Variable pitch method for pipetting apparatus, variable pitch control apparatus, and pipetting device

Abstract

A variable pitch method for a pipetting apparatus, a variable pitch control apparatus (700), and a pipetting device. The pipetting apparatus comprises: a plurality of pipetting channels (311, 312, 313, 314), wherein the plurality of pipetting channels (311, 312, 313, 314) are sequentially arranged in a first direction. The variable pitch method for the pipetting apparatus comprises: acquiring an initial position parameter respectively corresponding to at least one pipetting channel among the plurality of pipetting channels (311, 312, 313, 314); acquiring a target position parameter respectively corresponding to the at least one pipetting channel; at least on the basis of the initial position parameter and the target position parameter, determining a driving parameter for driving at least one pipetting channel among the pipetting channels (311, 312, 313, 314) to move so as to vary the pitch between two adjacent pipetting channels; and on the basis of the driving parameter, controlling the corresponding pipetting channel to move, such that each pipetting channel among the plurality of pipetting channels (311, 312, 313, 314) moves from a corresponding initial position to a corresponding target position, and the distance between any two adjacent pipetting channels when the plurality of pipetting channels move to the corresponding target positions is a target distance. By utilizing the method, the variable pitch efficiency of the pipetting apparatus can be improved.

Description

Distance changing method for pipetting device, distance changing control device and pipetting equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 10, 2023, with application number 2023110090501 and invention name “Variation method, variable distance control device and pipetting device for pipetting device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of pipetting technology, for example, to a distance-changing method, a distance-changing control device and a pipetting apparatus for a pipetting device. Background Art

[0003] A pipetting device (such as a pipetting workstation) can be used for aspiration. The pipetting device has been widely used in the fields of mass spectrometry, DNA sequencing, high performance liquid chromatography (HPLC) chromatographs, and multi-label detection. In order to improve the efficiency of pipetting, a plurality of pipetting channels can be provided on the pipetting device. A plurality of pipetting channels are provided with a plurality of containers in a one-to-one correspondence. The container may be, for example, a well plate or a test tube. Liquid is placed in each container. Each pipetting channel can aspirate the liquid in the corresponding container separately. Due to the limitations of the well plate itself or the test tube carrier and other components, the hole spacing between the containers cannot be unified. Therefore, the spacing between the multiple pipetting channels needs to be adaptively adjusted to achieve simultaneous aspiration and liquid transfer.

[0004] In the related art, when the spacing between multiple pipetting channels of a pipetting device needs to be adjusted, relevant personnel need to adjust it manually. In this way, pipetting consumes a lot of manpower, has low efficiency, and also has the risk of error.

[0005] Summary of the Invention

[0006] The present application provides a distance-changing method, a distance-changing control device, and a liquid-transferring device for a liquid-transferring device.

[0007] A distance changing method for a pipetting device, characterized in that the pipetting device comprises: a plurality of pipetting channels, the plurality of pipetting channels being arranged in sequence along a first direction;

[0008] The pitch changing method includes:

[0009] Acquiring an initial position parameter corresponding to at least one of the plurality of pipetting channels; the initial position parameter is used to indicate an initial position of the corresponding pipetting channel;

[0010] Acquiring a target position parameter corresponding to each of the at least one pipetting channel; the target position parameter is used to indicate a target position of the corresponding pipetting channel;

[0011] Determining, based at least on the initial position parameter and the target position parameter, a driving parameter for driving at least one of the pipetting channels to move so as to change a distance between two adjacent pipetting channels;

[0012] Based on the driving parameters, controlling the movement of the corresponding pipetting channels so that each of the plurality of pipetting channels moves from a corresponding initial position to a corresponding target position and a distance between any two adjacent pipetting channels of the plurality of pipetting channels when the pipetting channels move to the corresponding target positions is a target distance;

[0013] Wherein, when the multiple pipetting channels are at corresponding initial positions, the distance between any two adjacent pipetting channels is an initial distance, and the initial distance is different from the target distance.

[0014] Optionally, the pipetting device further comprises: a first drive assembly and a second drive assembly, wherein the first drive assembly is connected to the first pipetting channel and is configured to drive the first pipetting channel to move along the first direction; the first pipetting channel is one of two pipetting channels located at both ends of the plurality of pipetting channels;

[0015] The second driving component is connected to the second pipetting channel, and is used to drive the second pipetting channel to move along the first direction; the second pipetting channel is another pipetting channel of the two pipetting channels located at both ends of the plurality of pipetting channels; the driving parameters include the first driving parameters of the first driving component and the second driving parameters of the second driving component;

[0016] The determining, based at least on the initial position parameter and the target position parameter, a driving parameter for driving at least one of the pipetting channels to move so as to change the distance between two adjacent pipetting channels comprises:

[0017] determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter;

[0018] The controlling the corresponding pipetting channel movement based on the driving parameters includes:

[0019] Based on the first driving parameter and the second driving parameter, the first driving component and the second driving component are controlled to drive the first pipetting channel and the second pipetting channel to move respectively.

[0020] Optionally, the pipetting device further comprises a connecting rod assembly, wherein the connecting rod assembly is respectively connected to each of the plurality of pipetting channels, and is used to keep the distance between any two adjacent pipetting channels in the plurality of pipetting channels equal.

[0021] Optionally, the initial position parameters include a first initial position parameter corresponding to the first pipetting channel and a second initial position parameter corresponding to the second pipetting channel; the target position parameters include a first target position parameter corresponding to the first pipetting channel and a second target position parameter corresponding to the second pipetting channel;

[0022] The determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter includes:

[0023] determining a first moving distance corresponding to the first pipetting channel based on the first initial position parameter and the first target position parameter;

[0024] determining the first driving parameter based on the first moving distance;

[0025] determining a second moving distance corresponding to the second pipetting channel based on the second initial position parameter and the second target position parameter;

[0026] determining the second driving parameter based on the second moving distance;

[0027] The controlling the first driving component and the second driving component to respectively drive the first pipetting channel and the second pipetting channel to move based on the first driving parameter and the second driving parameter includes:

[0028] Based on the first drive parameter, controlling the first drive assembly to drive the first pipetting channel to move the first moving distance, so that the first pipetting channel moves from a first initial position to a first target position; the first initial position is a position corresponding to the first initial position parameter, and the first target position is a position corresponding to the first target position parameter;

[0029] Based on the second drive parameter, the second drive component is controlled to drive the second pipetting channel the second moving distance so that the second pipetting channel moves from the second initial position to the second target position; the second initial position is the position corresponding to the second initial position parameter, and the second target position is the position corresponding to the second target position parameter.

[0030] Optionally, obtaining the initial position parameter corresponding to at least one of the plurality of pipetting channels includes:

[0031] Acquiring the initial position parameters and the initial distance of any one of the first pipetting channel and the second pipetting channel;

[0032] determining an initial position parameter of the other of the first pipetting channel and the second pipetting channel based on the initial position parameter of any one of the first pipetting channel and the second pipetting channel and the initial distance;

[0033] and / or,

[0034] The obtaining of target position parameters corresponding to at least one of the plurality of pipetting channels comprises:

[0035] Acquire a target position parameter and the target distance of any one of the first pipetting channel and the second pipetting channel;

[0036] Based on the target position parameter of any one of the first pipetting channel and the second pipetting channel and the target distance, a target position parameter of the other one of the first pipetting channel and the second pipetting channel is determined.

[0037] Optionally, the initial distance is obtained by:

[0038] Obtaining the initial distance input by the user through the display interface;

[0039] and / or,

[0040] The target distance is obtained by:

[0041] The target distance input by the user through the display interface is obtained.

[0042] Optionally, the initial position parameters include initial position parameters corresponding to a target pipetting channel; the target position parameters include target position parameters corresponding to the target pipetting channel;

[0043] The determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter includes:

[0044] Determining a moving distance corresponding to the target pipetting channel based on an initial position parameter and a target position parameter corresponding to the target pipetting channel;

[0045] Determining a movement drive parameter corresponding to the target pipetting channel and a movement drive parameter corresponding to a non-target pipetting channel based on the movement distance; wherein the target pipetting channel is any one of the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other one of the first pipetting channel and the second pipetting channel;

[0046] Acquire the initial distance and the target distance;

[0047] Determining the variable-distance driving parameters corresponding to the non-target pipetting channel based on the difference between the target distance and the initial distance; wherein the driving parameters corresponding to the target pipetting channel include the movement driving parameters corresponding to the target pipetting channel, and the driving parameters corresponding to the non-target pipetting channel include the movement driving parameters and the variable-distance driving parameters corresponding to the non-target pipetting channel;

[0048] The controlling the first driving component and the second driving component to respectively drive the first pipetting channel and the second pipetting channel to move based on the first driving parameter and the second driving parameter includes:

[0049] Based on the movement drive parameters corresponding to the target pipetting channel and the movement drive parameters corresponding to the non-target pipetting channel, controlling the drive components corresponding to the target pipetting channel and the non-target pipetting channel to respectively drive the target pipetting channel and the non-target pipetting channel to move the movement distance, so that the target pipetting channel moves to the corresponding target position;

[0050] After the target pipetting channel moves to the corresponding target position, based on the variable distance driving parameters corresponding to the non-target pipetting channel, the driving component corresponding to the non-target pipetting channel is controlled to drive the non-target pipetting channel to move, so that the distance between any two adjacent pipetting channels among the multiple pipetting channels is equal to the target distance.

