Pipetting equipment

Abstract

The utility model provides pipetting equipment which comprises a rack, and a bottom plate is arranged on the rack; the XY-direction moving module is arranged on the rack and located above the bottom plate; the clamping module, the scanning module and the pipetting module are all arranged on the XY direction moving module, and the clamping module, the scanning module and the pipetting module can synchronously move in the X direction and the Y direction; the XY-direction moving module comprises an X-direction moving module and a Y-direction moving module, and the X-direction moving module is arranged on the rack and located above the bottom plate; the Y-direction moving module is arranged on the X-direction moving module and located above the bottom plate. The clamping module is used for clamping and moving different types of test articles and consumables; the scanning module scans information of test articles and consumables used at the time during detection; the pipetting module is used for correspondingly pipetting according to the input information of the scanning module; a gun head box, an elisa plate, a sample test tube assembly, an oscillation module, a fluorescent quantitative PCR instrument, a reagent assembly, and at least one of a PCR plate and a fragment analyzer plate are arranged on the bottom plate.

Description

Technical Field

[0001] The utility model belongs to the technical field of liquid transfer equipment, and in particular relates to a liquid transfer equipment. Background Art

[0002] When existing equipment detects sample concentration, it is generally necessary to manually scan the QR code or barcode on the test tube to record it, manually draw the sample from the reagent tube, put the sample and reagent into the test tube respectively, manually put them into the shaking instrument to shake them evenly, and then take them out and put them into the fluorescent quantitative PCR instrument for testing to determine the concentration of the sample. The above method of confirming the sample concentration requires manual operation and is inefficient. In addition, when the instruments in each step are working, a large space in the laboratory is occupied, and the process is carried out in a sterile environment as much as possible. Because multiple steps require manual intervention, a sterile environment cannot be achieved. Utility Model Content

[0003] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a liquid transfer device, which can automatically detect a sample to be tested and automatically prepare a test sample of a required concentration.

[0004] To achieve this purpose, the utility model adopts the following technical solutions:

[0005] A liquid transfer device, comprising:

[0006] A frame, wherein a bottom plate is arranged on the frame;

[0007] An XY-axis moving module is disposed on the frame and located above the bottom plate;

[0008] A gripping module, a scanning module and a pipetting module, which are all arranged on the XY moving module, the gripping module, the scanning module and the pipetting module can move synchronously along the X and Y directions, and the gripping module, the scanning module and the pipetting module can move independently along the Z direction;

[0009] The XY moving module comprises: an X moving module and a Y moving module, wherein the X moving module is arranged on the frame and is located above the bottom plate;

[0010] The Y-direction moving module is arranged on the X-direction moving module and is located above the bottom plate, and the Y-direction moving module can reciprocate along the X-direction;

[0011] The gripping module is used to grip and move different types of test articles and consumables; the scanning module scans the information of the test articles and consumables used during the test; the pipetting module performs corresponding pipetting according to the input information of the scanning module;

[0012] The bottom plate is provided with a gun tip box, an ELISA plate, a sample tube assembly, an oscillation module, a fluorescence quantitative PCR instrument, a reagent assembly, and at least one of a PCR plate and a fragment analyzer plate;

[0013] The ELISA plate is placed on the shaking module;

[0014] The reagent assembly is used to contain different types of reagents;

[0015] The shaking module shakes and mixes the mixed liquid of the sample and the reagent in the test tube evenly;

[0016] The fluorescent quantitative PCR instrument is used to detect the concentration of the sample after the shaking module shakes and mixes it evenly.

[0017] Preferably, the X-direction moving module comprises an X-direction moving driving motor and an X-direction belt pulley assembly connected to the output end of the X-direction moving driving motor, and the X-direction belt pulley assembly is connected to the Y-direction moving assembly;

[0018] And / or, the Y-axis moving module includes a Y-axis moving frame, a Y-axis moving drive motor and a Y-axis belt and pulley assembly, the Y-axis moving drive motor is arranged on the Y-axis moving frame, the Y-axis belt and pulley assembly is connected to the output end of the Y-axis moving drive motor, and is also connected to the clamping module, the scanning module and the pipetting module.

[0019] Preferably, the clamping module comprises a clamping Z-direction moving component, a clamping Z-direction moving drive motor, a clamping drive component and a clamping arm, the clamping Z-direction moving drive motor is connected to the Y-direction moving module, and the clamping Z-direction moving component is connected to the output end of the clamping Z-direction moving drive motor;

[0020] The clamping drive assembly is connected to the output end of the clamping Z-direction moving assembly, and the clamping Z-direction moving assembly can drive the clamping drive assembly to move along the Z-direction;

[0021] The clamping arm is connected to the output end of the clamping drive assembly.

[0022] Preferably, the scanning module includes a scanning Z-direction moving component, a scanning Z-direction moving drive motor and a scanner, the scanning Z-direction moving drive motor is arranged on the Y-direction moving module, the scanning Z-direction moving component is connected to the output end of the scanning Z-direction moving drive motor, and the scanner is connected to the scanning Z-direction moving component.

[0023] Preferably, the oscillation module comprises: an oscillation working bracket, which is arranged on the bottom plate;

[0024] An oscillating motor assembly and an eccentric wheel assembly, wherein the oscillating motor assembly comprises a servo motor and a coupling, wherein the servo motor is mounted on the oscillating working bracket, wherein the output end of the servo motor passes through the oscillating working bracket and is connected to the coupling, and the eccentric wheel assembly is eccentrically connected to the coupling;

[0025] An oscillating tray, which is connected to the eccentric wheel assembly, and the eccentric wheel assembly can rotate relative to the oscillating tray, and a detachable test consumable is placed on the oscillating tray;

[0026] An XY-direction oscillation guide assembly is disposed between the oscillation working support and the oscillation tray, the XY-direction oscillation guide assembly is located on one side of the eccentric wheel assembly, and the XY-direction oscillation guide assembly limits the oscillation tray to move in the X-direction and the Y-direction in the horizontal plane;

[0027] The reset component comprises an optical coupler and a detection piece. One of the optical coupler and the optical coupler detection piece is arranged on the outer wall of the coupling, and the other is arranged on the top surface of the oscillating working bracket.

[0028] Preferably, the distance between the center of the eccentric wheel assembly and the center of the servo motor ranges from 1 mm to 1.5 mm.

[0029] Preferably, the oscillation module comprises: an oscillation working bracket, which is arranged on the bottom plate;

[0030] An oscillating motor assembly and an eccentric wheel assembly, wherein the oscillating motor assembly comprises a stepping motor and a coupling assembly, and the stepping motor is mounted on the oscillating working bracket;

[0031] The stepper motor passes through the output end of the oscillating working support and the eccentric wheel assembly, and is eccentrically arranged, and both are connected to the coupling assembly;

[0032] An oscillating tray, which is connected to the eccentric wheel assembly, and the eccentric wheel assembly can rotate relative to the oscillating tray, and a detachable test consumable is placed on the oscillating tray;

[0033] An XY-direction oscillation guide assembly is disposed between the oscillation working support and the oscillation tray, the XY-direction oscillation guide assembly is located on one side of the eccentric wheel assembly, and the XY-direction oscillation guide assembly limits the oscillation tray to move in the X-direction and the Y-direction in the horizontal plane;

[0034] A reset assembly, comprising a first fixing member, a reset spring, and a crank connecting rod member, wherein the first fixing member is arranged on the oscillating working support or on the bottom of the oscillating tray;

[0035] A crank connecting rod member connected to the coupling assembly and capable of rotating relative to the coupling assembly, wherein the rotation center of the crank connecting rod member is not coaxial with the stepping motor and / or the coupling assembly;

[0036] One end of the return spring is connected to the crank connecting rod member, and the other end is connected to the first fixing member.

[0037] Preferably, the coupling assembly comprises: a first coupling member and a second coupling member arranged in parallel up and down, and a connecting shaft, one end of the connecting shaft is connected to the first coupling member, and the other end is connected to the second coupling member;

[0038] The crank connecting rod is arranged between the first coupling member and the second coupling member, and is sleeved on the connecting shaft;

[0039] The first coupling is connected to the output shaft of the stepper motor, and the second coupling is connected to the eccentric wheel assembly.

[0040] Preferably, the pipetting device further comprises a switch door module disposed on the frame, and the switch door module comprises:

[0041] a frame connected to the frame;

[0042] A sliding assembly is arranged on the frame, and the sliding assembly is arranged along the X direction or the vertical direction;

[0043] The folding door has one end rotatably connected to one side of the frame and the other end connected to the sliding assembly. The folding door can slide back and forth and fold along the X direction or the vertical direction through the sliding assembly.

[0044] Preferably, the frame comprises an upper support assembly, a lower support assembly and a rotating shaft assembly, and the upper support assembly and the lower support assembly are both arranged on the frame;

[0045] One side of the folding door is rotatably connected to the rotating shaft assembly;

[0046] One end of the rotating shaft assembly is connected to the upper supporting assembly, and the other end is connected to the lower supporting assembly.

[0047] Compared with the prior art, the utility model has the following beneficial effects:

[0048] Different gun tip boxes, ELISA plates, sample test tube assemblies, oscillation modules, fluorescence quantifiers, reagent assemblies, PCR plates and fragment analyzer plates are placed on the bottom plate. Through the clamping module, the scanning module and the pipetting module, they can be synchronously moved along the XY direction, and each module itself can move along the Z direction. The above-mentioned ELISA plates, sample test tube assemblies, PCR plates and fragment analyzer plates are clamped by the clamping module and moved between various positions. At the same time, the information of each structure is scanned by the scanning module for record. The sample and reagent are moved to the above-mentioned ELISA plates, PCR plates, fragment analyzer plates, and the Tip head in the assembly gun tip box by the pipetting module. After the mixed liquid of the sample and reagent in the ELISA plate is shaken by the oscillation module, it is clamped by the clamping module to the fluorescence quantitative PCR instrument to test the concentration of the sample. According to the concentration detected, the sample and reagent of the appropriate proportion are re-absorbed into the PCR plate and / or the fragment analyzer plate, and the clamping module is clamped to the oscillation module after the vibration is uniform, so as to be used as a test probe for unloading.

