It is a structural schematic diagram of the pipette transfer device of Example 1 of the present application.

[0024] Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 They are schematic diagrams of different states of the pipette transport device of Example 1 of the present application transporting a handheld pipette between the pipette automation equipment and the pipette rack.

[0025] Figure 11 This is a schematic diagram of the overall structure of the handheld pipette automatic switching system of Example 2 of the present application. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0027] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the features in the following embodiments and embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0028] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0029] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0030] The following describes the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0031] <Example 1>

[0032] like Figure 1As shown, this embodiment provides a handheld pipette automatic switching system 100, comprising: a plurality of handheld pipettes 10, a pipette rack 20, and a pipette transport mechanism 30. The pipette transport mechanism 30 is used to realize the replacement and transfer of pipettes between the pipette rack 20 and the pipette automation device 200 using the handheld pipettes 10. Specifically,

[0033] Multiple handheld pipettes 10 are fixed on the pipette rack 20, and the multiple handheld pipettes 10 can be handheld pipettes of various different specifications. They have the same overall structure and only different specifications. For example, they can be 2.5μl pipettes, 10μl pipettes, 100μl pipettes, 1000μl pipettes, etc., and the number is not limited.

[0034] like Figure 2 As shown, each handheld pipette 10 includes a handheld portion 11 , a mounting block 12 , a clamping block 13 and a gear 14 .

[0035] The handheld portion 11 facilitates installation of the handheld pipette 10 on the pipette automation device 200 .

[0036] The mounting block 12 is arranged near the handheld portion 11, that is, close to the handheld portion 11, and extends to both sides of the handheld portion 11. The mounting block 12 is located on the top surface of both sides of the handheld portion 11 and is respectively provided with locking sleeves 15 for fixing the handheld pipette 10 on the pipette holder 20.

[0037] The clamping block 13 is provided below the mounting block 12 and is used for the pipette transport mechanism 30 to clamp the handheld pipette 10 , thereby facilitating replacement and transfer operations.

[0038] The gear 14 is used to achieve mounting or separation between the handheld pipette itself and the pipette automation device 200 using the handheld pipette.

[0039] like Figure 3 As shown, the pipette frame 20 includes a horizontally arranged panel 21 and a support plate 22 fixed to the panel 21 at one end, so that the cross-section of the pipette frame 20 as a whole is inverted L-shaped. Preferably, the panel 21 and the support plate 22 can be an integrally formed structure.

[0040] A plurality of fixing components 23 are provided on the pipette frame 20 , each of which is used to fix the handheld pipette 10 .

[0041] Specifically, the panel 21 is provided with a plurality of notches 211 for accommodating the handheld portion 11 of the handheld pipette 10 , so that the mounting block 12 of the handheld pipette 10 can fit with the bottom surface of the panel 21 , and the handheld pipette 10 can be further fixed by the fixing component 23 .

[0042] In this embodiment, the structures and functions of the multiple fixing components 23 are completely identical, and only one of them is described in detail here.

[0043] like Figure 3 As shown, the fixing assembly 23 includes two locking buttons 231 provided on both sides of the notch 211 on the panel 23. The two locking buttons 231 are connected by cooperating with the two locking sleeves 15 on the mounting block 12 of the corresponding handheld pipette 10, thereby fixing the handheld pipette 10 on the panel 21 of the pipette holder 20.

[0044] In a specific embodiment, in order to achieve efficient cooperation between the locking button 231 and the locking sleeve 15, one of the locking sleeves 15 can be set as a flexible locking sleeve 16. In this way, the fault tolerance of the cooperation between the locking button 231 and the locking sleeve 15 can be improved, thereby improving efficiency.

[0045] In another embodiment, the fixing assembly 23 further includes a pressing block 232 disposed above the two locking buttons 231 and movable up and down. The pressing block 232 moves toward the locking buttons 231, pressing the locking buttons 231, thereby unlocking the locking buttons 231 from the locking sleeve 15, allowing the handheld pipette 10 to be detached and removed from the panel 21. Accordingly, when the pressing block 232 moves away from the locking buttons 231, the locking button 231 and the locking sleeve 15 are locked, allowing the handheld pipette 10 to be securely fixed to the panel 21.

[0046] In another embodiment, in order to realize the automatic unlocking and locking function between the locking button 231 and the locking sleeve 15, the fixing assembly 23 further includes an electric push rod 233 for driving the pressing block 232 to move up and down. Figure 3 As shown, the electric push rod 233 is arranged on the outer surface of the support plate 22, and its telescopic movable end is connected to the clamping block 232, thereby driving the clamping block 232 to move up and down, realizing the automatic unlocking and locking function.