[0051] Optionally, the initial position parameters include initial position parameters corresponding to a target pipetting channel; the target position parameters include target position parameters corresponding to the target pipetting channel;

[0052] The determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter includes:

[0053] Acquire the initial distance and the target distance;

[0054] Determining a variable distance drive parameter corresponding to a non-target pipetting channel based on a difference between the target distance and the initial distance; wherein the target pipetting channel is any one of the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other of the first pipetting channel and the second pipetting channel;

[0055] Determining a moving distance corresponding to the target pipetting channel based on an initial position parameter and a target position parameter corresponding to the target pipetting channel;

[0056] Determining the movement drive parameters corresponding to the target pipetting channel and the movement drive parameters corresponding to the non-target pipetting channel based on the movement distance; wherein the drive parameters corresponding to the target pipetting channel include the movement drive parameters corresponding to the target pipetting channel, and the drive parameters corresponding to the non-target pipetting channel include the movement drive parameters and the variable distance drive parameters corresponding to the non-target pipetting channel;

[0057] The controlling the first driving component and the second driving component to respectively drive the first pipetting channel and the second pipetting channel to move based on the first driving parameter and the second driving parameter includes:

[0058] Based on the variable distance drive parameter corresponding to the non-target pipetting channel, controlling the drive assembly corresponding to the non-target pipetting channel to drive the non-target pipetting channel to move, so that the distance between any two adjacent pipetting channels among the plurality of pipetting channels is equal to the target distance;

[0059] After the distance between any two adjacent pipetting channels among the multiple pipetting channels is equal to the target distance, based on the movement drive parameters corresponding to the target pipetting channel and the movement drive parameters corresponding to the non-target pipetting channel, the drive components corresponding to the target pipetting channel and the non-target pipetting channel are controlled to respectively drive the target pipetting channel and the non-target pipetting channel to move the moving distance, so that the target pipetting channel and the non-target pipetting channel are respectively moved to the corresponding target positions.

[0060] Optionally, the initial position parameters further include initial position parameters corresponding to the non-target pipetting channel; and the initial distance is obtained by:

[0061] Acquiring the initial position parameters corresponding to the target pipetting channel and the initial position parameters corresponding to the non-target pipetting channel input by the user through the display interface;

[0062] determining the initial distance based on the initial position parameters corresponding to the target pipetting channel and the initial position parameters corresponding to the non-target pipetting channel;

[0063] and / or,

[0064] The target position parameters also include target position parameters corresponding to the non-target pipetting channel; the target distance is obtained by:

[0065] Acquiring target position parameters corresponding to the target pipetting channel and target position parameters corresponding to the non-target pipetting channel input by the user through a display interface;

[0066] The target distance is determined based on the target position parameter corresponding to the target pipetting channel and the target position parameter corresponding to the non-target pipetting channel.

[0067] Optionally, the first drive assembly includes a first drive motor, a lead screw nut, and a lead screw extending along the first direction; the output shaft of the first drive motor is connected to the lead screw; the lead screw is connected to the lead screw nut; the lead screw nut is connected to the first pipetting channel; the first drive motor drives the lead screw to rotate so that the first pipetting channel moves in the first direction; the first drive parameter is the pulse number of the first drive motor;

[0068] The determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter includes:

[0069] determining a moving distance corresponding to the first pipetting channel based at least on the initial position parameter and the target position parameter;

[0070] The number of pulses of the first drive motor is determined based on the moving distance corresponding to the first pipetting channel, the lead of the lead screw, and the step angle of the first drive motor.

[0071] Optionally, the second drive assembly includes a second drive motor, a transmission belt, a driving wheel, and a driven wheel; the transmission belt extends along the first direction and is sleeved on the driving wheel and the driven wheel; the output shaft of the second drive motor is connected to the driving wheel; the transmission belt is connected to the second pipetting channel; the second drive motor drives the driving wheel to rotate so that the second pipetting channel moves along the first direction; the second drive parameter is the pulse number of the second drive motor;

[0072] The determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter includes:

[0073] determining a moving distance corresponding to the second pipetting channel based at least on the initial position parameter and the target position parameter;

[0074] The number of pulses of the second driving motor is determined based on the moving distance corresponding to the second pipetting channel, the circumference of the driving wheel, and the step angle of the second driving motor.

[0075] The present application also provides a variable distance control device for a pipetting device, the pipetting device comprising: a plurality of pipetting channels; the plurality of pipetting channels are arranged in sequence along a first direction;

[0076] The variable distance control device includes a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used by the processor to execute the aforementioned variable distance method for a pipetting device when the processor is running.

[0077] The present application also provides a pipetting device, comprising the aforementioned variable distance control device for a pipetting device and a pipetting device.

[0078] In the above technical solution, by determining the driving parameters based on the initial position parameters and the target position parameters, and controlling the movement of the corresponding pipetting channels according to the driving parameters, it helps to achieve automatic distance change of multiple pipetting channels, thereby helping to save labor costs and improve the working efficiency and accuracy of the pipetting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0080] FIG1 is a schematic structural diagram of an orifice plate according to an embodiment of the present application;

[0081] FIG2 shows a schematic flow chart of a pitch-varying method according to an embodiment of the present application;

[0082] FIG3 is a schematic structural diagram of a pipetting device according to an embodiment of the present application;

[0083] FIG4 is a schematic diagram showing a display interface according to an embodiment of the present application;

[0084] FIG5 is a schematic diagram showing a display interface according to another embodiment of the present application;

[0085] FIG6 is a schematic diagram showing the overall structure of a pipetting device according to one embodiment of the present application;

[0086] Figure 7 shows a schematic block diagram of a variable pitch control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0087] In order to make the purpose, technical solutions and advantages of the present application more apparent, the following is a detailed description of example embodiments according to the present application with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in this application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of this application.

[0088] To at least partially solve the above problems, an embodiment of the present application provides a distance-varying method for a pipetting device. The pipetting device may include: a plurality of pipetting channels, wherein the plurality of pipetting channels are sequentially arranged along a first direction.

[0089] Optionally, the first direction can be set according to actual needs. For example, the first direction can be parallel to the direction of the horizontal rows of holes in the orifice plate (e.g., the X direction in FIG. 1 below), or parallel to the direction of the vertical rows of holes in the orifice plate (e.g., the Y direction in FIG. 1 below). During pipetting, one pipetting channel corresponds to one hole on the orifice plate.

[0090] Optionally, the number of pipetting channels can be set according to actual needs. For example, the number of pipetting channels can be in the range of [4,8]. In a specific embodiment, the number of pipetting channels can be 4. In some embodiments, a corresponding number of pipetting channels can be set according to the type of the corresponding well plate or carrier. Figure 1 shows a schematic structural diagram of a well plate according to an embodiment of the present application. As shown in Figure 1, the well plate is a 24-well plate, consisting of 4 rows (X direction in the figure) and 6 columns (Y direction in the figure) of wells. In one embodiment, the first direction can be the Y direction, and the number of pipetting channels can be 4. In another embodiment, the first direction can be the X direction, and the number of pipetting channels can be 6.

[0091] Fig. 2 shows a schematic flow chart of a pitch changing method according to an embodiment of the present application. As shown in Fig. 2 , the pitch changing method 200 may include the following steps S210, S220, S230, and S240.

[0092] In step S210, an initial position parameter corresponding to at least one of the plurality of pipetting channels is obtained. The initial position parameter is used to indicate the initial position of the corresponding pipetting channel.

[0093] The initial position parameter can be used to represent the current position of the corresponding pipetting channel, i.e. the initial position. The position of the pipetting channel is related to the position of the corresponding container (e.g., the orifice plate above), for example, the coordinates of the two in the first direction are consistent. Therefore, the initial position of the pipetting channel can be determined based on the position of the container to which the pipetting channel currently corresponds. It is understandable that during pipetting, it is necessary to transfer the liquid in a container (initial container) to another container (target container). The container can be, for example, a deep hole on an orifice plate, a test tube on a carrier, etc. Alternatively, the initial position parameter can be represented by coordinates. The coordinates can be the coordinates on the first coordinate system set up based on the pipetting device, or the coordinates on the second coordinate system set up based on the orifice plate or carrier where the initial container is located. The initial position parameter can be represented by the current coordinates of the initial container corresponding to the pipetting channel. Of course, the initial position parameter can also be represented by the current coordinates of the pipetting channel directly.