[0049] The above-mentioned pipetting device can realize automatic testing of sample concentration and configure samples and reagents in appropriate proportions according to the sample concentration. The pipetting device can fully realize automatic work to improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a structural schematic diagram of the liquid transfer device in the utility model;

[0051] Figure 2 It is a schematic structural diagram of the first angle of the liquid transfer device in the utility model (excluding the housing);

[0052] Figure 3 It is a structural schematic diagram of the second angle of the liquid transfer device in the utility model (excluding the housing);

[0053] Figure 4 It is a partial structural schematic diagram of the first angle of the liquid transfer device in the utility model;

[0054] Figure 5 It is a partial structural schematic diagram of the second angle of the liquid transfer device in the utility model;

[0055] Figure 6 It is a partial structural schematic diagram of the liquid transfer device in the utility model from a third angle;

[0056] Figure 7a It is a structural schematic diagram of the clamping module and the scanning module in the utility model at a first angle;

[0057] Figure 7b It is a structural schematic diagram of the clamping module and the scanning module in the utility model at a second angle;

[0058] Figure 7c It is a structural schematic diagram of the clamping module and the scanning module in the utility model from a third angle;

[0059] Figure 8 It is a structural schematic diagram of the bottom plate, the gun tip box, the ELISA plate, the sample tube assembly, the oscillation module, the fluorescence quantitative PCR instrument, the reagent assembly, the PCR plate, and the fragment analyzer plate in the utility model from a first angle;

[0060] Fig. 9 It is a structural schematic diagram of the bottom plate, the gun tip box, the ELISA plate, the sample tube assembly, the oscillation module, the fluorescence quantitative PCR instrument, the reagent assembly, the PCR plate, and the fragment analyzer plate in the present invention from a second angle;

[0061] Fig.10 It is a structural schematic diagram of the first angle of the oscillation structure in the utility model;

[0062] Fig.11 It is a structural schematic diagram of the oscillating structure in the utility model (excluding the oscillating tray);

[0063] Fig.12a It is a structural schematic diagram of a first angle of the XY-direction oscillation guide assembly in the utility model;

[0064] Figure 12b It is a structural schematic diagram of a second angle of the XY-direction oscillation guide assembly in the utility model;

[0065] Fig.13a It is a structural schematic diagram of a first angle of the first guide connecting member in the utility model;

[0066] Fig.13b It is a structural schematic diagram of a second angle of the first guide connecting member in the utility model;

[0067] Fig.14a It is a structural schematic diagram of a first angle of the vibration tray in the utility model;

[0068] Fig.14b It is a structural schematic diagram of a second angle of the vibration tray in the utility model;

[0069] Fig.14c It is a structural schematic diagram of the third angle of the vibration tray in the utility model;

[0070] Fig.15a It is a structural schematic diagram of the first angle of the oscillation structure in the utility model;

[0071] Fig.15b It is a structural schematic diagram of the second angle of the oscillation structure in the utility model;

[0072] Fig.16 It is a structural schematic diagram of the oscillating structure in the utility model (excluding the oscillating tray);

[0073] Fig.17 It is a structural schematic diagram of the coupling assembly in the utility model;

[0074] Fig.18a It is a front view of the coupling assembly in the utility model;

[0075] Fig.18b For the utility model Fig.18a AA section view;

[0076] Fig.19a It is a structural schematic diagram of a first angle of the vibration tray in the utility model;

[0077] Fig.19b It is a structural schematic diagram of a second angle of the vibration tray in the utility model;

[0078] Fig. 20 It is a structural schematic diagram of the first angle of the switch door module and the frame in the utility model;

[0079] Fig.21 For the utility model Fig. 20 A magnified view of the structure at A;

[0080] Fig.22a It is a structural schematic diagram of a first angle of the first rotating shaft member in the utility model;

[0081] Figure 22b It is a structural schematic diagram of the second angle of the first rotating shaft member in the utility model;

[0082] Fig.23 For the utility model Fig. 20 A magnified view of the structure at B;

[0083] Fig.24a It is a structural schematic diagram of a first angle of the second rotating shaft member in the utility model;

[0084] Figure 24b It is a structural schematic diagram of a second angle of the second rotating shaft member in the utility model;

[0085] Fig.25 It is a structural schematic diagram of the second rotating shaft member, the sliding rod and the rotating shaft in the utility model;

[0086] Fig.26 It is a structural schematic diagram of the second rotating shaft member and the sliding assembly in the utility model;

[0087] Fig. 27 It is a structural schematic diagram of the sliding member and the sliding rod in the utility model;

[0088] Fig.28 This is a schematic structural diagram of the switch door module and the frame in the utility model from a second angle.

[0089] Among them, 1. rack; 11. rack frame; 12. bottom plate;

[0090] 2. X-axis moving module; 21. X-axis moving driving motor; 22. X-axis belt and pulley assembly; 23. X-axis guide assembly; 231. first slide rail; 232. second slide block;

[0091] 3. Y-axis moving module; 31. Y-axis moving frame; 32. Y-axis moving driving motor; 33. Y-axis belt and pulley assembly; 34. Y-axis guide assembly; 341. second slide rail; 342. second slide block;

[0092] 4. Clamping module; 41. Clamping Z-direction moving assembly; 411. First Z-direction lead screw; 412. First Z-direction rotating block; 42. Clamping Z-direction moving driving motor; 43. Clamping driving assembly; 431. Clamping finger electric cylinder; 44. Clamping arm; 45. Third slide rail; 46. Third slide block;

[0093] 5. Scanning module; 51. Scanning Z-direction moving assembly; 52. Scanning Z-direction moving driving motor; 53. Scanner; 54. Fourth slide rail; 55. Fourth slide block;

[0094] 6. Liquid transfer module; 61. Liquid transfer gun;

[0095] 7. switch door module; 71. frame; 711. upper support assembly; 7111. upper support member; 7112. first rotating shaft member; 712. lower support assembly; 7121. second rotating shaft member; 713. rotating shaft assembly; 7131. rotating shaft; 7132. door connecting member; 72. rack;

[0096] 73, sliding assembly; 731, sliding fixing member; 732, sliding rod; 733, sliding member; 7331, cylindrical sliding member; 7332, sliding connecting member; 7333, door rotating connecting member;

[0097] 74, folding door; 741, first door body; 742, second door body; 743, folding door connecting piece; 744, sliding shaft; 745, rotating bearing;

[0098] 8. Oscillation module; 81. Oscillation working bracket; 811. Oscillation support frame; 812. Oscillation mounting plate; 8122. Weight reduction slot; 82. Oscillation motor assembly; 821. Motor; 822. Coupling;

[0099] 823, stepper motor; 824, coupling assembly; 8241, first coupling member; 8242, second coupling member; 8243, connecting shaft; 83, eccentric wheel assembly; 831, cam follower; 84, XY oscillation guide assembly; 841, first oscillation slide rail; 842, first oscillation slider; 843, second oscillation slide rail; 844, second oscillation slider; 845, guide connection assembly; 8451, first guide connection member; 84511, first oscillation slider installation groove; 84512, first slider fastening hole; 84513 , fastening mounting groove; 8452, second guide connecting piece; 8453, fastening connecting piece; 85, oscillating tray; 851, tray bottom plate; 852, tray limiter; 853, plunger spring; 854, tray support plate; 86, reset assembly; 861, optical coupling detection sheet; 862, optical coupling; 863, first fixing piece; 864, reset spring; 865, crank connecting rod; 8651, first connecting piece; 8652, second connecting piece; 8653, crank; 866, second fixing piece; 87, test tube rack; 88, buffer piece;

[0100] 13. Tip box; 14. ELISA plate; 15. PCR plate; 17. Fragment analyzer plate;

[0101] 16. Sample test tube assembly; 161. Test tube rack; 162. Sample test tube;

[0102] 18. Fluorescence quantitative PCR instrument;

[0103] 19. Reagent components. DETAILED DESCRIPTION

[0104] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0105] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0106] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0107] In the description of the present utility model, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use. They are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0108] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0109] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0110] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0111] like Figure 1-Figure 6 As shown, in this embodiment, a liquid transfer device is provided, which includes:

[0112] The rack 1 is provided with a bottom plate 12. Specifically, the rack 1 comprises a rack frame 11 and a bottom plate 12, and the bottom plate 12 is installed at the bottom of the rack frame 11.

[0113] The XY-direction moving module 3 is arranged on the frame 1 and is located above the bottom plate 12; preferably, the XY-direction moving module 3 comprises: an X-direction moving module 2 and a Y-direction moving module 3, wherein the X-direction moving module 2 is arranged on the frame 1 and is located above the bottom plate 12. The Y-direction moving module 3 is arranged on the X-direction moving module 2 and is located above the bottom plate 12, and the Y-direction moving module 3 can reciprocate along the X-direction.

[0114] The clamping module 4, the scanning module 5 and the pipetting module 6 are all arranged on the XY moving module 3, and the clamping module 4, the scanning module 5 and the pipetting module 6 can move synchronously along the X and Y directions. Specifically, the clamping module 4, the scanning module 5 and the pipetting module 6 are all arranged on the XY moving module 3. The clamping module 4, the scanning module 5 and the pipetting module 6 can all move independently along the Z direction.

[0115] The clamping module 4 is used to clamp and move different types of test items and consumables, including deep well plates, ELISA plates 14, PCR plates 15 and Tip heads. The scanning module 5 scans the information of the test items and consumables used at the time of detection, specifically, scans the information of the test tube rack 161, deep well plates, PCR plates 15, and Tip heads, and enters the information. The pipetting module 6 performs corresponding pipetting according to the input information of the scanning module 5. The above-mentioned "information of the test items and consumables used at the time" refers to the information of the material clamped by the clamping module 4 when the pipetting device is working.

[0116] Regarding the specific structures of the X-direction moving module 2 and the Y-direction moving module 3, as shown in FIG. Figure 4 and Figure 5 As shown, the X-direction moving module 2 includes an X-direction moving driving motor 21 and an X-direction belt pulley assembly 22 connected to the output end of the X-direction moving driving motor 21, and the X-direction belt pulley assembly 22 is connected to the Y-direction moving assembly. The X-direction moving driving motor 21 includes a first motor, and the output end of the first motor is connected to the X-direction belt pulley assembly 22. The first motor is a conventional motor, which is selected according to actual needs. The X-direction belt pulley assembly 22 is a conventional belt and pulley structure.

[0117] In other embodiments, the X-axis moving module 2 includes an X-axis slide table disposed on the frame 1, and the Y-axis moving module 3 is disposed on the X-axis slide table.

[0118] The liquid transfer device further includes an X-direction guide assembly 23, to which the Y-direction moving module 3 is connected, and the Y-direction moving module 3 provides guidance along the X-direction movement. Preferably, the X-direction guide assembly 23 includes two groups, and the two groups of X-direction guide assemblies 23 are arranged in parallel on both sides of the Y-direction moving module 3. Further preferably, the two groups of X-direction guide assemblies 23 are staggered in the upper and lower directions.

[0119] The X-direction guide assembly 23 includes a first slide rail 231 and a first slider. The first slide rail 231 is disposed on the frame 1 . The first slider and the first slide rail 231 are slidably matched. The first slider is connected to the Y-direction moving module 3 .

[0120] The Y-direction moving module 3 includes a Y-direction moving frame 31, a Y-direction moving driving motor 32 and a Y-direction belt pulley assembly 33. The Y-direction moving driving motor 32 is arranged on the Y-direction moving frame 31. The Y-direction belt pulley assembly 33 is connected to the output end of the Y-direction moving driving motor 32 and is simultaneously connected to the clamping module 4, the scanning module 5 and the pipetting module 6. The Y-direction moving driving motor 32 includes a second motor, and the output end of the second motor is connected to the Y-direction belt pulley assembly 33. The second motor is a conventional motor, which is selected according to actual needs. The Y-direction belt pulley assembly 33 is a conventional belt and pulley structure.

[0121] The Y-direction moving module 3 further includes a Y-direction guide assembly 34, and the clamping module 4, the scanning module 5 and the pipetting module 6 are all connected to the Y-direction guide assembly 34. Preferably, the Y-direction guide assembly 34 includes a second slide rail 341 and a second slider 342, the second slide rail 341 is arranged on the Y-direction moving frame 31, and the second slider 342 is connected to the clamping module 4, the scanning module 5 and the pipetting module 6. The Y-direction guide assembly 34 is divided into two groups, and the two groups of Y-direction guide assemblies 34 are arranged in parallel in the Y direction.

[0122] like Figure 5 and Figure 6 As shown, the liquid transfer module 6 includes a main fixed plate, which is connected to the Y-direction moving module 3 and the Y-direction guide assembly 34. Specifically, the main fixed plate is simultaneously connected to two sets of second sliders 342 and the Y-direction belt pulley assembly 33. At the same time, the clamping module 4, the scanning module 5 and the liquid transfer module 6 are all connected to the main fixed plate. When the Y-direction moving driving motor 32 drives the Y-direction belt pulley assembly 33 to rotate, the Y-direction belt pulley assembly 33 drives the main fixed plate, and the clamping module 4, the scanning module 5 and the liquid transfer module 6 connected to the main fixed plate to move synchronously.

