Multifunctional transfer device and workstation

Abstract

The utility model discloses a multifunctional transfer device and a workstation, and relates to the technical field of molecular diagnosis. The multifunctional transfer device comprises a mounting frame, a liquid transfer part and a clamping transfer part. Wherein the liquid transferring component comprises a liquid transferring power assembly movably arranged on the mounting frame, and the liquid transferring component can move in the first linear direction through the liquid transferring power assembly to generate a liquid suction force or a liquid repelling force; the clamping transfer part comprises a plurality of clamping hands and a clamping hand driving motor, and the clamping hands are rotatably arranged on the mounting frame and are in transmission connection with the clamping hand driving motor; the liquid transfer part and the clamping hand driving motor are arranged side by side in the second linear direction perpendicular to the first linear direction; the liquid transfer part is arranged between the at least two clamping hands in a third linear direction perpendicular to the first linear direction. Therefore, the device has the advantages that the overall structure is compact, and the application range is wide.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of molecular diagnosis, and in particular, to a multifunctional transfer device and workstation. BACKGROUND

[0002] In the field of molecular diagnosis, in order to improve the accuracy and work efficiency of the experimental process, the operator usually builds a special workstation to provide a closed and clean space, so that multiple key operation steps can be smoothly implemented. Such a workstation usually includes two main devices: one is a pipetting device for transferring sample solution or reagent, and the other is a clamping device for clamping a consumable box or consumable. The existing gene detection workstations on the market usually separate the pipetting device and the clamping device and set them independently, so that the pipetting device and the clamping device each need to be matched with a set of three-way linear motion device to realize independent movement in the working area. However, such a workstation occupies a large space and consumes a high cost.

[0003] In the related art, designers adopt a structure form of connecting the pipetting device and the clamping device on the same mounting rack in order to reduce the volume and make the overall structure more compact. Such a structure only needs a set of three-way linear motion device to realize the arbitrary movement of the pipetting device and the clamping device in the working area. However, the related art only simply splices the pipetting device and the clamping device together, and the overall volume and size of the spliced structure are still very large. When the workstation performs the pipetting transfer work, the clamping device is easy to interfere with and collide with other components. When the workstation performs the clamping transfer work, the pipetting device is also easy to interfere with and collide with other components. In addition, the spliced structure is not compact as a whole, and the three-way linear motion device bears a larger load pressure.

[0004] The above statements are only used to provide background technical information related to the present application, and do not necessarily constitute the prior art. CONTENT OF THE UTILITY MODEL

[0005] The purpose of the present application is to provide a multifunctional transfer device and workstation which can improve the overall structural compactness of the multifunctional transfer device, expand the application range and application flexibility.

[0006] The embodiments of the present application are implemented as follows:

[0007] The first aspect of the embodiment of the present application provides a multifunctional transfer device, which comprises a mounting frame, a liquid transfer component and a clamping transfer component. The liquid transfer component comprises a pipetting power assembly movably arranged on the mounting frame, and the liquid transfer component can generate a liquid suction force or a liquid repulsion force through movement of the pipetting power assembly in a first linear direction. The clamping transfer component comprises a plurality of clamping hands and a clamping hand driving motor. The clamping hands are rotatably arranged on the mounting frame and are in transmission connection with the clamping hand driving motor. The liquid transfer component and the clamping hand driving motor are arranged side by side along a second linear direction perpendicular to the first linear direction. The liquid transfer component is arranged between at least two clamping hands along a third linear direction perpendicular to the first linear direction.

[0008] In some embodiments, the second linear direction and the third linear direction are perpendicular to each other. The clamping transfer component further comprises a vertical steering transmission assembly. One end of the vertical steering transmission assembly is connected with the clamping hand driving motor, and the other end of the vertical steering transmission assembly is connected with the rotating shaft of the clamping hand.

[0009] In some embodiments, the vertical steering transmission assembly comprises a transmission worm gear and a transmission worm in cooperation with each other. The transmission worm gear is coaxially connected with the rotating shaft of the clamping hand, and the transmission worm is connected with the clamping hand driving motor.

