Automatic heparin activity detection pipetting device

Abstract

The utility model provides an automatic heparin activity detection pipetting device, and relates to the field of pipetting devices, the automatic heparin activity detection pipetting device comprises a dissolution workbench, a dilution workbench and a reagent adding workbench which are arranged side by side, the dissolution workbench comprises a detection table I, a four-axis pipetting mechanical arm I, a parallel clamping jaw, a rotary clamping jaw and an injection pump I, the dilution working table comprises a second detection table, a second four-axis pipetting mechanical arm, pipetting equipment and a second injection pump, the reagent adding working table comprises a third detection table and a six-axis pipetting mechanical arm installed on the third detection table, a pipettor is arranged at the output end of the six-axis pipetting mechanical arm and comprises a box body, a telescopic movable plug and a plurality of pipetting suction heads, and the telescopic movable plug is connected with the box body. A plurality of mounting pipes are distributed at the bottom of the box body at equal intervals, a plurality of pipetting tips are respectively fixed on the inner sides of the plurality of mounting pipes, and the multi-tip pipettor improves the liquid adding accuracy, adopts a mechanical arm to move, is high in consistency, is controlled by computer programming, can perform a large amount of repeated movement, and greatly improves the working efficiency of a reagent adding stage.

Description

Technical Field

[0001] The utility model relates to the field of heparin detection equipment, in particular to a heparin activity automatic detection liquid transfer device. Background Art

[0002] Heparin is a commonly used anticoagulant used to prevent and treat thrombosis. During the production process of heparin crude raw materials and APIs, it is necessary to test the activity of heparin crude raw materials and APIs.

[0003] The heparin activity detection operation process is roughly divided into four main stages: sample dissolution stage, sample dilution stage, reagent addition and reaction stage, water bath and coagulation state judgment stage.

[0004] Sample dissolution stage: Weigh a certain amount of solid sample and place it in a container, and add a certain amount of solvent into the container to dissolve the sample.

[0005] Sample dilution stage: dilute the dissolved sample solution to the concentration required for the reaction as needed.

[0006] Reagent addition and reaction stage: the sample solution obtained in the dilution stage is divided into a series of concentration gradients and mixed with the reagents in sequence to allow the sample and the reagent to react.

[0007] Water bath and coagulation state judgment stage: the samples added with various reagents in the previous step are placed in a 37°C water bath and a timed water bath for 1 hour. After the water bath is completed, a series of test tubes are taken out and the coagulation state is judged one by one. The heparin activity is calculated based on the coagulation state. This step mainly relies on manual tapping and visual observation to judge the coagulation state.

[0008] The above stages mainly rely on manual operation, using tools such as ear washing bulbs, graduated pipettes, and pipettes for pipetting. Manual operation has the following defects:

[0009] The existing pipetting operation process introduces many human errors, with poor accuracy and precision. The consistency of pipetting operations using ear bulbs, graduated pipettes, and pipettes is not high, which will affect the pipetting effect. This operation is a repetitive task, and hundreds of pipetting repetitions are required to complete a test. Observing the graduated pipette scale with the naked eye also requires a high level of concentration. Any repetitive work will cause the risk of musculoskeletal injuries over time. Long-term repetitive operations consume the operator's physical strength and energy, which can easily lead to mistakes.

[0010] Therefore, it is necessary to provide a new heparin activity automatic detection pipetting device to solve the above technical problems. Utility Model Content

[0011] In order to solve the technical problems that many human errors are brought about in the existing pipetting operation process, the accuracy and precision are poor, the long-term repeated operation consumes the operator's physical strength and energy, and it is easy to cause mistakes, the utility model provides a heparin activity automatic detection pipetting device.