[0123] like Figure 7a , Figure 7b and Figure 7c As shown, the clamping module 4 includes a clamping Z-direction moving assembly 41, a clamping Z-direction moving drive motor 42, a clamping drive assembly 43 and a clamping arm 44. The clamping Z-direction moving drive motor 42 is arranged on the main fixed plate. The clamping Z-direction moving assembly 41 is connected to the output end of the clamping Z-direction moving drive motor 42. The clamping Z-direction moving drive motor 42 is a conventional motor, and the specific model is selected according to actual needs. The clamping Z-direction moving assembly 41 includes a first Z-direction lead screw 411 connected to the output end of the clamping Z-direction moving drive motor 42, and a first Z-direction rotating block 412 connected to the first Z-direction lead screw 411. The first Z-direction rotating block 412 is connected to the clamping drive assembly 43.

[0124] The clamping drive assembly 43 is connected to the output end of the clamping Z-direction moving assembly 41, and the clamping Z-direction moving assembly 41 can drive the clamping drive assembly 43 to move in the Z-direction, and the clamping arm 44 is connected to the output end of the clamping drive assembly 43. Preferably, the clamping drive assembly 43 includes a clamping finger electric cylinder 431 connected to the output end of the clamping Z-direction moving assembly 41, and the clamping fingers of the clamping finger electric cylinder 431 are connected to the clamping arm 44. Specifically, the clamping drive assembly 43 also includes a clamping fixed plate, the first Z-direction rotating block 412 is connected to the clamping fixed plate, the clamping finger electric cylinder 431 is connected to the clamping fixed plate, and the first Z-direction rotating block 412 moves in the Z-direction, driving the clamping finger cylinder connected to the first Z-direction rotating block 412 to rise and fall in the Z-direction.

[0125] The clamping arm 44 has the same structure as the “clamping arm 44” in the patent: “ZL202222621509.0”, and will not be described in detail here.

[0126] The clamping module 4 further includes a third slide rail 45 and a third slider 46 . The third slide rail 45 is arranged on the main fixed plate along the Z direction. The third slider 46 and the third slide rail 45 are slidably matched. The third slider 46 is connected to the first Z-direction rotating block 412 .

[0127] The scanning module 5 includes a scanning Z-direction moving component 51, a scanning Z-direction moving driving motor 52 and a scanner 53. The scanning Z-direction moving driving motor 52 is arranged on the main fixed plate, the scanning Z-direction moving component 51 is connected to the output end of the scanning Z-direction moving driving motor 52, and the scanner 53 is connected to the scanning Z-direction moving component 51. The scanning Z-direction moving component 51 drives the scanner 53 to move back and forth along the Z direction, and the scanner 53 itself can rotate around the Y axis. Specifically, the clamping Z-direction moving driving motor 42 is a conventional motor, and the specific model is selected according to actual needs. The scanning Z-direction moving component 51 includes a second Z-direction lead screw connected to the output end of the scanning Z-direction moving driving motor 52, and a second Z-direction rotating block connected to the second Z-direction lead screw, and the first Z-direction rotating block 412 is connected to the scanner 53. The scanner 53 is used to scan and obtain various information.

[0128] The scanning module 5 further includes a fourth slide rail 54 and a fourth slider 55. The fourth slide rail 54 is arranged on the main fixed plate along the Z direction. The fourth slider 55 and the fourth slide rail 54 are slidably matched. The fourth slider 55 is connected to the second Z-direction rotating block.

[0129] The pipetting module 6 includes a pipetting gun 61 , which can move along the Z direction to absorb samples and reagents in the test tube.

[0130] like Figure 8 and Fig. 9As shown, the base plate 12 is provided with a gun tip box 13, an ELISA plate 14, a sample test tube assembly 16, an oscillation module 8, a fluorescence quantitative PCR instrument 18, a reagent assembly 19, and at least one of a PCR plate 15 and a fragment analyzer plate 17, wherein the ELISA plate 14 is placed on the oscillation module 8, specifically, the ELISA plate 14 is pre-placed on the oscillation module 8. Along the Y direction, the reagent assembly 19, the oscillation module 8 and the fluorescence quantitative PCR instrument 18 are sequentially arranged from the door opening. The reagent assembly 19 is used to hold different types of reagents. In the present embodiment, the reagent assembly 19 includes a reagent rack, and the reagent rack is used to pre-place different reagents before the pipetting device starts working. Specifically, the reagent includes at least one of a fluorescent dye buffer caching reagent, a fragment quality control dilution reagent, water, and a TE reagent.

[0131] The shaking module 8 shakes and mixes the mixed liquid of the sample and the reagent in the test tube. Specifically, the shaking module 8 shakes and mixes the mixed liquid in the ELISA plate 14 placed thereon and the PCR plate 15 transferred to the shaking module 8 by the clamping module 4.

[0132] The fluorescence quantitative PCR instrument 18 is used to detect the concentration of the sample after the shaking module 8 shakes and mixes evenly. Specifically, the fluorescence quantitative PCR instrument 18 can detect the concentration of the sample in the ELISA plate 14, the concentration of the sample in the PCR plate 15, and the concentration of the sample in the fragment analyzer plate 17. The specific structure of the fluorescence quantitative PCR instrument 18 is the same as that in the patent: "ZL202320534684.8", which will not be repeated here.

[0133] The gun tip box 13, PCR plate 15, fragment analyzer plate 17 assembly and sample test tube assembly 16 are distributed in a matrix form on the bottom plate 12. The above-mentioned matrix arrangement is convenient for the control system to locate the position of each structure and accurately move between each structure. At the same time, it is also convenient to set a positioning and fixing structure on the bottom plate 12 to temporarily fix and position the gun tip box 13, PCR plate 15 and sample test tube assembly 16. The position of the gun tip box 13, PCR plate 15 and sample test tube assembly 16 can be adjusted according to actual needs.

[0134] The tip box 13 is used to place tips of different capacities, so that the pipetting module 6 automatically selects different tips in the tip box 13 to absorb samples or reagents. The tip boxes 13 are divided into six groups, three of which are arranged along the X direction and two along the Y direction.

[0135] The sample test tube assembly 16 includes a first test tube rack 161 and a sample test tube 162. The sample test tube 162 is placed on the first test tube rack 161. The sample test tube 162 is used to place the same or different samples. The first test tube rack 161 is divided into four groups, two groups along the X direction and two groups along the Y direction, and the four groups of first test tube racks 161 are arranged at the front end of the gun tip box 13, which refers to the side close to the opening of the pipetting device. In addition, the four groups of first test tube racks 161 are arranged near the gun tip box 13 located at the edge of the bottom plate 12.

[0136] The PCR plate 15 and the fragment analyzer plate 17 components are sequentially arranged along the Y direction between the gun tip box 13 and the sample test tube 162. Specifically, the fragment analyzer plate 17 component is arranged on a side close to the switch door module of the pipetting device.

[0137] The fragment analyzer board 17 can hold test tubes of different sizes. The standard gun tip box 13 in this embodiment is 8*12. Therefore, since the diameter size range of the sample test tube 162 is 8-11 mm, the diameter of the test tube placed on the fragment analyzer board 17 is 6 mm. In order to keep the number of PCR plates 15, the number of sample test tubes 162 and the number of test tubes the same and facilitate sampling tests, the first test tube rack 161 is divided into four groups, and the number of sample test tubes 162 on each group of the first test tube rack 161 is 24.

[0138] In this embodiment, the PCR plate 15, the gun tip box 13, the first test tube rack 161 and the second test tube rack 161 have the same size, which can ensure a unified positioning structure, and different PCR plates 15, gun tip boxes 13 and first test tube racks 161 can be placed in the positioning structure.

[0139] In this embodiment, different gun tip boxes 13, ELISA plates 14, sample test tube components 16, oscillation modules 8, fluorescence quantification instruments, reagent components 19, PCR plates 15 and fragment analyzer plates 17 are placed on the bottom plate 12, and can be synchronously moved along the XY direction through the clamping module 4, the scanning module 5 and the liquid transfer module 6, and each module itself can move along the Z direction. The above-mentioned ELISA plates 14, sample test tube components 16, PCR plates 15 and fragment analyzer plates 17 are clamped by the clamping module 4 and moved between various positions. At the same time, the information of each structure is scanned by the scanning module 5 for record. The sample and reagent are moved to the above-mentioned ELISA plates 14, PCR plates 15, fragment analyzer plates 17, and the Tip head in the assembly gun tip box 13 by the liquid transfer module 6. After the mixed liquid of the sample and reagent in the ELISA plate 14 is shaken by the oscillation module 8, it is clamped by the clamping module 4 to the fluorescence quantitative PCR instrument 18 to test the concentration of the sample. According to the concentration to be tested, the sample and reagent in a suitable ratio are re-pipetted into the PCR plate 15 and / or the fragment analyzer plate 17, and are clamped by the clamping module 4 and shaken evenly by the shaking module 8, so as to be ready for use as a test probe off the machine.

[0140] The above-mentioned pipetting device can realize automatic testing of sample concentration and configure samples and reagents in appropriate proportions according to the sample concentration. The pipetting device can fully realize automatic work to improve work efficiency.

[0141] Regarding the positioning structure of the gun tip box 13, ELISA plate 14, sample tube assembly 16, oscillation module 8, fluorescence quantification instrument, reagent assembly 19, PCR plate 15 and fragment analyzer plate 17 placed on the bottom plate 12,

[0142] The bottom plate 12 is provided with a plurality of mounting positions for mounting the gun tip box 13, the sample test tube assembly 16, the PCR plate 15 and / or the fragment analyzer plate 17. The PCR plate 15 or the fragment analyzer plate 17 is placed at the mounting position, and is selected according to the structure required for the subsequent test. Preferably, a positioning block and a positioning member are provided on the mounting position, the positioning block is provided at two groups of adjacent sides, and the positioning member is provided at the other two groups of adjacent sides. The positioning block and the positioning member are provided in a regular quadrilateral. The positioning block and the positioning member position the gun tip box 13, the sample test tube assembly 16, the PCR plate 15 and the fragment analyzer plate 17. Preferably, the positioning member is a positioning pin.

[0143] Regarding the specific structure of the above-mentioned oscillation module 8, as shown in FIG. Figure 10-11 As shown, an oscillation structure is provided in this embodiment, including an oscillation working bracket 81, an oscillation motor assembly 82, an eccentric wheel assembly 83, an XY oscillation guide assembly 84, an oscillation tray 85 and a reset assembly 86, wherein the oscillation motor assembly 82 includes a servo motor 821 and a coupling 822, the servo motor 821 is installed on the oscillation working bracket 81, the output end of the servo motor 821 passes through the oscillation working bracket 81 and is connected to the coupling 822, the eccentric wheel assembly 83 is eccentrically connected to the coupling 822, and the servo motor 821 can drive the eccentric wheel assembly 83 to rotate; preferably, the coupling 822 is a cylindrical structure.

[0144] The oscillation tray 85 is connected to the eccentric wheel assembly 83, and the eccentric wheel assembly 83 can rotate relative to the oscillation tray 85. The oscillation tray 85 is provided with detachable test consumables, including PCR plates, fragment analyzer plates, ELISA plates, deep well plates, test tube racks, and test tubes on the test tube racks. The servo motor 821 provides power for oscillating the mixed liquid in the test tubes. The above-mentioned test consumables include PCR plates, fragment analyzer plates, ELISA plates, deep well plates, test tube racks, and test tubes on the test tube racks.

[0145] The XY-direction oscillation guide assembly 84 is disposed between the oscillation working support 81 and the oscillation tray 85. The XY-direction oscillation guide assembly 84 is located on one side of the eccentric wheel assembly 83. The XY-direction oscillation guide assembly 84 limits the oscillation tray 85 to move along the X-direction and the Y-direction in the horizontal plane.

[0146] The reset assembly 86 includes an optical coupler 862 and a detection sheet 861, one of which is arranged on the outer wall of the coupling 822, and the other is arranged on the top surface of the oscillation working bracket 81, and the detection sheet 861 is used to determine the origin of the servo motor 821. By determining the origin position of the servo motor 821 through the optical coupler 862 and the detection sheet 861, the position coordinates of the test consumables can be accurately determined, so that the oscillation structure can be used in an automation system. Specifically, in the present embodiment, the optical coupler 862 is arranged on the top surface of the oscillation working bracket 81, and the detection sheet 861 is installed on the outer wall of the coupling 822.

