Three-axis pipetting device

Abstract

The utility model discloses a three-axis pipetting device which comprises a first module, a second module and a pipetting pump module, the first module drives the second module to reciprocate in a first direction, the second module drives the pipetting pump module to reciprocate in a second or third direction, and the first direction, the second direction and the third direction are perpendicular to one another; the second module comprises a first base plate and a second base plate, on the first base plate, a second driving mechanism drives a first synchronous belt assembly to move, the first synchronous belt assembly drives at least one of a second synchronous belt assembly and a third synchronous belt assembly to move in the second direction, and the second base plate and the third synchronous belt assembly synchronously move; on the second base plate, a sixth synchronous belt wheel is in meshed connection with a second synchronous belt of the second synchronous belt assembly, a gear and the sixth synchronous belt wheel rotate synchronously, and a rack is arranged in the third direction and is in meshed connection with the rack; and the liquid transfer pump module is fixedly connected with the rack and is in sliding connection with a third sliding rail on the second base plate. The utility model has the advantages of simple structure, light weight and low cost.

Description

Technical Field

[0001] The utility model relates to the field of medical instruments, and in particular to a three-axis pipetting device. Background Art

[0002] Currently, XYZ three-axis pipetting devices in the medical device field typically use a motor-driven lead screw or belt to drive a pipette pump module on one or two linear slides. The movement of the pipette pump module in one axis must be driven by an independent motor. This results in heavy, inertial, bulky, and costly pipetting devices. Furthermore, the Y- and Z-axis drive mechanisms impose a particularly severe load imbalance on the X-axis mechanism, requiring a very strong design for the X-axis module and a larger X-axis drive motor to overcome the effects of the weight and inertia of the Y- and Z-axis drive mechanisms on the entire three-axis pipetting device.

[0003] The disclosure of the above background technology content is only used to assist in understanding the concept and technical solution of the utility model. It does not necessarily belong to the prior art of this patent application, nor does it necessarily provide technical guidance. In the absence of clear evidence that the above content has been disclosed before the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of this application. Utility Model Content

[0004] The purpose of the utility model is to provide a three-axis liquid transfer device with simple structure, light weight and low cost.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present utility model is as follows:

[0006] A three-axis pipetting device comprises a first module, a second module and a pipetting pump module, wherein the second module is arranged on the first module, and the pipetting pump module is arranged on the second module;

[0007] The first module is configured to drive the second module and the pipetting pump module to reciprocate in a first direction;

[0008] The second module is configured to drive the pipetting pump module to reciprocate in a second direction and / or a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other;

[0009] The second module includes a first substrate and a second substrate, the first substrate is arranged on the first module, and the first substrate is provided with a second driving mechanism, a second slide rail, a first synchronous belt assembly, a second synchronous belt assembly and a third synchronous belt assembly; wherein,

[0010] The length direction of the second slide rail is arranged along the second direction, and the second substrate is slidably connected to the second slide rail;

[0011] The second driving mechanism drives the first synchronous belt assembly to move;

[0012] The first synchronous belt assembly is configured to drive at least one of the second synchronous belt assembly and the third synchronous belt assembly to reciprocate in the second direction;

[0013] The second substrate is configured to move synchronously with the third synchronous belt assembly, and a sixth synchronous pulley, a gear, a rack and a third slide rail are provided on the second substrate, the sixth synchronous pulley is meshed with the second synchronous belt in the second synchronous belt assembly, the gear and the sixth synchronous pulley are coaxially arranged and rotate synchronously, the rack is meshed with the rack, and its length direction is arranged along the third direction;

[0014] The pipetting pump module is fixedly connected to the rack and slidably connected to the third slide rail.

[0015] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the first synchronous belt assembly includes a first synchronous pulley, a second synchronous pulley, and a third synchronous pulley, and a first synchronous belt connecting the first synchronous pulley, the second synchronous pulley, and the third synchronous pulley;

[0016] The second synchronous belt assembly includes a fourth synchronous pulley, a first idler pulley, and a second synchronous belt connecting the fourth synchronous pulley and the first idler pulley, and the movement direction of the second synchronous belt is a second direction;

[0017] The third synchronous belt assembly includes a fifth synchronous pulley, a second idler pulley, and a third synchronous belt connecting the fifth synchronous pulley and the second idler pulley, and the movement direction of the third synchronous belt is the second direction;

[0018] The fourth synchronous pulley is coaxially arranged with the second synchronous pulley and connected via the first clutch brake. When the first clutch brake is in the clutch locked and brake open state, the fourth synchronous pulley rotates synchronously with the second synchronous pulley.