[0047] In this embodiment, in order to facilitate the rapid transfer of the handheld pipette 10 between the pipette rack 20 and the pipette automation device 200, the handheld pipette 10 is mounted on the pipette automation device 200 using the same fixing structure. Figure 4 As shown, the pipette automation device 200 is provided with the same fixing components 23 as those on the pipette frame 20 , namely, a locking button 231 , a pressing block 232 and an electric push rod 233 .

[0048] Another example Figure 1 As shown, the pipette transport mechanism 30 is movably arranged to take and transport the handheld pipette 10 between the pipette rack 20 and the pipette automation device 200 .

[0049] First, the pipette transport mechanism 30 is used to take the handheld pipette 10. Figure 2 As shown, the two side walls of the clamping block 13 of the handheld pipette 10 are inwardly recessed with countersunk holes 131; Figure 5 As shown, the pipette transport mechanism 30 includes an electric clamp 31, and the two inner side walls of the electric clamp 31 are respectively provided with pins 311 for cooperating with the countersunk holes 131. The pin-hole cooperation realizes the clamping of the handheld pipette 10, thereby realizing the picking up of the handheld pipette 10.

[0050] In addition, the pipette transport mechanism 30 further includes a drive control unit for controlling the electric gripper 31 to move to a position matching any manual pipette 10 .

[0051] As can be seen from the above structure, in order for the pipette transport mechanism 30 to pick up the handheld pipette 10 on the pipette rack 20, the pipette transport mechanism 30 must adapt to the structural arrangement of the pipette rack 20. In other words, the structure of the pipette rack 20, or the arrangement of the handheld pipette 10 on the pipette rack, determines the movement path of the electric gripper 31, and thus determines the specific structure of the drive control unit.

[0052] Specifically, in this embodiment, Figure 1 and Figure 3 As shown, the pipette rack 20 is arranged in a ring around the circumference of the pipette transport mechanism 30. In other words, the pipette rack 20 is arranged in a similar ring-like manner, so that the pipette transport mechanism 30 is arranged in the middle area of ​​the ring, thereby realizing the removal of the handheld pipette 10 from the panel 21. The specific structure of the drive control unit of the pipette transport mechanism 30 is as follows:

[0053] like Figure 5 As shown, the drive control unit includes a lifting module 32 for controlling the vertical lifting and lowering movement of the electric clamp 31, a rotation module 33 for controlling the in-plane rotation of the electric clamp 31, and a horizontal movement module 34 for driving the electric clamp 31 to move toward the handheld pipette 10. Specifically,

[0054] The lifting and moving module 32 includes a motor mounting plate 321 and a linear stepping motor 322 .

[0055] The rotation module 33 includes a DD motor 331 and a motor mounting plate 332 .

[0056] The horizontal movement module 34 includes a translation stage mounting plate 341 and an electric translation stage 342 .

[0057] The motor mounting plate 321 is fixedly arranged on a preset position (such as the ground, etc.). The motor mounting plate 321 is in an X shape, and the linear stepping motor 322 is accommodated and installed in the middle accommodation area of ​​the X shape of the motor mounting plate 321.

[0058] The motor mounting plate 332 is fixedly mounted on the output end of the linear stepping motor 322 . The motor mounting plate 332 is also in an X-shape. The DD motor 331 is disposed in the middle area of ​​the X-shape of the motor mounting plate 332 .

[0059] In addition, guide columns 3211 are respectively provided on both sides of the top surface of the motor mounting plate 321, and through holes 3321 are respectively provided on the I-shaped flange of the motor mounting plate 332, and linear bearings 3322 are provided in the through holes. The bearings 3322 cooperate with the guide columns 3211 to realize the guidance of the linear stepping motor 322 during the lifting process.

[0060] The translation stage mounting plate 341 is fixedly mounted on the output end of the DD motor 331 . The electric translation stage 342 is mounted on the translation stage mounting plate 341 . The electric gripper 31 is mounted on the electric translation stage 342 and can move horizontally on the electric translation stage 342 .

