Driving platform and pipetting platform

Abstract

The invention provides a driving platform and a pipetting platform, the driving platform comprises a base, a synchronous belt, a first idle wheel, a plurality of sliding seats and linear driving structures corresponding to the sliding seats, the base is provided with a guide rail, each linear driving structure comprises a driving motor and a driving belt wheel, the driving belt wheel is arranged on an output shaft of the driving motor, and the driving belt wheel is arranged on the guide rail. First idle wheels are rotatably installed on the sliding seats, the wheel faces of the first idle wheels are opposite to the end face of the synchronous belt, and the first idle wheels are used for making contact with the synchronous belt and providing rolling support when the synchronous belt axially moves. The friction force between the first idle pulley and the synchronous belt is rolling friction, and the first idle pulley can solve the sliding friction between the synchronous belt and an adjacent structure caused by the axial movement of the synchronous belt, so that the abrasion is effectively reduced, the service life of the synchronous belt is prolonged, the drooping phenomenon of the synchronous belt caused by gravity can be effectively resisted, and the operation noise is obviously reduced.

Description

Technical Field

[0001] This invention relates to the field of electromechanical equipment technology, and specifically to a drive platform and a pipetting platform. Background Technology

[0002] In modern life science laboratories, automated pipetting platforms are core equipment for high-throughput experiments such as drug screening, gene sequencing, and cell culture. Their core function is to rapidly and accurately dispense and transfer minute amounts of liquid using precise pipette components. Figure 1 Please refer to the structural diagram of an existing automated pipetting platform. Figure 1 The pipette A is typically mounted on a movable slide and moves along a specific trajectory to process samples at different well positions on the plate. With the continuous increase in experimental throughput and scale, the sample volume processed per cycle has increased dramatically, requiring a corresponding increase in the size of the pipetting system's worktable. To cover the expanded worktable and meet the demands for higher pipetting efficiency, a single slide and pipette A combination is no longer sufficient. Currently, a dual-slide design is being adopted, relying on a synchronous belt drive system as the key power transmission component to drive the slide for long-distance, high-speed movement.

[0003] However, in practical applications, especially in long-stroke movement scenarios covering large-size platforms, the aforementioned systems relying on synchronous belt drives reveal significant technical defects. Due to the long transmission stroke, the required length of the synchronous belt also increases significantly. During this process, the inherent manufacturing tolerances, installation errors, self-weight, and tensile deformation of the synchronous belt after long-term operation can easily cause instability in its running trajectory, resulting in axial (i.e., axial movement in the width direction of the synchronous belt). Moreover, in the double-slide structure, the output ends of both motors are engaged with the synchronous belt. During the movement of the slide, the interaction between the two motors will interfere with the synchronous belt and also cause axial movement. This uncontrolled axial movement will cause continuous sliding friction between the side of the synchronous belt and adjacent motor flanges, support plates, or other mechanical structural components. This friction problem can lead to a series of serious consequences: First, it directly causes physical wear on the edge of the synchronous belt, which not only shortens the service life of the synchronous belt itself, but also the debris (shedding) generated by its wear is an unacceptable source of pollution in the life science experimental environment with extremely high cleanliness requirements; Second, the additional friction will increase the operating load of the entire transmission system, resulting in increased motor load, increased energy consumption, and even abnormal operating noise, affecting the working environment.

[0004] To address the issue of axial movement in synchronous belts, a common approach in existing technologies is to increase the width of the drive pulley, making it wider than the synchronous belt. This wider pulley groove physically constrains the belt, limiting its axial movement. However, widening the pulley increases the size and weight of the transmission components, which not only contradicts the trend towards compactness and miniaturization in laboratory automation equipment but also directly leads to a bulky overall transmission system structure. Within the already space-constrained interior of equipment, this increased size encroaches on the layout space of other functional modules (such as sensors, cables, and pneumatic circuits), limiting the application of this technology in compact or modular experimental platforms where strict size requirements exist. Summary of the Invention

[0005] The purpose of this invention is to provide a driving platform and a pipetting platform, which can solve the problem of sliding friction between the synchronous belt and adjacent structures caused by axial movement of the synchronous belt.

