CN100537035C - Multichannel electronic liquor-transferring system with standard signal interface - Google Patents
Multichannel electronic liquor-transferring system with standard signal interface Download PDFInfo
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- CN100537035C CN100537035C CNB200810023952XA CN200810023952A CN100537035C CN 100537035 C CN100537035 C CN 100537035C CN B200810023952X A CNB200810023952X A CN B200810023952XA CN 200810023952 A CN200810023952 A CN 200810023952A CN 100537035 C CN100537035 C CN 100537035C
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Abstract
A multi-channel electronic transfer system with a standard signal interface is provided with the same number of injection pumps with the channels; the upper end of the piston rod of each injection pump is fixed below a lat plate; gun tip posts with hollow structure in the same number of the injection pumps are arranged corresponding to the positions of the lower ends of the piston rods of each injection pump; a pump cavity is arranged in the gun tip post; a push plate with a through hole and a fixing plate are arranged on the system; the number and the position of the through holes are corresponding to the gun tip posts; the outer diameter of the gun tip posts passes through the fixing plate and the through hole of the push plate; the outlet at the lower end is sleeved and connected with the gun tip; the diameter of each through hole of the push plate is smaller than the outer diameter of the gun tip; a spring is arranged between the push plate and the fixing plate; the two ends of the spring are respectively and fixedly connected with the two plates; small holes are arranged on the location of the spring on the fixing plate; the position and the number of the small holes are corresponding to the push rods; the upper end of the push rod and the upper ends of each injection pump are all fixed below the same flat plate. The flat plate is driven by an electromechanical moving unit controlled by a computer.
Description
Technical field
The present invention relates to chemical analysis quantitative liquid separating and liquid feeding instrument, particularly relate to and be used to shift micro liquid, be installed in a kind of multichannel electronic liquor-transferring system that has standard signal interface that is used with manipulator on the instrument and equipment, belong to the electronic medical equipment field.
Background technology
Electronic liquid trasferring device is domestic and international general chemical analysis quantitative liquid separating and liquid feeding instrument, and it is widely used in biology, chemical experiment, particularly medical device industry.It generally can be divided into two kinds of hand-held pipettor and automatic pipetting devices.The former is with manually finishing installation rifle head, imbibition (blowing liquid), taking off the first-class elemental motion of rifle, and the latter generally cooperates with manipulator, rely on the three-dimensional space motion of manipulator, and the quantitative imbibition (blowing liquid) of pipette action, be implemented in the pipetting in the motion platform.
Hand-held pipettor simple operation, it is higher to move the liquid precision, but shortcoming is manual operation, uses trouble, particularly prepares sample more for a long time, the manual operation workload is very big, and easily puts the different quantitative errors that cause of key scroll because of hand.And automatic pipetting device cooperates with manipulator, can realize automatic control, and in batches operation is simpler during sample preparation, and is to finish sample making course by manipulator, thereby can avoid sample and people's cross staining, the security of raising sample making course.
Chinese patent application number is 01102611.1 to disclose " a kind of pipettor with automatics ", and this pipettor and carrying platform cooperate with computer, realize loading and unloading rifle head and pipetting.The shortcoming of this pipettor is: (1) computer needs built-in switch card and control program, and technology does not have versatility; (2) micromanipulation is to realize that by liquid detection device cost is higher, and because mechanical shock causes moving the liquid error; (3) it is a single pass pipettor, and each operation can only be shifted a kind of liquid, inefficiency.
Application number is that 200420093039.4 " a kind of multichannel pipettors " are 200510092993.0 " a kind of multi-channeled transposition arrangement and usings method thereof " with application number, disclose a kind of and the multichannel liquid-transfering device manipulator cooperating, it comprises many logical current dividers, realize a plurality of sampling operations with a syringe pump, and include a unloading rifle head mechanism, can automatic loading and unloading rifle head.Its shortcoming is: establish special unloading rifle head mechanism in (1), increase the complexity of frame for movement; (2) be special automatic pipetting device, its interface has higher closure, is unfavorable for that product promotion uses, particularly at the secondary development of product; (3) this instrument is by the sinking action of manipulator, realize installing the operation of rifle head, but its frame for movement is rigidity to be cooperated, lack safeguard procedures, when manipulator has kinematic error in horizontal plane (rifle headpin axis and rifle head axis have site error), tend to damage by pressure the rifle headpin of imbibition rifle head or pipettor.