[0094] In step S220, a target position parameter corresponding to at least one pipetting channel is obtained. The target position parameter is used to indicate the target position of the corresponding pipetting channel.

[0095] Alternatively, the target position parameter can be represented by a coordinate. The coordinate can be a coordinate on a first coordinate system established based on the pipetting device, or a coordinate on a second coordinate system established based on the orifice plate or carrier where the target container is located. The target position parameter can represent the target position of the corresponding pipetting channel. Similar to the initial position parameter, the target position parameter can be represented by the target coordinate of the target container corresponding to the pipetting channel, or it can be directly represented by the target coordinate that the pipetting channel expects to reach. In a specific embodiment, the coordinate system where the initial position parameter and the target position parameter are located is the same. For example, the coordinates in the first coordinate system can be used to represent the initial position parameter and the target position parameter. This scheme uses the coordinates in the same coordinate system to represent the initial position parameter and the target position parameter, which is conducive to improving the calculation efficiency of the driving parameters in the subsequent steps.

[0096] In step S230 , based on at least the initial position parameter and the target position parameter, a driving parameter for driving at least one of the pipetting channels to move so as to change the distance between two adjacent pipetting channels is determined.

[0097] Alternatively, the pipetting device may include a plurality of drive assemblies corresponding to a plurality of pipetting channels. Step S230, at least based on the initial position parameter and the target position parameter, determines the drive parameter for driving at least one pipetting channel in the pipetting channel to change the spacing between adjacent two pipetting channels, may include the following steps: at least based on the initial position parameter and the target position parameter, determines the drive parameter for driving each pipetting channel in the pipetting channel to change the spacing between adjacent two pipetting channels. In one embodiment, each pipetting channel has its own corresponding drive assembly, and each pipetting channel can be driven by the corresponding drive assembly. Therefore, the corresponding drive parameter can be determined for each pipetting channel, and the drive assembly can be controlled to operate based on the drive parameter, so as to drive the pipetting channel to move to the target position from the initial position corresponding to the pipetting channel. In another embodiment, the pipetting device may include a drive assembly (such as the first drive assembly and the second drive assembly hereinafter) corresponding to each of the two pipetting channels at both ends in a plurality of pipetting channels, and the embodiment in which the drive assembly quantity is two is described in detail below.

[0098] In step S240, based on the drive parameters, the corresponding pipetting channels are controlled to move so that each of the plurality of pipetting channels moves from a corresponding initial position to a corresponding target position, and the distance between any two adjacent pipetting channels when the plurality of pipetting channels move to the corresponding target position is a target distance. The initial position is a position corresponding to the initial position parameter, and the target position is a position corresponding to the target position parameter; the distance between any two adjacent pipetting channels when the plurality of pipetting channels are at the corresponding initial positions is the initial distance, which is different from the target distance.

[0099] It will be appreciated that the initial distance can be determined by position parameters of at least two of the multiple initial containers corresponding to the current multiple pipetting channels. Similarly, the target distance can be determined by position parameters of at least two of the multiple target containers corresponding to the multiple pipetting channels. Alternatively, the initial distance and target distance can also be directly determined based on information input by the user. Methods for obtaining the initial distance and target distance are described in detail below.

[0100] The initial distance will be described using the orifice plate shown in Figure 1 as an example. In this embodiment, the container on the orifice plate shown in Figure 1 (i.e., the hole on the orifice plate) is the initial container, and the orifice plate can be referred to as the initial orifice plate. In Figure 1, when the first direction is the Y direction, the initial distance can be the distance between two adjacent holes in the Y direction. In other words, the initial distance can be the distance between two adjacent initial containers in the first direction. Similarly, the target distance can be the distance between two adjacent target containers in the first direction.

[0101] Optionally, when the pipetting device includes multiple driving components corresponding one-to-one to multiple pipetting channels, controlling the movement of the corresponding pipetting channels based on the driving parameters may include the following steps: based on the driving parameters, controlling the multiple driving components to drive the movement of the multiple pipetting channels so that each of the multiple pipetting channels moves from the corresponding initial position to the corresponding target position and the distance between any two adjacent pipetting channels when the multiple pipetting channels move to the corresponding target position is the target distance.

[0102] In the above technical solution, by determining the driving parameters based on the initial position parameters and the target position parameters, and controlling the movement of the corresponding pipetting channels according to the driving parameters, it helps to achieve automatic distance change of multiple pipetting channels, thereby helping to save labor costs and improve the working efficiency and accuracy of the pipetting device.

[0103] Exemplarily, the pipetting device further includes: a first drive assembly and a second drive assembly, wherein the first drive assembly is connected to the first pipetting channel and is configured to drive the first pipetting channel to move in a first direction. The first pipetting channel is one of two pipetting channels located at both ends of the plurality of pipetting channels. The second drive assembly is connected to the second pipetting channel and is configured to drive the second pipetting channel to move in the first direction. The second pipetting channel is another of the two pipetting channels located at both ends of the plurality of pipetting channels. The drive parameters include a first drive parameter of the first drive assembly and a second drive parameter of the second drive assembly.

[0104] Step S230, determining the driving parameters for driving at least one pipetting channel in the pipetting channel to move to change the distance between two adjacent pipetting channels based at least on the initial position parameters and the target position parameters, may include the following steps: determining the first driving parameter and the second driving parameter based at least on the initial position parameters and the target position parameters.

[0105] Step S240, controlling the movement of the corresponding pipetting channel based on the driving parameters, may include the following steps: based on the first driving parameter and the second driving parameter, controlling the first driving component and the second driving component to respectively drive the first pipetting channel and the second pipetting channel to move.

[0106] In this embodiment, the plurality of pipetting channels may be connected to a connecting rod assembly for maintaining the distance between any two adjacent pipetting channels equal. The specific structure of the connecting rod assembly will be described in detail below.

[0107] Optionally, the first drive assembly and the second drive assembly can drive the corresponding pipetting channel to move based on any existing or future driving method. For example: a rack and pinion driving method, a belt driving method, a chain driving method, a screw driving method, etc. The driving method adopted by the first drive assembly can be the same as the driving method adopted by the second drive assembly. For example, the first drive assembly and the second drive assembly can both adopt a belt driving method to drive the corresponding pipetting channel to move. Alternatively, the driving method adopted by the first drive assembly and the driving method adopted by the second drive assembly can also be different. For example, the first drive assembly can adopt a screw driving method to drive the first pipetting channel to move, and the second drive assembly can adopt a belt driving method to drive the second pipetting channel to move.

[0108] Optionally, when the first drive assembly includes a drive motor (hereinafter referred to as the first drive motor), the first drive parameter may be one or more parameters of the first drive motor, such as operating time, rotational speed, and pulse count. For example, the first drive parameter may be the pulse count of the first drive motor, and by adjusting the pulse count of the first drive motor, the first drive motor is controlled to drive the first pipetting channel to move different distances. The second drive parameter is similar to the first drive parameter and, for the sake of brevity, is not further described here.

[0109] Optionally, when acquiring the initial position parameters, a first initial position parameter corresponding to the first pipetting channel and a second initial position parameter corresponding to the second pipetting channel may be acquired. When acquiring the target position parameters, a first target position parameter corresponding to the first pipetting channel and a second target position parameter corresponding to the second pipetting channel may be acquired. In this embodiment, the driving parameters corresponding to the first pipetting channel and the second pipetting channel may be determined based on the initial position and target position corresponding to each of the first and second pipetting channels. Alternatively, when acquiring the initial position parameters, the first initial position parameter and initial distance corresponding to the first pipetting channel may be acquired. When acquiring the target position parameters, the first target position parameter and target distance corresponding to the first pipetting channel may be acquired. In this embodiment, the driving parameters corresponding to the first and second pipetting channels may be determined based on the initial position and target position corresponding to the first pipetting channel, as well as the initial distance and target distance. Alternatively, when acquiring the initial position parameters, the second initial position parameter and initial distance corresponding to the second pipetting channel may be acquired. When acquiring the target position parameters, the second target position parameter and target distance corresponding to the second pipetting channel may be acquired. In this embodiment, the drive parameters corresponding to the first and second pipetting channels can be determined based on the initial position and target position, as well as the initial distance and target distance, corresponding to the second pipetting channel. A specific method for determining the first and second drive parameters based on at least the initial position parameters and the target position parameters is described in detail below.

