Pipetting gripper assembly and pipetting gripper

Abstract

The utility model discloses a kind of pipetting gripper assembly and pipetting gripper, wherein pipetting gripper assembly includes: including two jaw assemblies and at least one gripper seat;Jaw assembly includes an adapter, a jaw seat and at least one jaw;Adapter top forms a plug-in interface, and a detachable plug-in connection structure is arranged in plug-in interface;Adapter is connected or formed in the top of jaw seat;Jaw seat is detachably connected with a pipetting gun head by adapter;Jaw is fixed to the lower part of one side of jaw seat;The jaw of two jaw assemblies is set to mutually adjacent jaw seat towards each other;Gripper seat is fixed to a table top;Jaw assembly and gripper seat form mutually coordinated vertical direction limiting structure, when jaw assembly moves to a loading and unloading position, gripper seat limits jaw assembly in vertical direction.The utility model of a kind of pipetting gripper assembly and pipetting gripper, solve the problem of inconvenient loading and unloading when using, need manual operation.

Description

Technical Field

[0001] This utility model belongs to the field of pipetting equipment technology, and in particular relates to a pipetting gripper assembly and a pipetting gripper. Background Technology

[0002] Most existing pipetting grippers are independent grippers separate from the pipette tip. When the gripper is needed, it must be installed separately, and the position of the pipette must be adjusted. This requires a large operating space and incurs significant maintenance costs. Component-type grippers that are installed on the pipette tip, on the other hand, require manual installation and removal during use, which is inconvenient. Summary of the Invention

[0003] To address the shortcomings of the existing technology, this utility model aims to provide a pipetting gripper assembly and a pipetting gripper, which solves the problems of inconvenient assembly and disassembly and the need for manual operation.

[0004] To achieve the above objectives, this utility model provides a pipetting gripper assembly, including two gripper assemblies and at least one gripper base; each gripper assembly includes an adapter, a gripper base, and at least one gripper; the top of the adapter forms an insertion interface, and a detachable plug-in connection structure is provided within the insertion interface; the adapter is connected to or formed on the top of the gripper base; the gripper base is detachably plugged into and connected to a pipette tip via the adapter; the gripper is fixed to the lower part of one side of the gripper base; the grippers of the two gripper assemblies are positioned facing each other toward the adjacent gripper base; the gripper base is fixed to a table; the gripper assemblies and the gripper base form a mutually cooperating vertical limiting structure, and when the gripper assembly moves to a loading / unloading position, the gripper base limits the gripper assembly in the vertical direction.

[0005] In one embodiment, the inner wall shape of the connector matches the outer wall shape of the pipette tip; a flexible O-ring protruding from the outer surface of the pipette tip is fixed around the periphery of the pipette tip; the detachable pluggable connection structure includes an O-ring limiting groove; the inner wall of the connector is recessed to form the O-ring limiting groove corresponding to the position of the flexible O-ring; when the pipette tip is inserted into the connector, the flexible O-ring is partially inserted into the O-ring limiting groove.

[0006] In one embodiment, the detachable pluggable connection structure further includes at least two elastic pressing structures; the periphery of the pipette tip is recessed to form an annular groove; the elastic pressing structure is fixed in the adapter and communicates with the plug interface at a position corresponding to the annular groove; when the pipette tip is inserted into the plug interface, the elastic pressing structure partially inserts into and presses against the annular groove.

[0007] In one embodiment, the elastic pressing structure employs a spring ball head screw; the spring ball head screw is fixed within the adapter in a radial arrangement along the insertion interface; the ball head portion of the spring ball head screw extends into the insertion interface; when the pipette tip is inserted into the insertion interface, the ball head portion inserts into and presses against the annular groove.

[0008] In one embodiment, the vertical limiting structure includes the gripper and a plurality of limiting holes or limiting grooves; the limiting holes or limiting grooves are formed on both sides of the gripper base and are positioned to cooperate with the gripper; when the number of grippers is two or more, the grippers are spaced apart in the horizontal direction.

[0009] In one embodiment, the grippers are strip-shaped and arranged along a horizontal straight line; the limiting grooves that cooperate with the grippers are formed on both sides of the gripper base.