[0010] In some embodiments, the vertical steering transmission assembly comprises a first staggered helical gear and a second staggered helical gear in meshing with each other. The first staggered helical gear is connected with the clamping hand driving motor, and the second staggered helical gear is coaxially connected with the rotating shaft of the clamping hand.

[0011] In some embodiments, the transmission ratio of the vertical steering transmission assembly is greater than 1.

[0012] In some embodiments, the clamping transfer component further comprises an intermediate shaft and a same-direction transmission assembly. The intermediate shaft is rotatably arranged on the mounting frame. The intermediate shaft and the clamping hand driving motor are arranged side by side along the first linear direction and are in transmission connection with the clamping hand driving motor through the same-direction transmission assembly. Each end of the intermediate shaft is in transmission connection with one clamping hand through one vertical steering transmission assembly.

[0013] In some embodiments, the same-direction transmission assembly comprises a first gear and a second gear in meshing with each other. The first gear is sleeved on the output shaft of the clamping hand driving motor, and the second gear is sleeved on the intermediate shaft. The transmission ratio of the first gear and the second gear is greater than 1.

[0014] In some embodiments, the clamping hand driving motor comprises a speed reduction motor. The speed reduction motor is arranged on the mounting frame and is in transmission connection with the clamping hand.

[0015] In some embodiments, the liquid transfer component further comprises a piston cavity base arranged on the mounting frame, the piston cavity base being configured to cooperate with the pipetting power assembly to generate a liquid suction force or a liquid repulsion force; the piston cavity base is arranged between the plurality of clamping hands, and the clamping hands are in contact with the side wall of the piston cavity base or the mounting frame when the clamping hands are rotated to the retracted position.

[0016] The second aspect of the embodiments of the present application provides a workstation, comprising a three-dimensional linear motion device and the multifunctional transfer device provided by any of the embodiments of the first aspect of the present application; the three-dimensional linear motion device is connected with the multifunctional transfer device to drive the multifunctional transfer device to move.

[0017] Compared with the related art, the embodiments of the present application have the following beneficial effects:

[0018] The multifunctional transfer device provided by the embodiments of the present application integrates the clamping function and the pipetting function by integrating the liquid transfer component and the clamping transfer component on the same mounting frame, and the multifunctional transfer device after integration can realize the two transfer functions of pipetting and clamping by only one set of three-dimensional linear motion device, thereby effectively saving the cost; the liquid suction and discharge operation of the liquid transfer component and the clamping and releasing operation of the clamping transfer component are independently controlled, which can improve the application flexibility and operation reliability; based on the movable direction of the pipetting power assembly, the clamping hands are rotatably arranged on both sides of the liquid transfer component, the clamping hand driving motor is arranged side by side with the liquid transfer component, and the arrangement direction of the clamping hand and the arrangement direction of the clamping hand driving motor are both arranged perpendicular to the movable direction of the pipetting power assembly, so that the overall structure of the multifunctional transfer device is more compact, and the pipetting operation and the clamping transfer operation of the multifunctional transfer device are more flexible and smooth. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0020] Figure 1 The structural schematic diagram of the workstation shown in some embodiments of the present application;

[0021] Figure 2 The overall structural schematic diagram of the multifunctional transfer device shown in some embodiments of the present application;

[0022] Figure 3 The overall structural schematic diagram of the clamping transfer component shown in some embodiments of the present application;

[0023] Figure 4This is a schematic diagram of the overall structure of the clamping and transfer component shown in some other embodiments of this application.

[0024] Icons: 1-Workstation; 2-Three-directional linear motion device; 3-Multifunctional transfer device; 4-Mounting bracket; 41-Mounting top; 42-Mounting side plate; 43-Mounting base; 44-Guide column; 5-Liquid transfer component; 51-Pipe drive motor; 52-Pipe power assembly; 521-Motion base; 522-Piston rod; 53-Piston chamber base; 531-Piston chamber; 54-Retracting suction head; 6-Clamping transfer component; 61-Clamping drive motor; 62-Clamping hand; 620-Clamping surface; 63-Intermediate shaft; 64-Co-directional transmission assembly; 641-First gear; 642-Second gear; 65-Vertical steering transmission assembly; 651-Transmission worm; 652-Transmission worm wheel; 653-First interlaced helical gear; 654-Second interlaced helical gear; A-First linear direction; B-Second linear direction; C-Third linear direction. Detailed Implementation

[0025] The terms “first,” “second,” “third,” etc., are used only for distinguishing descriptions and do not indicate a sequence number, nor should they be interpreted as indicating or implying relative importance.