[0110] In the above technical solution, the movement and distance change of multiple pipetting channels can be achieved by only driving two pipetting channels (the first pipetting channel and the second pipetting channel), thereby helping to reduce the overall volume of the pipetting device, reduce the occupied space, and at the same time help to reduce the overall manufacturing cost.

[0111] Exemplarily, the pipetting device further includes a connecting rod assembly, which is respectively connected to each of the plurality of pipetting channels, and is used to keep the distance between any two adjacent pipetting channels in the plurality of pipetting channels equal.

[0112] Optionally, the connecting rod assembly can be a scissor-type telescopic frame. The scissor-type telescopic frame can include a plurality of scissor-type connecting rod groups corresponding one to one to a plurality of pipetting channels. Each scissor-type connecting rod group includes a first connecting rod, a second connecting rod and an intra-group rotating shaft. The first connecting rod and the second connecting rod are rotatably linked by an intra-group rotating shaft, and the intra-group rotating shaft is arranged on the corresponding pipetting channel. The end of the first connecting rod can be rotatably connected to the end of the second connecting rod of the adjacent scissor-type connecting rod group through an inter-group rotating shaft. When any one or several pipetting channels among the multiple pipetting channels move, the other pipetting channels can move driven by the connecting rod assembly, so that the distance between any two adjacent pipetting channels among the multiple pipetting channels remains equal.

[0113] Figure 3 shows a schematic structural diagram of a pipetting device according to an embodiment of the present application. It will be understood that in order to clearly demonstrate the connection relationship between the connecting rod assembly and the multiple pipetting channels, Figure 3 only includes a partial structure of a pipetting device. As shown in Figure 3, the number of pipetting channels is 4, and the four pipetting channels 311, 312, 313 and 314 are connected by a connecting rod assembly 320. In this embodiment, the connecting rod assembly 320 is a scissor-type telescopic frame. The scissor-type telescopic frame includes a plurality of scissor-type connecting rod groups corresponding to the multiple pipetting channels. Each scissor-type connecting rod group includes a first connecting rod (321 or 324), a second connecting rod (322 or 325) and a rotating shaft 323 within the group. The first connecting rod and the second connecting rod are rotatably linked by the rotating shaft 323 within the group, and the rotating shaft within the group is arranged on the corresponding pipetting channel. The end of the first link (321 or 324) can be rotatably connected to the end of the second link (322 or 325) of the adjacent scissors-type link group through the inter-group rotating shaft 326. Specifically, in Figure 3, the scissors-type link group can be divided into two end scissors-type link groups located at both ends and two middle scissors-type link groups located between the two end scissors-type link groups. The end scissors-type link group includes a first link 324, a second link 325 and an inner group rotating shaft 323, and the end scissors-type link group can be roughly in the shape of "<". This can reduce the external dimensions of the scissors-type telescopic frame. The middle scissors-type link group includes a first link 321, a second link 322 and an inner group rotating shaft 323, and the middle scissors-type link group can be roughly in the shape of "X". The inner group rotating shafts 323 of the two end scissors-type link groups are respectively arranged on the pipetting channel 311 and the pipetting channel 314. The internal rotating shafts 323 of the two middle scissor-type connecting rod groups are respectively arranged on the pipetting channel 312 and the pipetting channel 313. It can be understood that the embodiment in Figure 3 describes the structure of the connecting rod assembly by taking four pipetting channels as an example. In actual use, the number of scissor-type connecting rod groups in the connecting rod assembly can be adjusted according to the number of pipetting channels. For example, when the number of pipetting channels is 2, the number of scissor-type connecting rod groups can be two, and the two scissor-type connecting rod groups can both be end scissor-type connecting rod groups. Alternatively, when the number of pipetting channels is 8, the number of scissor-type connecting rod groups can be 8. The 8 scissor-type connecting rod groups can include 2 end scissor-type connecting rod groups located at both ends and 6 middle scissor-type connecting rod groups located between the two end scissor-type connecting rod groups.

[0114] According to the above technical solution, by connecting multiple pipetting channels using a connecting rod assembly, it is possible to ensure that the distance between any two adjacent pipetting channels in the multiple pipetting channels is equal, so that when adjusting the distance between multiple pipetting channels, only a small number of pipetting channels (such as 1 or 2 pipetting channels) can be driven to move, and the other pipetting channels can automatically complete the distance adjustment under the drive of the connecting rod assembly. This solution helps to reduce the cost of the pipetting device and at the same time helps to improve the distance change efficiency of the pipetting device. The torque converter provided by this solution has a simple structure and is easy to expand, install and maintain, which helps to improve the user experience.

[0115] Exemplarily, the initial position parameters include a first initial position parameter corresponding to the first pipetting channel and a second initial position parameter corresponding to the second pipetting channel. The target position parameters include a first target position parameter corresponding to the first pipetting channel and a second target position parameter corresponding to the second pipetting channel.

[0116] The step of determining the first drive parameter and the second drive parameter based on at least the initial position parameter and the target position parameter may specifically include the following steps: determining a first movement distance corresponding to the first pipetting channel based on the first initial position parameter and the first target position parameter; determining the first drive parameter based on the first movement distance; determining a second movement distance corresponding to the second pipetting channel based on the second initial position parameter and the second target position parameter; and determining the second drive parameter based on the second movement distance.

[0117] Based on the first drive parameter and the second drive parameter, controlling the first drive component and the second drive component to respectively drive the first pipetting channel and the second pipetting channel to move can include the following steps: based on the first drive parameter, controlling the first drive component to drive the first pipetting channel to move a first moving distance so that the first pipetting channel moves from a first initial position to a first target position. The first initial position is a position corresponding to the first initial position parameter, and the first target position is a position corresponding to the first target position parameter. Based on the second drive parameter, controlling the second drive component to drive the second pipetting channel to move a second moving distance so that the second pipetting channel moves from the second initial position to the second target position. The second initial position is a position corresponding to the second initial position parameter, and the second target position is a position corresponding to the second target position parameter.

[0118] In this example, it is mainly considered that the first pipetting channel and the second pipetting channel are moved to the corresponding target positions respectively. The distance variation method of this example can be called the first distance variation method. It can be understood that since the distance between each two adjacent pipetting channels in a plurality of pipetting channels always remains equal to each other (i.e., the distance between any two adjacent pipetting channels is equal to the distance between any two other adjacent pipetting channels), when the first pipetting channel and the second pipetting channel are moved to the corresponding target positions respectively, each pipetting channel located between the two pipetting channels will also move to its respective corresponding target positions. Thus, the distance variation between a plurality of pipetting channels can be completed during the movement of a plurality of pipetting channels.

[0119] In one embodiment, the coordinates of the first initial position are (X1, Y1), the coordinates of the first target position are (X1, Y2), the coordinates of the second initial position are (X1, Y3), and the coordinates of the second target position are (X1, Y4). In this embodiment, the distance moved along the Y direction by the first pipetting channel is Y2-Y1. The distance moved along the Y direction by the second pipetting channel is Y4-Y3.

[0120] It can be understood that when the first direction is the Y direction, the horizontal coordinates (X-axis coordinates) of the first pipetting channel and the second pipetting channel at the corresponding initial positions are the same. At the same time, the horizontal coordinates (X-axis coordinates) of the first pipetting channel and the second pipetting channel at the corresponding target positions are also the same. In the description herein, the case where the initial position and the target position are arranged along the first direction is mainly described as an example. In other words, when describing herein, the case where the first drive assembly is controlled to drive the first pipetting channel to move and the second drive assembly is controlled to drive the second pipetting channel to move are both controlled to move along the first direction is described as an example. Of course, this is only an example. If there is also a difference between the target position and the initial position in the X direction, then the plurality of pipetting channels can be optionally driven to move in the X direction as a whole by a third drive assembly in the X direction. Optionally, the pipetting device further includes: a third drive assembly. The third drive assembly is used to drive the plurality of pipetting channels to move in a second direction, where the second direction is a direction perpendicular to the first direction. In one embodiment, if the first direction is the Y direction, the second direction can be the X direction. It can be understood that, since the X-axis coordinates of the pipetting channels are the same, when the X-axis coordinates of the initial position and the target position are different, the third driving component can be used to drive the multiple pipetting channels to move along the second direction.

[0121] The above technical solution can complete the distance change between multiple pipetting channels during the process of the first pipetting channel and the second pipetting channel moving to their respective target positions, thereby helping to improve the pipetting efficiency of the pipetting device.

[0122] Illustratively, obtaining initial position parameters corresponding to at least one of the plurality of pipetting channels may include the following steps: obtaining initial position parameters and an initial distance for any one of the first pipetting channel and the second pipetting channel; and determining initial position parameters for another one of the first pipetting channel and the second pipetting channel based on the initial position parameters and the initial distance for any one of the first pipetting channel and the second pipetting channel.