[0006] The technical solution adopted by the present invention to solve its technical problem is as follows: The first aspect of the present invention provides a driving platform, comprising: A base, on which a guide rail is provided; A timing belt, the two ends of which are respectively fixed to the two ends of the guide rail; Multiple slide blocks and a linear drive structure corresponding to each slide block, the linear drive structure being used to drive the slide block to move on the guide rail, the linear drive structure including a drive motor and a drive pulley, the drive pulley being disposed on the output shaft of the drive motor, the drive motor being fixed on the slide block, and the drive pulley engaging with the synchronous belt; The first idler pulley has its wheel surface facing the end face of the timing belt, and is used to contact the timing belt and provide rolling support when the timing belt moves axially.

[0007] Optionally, there are two first idler wheels, which are located on opposite sides of the output shaft of the drive motor.

[0008] Optionally, the linear drive structure further includes two second idler pulleys disposed on both sides of the drive pulley to increase the wrap angle of the synchronous belt on the drive pulley.

[0009] Optionally, the axial length of the second idler pulley is greater than the width of the timing belt.

[0010] Optionally, the drive motor is fixed to the slide block via a flange seat, and both the first idler wheel and the second idler wheel are mounted on the flange seat.

[0011] Optionally, the slide includes a base plate and a side plate arranged perpendicularly to the base plate, the side plate being fixed to the base plate, and the side plate being used to connect an external pipetting robot; The base plate has at least one reinforcing rib protruding along the moving direction of the slide on one side facing the base. The base has a corresponding slide rail that cooperates with the reinforcing rib. The reinforcing rib is embedded in the slide rail. When the slide moves, the reinforcing rib slides along the slide rail to limit the side tilting of the pipetting robot.

[0012] A second aspect of the present invention provides a pipetting platform, including a drive platform and a plurality of pipetting robots, wherein the number of pipetting robots corresponds to the number of slides on the drive platform, the pipetting robots are fixed on the slides of the drive platform, the output shaft of the drive motor is arranged in a vertical direction, the drive platform is used to drive the pipetting robots to move in a first direction, and the pipetting robots are capable of moving in a second direction, wherein the first direction is perpendicular to the second direction.

[0013] Optionally, the pipetting platform further includes a drive platform drive module, which drives the drive platform to move along a third direction, the third direction being perpendicular to both the first direction and the second direction.

[0014] Optionally, the pipetting platform further includes a protective frame, a support frame is provided inside the protective frame, and a roller is provided at the free end of the pipetting robot on the side away from the slide. The support frame is provided with a support surface for the rollers to roll. When the drive platform drives the pipetting robot to move along the first direction, the free end of the pipetting robot rolls on the support surface of the support frame through the rollers. The support frame is used to provide support for the free end of the pipetting robot to limit the side tilting of the pipetting robot.

[0015] Optionally, the outer contour of the protective frame is a cuboid, and the protective frame also includes a frame and transparent observation panels disposed around the frame.