[0026] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of this application, it should be noted that the terms "inner", "outer", "left", "right", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0028] In the description of this application, unless otherwise expressly specified and limited, the terms “set up,” “install,” “connect,” and “link” shall be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; as a direct connection or an indirect connection through an intermediate medium; or as a connection within two components.

[0029] The technical solution of this application will now be described in detail with reference to the accompanying drawings.

[0030] The liquid transfer device for sucking and discharging reagents or liquid and the clamping transfer device for clamping and releasing the consumable box are usually arranged separately in the existing gene detection workstations. Therefore, the pipetting device and the clamping device each need a set of three-way linear motion device to cooperate with the transfer. This structure occupies a large space and consumes a high cost. Considering that the pipetting function area and the function area of clamping and transferring the consumable box usually overlap, and the two operation steps are usually independent of each other in the execution sequence, the present application provides a multifunctional transfer device. The liquid transfer component and the clamping transfer component are arranged on the same mounting rack to realize the integration of the clamping function and the pipetting function, thereby saving the cost. On this basis, the driving components (power sources) of the clamping transfer component and the liquid transfer component are independent of each other, so that the clamping function and the pipetting function can be independently controlled, thereby improving the application flexibility and the operation reliability. In addition, the arrangement direction of the clamping hand relative to the liquid transfer component and the arrangement direction of the clamping hand driving motor relative to the liquid transfer component are perpendicular to the movable direction of the pipetting power assembly, so that the overall structure of the multifunctional transfer device is more compact and the layout is more reasonable, thereby reducing the motion interference caused by structural redundancy and the load pressure on the three-way linear motion device.

[0031] Please refer to Figure 1 , Figure 1 for the structural schematic diagram of the workstation 1 shown in some embodiments of the present application. As shown in Figure 1 , the present application provides a workstation 1 including a three-way linear motion device 2 and a multifunctional transfer device 3. The three-way linear motion device 2 is connected with the multifunctional transfer device 3 to drive the multifunctional transfer device 3 to move.

[0032] In the embodiments of the present application, the workstation 1 refers to an experimental operation platform integrated with multiple functional devices, and each device cooperates to perform molecular diagnosis, gene detection, chemical experiment and the like. The three-way linear motion device 2 refers to a mechanical device capable of precise movement in three perpendicular linear directions (usually defined as X, Y and Z axis directions). It provides a position movement function for other devices (such as a liquid transfer device or a clamping transfer device) in the workstation 1, thereby realizing the execution of corresponding operation steps on different operation objects. The multifunctional transfer device 3 refers to a transfer device integrated with at least clamping and releasing functions and liquid sucking and discharging functions, which can be used for clamping a consumable box or transferring liquid.

[0033] Further, the three-way linear motion device 2 can include three linear motion mechanisms, each of which can include a guide rail, a sliding block, a screw rod and a motor. The guide rail provides guidance for the movement of the sliding block, the sliding block can be in transmission connection with the screw rod, and the screw rod can be connected with the motor. The motor drives the screw rod to rotate, thereby driving the sliding block to move linearly on the guide rail. Three such linear motion mechanisms are installed perpendicular to each other to form the three-way linear motion device 2. The multifunctional transfer device 3 can be fixedly connected with the outermost sliding block in the three-way linear motion device 2 through a connecting seat or a support to follow the movement of the three-way linear motion device 2.

[0034] Please refer to Figure 2 , Figure 2 The overall structure of the multifunctional transfer device 3 shown in some embodiments of the present application is shown in the figure. As Figure 2 shown, the multifunctional transfer device 3 provided by the embodiments of the present application includes a mounting bracket 4, a liquid transfer component 5 and a clamping transfer component 6.