[0010] In one embodiment, the grippers are columnar and arranged along a horizontal straight line; the limiting holes that cooperate with the grippers are formed on both sides of the gripper base.

[0011] In one embodiment, the end of the gripper forms a first guide ramp; and / or

[0012] A second guide slope is formed at the opening of the limiting hole or the limiting groove.

[0013] In one embodiment, an adsorption component is further provided between the gripper assembly and the gripper base; the adsorption component includes at least one set of magnet assemblies, each magnet assembly including a first magnet and a second magnet; the first magnet and the second magnet are respectively fixed between the gripper base and the gripper base by opposite poles attracting each other.

[0014] The present invention provides a pipetting gripper, comprising the pipetting gripper assembly described herein and two pipetting guns; the gripper seats of the two gripper assemblies are detachably plugged and connected to the pipetting tips of the corresponding single-channel pipetting guns via the adapter.

[0015] The beneficial technical effects of this utility model due to the adoption of the above technical solution include:

[0016] By employing a detachable plug-and-play connection structure, the gripper seat can be detachably plugged and played with to the pipette tip via the adapter, enabling convenient insertion and removal of the gripper seat. When two gripper assemblies are mounted opposite each other on two pipette tips, they can function as grippers. Furthermore, the gripper assemblies and the gripper seat form a mutually cooperating vertical limiting structure. By driving the pipette tip equipped with the gripper assemblies, and cooperating with the gripper seat to limit the gripper assemblies, automatic loading and unloading of the gripper assemblies can be easily achieved without additional manual operation. The cooperation of the flexible O-ring and the O-ring limiting groove enables a detachable plug-and-play connection between the adapter and the pipette tip. The cooperation of the annular groove and the elastic pressing structure further enhances the stability of the detachable plug-and-play connection between the adapter and the pipette tip and increases the load-bearing capacity of the gripper seat. The use of the first guide slope provides guidance for the gripper to insert into the corresponding limiting hole or limiting groove. The adsorption component allows the gripper assembly and the gripper base to adhere to each other and be fixed when they are close together, ensuring the stability and effectiveness of the gripper assembly during automatic loading and unloading. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a perspective view of the pipetting gripper assembly in Embodiment 1 of this application;

[0019] Figure 2 This is an exploded view of the pipetting gripper assembly in the first direction of Embodiment 1 of this application;

[0020] Figure 3 This is an exploded view of the pipetting gripper assembly in the second direction of Embodiment 1 of this application;

[0021] Figure 4 This is a cross-sectional view of the pipetting gripper assembly in Embodiment 1 of this application;

[0022] Figure 5 This is a bottom view of the gripper base in Embodiment 1 of this application;

[0023] Figure 6 This is a cross-sectional view of the pipetting gripper assembly in Embodiment 2 of this application;

[0024] Figure 7 This is a perspective view of the pipetting gripper assembly in Embodiment 2 of this application;

[0025] Figure 8 This is an exploded view of the pipetting gripper assembly in the first direction in Embodiment 2 of this application;

[0026] Figure 9 This is an exploded view of the pipetting gripper assembly in the second direction of Embodiment 2 of this application.

[0027] Explanation of icon numbers:

[0028] 1-Gripper assembly;

[0029] 11-Adapter; 12-Claw base;

[0030] 111 - Plug-in interface; 112 - O-ring limiting groove;

[0031] 121-Gripper; 122-First guide ramp;

[0032] 2-Hand-holding seat;

[0033] 21-Limiting hole; 22-Limiting groove; 23-Connecting hole; 24-Positioning hole; 25-Second guide slope;

[0034] 3-Pipette tip;

[0035] 31-Flexible O-ring; 32-Annular groove;

[0036] 41 - First magnet; 42 - Second magnet;

[0037] 5-Spring ball head set screw; 51-Ball head. Detailed Implementation

[0038] 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, and 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.

[0039] In the description of this utility model, it should be noted that the terms "upper," "lower," "left," "right," "center," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for 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 utility model. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "linking," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or a connection within 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.