Summary of the invention
In view of the deficiency of above-mentioned prior art, the object of the invention provide a kind of simple in structure, cost is lower, be used in batches shifting micro liquid, be installed in instrument and equipment and be used, have standard signal interface with manipulator, easily be automated operation and have a kind of multichannel electronic liquor-transferring system that has standard signal interface of safeguard structure.
For reaching above-mentioned purpose, the present invention takes following technical scheme: a kind of multichannel electronic liquor-transferring system with standard signal interface, be provided with computer-controlled robot movement system, the robot movement system is provided with the horizontal movement carrying platform and moves both vertically hoistable platform, pipettor is fixed on the vertical lifting platform below, pipettor contains syringe pump and is movably set in the hollow structure rifle head of pump chamber head, it is characterized in that: be provided with a plurality of syringe pumps identical with port number quantity, the piston rod upper end of each syringe pump is fixed on the below of one flat plate; Identical with syringe pump quantity and corresponding with the piston-rod lower end position of each syringe pump hollow structure rifle headpin is set, establishes pump chamber in this rifle headpin; A push pedal and a fixed head that has through hole is set, number of openings and position are corresponding with the rifle headpin, after rifle headpin external diameter passes fixed head and push pedal through hole, the lower end outlet connects with the rifle headgear, the diameter of each through hole of push pedal is less than the external diameter of rifle head, be provided with spring between push pedal and the fixed head, both ends of the spring is fixedly connected with two plates respectively, spring position place on fixed head is provided with aperture, this aperture position, quantity is corresponding with the push rod of setting, the piston rod upper end of this push rod upper end and each syringe pump all is fixed on the below of same flat board, and this flat board is by computer-controlled electromechanical movement unit drives, in the electromechanical movement unit, micro machine is by the rotation of the driving wheel of band drive synchronously, utilize the worm and gear structure that rotatablely moving of micro machine converted to rectilinear motion, drive piston indirectly and in pump chamber, move up and down, finish imbibition/the blow work that surges; End at driving wheel is equipped with electric clutch, a wheel disc is installed on the output shaft of micro machine, have evenly spaced slot on the wheel disc, detect the umber of pulse that micro machine rotated by a photoelectric detective circuit, measure the current location of piston in pump chamber in the syringe pump, control moves liquid measure, and all circuit interfaces all adopt the TTL signal of standard.Described pipettor is by being bolted on the vertical lifting platform, and by spring compression; Be designed to the interference fits socket between the rifle headpin external diameter of each syringe pump and the rifle head.
Above-mentioned pump chamber identical and corresponding piston bar with port number quantity, the corresponding pump chamber of each piston is formed a plurality of syringe pumps, and each piston moves simultaneously and gets liquid simultaneously and blow the liquid operation with the realization multichannel;
Above-mentioned piston rod directly is made of one, and adds a push rod between each pump chamber and pump chamber, is used to take off the rifle head;
The above-mentioned rifle head that on the rifle headpin of syringe pump, all is with certain specification, the rifle head can be changed as required; When getting liquid, liquid only enters in the removable rifle head, rather than in the pump chamber.
The above-mentioned liquid mode of moving adopts volumetric method, that is: during imbitition, along with the pump inner carrier is drawn out, be inhaled in the rifle head under the effect of liquid negative pressure in pump chamber, and the distance of piston motion multiply by the pump chamber area of section and is suction amount; In like manner, promote piston, can with piston move release through the liquid of the same volume size in space;
The motion of above-mentioned piston rod is to be driven by an electromechanical movement unit, the electromechanical movement unit is by direct electric current machine, synchronous band, electric clutch, worm and gear, photoelectric sensor and control circuit thereof are formed, the control interface of electromechanical movement unit all is designed to standard logic signal (Transistor-Transistor Logic level).
