Automatic pipetting device

Abstract

The utility model discloses an automatic pipetting device which comprises a mounting base, a rotating motor is mounted on the mounting base, the rotating motor is connected with a first driving motor, the rotating motor is used for driving the first driving motor to rotate, the first driving motor is in driving connection with a first mechanical arm, and the first driving motor is used for driving the first mechanical arm to swing; a second driving motor is fixed to the second mechanical arm, the first mechanical arm is rotationally connected with the second mechanical arm, the second driving motor is in driving connection with the second mechanical arm, and the second driving motor is used for driving the second mechanical arm to rotate; the second mechanical arm is connected with a connecting base, and the connecting base is provided with a clamping jaw used for clamping and fixing the pipette. The device can automatically and accurately control the time, the position and the speed of dropwise adding the solution, is high in working efficiency and high in precision, and greatly reduces errors during preparation; and the device is simple in structure, small, exquisite and flexible, and is suitable for spin-coating of a single solar cell under laboratory conditions, especially for spin-coating preparation of a perovskite solar cell under a laboratory environment.

Description

Technical Field

[0001] This utility model relates to an automatic liquid transfer device, belonging to the field of laboratory equipment technology. Background Technology

[0002] Perovskite solar cells are solar cells that utilize perovskite organometal halide semiconductors as light-absorbing materials. They belong to the third generation of solar cells and are also known as new-concept solar cells. In just a few years, their fabrication processes and material compositions have made unprecedented progress. Currently, the highest certified perovskite solar cell has achieved a photoelectric conversion efficiency (PCE) of 26.81%, which is competitive with most mature solar cell materials (such as silicon, CIGS, and CdTe). In the fabrication process of perovskite solar cells, chemical reagents are spin-coated onto the surface of a rapidly rotating wafer to form a thin film.

[0003] In the preparation of perovskite solar cells under laboratory conditions, the existing methods mostly involve manually operating a pipette to add the solution. However, some variables during the addition, such as the time, position, and speed of the addition, cannot be well controlled. This results in significant differences in efficiency between perovskite solar cells prepared in the same batch, which cannot meet the needs of medium-scale sample manufacturing in the laboratory.

[0004] Existing pipetting devices include non-automatic pipettes and large-scale automated spin coating systems. Non-automatic pipettes have simple mechanical structures, rely solely on manual operation, and are difficult to accurately control the position, time interval, and speed of solution addition each time, resulting in significant errors during preparation. Furthermore, the pipette cannot be fixed to a single base, requiring manual repositioning to aspirate solution each time, leading to low efficiency. Large-scale automated spin coating systems are suitable for industrial production environments, but the equipment is large, costly, and difficult to operate, making them unsuitable for spin coating single solar cells under laboratory conditions. Utility Model Content

[0005] To address the aforementioned issues, this invention provides an automated liquid handling device. This device can automatically and accurately control the time, position, and speed of solution addition, resulting in high efficiency and precision. It significantly reduces errors during preparation, avoids large efficiency differences between perovskite solar cells prepared in the same batch, and can meet the needs of medium-scale sample manufacturing in the laboratory. Furthermore, the device has a simple, compact, and flexible structure, making it suitable for spin-coating single solar cells under laboratory conditions, especially for spin-coating perovskite solar cells in a laboratory environment.

[0006] This utility model is achieved through the following technical solution:

[0007] An automated pipetting device includes a mounting base on which a rotary motor is mounted. The output of the rotary motor is connected to a first drive motor, which drives the first drive motor to rotate. The first drive motor drives a first robotic arm to rotate. A second drive motor is fixedly mounted on the first robotic arm, which is rotatably connected to it. The second drive motor drives the second robotic arm to rotate. A connecting seat is connected to the second robotic arm, and grippers for holding and fixing pipettes are mounted on the connecting seat.

[0008] In one embodiment of this utility model, the output end of the first drive motor is fixedly connected to a first connecting shaft, the first connecting shaft is fixedly connected to a first robotic arm, and the first drive motor drives the first robotic arm to rotate through the first connecting shaft.

[0009] In one embodiment of this utility model, the output end of the second drive motor is fixedly connected to a second connecting shaft, the first robotic arm is rotatably connected to the second robotic arm via the second connecting shaft, the second connecting shaft is fixedly connected to the second robotic arm, and the second drive motor drives the second robotic arm to rotate via the second connecting shaft.

[0010] In one embodiment of this utility model, a connecting seat is fixedly connected to the end of the second robotic arm away from the second connecting shaft, a drive shaft is rotatably connected to the connecting seat, a gripper drive motor is fixedly installed below the connecting seat, the output end of the gripper drive motor is fixedly connected to the drive shaft, and the gripper drive motor is used to drive the drive shaft to rotate.