[0041] Example 1

[0042] Please see Figures 1-5 According to Embodiment 1 of this utility model, a pipetting gripper assembly includes two gripper assemblies 1 and at least one gripper base 2. The gripper assembly 1 includes an adapter 11, a gripper base 12, and at least one gripper 121. The top of the adapter 11 forms an insertion interface 111, and a detachable plug-in connection structure is provided in the insertion interface 111. The adapter 11 is connected to or formed on the top of the gripper base 12. The gripper base 12 is detachably plugged into and connected to a pipetting tip 3 through the adapter 11. The gripper 121 is fixed to the lower part of one side of the gripper base 12. The grippers 121 of the two gripper assemblies 1 are arranged facing each other toward the adjacent gripper base 12. The gripper base 2 is fixed to a table. The gripper assembly 1 and the gripper base 2 form a mutually cooperating vertical limiting structure. When the gripper assembly 1 moves to a loading / unloading position, the gripper base 2 limits the gripper assembly 1 in the vertical direction.

[0043] By employing a detachable plug-in connection structure, the gripper seat 12 can be detachably plugged into and disconnected from the pipette tip 3 via the adapter 11, enabling convenient plugging and unplugging of the gripper seat 12. When the two gripper assemblies 1 are mounted opposite each other on the two pipette tips 3, they can work together to function as grippers. Furthermore, the gripper assembly 1 and the gripper seat 2 form a mutually cooperating vertical limiting structure. By driving the pipette tip 3 equipped with the gripper assembly 1, and cooperating with the gripper seat 2 to limit the gripper assembly 1, the automatic loading and unloading of the gripper assembly 1 can be easily achieved without additional manual operation. The adsorption component allows the gripper assembly 1 and the gripper seat 2 to adhere and fix each other when they are close together, ensuring the stability and effectiveness of the automatic loading and unloading of the gripper assembly 1.

[0044] The inner wall shape of the connector 111 matches the outer wall shape of the pipette tip 3; a flexible O-ring 31 protruding from the outer surface of the pipette tip 3 is fixed around the periphery of the pipette tip 3; the detachable pluggable connection structure includes an O-ring limiting groove 112; the inner wall of the connector 111 is recessed to form the O-ring limiting groove 112 corresponding to the position of the flexible O-ring 31; when the pipette tip 3 is inserted into the connector 111, the flexible O-ring 31 is partially inserted into the O-ring limiting groove 112.

[0045] The combination of the flexible O-ring 31 and the O-ring limiting groove 112 enables a detachable plug-in connection between the adapter 11 and the pipette tip 3.

[0046] The vertical limiting structure includes a gripper 121 and a plurality of limiting holes 21 or limiting grooves 22; the limiting holes 21 or limiting grooves 22 are formed on both sides of the gripper base 2 and are positioned to cooperate with the gripper 121; when there are two or more grippers 121, the grippers 121 are distributed at intervals along the horizontal direction.

[0047] The grippers 121 are spaced apart in the horizontal direction so that when two grippers 121 are used together, they can stably support the device to be moved.

[0048] In this embodiment, the gripper 121 is strip-shaped and arranged along a horizontal straight line; the gripper seat 2 has limiting grooves 22 on both sides that cooperate with the gripper 121.

[0049] In this embodiment, an adsorption component is further provided between the gripper assembly 1 and the gripper base 2; the adsorption component includes at least one set of magnet assemblies, each magnet assembly including a first magnet 41 and a second magnet 42; the first magnet 41 and the second magnet 42 are respectively fixed between the gripper base 12 and the gripper base 2 with opposite poles attracting each other. In other embodiments, the adsorption component may also be other existing components capable of generating adsorption force, such as suction cups.

[0050] The first magnet 41 and the second magnet 42, which are arranged with opposite poles attracting each other, provide a stable attraction between the gripper seat 12 and the gripper seat 2, so that the gripper seat 12 can be stably attracted to the gripper seat 2 after it is close to the gripper seat 2 in the loading and unloading position, thus ensuring the stable operation of the subsequent automatic loading and unloading process.

[0051] In this embodiment, the gripper base 2 has a connecting hole 23 at its bottom, and the gripper base 2 is screwed to the table surface through the connecting hole 23. In other embodiments, the gripper base 2 can also be fixed to the table surface by other existing connection methods, such as gluing or welding.