Be designed to interference fits between the external diameter of the rifle headpin of above-mentioned each syringe pump and the rifle head, the head action of taking arms is by compressing mode, being installed on the rifle headpin of multichannel injection pump.Taking off the action of rifle head is the front end of shifting pump chamber by piston onto, relies on the effect of push rod, promotes the push pedal of pipettor front end, and the rifle head is taken off.
The control of the action of above-mentioned pipettor and robot movement system is to realize by computer (microprocessor);
The above-mentioned liquid process of moving is to realize by the rectilinear motion of piston in pump chamber.At first piston is moved to the top of pump chamber, the robot movement system moves to the sample source position to multi-channeled transposition arrangement; Once more, piston retreats, and liquid is inhaled in the rifle head under the effect of pump chamber negative pressure; At last, the robot movement system moves to the sample target location to multi-channeled transposition arrangement; And the promotion piston-advance, the liquid that sucks is discharged to the target location from the rifle head.
The present invention also provides a kind of and has prevented pipettor at work, because mechanical shock causes the rifle head to drip dew, thereby produces the method for polluting.Promptly when imbibition, liquid is inhaled in the pump chamber under the effect of pump chamber negative pressure, then by the ascending motion of manipulator, makes the rifle head break away from the source target sample; At this moment, microprocessor sends 1～2 control impuls, and the micro machine in the electromechanical movement unit is turned an angle again, and indirectly control piston moves upward, and the liquid at rifle head suction nozzle place is sucked back in the rifle head.When blowing liquid, be the precision that raising moves liquid, to consider that equally microprocessor prevents to drip 1～2 pulse of sending when revealing.
The present invention also provides a kind of operation multichannel electronic liquor-transferring device to mix automatically, the method for piping and druming liquid, and comprising: the robot movement system moves to the multichannel electronic liquor-transferring device and wants the mixing material place; Syringe pump carries out the action first time, and a part of mixing material is drawn in the rifle head; Manipulator certain distance of moving vertically downward again continues to suck the liquid of certain volume; Manipulator moves to sample mouth of pipe place vertically upward then, and promotes piston-advance, the disposable liquid that blows out in the rifle head, repeatedly several times, by imbibition with the mixing of blowing the eddy current realization sample that liquid causes.
The present invention has the following advantages and effect owing to take above-mentioned design:
(1) the traditional relatively liquid-transfering device of the present invention has adopted many injecting pump structures, and a shot realizes that just a plurality of rifle heads move simultaneously, saves cost, also is easier to control.
(2) multi-syringe structure of the present invention, with respect to the how logical current divider of existing invention, passage has relative independence, imbibition precision height.
(3) the present invention has adopted the structure of the internal thread drive screw of driving wheel, and sample preparation has fabulous effect to batch.
(4) among the present invention, directly utilize the piston push rod structure, take off the rifle head in conjunction with the push pedal of pump chamber front end, the mechanism of the liquid-transfering device of simplification, simple and practical, and easily be automated control.
(5) the present invention has adopted bolt and by spring the multichannel electronic liquor-transferring device has been pressed in the robot movement system, when manipulator has site error, pipettor and rifle head is played the better protect effect.
(6) among the present invention,, be convenient to it is carried out secondary development, thereby can promote the use of owing to designed the control interface of standard.