[0035] Among them, the liquid transfer component 5 includes a pipetting power assembly 52 movably arranged on the mounting bracket 4, and the liquid transfer component 5 can generate a liquid suction force or a liquid repulsion force through the movement of the pipetting power assembly 52 in the first linear direction A; the clamping transfer component 6 includes a plurality of clamping hands 62 and a clamping hand driving motor 61, the clamping hand 62 is rotatably arranged on the mounting bracket 4 and in transmission connection with the clamping hand driving motor 61; along the second linear direction perpendicular to the first linear direction A, the liquid transfer component 5 and the clamping hand driving motor 61 are arranged side by side; along the third linear direction perpendicular to the first linear direction A, the liquid transfer component 5 is arranged between at least two clamping hands 62. The second linear direction can be the same (parallel) as the third linear direction, or perpendicular to the third linear direction.

[0036] In the embodiments of the present application, the mounting bracket 4 refers to the basic support structure of the multifunctional transfer device 3, and the mounting bracket 4 provides accommodation, installation and fixing positions for other components, so as to stabilize the relative positions and relative movements between the components. The liquid transfer component 5 refers to a component for realizing the functions of liquid suction and discharge, which generates a liquid suction force or a liquid repulsion force through the movement of the pipetting power assembly 52, thereby completing the liquid transfer operation. The pipetting power assembly 52 refers to a movable structure in the liquid transfer component 5, and its movement is the key power factor for generating a liquid suction force or a liquid repulsion force. The pipetting power assembly 52 is usually connected with a pipetting driving motor 51 and moves under the driving of the pipetting driving motor 51. The pipetting power assembly 52 can provide power for the liquid transfer component 5 to generate a liquid suction force or a liquid repulsion force through movement. The first linear direction A refers to the movable direction of the pipetting power assembly 52 on the mounting bracket 4.

[0037] The clamping and transferring component 6 refers to a structure for performing clamping and releasing operations on experimental consumables. The clamping and transferring component 6 adjusts the rotating posture of the clamping hand 62 through the driving of the clamping hand driving motor 61 and the transmission with the corresponding transmission assembly, thereby completing the clamping action or the releasing action. The clamping hand driving motor 61 refers to a power source capable of driving the clamping jaw to rotate; the clamping hand 62 generally refers to a component directly contacting the experimental consumables, and multiple clamping hands 62 cooperate to achieve clamping and releasing of the consumables or the consumable box through the opening and closing action.

[0038] In the above technical solution, the liquid transferring component 5 and the clamping and transferring component 6 are integrated on the same mounting rack 4, realizing the integration of the clamping function and the liquid transferring function. The integrated multifunctional transferring device 3 can realize both liquid transferring and clamping functions with only one set of three-way linear motion device 2, effectively saving costs. The liquid suction and discharge operation of the liquid transferring component 5 and the clamping and releasing operation of the clamping and transferring component 6 are independently controlled, which can improve the application flexibility and operation reliability. Based on the movable direction of the liquid transferring power assembly 52, the clamping hand 62 is rotatably arranged on both sides of the liquid transferring component 5, and the clamping hand driving motor 61 is arranged side by side with the liquid transferring component 5. The arrangement direction of the clamping hand 62 and the arrangement direction of the clamping hand driving motor 61 are both perpendicular to the movable direction of the liquid transferring power assembly 52, making the overall structure of the multifunctional transferring device 3 more compact, and thereby making the liquid transferring operation and the clamping and transferring operation of the multifunctional transferring device 3 more flexible and smooth, reducing the motion interference caused by structural redundancy and the load pressure on the three-way linear motion device 2.

[0039] Specifically, the mounting rack 4 can include a mounting top seat 41, a mounting bottom seat 43, and a mounting side plate 42, which can be vertically arranged between the mounting top seat 41 and the mounting bottom seat 43. The liquid transferring component 5 can include a liquid transferring driving motor 51, a liquid transferring power assembly 52, a piston cavity base 53 including a plurality of piston cavities 531, and a suction head assembly including a plurality of suction heads 54. The liquid transferring power assembly 52 can include a movement base 521 and a piston rod assembly including a plurality of piston rods 522. The liquid transferring driving motor 51 can be arranged on the mounting top seat 41, and can be in transmission connection with the movement base 521 through a transmission member such as a lead screw or a transmission shaft, to drive the movement base 521 and the piston rod assembly to move linearly along the extension direction of the mounting side plate 42, i.e., the first linear direction A.