[0123] Alternatively, the initial position parameters and the initial distance may be automatically determined by a device for executing the above-mentioned distance variation method 200 (e.g., the distance variation control device 700 for a pipetting device described below) based on the initial position of at least one of the multiple pipetting channels. In one embodiment, the pipetting device moves from a position corresponding to the first orifice plate to a position corresponding to the second orifice plate (hereinafter referred to as the first distance variation), and then moves from a position corresponding to the second orifice plate to a position corresponding to the third orifice plate (hereinafter referred to as the second distance variation). Since the initial position during the second distance variation process is the target position of the first distance variation process, the target position parameters and target distance of the previous distance variation process can be directly read during the second distance variation to determine the initial position parameters and initial distance of this distance variation. In another embodiment, the pipetting device can obtain the current position of the initial container corresponding to the multiple pipetting channels and the distance between two adjacent initial containers in the first direction, thereby determining the initial position parameters and initial distance. Alternatively, the initial position parameters and the initial distance may be obtained in response to user input information. The user may input the initial position parameters and the initial distance into the apparatus for executing the distance-changing method 200 via an input device in the apparatus for executing the distance-changing method 200. The input device may be any input device, such as a mouse, a keyboard, a touch screen, etc. For example, the user may input information such as the initial position parameters and the initial distance by interacting with an operating control (e.g., an input box) on a display interface.

[0124] It can be understood that, since the distance between any two adjacent pipetting channels among the multiple pipetting channels is equal, and the multiple pipetting channels are arranged in sequence along the first direction. Therefore, after determining the initial position parameters and initial distance of any channel in the first pipetting channel and the second pipetting channel, the initial position parameters of the other channel can be determined based on the initial position parameters and initial distance. In one embodiment, the number of pipetting channels is 4. The first direction is the Y direction. The first pipetting channel is the first channel along the Y direction. If the first initial position parameter of the first pipetting channel is (X1, Y1) and the initial distance is a, the second initial position parameter of the second pipetting channel is (X1, Y1+3a).

[0125] The above technical solution can directly determine the initial position parameters of the other pipetting channel through the initial position parameters and initial distance of any one of the first pipetting channel and the second pipetting channel, thereby helping to improve the calculation efficiency and the distance change speed of the pipetting device.

[0126] Illustratively, obtaining a target position parameter corresponding to at least one of the plurality of pipetting channels may include the following steps: obtaining a target position parameter and a target distance for any one of the first pipetting channel and the second pipetting channel; and determining a target position parameter for another one of the first pipetting channel and the second pipetting channel based on the target position parameter and the target distance for any one of the first pipetting channel and the second pipetting channel.

[0127] Similar to the initial position parameters and initial distance, the target position parameters and target distance can also be determined automatically by the pipetting device or based on user input information. The specific determination method has been described in detail above. For the sake of brevity, it will not be repeated here.

[0128] In one embodiment, the number of pipetting channels is 4. The first direction is the Y direction. The first pipetting channel is the last channel along the Y direction. If the first target position parameters of the first pipetting channel are (X1, Y2) and the target distance is b, then the second target position parameters of the second pipetting channel are (X1, Y2-3b).

[0129] The above technical solution can directly determine the target position parameter of any one of the first pipetting channel and the second pipetting channel through the target position parameter and target distance of the other pipetting channel, thereby helping to improve the calculation efficiency and the distance change speed of the pipetting device.

[0130] Exemplarily, the initial distance is obtained by: obtaining the initial distance input by the user through the display interface. And / or the target distance is obtained by: obtaining the target distance input by the user through the display interface.

[0131] In this example, the user can determine the initial and target distances based on the specifications of the well plates or carriers corresponding to the selected initial and target containers. These initial and target distances can then be input into the pipetting device via a display interface. In this solution, user input of the initial and / or target distances into the pipetting device helps improve the pipetting device's computational efficiency and distance-changing speed.

[0132] Exemplarily, the initial position parameters include initial position parameters corresponding to the target pipetting channel. The target position parameters include target position parameters corresponding to the target pipetting channel.

[0133] Determining the first drive parameter and the second drive parameter based at least on the initial position parameter and the target position parameter may include the following steps: determining the moving distance corresponding to the target pipetting channel based on the initial position parameter and the target position parameter corresponding to the target pipetting channel. Determining the moving drive parameter corresponding to the target pipetting channel and the moving drive parameter corresponding to the non-target pipetting channel based on the moving distance; wherein, the target pipetting channel is any one of the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other one of the first pipetting channel and the second pipetting channel. Obtaining the initial distance and the target distance. Determining the variable distance drive parameter corresponding to the non-target pipetting channel based on the difference between the target distance and the initial distance. wherein, the drive parameter corresponding to the target pipetting channel includes the moving drive parameter corresponding to the target pipetting channel, and the drive parameter corresponding to the non-target pipetting channel includes the moving drive parameter and the variable distance drive parameter corresponding to the non-target pipetting channel.

[0134] Based on the first driving parameter and the second driving parameter, controlling the first driving component and the second driving component to respectively drive the first pipetting channel and the second pipetting channel to move can include the following steps: based on the movement driving parameter corresponding to the target pipetting channel and the movement driving parameter corresponding to the non-target pipetting channel, controlling the driving components corresponding to the target pipetting channel and the non-target pipetting channel to respectively drive the target pipetting channel and the non-target pipetting channel to move a moving distance, so that the target pipetting channel moves to the corresponding target position. After the target pipetting channel moves to the corresponding target position, based on the variable distance driving parameter corresponding to the non-target pipetting channel, controlling the driving component corresponding to the non-target pipetting channel to drive the non-target pipetting channel to move so that the distance between any two adjacent pipetting channels in the plurality of pipetting channels is equal to the target distance.

[0135] In this article, the target pipetting channel can be considered as the pipetting channel corresponding to the position parameters (including initial position parameters and target position parameters) based on which the mobile drive parameters are determined during the variable distance movement of multiple pipetting channels. In an embodiment in which the variable distance process is divided into two steps, the pipetting channel is the first pipetting channel or the second pipetting channel. The non-target pipetting channel is another pipetting channel between the first pipetting channel and the second pipetting channel. In one embodiment, the target pipetting channel can be the first pipetting channel, and in this case, the non-target pipetting channel is the second pipetting channel. In another embodiment, the target pipetting channel can be the second pipetting channel, and accordingly, the non-target pipetting channel is the first pipetting channel.

[0136] In this example, the variable distance process is divided into two steps. First, the target pipetting channel is moved from the initial position corresponding to the channel to the target position corresponding to the channel. In this process, the moving distance corresponding to the other pipetting channels except the target pipetting channel in a plurality of pipetting channels is the same as the moving distance corresponding to the target pipetting channel, that is, a plurality of pipetting channels move by equal moving distances as a whole. Therefore, the moving distance corresponding to the non-target pipetting channel can be determined based on the moving distance corresponding to the target pipetting channel, and then the moving drive parameter corresponding to the non-target pipetting channel can be determined. In one embodiment, if the first drive assembly is identical to the second drive assembly, the moving drive parameter corresponding to the target pipetting channel can be directly determined to be the moving drive parameter corresponding to the non-target pipetting channel. After the target pipetting channel moves to the target position, the non-target pipetting channel can be driven to move by the variable distance drive parameter determined based on the difference between the initial distance and the target distance, so that the distance between any two adjacent pipetting channels in a plurality of pipetting channels is equal to the target distance. It is understood that after the target pipetting channel moves to the corresponding target position, the non-target pipetting channel can be moved to the target position corresponding to the non-target pipetting channel by making the distance between any two adjacent pipetting channels in the multiple pipetting channels equal to the target distance. This example of the variable distance method can be referred to as the second variable distance method.

[0137] In one embodiment, there are four pipetting channels. The target pipetting channel can be the first pipetting channel. The coordinates of the first initial position are (X1, Y1). The coordinates of the first target position are (X1, Y2). The initial distance is a, and the target distance is b. When controlling multiple pipetting channels to change distance, the first drive assembly and the second drive assembly can be controlled to drive the first pipetting channel and the second pipetting channel to move a distance Y2-Y1 along the first direction respectively. Then, the second drive assembly can be controlled to drive the second pipetting channel to move 3b-3a along the first direction. Thereby, the first pipetting channel and the second pipetting channel are moved to the corresponding target positions respectively.

[0138] In this technical solution, the target pipetting channel is first moved from its initial position to its corresponding target position. Then, the non-target pipetting channel is driven by the variable distance drive parameter to ensure that the distance between any two adjacent pipetting channels in the multiple pipetting channels equals the target distance. This precise movement control method helps improve variable distance accuracy, ensuring that both the first and second pipetting channels can accurately move to their corresponding target positions.