[0147] In the present embodiment, the X direction and Y direction mentioned above are as follows: Fig.11 shown.

[0148] In this embodiment, the servo motor 821 rotates, driving the eccentric wheel assembly 83 to move along the horizontal plane through the coupling 822, and then driving the oscillation tray 85 connected to the eccentric wheel assembly 83 to move along the X and Y directions in the horizontal plane to shake the test tubes so that the liquid in each test tube can be vortex mixed around the central axis of the test tube.

[0149] The XY oscillation guide assembly 84 provides precise guidance for the movement of the oscillation tray 85 in the horizontal plane, and limits the movement amplitude of the oscillation tray 85 in the horizontal plane along the X and Y directions, thereby preventing the oscillation tray 85 from shaking with excessive displacement during the oscillation process, thereby causing the mixed liquid in the test tube to be shaken out.

[0150] In addition, the above test consumables can be quickly disassembled and placed on the shaking tray 85, and the test tubes containing mixed reagents are placed on the test consumables. After the shaking is completed, the test tubes and the test consumables are removed synchronously. When the shaking structure is working, test tubes can be placed on the test consumables for shaking, and the test tubes and test consumables are moved to the shaking tray 85 at the same time, thereby improving work efficiency.

[0151] In this embodiment, the test consumables can be detachably placed on the vibration tray 85. The specific manner of "detachable" includes that the test consumables can be clamped to the vibration tray 85 by the robot, and when placed on the vibration tray 85, the test consumables can be clamped by the vibration tray 85. When the robot clamps the test consumables, the test consumables can be quickly separated from the vibration tray 85 after being clamped by the robot. When the test consumables are separated from the vibration tray 85, the robot uses less force, and the mixed liquid in the test tube will not be shaken and splashed due to the separation of the vibration tray 85.

[0152] In this embodiment, the specific structure for realizing the detachable test consumables on the oscillation tray 85 includes: a plunger spring is provided on the upper side wall of the oscillation tray 85, and the side wall of the test consumables is clamped by the plunger spring. Or, a first magnetic component is provided on the oscillation tray, and a second magnetic component is provided on the test consumables, the first magnetic component and the second magnetic component are adsorbed on each other, and the first magnetic component is powered on and off to control the first magnetic component and the second magnetic component, so as to realize the rapid disassembly of the test consumables on the oscillation tray 85. Or, a lifting and rotating oil cylinder is provided on the oscillation working bracket 81, and the output end of the lifting and rotating oil cylinder is connected to a clamping rod, and the head of the clamping rod is provided with a clamping head, and the clamping head is L-shaped, and the clamping rod can be lifted and rotated through the oscillation tray. The lifting and rotating oil cylinder drives the clamping rod to rise and rotate, and rotates to a state where it can contact the test consumables, and the lifting and rotating oil cylinder descends, and the clamping head can clamp the test consumables. When the clamping head releases the test consumables, the lifting and rotating oil cylinder drives the clamping rod to rise, and then rotates, and the lifting and rotating oil cylinder descends and returns to the inside or below the oscillating working bracket 81.

[0153] The oscillation frequency range of the servo motor 821 in this embodiment is 500rpm-2000rpm. Specifically, the oscillation frequency of the servo motor 821 is 500rpm, 1000rpm, 1500rpm, and 2000rpm. When the oscillation frequency of the servo motor 821 is lower than 500rpm, the oscillation effect is poor, and the mixed liquid in the test tube is mixed evenly. When the oscillation frequency of the servo motor 821 is higher than 2000rpm, the oscillation is violent, causing the mixed liquid in the test tube to easily spill. The oscillation frequency can be adjusted according to actual needs.

[0154] Preferably, the oscillation working bracket 81 includes an oscillation support frame 811 and an oscillation mounting plate 812, the oscillation mounting plate 812 is installed above the oscillation support frame 811, the oscillation motor assembly 82 is arranged in the oscillation support frame 811 and connected to the oscillation mounting plate 812, the oscillation motor assembly 82 is located below the oscillation mounting plate 812, the output end of the oscillation motor assembly 82 passes through the oscillation mounting plate 812 and is connected to the eccentric wheel assembly 83, the XY oscillation guide assembly 84 is connected to the oscillation mounting plate 812, and is located on the upper surface of the oscillation mounting plate 812.

[0155] By setting an oscillation support frame 811 and an oscillation mounting plate 812, the oscillation support frame 811 is a hollow structure, and the servo motor 821 is set in the space of the oscillation support frame 811, and its output end extends out of the oscillation mounting plate 812. The structure is compact and integral, and the oscillation support frame 811 is set as a hollow structure. The overall structure is light in weight and easy to install.

[0156] Preferably, an eccentric wheel mounting groove 8512 is provided at the bottom of the vibration tray 85, and the gap between the eccentric wheel assembly 83 and the eccentric wheel mounting groove 8512 ranges from 0.1 mm to 0.2 mm. The clearance between the eccentric wheel mounting groove 8512 and the eccentric wheel assembly 83 ensures that the eccentric wheel assembly 83 rotates, but does not drive the vibration tray 85 to rotate. During the eccentric rotation of the eccentric wheel assembly 83, it can only push the vibration tray 85 to move along the X and Y directions in the horizontal plane to generate vibration, and the vibration tray 85 and the eccentric wheel assembly 83 will not be disengaged. Preferably, the gap between the eccentric wheel assembly 83 and the eccentric wheel mounting groove 8512 is 0.1 mm.

[0157] Preferably, the distance between the center of the eccentric wheel assembly 83 and the center of the servo motor 821 ranges from 1mm to 1.5mm. Through the eccentric rotation of the eccentric wheel assembly 83, the oscillation tray 85 is displaced in the XY direction in the horizontal plane, thereby producing an oscillation effect. Further preferably, the distance between the center of the eccentric wheel assembly 83 and the center of the servo motor 821 ranges from 1mm to 1.5mm. When the distance between the two is less than 1mm, the displacement caused by the eccentric motion of the eccentric wheel assembly 83 is small, resulting in insufficient oscillation effect. When the distance between the two is greater than 1.5mm, the displacement caused by the eccentric motion of the eccentric wheel assembly 83 is large, which can easily cause the mixed reagent in the test tube to shake violently, affecting the mixing effect.

[0158] Preferably, the eccentric wheel assembly 83 includes a cam follower 831, and the shaft of the cam follower 831 is connected to the coupling 822. The bearing end of the cam follower 831 is connected to the bottom of the oscillation tray 85. The distance between the center of the cam follower 831 and the center of the servo motor 821 ranges from 1 mm to 1.5 mm. When the distance between the two is less than 1 mm, the displacement generated by the eccentric motion of the cam follower 831 is small, resulting in insufficient oscillation effect. When the distance between the two is greater than 1.5 mm, the displacement generated by the eccentric motion of the cam follower 831 is large, which can easily cause the mixed reagent in the test tube to shake violently, affecting the mixing effect. The cam follower 831 is selected according to actual needs and is a conventional structure on the market.

[0159] In other embodiments, the eccentric wheel assembly 83 includes an eccentric wheel, an eccentric connecting shaft and an intermediate connecting bearing, one end of the eccentric connecting shaft is connected to the coupling 822, and the other end of the eccentric connecting shaft is connected to the inner ring of the intermediate connecting bearing. The eccentric wheel is sleeved on the outer ring of the intermediate connecting bearing, and at the same time, the eccentric wheel is connected to the vibration tray 85 and can rotate relative to the vibration tray 85. Specifically, an eccentric wheel mounting groove 8512 is provided at the bottom of the above-mentioned vibration tray 85, and the eccentric wheel and the eccentric wheel mounting groove 8512 are clearance-matched. Preferably, the gap between the eccentric wheel and the eccentric wheel mounting groove 8512 ranges from 0.1mm to 0.2mm. Further preferably, the gap between the eccentric wheel and the eccentric wheel mounting groove 8512 is 0.1mm, 0.15mm and 0.2mm.

[0160] Preferably, the distance between the center of the eccentric wheel and the center of the stepper motor 823 (i.e., the center of the servo motor 821 and the coupling 822) is in the range of 1 mm to 1.5 mm. Preferably, the distance between the center of the eccentric wheel and the center of the stepper motor (i.e., the center of the servo motor 821 and the coupling 822) is in the range of 1 mm or 1.5 mm.

[0161] Preferably, in this embodiment, the eccentric wheel assembly 83 is a cam follower 831, and two groups of XY-direction oscillation guide assemblies 84 are provided, and the two groups of XY-direction oscillation guide assemblies 84 are symmetrically arranged on both sides of the oscillation motor assembly 82. Specifically, the two groups of XY-direction oscillation guide assemblies 84 are symmetrically arranged on both sides of the servo motor 821. When the oscillation tray 85 moves in the horizontal plane, the XY-direction oscillation guide assemblies 84 guide the movement of the oscillation tray 85 in the X and Y directions, and the two groups of XY-direction oscillation guide assemblies 84 can ensure that the oscillation tray 85 is uniformly stressed, thereby ensuring that the oscillation tray 85 moves smoothly in the horizontal plane and shakes evenly.

[0162] The bottom of the oscillating tray 85 is provided with an eccentric wheel mounting groove 8512, and the cam follower 831 is clearance-matched with the eccentric wheel mounting groove 8512. Preferably, the clearance between the cam follower 831 and the eccentric wheel mounting groove 8512 ranges from 0.1 mm to 0.2 mm. Further preferably, the clearance between the cam follower 831 and the eccentric wheel mounting groove 8512 is 0.1 mm, 0.15 mm, and 0.2 mm.

[0163] Preferably, if Fig.12a , Figure 12b , Fig.13a , Fig.13bAs shown, the XY-direction oscillation guide assembly 84 includes an X-direction oscillation guide assembly, a guide connection assembly 845 and a Y-direction oscillation guide assembly, wherein the X-direction oscillation guide assembly is connected to the oscillation work support 81, specifically, the X-direction oscillation guide assembly is connected to the oscillation mounting plate 812, the guide connection assembly 845 is arranged between the X-direction oscillation guide assembly and the Y-direction oscillation guide assembly, and both the X-direction oscillation guide assembly and the Y-direction oscillation guide assembly are connected to the guide connection assembly 845, and the oscillation tray 85 is connected to the Y-direction oscillation guide assembly. By stacking the X-direction oscillation guide assembly and the Y-direction oscillation guide assembly, the two are fixed, and the oscillation tray 85 is limited to a small amplitude shaking in the horizontal plane during the movement process, and the shaking amplitude radius range is 1mm-1.5mm, so that the test tube oscillates and the mixed liquid therein is stable.

[0164] Preferably, the X-axis oscillation guide assembly includes a first oscillation slide rail 841 and a first oscillation slider 842 that slide in cooperation with each other, and the first oscillation slide rail 841 is arranged along the X-axis and connected to the oscillation working bracket 81. Specifically, the first oscillation slide rail 841 is connected to the oscillation mounting plate 812, and the first oscillation slider 842 is connected to the guide connection assembly 845. More specifically, the first oscillation slider 842 is fastened to the guide connection assembly 845 by four groups of bolts. Through the mutual cooperation and sliding of the first oscillation slide rail 841 and the first oscillation slider 842, the X-axis movement of the oscillation tray 85 is accurately guided to ensure the movement amplitude.

[0165] Preferably, the Y-direction oscillation guide assembly includes a second oscillation rail 843 and a second oscillation slider 844 that slide in cooperation with each other, and the second oscillation rail 843 is arranged along the Y direction and connected to the oscillation tray 85. The second oscillation slider 844 is connected to the guide connection assembly 845, and specifically, the second oscillation slider 844 is fastened to the guide connection assembly 845 by four groups of bolts. Through the cooperation and sliding of the second oscillation rail 843 and the second oscillation slider 844, the Y-direction movement of the oscillation tray 85 is accurately guided to ensure the movement range.

