A gun-pump dual mode linkage dosing and stirring liquid workstation

Abstract

The utility model relates to automatic equipment technical field, concretely is a kind of gun pump double mode linkage feeding stirring liquid workstation, including workbench, mechanical arm device, gun head infusion module, pump body infusion module and jaw assembly, workbench is sequentially formed with raw material area, feeding area, reaction zone and vertical warehouse area along the extension direction, gun head infusion module is configured at the end of first branch arm, pump body infusion module includes the raw liquid container loaded with raw liquid and the infusion tube configured in raw liquid container in inlet end, the outlet of infusion tube is configured at the end of third branch arm, jaw assembly is configured at the end of third branch arm, jaw assembly is grabbed in feeding area tray to all reaction bottles that have been loaded mixed liquid on tray are transported to the magnetic stirrer in reaction zone, and again grab tray on magnetic stirrer to all reaction bottles that complete stirring on tray are transported to vertical warehouse area. The technical problem that the prior art automation liquid workstation adapts scene narrow, poor cooperativity is solved.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, specifically a gun-pump dual-mode linkage feeding and stirring liquid workstation. Background Technology

[0002] In experimental and production fields such as biopharmaceuticals, chemical analysis, and environmental monitoring, automated liquid workstations are key equipment for improving the efficiency and accuracy of liquid handling. Liquid operations need to be adaptable to diverse scenarios: such as precise micro-volume dispensing of biological samples, and the addition of large quantities of materials to chemical reaction systems. They also often involve requirements such as stirring to promote mixing during addition and simulating reaction processes. Traditional liquid workstations, in pursuit of specialization, often use a single nozzle or a single pump configuration, making it difficult to flexibly cover liquid handling tasks of different volumes and precisions. Furthermore, they lack sufficient support for collaborative "addition-stirring / reaction" scenarios, requiring manual intervention, which affects experimental consistency and efficiency.

[0003] Defects and shortcomings of existing technology:

[0004] 1. Limited adaptability: Existing automated liquid workstations mostly use a single pipette tip or a single pump body with a fixed configuration. For example, some devices are only compatible with micro pipettes. When dealing with large-volume, low-precision liquid delivery, frequent manual pipette changes and parameter adjustments are required, which is cumbersome. Alternatively, they rely solely on peristaltic pumps for delivery, which cannot meet the precise liquid dispensing requirements of micro-volume samples. They are also difficult to be compatible with diverse liquid processing scenarios ranging from "micro-volume precision to constant-volume efficiency", resulting in poor adaptability and limiting the application scope of the equipment.

[0005] 2. Lack of collaborative functions: In experiments involving "stirring / reaction simulation during the feeding process", existing equipment is difficult to achieve process-oriented collaborative control. Most of them can only independently complete the liquid transfer and stirring actions, requiring manual intervention to switch: such as manually transferring and adding liquid first, and then starting stirring, which is prone to human error and cannot accurately control the synchronous timing of "feeding-stirring" (such as the need to stir and control temperature while adding liquid in chemical reactions). Although some equipment integrates simple stirring, it is not linked with the liquid transfer and reaction environment, and cannot simulate complex reaction processes, making it difficult to meet the integrated needs of "dynamic feeding-reaction control" in experiments such as material synthesis and drug formulation.

[0006] In general, existing equipment has weak adaptability, often using a single nozzle or pump configuration, making it difficult to balance "precise micro-volume dispensing" and "efficient constant-volume delivery". It has a narrow range of applicable scenarios, cumbersome manual adjustments, lack of coordination, and difficulty in process-coordinated "feeding-stirring / reaction". It may require manual intervention to introduce errors, or it may not be linked to the reaction environment, thus failing to meet the integrated requirement of "dynamic feeding-reaction control". Summary of the Invention

[0007] To address the technical problems of limited application scenarios and poor coordination in existing automated liquid workstations, this application proposes a dual-mode linkage feeding and stirring liquid workstation with a pump and a gun, which solves the aforementioned technical problems.