Description of drawings
Fig. 1 is agent structure of the present invention and operation principle schematic diagram;
Fig. 2 is a structure cutaway view of the present invention;
Fig. 3 is the drive circuit of power source motor of the present invention;
Fig. 4 is Photoelectric Detection of the present invention and modulate circuit;
Fig. 5 be Photoelectric Detection modulate circuit of the present invention when the micro machine rotating, the voltage waveform of each circuit node;
Fig. 6 is a control circuit block diagram of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is further described:
Shown in accompanying drawing 1, one 6 channel electron liquid-transfering device provided by the present invention comprises: control computer 1, carrying platform 3, drive motors 2, hoistable platform 7, pipettor 8, the electromechanical movement unit 4 of pipettor, hex bolts 5, spring 6 compositions such as grade.It is characterized in that: utilize hex bolts 5, and, pipettor 8 is fixed on the vertical lifting platform 7 by spring 6; Computer 1 control drive motors 2 moves up and down hoistable platform 7; Carrying platform 3 can be done in horizontal plane laterally, lengthwise movement (not marking among the figure).
In this facility example, pipettor 8 adopts injecting pump structure, promptly is made of piston and pump chamber.Computer 1 control hoistable platform 7 drops to the specified altitude assignment inside of rifle head 9 (that is: the headpin 82 of taking arms is inserted into), under the effect of frictional force, rifle head 9 is enclosed within on the headpin 82 of taking arms of syringe pump (at this moment automatically, there is rifle head 9 to be installed hoistable platform 7 belows, and taking arms between the headpin 82 of rifle head 9 and syringe pump is interference fits), thus the operation that the rifle head is installed finished automatically.Because the middle vacancy of rifle head 9 communicates with the pump chamber of syringe pump, therefore, the vacsorb liquid that can utilize the motion of pump chamber piston to form.
In the present embodiment; if carrying platform 3 had in horizontal plane laterally/site error of lengthwise movement; cause the take arms headpin 82 and 9 misalignment of waiting to take arms of the syringe pump of pipettor 8; this moment, hoistable platform 7 was still according to establishing the program operation in the computer 1; under the effect of pressure; pipettor 8 can be by rifle head 9 jack-up (the present invention adopts spring 6 to cooperate the securing member of making pipettor 8 with hex bolts 5); when hoistable platform 7 rises once more; pipettor 8 can be under the effect of spring 6; automatically get back to original position, thereby pipettor is played a protective role.
Fig. 2 is 6 channel electron pipettor structure cutaway views provided by the present invention.Comprise housing 86, the dull and stereotyped catch bar 41 of sliding plate 811 and 811 motions of driving sliding plate, be provided with 6 syringe pumps in the described housing 86, each syringe pump is by pump chamber 89, piston 83, and piston actuated bar 84 constitutes, and six piston actuated bar 84 upper ends all are fixedly connected on the sliding plate 811, and described dull and stereotyped catch bar 41 is provided with screw thread and matches with the internal thread of driving wheel 42.Like this, dull and stereotyped catch bar 41 forms the structure that is similar to worm and gear with the internal thread of driving wheel 42, when driving wheel 42 rotates, can drive sliding plate and move up and down.
In the present embodiment, because six piston actuated bars 84 all are fastened on the sliding plate 811, when dull and stereotyped catch bar 41 drove sliding plate 811 motions, six pistons moved simultaneously, carried out imbibition simultaneously and blew the liquid operation to realize many syringe pumps (that is: multichannel).
In the present embodiment, also described a kind of by micro machine 46 drive electrical mechanical moving cells, micro machine 46 is by being with 43 synchronously, drive driving wheel 42 rotations, utilize worm and gear structure (, driving wheel 42 is fixed in the housing 86 of pipettor 8) here, rotatablely moving of micro machine converted to rectilinear motion, indirectly drive piston and in pump chamber, move up and down, finish imbibition/the blow work that surges.End at driving wheel 42 is equipped with electric clutch 44, and the action of control electric clutch 44 can make driving wheel 42 stop operating immediately, avoids because the effect of inertia of rotation, causes that to move liquid inaccurate, thus improve pipettor move the liquid precision.A wheel disc 45 is installed on axial top at micro machine 46, have evenly spaced slot on the wheel disc 45, by a photoelectric detective circuit (see figure 4), detect the umber of pulse that micro machine rotated, thereby the current location of piston 83 in pump chamber 89 in the indirect measurement syringe pump, accurately control moves liquid measure.