[0166] Preferably, if Fig.14a As shown, a guide rail mounting member 8511 is provided at the bottom of the oscillating tray 85, on which a guide rail mounting groove 85111 is provided, and the second oscillating slide rail 843 is installed in the guide rail mounting groove 85111. Specifically, the guide rail mounting member 8511 is fastened to the bottom of the tray bottom plate 851 by screws.

[0167] Preferably, if Fig.12a , Figure 12b and Fig.13a , Fig.13bAs shown, the guide connection assembly 845 includes a first guide connection member 8451, a second guide connection member 8452 and a fastening connection member 8453, wherein a first oscillating slider installation groove 84511 is provided on the bottom surface of the first guide connection member 8451, the first oscillating slider 842 is provided in the first oscillating slider installation groove 84511, and the first oscillating slider 842 is fastened and connected to the first guide connection member 8451 by four groups of bolts. Specifically, a first slider fastening hole 84512 is provided at the bottom of the first oscillating slider installation groove 84511, and a screw is inserted through the first slider fastening hole 84512 to connect the first guide connection member 8451 and the first oscillating slider 842.

[0168] A second oscillating slider installation groove is provided on the top surface of the second guide connector 8452, and the second oscillating slider 844 is provided in the second oscillating slider installation groove. The second oscillating slider 844 is fastened to the second guide connector 8452 by four sets of bolts. The second oscillating slider 844 is supported by the second guide connector 8452 to facilitate fixing the second oscillating slider 844. Specifically, a second slider 342 fastening hole is provided at the bottom of the second oscillating slider installation groove, and a screw is inserted through the second slider 342 fastening hole to connect the second guide connector 8452 and the second oscillating slider 844.

[0169] The sides of the first guide connector 8451 and the second guide connector 8452 are both provided with fastening installation grooves 84513 . The second guide connector 8452 is stacked on top of the first guide connector 8451 . The fastening connector 8453 is arranged in the fastening installation grooves 84513 to connect the first guide connector 8451 and the second guide connector 8452 .

[0170] The outer dimensions of the first guide connecting member 8451 and the second guide connecting member 8452 are the same as the structures arranged thereon. After the connecting member 8453 is installed and tightened, the outer dimensions of the two are not affected. The overall structure is small in size and does not occupy too much space. The overall structure of the oscillation module 8 is compact.

[0171] Regarding the specific structure of the above-mentioned vibration tray 85, as Fig.14a , Fig.14b and Fig.14c As shown, the oscillating tray 85 includes a tray bottom plate 851, a tray stopper 852 and a plunger spring 853, wherein the tray bottom plate 851 is connected to the eccentric wheel assembly 83 and is also connected to the XY-direction oscillating guide assembly 84. Specifically, an eccentric wheel mounting groove 8512 is provided at the bottom of the tray bottom plate 851, and the cam follower 831 is installed in the eccentric wheel mounting groove 8512.

[0172] The tray stopper 852 is disposed at the boundary of the tray bottom plate 851. Specifically, the tray stopper 852 is disposed at the four sides of the tray bottom plate 851, or the tray stopper 852 is disposed at the corners of the tray bottom plate 851, or the tray stopper 852 is disposed at the corners and sides of the tray bottom plate 851 at the same time.

[0173] The plunger spring 853 is installed on the inner side of the tray limiter 852 . The test consumables are placed on the tray bottom plate 851 . The plunger spring 853 can quickly clamp the test consumables and can quickly release the test consumables when the test consumables are removed.

[0174] In this embodiment, the plunger spring 853 is used to clamp the side wall of the test consumables located on the tray bottom plate 851. After the shaking is completed, the test consumables and the test tubes thereon are removed by a robot or manually, thereby achieving rapid removal and placement.

[0175] Preferably, the tray limiting members 852 are disposed at the four corners of the tray bottom plate 851 , and the tray limiting members 852 are in a right-angle shape.

[0176] Preferably, the tray limiting members 852 are disposed at the four corners of the tray bottom plate 851 , and the tray limiting members 852 are in a right-angle shape.

[0177] Preferably, if Fig.14b and Fig.14c As shown, a buffer 88 is provided on the tray bottom plate 851 , and the test consumables are placed on the buffer 88 , which can prevent slipping on the one hand, and prevent the tray bottom plate 851 from directly contacting the test consumables on the other hand, thereby avoiding noise.

[0178] In other embodiments, Fig.15a , Fig.15b , Fig.16 As shown, the oscillation structure 8 includes an oscillation working support 81, an oscillation motor assembly 82, an eccentric wheel assembly 83, an XY oscillation guide assembly 84, an oscillation tray 85 and a reset assembly 86, wherein the oscillation motor assembly 82 includes a stepper motor 823 and a coupling assembly 824, and the stepper motor 823 is installed on the oscillation working support 81. The stepper motor 823 passes through the output end of the oscillation working support 81 and the eccentric wheel assembly 83, and is eccentrically arranged, and is connected to the coupling assembly 824. That is, the coupling assembly 824 is provided with two groups of mounting holes, and the two groups of mounting holes are eccentrically arranged up and down, and the output end of the stepper motor 823 passes through the oscillation working space and is connected to one group of mounting holes, and the eccentric wheel assembly 83 is connected to the other group of mounting holes. The stepper motor 823 drives the eccentric wheel to move in the plane through the coupling assembly 824.

[0179] The oscillating tray 85 is connected to the eccentric wheel assembly 83, and the eccentric wheel assembly 83 can rotate relative to the oscillating tray 85. Removable test consumables are placed on the oscillating tray 85, and a plurality of test tubes containing mixed reagents are placed on the test consumables.

[0180] The XY-direction oscillation guide assembly 84 is disposed between the oscillation working support 81 and the oscillation tray 85. The XY-direction oscillation guide assembly 84 is located on one side of the eccentric wheel assembly 83. The XY-direction oscillation guide assembly 84 limits the oscillation tray 85 to move along the X-direction and the Y-direction in the horizontal plane.

[0181] The reset assembly 86 includes a first fixing member 863 , a reset spring 864 , and a crank connecting rod member 865 . The first fixing member 863 is disposed on the oscillating working support 81 or at the bottom of the oscillating tray 85 .

[0182] The crank-connecting rod 865 is installed on the coupling assembly 824 and can rotate relative to the coupling assembly 824. The rotation center of the crank-connecting rod 865 is not coaxial with the stepper motor 823 and / or the coupling assembly 824. When the coupling assembly 824 rotates, the crank-connecting rod 865 can rotate relative to the coupling assembly 824. Due to the eccentric movement of the eccentric wheel assembly 83, the return spring 864 is stretched and deformed, preventing the return spring 864 from being wrapped around the coupling assembly 824.

[0183] One end of the return spring 864 is connected to the crank connecting rod 865, and the other end is connected to the first fixing member 863. When the stepper motor 823 rotates, the return spring 864 is stretched, but the return spring 864 will not be wound around the coupling assembly 824.

[0184] In the present embodiment, the X direction and Y direction mentioned above are as follows: Fig.16 shown.

[0185] In this embodiment, the stepper motor 823 rotates to drive the eccentric wheel assembly 83 to move through the coupling assembly 824, thereby driving the oscillation tray 85 connected to the eccentric wheel assembly 83 to move in the horizontal plane along the X and Y directions to shake the test tubes so that the liquid in each test tube can be vortex mixed around the central axis of the test tube.

[0186] The XY oscillation guide assembly 84 provides precise guidance for the movement of the oscillation tray 85 in the horizontal plane, and limits the movement amplitude of the oscillation tray 85 in the horizontal plane along the X and Y directions, thereby preventing the oscillation tray 85 from shaking with excessive displacement during the oscillation process, thereby causing the mixed liquid in the test tube to be shaken out.

[0187] In addition, the above test consumables can be quickly disassembled and placed on the shaking tray 85, and the test tubes containing mixed reagents are placed on the test consumables. After the shaking is completed, the test tubes and the test consumables are removed synchronously. When the shaking structure is working, test tubes can be placed on the test consumables for shaking, and the test tubes and test consumables are moved to the shaking tray 85 at the same time, thereby improving work efficiency.

[0188] At the same time, when the stepper motor 823 drives the oscillation tray 85 to move in the horizontal plane, the reset spring 864 is stretched, and when the stepper motor 823 stops working, the reset spring 864 contracts to pull the stepper motor 823 to reset, so that the test consumables on the oscillation tray 85 return to the origin, and the automation system can recognize the position of the test consumables, so that the oscillation structure can be applied to the automation system.

[0189] In this embodiment, the test consumables can be detachably placed on the vibration tray 85. The specific manner of "detachable" includes that the test consumables can be clamped to the vibration tray 85 by the robot, and when placed on the vibration tray 85, the test consumables can be clamped by the vibration tray 85. When the robot clamps the test consumables, the test consumables can be quickly separated from the vibration tray 85 after being clamped by the robot. When the test consumables are separated from the vibration tray 85, the robot uses less force, and the mixed liquid in the test tube will not be shaken and splashed due to the separation of the vibration tray 85.

[0190] In this embodiment, the specific structure for realizing the detachable test consumables on the oscillation tray 85 includes: a plunger spring 853 is provided on the upper side wall of the oscillation tray 85, and the side wall of the test consumables is clamped by the plunger spring 853. Or, a first magnetic component is provided on the oscillation tray 85, and a second magnetic component is provided on the test consumables, the first magnetic component and the second magnetic component are adsorbed on each other, and the first magnetic component is powered on and off to control the first magnetic component and the second magnetic component, so as to realize the rapid disassembly of the test consumables on the oscillation tray 85. Or, a lifting and rotating oil cylinder is provided on the oscillation working bracket 81, and the output end of the lifting and rotating oil cylinder is connected to a clamping rod, and the head of the clamping rod is provided with a clamping head, and the clamping head is L-shaped, and the clamping rod can be lifted and rotated through the oscillation tray. The lifting and rotating oil cylinder drives the clamping rod to rise and rotate, and rotates to a state where it can contact the test consumables, and the lifting and rotating oil cylinder descends, and the clamping head can clamp the test consumables. When the clamping head releases the test consumables, the lifting and rotating oil cylinder drives the clamping rod to rise, and then rotates, and the lifting and rotating oil cylinder descends and returns to the inside or below the oscillating working bracket 81.

[0191] The oscillation frequency range of the stepper motor 823 in this embodiment is 500rpm-2000rpm. Specifically, the oscillation frequency of the stepper motor 823 is 500rpm, 1000rpm, 1500rpm, and 2000rpm. When the oscillation frequency of the stepper motor 823 is lower than 500rpm, the oscillation effect is poor, and the mixed liquid in the test tube is mixed evenly. When the oscillation frequency of the stepper motor 823 is higher than 2000rpm, the oscillation is violent, causing the mixed liquid in the test tube to easily spill. The oscillation frequency can be adjusted according to actual needs.

[0192] like Fig.16 As shown, the oscillation working bracket 81 includes an oscillation support frame 811 and an oscillation mounting plate 812. The oscillation mounting plate 812 is installed above the oscillation support frame 811. The oscillation motor assembly 82 is arranged in the oscillation support frame 811 and connected to the oscillation mounting plate 812. The oscillation motor assembly 82 is located below the oscillation mounting plate 812. The output end of the oscillation motor assembly 82 passes through the oscillation mounting plate 812 and is connected to the eccentric wheel assembly 83. The XY oscillation guide assembly 84 is connected to the oscillation mounting plate 812 and is located on the upper surface of the oscillation mounting plate 812.

[0193] By setting an oscillation support frame 811 and an oscillation mounting plate 812, the oscillation support frame 811 is a hollow structure, and the stepper motor 813 is set in the space of the oscillation support frame 811, and its output end extends out of the oscillation mounting plate 812. The structure is compact and integral, and the oscillation support frame 811 is set as a hollow structure. The overall structure is light in weight and easy to install.