[0008] The technical solution adopted by this utility model to solve its technical problem is:

[0009] This utility model provides a dual-mode linkage feeding and stirring liquid workstation with a pump and nozzle, comprising: a worktable, wherein the worktable sequentially forms a raw material area, a feeding area, a reaction area, and a vertical storage area along its extension direction; and a robotic arm device, wherein the main frame of the robotic arm device is horizontally arranged on the worktable along its extension direction, and a first main arm and a second main arm, both capable of horizontal movement along the main frame, are arranged on the same side of the main frame. Both the first and second main arms are horizontally arranged and perpendicular to the main frame. The first main arm has two sides... The system is equipped with a first and a second branch arm that can move horizontally along the body of the first main arm. The first and second branch arms extend vertically. The first branch arm has a first support arm that moves vertically up and down. The second branch arm has a second support arm that moves vertically up and down. The second main arm has a third branch arm that can move horizontally along the body of the second main arm, and the third branch arm has a third support arm that moves vertically up and down. A syringe infusion module is also included. At the end of the first arm, the infusion module automatically replaces the nozzle with a nozzle of the corresponding specification, drawing liquid from the sample bottle in the raw material area, and moves it to the feeding area via the robotic arm to input the drawn liquid into the reaction bottle on the feeding tray, or directly inputs the liquid into the reaction bottle on the magnetic stirrer in the reaction area; the pump infusion module includes a raw liquid container filled with raw liquid and an inlet tube disposed in the raw liquid container, the outlet of the infusion tube being disposed at the end of the third arm, the... The infusion tube, using a plunger pump, extracts the stock solution from the stock solution container and delivers it to the end of the third arm. The robotic arm then moves the tube to the feeding area, inputting the stock solution into reaction flasks on a tray there. A gripper assembly, located at the end of the third arm, picks up the tray in the feeding area to transport all reaction flasks already loaded with the mixed liquid to the magnetic stirrer in the reaction area. The assembly then picks up the tray again from the magnetic stirrer to transport all the stirred reaction flasks to the vertical storage area.

[0010] Furthermore, a nozzle replacement area is provided next to the raw material area. The nozzle infusion module moves to the nozzle replacement area with the help of the robotic arm device and automatically discards the waste nozzles into the waste nozzle receiving container in the nozzle replacement area.

[0011] Furthermore, a vertically extending clamping post is fixed on the material tray. Meanwhile, the gripper assembly includes a fixed clamp and a movable clamp. The fixed clamp has a clamping hole. After the clamping post is fitted into the clamping hole, the gripping surface at the end of the movable clamp moves onto the clamping post to grip the material tray.

[0012] Furthermore, a stop block is formed on the fixed clamp, and the stop surface of the stop block is directly opposite the clamping surface of the movable clamp end, so that it is stopped by the clamping post when the movable clamp moves to the clamping post.

[0013] Furthermore, both the movable clamp and the fixed clamp have two vertically downward extending clamping rods at their ends.

[0014] Furthermore, the infusion module has multiple nozzles arranged in a straight line.

[0015] Furthermore, the pump body infusion mold has multiple infusion tubes, and the outlets of the infusion tubes are arranged in a straight line.

[0016] Based on the above technical solution, the technical effects that this utility model can achieve are as follows:

[0017] This utility model relates to a dual-mode linkage liquid feeding and stirring workstation with a nozzle and pump. The workstation integrates a nozzle tip delivery module and a pump body delivery module on a robotic arm, supporting both nozzle and pump body operating modes. It allows for seamless switching between the nozzle's precise micro-volume pipetting and the pump's high-efficiency constant-volume delivery of raw materials, broadening the equipment's application scenarios and avoiding the need for frequent equipment changes or manual parameter adjustments due to single-mode limitations. This significantly improves equipment efficiency. Furthermore, the workstation features a raw material area, a feeding area, a reaction area, and a vertical storage area, supporting simultaneous stirring and reaction during the feeding process. Through program presets, it achieves multi-stage linkage of liquid feeding, stirring, and reaction environment control, precisely controlling the timing and parameters of feeding and stirring. This effectively avoids errors caused by manual intervention, ensuring the consistency and accuracy of the experimental process. It is particularly suitable for experimental scenarios requiring high integration of dynamic feeding and reaction control, such as material synthesis and pharmaceutical formulation, thus solving the technical problems of narrow adaptability and poor coordination in existing automated liquid workstations. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the gun-pump dual-mode linkage feeding and stirring liquid workstation of this utility model.