[0019] The fifth synchronous pulley is coaxially arranged with the third synchronous pulley and connected through a second clutch brake. When the second clutch brake is in a clutch locked and brake open state, the fifth synchronous pulley rotates synchronously with the third synchronous pulley.

[0020] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, the second synchronous belt assembly also includes a third idler wheel, which is arranged on the second substrate and is configured to increase the contact area between the fourth synchronous belt pulley and the second synchronous belt.

[0021] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions described above, the sixth synchronous pulley and the third idler pulley are arranged on a surface of the second substrate close to the first substrate, and the gear, rack and third slide rail are arranged on a surface of the second substrate away from the first substrate.

[0022] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the first synchronous belt assembly is arranged on the back side of the first substrate, and the second synchronous belt assembly and the third synchronous belt assembly are arranged on the front side of the first substrate; and / or,

[0023] The second slide rail is arranged between the second synchronous belt assembly and the third synchronous belt assembly.

[0024] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the pipette pump module includes a pipette tip, a pipette pump for controlling the pipette tip to absorb or discharge liquid, and a third substrate, wherein the third substrate is configured to mount the pipette pump, and the third substrate is fixedly connected to the rack and slidably connected to the third slide rail;

[0025] The length directions of the rack and the third slide rail are both arranged along the third direction.

[0026] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the second synchronous pulley and the third synchronous pulley are the same; and / or,

[0027] A connecting line between the second synchronous pulley and the third synchronous pulley is in the third direction.

[0028] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the fourth synchronous pulley, the fifth synchronous pulley and the sixth synchronous pulley are the same; and / or,

[0029] The first idler pulley and the second idler pulley are identical.

[0030] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions described above, the first clutch brake and / or the second clutch brake are electromagnetic clutches and brakes.

[0031] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the first module includes a first slider, a first slide rail for sliding the first slider, a screw rod for driving the first slider to move, and a first driving mechanism for driving the screw rod to rotate, and the length directions of the first slide rail and the screw rod are arranged along the first direction;

[0032] The first substrate is disposed on a first slider.

[0033] The beneficial effects brought about by the technical solution provided by the utility model are as follows:

[0034] a. The three-axis pipetting device provided by the utility model is configured to control the pipetting pump module to move in the second direction by arranging a first synchronous belt assembly, a second synchronous belt assembly and a third synchronous belt assembly in the second module, and controlling the second synchronous belt assembly and the third synchronous belt assembly to move in the second direction at the same speed by the first synchronous belt assembly; controlling the second synchronous belt assembly and the third synchronous belt assembly to move in the second direction at different speeds by the first synchronous belt assembly, and utilizing the speed difference to rotate the sixth synchronous belt pulley, thereby driving the gear and the rack in the third direction to move, thereby controlling the pipetting pump module to move in the third direction. This structural design allows the modules controlling the movement of the pipetting pump module in the second and third directions to share one drive motor, which can reduce the manufacturing cost of a set of drive motors and their corresponding circuits, and its structure is simple, the parts are streamlined, and universal parts can be used, which can greatly reduce the cost of the device.

[0035] b. The three-axis pipetting device provided by the present invention significantly reduces the weight of the driving mechanism in the second and third directions, and also significantly reduces the off-load and driving inertia force in the first direction, thereby allowing the driving motor of the first module to adopt a smaller model specification and reducing the thickness and strength requirements of the structural parts, thereby reducing the weight and manufacturing cost of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A schematic structural diagram of a three-axis pipetting device provided as an exemplary embodiment of the present invention;

[0038] Figure 2 A schematic structural diagram of a second module from a first perspective provided by an exemplary embodiment of the present invention;

[0039] Figure 3 A schematic structural diagram of a second module from a second perspective provided by an exemplary embodiment of the present invention.

