An automated pipetting station

Abstract

The application discloses an automatic pipetting workstation, and belongs to the technical field of pipetting equipment. The automatic pipetting workstation comprises a plurality of single pipetting modules arranged side by side, wherein the single pipetting module comprises a suction head module, a raw material platform, a linear conveying module, a suction head collecting module, a moving and positioning module and a pipetting module; and the pipetting module comprises a nozzle. The pipetting workstation is a high-throughput liquid preparation modular assembly line. The assembly line is modular in design. Each module has a plurality of liquid adding stations. The pipetting workstation is equipped with an equal number of pipetting modules. The pipetting workstation can add a plurality of different solutions. The centrifuge tubes are intermittently advanced by the linear conveying module and are advanced to the next working module one by one until all kinds of solutions are added. Compared with the traditional pipetting workstation, the pipetting workstation adopts a "modular + assembly line" form and can work simultaneously. The problem of low efficiency caused by repeated movement of the traditional pipetting workstation is solved.

Description

Technical Field

[0001] This invention relates to the field of pipetting equipment technology, and more specifically, to an automated pipetting workstation. Background Technology

[0002] Automated pipetting workstations are automated devices used in biochemistry laboratories to replace traditional manual pipetting operations, achieving automation and standardization of liquid handling. These devices typically use a combination of robotic arms, precision pump systems, and control software to perform key experimental operations such as sample dispensing, liquid transfer, and reagent addition. In life science fields such as drug development, clinical diagnostics, genomics, and proteomics, automated pipetting workstations have become important tools for improving experimental efficiency and ensuring the reliability of results.

[0003] The components of a pipetting workstation include:

[0004] 1. Cartesian coordinate three-dimensional motion system

[0005] Most automated pipetting workstations use an XYZ three-dimensional rectangular coordinate system, driven by stepper motors or servo motors, and achieve precise positioning in conjunction with synchronous belt or lead screw transmission mechanisms.

[0006] 2. Electric pipette

[0007] At the end of the XYZ moving mechanism, one or more pipettes, or multi-channel pipettes, are installed to achieve automated liquid level detection, liquid aspiration, and waste liquid discharge. At the same time, in conjunction with the moving mechanism, automated pipette tip acquisition and automated pipette tip disposal are achieved. The pipette tips are disposable consumables to prevent cross-contamination between liquids.

[0008] 3. Related Supporting Modules

[0009] The pipetting workstation platform needs to have related positioning / functional modules, such as: pipette tip holder fixing module, raw material bottle / liquid storage tank module, centrifuge tube / well plate module, waste liquid collection tank module, waste pipette tip collection module, etc. Each material has its designated position to ensure that the workstation can complete the aspiration and dispensing operations in a fixed position.

[0010] There are two main types of existing pipetting workstations:

[0011] 1. The advantages and disadvantages of parallel 12-channel / parallel 96-channel pipetting workstations are as follows: Advantages: High throughput, capable of preparing multiple tubes of liquid simultaneously, resulting in high efficiency.

[0012] Disadvantages: It can only prepare the same solution and cannot customize a single-tube solution;

[0013] 2. The advantages and disadvantages of a single-channel pipetting workstation are as follows: Advantages: It can achieve customized preparation of each solution tube.

[0014] Disadvantages: Low efficiency, slow preparation speed, does not meet industrialization requirements.

[0015] In view of this, we propose an automated pipetting workstation. Summary of the Invention

[0016] Technical problem to be solved: The purpose of this invention is to provide an automated liquid handling workstation that solves the technical problems mentioned in the background art.

[0017] Technical solution: The technical solution of the present invention provides an automatic pipetting workstation, including several single pipetting modules arranged side by side. Each single pipetting module includes a pipette tip module, a raw material platform, a linear conveying module, a pipette tip collection module, a moving positioning module, and a pipetting module disposed on the moving positioning module.

[0018] The pipette tip module includes a number of first linear motion mechanisms equal to the number of pipetting modules, and each first linear motion mechanism is equipped with a universal base.

[0019] The universal base includes a base section, and a following moving platform is provided above the base section;

[0020] The base includes a aligning component disposed in its inner cavity and connected to the following stage. The aligning component includes a universal roller that enables the following stage to roll and translate, and a magnetic resetter that enables the following stage to be magnetically reset after translation.

[0021] As an optional solution to the technical solution of this invention, the mobile positioning module includes two second linear motion mechanisms arranged symmetrically, and a base is connected to the moving part of the two second linear motion mechanisms.

[0022] Several third linear motion mechanisms are connected to the top of the base;

[0023] The third linear motion mechanism has a longitudinally mounted moving frame connected to its actuating seat, and a fourth linear motion mechanism arranged longitudinally is connected to the longitudinally mounted moving frame. Each fourth linear motion mechanism has a detachable pipetting module mounted on its moving seat.