[0016] The drive platform of the present invention includes a base, a synchronous belt, a first idler pulley, multiple slides, and a linear drive structure corresponding to each slide. A guide rail is provided on the base, and the two ends of the synchronous belt are respectively fixed to the two ends of the guide rail. The linear drive structure is used to drive the slides to move on the guide rail. The linear drive structure includes a drive motor and a drive pulley. The drive pulley is disposed on the output shaft of the drive motor, and the drive motor is fixed to the slide. The drive pulley meshes with the synchronous belt. The wheel surface of the first idler pulley is disposed opposite to the end face of the synchronous belt, and is used to contact the synchronous belt and provide rolling support when the synchronous belt moves axially. A first idler pulley is rotatably mounted on the slide. When the first idler pulley contacts the timing belt, the friction between the first idler pulley and the timing belt is rolling friction. This first idler pulley can solve the sliding friction between the timing belt and adjacent structures caused by the axial movement of the timing belt, thereby effectively reducing frictional wear and extending the service life of the timing belt. When the timing belt moves axially, the first idler pulley can limit the axial displacement of the timing belt, so that the timing belt maintains good stability during long-stroke operation. Especially in wall-mounted or vertical installation scenarios, it can effectively resist the sagging of the timing belt caused by gravity and significantly reduce operating noise. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of an existing automated pipetting platform; Figure 2 This is a schematic diagram of the driving platform provided in an embodiment of the present invention from one perspective; Figure 3 A schematic diagram of the drive motor and the first idler wheel of the drive platform provided in an embodiment of the present invention from a single perspective; Figure 4 A schematic diagram of the drive motor and the first idler wheel of the drive platform provided in an embodiment of the present invention from another perspective; Figure 5 This is a schematic diagram of the driving platform provided in an embodiment of the present invention from one perspective; Figure 6 for Figure 5 A schematic diagram of the drive platform from another perspective; Figure 7 This is a schematic diagram of the pipetting platform provided in an embodiment of the present invention; Figure 8 A schematic diagram of the drive platform of the pipetting platform provided in an embodiment of the present invention from one perspective; Figure 9 This is a schematic diagram of the pipetting platform provided in an embodiment of the present invention from one perspective; Figure 10 This is a schematic diagram of the pipetting platform provided in an embodiment of the present invention from another perspective.

[0019] The following are the labeling elements in the figure: 1-Drive platform; 2-Pipette robot; 3-Protective frame; 11-Base; 12-Synchronous belt; 13-Slide; 14-Linear drive structure; 15-First idler wheel; 31-Support frame; 111-Guide rail; 112-Slide track; 121-Gear plate; 131-Base plate; 132-Side plate; 133-Reinforcing rib; 141-Drive motor; 142-Drive pulley; 143-Second idler wheel; 144-Flange seat. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0022] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. It should be understood that the term "and / or" as used herein is merely a description of the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0024] To address the issue of axial movement of synchronous belts, a common approach in existing technologies is to increase the width of the drive pulley (i.e., the pulley) to be wider than the synchronous belt. This wider pulley groove physically constrains the synchronous belt, limiting its axial movement. However, widening the pulley increases the size and weight of the transmission components, which not only contradicts the trend towards compactness and miniaturization in laboratory automation equipment but also directly leads to a bulky overall transmission system structure. Within already space-constrained equipment, this increased volume encroaches on the layout space of other functional modules (such as sensors, cables, and pneumatic circuits), limiting the application of this technology in compact or modular experimental platforms with strict size requirements. This invention addresses these problems by providing a structural solution that effectively suppresses axial movement of synchronous belts during long-stroke transmissions without significantly increasing structural volume.

[0025] The driving platform and pipetting platform provided by the present invention will be described in detail below with reference to specific embodiments.

[0026] Figure 2 This is a schematic diagram of the driving platform provided in an embodiment of the present invention from one perspective. Figure 3 This is a schematic diagram of the drive motor and the first idler wheel of the drive platform provided in an embodiment of the present invention from a single perspective. Figure 4 Please refer to the schematic diagram of the drive motor and the first idler wheel of the drive platform provided in the embodiment of the present invention from another perspective. Figures 2-4A first aspect of the present invention provides a drive platform 1, including a base 11, a timing belt 12, a plurality of slides 13, and a linear drive structure 14 and a first idler wheel 15 corresponding to each slide 13. A guide rail 111 is provided on the base 11. The two ends of the timing belt 12 are respectively fixed to the two ends of the guide rail 111. The linear drive structure 14 is used to drive the slides 13 to move on the guide rail 111. The linear drive structure 14 includes a drive motor 141 and a drive pulley 142. The drive pulley 142 is disposed on the output shaft of the drive motor 141. The drive motor 141 is fixed on the slides 13. The drive pulley 142 meshes with the timing belt 12 to cause the slides 13 to move along the guide rail 111. The wheel surface of the first idler wheel 15 is disposed opposite to the end face of the timing belt 12 to contact the timing belt 12 and provide rolling support when the timing belt 12 moves axially.