[0040] The piston cavity base 53 is connected to the mounting bottom seat 43 and is used in cooperation with the piston rod assembly. The piston rod assembly is arranged at one end of the movement base 521 close to the piston cavity base 53 and can move with the movement base 521. The plurality of piston rods 522 and the plurality of piston cavities 531 are one-to-one corresponding in position and size and cooperate with each other. The liquid transferring assembly generates a liquid suction force or a liquid repulsion force through the movement of the piston rod 522 in the piston cavity 531.Figures 2 to 3 As shown, the pipette driving motor 51 drives the piston rod assembly to move upward, the sealed space between the piston rod 522 and the piston cavity 531 becomes larger, forming a vacuum negative pressure, thereby forming a suction force (i.e. liquid suction force); on the contrary, the pipette driving motor 51 drives the piston rod assembly to move downward, then a positive pressure thrust force (i.e. liquid repulsion force) is formed, and the combination of suction force and thrust force can complete the pipetting operation.

[0041] In other embodiments, the liquid gun type combination (i.e. the form of the piston rod 522 cooperating with the piston cavity 531) in the liquid transfer component 5 can also be replaced by a water pump type structure.

[0042] The suction head retraction assembly is arranged at the bottom end of the piston cavity base 53, and a plurality of suction head retraction assemblies 54 correspond to a plurality of piston cavities 531 in position and size and cooperate with each other. The suction head retraction assembly 54 is used to automatically retract the used suction head on the liquid transfer component 5 (piston cavity base 53) so as to replace the new suction head and perform the next pipetting operation.

[0043] In some embodiments, the mounting rack 4 further comprises a plurality of vertically arranged guide columns 44. As shown, Figure 2 As shown, the movement base 521 can be moved in the first linear direction A through the two vertically arranged guide columns 44, and the guide columns 44 can be connected to the mounting top base 41 through linear bearings. In other embodiments, the movement base 521 can also be moved in a directional manner through a linear guide rail.

[0044] In some embodiments, the second linear direction B and the third linear direction C are perpendicular to each other, and the clamping and transferring component 6 further comprises a vertical turning transmission assembly 65, one end of the vertical turning transmission assembly 65 is connected with the clamping hand driving motor 61, and the other end of the vertical turning transmission assembly 65 is connected with the rotating shaft of the clamping hand 62.

[0045] In the embodiments of the present application, the liquid transfer component 5 can generate liquid suction force and liquid repulsion force through the cooperation of the movable pipetting power assembly 52 and the piston cavity base 53. The second linear direction B and the third linear direction C both refer to the direction perpendicular to the first linear direction A. Among them, the second linear direction B and the third linear direction C are also perpendicular to each other. In this way, the clamping hand 62, the clamping hand driving motor 61 and the pipetting power assembly 52 of the clamping and transferring component 6 are all based on the piston cavity base 53 as a reference and are reasonably arranged around the piston cavity base 53 based on different arrangement directions, and cooperate with the piston cavity base 53 to form a more compact multifunctional transferring device 3.

[0046] Specifically, since the arrangement direction of the gripper driving motor 61 relative to the piston cavity base 53 is different from the arrangement direction of the gripper 62 relative to the piston cavity base 53, the gripper driving motor 61 can realize vertical turning during power transmission through the vertical turning transmission assembly 65, thereby driving the grippers 62 on both sides of the piston cavity base 53 to rotate in opposite directions synchronously to complete the clamping action or the releasing action. In the above technical solution, the arrangement direction of the pipetting power assembly 52 relative to the piston cavity base 53, the arrangement direction of the gripper 62 relative to the piston cavity base 53, and the arrangement direction of the gripper driving motor 61 relative to the piston cavity base 53 are perpendicular to each other, which can further improve the overall structural compactness of the multifunctional transfer device 3.