[0024] As an optional solution to the technical solution of this invention, the suction head module further includes a fixed slot frame, and the first linear motion mechanism is fixedly installed in the inner cavity of the fixed slot frame.

[0025] As an optional solution to the technical solution of this invention, the suction head collection module includes a support base;

[0026] A fifth linear motion mechanism is fixedly connected to the support base;

[0027] The fifth linear motion mechanism is connected to the moving part of the sixth linear motion mechanism, and the base of the sixth linear motion mechanism is connected to the suction head collection box.

[0028] The sixth linear motion mechanism has a movable base connected to an overhead sorting seat located above the suction head collection box, and the overhead sorting seat has a limit groove.

[0029] As an optional solution to the technical solution of this invention, it also includes a structural frame;

[0030] The second linear motion mechanism is fixedly installed on the top of the structural frame;

[0031] The support base, linear conveyor module, raw material platform, and fixed trough are all fixedly installed on the bottom wall of the inner cavity of the structural frame.

[0032] As an optional solution to the technical solution of this invention, the base portion includes a base platform connected to the moving part seat in the first linear motion mechanism;

[0033] The base platform is connected to a central box holder at the top, and the follower stage is located above the central box holder.

[0034] As an optional solution to the technical solution of this invention document, the universal roller includes a T-shaped moving seat;

[0035] The bottom of the T-shaped moving seat is located inside the cavity of the central box seat, and the top passes through the top opening of the central box seat and is connected to the bottom of the following moving stage.

[0036] The bottom of the T-shaped moving seat is evenly connected with several sliding seats, and a smooth bottom platform connected to the bottom wall of the central box seat cavity is provided below the sliding seats.

[0037] The bottom of the sliding seat has multiple drag-reducing rolling balls arranged in a circular array and in contact with the smooth base.

[0038] As an optional solution to the technical solution of this invention, the number of magnetic resetters is equal to the number of sliding seats, and each sliding seat is provided with a magnetic resetter on one side.

[0039] The magnetic resetter includes a magnetic block and a metal block arranged vertically.

[0040] The magnetic block is connected to the bottom of the T-shaped moving seat, and the metal block is connected to the bottom wall of the inner cavity of the central box seat.

[0041] As an optional solution of the technical solution in this invention document, the corrector also includes a central positioning post and an offset sensing element and a passive driving element equal in number to the sliding seat, and each sliding seat is provided with an offset sensing element and each magnetic resetter is provided with a passive driving element.

[0042] The bottom of the sliding seat is provided with a bottom cavity, and the bottom end of the central positioning column is connected to the bottom wall of the inner cavity of the central box seat, while the top end extends into the bottom cavity.

[0043] The offset sensing element includes multiple damping telescopic mechanisms arranged in a circular array on the sliding seat;

[0044] The damping telescopic mechanism includes a converging chamber, multiple connecting channels, and a horizontal sliding cavity disposed inside the sliding seat;

[0045] The number of connecting channels is equal to the number of horizontal sliding cavities, which are arranged in a circular array inside the sliding seat;

[0046] Each horizontal sliding cavity is sealed with a reciprocating plug seat. A retracting rod is connected to the end of the reciprocating plug seat near the bottom cavity, and the end of the retracting rod away from the reciprocating plug seat passes through the end of the horizontal sliding cavity and extends into the bottom cavity.

[0047] Each horizontal sliding cavity has a connecting channel on one side, with one end of the connecting channel connected to the end of the horizontal sliding cavity away from the bottom cavity, and the other end connected to the converging chamber.

[0048] As an optional solution of the technical solution in this invention document, the passive driving component includes a guide tube and an upright cavity and a guide channel disposed inside the T-shaped moving seat. The tail section of the guide channel is a vertical section, and the bottom end of the vertical section is connected to the upright cavity. The interior of the horizontal sliding cavity, the connecting channel, the converging chamber, the guide tube, and the guide channel are all filled with a liquid medium.

[0049] The end of the flow guide channel away from the vertical section passes through the bottom of the T-shaped moving seat, and an outlet is fixedly connected to one end of the flow guide pipe;

[0050] A lifting platform slides inside the vertical cavity, and a liquid seal rod is connected to the top of the lifting platform and inserted into the vertical section of the guide channel.

[0051] One end of the guide tube extends into the sliding seat and is connected to the converging chamber, while the other end is fixedly connected to the bottom of the T-shaped moving seat, and the outlet seal is inserted into the end opening of the guide channel.

[0052] The magnetic block in the magnetic resetter is connected to the end of the lifting platform away from the liquid sealing rod, and the end of the magnetic block away from the lifting platform passes through the bottom of the T-shaped moving seat;

[0053] The end of the lifting platform away from the liquid seal rod is also connected to a return spring, and the end of the return spring away from the lifting platform is connected to the bottom wall of the vertical cavity.

[0054] When the damping telescopic mechanism is in its initial state, the end of the reciprocating plug seat near the retraction rod abuts against the end of the horizontal sliding cavity.