[0012] The heparin activity automatic detection and liquid transfer device provided by the utility model comprises a dissolution workbench, a dilution workbench and a reagent adding workbench which are arranged side by side;

[0013] The dissolution workbench comprises a detection table 1, a four-axis liquid transfer robot arm 1, a parallel clamp, a rotating clamp and a syringe pump 1, wherein the four-axis liquid transfer robot arm 1 is installed on the detection table 1, the rotating clamp is installed at the output end of the four-axis liquid transfer robot arm 1, and the syringe pump 1 and the parallel clamp are respectively installed on the detection table 1;

[0014] The dilution workbench comprises a second detection platform, a second four-axis liquid transfer robot arm, a liquid transfer device and a second syringe pump, wherein the second four-axis liquid transfer robot arm is installed on the second detection platform;

[0015] The reagent adding workbench includes a detection table and a six-axis liquid transfer robot installed on the detection table, a pipette is provided at the output end of the six-axis liquid transfer robot, and the pipette includes a box body, a retractable movable plug and a plurality of liquid transfer tips, the box body and the output end of the six-axis liquid transfer robot are detachably mounted by bolts, a plurality of mounting tubes are equidistantly distributed at the bottom of the box body, a plurality of the liquid transfer tips are respectively mounted on the outside of a plurality of the mounting tubes by plugging, the suction ports at the ends of the plurality of the liquid transfer tips are inclined, the inner cavity sizes of the plurality of the liquid transfer tips are increased in stages from bottom to top, the retractable movable plug is installed inside the box body, a plurality of piston rods are provided at the bottom of the retractable movable plug, and the plurality of piston rods can be respectively moved inside the plurality of the liquid transfer tips.

[0016] Furthermore, the retractable movable plug includes a mounting plate, an electric telescopic rod and a pressure plate, the mounting plate is fixed to the top wall of the inner cavity of the box body, the electric telescopic rod is fixedly installed on the mounting plate, the output end of the electric telescopic rod is fixedly connected to the pressure plate, and the bottom of the pressure plate is respectively fixedly connected to the multiple piston rods.

[0017] Furthermore, the piston rod includes a support rod and a flexible plug, the support rod is fixedly installed at the bottom of the pressure plate, the flexible plug is fixedly installed at the bottom of the support rod, and the flexible plug is interference fit with the inner wall of the pipette tip.

[0018] Furthermore, the six-axis pipetting robot arm includes a first movable arm, a second movable arm, a third movable arm, a fourth movable arm, a fifth movable arm and a sixth movable arm. The first movable arm is installed on the detection table three, the second movable arm is movably installed on one end of the first movable arm, the two ends of the third movable arm are respectively movably connected to the second movable arm and one end of the fourth movable arm, and the end of the fourth movable arm away from the third movable arm is movably connected to one end of the fourth movable arm, the end of the fifth movable arm away from the fourth movable arm is movably connected to the sixth movable arm, and the end of the sixth movable arm away from the fifth movable arm is fixedly connected to the top of the mounting plate, and the connection points of the first movable arm, the second movable arm, the third movable arm, the fourth movable arm, the fifth movable arm and the sixth movable arm are all provided with rotation drivers.

[0019] Furthermore, a connecting plate is provided at the back of the box body, one end of which extends outward and is detachably mounted to the output end of the fifth movable arm via bolts.

[0020] Furthermore, a control computer for controlling the movement of the retractable movable plug and the six-axis liquid transfer robot arm is also provided on the outer side of the detection platform three.

[0021] Compared with the related art, the heparin activity automatic detection and liquid transfer device provided by the utility model has the following beneficial effects:

[0022] 1. Multiple piston rods move in multiple pipette tips respectively to realize the functions of liquid aspiration and liquid discharge. Since the suction ports at the ends of multiple pipette tips are inclined, it is beneficial to increase the area of ​​the suction end surface and increase the contact area between the liquid and the suction port during liquid aspiration. The multi-tip pipette improves the accuracy of liquid addition;

[0023] 2. The multi-axis robotic arm has high movement consistency, is controlled by computer programming, and has a built-in calculation method for heparin activity experiments. It automatically calculates the liquid addition volume based on sample parameters, reduces the manual calculation process, and can perform a large number of repeated movements, which greatly improves the work efficiency of the reagent addition stage, reduces manual calculation errors, and realizes the automation of heparin activity detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of the heparin activity automatic detection and liquid transfer device provided by the utility model;

[0025] Figure 2 A schematic diagram of the structure of the six-axis liquid transfer robot provided by the utility model;

[0026] Figure 3 A schematic cross-sectional view of a plurality of liquid transfer tips provided by the utility model;

[0027] Figure 4 for Figure 2 A schematic diagram of the enlarged structure of shown;