[0019] Figure 2 This is a schematic diagram from another perspective of the dual-mode linkage feeding and stirring liquid workstation of the present invention.

[0020] Figure 3 This is a schematic diagram of the gripper assembly of this utility model;

[0021] Figure 4 This is a schematic diagram of the gripper assembly of this utility model from another perspective.

[0022] Among them: 1-workbench, 11-raw material area, 12-feeding area, 13-reaction area, 131-magnetic stirrer, 14-vertical storage area, 15-gun head replacement area, 151-waste gun head receiving container.

[0023] 2-robotic arm device, 21-main frame rod, 22-first main arm, 221-first branch arm, 2211-first support arm, 222-second branch arm, 2221-second support arm, 23-second main arm, 231-third branch arm, 2311-third support arm;

[0024] 3-Infusion module with nozzle tip; 31-Nozzle tip;

[0025] 4-Pump body infusion module, 41-Infusion pipe, 42-Plunger pump;

[0026] 5-Gripper assembly, 51-Fixed clamp, 511-Clamping hole, 512-Abutting block, 5121-Abutting surface, 52-Moving clamp, 521-Clamping surface, 53-Clamping rod;

[0027] 6-Plate, 61-Clamping column. Detailed Implementation

[0028] 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0029] like Figure 1-4As shown, this utility model provides a dual-mode linkage feeding and stirring liquid workstation with a pump and nozzle, including a workbench 1, a robotic arm device 2, a nozzle delivery module 3, a pump delivery module 4, and a gripper assembly 5. The workbench 1 has a raw material area 11, a feeding area 12, a reaction area 13, and a vertical storage area 14 arranged sequentially along its extension direction. The main frame 21 of the robotic arm device 2 is horizontally arranged on the workbench 1 along its extension direction. On the same side of the main frame 21, there are a first main arm 22 and a second main arm 23, both of which can move horizontally along the main frame 21. The first main arm 22 and the second main arm 23 are both horizontally arranged. Perpendicular to the main frame 21, the first main arm 22 has a first branch arm 221 and a second branch arm 222 respectively arranged on both sides, which can move horizontally along the arm body of the first main arm 22. The first branch arm 221 and the second branch arm 222 extend vertically. The first branch arm 221 is equipped with a first support arm 2211 that moves vertically. The second branch arm 222 is equipped with a second support arm 2221 that moves vertically. The second main arm 23 has a third branch arm 231 that can move horizontally along the arm body of the second main arm 23. The third branch arm 231 is equipped with a support arm that moves vertically. The third arm 2311 is a moving part of the pump. The infusion module 3 is located at the end of the first arm 2211. After the infusion module 3 automatically changes to the corresponding nozzle 31, it draws liquid from the sample bottle in the raw material area 11. It is then moved to the feeding area 12 by the robotic arm 2 and the drawn liquid is fed into the reaction bottle on the tray 6 in the feeding area 12, or directly fed into the reaction bottle on the magnetic stirrer 131 in the reaction area 13. The pump body infusion module 4 includes a raw liquid container containing the raw liquid and an inlet tube 41 disposed in the raw liquid container. The outlet of the infusion tube 41 is located at the end of the third arm 2311. At the end of 11, the infusion tube 41 uses a plunger pump 42 to extract the raw liquid from the raw liquid container and deliver it to the end of the third support arm 2311. It is then moved to the feeding area 12 by the robotic arm device 2 to input the raw liquid into the reaction bottle on the material tray 6 at the feeding area 12. The gripper assembly 5 is located at the end of the third support arm 2311. The gripper assembly 5 picks up the material tray 6 in the feeding area 12 to transport all the reaction bottles loaded with mixed liquid on the material tray 6 to the magnetic stirrer 131 in the reaction area 13. The magnetic stirrer 131 then picks up the material tray 6 again to transport all the reaction bottles that have been stirred on the material tray 6 to the vertical storage area 14.

[0030] It should be noted that the infusion module 3 of this utility model can be the channel pipetting module of Shuokong Company with model number SC-M4-310-180-00. The channel pipetting module has an automatically replaceable pipette tip 31, which can extend and retract on the module body to draw liquid.