[0027] In this embodiment, the base 11 serves as the basic support structure for the entire module and is typically a long, rigid component. At least one guide rail 111 is provided along the length of the upper surface of the base 11. This guide rail 111 is a high-precision linear guide rail 111, used to guide and support the slide 13 for smooth linear movement. The synchronous belt 12 is preferably a synchronous belt with a toothed surface. The synchronous belt 12 is an open belt body, with both ends fixed to the two ends of the guide rail 111 by fastening devices. The synchronous belt 12 is tensioned between the two ends, forming a fixed, parallel transmission reference.

[0028] The number of slide blocks 13 is multiple (e.g., two or more), and each slide block 13 can slide independently on the guide rail 111. Each slide block 13 is equipped with an independent linear drive structure 14, which drives the slide block 13 to move. The linear drive structure 14 includes a drive motor 141 and a drive pulley 142. The drive motor 141 is typically a servo motor or a stepper motor, and it is directly fixed to the body of the slide block 13 via a flange seat. The drive motor 141 moves together with the slide block 13. The drive pulley 142 is fixedly mounted on the output shaft of the drive motor 141 and rotates synchronously with the motor. The outer circumference of the drive pulley 142 has tooth grooves that mesh with the tooth profile of the inner surface of the synchronous belt 12. The first idler wheel 15 is rotatably mounted on each of the slide blocks 13 via bearings. The wheel surface of the first idler wheel 15 is disposed opposite to the end face of the timing belt 12, and is used to contact the timing belt 12 and provide rolling support when the timing belt 12 moves axially. The first idler wheel 15 is installed in such a way that when the timing belt 12 moves axially (i.e., in its width direction), its side end face will contact the circumferential surface of the first idler wheel 15.

[0029] In this embodiment, multiple slide blocks 13 share the same fixed and tensioned synchronous belt 12. When it is necessary to drive a certain slide block 13 to move, the drive motor 141 on that slide block 13 is started, driving the drive pulley 142 to rotate. Since the drive pulley 142 is engaged with the fixed synchronous belt 12, according to the principle of force interaction, the drive pulley 142 will move along the stationary synchronous belt 12 while rotating, thereby driving the entire slide block 13 and its drive motor 141 to move together along the guide rail 111. Each slide 13 operates independently through its own drive system without interfering with each other. During long-stroke operation, the synchronous belt 12 will inevitably experience axial movement. At this time, the end face of the axially moving synchronous belt 12 will contact the first idler wheel 15 mounted on the slide 13. Since the first idler wheel 15 is freely rotatable, the contact between it and the end face of the synchronous belt 12 changes from sliding friction to rolling friction. In this embodiment, the first idler wheel 15 contacts the end face of the synchronous belt 12, providing rolling support when the synchronous belt 12 moves axially, transforming the original sliding friction with the structural components into rolling friction, thereby effectively reducing frictional wear and extending the service life of the synchronous belt. The first idler wheel 15 provides rolling support for the synchronous belt 12, enabling the synchronous belt 12 to maintain good stability during long-stroke operation. Especially in wall-mounted or vertical installation scenarios, it can effectively resist the sagging phenomenon of the synchronous belt caused by gravity and significantly reduce operating noise.

[0030] In one specific embodiment, please refer to Figures 2-4 The first idler pulley 15 consists of two parts, located on opposite sides of the output shaft of the drive motor 141. Preferably, there are two first idler pulleys 15, symmetrically arranged on either side of the output shaft. This symmetrical arrangement ensures that any axial movement of the synchronous belt 12 in either direction (left or right) is promptly restrained and guided by the corresponding first idler pulley 15. The first idler pulleys 15 in this embodiment provide bidirectional limiting and friction conversion capabilities, ensuring stable and reliable operation under any movement conditions and preventing unilateral contact between the synchronous belt 12 and the motor or other structures.