[0028] Figure 5 for Figure 2 A schematic diagram of the enlarged structure of B shown;

[0029] Figure 6 Schematic diagram of the state structure of the six-axis liquid transfer robot and multiple liquid transfer tips provided by the utility model Figure 1 ;

[0030] Figure 7 Schematic diagram of the state structure of the six-axis liquid transfer robot and multiple liquid transfer tips provided by the utility model Figure 2 ;

[0031] Figure 8 A schematic diagram of the installation structure of the reagent adding workbench provided by the utility model;

[0032] Fig. 9 A schematic diagram of the installation structure of the dissolution workbench provided by the utility model;

[0033] Fig.10 This is a schematic diagram of the installation structure of the dilution workbench provided by the utility model.

[0034] Numbers in the figure: 1. Test bench one; 2. Four-axis liquid transfer robot one; 3. Parallel clamp; 4. Rotating clamp; 5. Test bench two; 6. Four-axis liquid transfer robot two; 7. Liquid transfer equipment; 8. Test bench three; 9. Box; 10. Pipette tip; 11. Mounting tube; 12. Mounting plate; 13. Electric telescopic rod; 14. Press plate; 15. Support rod; 16. Flexible plug; 17. First movable arm; 18. Second movable arm; 19. Third movable arm; 20. Fourth movable arm; 21. Fifth movable arm; 22. Sixth movable arm; 23. Connecting plate; 24. Control computer. DETAILED DESCRIPTION

[0035] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0036] Please refer to Figure 1-Figure 10 ,in, Figure 1 This is a schematic diagram of the overall structure of the heparin activity automatic detection and liquid transfer device provided by the utility model; Figure 2 A schematic diagram of the structure of the six-axis liquid transfer robot provided by the utility model; Figure 3 A schematic cross-sectional view of a plurality of liquid transfer tips provided by the utility model; Figure 4 for Figure 2 A schematic diagram of the enlarged structure of shown; Figure 5 for Figure 2 A schematic diagram of the enlarged structure of B shown;

[0037] Figure 6 Schematic diagram of the state structure of the six-axis liquid transfer robot and multiple liquid transfer tips provided by the utility model Figure 1 ; Figure 7 Schematic diagram of the state structure of the six-axis liquid transfer robot and multiple liquid transfer tips provided by the utility model Figure 2 ; Figure 8 A schematic diagram of the installation structure of the reagent adding workbench provided by the utility model; Fig. 9 A schematic diagram of the installation structure of the dissolution workbench provided by the utility model; Fig.10 This is a schematic diagram of the installation structure of the dilution workbench provided by the utility model.

[0038] In the specific implementation process, Figure 1-Figure 10 As shown, the automatic heparin activity detection pipetting device includes a dissolution workbench, a dilution workbench and a reagent adding workbench arranged side by side;

[0039] The dissolution workbench includes a detection table 1, a four-axis liquid transfer robot arm 2, a parallel clamp 3, a rotating clamp 4 and a syringe pump 1, the four-axis liquid transfer robot arm 2 is installed on the detection table 1, the rotating clamp 4 is installed at the output end of the four-axis liquid transfer robot arm 2, and the syringe pump 1 and the parallel clamp 3 are respectively installed on the detection table 1;

[0040] It should be noted that the parallel clamping jaws 3 include two arc-shaped clamps that are arranged opposite to each other and can move toward or away from each other after being powered on, thereby realizing the functions of clamping and disengaging.

[0041] The dilution workbench includes a detection table 2 5, a four-axis liquid transfer robot 2 6, a liquid transfer device 7 and a syringe pump 2, and the four-axis liquid transfer robot 2 6 is installed on the detection table 2 5;