[0031] In one specific embodiment of this utility model, a nozzle replacement area 15 is also provided next to the raw material area 11. The nozzle infusion module 3 is moved to the nozzle replacement area 15 by means of the robotic arm device 2, and the waste nozzle 31 is automatically discarded into the waste nozzle receiving container 151 of the nozzle replacement area 15, thereby facilitating the replacement of the nozzle 31.

[0032] In a specific embodiment of this utility model, a vertically upward extending clamping post 61 is fixed on the material tray 6. Meanwhile, the gripper assembly 5 includes a fixed clamp 51 and a movable clamp 52. The fixed clamp 51 has a clamping hole 511. After the clamping post 61 is sleeved on the clamping hole 511, the gripping surface 521 at the end of the movable clamp 52 moves to the clamping post 61 to grip the material tray 6.

[0033] In one specific embodiment of this utility model, a stop block 512 is formed on the fixed clamp 51, and the stop surface 5121 of the stop block 512 is directly opposite the clamping surface 521 of the end of the movable clamp 52, so that when the movable clamp 52 moves to the clamping post 61, it is stopped by the clamping post 61 to more stably grip the material tray 6.

[0034] In one specific embodiment of this utility model, both the movable clamp 52 and the fixed clamp 51 have two vertically downward extending clamping rods 53 at their ends, which expands the target objects that can be clamped.

[0035] In one specific embodiment of this utility model, the infusion module 3 has multiple nozzles 31 arranged in a straight line, which can realize the suction and input of multiple containers in a row, thereby improving efficiency.

[0036] In one specific embodiment of this utility model, the pump body infusion mold has multiple infusion pipes 41, and the outlets of the infusion pipes 41 are arranged in a straight line, which can realize the input of raw liquid to multiple reaction bottles in a row, thereby improving efficiency.

[0037] like Figure 1-2 As shown, in a specific embodiment of this utility model, the infusion module 3 has four nozzles 31, the pump body infusion module has four infusion tubes 41, and the matching plunger pumps 42 also have four nozzles. Figure 1-2 In the diagram, the upper ends of the four infusion tubes 41 are actually connected to the plunger pump 42. The upper part of the infusion tubes 41 is drawn separately in order to make it easier to show the position of the infusion tubes 41.

[0038] The dual-mode linkage feeding and mixing liquid workstation with gun pump of this utility model has the following advantages:

[0039] I. Highly flexible mode adaptation: It is compatible with both the pipette tip 31 and the pump body working modes, and can freely switch between micro-volume precise pipetting and constant volume efficient delivery of raw materials, which broadens the application scenarios of the equipment and avoids the problem of frequent equipment replacement or manual parameter adjustment due to the limitation of a single mode, significantly improving the efficiency of equipment use.

[0040] II. Highly efficient collaborative processing capability: It supports simultaneous stirring and reaction during the feeding process. Through program preset, it realizes the linkage of multiple links such as liquid transfer, stirring, and reaction environment control, and accurately controls the timing and parameters of feeding and stirring. It effectively avoids errors caused by manual intervention and ensures the consistency and accuracy of the experimental process. It is especially suitable for experimental scenarios such as material synthesis and drug formulation with high requirements for dynamic feeding-reaction control integration.

[0041] III. High degree of automation and intelligence: From task planning and material loading to liquid operation execution, task completion and data processing, the entire process is automated. The main control unit of the workstation integrates the control logic of each module and combines real-time monitoring and abnormal alarm functions to reduce the intensity of manual operation and the probability of error. The human-machine interface of the main control unit facilitates parameter setting and data management. It can also be connected to the laboratory information management system to realize efficient data traceability and sharing, and improve the overall work efficiency and management level.

[0042] IV. Precise Process Control and Reliability Assurance: The precision robotic arm device 2, in conjunction with the multi-axis linkage control system, the nozzle infusion module 3, the pump infusion module 4, and the magnetic stirrer 131 can all be used with the pressure sensor and flow control unit of the liquid processing module, as well as the real-time weight monitoring of the weighing sensor platform. This enables comprehensive and precise control from mechanical movement to liquid measurement. At the same time, the standardized design and positioning of each component ensures the stability and repeatability of the operation, providing a strong guarantee for the reliability of experimental results.