[0011] In one embodiment of this utility model, the gripper includes a first gripper and a second gripper, and a first connecting rod and a second connecting rod are rotatably connected to both ends of the drive shaft, respectively. The end of the first connecting rod away from the drive shaft is rotatably connected to the first gripper, and the end of the second connecting rod away from the drive shaft is rotatably connected to the second gripper.

[0012] In one embodiment of this utility model, the first gripper and the second gripper are arranged opposite to each other, and the first gripper and the second gripper are used to clamp and fix the pipette.

[0013] In one embodiment of this utility model, a slide rail is fixedly connected to the end of the connecting seat, and the first gripper and the second gripper are slidably connected to the slide rail.

[0014] In one embodiment of this utility model, a cylinder bracket is fixedly connected to the connecting seat, and a pipette tip changing cylinder is installed on the cylinder bracket. The output end of the pipette tip changing cylinder is aligned with the pipette tip changing button of the pipette.

[0015] In one embodiment of this utility model, a liquid suction cylinder is also installed on the cylinder bracket, and the output end of the liquid suction cylinder is aligned with the liquid suction button of the pipette.

[0016] In one embodiment of this utility model, a control system is also included, which is electrically connected to a rotary motor, a first drive motor, a second drive motor, a gripper drive motor, a head-changing cylinder, and a liquid-suction cylinder.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] This invention provides an automated pipetting device, electrically driven, that automatically controls the pipette to draw and add solutions, and to change pipette tips, eliminating the need for manual operation. Simultaneously, it precisely controls the position (automatically positioned by the control system after calibration), time (settable interval after each spin coating), and rate (controlled by the piston rod extension / retraction rate to regulate reagent drop acceleration) of each solution addition, ensuring consistency and minimizing random errors during experiments. This avoids the impact of human intervention on the photoelectric conversion efficiency of the prepared perovskite solar cells. Furthermore, the device is small in size and can be easily placed in a vacuum glove box, avoiding potential health risks to laboratory personnel when using hazardous or volatile chemicals. In summary, this device automatically and accurately controls the time, position, and rate of solution addition, offering high efficiency and precision, significantly reducing errors during preparation, and preventing large efficiency differences between perovskite solar cells prepared in the same batch. It meets the needs of medium-scale sample manufacturing in laboratories. Moreover, the device is simple in structure, compact, and flexible, suitable for spin coating of single solar cells under laboratory conditions, especially for spin coating perovskite solar cells in a laboratory environment. Attached Figure Description

[0019] Figure 1 This is a perspective view of an automatic pipetting device provided by the present invention.

[0020] Figure 2 This is a perspective view of an automatic pipetting device provided by this utility model.

[0021] Figure 3 A top view of the gripper provided by this utility model.

[0022] Figure 4 A bottom view of the gripper provided by this utility model.

[0023] In the diagram: 1. Mounting base; 2. Rotary motor; 3. First drive motor; 4. First connecting shaft; 5. First robotic arm; 6. Second drive motor; 7. Second connecting shaft; 8. Second robotic arm; 9. Connecting seat; 10. First gripper; 12. Slide rail; 13. Second gripper; 14. Drive shaft; 15. First connecting rod; 16. Second connecting rod; 17. Gripper drive motor; 18. Pipette; 19. Head-changing cylinder; 20. Liquid suction cylinder; 21. Cylinder bracket. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0025] In this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] This invention provides an automatic liquid transfer device suitable for preparing optical thin films in laboratory conditions with a spin coater, especially for spin coating perovskite solar cells in a laboratory environment.

[0028] like Figures 1-4As shown, the automatic pipetting device includes a mounting base 1, on which a rotary motor 2 is mounted. The output end of the rotary motor 2 is connected to a first drive motor 3, which drives the first drive motor 3 to rotate. The first drive motor 3 drives a first robotic arm 5, which swings. A second drive motor 6 is fixedly mounted on the first robotic arm 5, and a second robotic arm 8 is rotatably connected to the first robotic arm 5. The second drive motor 6 drives the second robotic arm 8 to rotate. The second robotic arm 8 is connected to a connecting seat 9, on which grippers for holding and fixing the pipette 18 are mounted.

[0029] Furthermore, the output end of the first drive motor 3 is fixedly connected to a first connecting shaft 4, and the first connecting shaft 4 is fixedly connected to a first robotic arm 5. The first drive motor 3 drives the first robotic arm 5 to rotate through the first connecting shaft 4.

[0030] Furthermore, the output end of the second drive motor 6 is fixedly connected to a second connecting shaft 7, and the first robotic arm 5 is rotatably connected to a second robotic arm 8 through the second connecting shaft 7. The second connecting shaft 7 is fixedly connected to the second robotic arm 8, and the second drive motor 6 drives the second robotic arm 8 to rotate through the second connecting shaft 7.