[0055] Beneficial effects: One or more technical solutions provided in this invention have at least the following technical effects or advantages:

[0056] 1. This pipetting workstation is a high-throughput modular automated dispensing line. The entire line adopts a modular design, with each module containing several dispensing stations and a corresponding number of pipetting modules. It can handle the addition of various solutions. Centrifuge tubes are intermittently advanced through a linear conveyor module, being moved one by one to the next working module until all types of solutions have been added. Compared to traditional pipetting workstations, this workstation operates in a "modular + automated" manner, allowing all stations to work simultaneously and solving the problem of low efficiency caused by repeated movement in traditional pipetting workstations.

[0057] 2. This pipetting workstation enables modular operation on a production line. Users can choose the number of pipetting modules according to their needs, which can reduce costs and avoid inefficiency and resource waste caused by functional redundancy.

[0058] 3. Users can quickly replace the corresponding specifications of pipetting modules and tips according to their accuracy and volume requirements, which greatly improves pipetting accuracy and solves the problem of reduced accuracy and efficiency caused by the inability to change the volume range of existing electric pipetting modules in pipetting workstations.

[0059] 4. The pipetting process of this invention uses a streamlined production line, which is not a traditional filling production line. Traditional filling production lines use pumps to pipette liquids, which cannot meet the high-precision experimental requirements. This invention is designed for practical application scenarios in biological laboratories. Each station uses a precision electronic pipette to pipette liquids, ensuring experimental accuracy. In addition, compared with traditional pipetting workstations, the streamlined production line can enable all stations to work simultaneously, solving the problem of low efficiency caused by repeated movement of traditional pipetting workstations.

[0060] 5. When the nozzle in the pipetting module is downwards to pick up a batch of pipette tips placed in the tip box, if the nozzle and the tip inlet are misaligned due to control errors, making it impossible to remove the tip, this invention can use the self-adaptive universal base in the tip module to autonomously and dynamically reposition the tip during each pipetting process. This facilitates quick tip picking by the nozzle, reduces the time consumed by human intervention, and improves experimental efficiency.

[0061] 6. When the nozzle in the pipetting module is not aligned with the pipette tip, and the nozzle is being pushed down, after the edge of the pipette tip inlet contacts the surface of the nozzle, during the further downward pressing of the nozzle, the edge of the pipette tip inlet drives the pipette tip to move the universal base. As the universal base moves along with the pipette tip, it moves smoothly through the universal roller.

[0062] 7. When the nozzle in the pipette module is inserted into the pipette tip and the tip is removed from the tip box, the magnetic attraction between the magnetic block and the metal block in the magnetic reset device allows the translated follower stage to quickly return to its original position. Furthermore, the magnetic reset device, through magnetic attraction, restricts the Z-axis freedom of the universal base as it follows the tip, ensuring that the follower stage in the universal base does not tilt during the tip removal process. Additionally, the drag-reducing rolling ball in the universal roller remains in close contact with the smooth base, guaranteeing stable and smooth translation of the universal base and thus ensuring the successful and stable removal of the pipette tip during the experiment.

[0063] 8. In the pipetting module, the nozzle tethers the pipette tip, and during the movement of the sliding seat following the translational stage, part of the retracting rod in the damping telescopic mechanism continuously retracts into the horizontal sliding cavity under the obstruction of the central positioning column. This causes the reciprocating plug seat to continuously drive the liquid medium to flow. Due to the viscosity of the liquid medium, the nozzle tethers, while ensuring the smooth translational movement of the stage, can also further achieve hydraulic damping buffering during the tethering process. This prevents the nozzle tether from suddenly accelerating due to inertia, which could lead to excessive collision force between the nozzle tether and the pipette tip, causing damage to the nozzle tether or the pipette tip, and thus interrupting the pipetting operation. 9. The sliding seat follows the movement of the stage, allowing the reciprocating plug to inject liquid medium into the guide channel through the guide tube. After the hydraulic pressure in the guide channel increases, the liquid seal rod drives the magnetic block to move downward, increasing the magnetic attraction between the magnetic block and the metal block. This ensures the stable and smooth translation of the universal stage while further shortening the return time of the universal stage, which helps to further improve experimental efficiency and ensure the efficient performance of pipetting. Attached Figure Description

[0064] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0065] Figure 2 This is a schematic diagram of the single liquid transfer module in this invention.

[0066] Figure 3 For the present invention Figure 2 A magnified view of part A in the diagram.

[0067] Figure 4 For the present invention Figure 2 A magnified view of part B in the diagram.

[0068] Figure 5 This is a top view of the overall structure of the single liquid transfer module in this invention.

[0069] Figure 6 This is a side view of the overall structure of the single liquid transfer module in this invention.

[0070] Figure 7 For the present invention Figure 6 A magnified view of part C in the diagram.

[0071] Figure 8 For the present invention Figure 6 A magnified view of part D in the middle.