[0042] The pipette includes a box body 9, a retractable movable plug and a plurality of pipette tips 10. The box body 9 and the output end of the six-axis pipette robot arm are detachably mounted by bolts. A plurality of mounting tubes 11 are equidistantly distributed at the bottom of the box body 9. The plurality of pipette tips 10 are respectively mounted on the outside of the plurality of mounting tubes 11 by plugging and unplugging. The pipette tips 10 are replaced every time the pipettes are pipetted. The suction ports at the ends of the plurality of pipette tips 10 are inclined. The inner cavity sizes of the plurality of pipette tips 10 increase in stages from bottom to top. The change of the inner cavity size from small to large can further slow down the reflux during movement. The retractable movable plug is mounted inside the box body 9. A plurality of piston rods are arranged at the bottom of the retractable movable plug. The plurality of piston rods can be respectively moved in a plurality of The internal movement of the pipette tip 10, the retractable movable plug includes a mounting plate 12, an electric telescopic rod 13 and a pressing plate 14, the mounting plate 12 is fixed to the top wall of the inner cavity of the box body 9, the electric telescopic rod 13 is fixedly installed on the mounting plate 12, the output end of the electric telescopic rod 13 is fixedly connected to the pressing plate 14, the bottom of the pressing plate 14 is respectively fixedly connected to a plurality of piston rods, the piston rod includes a support rod 15 and a flexible plug 16, the support rod 15 is fixedly installed at the bottom of the pressing plate 14, the flexible plug 16 is fixedly installed at the bottom of the support rod 15, the flexible plug 16 is interference fit with the inner wall of the pipette tip 10, and the flexible plug 16 can be made of rubber material to improve the sealing of the inner wall of the pipette tip 10;

[0043] The reagent adding workbench includes a detection table 3 8 and a six-axis liquid transfer robot arm installed on the detection table 3 8, and a pipette is provided at the output end of the six-axis liquid transfer robot arm;

[0044] It should be noted that the difference between the pipette and the liquid transfer device 7 is that the number of the liquid transfer tips 10 in the liquid transfer device 7 is ;

[0045] The six-axis liquid transfer robot comprises a first movable arm 17, a second movable arm 18, a third movable arm 19, a fourth movable arm 20, a fifth movable arm 21 and a sixth movable arm 22. The first movable arm 17 is mounted on the detection table 8, the second movable arm 18 is movably mounted on one end of the first movable arm 17, the two ends of the third movable arm 19 are movably connected to the second movable arm 18 and one end of the fourth movable arm 20 respectively, and the end of the fourth movable arm 20 away from the third movable arm 19 is movably connected to one end of the fourth movable arm 20, the end of the fifth movable arm 21 away from the fourth movable arm 20 is movably connected to the sixth movable arm 22, and the sixth movable arm 22 is away from the fifth movable arm One end of the first movable arm 17, the second movable arm 18, the third movable arm 19, the fourth movable arm 20, the fifth movable arm 21 and the sixth movable arm 22 are all provided with a rotary driver at their joints. The rotary driver may be a motor. The motor is controlled by a control computer 24 to drive the multiple movable arms to rotate, thereby realizing flexible rotation in multiple directions. A connecting plate 23 is also provided on the back of the box body 9. One end of the connecting plate 23 extends outward and is detachably mounted with the output end of the fifth movable arm 21 by bolts. A control computer 24 for controlling the movement of the retractable movable plug and the six-axis liquid transfer robot arm is also provided on the outside of the detection table 8.

[0046] It should be noted that the principle of the six-axis liquid transfer robot arm is to add two new movable arms to the principle of the four-axis liquid transfer robot arm 1 2 and the four-axis liquid transfer robot arm 2 6;

[0047] The detection platform 1 and the detection platform 2 5 are both provided with corresponding control computers 24;

[0048] The detection table 38 is also provided with slot trays (each tray has slots), test tube racks (each tray has rows of test tubes), reagent slots, pipette tip boxes (taking into account the pipette tips consumed by samples and reagents), and waste pipette tip holes;

[0049] A filling needle, a fixed bracket, and a container carrier are also placed on the test bench 1. The filling needle is fixed on the fixed bracket and connected to the liquid outlet of the injection pump 1 through a pipeline. The liquid suction port is placed in the solvent container through the pipeline. The container carrier is placed on the test bench 1 and carries the solid sample container with a cover.