[0031] In this embodiment, the first drive motor 3 and its components are rotated by the rotary motor 2, the first drive motor 3 drives the first robotic arm 5 to rotate, and the second drive motor 6 drives the second robotic arm 8 to rotate, thereby realizing the movement of the connecting seat 9, gripper and pipette 18 connected to the end of the second robotic arm 8.

[0032] In some embodiments, the end of the second robotic arm 8 away from the second connecting shaft 7 is fixedly connected to a connecting seat 9, a drive shaft 14 is rotatably connected to the connecting seat 9, and a gripper drive motor 17 is fixedly installed below the connecting seat 9. The output end of the gripper drive motor 17 is fixedly connected to the drive shaft 14, and the gripper drive motor 17 is used to drive the drive shaft 14 to rotate.

[0033] Furthermore, the gripper includes a first gripper 10 and a second gripper 13. The two ends of the drive shaft 14 are respectively rotatably connected to a first connecting rod 15 and a second connecting rod 16. The end of the first connecting rod 15 away from the drive shaft 14 is rotatably connected to the first gripper 10, and the end of the second connecting rod 16 away from the drive shaft 14 is rotatably connected to the second gripper 13.

[0034] Furthermore, the first gripper 10 and the second gripper 13 are arranged opposite to each other, and the first gripper 10 and the second gripper 13 are used to clamp and fix the pipette 18.

[0035] Furthermore, a slide rail 12 is fixedly connected to the end of the connecting seat 9, and the first gripper 10 and the second gripper 13 are slidably connected to the slide rail 12.

[0036] In this embodiment, the drive shaft 14 is driven to rotate by the gripper drive motor 17, which in turn drives the first connecting rod 15 and the second connecting rod 16, which are rotatably connected at both ends, to rotate. Since the end of the first connecting rod 15 furthest from the drive shaft 14 is rotatably connected to the first gripper 10, and the end of the second connecting rod 16 furthest from the drive shaft 14 is rotatably connected to the second gripper 13, ... Figure 3 For example, when the gripper drive motor 17 drives the drive shaft 14 to rotate counterclockwise, the first connecting rod 15 and the second connecting rod 16 respectively drive the first gripper 10 and the second gripper 13 to move closer together, thereby clamping and fixing the pipette 18. When the gripper drive motor 17 drives the drive shaft 14 to rotate clockwise, the first connecting rod 15 and the second connecting rod 16 respectively drive the first gripper 10 and the second gripper 13 to move away from each other, thereby releasing the pipette 18. Since both the first gripper 10 and the second gripper 13 are slidably connected to the slide rail 12, the slide rail 12 guides the movement of the first gripper 10 and the second gripper 13. Therefore, the gripper drive motor 17 can drive the first gripper 10 and the second gripper 13 to move on the slide rail 12, causing the first gripper 10 and the second gripper 13 to move closer together to clamp and fix the pipette 18, or to move away from each other to release the pipette 18.

[0037] In some embodiments, a cylinder bracket 21 is fixedly connected to the connecting seat 9, and a pipette head changing cylinder 19 is installed on the cylinder bracket 21. The output end of the pipette head changing cylinder 19 is aligned with the pipette head changing button of the pipette 18.

[0038] In this embodiment, the pipette tip replacement button of the pipette 18 is pressed by the pipette tip replacement cylinder 19, the pipette tip is removed and moved to the standard position of the pipette 18 storage box, and the pipette tip replacement button of the pipette 18 is pressed again to install a new pipette tip.

[0039] Furthermore, a liquid suction cylinder 20 is also installed on the cylinder bracket 21, and the output end of the liquid suction cylinder 20 is aligned with the liquid suction button of the pipette 18.

[0040] In this embodiment, the reagent is drawn by pressing the aspiration button of the pipette 18 through the aspiration cylinder 20; and the pipette 18 is completed by pressing the aspiration button of the pipette 18 again through the aspiration cylinder 20.

[0041] In some embodiments, a control system is also included, which is electrically connected to the rotary motor 2, the first drive motor 3, the second drive motor 6, the gripper drive motor 17, the head-changing cylinder 19, and the liquid-suction cylinder 20.

[0042] In this embodiment, the movement of each of the above-mentioned components is controlled by a control system. Before using the automatic pipetting device, the standard positions of the spin coater's central turntable, the reagent kits, and the pipette tip storage box must be manually positioned. The control system will record the coordinates of these standard positions as the endpoint positions of the robotic arm's movement in each step of the spin coater.

[0043] The specific working steps of the automatic pipetting device provided by this utility model are as follows:

[0044] Step 1: The control system controls the rotary motor 2, the first drive motor 3, and the second drive motor 6 to move the robotic arm to the standard position of the pipette tip collection box. The control cylinder 19 presses the pipette tip replacement button to remove the tip and move it to the standard position of the pipette storage box. Press the pipette tip replacement button again to install a new tip.