[0194] Preferably, an eccentric wheel mounting groove is provided at the bottom of the vibration tray 85, and the gap between the eccentric wheel assembly 83 and the eccentric wheel mounting groove ranges from 0.1 mm to 0.2 mm. The clearance between the eccentric wheel mounting groove and the eccentric wheel assembly 83 ensures that the eccentric wheel assembly 83 rotates, but does not drive the vibration tray 85 to rotate. During the eccentric rotation of the eccentric wheel assembly 83, it can only push the vibration tray 85 to move along the X and Y directions in the horizontal plane to generate vibration, and the vibration tray 85 and the eccentric wheel assembly 83 will not be disengaged. Preferably, the gap between the eccentric wheel assembly 83 and the eccentric wheel mounting groove is 0.1 mm.

[0195] Preferably, a motor mounting hole is provided on the side of the oscillation mounting plate 812 facing the upper eccentric wheel, and the output end of the oscillation motor assembly 82 extends out of the motor mounting hole and is connected to the eccentric wheel assembly 83. A weight-reducing groove 8122 is provided in the circumference of the motor mounting hole, and the return spring 864 and the first fixing member 863 are provided in the weight-reducing groove 8122. Further preferably, the weight-reducing grooves 8122 are evenly distributed along the circumference of the motor mounting hole, and the weight-reducing grooves 8122 are U-shaped. There are four groups of weight-reducing grooves 8122 in this embodiment.

[0196] The oscillation module 8 further includes a tray support plate 854 disposed between the oscillation tray 85 and the oscillation mounting plate 812, so as to support the oscillation tray 85. Due to the structural dimensions of the coupling assembly 824 in the oscillation module 8 along the Z direction, the tray support plate 854 is provided to ensure the structural dimensions of the coupling assembly 824, and also to facilitate the connection of the oscillation tray 85 with the XY-direction oscillation guide assembly 84 and the eccentric wheel assembly 83. Specifically, the tray support plate 854 is a square ring member.

[0197] Preferably, if Fig.16 , Fig.17 , Fig.18a , Fig.18b As shown, the coupling assembly 824 includes: a first coupling member 8241 and a second coupling member 8242 are arranged in parallel up and down, and a connecting shaft 8243, one end of the connecting shaft 8243 is connected to the first coupling member 8241, and the other end is connected to the second coupling member 8242. Preferably, the first coupling member 8241 and the connecting shaft 8243 are interference fitted, and the second coupling member 8242 and the connecting shaft 8243 are interference fitted. In other embodiments, the first coupling member 8241, the second coupling member 8242, and the connecting shaft 8243 are an integrally processed structure.

[0198] The crank connecting rod 865 is arranged between the first coupling 8241 and the second coupling 8242, and is sleeved on the connecting shaft 8243. The first coupling 8241 is connected to the output shaft of the stepper motor 813, and the second coupling 8242 is connected to the eccentric wheel assembly 83. The first coupling 8241 and the second coupling 8242 rotate synchronously, driving the vibration tray 85 to move along the XY direction in the horizontal plane, thereby generating vibration, so that the mixed liquid in the test tube is mixed evenly. At the same time, the structure of the first coupling 8241, the second coupling 8242 and the connecting shaft 8243 is arranged in an "I" shape, which is simple in structure, easy to process and install, and low in cost.

[0199] Preferably, the crank connecting rod 865 includes a sleeve and a crank 8653 connected to the sleeve, the sleeve is sleeved on the connecting shaft 8243 and can rotate relative to the connecting shaft 8243, and one end of the return spring 864 is connected to the crank 8653. The crank 8653 fixes the return spring 864, and the sleeve rotates relative to the connecting shaft 8243, thereby preventing the return spring 864 from being wound around the sleeve. When the first coupling 8241 and the second coupling 8242 rotate synchronously, the return spring 864 is only stretched and deformed.

[0200] Preferably, the shaft sleeve includes a first connecting member 8651 and a second connecting member 8652, which are coaxial and relatively arranged on the outer periphery of the connecting shaft 8243, and the first connecting member 8651 and the second connecting member 8652 are both provided with semicircular holes, and the two are relatively connected and sleeved on the connecting shaft 8243. The crank 8653 is connected to the second connecting member 8652. Preferably, the second connecting member 8652 and the crank 8653 are integrally formed. The two are integrally formed, which is convenient for installation and processing and saves installation space.

[0201] Preferably, a second fixing member 866 is provided on the crank 8653, one end of the return spring 864 is connected to the second fixing member 866, and the other end is connected to the first fixing member 863. In other embodiments, a connecting hole is provided on the crank 8653, one end of the return spring 864 is connected to the connecting hole, and the other end is connected to the first fixing member 863.

[0202] One end of the connecting shaft 8243 is interference fitted with the first coupling member 8241, and the other end is interference fitted with the second connecting shaft 8243. To facilitate the assembly of the crank-connecting rod member 865, the crank-connecting rod member 865 is divided into two parts, a first connecting member 8651 and a second connecting member 8652. Connecting holes are provided on the first connecting member 8651 and the second connecting member 8652, and screws are inserted through the connecting holes to connect the first connecting member 8651 and the second connecting member 8652.

[0203] Preferably, the distance between the center of the eccentric wheel assembly 83 and the center of the stepper motor 823 ranges from 1mm to 1.5mm. Specifically, the distance between the center of the eccentric wheel assembly 83 and the center of the stepper motor 823 (i.e., the center of the second coupling 8242) ranges from 1mm to 1.5mm. Through the eccentric rotation of the eccentric wheel assembly 83, the oscillation tray 85 is displaced in the XY direction in the horizontal plane, thereby producing an oscillation effect. Preferably, the distance between the center of the eccentric wheel assembly 83 and the center of the oscillation motor assembly 82 ranges from 1mm or 1.5mm. When the distance between the two is less than 1mm, the displacement produced by the eccentric motion of the eccentric wheel assembly 83 is small, resulting in insufficient oscillation effect. When the distance between the two is greater than 1.5mm, the displacement produced by the eccentric motion of the eccentric wheel assembly 83 is large, which easily causes the mixed reagent in the test tube to shake violently, affecting the mixing effect.

[0204] Preferably, the eccentric wheel assembly 83 includes a cam follower 831, and the shaft of the cam follower 831 is connected to the coupling 822. The bearing end of the cam follower 831 is connected to the bottom of the oscillation tray 85. The distance between the center of the cam follower 831 and the center of the stepper motor 823 ranges from 1 mm to 1.5 mm. When the distance between the two is less than 1 mm, the displacement caused by the eccentric motion of the cam follower 831 is small, resulting in insufficient oscillation effect. When the distance between the two is greater than 1.5 mm, the displacement caused by the eccentric motion of the cam follower 831 is large, which easily causes the mixed reagent in the test tube to shake violently, affecting the mixing effect. The cam follower 831 is selected according to actual needs and is a conventional structure on the market.

[0205] In other embodiments, the eccentric wheel assembly 83 includes an eccentric wheel, an eccentric connecting shaft and an intermediate connecting bearing, one end of the eccentric connecting shaft is connected to the coupling 822, and the other end of the eccentric connecting shaft is connected to the inner ring of the intermediate connecting bearing. The eccentric wheel is sleeved on the outer ring of the intermediate connecting bearing, and at the same time, the eccentric wheel is connected to the vibration tray 85 and can rotate relative to the vibration tray 85. Specifically, an eccentric wheel mounting groove 8512 is provided at the bottom of the above-mentioned vibration tray 85, and the eccentric wheel and the eccentric wheel mounting groove 8512 are clearance-matched. Preferably, the gap between the eccentric wheel and the eccentric wheel mounting groove 8512 ranges from 0.1mm to 0.2mm. Further preferably, the gap between the eccentric wheel and the eccentric wheel mounting groove 8512 is 0.1mm, 0.15mm and 0.2mm.

[0206] Preferably, the distance between the center of the eccentric wheel and the center of the stepper motor 823 (i.e., the center of the second coupling 8242) is in the range of 1 mm to 1.5 mm. Preferably, the distance between the center of the eccentric wheel and the center of the stepper motor (i.e., the center of the second coupling 8242) is in the range of 1 mm or 1.5 mm.

[0207] Preferably, in this embodiment, the eccentric wheel assembly 83 is a cam follower 831, and two groups of XY oscillation guide assemblies 84 are provided, and the two groups of XY oscillation guide assemblies 84 are symmetrically arranged on both sides of the oscillation motor assembly 82. Specifically, the two groups of XY oscillation guide assemblies 84 are symmetrically arranged on both sides of the stepper motor 823. When the oscillation tray 85 moves in the horizontal plane, the XY oscillation guide assemblies 84 guide the movement of the oscillation tray 85 along the X and Y directions, and the two groups of XY oscillation guide assemblies 84 can ensure that the oscillation tray 85 is uniformly stressed, thereby ensuring that the oscillation tray 85 moves smoothly in the horizontal plane and shakes evenly.

[0208] In this embodiment, an eccentric wheel mounting groove 8512 is provided at the bottom of the oscillation tray 85, and the cam follower 831 is clearance-matched with the eccentric wheel mounting groove 8512. Preferably, the clearance between the cam follower 831 and the eccentric wheel mounting groove 8512 is in the range of 0.1 mm to 0.2 mm. Further preferably, the clearance between the cam follower 831 and the eccentric wheel mounting groove 8512 is 0.1 mm, 0.15 mm and 0.2 mm.

[0209] The structure of the guide connection component 845 in this embodiment is as follows Fig.12a , Figure 12b and Fig.13a , Fig.13b As shown, no further details are given here.

[0210] The specific structure of the vibration tray 85 in this embodiment is as follows: Fig.19a and Fig.19b As shown, the difference from the above embodiment is that a receiving hole is provided on the tray bottom plate 851 to reserve installation space for the XY oscillation guide assembly 84 below.

[0211] The pipetting device also includes a switch door module 7, which is arranged on the frame 1. The switch door module 7 is opened to replenish materials into the pipetting device. Specifically, a PCR plate 15, an ELISA plate 14, a Tip head, a sample test tube 162, a second test tube, a first test tube rack 161 and a second test tube rack 161 are placed on the bottom plate 12 of the pipetting device.

[0212] like Fig. 20 As shown, the door opening and closing module 7 includes a frame 71, a sliding assembly 73 and a folding door 74, wherein the frame 71 is connected to the rack 1. The sliding assembly 73 is arranged on the frame 71, and the sliding assembly 73 is arranged along the X direction or the vertical direction. One end of the folding door 74 is rotatably connected to one side of the frame 71, and the other end is connected to the sliding assembly 73, and the folding door 74 can slide back and forth and fold along the X direction or the vertical direction through the sliding assembly 73.

[0213] When the folding door 74 in this embodiment is opened, one end of the folding door 74 is rotatably connected to the frame 71, and the other end of the folding door 74 is pulled manually or automatically, and the folding door 74 slides and folds along the frame 71 through the sliding assembly 73 during the opening process. The folding door 74 folds after opening, and occupies a small space. At the same time, the opening at the folding door 74 is fully opened to facilitate the taking and placing of products in the pipetting device.

[0214] Compared with the structure of the door opening up and down and the structure of the door opening left and right in the prior art, the folding door 74 in this embodiment is opened and folded to reduce the occupied space.

[0215] Preferably, if Fig. 20As shown, the frame 71 includes an upper support assembly 711, a lower support assembly 712 and a rotating shaft assembly 713, and the upper support assembly 711 and the lower support assembly 712 are both arranged on the frame 1. Specifically, as Fig. 20 As shown, the upper support assembly 711 and the lower support assembly 712 are both connected to the rack frame 11. One side of the folding door 74 is rotatably connected to the shaft assembly 713. One end of the shaft assembly 713 is connected to the upper support assembly 711, and the other end is connected to the lower support assembly 712. When the folding door 74 is opened, the shaft assembly 713 is driven to rotate relative to the upper support assembly 711 and the lower support assembly 712. The shaft assembly 713 is installed by the upper support assembly 711 and the lower support assembly 712 to ensure the stable rotation of the folding door 74. The structure uses the rack frame 11 of the rack 1 as a support, has a simple structure, and is easy to install.