[0139] Exemplarily, the initial position parameters include initial position parameters corresponding to the target pipetting channel. The target position parameters include target position parameters corresponding to the target pipetting channel.

[0140] Determining the first drive parameter and the second drive parameter based at least on the initial position parameter and the target position parameter may include the following steps: obtaining the initial distance and the target distance. Based on the difference between the target distance and the initial distance, determining the variable distance drive parameter corresponding to the non-target pipetting channel. Wherein, the target pipetting channel is any one of the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other one of the first pipetting channel and the second pipetting channel. Based on the initial position parameter and the target position parameter corresponding to the target pipetting channel, determine the moving distance corresponding to the target pipetting channel. Determine the moving drive parameter corresponding to the target pipetting channel and the moving drive parameter corresponding to the non-target pipetting channel based on the moving distance. Wherein, the driving parameters corresponding to the target pipetting channel include the moving drive parameter corresponding to the target pipetting channel, and the driving parameters corresponding to the non-target pipetting channel include the moving drive parameter corresponding to the non-target pipetting channel and the variable distance drive parameter.

[0141] Controlling the first drive component and the second drive component to respectively drive the first pipetting channel and the second pipetting channel to move based on the first drive parameter and the second drive parameter may include the following steps: based on the variable distance drive parameter corresponding to the non-target pipetting channel, controlling the drive component corresponding to the non-target pipetting channel to drive the non-target pipetting channel to move so that the distance between any two adjacent pipetting channels in the plurality of pipetting channels is equal to the target distance. After the distance between any two adjacent pipetting channels in the plurality of pipetting channels is equal to the target distance, based on the movement drive parameter corresponding to the target pipetting channel and the movement drive parameter corresponding to the non-target pipetting channel, controlling the drive components corresponding to the target pipetting channel and the non-target pipetting channel to respectively drive the target pipetting channel and the non-target pipetting channel to move the movement distance so that the target pipetting channel and the non-target pipetting channel are respectively moved to the corresponding target positions.

[0142] In this example, the distance changing process is divided into two steps. First, the non-target pipetting channel is driven to move by the distance changing drive parameter determined based on the difference between the initial distance and the target distance, so that the distance between any two adjacent pipetting channels in the multiple pipetting channels is equal to the target distance. Then, by moving the drive parameter, the first drive motor and the second drive motor are controlled to drive the corresponding pipetting channels respectively, so that the target pipetting channel is moved from the initial position corresponding to the channel to the target position corresponding to the channel. It can be understood that since the distance between any two adjacent pipetting channels in the multiple pipetting channels is equal to the target distance at this time, when the target pipetting channel moves to the target position, the non-target pipetting channel also moves to the corresponding target position accordingly. The distance changing method of this example can be called the third distance changing method.

[0143] In one embodiment, there are four pipetting channels. The target pipetting channel can be the first pipetting channel. The coordinates of the first initial position are (X1, Y1). The coordinates of the first target position are (X1, Y2). The initial distance is a, and the target distance is b. When controlling multiple pipetting channels to change distance, the second drive assembly can be first controlled to drive the second pipetting channel to move a distance 3b-3a along the first direction. Then, based on the mobile drive parameters, the first drive assembly and the second drive assembly are controlled to respectively drive the first pipetting channel and the second pipetting channel to move a distance Y2-Y1 along the first direction. Thereby, the first pipetting channel and the second pipetting channel are respectively moved to the corresponding target positions.

[0144] In this technical solution, the non-target pipetting channel is first driven by the variable-pitch drive parameters, and then the target pipetting channel is moved from its initial position to its corresponding target position, so that the distance between any two adjacent pipetting channels in the multiple pipetting channels equals the target distance. This precise movement control method helps improve variable-pitch accuracy, ensuring that both the first and second pipetting channels can accurately move to their corresponding target positions.

[0145] Exemplarily, the initial position parameters also include initial position parameters corresponding to non-target pipetting channels. The initial distance can be obtained by obtaining the initial position parameters corresponding to the target pipetting channel and the initial position parameters corresponding to the non-target pipetting channels input by the user via the display interface. The initial distance is determined based on the initial position parameters corresponding to the target pipetting channel and the initial position parameters corresponding to the non-target pipetting channels.

[0146] It can be understood that the distance between any two pipetting channels in a plurality of pipetting channels is equal. Therefore, after determining the initial position parameters corresponding to the target pipetting channel and the initial position parameters corresponding to the non-target pipetting channel, the initial distance can be determined based on the difference between the two initial position parameters. For example, if the initial position parameters of the target pipetting channel are (X1, Y1), the initial position parameters of the non-target pipetting channel are (X1, Y3), and the number of pipetting channels is 4, then the initial distance is (Y3-Y1) / 4. In any of the above-mentioned embodiments in which the initial position parameters corresponding to the first pipetting channel and the second pipetting channel are obtained in advance to achieve variable distance, the initial distance can be automatically determined based on the initial position parameters corresponding to the first pipetting channel and the second pipetting channel. In this case, the user does not need to input the initial distance.

[0147] Figure 4 shows a schematic diagram of a display interface according to one embodiment of the present application. In this embodiment, the device model used at the end of the pipetting channel is a DITI1000 tip, the number of starting wells is 1, the step size is 8, and the number of pipetting channels is 4. In this embodiment, the four pipetting channels correspond one-to-one to wells A1, C1, E1, and G1 on the orifice plate.

[0148] Figure 5 shows a schematic diagram of a display interface according to another embodiment of the present application. As shown in Figure 5, the display interface includes the number of holes in the X and Y directions, the coordinates of the first hole and the last hole on the orifice plate, and the number of gun tips that can be placed in each hole (Tips per). In this embodiment, Tips per is 1. The position of the first hole and the last hole on the orifice plate are explained using the embodiment shown in Figure 4. The first hole on the orifice plate can be, for example, the G1 hole in Figure 4, and the last hole on the orifice plate is the hole located in row A and column 6 on the orifice plate in Figure 4. In the embodiment shown in Figure 5, the number of holes along the X direction is 6, and the number of holes along the Y direction is 4. The coordinates of the first hole on the orifice plate are (152, 345.4), and the coordinates of the last hole on the orifice plate are (245, 400.4). It can be understood that the Y-axis coordinate of the last hole on the orifice plate is the same as the Y-axis coordinate of the non-target pipetting channel, and the X-axis coordinate of the non-target pipetting channel is the same as the X-axis coordinate of the target pipetting channel. Therefore, in this embodiment, the initial position parameters of the target pipetting channel are (152, 345.4), and the initial position parameters of the non-target pipetting channel are (152, 400.4). Based on the initial position parameters corresponding to the target pipetting channel and the initial position parameters corresponding to the non-target pipetting channel, the initial distance can be determined to be 18.33 millimeters (mm).

[0149] Exemplarily, the target position parameters also include target position parameters corresponding to non-target pipetting channels; the target distance is obtained by obtaining the target position parameters corresponding to the target pipetting channel and the target position parameters corresponding to the non-target pipetting channels input by the user via the display interface; and determining the target distance based on the target position parameters corresponding to the target pipetting channel and the target position parameters corresponding to the non-target pipetting channels.

[0150] Similar to the initial distance, in any of the aforementioned embodiments in which target position parameters corresponding to the first and second pipetting channels are pre-acquired to achieve variable distance, the target distance can be automatically determined based on the target position parameters corresponding to the first and second pipetting channels. In this case, the user does not need to input the target distance.

[0151] The method for obtaining the target distance will be described using the embodiment shown in Figure 5. As shown in Figure 5, after entering the coordinates of the first and last holes corresponding to the initial position through the display interface, the "Move to" button can be clicked on the interface. At this time, the input boxes for the number of holes, the first hole, and the last hole are cleared. The user can also enter the number of holes corresponding to the target position and the coordinates of the first and last holes through the display interface.

[0152] According to the above technical solution, users only need to input the initial position parameters and target position parameters corresponding to the target pipetting channel and non-target pipetting channels respectively to control the distance variation of multiple pipetting channels. This solution is simple to operate and helps to improve the user experience.

[0153] Illustratively, the first drive assembly includes a first drive motor, a leadscrew nut, and a leadscrew extending in a first direction. The output shaft of the first drive motor is connected to the leadscrew. The leadscrew is coupled to the leadscrew nut. The leadscrew nut is connected to the first pipetting channel. The first drive motor drives the leadscrew to rotate to move the first pipetting channel in the first direction. The first drive parameter is the number of pulses of the first drive motor.