[0031] Furthermore, the linear drive structure 14 of this embodiment also includes two second idler pulleys 143 disposed on both sides of the drive pulley 142 to increase the wrap angle of the synchronous belt 12 on the drive pulley 142. The linear drive structure 14 of this embodiment also includes two second idler pulleys 143, which are disposed on both sides of the drive pulley 142. The function of the second idler pulleys 143 is to guide the path of the synchronous belt 12, significantly increasing its wrap angle (i.e., the wrap angle) on the drive pulley 142. The increased wrap angle means that the drive pulley 142 and the synchronous belt 12 have more meshing teeth and a larger contact area, which effectively improves the transmission efficiency and reliability, prevents tooth skipping and slippage under high-speed or high-load conditions, and ensures positioning accuracy.

[0032] Furthermore, the axial length of the second idler pulley 143 is greater than the width of the synchronous belt 12. In this embodiment, the extended wheel surface of the second idler pulley 143 provides sufficient contact length for the synchronous belt 12, guiding it back to the center position in the early stages of belt misalignment. This avoids stress concentration, vibration, or jamming caused by rigid obstruction of the synchronous belt 12, improving its self-correction capability and smooth operation. When the slide block 13 moves at high speed or stops and starts suddenly, the lateral oscillation of the synchronous belt 12 due to inertia becomes more severe. The extended wheel surface of the second idler pulley 143 allows for faster suppression and absorption of lateral oscillations under high-speed motion when the synchronous belt is axially misaligned, ensuring that the trajectory remains stable during high-speed operation.

[0033] Furthermore, the drive motor 141 is fixed to the slide block 13 via a flange seat 144, and both the first idler wheel 15 and the second idler wheel 143 are mounted on the flange seat 144. In this embodiment, the drive motor 141 is fixed to the slide block 13 via a flange seat 144, and the first idler wheel 15 and the second idler wheel 143 are also integrated and mounted on the flange seat 144. In this embodiment, the flange seat 144 serves as an integrated mounting platform, with the relative positions fixed on a rigid reference. This embodiment achieves a modular design, ensuring the accuracy of the relative positions between the drive pulley 142, the first idler wheel 15, and the second idler wheel 143, simplifying the assembly and debugging process, and improving the rigidity and stability of the entire drive structure.

[0034] Preferably, mounting seats are provided at both ends of the base 11, and the mounting seats are fixed to the base 11. The two ends of the timing belt 12 are fixed to the mounting seats by toothed plates 121. In this embodiment, the two ends of the timing belt 12 are fixed to the mounting seats by toothed plates. The toothed plates 121 are toothed pressure plates that can mesh with the teeth at the ends of the timing belt 12. Then, they are locked to the mounting seats with screws, thereby achieving a firm fixation and precise tension of the timing belt 12. This embodiment provides a reliable and easily adjustable method for fixing the ends of the timing belt 12, ensuring that the timing belt 12 maintains a constant tension throughout the entire stroke, providing a foundation for precise transmission.

[0035] Figure 5 This is a schematic diagram of the driving platform provided in an embodiment of the present invention from one perspective. Figure 6 for Figure 5 Please refer to the structural schematic diagram of the drive platform shown from another perspective. Figure 5 and Figure 6 In one specific embodiment, the slide 13 includes a base plate 131 and a side plate 132 perpendicularly disposed to the base plate 131. The side plate 132 is fixed to the base plate 131 and is used to connect an external pipetting robot. The base plate 131 has at least one reinforcing rib 133 protruding along the moving direction of the slide 13 on the side facing the base 11. The base 11 has a corresponding slide rail 112 that cooperates with the reinforcing rib 133. The reinforcing rib 133 is embedded in the slide rail 112. When the slide 13 moves, the reinforcing rib 133 slides along the slide rail 112 to limit the lateral tilting of the pipetting robot.

