Pipetting mechanical arm and pipetting workstation

Abstract

The utility model relates to the technical field of liquid treatment, in particular to a pipetting mechanical arm and a pipetting workstation. The moving module is fixed on a moving part of the double-shaft moving platform; the high-precision pipetting unit is arranged on the moving module and can linearly move along the Z axis; the large-flux pipetting unit is arranged on the moving module and can linearly move along the Z axis; and the clamping jaw unit is arranged on the moving module. According to the utility model, the three units with different functions are integrated into one module, and effective splitting and integration in function are realized, so that the dual requirements of high precision and high efficiency can be met. In addition, the three functional units share the same double-shaft mobile platform, and the design not only simplifies the layout of the driving mechanism, so that the overall manufacturing cost is reduced, but also increases the space utilization rate in the equipment.

Description

TECHNICAL FIELD

[0001] The utility model relates to liquid processing technical field, concretely is a kind of pipetting mechanical arm and pipetting workstation. BACKGROUND

[0002] The core function of pipetting workstation is to automatically perform tasks such as liquid aspiration, dilution, mixing and transfer. It is composed of multiple precise pipetting devices, such as micropipettors, dilutors and transferors, forming an integrated system to optimize laboratory workflow, reduce human error and significantly improve work efficiency.

[0003] In the prior art, a patent with publication number CN115254225A discloses an automatic library building instrument inner ladder gun head module mechanism, which includes a gun head storage module, a gun head storage module including a plurality of vertically stacked gun head racks, a plurality of gun head holes for storing gun heads are provided on the gun head racks, and a positioning connection mechanism is provided on the gun head racks, the upper and lower gun head racks are connected through the positioning connection mechanism; a mechanical moving module is arranged on a moving guide rail component, the moving guide rail component drives the mechanical moving module to move along the X-axis direction and the Y-axis direction, a pipettor that can move up and down and a mechanical hand component that can move up and down for grabbing the gun head rack are provided on the mechanical moving module. In the present invention, the gun head racks are vertically stacked, compared with the traditional single-layer flat storage mode of the gun head racks, under the premise of storing the same number of gun heads, the present invention occupies smaller flat area, is more compact in arrangement, and reduces the floor area of the automatic library building instrument.

[0004] In the above technical solution, only one pipettor is provided, and when performing various pipetting tasks, the operator must replace different pipettors according to specific operation requirements, which is not only cumbersome but also greatly reduces the efficiency of pipetting work; in addition, in order to operate multiple pipettors, sometimes multiple mechanical arms are used, which although improves the flexibility of operation to some extent, but also brings new problems, i.e. the volume of the pipetting workstation becomes large, which not only occupies valuable space resources, but also increases the complexity and maintenance cost of the equipment in actual application. Therefore, we propose a pipetting mechanical arm and pipetting workstation to solve the above problems. UTILITY MODEL CONTENTS

[0005] The utility model aims to provide a pipetting mechanical arm and pipetting workstation to solve the problem of inconvenient operation of different pipettors in the prior art.

[0006] The utility model is realized by the following technical solutions: a pipetting mechanical arm, comprising:

[0007] A biaxial moving platform, a moving part of the biaxial moving platform can move linearly along an X-axis direction and a Y-axis direction;

[0008] A moving module, the moving module is fixed on the moving part of the biaxial moving platform;

[0009] A high-precision pipetting unit, the high-precision pipetting unit is arranged on the moving module and can move linearly along a Z-axis;

[0010] A large-flux pipetting unit, the large-flux pipetting unit is arranged on the moving module and can move linearly along the Z-axis;

[0011] A clamping jaw unit, the clamping jaw unit is arranged on the moving module and can move linearly along the Z-axis.

[0012] Optionally, the biaxial moving platform comprises an X-axis base extending along an X-axis of an orthogonal coordinate system, an X-axis guide rail is fixed on the top of the X-axis base, an X-axis sliding block slides on the X-axis guide rail, and an X-axis driving motor is arranged on the X-axis base and used to drive the X-axis sliding block to move linearly along the X-axis guide rail.

[0013] A Y-axis base extending along a Y-axis of the orthogonal coordinate system is fixed on the X-axis sliding block, a Y-axis guide rail is fixed on the Y-axis base, a Y-axis sliding block slides on the Y-axis guide rail, and a Y-axis driving motor is arranged on the Y-axis base and used to drive the Y-axis sliding block to move linearly along the Y-axis guide rail, and the moving module is fixed on the Y-axis sliding block.