[0072] Figure 9 This is a schematic diagram of the structure of the suction head module, the raw material platform, and the linear conveying module in this invention.

[0073] Figure 10 This is a schematic diagram of the suction head module in this invention.

[0074] Figure 11 This is a partial cross-sectional view of the universal base platform in the suction head module of the present invention.

[0075] Figure 12 For the present invention Figure 11 A magnified view of part E in the middle.

[0076] Figure 13 This is a schematic diagram of the internal structure of the centrally located box base in this invention.

[0077] Figure 14 This is a schematic diagram illustrating the alignment error of the nozzle during the suction head removal process in this invention.

[0078] Figure 15 This is a schematic diagram of the corrector component in Embodiment 2 of the present invention.

[0079] Figure 16 For the present invention Figure 15 A magnified view of part F in the middle section.

[0080] Figure 17 This is a partial cross-sectional view of the sliding seat in Embodiment 2 of the present invention.

[0081] Explanation of the labels in the diagram:

[0082] 100. Single-pipette module;

[0083] 200. Motion positioning module; 201. Second linear motion mechanism; 202. Third linear motion mechanism; 203. Longitudinal moving frame;

[0084] 300. Pipetting module;

[0085] 400. Suction head module; 401. Centralized box base; 402. Following stage; 403. Fixed slot frame; 404. First linear motion mechanism; 405. Base platform; 406. T-shaped moving seat; 407. Liquid sealing rod; 408. Magnetic block; 409. Metal block; 410. Smooth base; 411. Sliding seat; 412. Drag-reducing rolling ball; 413. Lifting platform; 414. Guide tube; 415. Central positioning post; 416. Retracting rod; 417. Reciprocating plug seat; 418. Converging chamber;

[0086] 500. Raw material platform;

[0087] 600. Linear conveyor module;

[0088] 700. Nozzle collection module; 701. Fifth linear motion mechanism; 702. Sixth linear motion mechanism; 703. Nozzle collection box; 704. Elevated collection stand; 705. Support base;

[0089] 800. Structural frame. Detailed Implementation

[0090] 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.

[0091] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "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 this 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 this invention.

[0092] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or a link; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0093] Example 1: Refer to Figures 1 to 14 This invention provides an automated pipetting workstation, comprising several single pipetting modules 100 arranged side by side. Each single pipetting module 100 includes a pipette tip module 400, a raw material platform 500, a linear conveying module 600, a pipette tip collection module 700, a moving positioning module 200, and a pipetting module 300 mounted on the moving positioning module 200. The pipetting module 300 is a prior art, a fully automated, intelligent liquid handling module with a built-in Z-axis, commonly used in the integration of liquid handling modules in fully automated pipetting workstations. It can achieve functions such as accurate pipetting, automatic pipetting tip pickup and drop-off, for example, the existing ZEUS 5mL pipetting module.

[0094] The linear conveyor module 600 is preferably a belt conveyor.

[0095] The pipette tip module 400 includes a number of first linear motion mechanisms 404 equal to the number of pipetting modules 300, and each first linear motion mechanism 404 is provided with a universal base.

[0096] The universal base includes a base part, and a following platform 402 is provided above the base part;

[0097] The base includes a aligning component disposed in its inner cavity and connected to the following stage 402. The aligning component includes a universal roller that enables the following stage 402 to roll and translate, and a magnetic resetter that enables the following stage 402 to be magnetically reset after translation.

[0098] This pipetting workstation is a high-throughput modular automated dispensing line. The entire line adopts a modular design, with each module containing several dispensing stations and a corresponding number of pipetting modules 300. It can handle the addition of various solutions. Centrifuge tubes are intermittently advanced through a linear conveyor module 600, being moved one by one to the next working module until all types of solutions have been added. Compared to traditional pipetting workstations, this workstation operates in a "modular + automated" manner, allowing all stations to work simultaneously and solving the problem of low efficiency caused by repeated movement in traditional pipetting workstations.

[0099] This pipetting workstation enables modular operation on a production line. Users can choose the number of pipetting modules (300) according to their needs, which can reduce costs and avoid efficiency reduction and resource waste caused by functional redundancy.

[0100] Users can quickly replace the corresponding specifications of the pipetting module 300 and pipette tips according to their accuracy and volume requirements, which greatly improves pipetting accuracy and solves the problem of reduced accuracy and efficiency caused by the inability to change the volume range of the existing electric pipetting module in the pipetting workstation.

[0101] The pipetting process of this invention uses a streamlined assembly line, which is not a traditional filling assembly line. Traditional filling assembly lines use pumps to pipette liquids, which cannot meet the high-precision experimental requirements. This invention is designed for practical application scenarios in biological laboratories. Each station uses a precision electronic pipette to pipette liquids, ensuring experimental accuracy. In addition, compared with traditional pipetting workstations, the assembly line form can enable all stations to work simultaneously, solving the problem of low efficiency caused by the repeated movement of traditional pipetting workstations.