[0047] Please refer to Figure 3 , Figure 3 is a schematic diagram of the overall structure of the clamping and transferring component 6 shown in some embodiments of the present application. Please refer to Figures 2 to 3 , in some embodiments, the vertical turning transmission assembly 65 can include a transmission worm wheel 652 and a transmission worm shaft 651 that cooperate (mesh) with each other. The transmission worm wheel 652 is coaxially connected with the rotating shaft of the gripper 62, and the transmission worm shaft 651 is in transmission connection with the gripper driving motor 61.

[0048] Specifically, the rotating shaft of the gripper 62 can be tightly matched with the center hole of the transmission worm wheel 652 through key connection or spline connection, so that they can rotate synchronously. In order to improve the reliability of the connection, a nut or a locking device can also be used to axially fix the transmission worm wheel 652 to prevent it from axially moving during rotation. The transmission worm shaft 651 is in transmission connection with the gripper driving motor 61. Such transmission connection can be realized in various ways, such as shaft coupling connection, belt transmission, or gear transmission.

[0049] In the above technical solution, the vertical turning transmission assembly 65 can realize power transmission and turning function in the vertical direction through the cooperation of the transmission worm wheel 652 and the transmission worm shaft 651, and has the advantages of smooth transmission, strong carrying capacity, and speed reduction and force increase. Through the coaxial connection of the transmission worm wheel 652 with the rotating shaft of the gripper 62 and the transmission connection of the transmission worm shaft 651 with the gripper driving motor 61, the power of the gripper driving motor 61 can be transmitted to the gripper 62 through the vertical turning transmission assembly 65, so as to realize the rotating operation of the gripper 62.

[0050] Please refer to Figure 4 , Figure 4 is a schematic diagram of the overall structure of the clamping and transferring component 6 shown in some embodiments of the present application. As Figure 4As shown, in some other embodiments, the vertical steering transmission assembly 65 comprises a first intermeshing helical gear 653 connected with the clamping hand driving motor 61 and a second intermeshing helical gear 654 coaxially connected with the rotating shaft of the clamping hand 62.

[0051] Specifically, the helical gear is also called the intermeshing helical gear, the gear teeth of which are inclined relative to the gear axis, and the gear teeth of the intermeshing helical gear are helical. The intermeshing helical gear can transmit motion and power between the intermeshing shafts, and the helical shape of the gear teeth makes the intermeshing helical gear have a large degree of coincidence during meshing, i.e., a large number of gear teeth are involved in meshing at the same time, which makes the load more evenly distributed on multiple gear teeth, thereby reducing vibration and noise during transmission and improving the stability of transmission, so that the intermeshing helical gear has a high load capacity. The structure of the intermeshing helical gear is relatively compact, and under the same transmission power and transmission ratio requirements, the volume and weight of the intermeshing helical gear transmission device are usually smaller, which is beneficial to reducing the volume and weight of the vertical steering transmission assembly 65 and the multifunctional transfer device 3.

[0052] Specifically, the rotating shaft of the clamping hand 62 can be tightly fitted with the center hole of the second intermeshing helical gear 654 through key connection or spline connection, so that they can rotate synchronously, or the second intermeshing helical gear 654 can be integrally formed with the rotating shaft of the clamping hand 62. The first intermeshing helical gear 653 is in transmission connection with the clamping hand driving motor 61. Such transmission connection can be achieved in various ways, for example, gear transmission.

[0053] In some embodiments, the transmission ratio of the vertical steering transmission assembly 65 is greater than 1. In the above technical solution, the transmission ratio greater than 1 can bring about a reduction in rotational speed and an increase in torque, and the transmission ratio greater than 1 can amplify the torque output by the motor when transmitted to the clamping jaw, thereby converting it into greater clamping force, so that the clamping jaw can more firmly grasp the object; the larger transmission ratio reduces the rotational speed of the clamping jaw, which is conducive to more accurately controlling the closing degree and clamping force of the clamping jaw.

[0054] In some embodiments, the clamping hand driving motor 61 can comprise a speed reduction motor, which is arranged on the mounting frame 4 and in transmission connection with the clamping hand 62. In the above technical solution, the arrangement of the speed reduction motor can reduce the rotational speed of the clamping hand 62 while increasing the output torque, so that the clamping hand 62 can more powerfully grasp and manipulate the object, adapting to the grasping requirements of objects of different weights and sizes; the speed reduction motor operates stably and can provide stable power output for the clamping hand 62; the lower rotational speed is conducive to achieving more accurate position control, facilitating the clamping hand 62 to accurately position and grasp the target object and improving the accuracy and reliability of operation.