[0216] Preferably, if Fig.21 As shown, the upper support assembly 711 includes an upper support member 7111 and a first rotating shaft member 7112. The upper support member 7111 is horizontally arranged on the frame 1 and is located above the folding door 74, so as to facilitate the installation of the first rotating shaft member 7112. The first rotating shaft member 7112 is connected to the upper support member 7111, and the upper end of the rotating shaft assembly 713 is rotatably connected to the first rotating shaft member 7112. By setting the upper support member 7111 to fix the first rotating shaft member 7112, a rotating support is provided for the rotating shaft assembly 713. At the same time, the upper support member 7111 is installed on the frame 11, which can also increase the structural strength of the whole device. The folding door 74 is supported by the first rotating shaft member 7112. The first rotating shaft member 7112 has a simple structure, low cost and simple installation. The upper support member 7111 is connected to the frame 11, which is convenient for the disassembly and replacement of the upper support member 7111, thereby reducing the production cost.

[0217] More specifically, the upper support member 7111 is a strip-shaped thin plate member, which is fixedly connected to the frame 1. While ensuring the supporting strength of the folding door 74, the strip-shaped thin plate member is light in weight, small in size, and occupies little space, and will not increase the volume and weight of the entire equipment.

[0218] Preferably, if Fig.21 , Fig.22a and Figure 22b As shown, a first shaft groove 71122 is provided on the first shaft member 7112, and the upper end of the shaft assembly 713 is disposed in the first shaft groove 71122. Preferably, the first shaft groove 71122 is a first stepped circular hole. Preferably, an upper bearing 714 is disposed in the first shaft groove 71122, and the upper end of the shaft assembly 713 is connected to the upper bearing 714.

[0219] The first rotating shaft 7112 is also provided with an upper fixed stepped hole 71123, which is symmetrically arranged on both sides of the first rotating shaft groove 71122, and partially overlaps with the first rotating shaft groove 71122. The upper fixed stepped hole 71123 is provided with a first pressing member, which is pressed on the outer ring of the upper bearing 714 to prevent the upper bearing 714 from axial movement. In this embodiment, the second pressing member is a screw nut.

[0220] Preferably, if Fig.21 , Fig.22a and Figure 22b As shown, a first strip hole 71121 is provided on the first rotating shaft member 7112, and the first rotating shaft member 7112 is connected to the upper supporting member 7111 through the first strip hole 71121. The long axis of the first strip hole 71121 is arranged along the X direction. More specifically, the first strip hole 71121 is a first countersunk hole for the convenience of installing bolts. Preferably, the first strip hole 71121 is symmetrically arranged on both sides of the first rotating shaft groove 71122, and the first strip hole 71121 and the first rotating shaft groove 71122 are respectively located on the adjacent two side surfaces of the first rotating shaft member 7112, and the first rotating shaft member 7112 is fixed through the first strip hole 71121.

[0221] Preferably, if Fig.21 and Fig.23 As shown, the lower support assembly 712 includes a second rotating shaft member 7121, which is fixed to the frame 1. Specifically, the second rotating shaft member 7121 is fixed to the front end of the frame frame 11. The lower end of the rotating shaft assembly 713 is rotatably connected to the second rotating shaft member 7121. The rotating shaft assembly 713 is supported to rotate by the first rotating shaft member 7112 and the second rotating shaft member 7121, and the folding door 74 is rotated and folded by the rotating shaft assembly 713 during the opening process. The structure of supporting the rotating shaft assembly 713 to rotate is simple and occupies little space.

[0222] Preferably, if Fig.23 and Fig.24a , Figure 24b As shown, the second rotating shaft member 7121 is provided with a second rotating shaft groove 71212, and the lower end of the rotating shaft assembly 713 is rotatably connected to the second rotating shaft groove 71212. Specifically, a lower bearing is provided in the second rotating shaft groove 71212, and the lower end of the rotating shaft assembly 713 is connected to the lower bearing. Specifically, the second rotating shaft groove 71212 is a second stepped circular hole, and the lower bearing is provided in the second stepped circular hole. Specifically, the size of the first stepped circular hole and the second stepped circular hole can be the same or different.

[0223] The second rotating shaft 7121 is also provided with a lower fixed stepped hole 71214, which is symmetrically arranged on both sides of the second rotating shaft groove 71212, and partially overlaps with the second rotating shaft groove 71212. The lower fixed stepped hole 71214 is provided with a second pressing member, which is pressed on the outer ring of the lower bearing to prevent the lower bearing from moving axially. In this embodiment, the second pressing member is a screw nut.

[0224] Preferably, the second rotating shaft member 7121 is provided with a second strip hole 71211, and the second rotating shaft member 7121 is connected to the bottom of the frame 1 through the second strip hole 71211. The long axis of the second strip hole 71211 is arranged along the X direction. Preferably, the second rotating shaft member 7121 is provided with two groups of second strip holes 71211 arranged in parallel along the Y direction, and the second strip holes 71211 are located on one side of the second rotating shaft 7131 groove.

[0225] Preferably, the second rotating shaft 7121 is provided with a third strip hole 71213 , and the long axis of the third strip hole 71213 is arranged along the X direction. The third strip hole 71213 is connected to the side of the frame 1 .

[0226] Further preferably, the second rotating shaft 7121 is connected to the bottom of the frame 1 to save installation space and reduce the overall structural volume of the device.

[0227] Specifically, the second rotating shaft 7121 is disposed below the bottom plate 12, and a portion of the second rotating shaft 7121 is located outside the bottom plate 12, so as to be connected to the lower end of the rotating shaft assembly 713. Specifically, the lower end of the rotating shaft assembly 713 is rotatably connected to the portion of the second rotating shaft 7121 extending out of the bottom plate 12. The second rotating shaft 7121 is connected to the bottom plate 12 through the second strip hole 71211, and is connected to the side of the bottom plate 12 through the third strip hole 71213.

[0228] The second strip hole 71211 is connected to the bottom surface of the bottom plate 12, and the third strip hole 71213 is connected to the side of the bottom plate 12, thereby increasing the connection strength between the second rotating shaft 7121 and the frame 1, preventing looseness, and not affecting the use of the folding door 74. Preferably, the second strip hole 71211 is a second countersunk hole, and the third strip hole 71213 is a third countersunk hole, so as to facilitate the installation of bolts. The sizes of the first strip hole 71121, the second strip hole 71211 and the third strip hole 71213 can be the same or different.

[0229] Specifically, the rack frame 11 includes a plurality of carbon steel square tubes or a plurality of profiles.

[0230] More preferably, if Fig.21 , Fig.22a , Figure 22b , Fig.23 , Fig.24a , Figure 24b and Fig.25 As shown, the rotating shaft assembly 713 includes a rotating shaft 7131 and a door fixing member 7132. The door fixing member 7132 is provided with a rotating shaft hole, and the rotating shaft 7131 is passed through the rotating shaft hole. One end of the folding door 74 is connected to the door fixing member 7132, and the other end is provided with a door opening member. During the opening process of the folding door 74, the folding door 74 folds and rotates along the rotating shaft 7131 synchronously with the door fixing member 7132. The upper end of the rotating shaft 7131 is rotatably mounted in the first rotating shaft groove 71122 through the upper bearing 714, and the lower end of the rotating shaft 7131 is rotatably mounted in the second rotating shaft groove 71212 through the lower bearing. The above-mentioned door opening member includes a handle or a pull ring. Specifically, the upper bearing 714 and the lower bearing are both conventional rolling bearings.

[0231] Preferably, if Fig.25 , Fig.26 and Fig. 27 As shown, the sliding assembly 73 includes:

[0232] A sliding fixing member 731 is disposed on the frame 1 and is located below the folding door 74;

[0233] The slide bar 732 has one end connected to the sliding fixing member 731, and the other end connected to the second rotating shaft member 7121. Specifically, in this embodiment, the second rotating shaft member 7121 is provided with a slide bar mounting hole 71215, the axial direction of the slide bar mounting hole 71215 is arranged along the X direction, the length direction of the slide bar 732 is arranged along the X direction, and the slide bar 732 is connected to the slide bar mounting hole 71215 by interference fit.

[0234] The sliding rotating assembly 733 is slidably connected to the slide bar 732. The bottom end of the folding door 74 is connected to the sliding rotating assembly 733. The sliding rotating assembly 733 can drive the folding door 74 to rotate around the Z axis and slide back and forth along the X direction. The folding door 74 is folded during the punching process. The bottom end of the folding door 74 rotates relative to the sliding rotating assembly 733, and slides horizontally with the sliding rotating assembly 733 along the slide bar 732, and rotates around the X axis at the same time. Preferably, the bottom of the open end of the folding door 74 is connected to the sliding rotating assembly 733, and the entire folding door 74 is supported to be opened by the sliding rotating assembly 733. Further preferably, in other embodiments, the sliding rotating assembly 733 includes at least two sliding fixing members 731 evenly distributed at the bottom of the folding door 74.

[0235] The slide bar 732 in this embodiment is a cylindrical bar, and the length direction of the cylindrical bar is arranged along the X direction. The sliding rotation assembly 733 includes a cylindrical sliding member 7331, a sliding connection member 7332 and a door rotation connection assembly 7333. The cylindrical sliding member 7331 is slidably arranged on the cylindrical bar, and the cylindrical sliding member 7331 can rotate around the cylindrical bar. The sliding connection member 7332 is sleeved on the cylindrical sliding member 7331 and can slide synchronously with the cylindrical sliding member 7331 relative to the slide bar 732. The door rotation connection assembly 7333 is rotationally connected to the sliding connection member 7332.

[0236] With regard to the specific structure of the door rotation connection assembly 7333 connected to the sliding connection member 7332, preferably, the door rotation connection assembly 7333 includes a door connection member 73331, a door rotation shaft 73332 and a door rotation bearing 73333, and the door rotation bearing 73333 is arranged on the door connection member 73331. Specifically, a first bearing mounting groove is arranged on the door connection member 73331, and the door rotation bearing 73333 is installed in the first bearing mounting groove. The door connection member 73331 is connected to the lower part of the open end of the folding door 74. Specifically, in this embodiment, the door connection member 73331 is fixedly connected to the folding door 74. One end of the door rotation shaft 73332 is connected to the door rotation bearing 73333, and the other end is connected to the sliding connection member 7332.

[0237] In other embodiments, the sliding connection member 7332 may be provided with a second bearing installation groove, and the door rotation bearing 73333 may be installed in the second bearing installation groove. The door rotation bearing 73333 may be a conventional rolling bearing.

[0238] In other embodiments, the sliding fixing member 731 can be disposed on the frame 1 and located above the folding door 74. In this embodiment, one end of the sliding rod 732 is connected to the sliding fixing member 731, and the other end is connected to the first rotating shaft member 7112, and the length direction of the sliding rod 732 is arranged along the X direction. In this embodiment, the sliding rod 732 is located above the folding door 74.

[0239] Preferably, Fig. 20 As shown, the slide bar 732 is disposed below the folding door 74, and the sliding assembly 73 is disposed at the bottom of the folding door 74. In other embodiments, the slide bar 732 is disposed above the folding door 74, and the sliding assembly 73 is disposed at the top of the folding door 74.

[0240] Preferably, if Fig. 20 and Fig.28As shown, the folding door 74 includes a first door body 741 and a second door body 742. One end of the first door body 741 is connected to the door fixing member 7132, and the other end is connected to the second door body 742 through a folding door connecting member 743. The bottom of the second door body 742 is connected to the sliding rotation assembly 733. Specifically, the first door body 741 is connected to the second door body 742 through a hinge.