[0061] Based on the above structure and arrangement, it can be achieved that: the motor mounting plate 332 and the DD motor 331 thereon, the translation stage mounting plate 341, the electric translation stage 342 and the electric clamp 31 are driven by the linear stepper motor 322 to realize Z-axis lifting and lowering movement as a whole. The translation stage mounting plate 341 and the electric translation stage 342 thereon and the electric clamp 31 are driven by the DD motor 331 to realize R-axis rotational movement. The electric translation stage 342 drives the electric clamp 31 to move horizontally (i.e., X-axis movement). Combining the Z-axis lifting and lowering movement, the R-axis rotational movement and the X-axis movement, the electric clamp 31 can be used to pick up or place a handheld pipette 10 at any position on the pipette rack 20, and can also be used to pick up or mount a handheld pipette from the pipette automation equipment 200.

[0062] Based on the above structure, Figures 6 to 10As shown, the process of the pipette transport device 30 taking and transferring the handheld pipette 10 between the pipette automation device 200 and the pipette rack 20 is sequentially shown. Specifically: first, through the action of the lifting and moving module 32, the rotating module 33 and the horizontal moving module 34, the electric clamp 31 is moved toward the pipette automation equipment 200 to align with the handheld pipette 10 thereon, and the electric push rod 233 is used to control the clamping block 232 to move downward to press the locking button 231 to unlock the handheld pipette 10 from the pipette automation equipment 200, and the pin 311 of the electric clamp 31 cooperates with the countersunk holes 131 on both sides of the clamping block 13 of the handheld pipette 10 to clamp the handheld pipette 10, and further through the action of the lifting and moving module 32, the rotating module 33 and the horizontal moving module 34, the electric clamp 31 is moved toward the pipette rack 20 to align with the designated position (i.e., the notch 211) of the panel 21, and the handheld pipette 10 is placed and fixed on the panel 21. The same action is further performed to remove the designated handheld pipette 10 from the pipette rack 20 , and then transport and mount it on the pipette automation device 200 .

[0063] In summary, the handheld pipette automatic switching system of this embodiment fixes handheld pipettes of various specifications on a pipette rack, and then controls the movement of the pipette transport mechanism to realize movement between the pipette automation equipment using the handheld pipette and different positions of the pipette rack, and picks up or places the corresponding handheld pipette and performs transport operations, thereby realizing automatic switching of the handheld pipette. The overall system has a small size, simple structure, low cost and high efficiency.

[0064] <Example 2>

[0065] This embodiment differs from Example 1 in that the pipette holder 20, unlike the annular arrangement of Example 1, extends in any linear direction. Consequently, the structure of the drive control unit in the pipette transport mechanism 30 is also modified accordingly. Other than that, the other relevant structures are identical to those of Example 1, and descriptions of the identical structures are omitted here, with only the differences being described in detail.

[0066] like Figure 11 As shown, the pipette rack 20 is extended along any straight line direction, that is, a plurality of handheld pipettes 10 are arranged in a straight line on the pipette rack 20 .

[0067] Here, it should be noted that Figure 11 There are two pipette transport mechanisms 30 shown in the figure as another more efficient switching method. Here, it is only for illustration and the number of pipette transport mechanisms 30 is not limited. Figure 10 The main purpose is to illustrate the structural arrangement of the pipette rack 20.

[0068] Then, compared with Example 1, the driving control unit also includes a lifting and moving module 32, a rotating module 33, and a horizontal moving module 34. It is further necessary to set a walking and moving module 35 to control the electric clamp 31 to move along the extension direction of the pipette frame 20 to the corresponding position of any handheld pipette 10. Specifically,

[0069] The walking module 35 includes a linear module 351 and a mounting plate 352 .

[0070] The linear module 351 is arranged parallel to the pipette frame 20, and the mounting plate 352 is arranged on the linear module 351. Furthermore, the motor mounting plate 321 is fixedly arranged on the mounting plate 352. The structural components on the motor mounting plate 321 are the same as those in Example 1 and will not be repeated here.

[0071] Based on the above structure and configuration, the following can be achieved: the linear module 351 drives the mounting plate 352 and the motor mounting plate 321, the linear stepper motor 322, the motor mounting plate 332 and the DD motor 331, the translation stage mounting plate 341, the electric translation stage 342, and the electric gripper 31 to achieve horizontal movement (i.e., Y-direction movement). The linear stepper motor 322 drives the motor mounting plate 332 and the DD motor 331, the translation stage mounting plate 341, the electric translation stage 342, and the electric gripper 31 to achieve Z-direction lifting and lowering movement. The DD motor 331 drives the translation stage mounting plate 341 and the electric translation stage 342, and the electric gripper 31 to achieve R-axis rotation. The electric translation stage 342 drives the electric gripper 31 to move horizontally (i.e., X-direction movement). By combining Y-axis movement, Z-axis lifting movement, R-axis rotation movement and X-axis movement, the electric gripper 31 can pick up or place a handheld pipette 10 at any position on the pipette rack 20, and can also pick up or mount a handheld pipette from the pipette automation equipment 200.