[0014] Optionally, the high-precision pipetting unit comprises a first mounting seat arranged on the moving module and capable of moving linearly along the Z-axis, and a high-precision pipettor is detachably connected to the first mounting seat.

[0015] Optionally, the moving module comprises a moving frame fixed on the moving part of the biaxial moving platform, and a fixed plate arranged in a vertical direction is fixed on the outer bottom of the moving frame.

[0016] Optionally, a Z-axis driving motor is fixed in the moving frame, an output end of the Z-axis driving motor is connected with a screw rod extending along a Z-axis of the orthogonal coordinate system, and a screw sleeve is screw-coupled on the screw rod.

[0017] A Z-axis sliding block is fixed on the first mounting seat, a Z-axis guide rail matched with the Z-axis sliding block is fixed on the fixed plate, and the screw sleeve is fixed on the Z-axis sliding block.

[0018] Optionally, the large-flux pipetting unit comprises a second mounting seat arranged on the moving module and capable of moving linearly along the Z-axis of the orthogonal coordinate system, and a large-flux pipettor is detachably connected to the second mounting seat.

[0019] Optionally, the gripper unit comprises a third mounting base arranged on the moving module and capable of linear movement along the Z axis of the Cartesian coordinate system, and a grabber detachably connected to the third mounting base.

[0020] The utility model also provides a pipetting workstation, including the pipetting mechanical arm, still include the shell, the pipetting mechanical arm sets up in the shell.

[0021] Compared with the prior art, the utility model provides a pipetting mechanical arm and pipetting workstation have the following beneficial effects:

[0022] The utility model discloses a double -shaft moving platform, moving module, high -precision pipetting unit, big flux pipetting unit and gripper unit are set up, make three units with different functions integrate to a unified module, realize the effective split and integration on the function can satisfy the dual demand of high -precision and high efficiency, and, through this integrated mode, the operator can more conveniently carry out pipetting operation. In addition, the three functional units share same double -shaft moving platform, and this design not only simplifies the layout of the driving mechanism, thereby reduces the overall manufacturing cost, still increases the space utilization rate in the equipment, simultaneously, each functional unit can also independently carry out linear movement along the Z axis, ensures the smooth operation of pipetting, further improves the flexibility and reliability of operation. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is structural schematic diagram of double -shaft moving platform in example one;

[0024] Figure 2 It is structural schematic diagram of double -shaft moving platform in example one from another visual angle;

[0025] Figure 3 It is structural schematic diagram of moving module in example one;

[0026] Figure 4 It is structural schematic diagram in the shell inside in example two.

[0027] In the drawing: 1, double -shaft moving platform;101, X -axis base;102, X -axis guide rail;103, X -axis sliding block;104, X -axis drive motor;105, Y -axis base;106, Y -axis guide rail;107, Y -axis sliding block;108, Y -axis drive motor;2, moving module;201, moving frame;202, fixed plate;3, high -precision pipetting unit;301, first mounting base;302, high -precision pipette;4, big flux pipetting unit;401, second mounting base;402, big flux pipette;5, gripper unit;501, third mounting base;502, grabber;6, Z -axis drive motor;7, screw;8, screw sleeve;9, Z -axis sliding block;10, Z -axis guide rail;11, shell. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the utility model will be apparently and completely described in connection with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0029] Embodiment: please refer to Figures 1 to 3 A pipette mechanical arm, comprising: a double-shaft moving platform 1, a moving module 2, a high-precision pipetting unit 3, a large-flux pipetting unit 4 and a clamping jaw unit 5, used to solve the problem that the prior art is inconvenient to operate different pipettes in the background art.

[0030] The double-shaft moving platform 1 is introduced as follows:

[0031] The moving part of the double-shaft moving platform 1 can move linearly along the X-axis direction and the Y-axis direction. Specifically, the double-shaft moving platform 1 comprises an X-axis base 101 extending along the X-axis of a rectangular coordinate system, an X-axis guide rail 102 is fixed on the top of the X-axis base 101, an X-axis sliding block 103 slides on the X-axis guide rail 102, and an X-axis driving motor 104 for driving the X-axis sliding block 103 to move linearly along the X-axis guide rail 102 is arranged on the X-axis base 101; when the X-axis driving motor 104 works, the X-axis sliding block 103 can be driven to move back and forth along the X-axis guide rail 102.