[0241] Preferably, two sets of leaves are provided between the first door body 741 and the second door body 742 , and the two sets of leaves are spaced apart by a first preset distance in the vertical direction.

[0242] In other embodiments, the folding door 74 further includes an intermediate door body, and the first door body 741 and the intermediate door body, the intermediate door bodies, and the intermediate door body and the second door body 742 are all connected via hinges.

[0243] Preferably, the door opening member is installed on the outer side wall of the second door body 742 to facilitate smooth opening. Specifically, the handle in this embodiment is installed on the second door body 742.

[0244] In other embodiments, the door opening and closing module 7 further includes a driving component, and an output end of the driving component is connected to the folding door 74. The driving component drives the folding door 74 to reciprocate along the X direction.

[0245] When the folding door 74 slides in the vertical direction, the structural positions of the frame 71 and the sliding assembly 73 are adjusted accordingly.

[0246] The liquid transfer device further comprises an ultraviolet lamp, which is arranged inside the frame 1 and located at the top, and the ultraviolet lamp is used for disinfection and sterilization.

[0247] The liquid transfer device further comprises an illumination lamp, which is arranged inside the frame 1 and located at the top, and is used for the top of the liquid transfer device.

[0248] In this embodiment, the tip box 13, PCR plate 15, fragment analyzer plate 17 assembly and sample tube assembly 16 are manually placed on the bottom plate 12 of the pipetting device. After the pipetting device starts working, the scanning module 5 first scans the information on the corresponding structure and uploads it to the control system. After the scanning module 5 scans the information of the sample tube 162, the pipette gun 61 of the pipetting module 6 absorbs the first volume of sample in the sample tube 162 and pipettes it into the ELISA plate 14 pre-placed on the oscillation module 8. Then the pipette gun 61 moves to the discarded tip box 13, withdraws the tip on it, and discards it into the discarded tip box 13. The discarded tip box 13 is set at a suitable position in the device, and the position can be determined according to actual needs. Then the pipette 61 moves to the corresponding positions of the above-mentioned six groups of tip boxes 13, the scanning module 5 scans the information of the Tip head, the pipette 61 replaces the new Tip head, and after the replacement, the pipette 61 moves to the reagent of the above-mentioned reagent rack, absorbs the corresponding second volume of reagent, and the sample and the reagent are mixed in the predetermined proportion set in the installation control system, and moved to the above-mentioned ELISA plate 14. Then the pipette 61 discards the used tip on it into the discarded tip box 13 again.

[0249] The sample and reagent on the ELISA plate 14 are mixed and then shaken by the shaking module 8 to be evenly mixed. The clamping module 4 moves the ELISA plate 14 to the fluorescent quantitative PCR instrument 18 to determine the concentration of the sample after detection.

[0250] Afterwards, the clamping module 4 clamps and removes the ELISA plate 14, and the ELISA plate 14 is discarded as waste.

[0251] After the concentration of the sample is determined, the control system determines the proportion of the sample and reagent for this pipetting according to the concentration of the sample detected above. The pipette gun 61 and the scanning module 5 repeat the above steps again, and the sample and reagent are respectively pipetted into the PCR plate 15. The clamping module 4 clamps the PCR plate 15 to the shaking module 8. After the shaking is uniform, the clamping module 4 clamps it to the predetermined position and then is removed from the machine for use.

[0252] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A liquid transfer device, characterized in that: include: A frame (1), wherein a bottom plate (12) is arranged on the frame (1); An XY-direction moving module (3) is arranged on the frame (1) and is located above the base plate (12); A gripping module (4), a scanning module (5) and a liquid transfer module (6), all of which are arranged on the XY moving module (3); the gripping module (4), the scanning module (5) and the liquid transfer module (6) can move synchronously along the X direction and the Y direction, and the gripping module (4), the scanning module (5) and the liquid transfer module (6) can move independently along the Z direction; The XY-direction moving module (3) comprises: an X-direction moving module (2) and a Y-direction moving module (3); the X-direction moving module (2) is arranged on the frame (1) and is located above the bottom plate (12); The Y-direction moving module (3) is arranged on the X-direction moving module (2) and is located above the bottom plate (12), and the Y-direction moving module (3) is capable of reciprocating along the X-direction; The gripping module (4) is used to grip and move different types of test articles and consumables; the scanning module (5) scans the information of the test articles and consumables used at the time of detection; the liquid transfer module (6) performs corresponding liquid transfer according to the input information of the scanning module (5); the liquid transfer module (6) comprises a main fixing plate, which is connected to the Y-direction moving module (3) and is also connected to the gripping module (4) and the scanning module (5); The bottom plate (12) is provided with a gun tip box (13), an ELISA plate (14), a sample tube assembly (16), an oscillation module (8), a fluorescence quantitative PCR instrument (18), a reagent assembly (19), and at least one of a PCR plate (15) and a fragment analyzer plate (17); The ELISA plate (14) is placed on the shaking module (8); The reagent assembly (19) is used to contain different types of reagents; The shaking module (8) shakes and mixes the mixed liquid of the sample and the reagent in the test tube uniformly; The fluorescent quantitative PCR instrument (18) is used to detect the concentration of the sample after the sample is shaken and evenly mixed by the shaking module (8).

2. The liquid transfer device according to claim 1, characterized in that The X-direction moving module (2) comprises an X-direction moving driving motor (21) and an X-direction belt pulley assembly (22) connected to the output end of the X-direction moving driving motor (21), and the X-direction belt pulley assembly (22) is connected to the Y-direction moving assembly; And / or, the Y-axis moving module (3) comprises a Y-axis moving frame (31), a Y-axis moving drive motor (32) and a Y-axis belt and pulley assembly (33), wherein the Y-axis moving drive motor (32) is arranged on the Y-axis moving frame (31), and the Y-axis belt and pulley assembly (33) is connected to the output end of the Y-axis moving drive motor (32), and is also connected to the clamping module (4), the scanning module (5) and the pipetting module (6).

3. The liquid transfer device according to claim 2, characterized in that: The clamping module (4) comprises a clamping Z-direction moving component (41), a clamping Z-direction moving drive motor (42), a clamping drive component (43) and a clamping arm (44); the clamping Z-direction moving drive motor (42) is connected to the Y-direction moving module (3); and the clamping Z-direction moving component (41) is connected to the output end of the clamping Z-direction moving drive motor (42); The clamping drive component (43) is connected to the output end of the clamping Z-direction moving component (41), and the clamping Z-direction moving component (41) can drive the clamping drive component (43) to move along the Z direction; The clamping arm (44) is connected to the output end of the clamping drive assembly (43).

4. The liquid transfer device according to claim 2, characterized in that: The scanning module (5) comprises a scanning Z-direction moving component (51), a scanning Z-direction moving driving motor (52) and a scanner (53); the scanning Z-direction moving driving motor (52) is arranged on the Y-direction moving module (3); the scanning Z-direction moving component (51) is connected to the output end of the scanning Z-direction moving driving motor (52); and the scanner (53) is connected to the scanning Z-direction moving component (51).

5. The liquid transfer device according to claim 1, characterized in that: The oscillation module (8) comprises: an oscillation working support (81) which is arranged on the bottom plate (12); An oscillating motor assembly (82) and an eccentric wheel assembly (83), wherein the oscillating motor assembly (82) comprises a servo motor (821) and a coupling (822), wherein the servo motor (821) is mounted on the oscillating working support (81), an output end of the servo motor (821) passes through the oscillating working support (81) and is connected to the coupling (822), and the eccentric wheel assembly (83) is eccentrically connected to the coupling (822); An oscillating tray (85) connected to the eccentric wheel assembly (83), wherein the eccentric wheel assembly (83) is rotatable relative to the oscillating tray (85), and detachable test consumables are placed on the oscillating tray (85); An XY-direction oscillation guide assembly (84), which is disposed between the oscillation working support (81) and the oscillation tray (85), the XY-direction oscillation guide assembly (84) being located on one side of the eccentric wheel assembly (83), and the XY-direction oscillation guide assembly (84) limiting the oscillation tray (85) to move in the X direction and the Y direction in a horizontal plane; A reset assembly (86) comprises an optical coupler (862) and a detection sheet (861), wherein one of the optical coupler (862) and the optical coupler (862) detection sheet (861) is arranged on the outer wall of the coupling (822), and the other is arranged on the top surface of the oscillating working support (81).

6. The liquid transfer device according to claim 5, characterized in that: The distance between the center of the eccentric wheel assembly (83) and the center of the servo motor (821) ranges from 1 mm to 1.5 mm.

7. The liquid transfer device according to claim 2, characterized in that: The oscillation module (8) comprises: an oscillation working support (81) which is arranged on the bottom plate (12); An oscillating motor assembly (82) and an eccentric wheel assembly (83), wherein the oscillating motor assembly (82) comprises a stepping motor (823) and a coupling assembly (824), and the stepping motor (823) is mounted on the oscillating working bracket (81); The stepper motor (823) is eccentrically arranged through the output end of the oscillating working support (81) and the eccentric wheel assembly (83), and both are connected to the coupling assembly (824); An oscillating tray (85) connected to the eccentric wheel assembly (83), wherein the eccentric wheel assembly (83) is rotatable relative to the oscillating tray (85), and detachable test consumables are placed on the oscillating tray (85); An XY-direction oscillation guide assembly (84), which is disposed between the oscillation working support (81) and the oscillation tray (85), the XY-direction oscillation guide assembly (84) being located on one side of the eccentric wheel assembly (83), and the XY-direction oscillation guide assembly (84) limiting the oscillation tray (85) to move in the X direction and the Y direction in a horizontal plane; A reset assembly (86), comprising a first fixing member (863), a reset spring (864), and a crank connecting rod member (865), wherein the first fixing member (863) is arranged on the oscillating working support (81) or on the bottom of the oscillating tray (85); a crank connecting rod (865) connected to the coupling assembly (824) and capable of rotating relative to the coupling assembly (824), wherein the rotation center of the crank connecting rod (865) is not coaxial with the stepping motor (823) and / or the coupling assembly (824); One end of the return spring (864) is connected to the crank connecting rod (865), and the other end is connected to the first fixing member (863).

8. The liquid transfer device according to claim 7, characterized in that: The coupling assembly (824) comprises: a first coupling member (8241) and a second coupling member (8242) arranged in parallel up and down, and a connecting shaft (8243), one end of the connecting shaft (8243) being connected to the first coupling member (8241), and the other end being connected to the second coupling member (8242); The crank connecting rod member (865) is arranged between the first coupling member (8241) and the second coupling member (8242), and is sleeved on the connecting shaft (8243); The first coupling member (8241) is connected to the output shaft of the stepper motor (823), and the second coupling member (8242) is connected to the eccentric wheel assembly (83).

9. The liquid transfer device according to any one of claims 1 to 8, characterized in that: The liquid transfer device further comprises a switch door module (7) arranged on the frame (1), and the switch door module (7) comprises: A frame (71) connected to the frame (1); A sliding assembly (73) is arranged on the frame (71), and the sliding assembly (73) is arranged along the X direction or the vertical direction; A folding door (74) has one end rotatably connected to one side of the frame (71) and the other end connected to the sliding assembly (73). The folding door (74) can slide back and forth and fold along the X direction or the vertical direction through the sliding assembly (73).

10. The liquid transfer device according to claim 9, characterized in that: The frame (71) comprises an upper support assembly (711), a lower support assembly (712) and a rotating shaft assembly (713), and the upper support assembly (711) and the lower support assembly (712) are both arranged on the frame (1); One side of the folding door (74) is rotatably connected to the rotating shaft assembly (713); One end of the rotating shaft assembly (713) is connected to the upper supporting assembly (711), and the other end is connected to the lower supporting assembly (712).

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