[0154] Determining the first drive parameter and the second drive parameter based on at least the initial position parameter and the target position parameter may include the following steps: determining a movement distance corresponding to the first pipetting channel based on at least the initial position parameter and the target position parameter; and determining a pulse number of the first drive motor based on the movement distance corresponding to the first pipetting channel, the lead of the lead screw, and the step angle of the first drive motor.

[0155] Figure 6 shows a schematic diagram of the overall structure of a pipetting device according to one embodiment of the present application. As shown in Figure 6, the first drive assembly includes a first drive motor 331, a lead screw nut 333, and a lead screw 332 extending in a first direction. The output shaft of the first drive motor 331 is connected to the lead screw 332. The lead screw 332 is in transmission connection with the lead screw nut 333. The lead screw nut 333 is connected to the first pipetting channel. The first drive motor 331 is mounted on a mounting plate 360. In this embodiment, each of the multiple pipetting channels can include a third drive motor 351, a variable distance member 352, and a channel body 353. The variable distance member 352 is provided with a first guide rail 354 extending in a third direction. The channel body 353 can slide up and down along the first guide rail 354 under the drive of the third drive motor 351. The mounting plate 360 ​​is provided with multiple (four in the figure) second guide rails 370 extending in the first direction. The variable distance member 352 of each pipetting channel can be slidably connected to the second guide rail 370 via a slider.

[0156] In one embodiment, the first direction is the Y direction, and the X-axis coordinate of the initial position is the same as the X-axis coordinate of the target position. The orifice plate corresponding to the initial position is a 24-orifice plate, and the orifice plate corresponding to the target position is a 96-orifice plate. When multiple pipetting channels are above the 24-orifice plate, the Y-axis coordinate of the first pipetting channel is Y1. The Y-axis coordinate of the position corresponding to the first pipetting channel on the 96-orifice plate (i.e., the target position of the first pipetting channel) is Y2. At this time, it can be determined that the distance that the first pipetting channel needs to move along the first direction is Y2-Y1. Based on this moving distance, according to the lead of the screw, the number of turns that the first drive motor needs to rotate can be determined. According to the number of turns of the first drive motor and the step angle of the first drive motor, the number of pulses of the first drive motor can be determined. Based on the number of pulses, the first drive motor can be controlled to drive the first pipetting channel to move to the corresponding target position along the first direction.

[0157] According to the above technical solution, the pulse number of the first drive motor can be calculated more accurately, and thus the first drive motor can be controlled to drive the first pipetting channel to move according to the pulse number. This solution helps to improve the distance change accuracy.

[0158] Illustratively, the second drive assembly includes a second drive motor, a transmission belt, a driving pulley, and a driven pulley. The transmission belt extends in a first direction and is sleeved over the driving pulley and the driven pulley. The output shaft of the second drive motor is connected to the driving pulley. The transmission belt is connected to the second pipetting channel. The second drive motor drives the driving pulley to rotate, thereby moving the second pipetting channel in the first direction. The second drive parameter is the number of pulses of the second drive motor.

[0159] Determining the first drive parameter and the second drive parameter based on at least the initial position parameter and the target position parameter may include the following steps: determining a movement distance corresponding to the second pipetting channel based on at least the initial position parameter and the target position parameter; and determining a pulse number of the second drive motor based on the movement distance corresponding to the second pipetting channel, the circumference of the driving wheel, and the step angle of the second drive motor.

[0160] The structure of the second drive assembly will be described using the embodiment shown in Figure 6. As shown in Figure 6, the second drive assembly includes a second drive motor 341, a transmission belt 342, a driving pulley, and a driven pulley 343. The transmission belt 342 extends along a first direction and is sleeved onto the driving pulley and the driven pulley 343. The output shaft of the second drive motor 341 is connected to the driving pulley. The transmission belt 342 is connected to the second pipetting channel via a connector 344. The second drive motor 341 is mounted on a mounting plate 360, and the second rotation axis of the output shaft of the second drive motor 341 is perpendicular to the first rotation axis of the output shaft of the first drive motor 331. The middle portion of the first drive motor 331 and the middle portion of the second drive motor 341 are stacked on top of each other in a direction perpendicular to the first and second rotation axes.

[0161] In one embodiment, the first direction is the Y direction, and the X-axis coordinate of the initial position is the same as the X-axis coordinate of the target position. The orifice plate corresponding to the initial position is a 24-orifice plate, and the orifice plate corresponding to the target position is a 96-orifice plate. When multiple pipetting channels are above the 24-orifice plate, the Y-axis coordinate of the second pipetting channel is Y3. The Y-axis coordinate of the position corresponding to the second pipetting channel on the 96-orifice plate (i.e., the target position of the second pipetting channel) is Y4. At this point, it can be determined that the distance that the second pipetting channel needs to move along the first direction is Y4-Y3. Based on the moving distance, the circumference of the active wheel and the step angle of the second drive motor, the number of pulses of the second drive motor can be determined. Based on the number of pulses, the second drive motor can be controlled to drive the second pipetting channel to move to the corresponding target position. At this point, the distance between any two adjacent pipetting channels in the multiple pipetting channels is the target distance.

[0162] According to the above technical solution, the pulse number of the second drive motor can be determined relatively accurately, and thus the second drive motor can be controlled to drive the second pipetting channel to move according to the pulse number. This solution helps to improve the distance change accuracy.

[0163] According to another aspect of the present application, a variable distance control device for a pipette includes a plurality of pipetting channels arranged sequentially along a first direction. FIG7 shows a schematic block diagram of a variable distance control device according to one embodiment of the present application. As shown in FIG7 , the variable distance control device 700 includes a processor 710 and a memory 720 , wherein the memory 720 stores computer program instructions, which, when executed by the processor 710, are used to execute the variable distance method 200 for a pipette as described above.

[0164] According to another aspect of the present application, a pipetting device is provided, comprising the above-mentioned variable distance control device 700 for a pipetting device and a pipetting device.

[0165] A person skilled in the art can understand the specific implementation scheme of the above-mentioned variable distance control device and pipetting device by reading the above description of the variable distance method for the pipetting device. For the sake of brevity, it will not be repeated here.

[0166] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely illustrative and are not intended to limit the scope of the present application. Various changes and modifications may be made therein by those skilled in the art without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0167] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0168] It should be noted that the above embodiments illustrate rather than limit the present application, and that a person skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbols placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0169] The above description is merely a specific embodiment or illustration of a specific embodiment of the present application, and the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. The scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A variable distance method for a liquid transfer device, characterized in that: The liquid transfer device comprises: a plurality of liquid transfer channels, wherein the plurality of liquid transfer channels are sequentially arranged along a first direction; The pitch changing method comprises: Acquire an initial position parameter corresponding to at least one of the plurality of pipetting channels; the initial position parameter is used to indicate an initial position of the corresponding pipetting channel; Acquire a target position parameter corresponding to each of the at least one pipetting channels; the target position parameter is used to indicate a target position of the corresponding pipetting channel; Determining, based at least on the initial position parameter and the target position parameter, a driving parameter for driving at least one of the pipetting channels to move so as to change the distance between two adjacent pipetting channels; Based on the driving parameters, control the movement of the corresponding pipetting channels so that each of the plurality of pipetting channels moves from a corresponding initial position to a corresponding target position and the distance between any two adjacent pipetting channels when the plurality of pipetting channels move to the corresponding target position is a target distance; Wherein, when the multiple pipetting channels are at corresponding initial positions, the distance between any two adjacent pipetting channels is an initial distance, and the initial distance is different from the target distance.

2. The pitch changing method according to claim 1, characterized in that: The pipetting device further includes: a first driving component and a second driving component, wherein the first driving component is connected to the first pipetting channel and is used to drive the first pipetting channel to move along the first direction; the first pipetting channel is one of the two pipetting channels located at both ends of the plurality of pipetting channels; The second driving component is connected to the second pipetting channel and is used to drive the second pipetting channel. Move along the first direction; the second pipetting channel is another pipetting channel of the two pipetting channels located at both ends of the plurality of pipetting channels; the driving parameters include the first driving parameters of the first driving component and the second driving parameters of the second driving component; The step of determining, based at least on the initial position parameter and the target position parameter, a driving parameter for driving at least one of the pipetting channels to move so as to change the distance between two adjacent pipetting channels comprises: determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter; The controlling the corresponding pipetting channel movement based on the driving parameters comprises: Based on the first driving parameter and the second driving parameter, the first driving component and the second driving component are controlled to drive the first pipetting channel and the second pipetting channel to move respectively.

3. The pitch changing method according to claim 1 or 2, characterized in that: The pipetting device further comprises a connecting rod assembly, wherein the connecting rod assembly is respectively connected to each of the plurality of pipetting channels and is used to keep the distance between any two adjacent pipetting channels in the plurality of pipetting channels equal.