[0043] It should be understood that the specific embodiments described above are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A dual-mode linkage feeding and mixing liquid workstation with a pump, characterized in that, include: The workbench (1) is formed in sequence along the extension direction by a raw material area (11), a feeding area (12), a reaction area (13) and a vertical storage area (14); A robotic arm device (2) is provided, wherein the main frame (21) of the robotic arm device (2) is horizontally arranged on the worktable (1) along the extension direction of the worktable (1). On the same side of the main frame (21), a first main arm (22) and a second main arm (23) are arranged, both of which can move horizontally along the body of the main frame (21). The first main arm (22) and the second main arm (23) are both arranged horizontally and perpendicular to the main frame (21). On both sides of the first main arm (22), a first branch arm (221) is arranged, which can move horizontally along the arm body of the first main arm (22). The first arm (221) and the second arm (222) extend vertically. The first arm (221) is equipped with a first support arm (2211) that moves vertically. The second arm (222) is equipped with a second support arm (2221) that moves vertically. The second main arm (23) is equipped with a third arm (231) that can move horizontally along the arm body of the second main arm (23). The third arm (231) is equipped with a third support arm (2311) that moves vertically. The infusion module (3) is located at the end of the first support arm (2211). The infusion module (3) automatically replaces the corresponding nozzle (31) and then draws the liquid from the sample bottle in the raw material area (11). The liquid is then moved to the feeding area (12) by the robotic arm device (2) and the drawn liquid is input into the reaction bottle on the tray (6) in the feeding area (12), or the liquid is directly input into the reaction bottle on the magnetic stirrer (131) in the reaction area (13). The pump body infusion module (4) includes a raw liquid container filled with raw liquid and an inlet end disposed in the raw liquid container. The outlet of the infusion tube (41) is disposed at the end of the third support arm (2311). The infusion tube (41) uses a plunger pump (42) to extract the raw liquid in the raw liquid container and deliver it to the end of the third support arm (2311). The pump body infusion module (41) is moved to the feeding area (12) by the robotic arm device (2) to input the raw liquid into the reaction bottle on the material tray (6) at the feeding area (12). The gripper assembly (5) is disposed at the end of the third arm (2311). The gripper assembly (5) picks up the material tray (6) in the feeding area (12) to transport all the reaction bottles loaded with mixed liquid on the material tray (6) to the magnetic stirrer (131) in the reaction area (13), and picks up the material tray (6) again on the magnetic stirrer (131) to transport all the reaction bottles that have been stirred on the material tray (6) to the vertical storage area (14).

2. The dual-mode linkage feeding and stirring liquid workstation with gun pump according to claim 1, characterized in that, Next to the raw material area (11), there is also a nozzle replacement area (15). The nozzle infusion module (3) moves to the nozzle replacement area (15) with the help of the robotic arm device (2) and automatically discards the waste nozzle (31) into the waste nozzle receiving container (151) of the nozzle replacement area (15).

3. The dual-mode linkage feeding and stirring liquid workstation with gun pump according to claim 1, characterized in that, A vertically extending clamping post (61) is fixed on the material tray (6). Meanwhile, the gripper assembly (5) includes a fixed clamp (51) and a movable clamp (52). The fixed clamp (51) has a clamping hole (511). After the clamping post (61) is fitted into the clamping hole (511), the gripping surface (521) at the end of the movable clamp (52) moves to the clamping post (61) to grip the material tray (6).

4. The dual-mode linkage feeding and stirring liquid workstation with gun pump according to claim 3, characterized in that, A stop block (512) is formed on the fixed clamp (51), and the stop surface (5121) of the stop block (512) is directly opposite the clamping surface (521) of the end of the movable clamp (52) so that it is abutted by the clamping post (61) when the movable clamp (52) moves to the clamping post (61).

5. The dual-mode linkage feeding and stirring liquid workstation with gun pump according to claim 4, characterized in that, Both the movable clamp (52) and the fixed clamp (51) have two vertically downward extending clamping rods (53) at their ends.

6. The dual-mode linkage feeding and stirring liquid workstation with gun pump according to claim 1, characterized in that, The infusion module (3) has multiple nozzles (31) arranged in a straight line.

7. The dual-mode linkage feeding and stirring liquid workstation with gun pump according to claim 1, characterized in that, The pump body infusion mold has multiple infusion pipes (41), and the outlets of the infusion pipes (41) are arranged in a straight line.

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