[0040] Among them, the figure marks include: 1-first module, 11-first slider, 12-first driving mechanism, 13-first slide rail, 14-screw, 2-second module, 21-second driving mechanism, 221-first synchronous pulley, 222-second synchronous pulley, 223-third synchronous pulley, 224-fourth synchronous pulley, 225-fifth synchronous pulley, 226-sixth synchronous pulley, 241-first brake, 242-second brake, 25-first synchronous belt, 261-first idler wheel, 262-first idler wheel, 27-third idler wheel, 28-second synchronous belt, 29-third synchronous belt, 210-first base plate, 211-second slide rail, 212-second base plate, 213-third slide rail, 214-gear, 215-rack, 216-third base plate, 3-pipette pump module, 31-pipette tip, 32-pipette pump. DETAILED DESCRIPTION

[0041] In order to help those skilled in the art better understand the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] In one embodiment of the present invention, a three-axis pipetting device is provided, which is suitable for medical devices. Figure 1The pipetting device includes a first module 1, a second module 2, and a pipetting pump module 3. The second module 2 is disposed on the first module 1, and the pipetting pump module 3 is disposed on the second module 2. The first module 1 is configured to drive the second module 2 and the pipetting pump module 3 to reciprocate in a first direction, i.e., the X-axis; the second module 2 is configured to control the pipetting pump module 3 to reciprocate in a second direction, i.e., the Y-axis, and / or a third direction, i.e., the Z-axis. The first, second, and third directions are perpendicular to each other.

[0044] In this embodiment, see Figure 1 The first module 1 includes a first slider 11, a first driving mechanism 12, a first slide rail 13 for sliding the first slider 11, and a screw rod 14 for driving the first slider 11 to move. The first driving mechanism 12 can adopt a servo motor or a stepping motor, which is configured to drive the screw rod 14 to rotate, thereby driving the first slider 11 to reciprocate in the first direction, i.e., the X-axis direction.

[0045] The second module 2 includes a first substrate 210 and a second substrate 212. The first substrate 210 is arranged on the first slider 11. At least one second slide rail 211 is provided on the first substrate 210. The length direction of the second slide rail 211 is arranged along the second direction. The second substrate 212 is slidably connected to the second slide rail 211.

[0046] The first base plate 210 is also provided with a second drive mechanism 21, a first synchronous belt assembly, a second synchronous belt assembly, and a third synchronous belt assembly. The second drive mechanism 21 can be a servo motor or a stepper motor. The second and third synchronous belt assemblies are arranged to drive the transmission direction along the second direction, i.e., the Y-axis direction. The first synchronous belt assembly is configured to drive at least one of the second and third synchronous belt assemblies to reciprocate in the second direction. Preferably, the second slide rail 211 is provided between the second and third synchronous belt assemblies.

[0047] The second driving mechanism 21, the second synchronous belt assembly and the third synchronous belt assembly are arranged on the front side of the first substrate 210, that is, on the side close to the pipetting pump module, and the first synchronous belt assembly is arranged on the back side of the first substrate 210, thereby balancing the weight distribution of the second module, thereby improving the stability of the device and reducing the volume of the device.

[0048] See also Figure 3The first synchronous belt assembly includes a first synchronous pulley 221, a second synchronous pulley 222, and a third synchronous pulley 223, and a first synchronous belt 25 connecting the first synchronous pulley 221, the second synchronous pulley 222, and the third synchronous pulley 223. Preferably, the second synchronous pulley 222 and the third synchronous pulley 223 are identical synchronous pulleys, and the line connecting the second synchronous pulley 222 and the third synchronous pulley 223 is in the Z-axis direction. The first synchronous pulley 221 is fixedly connected to the rotating shaft of the second driving mechanism 21, and the second driving mechanism 21 drives the first synchronous pulley 221 to rotate, thereby driving the first synchronous belt assembly to move.