[0055] In some embodiments, the clamping and transferring component 6 further comprises a middle shaft 63 rotatably arranged on the mounting frame 4 and a same direction transmission assembly 64. The middle shaft 63 and the clamping hand driving motor 61 are arranged side by side along the first linear direction A and are in transmission connection through the same direction transmission assembly 64. Each end of the middle shaft 63 is in transmission connection with a clamping hand 62 through a vertical turning transmission assembly 65. Specifically, the arrangement direction of the motion base 521 relative to the piston cavity base 53 is defined as upward, the clamping hand driving motor 61 is arranged above the middle shaft 63, and the clamping hand driving motor 61 is connected to the mounting base 43. The middle shaft 63 can be rotatably connected to the mounting base 43 through a bearing. Further, the rotation transmission directions of the vertical turning transmission assemblies 65 at both ends of the middle shaft 63 are opposite, for example, the rotation directions of the transmission worms 651 at both ends of the middle shaft 63 are opposite, or the rotation directions of the first staggered helical gears 653 at both ends of the middle shaft 63 are opposite, so that the two clamping jaws rotate synchronously and oppositely, approach or move away from each other, and then cooperatively complete the clamping and releasing actions. In the above technical solution, the middle shaft 63 and the clamping hand driving motor 61 are arranged side by side along the first linear direction A, so that the structure of the entire clamping and transferring component 6 is more compact, and the occupied space is reduced. The side-by-side arrangement also facilitates the installation and arrangement of the same direction transmission assembly 64, so that the power transmission is more direct and efficient.

[0056] In some embodiments, the same direction transmission assembly 64 comprises a first gear 641 and a second gear 642 in meshing connection with each other. The first gear 641 is sleeved on the output shaft of the clamping hand driving motor 61, the second gear 642 is sleeved on the middle shaft 63, and the transmission ratio of the first gear 641 and the second gear 642 is greater than 1. Specifically, the first gear 641 is coaxially and synchronously connected with the output shaft of the clamping hand driving motor 61, the second gear 642 is coaxially and synchronously connected with the middle shaft 63, the first gear 641 and the second gear 642 can be tightly sleeved on the respective connecting shafts, and can adopt an interference fit to ensure that there is no relative sliding between the gears and the connecting shafts. In order to further enhance the reliability of the connection, a key can also be used for circumferential fixation to prevent the gears from loosening during rotation.

[0057] In the technical solution, the first gear 641 meshes with the second gear 642, so that the power output by the gripper driving motor 61 is transmitted to the intermediate shaft 63, and then transmitted to the rotating shaft of the gripper 62 through the vertical steering transmission assembly 65 arranged at both ends of the intermediate shaft 63, so as to drive the gripper 62 to rotate in a designated direction. The transmission ratio of the first gear 641 and the second gear 642 is greater than 1, so that the torque output by the gripper driving motor 61 is amplified, the gripper 62 obtains greater torque and has greater clamping force to clamp an object with greater weight. The lower rotating speed makes the transmission process more stable, reduces the generation of vibration and noise, and the rotating of the intermediate shaft 63 after speed reduction is more accurate, so that the multifunctional transfer device 3 can accurately control the rotating angle of the gripper 62.

[0058] In some embodiments, the piston cavity base 53 is arranged between the plurality of grippers 62. When the gripper 62 rotates to the retracted position, the gripper 62 is attached to the side wall of the piston cavity base 53 or the mounting frame 4 (the mounting base 43). Specifically, the gripper driving motor 61 can control the synchronous and opposite rotating of the grippers 62 on both sides of the piston cavity base 53 by controlling the rotating direction of the output shaft, so that the grippers 62 approach each other or move away from each other. When the gripper 62 rotates to the clamping position, the clamping surfaces 620 of the two grippers 62 are opposite to each other and close to each other, and the two grippers 62 are away from the liquid transfer component 5 (the piston cavity base 53) or the mounting frame 4 (the mounting base 43), and the withdrawal head assembly 54 extends downward based on the arrangement direction of the piston cavity base 53. When the gripper 62 rotates to the retracted position, the clamping surfaces 620 of the two grippers 62 are opposite to each other, and the two grippers 62 extend upward based on the arrangement direction of the piston cavity base 53.