[0102] Reference Figures 1 to 7 This invention provides an automated pipetting workstation. The mobile positioning module 200 includes two symmetrically arranged second linear motion mechanisms 201, and a base is connected to the moving parts of the two second linear motion mechanisms 201.

[0103] Several third linear motion mechanisms 202 are connected to the top of the base;

[0104] The third linear motion mechanism 202 has a longitudinally positioned moving frame 203 connected to its actuating seat. The longitudinally positioned moving frame 203 is connected to a fourth linear motion mechanism arranged longitudinally. Each fourth linear motion mechanism has a detachable pipetting module 300 installed on its moving seat. The detachable installation connection methods include, but are not limited to, threaded connection and snap-fit ​​connection, making it easy to install and remove the pipetting module 300.

[0105] When the nozzle of the pipetting module 300 is downwardly piercing the pipette tips arranged in batches in the tip box, if the nozzle and the tip inlet are misaligned due to control errors, causing the tip to be unable to be removed, the present invention can use the self-adaptive universal base in the tip module 400 to autonomously and dynamically reposition the tip during each piercing process of the pipetting module 300. This facilitates rapid piercing of the tip by the nozzle, reduces the time consumed by human intervention, and improves experimental efficiency.

[0106] Reference Figure 14 When the nozzle in the pipetting module 300 is not aligned with the pipette tip, and the nozzle is being pushed down, after the edge of the pipette tip inlet contacts the surface of the nozzle, during the further downward pressing of the nozzle, the edge of the pipette tip inlet drives the pipette tip to move the universal base. As the universal base moves along with the pipette tip, it moves smoothly through the universal roller.

[0107] Reference Figure 9 and Figure 13 This invention provides an automated pipetting workstation. The pipette tip module 400 further includes a fixed slot 403, and the first linear motion mechanism 404 is fixedly installed in the inner cavity of the fixed slot 403.

[0108] Reference Figure 6 and Figure 8This invention provides an automated pipetting workstation, wherein the pipette tip collection module 700 includes a support base 705;

[0109] A fifth linear motion mechanism 701 is fixedly connected to the support base 705;

[0110] The fifth linear motion mechanism 701 is connected to the moving part of the sixth linear motion mechanism 702, and the base of the sixth linear motion mechanism 702 is connected to the suction head collection box 703.

[0111] The sixth linear motion mechanism 702 has a movable base connected to an overhead sorting seat 704 located above the suction head collection box 703. The overhead sorting seat 704 has a limit groove.

[0112] Reference Figures 1 to 8 The present invention provides an automated pipetting workstation, which also includes a structural frame 800;

[0113] The second linear motion mechanism 201 is fixedly installed on the top of the structural frame 800;

[0114] The support base 705, the linear conveyor module 600, the raw material platform 500, and the fixed trough frame 403 are all fixedly installed on the bottom wall of the inner cavity of the structural frame 800.

[0115] Reference Figures 9 to 12 The present invention provides an automated pipetting workstation, the base of which includes a base platform 405 connected to the mover seat in the first linear motion mechanism 404;

[0116] The top of the base platform 405 is connected to the central box base 401, and the following stage 402 is located above the central box base 401.

[0117] Among them, the first linear motion mechanism 404, the second linear motion mechanism 201, the third linear motion mechanism 202, the fourth linear motion mechanism, the fifth linear motion mechanism 701 and the sixth linear motion mechanism 702 in this article are all existing known devices that can directly convert electrical energy into linear motion mechanical energy, and will not be described in detail here. Moreover, the above-mentioned linear motion mechanisms are all preferably linear modules.

[0118] Reference Figures 9 to 13 This invention provides an automated pipetting workstation, wherein the universal roller includes a T-shaped moving seat 406;

[0119] The bottom end of the T-shaped moving seat 406 is located inside the cavity of the central box seat 401, and the top end passes through the top opening of the central box seat 401 and is connected to the bottom of the following moving stage 402.

[0120] The bottom of the T-shaped moving seat 406 is evenly connected with several sliding seats 411, and a smooth base platform 410 connected to the bottom wall of the cavity of the central box seat 401 is provided below the sliding seats 411.

[0121] The bottom of the sliding seat 411 is uniformly connected with multiple drag-reducing rolling balls 412 arranged in a circular array and in contact with the smooth base 410. The plane in contact between the smooth base 410 and the drag-reducing rolling balls 412 is a smooth plane.

[0122] The number of magnetic resetters is equal to the number of sliding seats 411, and each sliding seat 411 has a magnetic resetter on one side;

[0123] The magnetic resetter includes a magnetic block 408 and a metal block 409 arranged vertically.

[0124] The magnetic block 408 is connected to the bottom of the T-shaped moving seat 406, and the metal block 409 is connected to the bottom wall of the inner cavity of the central box seat 401.