[0049] See also Figure 2 The second synchronous belt assembly includes a fourth synchronous pulley 224, a first idler pulley 261, a third idler pulley 27, a sixth synchronous pulley 226, and a second synchronous belt 28. The fourth synchronous pulley 224, the first idler pulley 261, the third idler pulley 27, and the sixth synchronous pulley 226 are all meshed and connected with the second synchronous belt 28, with the transmission direction of the second synchronous belt 28 being along the second direction. The fourth synchronous pulley 224 and the first idler pulley 261 are disposed on the front side of the first substrate 210, i.e., on the side near the pipetting pump module. The sixth synchronous pulley 226 and the third idler pulley 27 are disposed on the side of the second substrate 212 near the first substrate 210. The third idler pulley 27 is configured to increase the contact area between the fourth synchronous pulley 224 and the second synchronous belt 28. Preferably, the third idler pulley 27 is disposed above the sixth synchronous pulley 226, with the line connecting the third idler pulley 27 and the sixth synchronous pulley 226 close to the Z-axis.

[0050] The fourth synchronous pulley 224 is coaxially arranged with the second synchronous pulley 222 and connected via a first clutch brake 241. The first clutch brake 241 preferably employs an electromagnetic clutch and brake. When the first clutch brake 241 is in the clutch locked and brake released state, the fourth synchronous pulley 224 and the second synchronous pulley 222 rotate synchronously under the drive of the second drive mechanism 21. Specifically, the second drive mechanism 21 can drive the first synchronous pulley 221 to rotate, and the first synchronous pulley 221 can drive the second synchronous pulley 222 via the first synchronous belt 25, thereby driving the second synchronous belt assembly to transmit along the Y-axis. When the first clutch brake 241 is in the clutch released and brake locked state, the fourth synchronous pulley 224 does not rotate when the second synchronous pulley 222 rotates.

[0051] The third synchronous belt assembly includes a fifth synchronous pulley 225, a second idler pulley 262, and a third synchronous belt 29 connecting the fifth synchronous pulley 225 and the second idler pulley 262. The transmission direction of the second synchronous belt 28 is the second direction. The fifth synchronous pulley 225 is coaxial with the third synchronous pulley 223 and connected via a second clutch brake 242. The second clutch brake 242 preferably utilizes an electromagnetic clutch and brake. When the second clutch brake 242 is in the clutch locked and brake engaged state, the fifth synchronous pulley 225 rotates synchronously with the third synchronous pulley 223, thereby driving the third synchronous belt assembly along the Y-axis. When the second clutch brake 242 is in the clutch released and brake engaged state, the fifth synchronous pulley 225 does not rotate when the third synchronous pulley 223 rotates.

[0052] In this embodiment, the fourth synchronous pulley 224 , the fifth synchronous pulley 225 and the sixth synchronous pulley 226 are the same; the first idler pulley 261 and the second idler pulley 262 are the same.

[0053] See also Figure 2 and Figure 3 The second base plate 212 is configured to move synchronously with the third synchronous belt assembly. For example, a clamping block is provided on the second base plate 212, which is fixedly connected to the third synchronous belt 29. A gear 214, a rack 215, and a third slide rail 213 are provided on a side of the second base plate 212 away from the first base plate 210. The gear 214 is coaxially arranged with the sixth synchronous pulley 226 and rotates synchronously with the sixth synchronous pulley 226. The rack 215 is meshed with the rack 215. The lengths of the rack 215 and the third slide rail 213 are both arranged along the third direction.

[0054] The pipette pump module 3 is configured to transfer liquid and includes a pipette tip 31 and a pipette pump 32 that controls the pipette tip to absorb and discharge liquid. The pipette pump module 3 is fixedly connected to the rack 215 and slidably connected to the third slide rail 213. Specifically, the pipette pump module 3 also includes a third base plate 216, which is configured to mount the pipette pump 32. The third base plate 216 is fixedly connected to the rack 215 and slidably connected to the third slide rail 213.

[0055] The three-axis pipetting device provided by the present utility model is configured to control the movement of the pipetting pump module in the Y-axis direction by arranging a first synchronous belt assembly, a second synchronous belt assembly and a third synchronous belt assembly in the second module, and controlling the second synchronous belt assembly and the third synchronous belt assembly to move at the same speed along the Y-axis direction by the first synchronous belt assembly; controlling the second synchronous belt assembly and the third synchronous belt assembly to move at different speeds along the Y-axis direction by the first synchronous belt assembly, and utilizing the speed difference to rotate the sixth synchronous belt pulley, thereby driving the gear and the rack in the Z-axis direction to move, thereby controlling the movement of the pipetting pump module in the Z-axis direction. The structural design of the three-axis pipetting device allows the modules that control the movement of the pipetting pump module in the Y-axis and Z-axis directions to share one drive motor, which can reduce the manufacturing cost of a set of drive motors and their corresponding circuits. In addition, its structure is simple, the parts are streamlined, and universal parts can be used, which can greatly reduce the cost of the device. In addition, this design also greatly reduces the weight of the drive mechanism in the Y-axis and Z-axis directions, and greatly reduces the off-load and driving inertia force on the X-axis, so that the drive motor of the first module can adopt a smaller model specification and reduce the thickness and strength requirements of the structural parts, thereby reducing the weight and manufacturing cost of the device.