[0036] The slide 13 in this embodiment is composed of a base plate 131 and a side plate 132. The side plate 132 is perpendicular to the base plate 131 and fixed thereon, forming an L-shaped rigid mounting base. The main function of the side plate 132 is to connect an external pipetting robot and provide an installation interface for the robot. As an execution component, the mass and motion inertia of the pipetting robot are mainly concentrated above the side plate 132 of the slide 13, forming a cantilever load away from the support center of the guide rail 111. When the slide 13 accelerates, decelerates, or the robot itself moves, a lateral overturning moment is generated on the slide 13. The reinforcing rib 133 protrudes downwards from the base plate 131 of the slide 13 and embeds into the slide rail 112 of the base 11. This effectively establishes an additional, longitudinally continuous rigid connection point on the slide 13 closer to the base 11. When the overturning moment attempts to lift one side of the slide 13 (e.g., a frontal load causes the slide to tilt forward), the reinforcing rib 133 on the base plate 131 immediately contacts the corresponding side wall of the slide rail 112. The wall of the slide rail 112, as a fixed rigid constraint, applies a reverse supporting force to the slide 13 through the reinforcing rib 133, effectively counteracting the overturning moment generated by the external load. This embodiment improves the rigidity of the entire moving component when subjected to lateral forces by increasing the connection stiffness between the slide 13 and the base 11. In this embodiment, the anti-overturning structure is integrated under the base plate of the slide block 13 and inside the base 11, without occupying additional external space of the equipment, thus achieving a compact design. The cooperation between the reinforcing rib 133 and the slide rail 112 is a simple, reliable mechanical constraint without complex moving parts, which is highly durable and requires almost no maintenance.

[0037] The drive platform of this invention includes a base, a synchronous belt, multiple slides, a linear drive structure corresponding to each slide, and a first idler pulley. A guide rail is provided on the base, and both ends of the synchronous belt are fixed to the ends of the guide rail. The linear drive structure drives the slides to move on the guide rail. The linear drive structure includes a drive motor and a drive pulley. The drive pulley is mounted on the output shaft of the drive motor, and the drive motor is fixed to the slide. The drive pulley meshes with the synchronous belt. The surface of the first idler pulley is opposite to the end face of the synchronous belt, and it contacts the synchronous belt and provides rolling support when the synchronous belt moves axially. In this embodiment, the first idler pulley contacts the end face of the synchronous belt, providing rolling support when the synchronous belt moves axially. This transforms the sliding friction between the synchronous belt and structural components into rolling friction, effectively reducing frictional wear and extending the service life of the synchronous belt. The first idler pulley provides rolling support to the synchronous belt, ensuring good stability during long-stroke operation. Especially in wall-mounted or vertical installation scenarios, it effectively resists the sagging of the synchronous belt caused by gravity and significantly reduces operating noise.

[0038] Figure 7This is a schematic diagram of the pipetting platform provided in an embodiment of the present invention. Figure 8 This is a schematic diagram of the drive platform of the pipetting platform provided in an embodiment of the present invention from one perspective. Figure 9 This is a schematic diagram of the pipetting platform provided in an embodiment of the present invention from one perspective. Figure 10 Please refer to the schematic diagram of the pipetting platform provided in this embodiment of the invention from another perspective. Figures 7-10 A second aspect of the present invention provides a pipetting platform, including a drive platform 1 and a plurality of pipetting robots 2, wherein the number of pipetting robots 2 corresponds to the number of slides 13 on the drive platform 1, the pipetting robots 2 are fixed on the slides 13 on the drive platform 1, the output shaft of the drive motor 141 is arranged in a vertical direction, the drive platform 1 is used to drive the pipetting robots 2 to move in a first direction, and the pipetting robots 2 are capable of moving in a second direction, wherein the first direction is perpendicular to the second direction.

[0039] The drive platform 1 is the drive platform 1 described in the above embodiment. For example, the drive platform 1 includes a base 11, a timing belt 12, multiple slides 13, and a linear drive structure 14 and a first idler wheel 15 corresponding to each slide 13. A guide rail 111 is provided on the base 11. The two ends of the timing belt 12 are respectively fixed to the two ends of the guide rail 111. The linear drive structure 14 is used to drive the slide 13 to move on the guide rail 111. The linear drive structure 14 includes a drive motor 141 and a drive pulley 142. The drive pulley 142 is provided on the output shaft of the drive motor 141. The drive motor 141 is fixed on the slide 13. The drive pulley 142 meshes with the timing belt 12 to make the slide 13 move along the guide rail 111. The wheel surface of the first idler wheel 15 is arranged opposite to the end face of the timing belt 12 to contact the timing belt 12 and provide rolling support when the timing belt 12 moves axially.