[0045] Step 2: Move the robotic arm to the standard position of the reagent kit and press the pipette suction button to draw up the reagent.

[0046] Step 3: Move the robotic arm to the standard position of the central turntable of the spin coater, and control the liquid suction cylinder 20 to press the pipette suction button again to complete one pipetting operation;

[0047] Step 4: After the set spin coating time has elapsed, repeat steps 1 to 3 above to perform the next spin coating, and so on, until all spin coating operations are completed.

[0048] This invention provides an automated pipetting device, electrically driven, that automatically controls the pipette to draw and add solutions, and to change pipette tips, eliminating the need for manual operation. Simultaneously, it precisely controls the position (automatically positioned by the control system after calibration), time (settable interval after each spin coating), and rate (controlled by the piston rod extension / retraction rate to regulate reagent drop acceleration) of each solution addition, ensuring consistency and minimizing random errors during experiments. This avoids the impact of human intervention on the photoelectric conversion efficiency of the prepared perovskite solar cells. Furthermore, the device is small in size and can be easily placed in a vacuum glove box, avoiding potential health risks to laboratory personnel when using hazardous or volatile chemicals. In summary, this device automatically and accurately controls the time, position, and rate of solution addition, offering high efficiency and precision, significantly reducing errors during preparation, and preventing large efficiency differences between perovskite solar cells prepared in the same batch. It meets the needs of medium-scale sample manufacturing in laboratories. Moreover, the device is simple in structure, compact, and flexible, suitable for spin coating of single solar cells under laboratory conditions, especially for spin coating perovskite solar cells in a laboratory environment.

[0049] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0050] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model.

[0051] This document uses specific embodiments to illustrate the principles and implementation methods of this utility model. The descriptions of these embodiments are merely for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that those skilled in the art can make various improvements and modifications to this utility model without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An automatic pipetting device, characterized in that, The system includes a mounting base on which a rotary motor is mounted. The output end of the rotary motor is connected to a first drive motor. The rotary motor is used to drive the first drive motor to rotate. The first drive motor is connected to a first robotic arm and is used to drive the first robotic arm to rotate. The first robotic arm is fixedly mounted with a second drive motor, and the first robotic arm is rotatably connected to the second robotic arm. The second drive motor drives the second robotic arm to rotate. The second robotic arm is connected to a connecting seat, and the connecting seat is equipped with grippers for holding and fixing the pipette.

2. The automatic pipetting device according to claim 1, characterized in that, The output end of the first drive motor is fixedly connected to a first connecting shaft, and the first connecting shaft is fixedly connected to a first robotic arm. The first drive motor drives the first robotic arm to rotate through the first connecting shaft.

3. An automatic pipetting device according to claim 2, characterized in that, The output end of the second drive motor is fixedly connected to a second connecting shaft. The first robotic arm is rotatably connected to the second robotic arm via the second connecting shaft. The second connecting shaft is fixedly connected to the second robotic arm. The second drive motor drives the second robotic arm to rotate via the second connecting shaft.

4. An automatic pipetting device according to claim 3, characterized in that, The second robotic arm has a connecting seat fixedly connected to one end away from the second connecting shaft. A drive shaft is rotatably connected to the connecting seat. A gripper drive motor is fixedly installed below the connecting seat. The output end of the gripper drive motor is fixedly connected to the drive shaft. The gripper drive motor is used to drive the drive shaft to rotate.

5. An automatic pipetting device according to claim 4, characterized in that, The gripper includes a first gripper and a second gripper. A first connecting rod and a second connecting rod are rotatably connected to both ends of the drive shaft, respectively. The end of the first connecting rod away from the drive shaft is rotatably connected to the first gripper, and the end of the second connecting rod away from the drive shaft is rotatably connected to the second gripper.

6. An automatic pipetting device according to claim 5, characterized in that, The first gripper and the second gripper are arranged opposite to each other, and the first gripper and the second gripper are used to clamp and fix the pipette.

7. An automatic pipetting device according to claim 6, characterized in that, The end of the connecting seat is fixedly connected to a slide rail, and the first gripper and the second gripper are slidably connected to the slide rail.

8. An automatic pipetting device according to claim 7, characterized in that, A cylinder bracket is fixedly connected to the connecting seat, and a pipette tip changing cylinder is installed on the cylinder bracket. The output end of the pipette tip changing cylinder is aligned with the pipette tip changing button.

9. An automatic pipetting device according to claim 8, characterized in that, The cylinder bracket is also equipped with a liquid suction cylinder, the output end of which is aligned with the liquid suction button of the pipette.

10. An automatic pipetting device according to claim 9, characterized in that, It also includes a control system, which is electrically connected to the rotary motor, the first drive motor, the second drive motor, the gripper drive motor, the head-changing cylinder, and the liquid-suction cylinder.

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