[0125] When the nozzle in the pipette module 300 is inserted into the pipette tip and the tip is removed from the tip box, the magnetic attraction between the magnetic block 408 and the metal block 409 in the magnetic reset device allows the translated follower stage 402 to quickly return to its original position. Furthermore, the magnetic reset device, through magnetic attraction, restricts the degree of freedom of the universal base in the Z-axis direction during the movement of the universal base following the tip, ensuring that the follower stage 402 in the universal base does not tilt during the removal of the tip. Additionally, the drag-reducing rolling ball 412 in the universal roller remains in close contact with the smooth base 410, ensuring the stable and smooth translation of the universal base, thereby guaranteeing the smooth and stable removal of the tip during the experiment.

[0126] The workflow of a single single-pipette module 100 is as follows:

[0127] (1) Place the raw material bottle at the designated position on the top of the raw material platform 500;

[0128] (2) The pipetting module 300 is moved above the pipetting tip box by the second linear motion mechanism 201 and the third linear motion mechanism 202;

[0129] (3) The fourth linear motion mechanism drives the pipetting module 300 downward until the nozzle of the pipetting module 300 is inserted into the pipette tip. Then, the fourth linear motion mechanism drives the pipetting module 300 with the pipette tip inserted to lift upward, thus completing the acquisition of the pipette tip.

[0130] (4) The second linear motion mechanism 201 and the third linear motion mechanism 202 drive the pipetting module 300 to move above the raw material bottle.

[0131] (5) The fourth linear motion mechanism drives the pipetting module 300 downward, so that the pipette tip is inserted below the liquid surface in the raw material bottle and aspirates a specified volume of solution. After aspirating, it is lifted upward.

[0132] (6) Then the second linear motion mechanism 201 and the third linear motion mechanism 202 drive the pipetting module 300 to move above the centrifuge tube intermittently transported on the linear transport module 600;

[0133] (7) The fourth linear motion mechanism drives the pipetting module 300 downward into the centrifuge tube, and after discharging the solution, it is lifted upward;

[0134] (8) The pipetting module 300 with the waste pipette tip is driven to move above the pipette tip collection box 703 by the second linear motion mechanism 201 and the third linear motion mechanism 202;

[0135] (9) The fourth linear motion mechanism drives the pipetting module 300 downward. When the waste pipette tip is inserted into the limiting straight groove on the overhead sorting seat 704, the pipette tip is discharged and lifted upward.

[0136] (10) When the limit groove is full of waste suction heads, the sixth linear motion mechanism 702 drives the overhead sorting seat 704 to move away from the suction head collection box 703. When the waste suction head leaves the limit groove, it falls into the suction head collection box 703, so that the suction head falls neatly and avoids the traditional situation of randomly putting used waste suction heads into the suction head collection box 703 and piling them up.

[0137] (11) Begin the next cycle...;

[0138] 2. The entire modular production line workflow

[0139] (1) Select the appropriate number of single-pipette modules 100 for rapid assembly and splicing according to the type and quantity of the formulation solution;

[0140] (2) Place the raw material bottles directly at the designated workstations on top of the raw material platform 500 in the order of addition;

[0141] (3) Place the corresponding size of the suction head on the corresponding suction head box holder;

[0142] (4) Start the preparation of reagent formula with one click.

[0143] Example 2, the difference between this example and Example 1 is: (Refer to...) Figures 15 to 17The present invention provides an automatic pipetting workstation. The aligning component also includes a central positioning column 415 and an offset sensing component and a passive driving component in the same number as the sliding seat 411. Each sliding seat 411 is provided with an offset sensing component, and each magnetic resetter is provided with a passive driving component.

[0144] The bottom of the sliding seat 411 is provided with a bottom cavity, and the bottom end of the central positioning post 415 is connected to the bottom wall of the inner cavity of the central box seat 401, while the top end extends into the bottom cavity.

[0145] The offset sensing element includes multiple damping telescopic mechanisms arranged in a circular array on the sliding seat 411;

[0146] The damping telescopic mechanism includes a converging chamber 418 disposed inside the sliding seat 411, multiple connecting channels, and a horizontal sliding cavity;

[0147] The number of connecting channels is equal to the number of horizontal sliding cavities, which are arranged in a circular array inside the sliding seat 411;

[0148] Each horizontal sliding cavity is sealed with a reciprocating plug seat 417. A retracting rod 416 is connected to one end of the reciprocating plug seat 417 near the bottom cavity, and the other end of the retracting rod 416 away from the reciprocating plug seat 417 passes through the end of the horizontal sliding cavity and extends into the bottom cavity.

[0149] Each horizontal sliding cavity is provided with a connecting channel on one side, and one end of the connecting channel is connected to the end of the horizontal sliding cavity away from the bottom cavity, and the other end is connected to the converging chamber 418.