[0072] <Example 3>

[0073] The difference between this embodiment 3 and the above-mentioned embodiments 1 and 2 is that there are two pipette transport mechanisms 30, one of which is used to remove the handheld pipette 10 from the pipette automation equipment 200 and fix it on the pipette rack 20, and the other is used to remove the designated handheld pipette 10 from the pipette rack 20 and mount it on the pipette automation equipment 200. Of course, the number of pipette transport mechanisms 30 can be even greater, and can be set according to the actual application scenario. In this way, the efficiency of pipette switching can be further improved through the division of labor and cooperation of multiple pipette transport mechanisms 30. Here, the multiple pipette transport mechanisms 30 can be multiple independently set individuals, or the same structure can be integrated. For example, another electric clamp can be added to the electric translation table 342, and through independent control, the division of labor and cooperation can be achieved to pick up or place the handheld pipette. It is also possible to share the same linear module 351, and then add another electric clamp and corresponding Z-direction moving mechanism and X-direction movement. For example, it can be as follows Figure 11 The structure shown in the figure can be flexibly configured according to the actual application scenario.

[0074] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A handheld pipette automatic switching system, characterized in that: include: A variety of handheld pipettes of different specifications; The pipette frame is provided with a plurality of fixing components, each of which is used to fix the handheld pipette; The pipette transport mechanism is movably arranged and is used to take and transport the handheld pipette between the pipette rack and the pipette automation equipment using the handheld pipette.

2. The handheld pipette automatic switching system according to claim 1, characterized in that: The handheld pipette comprises a mounting block arranged near the handheld portion and extending on both sides, and a clamping block arranged below the mounting block, wherein locking sleeves are respectively provided on the top surfaces of both sides of the mounting block. The pipette frame includes a horizontally arranged panel, and the panel is provided with a plurality of notches to accommodate the handheld portion of the handheld pipette. The fixing assembly includes locking buttons provided on the panels on both sides of the notch, and is used to cooperate with the locking sleeves on the mounting block to fix the handheld pipette.

3. The handheld pipette automatic switching system according to claim 2, characterized in that: The fixing assembly further includes a pressing block which is arranged above the locking button and can be moved up and down to unlock or lock the locking button and the locking sleeve.

4. The handheld pipette automatic switching system according to claim 3, characterized in that: The pipette frame also includes a support plate with one end fixed to the panel, and the cross-section of the pipette frame is an inverted L-shape. The fixing assembly further comprises an electric push rod which is arranged on the outer side of the support plate and is connected to the pressing block to drive the pressing block to move up and down.

5. The handheld pipette automatic switching system according to claim 2, characterized in that: One of the locking sleeves on both sides of the mounting block is a flexible locking sleeve.

6. The handheld pipette automatic switching system according to claim 2, characterized in that: The two side walls of the clamping block are inwardly recessed with countersunk holes. The pipette transport mechanism includes an electric clamping jaw, and the two inner side walls of the electric clamping jaw are respectively provided with pins for matching with the countersunk holes to clamp the handheld pipette. The pipette transport mechanism further includes a drive control unit for controlling the electric clamp to move to a position matching the manual pipette.

7. The handheld pipette automatic switching system according to claim 6, characterized in that: The pipette rack is arranged in a ring around the pipette transport mechanism. The driving control unit includes a lifting module for controlling the vertical lifting movement of the electric clamp, a rotation module for controlling the in-plane rotation of the electric clamp, and a horizontal movement module for driving the electric clamp to move toward the handheld pipette.

8. The handheld pipette automatic switching system according to claim 6, characterized in that: The pipette frame is extended along any straight line direction. The drive control unit includes a lifting and moving module for controlling the electric gripper to move up and down in the vertical direction, a walking and moving module for controlling the electric gripper to move along the extension direction of the pipette rack to any corresponding position of the handheld pipette, and a horizontal moving module for driving the electric gripper to move toward the handheld pipette.

9. The handheld pipette automatic switching system according to any one of claims 1 to 8, characterized in that: There are two pipette transport mechanisms, one of which is used to remove the handheld pipette from the pipette automation device and fix it on the pipette rack, and the other is used to remove the designated handheld pipette from the pipette rack and mount it on the pipette automation device.

Images