[0052] In this embodiment, a positioning hole 24 is also provided at the bottom of the gripper base 2. The positioning hole 24 is designed to cooperate with the positioning pin of the table, so as to realize the positioning of the gripper base 2 conveniently and accurately, and facilitate the setting of the loading and unloading position when automatically loading and unloading the gripper assembly 1.

[0053] This embodiment of a pipetting gripper includes the pipetting gripper assembly described in this utility model and two single-channel pipettes; the gripper seats 12 of the two gripper assemblies 1 are detachably plugged and connected to the pipette tips 3 of the corresponding single-channel pipettes via the adapter 11.

[0054] The installation process of the gripper assembly 1 of the pipetting gripper in this embodiment is as follows:

[0055] In the pending installation state, the gripper assembly 1 is not installed on the pipette tip 3. At this time, the gripper assembly 1 is attached to the gripper seat 2 in the loading and unloading position, and the gripper 121 is inserted into the limiting groove 22. The gripper seat 2 limits the gripper assembly 1 through the vertical limiting structure.

[0056] Move the pipette above the gripper assembly 1, aligning the pipette tip 3 with the insertion port 111. Drive the pipette downwards until the pipette tip 3 is inserted into the insertion port 111. At this point, because the gripper assembly 1 is vertically limited by the gripper seat 2, the flexible O-ring 31 deforms under the external force of the pipette and partially inserts into the O-ring limiting groove 112, completing the installation of the gripper assembly 1. Then, drive the pipette horizontally away from the gripper seat 2, causing the gripper 121 to disengage from the limiting groove 22, thus separating the gripper assembly 1 from the gripper seat 2.

[0057] The unloading process of the gripper assembly 1 of the pipetting gripper in this embodiment is as follows:

[0058] In the unloading state, the gripper assembly 1 has been installed on the pipette tip 3.

[0059] Move the pipette to the side of the corresponding gripper seat 2, so that the position of the gripper 121 of the gripper assembly 1 corresponds to the position of the limiting groove 22 on one side of the gripper seat 2. Move the gripper seat 12 towards the gripper seat 2 so that the gripper 121 is inserted into the limiting groove 22. The gripper seat 2 limits the gripper assembly 1 in the vertical direction. At the same time, the gripper seat 12 of the gripper assembly 1 is adsorbed onto the gripper seat 2 under the action of the adsorption component. Drive the pipette upward, and the flexible O-ring 31 of the pipette tip 3 deforms under the action of the upward pulling force and disengages from the O-ring limiting groove 112. Continue to drive the pipette upward until the pipette tip 3 is completely pulled out from the insertion interface 111, realizing the unloading of the gripper assembly 1. At this time, the gripper assembly 1 is still adsorbed onto the gripper seat 2 in the loading and unloading position under the action of the adsorption force of the adsorption component, and the gripper 121 is inserted into the limiting groove 22. The gripper assembly 1 enters the ready-to-install state. If gripper assembly 1 needs to be installed again, the installation process in this embodiment can be repeated.

[0060] Example 2

[0061] Please see Figures 6-9 The pipetting gripper assembly and gripper of Embodiment 2 of this utility model have the same structure as Embodiment 1, except that the detachable plug-in connection structure further includes at least two elastic pressing structures; the outer periphery of the pipetting tip 3 is recessed to form an annular groove 32; the elastic pressing structure is fixed in the adapter 11 and communicates with the plug interface 111 at the position corresponding to the annular groove 32; when the pipetting tip 3 is inserted into the plug interface 111, the elastic pressing structure partially inserts into and presses against the annular groove 32.

[0062] The elastic pressure structure adopts a spring ball head screw 5; the spring ball head screw 5 is fixed in the adapter 11 along the radial arrangement of the insertion interface 111; the ball head part of the spring ball head screw 5 extends into the insertion interface 111; when the pipette tip 3 is inserted into the insertion interface 111, the ball head 51 part inserts into and presses against the annular groove 32.

[0063] The combination of the annular groove 32 and the elastic pressing structure further enhances the stability of the detachable pluggable connection between the adapter 11 and the pipette tip 3, and increases the load-bearing capacity of the gripper seat 12.