[0150] The passive drive component includes a guide tube 414 and an upright cavity and a guide channel disposed inside the T-shaped moving seat 406. The tail section of the guide channel is a vertical section, and the bottom end of the vertical section is connected to the upright cavity. The horizontal sliding cavity, the connecting channel, the converging chamber 418, the guide tube 414, and the guide channel are all filled with a liquid medium, wherein the liquid medium is preferably hydraulic oil.

[0151] The end of the flow guide channel away from the vertical section passes through the bottom of the T-shaped moving seat 406, and an outlet is fixedly connected to one end of the flow guide pipe 414;

[0152] A lifting platform 413 slides inside the vertical cavity, and a liquid sealing rod 407 is connected to the top of the lifting platform 413 and is inserted into the vertical section of the guide channel.

[0153] One end of the guide tube 414 extends into the sliding seat 411 and is connected to the converging chamber 418, while the other end is fixedly connected to the bottom of the T-shaped moving seat 406. The outlet seal is inserted into the end opening of the guide channel, and the liquid medium is preferably hydraulic oil.

[0154] The magnetic block 408 in the magnetic resetter is connected to the end of the lifting platform 413 away from the liquid sealing rod 407, and the end of the magnetic block 408 away from the lifting platform 413 passes through the bottom of the T-shaped moving seat 406.

[0155] The end of the lifting platform 413 away from the liquid seal rod 407 is also connected to a return spring, and the end of the return spring away from the lifting platform 413 is connected to the bottom wall of the vertical cavity.

[0156] When the damping telescopic mechanism is in its initial state, the end of the reciprocating plug seat 417 near the retracting rod 416 abuts against the end of the horizontal sliding cavity.

[0157] In the pipetting module 300, the nozzle tethers the pipette tip, and as the sliding seat 411 moves along the following stage 402, part of the retracting rod 416 in the damping telescopic mechanism continuously retracts into the horizontal sliding cavity under the obstruction of the central positioning post 415. This causes the reciprocating plug seat 417 to continuously drive the liquid medium to flow. Due to the viscosity of the liquid medium, the nozzle tethers, while ensuring the smooth translation of the following stage 402, can also further achieve hydraulic damping buffering during the pipetting process. This prevents the nozzle tethers from suddenly accelerating due to inertia during the pipetting process, which could lead to excessive collision force between the nozzle tethers and the pipette tip, causing damage to the nozzle tethers or the pipette tip, and thus interrupting the pipetting operation.

[0158] The sliding seat 411 follows the movement of the stage 402, causing the reciprocating plug seat 417 to inject the liquid medium into the guide channel through the guide tube 414. After the hydraulic pressure in the guide channel rises, the liquid sealing rod 407 drives the magnetic block 408 to move downward, which increases the magnetic attraction between the magnetic block 408 and the metal block 409. This ensures the stable and smooth translation of the universal stage while further shortening the return time of the universal stage, which helps to further improve experimental efficiency and ensure the efficient performance of pipetting.

[0159] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. All electrical components mentioned herein are electrically connected to the main controller and 220V AC mains power, and the main controller is a common existing technology such as a computer that performs control functions. Content not described in detail in this specification is prior art known to those skilled in the art.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; 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 of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated liquid handling workstation, characterized in that: It includes several single pipetting modules (100) arranged side by side. Each single pipetting module (100) includes a pipette tip module (400), a raw material platform (500), a linear conveying module (600), a pipette tip collection module (700), a moving positioning module (200), and a pipetting module (300) disposed on the moving positioning module (200). The pipette tip module (400) includes a number of first linear motion mechanisms (404) equal to the number of pipetting modules (300), and each first linear motion mechanism (404) is provided with a universal base. The universal base includes a base portion, and a following platform (402) is provided above the base portion. The base includes a calibrator disposed in its inner cavity and connected to the following stage (402). The calibrator includes a universal roller that enables the following stage (402) to roll and translate, and a magnetic resetter that enables the following stage (402) to be magnetically reset after translation. The base portion includes a base platform (405) connected to the moving part of the first linear motion mechanism (404); The top of the base platform (405) is connected to a central box base (401). The universal rolling element includes a T-shaped moving seat (406). The bottom of the T-type moving seat (406) is evenly connected with several sliding seats (411). The corrective component also includes a central positioning post (415) and an offset sensing component and a passive driving component in equal number to the sliding seat (411), and each sliding seat (411) is provided with an offset sensing component and each magnetic resetter is provided with a passive driving component. The sliding seat (411) has a bottom cavity at the bottom, and the bottom end of the central positioning column (415) is connected to the bottom wall of the inner cavity of the central box seat (401), while the top end extends into the bottom cavity. The offset sensing element includes multiple damping telescopic mechanisms arranged in a circular array on the sliding seat (411); The damping telescopic mechanism includes a converging chamber (418) disposed inside the sliding seat (411), multiple connecting channels, and a horizontal sliding cavity; The number of connecting channels is equal to the number of horizontal sliding cavities, which are arranged in a circular array inside the sliding seat (411); Each horizontal sliding cavity is sealed with a reciprocating plug seat (417). A retracting rod (416) is connected to one end of the reciprocating plug seat (417) near the bottom cavity. The end of the retracting rod (416) away from the reciprocating plug seat (417) passes through the end of the horizontal sliding cavity and extends into the bottom cavity. Each of the horizontal sliding cavities is provided with a connecting channel on one side, and one end of the connecting channel is connected to the end of the horizontal sliding cavity away from the bottom cavity, while the other end is connected to the converging chamber (418).