[0050] Through the above method, the robot arm in the dissolution workbench can move arbitrarily within the detection table 1 and the space above it to complete the relevant operations such as clamping the solid sample container, rotating the cover to open the cover, adding a quantitative solvent to the solid sample container, and closing the cover;

[0051] The detection table 2 5 is also provided with a container carrier, a tray carrier, a tip carrier, and a discarded tip hole. The container carrier is placed on the detection table 2 5 to carry the initial solution sample container; the tray carrier is placed on the detection table 2 5 to carry the target solution container; the tip carrier is placed on the detection table 2 5 to carry the pipette tip 10; the discarded tip collection hole is a through hole on the detection table 2 5;

[0052] The working principle provided by the utility model is as follows: when the device is used, the connection status between the mechanical arm and the pipette is checked, the position of the mechanical arm is initialized and the coordinates are set to zero, and the movement of the mechanical arm is controlled according to the set control program:

[0053] The dissolution workbench works as follows:

[0054] After the machine is powered on and the connection status is normal, start to select the operation method, then select the bottle position, the selected bottle position row is displayed in the data table, enter the relevant information, automatically calculate and output the volume to be added, and then start working, as follows:

[0055] Initial state: the gripper is fully open, the pump is at zero point, the robot arm position is initialized, and the movement begins;

[0056] The robotic arm moves to the top of the waste liquid cup, the pump is cleaned and pre-filled, and the robotic arm moves to the bottle position; the capping jaws clamp and grab the bottle, the robotic arm moves to the capping position, the parallel jaws 3 clamp and grab the bottle body, the robotic arm moves to the needle outlet position, the pump is filled, the robotic arm moves to the capping position, the capping jaws cap and close the cap, the parallel jaws 3 loosen the bottle body, the robotic arm moves to the bottle position, the capping jaws loosen the bottle position, move to the next bottle position and repeat the above steps until the end.

[0057] The principle of the dilution bench is as follows:

[0058] After the machine is powered on and the connection status is normal, start to select the operation method, then select the bottle position, the selected bottle position row is displayed in the data table, enter the relevant information, automatically calculate and output the volume to be added, and then start working, as follows:

[0059] Initial state: the robot arm position is initialized, the pipette zero point, the pump zero point, and the movement starts. The robot arm moves to the waste liquid cup position; the pump is cleaned and pre-filled, the robot arm moves to the slot position, and the pump is filled;

[0060] Next slot dilution: the robot moves to the position above the pipette tip, the pipette tip and the bottle position in turn, the pipette device 7 aspirates the liquid, the robot moves to the position of the slot to be diluted, the pipette device 7 aspirates the liquid, blows and aspirates twice, the robot moves to the discarded pipette tip position, the pipette device 7 withdraws the pipette tip, and repeats the dilution for the next bottle position until it is finished.

[0061] The principle of the reagent adding workbench is as follows:

[0062] After the machine is powered on and the connection status is normal, start to select the operation method, then select the bottle position, the selected bottle position row is displayed in the data table, enter the relevant information, automatically calculate and output the volume to be added, and then start working, as follows:

[0063] Initial state: the robot position is initialized, the pipette is at zero point, and the movement starts. The robot moves to the position above the tip, the tip, and the slot respectively, and the pipette aspirates. The robot moves to the position above the test tube and the discarded tip, and the pipette withdraws the tip.

[0064] Add reagent to the next slot: the robotic arm moves to the point position above the pipette tip, the pipette tip and the reagent position respectively, the pipette aspirates liquid, the robotic arm moves to the test tube position, the pipette absorbs liquid, the robotic arm moves above the test tube position, the robotic arm moves to the discarded tip position, the pipette withdraws the tip, wherein the pipette tip is replaced 10 times every 10 pipettings, the robotic arm moves to the position above the pipette tip, the pipette tip and the next reagent position in turn, the pipette aspirates liquid, the robotic arm moves to the test tube position, the above steps are repeated 10 times, the robotic arm moves to the discarded tip position, the pipette withdraws the tip, until the end.

[0065] It should be noted that after reaching the designated position during the process of aspirating and transferring liquid, the electric telescopic rod 13 is started to drive the pressure plate 14 to move downward. At the same time, multiple piston rods move in multiple pipette tips 10 respectively to realize the functions of aspirating and discharging liquid. The pipette tips 10 are replaced every 10 transfers. Since the suction ports at the ends of the multiple pipette tips 10 are inclined, it is beneficial to increase the area of ​​the suction end face, increase the contact area between the liquid and the suction port during aspiration, and further improve the accuracy of the detection data.