[0032] A Y-axis base 105 extending along the Y-axis of a rectangular coordinate system is fixed on the X-axis sliding block 103, so that the Y-axis base 105 can be driven to move when the X-axis sliding block 103 moves. A Y-axis guide rail 106 is fixed on the Y-axis base 105, a Y-axis sliding block 107 slides on the Y-axis guide rail 106, and a Y-axis driving motor 108 for driving the Y-axis sliding block 107 to move linearly along the Y-axis guide rail 106 is arranged on the Y-axis base 105, and the moving module 2 is fixed on the Y-axis sliding block 107. When the Y-axis driving motor 108 works, the Y-axis sliding block 107 can be driven to move back and forth along the Y-axis guide rail 106, so as to drive the moving module 2 to move back and forth along the Y-axis guide rail 106.

[0033] After the above structure is adopted, when the X-axis driving motor 104 or the Y-axis driving motor 108 works, the moving module 2 can be driven to move back and forth along the X-axis direction or move back and forth along the Y-axis direction.

[0034] The moving module 2 is introduced as follows:

[0035] The moving module 2 is fixed to the moving part of the double-shaft moving platform 1. Specifically, the moving module 2 comprises a moving frame 201 fixed to the moving part of the double-shaft moving platform 1. In this embodiment, the moving frame 201 is fixed to the Y-shaft sliding block 107, and when the Y-shaft sliding block 107 moves, the moving frame 201 moves synchronously. A fixed plate 202 arranged in the vertical direction is fixed to the outer bottom of the moving frame 201, and is used to install other components.

[0036] The high-precision pipetting unit 3 is described as follows:

[0037] The high-precision pipetting unit 3 is arranged on the moving module 2 and can move linearly along the Z-shaft. Specifically, the high-precision pipetting unit 3 comprises a first mounting seat 301 arranged on the moving module 2 and capable of moving linearly along the Z-shaft. A high-precision pipette 302 is detachably connected to the first mounting seat 301, and high-precision pipetting operation can be performed.

[0038] It should be noted that a Z-shaft driving motor 6 is fixed in the moving frame 201. The output end of the Z-shaft driving motor 6 is connected with a screw rod 7 extending along the Z-shaft of the rectangular coordinate system. A screw sleeve 8 is screw-coupled to the screw rod 7. A Z-shaft sliding block 9 is fixed to the first mounting seat 301, and a Z-shaft guide rail 10 matched with the Z-shaft sliding block 9 is fixed to the fixed plate 202. The screw sleeve 8 is fixed to the Z-shaft sliding block 9. With this structure, when the Z-shaft driving motor 6 works, the Z-shaft sliding block 9 can slide along the Z-shaft guide rail 10 through the cooperation of the screw rod 7 and the screw sleeve 8, thereby driving the moving frame 201 to move up and down, and driving the high-precision pipette 302 to move up and down.

[0039] The large-flux pipetting unit 4 is described as follows:

[0040] The large-flux pipetting unit 4 is arranged on the moving module 2 and can move linearly along the Z-shaft. Specifically, the large-flux pipetting unit 4 comprises a second mounting seat 401 arranged on the moving module 2 and capable of moving linearly along the Z-shaft of the rectangular coordinate system. A large-flux pipette 402 is detachably connected to the second mounting seat 401, and high-efficiency pipetting operation can be performed. The lifting mode of the second mounting seat 401 is the same as that of the first mounting seat 301.

[0041] The gripper unit 5 is described as follows:

[0042] The gripper unit 5 is arranged on the moving module 2 and can move linearly along the Z-shaft. Specifically, the gripper unit 5 comprises a third mounting seat 501 arranged on the moving module 2 and capable of moving linearly along the Z-shaft of the rectangular coordinate system. A gripper 502 is detachably connected to the third mounting seat 501, and is used to grab the hole plate. The lifting mode of the third mounting seat 501 is the same as that of the first mounting seat 301.