[0064] In this embodiment, the gripper 121 is columnar and arranged along a horizontal straight line; the limiting holes 21 that cooperate with the gripper 121 are formed on both sides of the gripper base 2.

[0065] The grippers 121 are arranged along a horizontal straight line so that when two grippers 121 are used together, they can stably support the device to be moved.

[0066] The installation process of the gripper assembly 1 of the pipetting gripper in this embodiment is as follows:

[0067] In the waiting-to-install state, the gripper assembly 1 is not installed on the pipette tip 3. At this time, the gripper assembly 1 is attached to the gripper seat 2 in the loading and unloading position, and the gripper 121 is inserted into the limiting hole 21. The gripper seat 2 limits the gripper assembly 1 through the vertical limiting structure.

[0068] Move the pipette above the gripper assembly 1, aligning the pipette tip 3 with the insertion port 111. Drive the pipette downwards until the pipette tip 3 is inserted into the insertion port 111. At this point, because the gripper assembly 1 is vertically limited by the gripper seat 2, the flexible O-ring 31 deforms under the external force of the pipette and partially inserts into the O-ring limiting groove 112. Simultaneously, the ball head 51 of the spring ball head set screw 5 of the elastic pressing structure inserts into and presses against the annular groove 32, clamping the pipette tip 3 and completing the installation of the gripper assembly 1. Afterwards, drive the pipette horizontally away from the gripper seat 2, causing the gripper 121 to disengage from the limiting hole 21, thus separating the gripper assembly 1 from the gripper seat 2.

[0069] The unloading process of the gripper assembly 1 of the pipetting gripper in this embodiment is as follows:

[0070] In the unloading state, the gripper assembly 1 has been installed on the pipette tip 3.

[0071] Move the pipette to the side of the corresponding gripper seat 2, so that the position of the gripper 121 of the gripper assembly 1 corresponds to the position of the limiting hole 21 on the side of the gripper seat 2. Move the gripper seat 12 towards the gripper seat 2 so that the gripper 121 is inserted into the limiting hole 21. The gripper seat 2 limits the gripper assembly 1 in the vertical direction. At the same time, the gripper seat 12 of the gripper assembly 1 is adsorbed onto the gripper seat 2 under the action of the adsorption component. Drive the pipette upward, and the flexible O-ring 31 of the pipette tip 3 deforms under the action of the upward pulling force and comes out of the O-ring limiting groove 112. At the same time, the ball head 51 of the spring ball head set screw 5 retracts inward under the action of the external force and comes out of the annular groove 32. Then continue to drive the pipette upward until the pipette tip 3 is completely pulled out of the insertion interface 111, realizing the unloading of the gripper assembly 1. At this time, the gripper assembly 1 remains attached to the gripper base 2 in the loading / unloading position under the adsorption force of the adsorption component, and the gripper 121 is inserted into the limiting hole 21, and the gripper assembly 1 enters the installation-ready state. If the gripper assembly 1 needs to be installed again, the installation process in this embodiment can be repeated.

[0072] Example 3

[0073] Please see Figures 1-9The pipetting gripper assembly and gripper of Embodiment 3 of this utility model have a structure that is basically the same as that of Embodiment 1 or 2, except that the gripper 121 has a first guide slope 122 formed at the end adjacent to the gripper base 2. The use of the first guide slope 122 provides a guiding function for the gripper 121 to be inserted into the corresponding limiting hole 21 or limiting groove 22.

[0074] Example 4

[0075] The pipetting gripper assembly and pipetting gripper of Embodiment 4 of this utility model have the same structure as Embodiment 3, except that a second guide slope 25 is formed at the opening of the limiting hole 21 or the limiting groove 22.

[0076] The use of the second guide slope 25 provides a guiding function for the clamp 121 to be inserted into the corresponding limiting hole 21 or limiting groove 22.

[0077] Example 5

[0078] The pipetting gripper assembly and pipetting gripper of Embodiment 5 of this utility model have a structure that is basically the same as any one of Embodiments 1 to 4, the difference being that no pipetting gripper is provided.