[0056] In this embodiment, the working principle of the three-axis pipetting device is:

[0057] When it is necessary to control the pipetting pump module 3 to move in the X-axis direction, the first driving mechanism 12 in the first module 1 rotates to drive the first slider 11 to slide along the first slide rail 13, thereby controlling the second module 2 and the pipetting pump module 3 to move in the X-axis direction.

[0058] When the pipetting pump module 3 needs to be controlled to move in the Y-axis direction, the second drive mechanism in the second module 2 rotates, driving the first synchronous belt assembly to move. Simultaneously, the first clutch brake 241 and the second clutch brake 242 are both in the clutch locked, brake released state. The second synchronous pulley 222 and the third synchronous pulley 223 respectively drive the fourth synchronous pulley 224 and the fifth synchronous pulley 225 to rotate synchronously, thereby achieving synchronous movement of the second synchronous belt 28 and the third synchronous belt 29, thereby driving the second substrate 212 and the pipetting pump module 3 in the Y-axis direction. Furthermore, since there is no speed difference between the second synchronous belt 28 and the third synchronous belt 29, the pipetting pump module 3 will no longer move in the Z-axis direction.

[0059] When the pipette pump module 3 needs to be moved in the Z-axis direction, the second drive mechanism in the second module 2 rotates, driving the first synchronous belt assembly to move. Simultaneously, the first clutch brake 241 is in the clutch locked, brake released state, and the second clutch brake 242 is in the clutch released, brake locked state. As a result, the second synchronous pulley 222 drives the fourth synchronous pulley 224 to rotate synchronously, while the fifth synchronous pulley 225 remains stationary. Consequently, the second synchronous belt 28 moves, while the third synchronous belt 29 remains stationary. The second base plate 212 remains stationary due to the position restraint of the third synchronous belt 29. Due to the speed difference between the second and third synchronous belts 28 and 29, the sixth synchronous pulley 226 rotates, driving the gear 214 to rotate synchronously, thereby driving the rack 215 to move in the Z-axis direction. This allows the pipette pump module 3, which is fixedly connected to the rack 215, to move in the Z-axis direction.

[0060] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0061] The above is only a specific implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A three-axis pipetting device, characterized in that: It comprises a first module (1), a second module (2) and a liquid transfer pump module (3), wherein the second module (2) is arranged on the first module (1), and the liquid transfer pump module (3) is arranged on the second module (2); The first module (1) is configured to drive the second module (2) and the pipetting pump module (3) to reciprocate in a first direction; The second module (2) is configured to drive the pipetting pump module (3) to reciprocate in a second direction and / or a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other; The second module (2) comprises a first substrate (210) and a second substrate (212), wherein the first substrate (210) is arranged on the first module (1), and the first substrate (210) is provided with a second driving mechanism (21), a second slide rail (211), a first synchronous belt assembly, a second synchronous belt assembly and a third synchronous belt assembly; wherein, The length direction of the second slide rail (211) is arranged along the second direction, and the second substrate (212) is slidably connected to the second slide rail (211); The second driving mechanism (21) drives the first synchronous belt assembly to move; The first synchronous belt assembly is configured to drive at least one of the second synchronous belt assembly and the third synchronous belt assembly to reciprocate in the second direction; The second substrate (212) is configured to move synchronously with the third synchronous belt assembly, and a sixth synchronous pulley (226), a gear (214), a rack (215) and a third slide rail (213) are provided on the second substrate (212), the sixth synchronous pulley (226) is meshed with the second synchronous belt (28) in the second synchronous belt assembly, the gear (214) and the sixth synchronous pulley (226) are coaxially arranged and rotate synchronously, the rack (215) is meshed with the rack (215), and its length direction is arranged along the third direction; The liquid transfer pump module (3) is fixedly connected to the rack (215) and slidably connected to the third slide rail (213).