[0040] The pipetting platform of this embodiment includes a drive platform 1 as described in the above embodiment and multiple pipetting robots 2. The number of pipetting robots 2 corresponds one-to-one with the number of slides 13 on the drive platform 1, and they are fixedly installed at the mounting positions of the slides 13. The output shaft of the drive motor 141 in this embodiment is arranged in the vertical direction. The drive platform 1 can drive all the pipetting robots 2 on it to move synchronously or asynchronously in a first direction (e.g., the X-axis direction, the horizontal direction). Each pipetting robot 2 has the ability to move in a second direction (e.g., the Z-axis direction, the vertical direction) to perform lifting, aspiration, and dispensing operations.

[0041] The pipetting platform in this embodiment enables the parallel operation of multiple pipetting tools, which greatly improves the efficiency and throughput of high-throughput experiments. Since each pipetting robot 2 can be controlled independently, the platform scheduling is very flexible. The drive platform 1 in this embodiment solves the wear problem of the synchronous belt 12, ensuring the reliability and cleanliness of the pipetting platform under long-term, long-stroke operation.

[0042] Furthermore, the pipetting platform also includes a drive platform drive module, which is used to drive the drive platform to move along a third direction, which is perpendicular to both the first direction and the second direction.

[0043] The pipetting platform in this embodiment also includes a drive platform drive module, on which the entire drive platform is mounted as a whole. This drive module drives the entire drive platform and all the pipetting robots it carries to move along a third direction (e.g., the Y-axis). This third direction is perpendicular to both the first direction (X-axis) and the second direction (Z-axis), together forming a complete two-dimensional planar motion system.

[0044] The pipetting platform in this embodiment adds a motion dimension (Y-axis) to the entire pipetting platform, enabling a limited pipetting robot to cover all well plate positions on the entire two-dimensional worktable, achieving complete access of the pipetting robot to the large worktable, and further improving the flexibility and processing capacity of the pipetting platform.

[0045] Furthermore, the pipetting platform also includes a protective frame 3, in which a support frame 31 is provided, and a roller 21 is provided on the free end of the pipetting robot 2 on the side away from the slide 13; The support frame 31 is provided with a support surface for the roller 21 to roll. When the drive platform 1 drives the pipetting robot 2 to move along the first direction, the free end of the pipetting robot 2 rolls on the support surface of the support frame 31 through the roller 21. The support frame 31 is used to provide support for the free end of the pipetting robot 2 through the roller 21 to limit its lateral tipping.

[0046] In this embodiment, the protective frame 3 has a support frame 31 inside. Exemplarily, the support frame 31 is a rigid structure integrally formed with the frame of the protective frame 3. On the side of the pipetting robot 2 away from its connection point with the slide 13, that is, at the free end of its cantilever (usually the end where the pipetting gun or actuator is installed), a roller 21 is provided. The support frame 31 has a support surface for the roller 21 to roll. This support surface can be a smooth plane, a grooved track, or a dedicated guide rail. In this embodiment, during the movement of the pipetting robot 2 driven by the slide 13, an additional fulcrum is provided for the end of the cantilever to counteract the overturning moment generated by the cantilever structure and the load. In this embodiment, the pipetting robot 2 is mounted on the slide 13 via its base. When its cantilever extends, especially when carrying a load such as a pipette, a downward gravitational force and an inertial force caused by acceleration are generated at the free end, together forming a torque that causes the cantilever to bend or tilt downwards around its root. The roller 21 installed at the free end of the robot contacts the support surface of the support frame 31, establishing a movable additional support point for the distal end of the cantilever. When the drive platform 1 moves the entire pipetting robot 2 along the X-axis, the free end of the pipetting robot 2 is not suspended in the air, but moves synchronously on the support surface via the roller 21. The roller 21 and the support surface have rolling friction, ensuring smooth movement in the X-direction. When the robot's free end tends to sag or tilt to the side due to load or motion vibration, the roller 21 will exert pressure on the support surface. The support surface will then apply a normal support force of equal magnitude and opposite direction to the robot's free end through the roller 21. This force forms a righting moment opposite to the overturning moment, which can effectively prevent lateral tilting, sag, or low-frequency shaking during high-speed start-stop, long arm extension, or under load. This ensures the reliability of process execution, reduces errors caused by flexible deformation and vibration of the mechanical structure, and significantly improves the positioning accuracy of the pipette tip in three-dimensional space, which is beneficial for high-precision micro-pipettes, continuous dispensing, and other operations.