[0059] In the technical solution, the grippers 62 are retracted in the non-clamping state and arranged close to the liquid transfer component 5 or the mounting frame 4, so that the multifunctional transfer device 3 can still have good overall compactness without using the clamping function, and the interference of the grippers 62 with other components in the workstation 1 or the interference of the grippers 62 with the pipetting operation is reduced.

[0060] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-functional transfer device characterized by, The utility model relates to a multifunctional transfer device, comprising: a mounting frame; a liquid transfer component, the liquid transfer component comprising a pipetting power assembly movably provided on the mounting frame, the liquid transfer component being capable of generating a liquid suction force or a liquid repulsion force through movement of the pipetting power assembly in a first linear direction; a clamping transfer component, the clamping transfer component comprising a plurality of clamping hands and a clamping hand driving motor, the clamping hands being rotatably provided on the mounting frame and being in transmission connection with the clamping hand driving motor; the liquid transfer component and the clamping hand driving motor being arranged side by side along a second linear direction perpendicular to the first linear direction; the liquid transfer component being arranged between at least two clamping hands along a third linear direction perpendicular to the first linear direction.

2. The multi-functional transfer device of claim 1, wherein, The second linear direction and the third linear direction are perpendicular to each other, and the clamping transfer component further comprises a vertical turning transmission assembly, one end of the vertical turning transmission assembly being connected with the clamping hand driving motor, and the other end of the vertical turning transmission assembly being connected with a rotating shaft of the clamping hand.

3. The multi-functional transfer device of claim 2, wherein, The vertical turning transmission assembly comprises a transmission worm gear and a transmission worm in cooperation, the transmission worm gear being coaxially connected with the rotating shaft of the clamping hand, and the transmission worm being connected with the clamping hand driving motor.

4. The multi-functional transfer device of claim 2, wherein, The vertical turning transmission assembly comprises a first staggered helical gear and a second staggered helical gear in cooperation, the first staggered helical gear being connected with the clamping hand driving motor, and the second staggered helical gear being coaxially connected with the rotating shaft of the clamping hand.

5. The multi-functional transfer device of claim 2, wherein, The transmission ratio of the vertical turning transmission assembly is greater than 1.

6. The multi-functional transfer device of claim 2, wherein, The clamping transfer component further comprises an intermediate shaft and a same-direction transmission assembly, the intermediate shaft being rotatably provided on the mounting frame; the intermediate shaft and the clamping hand driving motor being arranged side by side along the first linear direction and being in transmission connection with the clamping hand driving motor through the same-direction transmission assembly; each end of the intermediate shaft being in transmission connection with one clamping hand through one vertical turning transmission assembly.

7. The multi-functional transfer device of claim 6, wherein, The same-direction transmission assembly comprises a first gear and a second gear in cooperation, the first gear being sleeved on an output shaft of the clamping hand driving motor, and the second gear being sleeved on the intermediate shaft; the transmission ratio of the first gear and the second gear being greater than 1.

8. The multi-functional transfer device according to any one of claims 1-7, wherein, The clamping hand driving motor comprises a speed reduction motor, the speed reduction motor being provided on the mounting frame and being in transmission connection with the clamping hand.

9. The multi-functional transfer device according to any one of claims 1-7, wherein, The liquid transfer component further comprises a piston cavity base provided on the mounting frame, the piston cavity base being used for cooperating with the pipetting power assembly to generate a liquid suction force or a liquid repulsion force; the piston cavity base being arranged between the clamping hands, the clamping hands being attached to side walls of the piston cavity base or the mounting frame when the clamping hands are rotated to a retracted position.

10. A workstation, characterized by The utility model relates to a multifunctional transfer device, comprising: any one of claims 1-9; a three-way linear motion device, the three-way linear motion device being connected with the multifunctional transfer device to drive the multifunctional transfer device to move.

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