[0066] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0067] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A heparin activity automatic detection pipetting device, characterized in that: It includes a dissolution workbench, a dilution workbench and a reagent adding workbench arranged side by side; The dissolution workbench comprises a detection table (1), a four-axis liquid transfer robot (2), a parallel clamp (3), a rotating clamp (4) and a syringe pump (1), wherein the four-axis liquid transfer robot (2) is installed on the detection table (1), the rotating clamp (4) is installed at the output end of the four-axis liquid transfer robot (2), and the syringe pump (1) and the parallel clamp (3) are respectively installed on the detection table (1); The dilution workbench comprises a second detection platform (5), a second four-axis liquid transfer robot arm (6), a liquid transfer device (7) and a second injection pump, wherein the second four-axis liquid transfer robot arm (6) is installed on the second detection platform (5); The reagent adding workbench comprises a detection table three (8) and a six-axis liquid transfer robot arm installed on the detection table three (8); a pipette is provided at the output end of the six-axis liquid transfer robot arm; the pipette comprises a box body (9), a retractable movable plug and a plurality of liquid transfer tips (10); the box body (9) and the output end of the six-axis liquid transfer robot arm are detachably mounted by bolts; a plurality of mounting tubes (11) are equidistantly distributed at the bottom of the box body (9); the plurality of liquid transfer tips (10) are respectively mounted on the outside of the plurality of mounting tubes (11) by plugging and unplugging; the suction ports at the ends of the plurality of liquid transfer tips (10) are inclined; the inner cavity sizes of the plurality of liquid transfer tips (10) are increased in stages from bottom to top; the retractable movable plug is installed inside the box body (9); a plurality of piston rods are provided at the bottom of the retractable movable plug; the plurality of piston rods can be respectively movable inside the plurality of liquid transfer tips (10).

2. The heparin activity automatic detection pipetting device according to claim 1, characterized in that: The retractable movable plug comprises a mounting plate (12), an electric telescopic rod (13) and a pressing plate (14); the mounting plate (12) is fixed to the top wall of the inner cavity of the box body (9); the electric telescopic rod (13) is fixedly mounted on the mounting plate (12); the output end of the electric telescopic rod (13) is fixedly connected to the pressing plate (14); and the bottom of the pressing plate (14) is fixedly connected to the plurality of piston rods.

3. The heparin activity automatic detection pipetting device according to claim 2, characterized in that: The piston rod comprises a support rod (15) and a flexible plug (16), wherein the support rod (15) is fixedly mounted on the bottom of the pressure plate (14), and the flexible plug (16) is fixedly mounted on the bottom of the support rod (15), and the flexible plug (16) is interference fit with the inner wall of the pipette tip (10).

4. The heparin activity automatic detection pipetting device according to claim 3, characterized in that: The six-axis liquid transfer robot comprises a first movable arm (17), a second movable arm (18), a third movable arm (19), a fourth movable arm (20), a fifth movable arm (21) and a sixth movable arm (22), wherein the first movable arm (17) is mounted on the detection platform (8), the second movable arm (18) is movably mounted on one end of the first movable arm (17), the two ends of the third movable arm (19) are movably connected to the second movable arm (18) and one end of the fourth movable arm (20), respectively, and the fourth movable arm (20) is away from the first movable arm (17). One end of the third movable arm (19) is movably connected to one end of the fourth movable arm (20); one end of the fifth movable arm (21) away from the fourth movable arm (20) is movably connected to the sixth movable arm (22); one end of the sixth movable arm (22) away from the fifth movable arm (21) is fixedly connected to the top of the mounting plate (12); and rotation drivers are provided at the connection points of the first movable arm (17), the second movable arm (18), the third movable arm (19), the fourth movable arm (20), the fifth movable arm (21) and the sixth movable arm (22).

5. The heparin activity automatic detection pipetting device according to claim 4, characterized in that: A connecting plate (23) is also provided on the back of the box body (9), one end of the connecting plate (23) extends outward and is detachably mounted to the output end of the fifth movable arm (21) via bolts.

6. The heparin activity automatic detection and liquid transfer device according to claim 5, characterized in that: The outer side of the detection platform 3 (8) is also provided with a control computer (24) for controlling the movement of the retractable movable plug and the six-axis liquid transfer robot arm.

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