4. The pitch changing method according to claim 2, characterized in that: The initial position parameters include a first initial position parameter corresponding to the first pipetting channel and a second initial position parameter corresponding to the second pipetting channel; the target position parameters include a first target position parameter corresponding to the first pipetting channel and a second target position parameter corresponding to the second pipetting channel; The determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter comprises: Determining a first moving distance corresponding to the first pipetting channel based on the first initial position parameter and the first target position parameter; determining the first driving parameter based on the first moving distance; Determining a second moving distance corresponding to the second pipetting channel based on the second initial position parameter and the second target position parameter; determining the second driving parameter based on the second moving distance; The controlling the first driving component and the second driving component to respectively drive the first pipetting channel and the second pipetting channel to move based on the first driving parameter and the second driving parameter comprises: Based on the first driving parameter, control the first driving component to drive the first pipetting channel to move the first moving distance, so that the first pipetting channel moves from a first initial position to a first target position; the first initial position is a position corresponding to the first initial position parameter, and the first target position is a position corresponding to the first target position parameter; Based on the second driving parameter, the second driving component is controlled to drive the second pipetting channel to move the second distance so that the second pipetting channel moves from the second initial position to the second target position; the second initial position is the position corresponding to the second initial position parameter, and the second target position is the position corresponding to the second target position parameter.

5. The pitch changing method according to claim 4, characterized in that: The obtaining of the initial position parameter corresponding to at least one of the plurality of pipetting channels comprises: Acquire the initial position parameter and the initial distance of any one of the first pipetting channel and the second pipetting channel; Determine the initial position parameter of the other channel of the first pipetting channel and the second pipetting channel based on the initial position parameter of any one channel of the first pipetting channel and the second pipetting channel and the initial distance; and / or, The step of obtaining target position parameters corresponding to at least one of the plurality of pipetting channels comprises: Acquire the target position parameter and the target distance of any one of the first pipetting channel and the second pipetting channel; Based on the target position parameter of any one of the first pipetting channel and the second pipetting channel and the target distance, a target position parameter of the other of the first pipetting channel and the second pipetting channel is determined.

6. The pitch changing method according to claim 5, characterized in that: The initial distance is obtained by: Acquire the initial distance input by the user through the display interface; and / or, The target distance is obtained by: The target distance input by the user through the display interface is obtained.

7. The pitch changing method according to claim 2, characterized in that: The initial position parameters include initial position parameters corresponding to the target pipetting channel; the target position parameters include target position parameters corresponding to the target pipetting channel; The determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter comprises: Determining a moving distance corresponding to the target pipetting channel based on an initial position parameter and a target position parameter corresponding to the target pipetting channel; Determine the movement drive parameters corresponding to the target pipetting channel and the movement drive parameters corresponding to the non-target pipetting channel based on the movement distance; wherein the target pipetting channel is any one of the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other one of the first pipetting channel and the second pipetting channel; Acquire the initial distance and the target distance; Based on the difference between the target distance and the initial distance, the variable distance driving parameters corresponding to the non-target pipetting channel are determined; wherein the driving parameters corresponding to the target pipetting channel include the movement driving parameters corresponding to the target pipetting channel, and the driving parameters corresponding to the non-target pipetting channel include the movement driving parameters and the variable distance driving parameters corresponding to the non-target pipetting channel; The controlling the first driving component and the second driving component to respectively drive the first pipetting channel and the second pipetting channel to move based on the first driving parameter and the second driving parameter comprises: Based on the movement drive parameters corresponding to the target pipetting channel and the movement drive parameters corresponding to the non-target pipetting channel, control the drive components corresponding to the target pipetting channel and the non-target pipetting channel to drive the target pipetting channel and the non-target pipetting channel to move the moving distance respectively, so that the target pipetting channel moves to the corresponding target position; After the target pipetting channel moves to the corresponding target position, based on the variable distance driving parameter corresponding to the non-target pipetting channel, the driving component corresponding to the non-target pipetting channel is controlled to drive the non-target pipetting channel to move, so that any two adjacent pipetting channels among the multiple pipetting channels are The distance between the pipetting channels is equal to the target distance.

8. The pitch changing method according to claim 2, characterized in that: The initial position parameters include initial position parameters corresponding to the target pipetting channel; the target position parameters include target position parameters corresponding to the target pipetting channel; The determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter comprises: Acquire the initial distance and the target distance; Based on the difference between the target distance and the initial distance, determining the variable distance drive parameter corresponding to the non-target pipetting channel; wherein the target pipetting channel is any one of the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other one of the first pipetting channel and the second pipetting channel; Determining a moving distance corresponding to the target pipetting channel based on an initial position parameter and a target position parameter corresponding to the target pipetting channel; Determine the moving drive parameters corresponding to the target pipetting channel and the moving drive parameters corresponding to the non-target pipetting channel based on the moving distance; wherein the driving parameters corresponding to the target pipetting channel include the moving drive parameters corresponding to the target pipetting channel, and the driving parameters corresponding to the non-target pipetting channel include the moving drive parameters and the variable distance drive parameters corresponding to the non-target pipetting channel; The controlling the first driving component and the second driving component to respectively drive the first pipetting channel and the second pipetting channel to move based on the first driving parameter and the second driving parameter comprises: Based on the variable distance drive parameters corresponding to the non-target pipetting channel, the non-target pipetting channel is controlled The driving assembly corresponding to the liquid channel drives the non-target liquid transfer channel to move so that the distance between any two adjacent liquid transfer channels in the plurality of liquid transfer channels is equal to the target distance; After the distance between any two adjacent pipetting channels among the multiple pipetting channels is equal to the target distance, based on the moving drive parameters corresponding to the target pipetting channel and the moving drive parameters corresponding to the non-target pipetting channel, the driving components corresponding to the target pipetting channel and the non-target pipetting channel are controlled to respectively drive the target pipetting channel and the non-target pipetting channel to move the moving distance, so that the target pipetting channel and the non-target pipetting channel are respectively moved to the corresponding target positions.

9. The pitch changing method according to claim 7 or 8, characterized in that: The initial position parameters also include initial position parameters corresponding to the non-target pipetting channel; the initial distance is obtained by: Acquire the initial position parameters corresponding to the target pipetting channel and the initial position parameters corresponding to the non-target pipetting channel input by the user through the display interface; Determining the initial distance based on the initial position parameter corresponding to the target pipetting channel and the initial position parameter corresponding to the non-target pipetting channel; and / or, The target position parameters also include target position parameters corresponding to the non-target pipetting channel; the target distance is obtained by: Acquire the target position parameter corresponding to the target pipetting channel and the target position parameter corresponding to the non-target pipetting channel input by the user through the display interface; The target distance is determined based on the target position parameter corresponding to the target pipetting channel and the target position parameter corresponding to the non-target pipetting channel.

10. The pitch changing method according to claim 2, characterized in that: The first driving assembly includes a first driving motor, a lead screw nut and a lead screw extending along the first direction; the output shaft of the first driving motor is connected to the lead screw; the lead screw is transmission-connected to the lead screw nut; the lead screw nut is connected to the first pipetting channel; The first driving motor drives the lead screw to rotate so that the first pipetting channel moves in the first direction; the first driving parameter is the number of pulses of the first driving motor; The determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter comprises: Determining a moving distance corresponding to the first pipetting channel based at least on the initial position parameter and the target position parameter; The number of pulses of the first drive motor is determined based on the moving distance corresponding to the first pipetting channel, the lead of the lead screw and the step angle of the first drive motor.

11. The pitch changing method according to claim 2, characterized in that: The second driving assembly comprises a second driving motor, a transmission belt, a driving wheel and a driven wheel; the transmission belt extends along the first direction, and the transmission belt is sleeved on the driving wheel and the driven wheel; the output shaft of the second driving motor is connected to the driving wheel; the transmission belt is connected to the second liquid transfer channel; The second driving motor drives the driving wheel to rotate so that the second pipetting channel moves along the first direction; the second driving parameter is the pulse number of the second driving motor; The determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter comprises: Determining a moving distance corresponding to the second pipetting channel based at least on the initial position parameter and the target position parameter; The number of pulses of the second driving motor is determined based on the moving distance corresponding to the second pipetting channel, the circumference of the driving wheel and the step angle of the second driving motor.

12. A variable distance control device for a liquid transfer device, characterized in that: The pipetting device comprises: a plurality of pipetting channels; the plurality of pipetting channels are arranged in sequence along a first direction; The variable distance control device comprises a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used by the processor to execute the variable distance method for a pipetting device as claimed in any one of claims 1 to 11 when the processor is running.

13. A liquid transfer device, characterized in that: It comprises a variable distance control device for a liquid transfer device and a liquid transfer device as claimed in claim 12.

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