[0079] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A pipetting gripper assembly, characterized in that, The device includes two gripper assemblies (1) and at least one gripper base (2); each gripper assembly (1) includes an adapter (11), a gripper base (12), and at least one gripper (121); the adapter (11) has a connector (111) formed on its top, and a detachable plug-in connection structure is provided in the connector (111); the adapter (11) is connected to or formed on the top of the gripper base (12); the gripper base (12) is connected to a pipette tip (3) through the adapter (11). The gripper assembly (1) is detachable and pluggable; the gripper (121) is fixed to the lower part of one side of the gripper seat (12); the grippers (121) of the two gripper assemblies (1) are arranged facing each other toward the adjacent gripper seats (12); the gripper seat (2) is fixed to a table; the gripper assembly (1) and the gripper seat (2) form a vertical limiting structure that cooperates with each other. When the gripper assembly (1) moves to a loading / unloading position, the gripper seat (2) limits the gripper assembly (1) in the vertical direction.

2. The pipetting gripper assembly according to claim 1, characterized in that, The inner wall shape of the connector (111) matches the outer wall shape of the pipette tip (3); a flexible O-ring (31) protruding from the outer surface of the pipette tip (3) is fixed around the periphery of the pipette tip (3); the detachable plug-in connection structure includes an O-ring limiting groove (112); the inner wall of the connector (111) is recessed to form the O-ring limiting groove (112) corresponding to the position of the flexible O-ring (31); when the pipette tip (3) is inserted into the connector (111), the flexible O-ring (31) is partially inserted into the O-ring limiting groove (112).

3. The pipetting gripper assembly according to claim 2, characterized in that, The detachable pluggable connection structure also includes at least two elastic pressing structures; the periphery of the pipette tip (3) is recessed to form an annular groove (32); the elastic pressing structure is fixed in the adapter (11) and communicates with the plug interface (111) at the position corresponding to the annular groove (32); when the pipette tip (3) is inserted into the plug interface (111), the elastic pressing structure partially inserts into and presses against the annular groove (32).

4. The pipetting gripper assembly according to claim 3, characterized in that, The elastic pressing structure adopts a spring ball head screw (5); the spring ball head screw (5) is fixed in the adapter (11) in a radial arrangement along the insertion interface (111); the ball head (51) part of the spring ball head screw (5) extends into the insertion interface (111); when the pipette tip (3) is inserted into the insertion interface (111), the ball head (51) part inserts into and presses against the annular groove (32).

5. The pipetting gripper assembly according to any one of claims 1 to 4, characterized in that, The vertical limiting structure includes the gripper (121) and a plurality of limiting holes (21) or limiting grooves (22); the limiting holes (21) or limiting grooves (22) are formed on both sides of the gripper base (2) and are positioned to cooperate with the gripper (121); when there are two or more grippers (121), the grippers (121) are distributed at intervals along the horizontal direction.

6. The pipetting gripper assembly according to claim 5, characterized in that, The gripper (121) is strip-shaped and arranged along a horizontal straight line; the gripper base (2) has limiting grooves (22) on both sides that cooperate with the gripper (121).

7. The pipetting gripper assembly according to claim 5, characterized in that, The gripper (121) is columnar and arranged along a horizontal straight line; the gripper base (2) has limiting holes (21) on both sides that cooperate with the gripper (121).

8. The pipetting gripper assembly according to claim 5, characterized in that, The end of the gripper (121) forms a first guide ramp (122); and / or A second guide slope (25) is formed at the opening of the limiting hole (21) or the limiting groove (22).

9. The pipetting gripper assembly according to claim 1, characterized in that, An adsorption component is also provided between the gripper assembly (1) and the gripper seat (2); the adsorption component includes at least one set of magnet assemblies, each magnet assembly including a first magnet (41) and a second magnet (42); the first magnet (41) and the second magnet (42) are fixed between the gripper seat (12) and the gripper seat (2) respectively, with opposite poles attracting each other.

10. A pipetting gripper, characterized in that, Includes the pipetting gripper assembly as described in any one of claims 1 to 9 and two single-channel pipettes; the gripper bases (12) of the two gripper assemblies (1) are detachably plugged into and connected to the pipette tips (3) of the corresponding single-channel pipettes via the adapter (11).

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