2. The three-axis pipetting device according to claim 1, characterized in that The first synchronous belt assembly includes a first synchronous belt pulley (221), a second synchronous belt pulley (222), and a third synchronous belt pulley (223), and a first synchronous belt (25) connecting the first synchronous belt pulley (221), the second synchronous belt pulley (222), and the third synchronous belt pulley (223); The second synchronous belt assembly comprises a fourth synchronous pulley (224), a first idler pulley (261), and a second synchronous belt (28) connecting the fourth synchronous pulley (224) and the first idler pulley (261), wherein the movement direction of the second synchronous belt (28) is a second direction; The third synchronous belt assembly comprises a fifth synchronous pulley (225), a second idler pulley (262), and a third synchronous belt (29) connecting the fifth synchronous pulley (225) and the second idler pulley (262), wherein the movement direction of the third synchronous belt (29) is the second direction; The fourth synchronous pulley (224) is coaxially arranged with the second synchronous pulley (222) and is connected via a first clutch brake (241); when the first clutch brake (241) is in a clutch locked and brake open state, the fourth synchronous pulley (224) rotates synchronously with the second synchronous pulley (222); The fifth synchronous pulley (225) is coaxially arranged with the third synchronous pulley (223) and is connected via a second clutch brake (242). When the second clutch brake (242) is in a clutch locked and brake open state, the fifth synchronous pulley (225) rotates synchronously with the third synchronous pulley (223).

3. The three-axis pipetting device according to claim 2, characterized in that: The second synchronous belt assembly further includes a third idler wheel (27), which is disposed on the second base plate (212) and is configured to increase the contact area between the fourth synchronous pulley (224) and the second synchronous belt (28).

4. The three-axis pipetting device according to claim 3, characterized in that The sixth synchronous pulley (226) and the third idler wheel (27) are arranged on a surface of the second substrate (212) close to the first substrate (210), and the gear (214), the rack (215) and the third slide rail (213) are arranged on a surface of the second substrate (212) away from the first substrate (210).

5. The three-axis pipetting device according to any one of claims 1 to 4, characterized in that: The first synchronous belt assembly is arranged on the back side of the first substrate (210), and the second synchronous belt assembly and the third synchronous belt assembly are arranged on the front side of the first substrate (210); and / or, The second slide rail (211) is arranged between the second synchronous belt assembly and the third synchronous belt assembly.

6. The three-axis pipetting device according to any one of claims 1 to 4, characterized in that: The pipetting pump module (3) comprises a pipetting gun head (31), a pipetting pump (32) for controlling the pipetting gun head (31) to absorb or discharge liquid, and a third base plate (216), wherein the third base plate (216) is configured to install the pipetting pump (32), and the third base plate (216) is fixedly connected to the rack (215) and slidably connected to the third slide rail (213); The length directions of the rack (215) and the third slide rail (213) are both arranged along the third direction.

7. The three-axis pipetting device according to claim 2, characterized in that: The second synchronous pulley (222) and the third synchronous pulley (223) are the same; and / or, A connecting line between the second synchronous pulley (222) and the third synchronous pulley (223) is in the third direction.

8. The three-axis pipetting device according to claim 2, characterized in that: The fourth synchronous pulley (224), the fifth synchronous pulley (225) and the sixth synchronous pulley (226) are the same; and / or, The first idler wheel (261) and the second idler wheel (262) are identical.

9. The three-axis pipetting device according to claim 2, characterized in that: The first clutch brake (241) and / or the second clutch brake (242) are electromagnetic clutches and brakes.

10. The three-axis pipetting device according to claim 1, characterized in that: The first module (1) comprises a first slider (11), a first slide rail (13) for sliding the first slider (11), a screw rod (14) for driving the first slider (11) to move, and a first driving mechanism (12) for driving the screw rod (14) to rotate, wherein the length direction of the first slide rail (13) and the screw rod (14) is arranged along the first direction; The first substrate (210) is arranged on the first slider (11).

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