[0043] The three units with different functions are integrated into a unified module, effective separation and integration of functions are realized, so that the dual requirements of high precision and high efficiency can be met, and through this integrated mode, the operator can more conveniently perform the pipetting operation. In addition, the high-precision pipettor 302, the large-throughput pipettor 402 and the plate grabber 502 can be detached, so that other specifications of actuators such as a double-8-channel pipettor, a 96-channel pipettor or a mechanical claw can be flexibly replaced, so that different requirements can be met.

[0044] Embodiment two: please refer to Figure 4 The embodiment also provides a pipetting work station, which comprises the pipetting mechanical arm in the embodiment, and further comprises a shell 11, and the pipetting mechanical arm is arranged in the shell 11. In use, the moving module 2 is moved to a specified position through the double-shaft moving platform 1, and then the high-precision pipettor 302 or the large-throughput pipettor 402 or the plate grabber 502 is moved downward according to requirements to perform corresponding operation.

[0045] It should be noted that, in this document, the relationship terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another same element in the process, method, article or equipment including the element.

[0046] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A pipetting robot arm, characterized in that, The application relates to a double-axis moving platform (1) which can move linearly along the X-axis and Y-axis directions, a moving module (2) fixed on the moving part of the double-axis moving platform (1), a high-precision pipetting unit (3) arranged on the moving module (2) and capable of moving linearly along the Z-axis, a large-flux pipetting unit (4) arranged on the moving module (2) and capable of moving linearly along the Z-axis, and a clamping jaw unit (5) arranged on the moving module (2) and capable of moving linearly along the Z-axis. The double-axis moving platform (1) comprises an X-axis base (101) extending along the X-axis of an orthogonal coordinate system, an X-axis guide rail (102) fixed on the top of the X-axis base (101), an X-axis sliding block (103) sliding on the X-axis guide rail (102), and an X-axis driving motor (104) arranged on the X-axis base (101) and used for driving the X-axis sliding block (103) to move linearly along the X-axis guide rail (102). The X-axis sliding block (103) is fixed with a Y-axis base (105) extending along the Y-axis of the orthogonal coordinate system, the Y-axis base (105) is fixed with a Y-axis guide rail (106), a Y-axis sliding block (107) slides on the Y-axis guide rail (106), and a Y-axis driving motor (108) is arranged on the Y-axis base (105) and used for driving the Y-axis sliding block (107) to move linearly along the Y-axis guide rail (106), and the moving module (2) is fixed on the Y-axis sliding block (107). The high-precision pipetting unit (3) comprises a first mounting base (301) arranged on the moving module (2) and capable of moving linearly along the Z-axis, and a high-precision pipettor (302) detachably connected to the first mounting base (301). The moving module (2) comprises a moving frame (201) fixed on the moving part of the double-axis moving platform (1), and a fixed plate (202) arranged in the vertical direction is fixed on the outer bottom of the moving frame (201). The Z-axis driving motor (6) is fixed in the moving frame (201), the output end of the Z-axis driving motor (6) is connected with a screw rod (7) extending along the Z-axis of the orthogonal coordinate system, and a screw sleeve (8) is spirally matched with the screw rod (7).

2. The pipetting robot arm according to claim 1, characterized in that: The Z-axis sliding block (9) is fixed on the first mounting base (301), the Z-axis guide rail (10) matched with the Z-axis sliding block (9) is fixed on the fixed plate (202), and the screw sleeve (8) is fixed on the Z-axis sliding block (9). The large-flux pipetting unit (4) comprises a second mounting base (401) arranged on the moving module (2) and capable of moving linearly along the Z-axis of the orthogonal coordinate system, and a large-flux pipettor (402) is detachably connected to the second mounting base (401).

3. The pipetting robot arm of claim 1, wherein: The clamping jaw unit (5) comprises a third mounting base (501) arranged on the moving module (2) and capable of moving linearly along the Z-axis of the orthogonal coordinate system, and a gripper (502) is detachably connected to the third mounting base (501).

4. The pipetting robot arm of claim 3, wherein: ​ 5. The pipetting robot arm of claim 4, wherein: ​ ​ 6. The pipetting robot arm of claim 1, wherein: ​ 7. The mechanical arm according to claim 1, wherein: ​ 8. A pipetting station comprising a pipetting robot arm according to any one of claims 1-7, characterized in that, Also included is a housing (11) in which the pipetting robot arm is disposed.

Images