2. The automated pipetting workstation according to claim 1, characterized in that: The mobile positioning module (200) includes two second linear motion mechanisms (201) arranged symmetrically, and a base is connected to the moving part of the two second linear motion mechanisms (201). The top of the base is connected to several third linear motion mechanisms (202). The third linear motion mechanism (202) has a longitudinal moving frame (203) connected to its actuating seat, and a fourth linear motion mechanism arranged longitudinally is connected to the longitudinal moving frame (203). Each of the fourth linear motion mechanisms has a pipetting module (300) detachably installed on its moving seat.

3. The automated pipetting workstation according to claim 2, characterized in that: The suction head module (400) also includes a fixed slot (403), and the first linear motion mechanism (404) is fixedly installed in the inner cavity of the fixed slot (403).

4. The automated pipetting workstation according to claim 3, characterized in that: The suction head collection module (700) includes a support base (705); A fifth linear motion mechanism (701) is fixedly connected to the support base (705); The fifth linear motion mechanism (701) is connected to the moving part of the sixth linear motion mechanism (702), and the base of the sixth linear motion mechanism (702) is connected to the suction head collection box (703). The sixth linear motion mechanism (702) has a moving base connected to an overhead sorting seat (704) located above the suction head collection box (703), and the overhead sorting seat (704) has a limit straight groove.

5. The automated liquid handling workstation according to claim 4, characterized in that: It also includes a structural frame (800); The second linear motion mechanism (201) is fixedly installed on the top of the structural frame (800); The support base (705), the linear conveying module (600), the raw material platform (500), and the fixed trough frame (403) are all fixedly installed on the bottom wall of the inner cavity of the structural frame (800).

6. The automated pipetting workstation according to claim 1, characterized in that: The following stage (402) is located above the central box base (401).

7. The automated pipetting workstation according to claim 1, characterized in that: The bottom end of the T-shaped moving seat (406) is located in the inner cavity of the central box seat (401), and the top end passes through the top opening of the central box seat (401) and is connected to the bottom of the following moving stage (402). Below the sliding seat (411) is a smooth base platform (410) connected to the bottom wall of the cavity of the central box seat (401). The bottom of the sliding seat (411) is uniformly connected with multiple drag-reducing rolling balls (412) arranged in a circular array and in contact with the smooth base (410).

8. The automated pipetting workstation according to claim 7, characterized in that: The number of magnetic resetters is equal to the number of sliding seats (411), and each sliding seat (411) has a magnetic resetter on one side; The magnetic resetter includes a magnetic block (408) and a metal block (409) arranged vertically. The magnetic block (408) is connected to the bottom of the T-shaped moving seat (406), and the metal block (409) is connected to the bottom wall of the inner cavity of the central box seat (401).

9. The automated pipetting workstation according to claim 8, characterized in that: The passive driving component includes a guide tube (414) and an upright cavity and a guide channel disposed inside the T-shaped moving seat (406). The tail section of the guide channel is a vertical section, and the bottom end of the vertical section is connected to the upright cavity. The interior of the horizontal sliding cavity, the connecting channel, the converging chamber (418), the guide tube (414), and the guide channel are all filled with a liquid medium. The end of the flow channel away from the vertical section passes through the bottom of the T-shaped moving seat (406), and the end of the flow guide pipe (414) is fixedly connected to the water outlet; A lifting platform (413) slides inside the vertical cavity, and a liquid sealing rod (407) is connected to the top of the lifting platform (413) and inserted into the vertical section of the guide channel. One end of the guide tube (414) extends into the sliding seat (411) and communicates with the converging chamber (418), while the other end is fixedly connected to the bottom of the T-shaped moving seat (406), and the outlet is sealed and inserted into the end opening of the guide channel. The magnetic block (408) in the magnetic resetter is connected to the end of the lifting platform (413) away from the liquid sealing rod (407), and the end of the magnetic block (408) away from the lifting platform (413) passes through the bottom of the T-shaped moving seat (406); The end of the lifting platform (413) away from the liquid seal rod (407) is also connected to a return spring, and the end of the return spring away from the lifting platform (413) is connected to the bottom wall of the vertical cavity. When the damping telescopic mechanism is in its initial state, the end of the reciprocating plug seat (417) near the retracting rod (416) abuts against the end of the horizontal sliding cavity.

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