[0047] In the above description, the terms "an embodiment," "some embodiments," "example," "specific example," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0048] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A driving platform, characterized in that, include: A base, on which a guide rail is provided; A timing belt, the two ends of which are respectively fixed to the two ends of the guide rail; Multiple slide blocks and a linear drive structure corresponding to each slide block, the linear drive structure being used to drive the slide block to move on the guide rail, the linear drive structure including a drive motor and a drive pulley, the drive pulley being disposed on the output shaft of the drive motor, the drive motor being fixed on the slide block, and the drive pulley engaging with the synchronous belt; The first idler pulley has its wheel surface facing the end face of the timing belt, and is used to contact the timing belt and provide rolling support when the timing belt moves axially.

2. The driving platform according to claim 1, characterized in that: There are two first idler wheels, which are located on opposite sides of the output shaft of the drive motor.

3. The driving platform according to claim 1, characterized in that: The linear drive structure also includes two second idler pulleys disposed on both sides of the drive pulley to increase the wrap angle of the synchronous belt on the drive pulley.

4. The driving platform according to claim 3, characterized in that: The axial length of the second idler pulley is greater than the width of the timing belt.

5. The driving platform according to claim 3, characterized in that: The drive motor is fixed to the slide block via a flange seat, and both the first idler wheel and the second idler wheel are mounted on the flange seat.

6. The driving platform according to claim 1, characterized in that: The base has mounting seats at both ends, and the mounting seats are fixed to the base. The two ends of the timing belt are fixed to the mounting seats by toothed plates.

7. The driving platform according to claim 1, characterized in that: The slide includes a base plate and a side plate arranged perpendicularly to the base plate. The side plate is fixed to the base plate and is used to connect an external pipetting robot. The base plate has at least one reinforcing rib protruding along the moving direction of the slide on one side facing the base. The base has a corresponding slide rail that cooperates with the reinforcing rib. The reinforcing rib is embedded in the slide rail. When the slide moves, the reinforcing rib slides along the slide rail to limit the side tilting of the pipetting robot.

8. A pipetting platform, characterized in that, The device includes a drive platform and multiple pipetting robots. The drive platform is the drive platform according to any one of claims 1-7. The number of pipetting robots corresponds to the number of slides on the drive platform. The pipetting robots are fixed on the slides of the drive platform. The output shaft of the drive motor is arranged in a vertical direction. The drive platform is used to drive the pipetting robots to move in a first direction. The pipetting robots can move in a second direction. The first direction is perpendicular to the second direction.

9. The pipetting platform according to claim 8, characterized in that: The pipetting platform further includes a drive platform drive module, which drives the drive platform to move along a third direction, the third direction being perpendicular to both the first direction and the second direction.

10. The pipetting platform according to claim 8, characterized in that: The pipetting platform also includes a protective frame, inside which a support frame is provided, and the free end of the pipetting robot away from the slide is provided with a roller; The support frame is provided with a support surface for the rollers to roll. When the drive platform drives the pipetting robot to move along the first direction, the free end of the pipetting robot rolls on the support surface of the support frame through the rollers. The support frame is used to provide support for the free end of the pipetting robot to limit the side tilting of the pipetting robot.

Images