As shown in Figure 2, also comprise one in the present embodiment and take off the rifle head mechanism that it has the return spring fixed head 87 of through hole by 81, seven return springs 88 of push pedal that have through hole, and seven push rods 810 constitute.Each outlet of the through hole of described push pedal 81 and syringe pump is corresponding one by one, and passes the individual headpin 82 of taking arms, and the diameter of each through hole is greater than the external diameter of the headpin 82 of taking arms, less than the external diameter of rifle head 9.Described return spring 88 two ends are connected on push pedal 81 and the fixed head 87, during the pipettor operate as normal, and under the effect of spring 88 gravitation, push pedal 81 bottom that is attached to pipettor 8 tightly.Described seven push rods 810 all are fastened on the sliding plate 811.
When the operation of rifle head is taken off in execution, dull and stereotyped catch bar 41 drives sliding plate 811 and moves downward, and push rod 810 passes from spring eye, and then the top is to push pedal 81, push pedal 81 is moved downward, thereby each rifle head 9 is pushed from the headpin 82 of taking arms, then, control dull and stereotyped catch bar 41 by circuit and move upward, under the effect of return spring 88, push pedal 81 is up along the headpin 82 of taking arms, and gets back to original position, finishes the operation of taking off the rifle head.
Fig. 3, Fig. 4 are the schematic diagram of micro machine drive circuit of the present invention and Photoelectric Detection modulate circuit.
The driving element of micro machine is selected FET IRF3205 for use, and wherein T1, T4 pairing constitutes the forward rotation control circuit; T3, T2 pairing constitutes the backward rotation control circuit, and 1,2 two ends directly link to each other with micro machine, and it is as follows specifically to work:
(1) control end D1=1, FET all by, micro machine is not worked;
(2) control end D1=0, D2=0, FET T1, T4 conducting, T3, T2 by, motor just changes (imbibition);
(3) control end D1=0, D2=1, FET T3, T2 conducting, T1, T4 are by, motor counter-rotating (blowing liquid);
In the work, configure after the liquid absorption, start micro machine work, its speed of service speed is realized that by the PWM dutycycle speed that the big more motor of the dutycycle of PWM rotates is fast more.
Rotary pulsed photoelectric detective circuit as shown in Figure 4, luminous tube is by evenly spaced slot on the wheel disc 45, light is projected on two phototriodes of T1, T2 of placing front and back, the colelctor electrode of two phototriodes, it is the pulse signal that produces the two-way quadrature on circuit diagram node 1 and the node 2, the pulse of this two-way quadrature is through after the signal processing circuit, from signal processing circuit node 12 and node 13 outputs.
Micro machine just changes, i.e. pipettor imbibition then obtains series of pulses at signal processing circuit node 12, and the frequency of its pulse and node 1, node 2 pulse frequencies are identical, and node 13 is low level signal all the time.
Micro machine counter-rotating, promptly pipettor blows liquid, then obtains series of pulses at signal processing circuit node 13, and the frequency of its pulse and node 1, node 2 pulse frequencies are identical, and node 12 is low level signal all the time.
Fig. 5 just changes at micro machine for Photoelectric Detection modulate circuit of the present invention, when reversing, the voltage waveform of each node in the circuit; By the pulse on counting circuit node 12 and the node 13, the direction and the angular dimension that just can the perception motor rotate, thereby the piston move distance of indirect detection syringe pump, what of final control imbibition/blow liquid measure, also can realize the liquid of the certain volume that once sucks is assigned to a plurality of target locations, and the volume that distributes in each position can be identical or different.
Fig. 6 is the control circuit block diagram that the embodiment of the invention adopted, and microprocessor 103 passes through its I/O and micro machine drive circuit 104, rotary pulsed modulate circuit 106, and electric clutch 44 links to each other, and by RS232 communication unit 102 and PC 101 communications.The electromechanical movement unit of micro machine drive circuit 104 control pipettors moves piston in the syringe pump pump chamber.Light-sensitive element is counted by little processing 103 through modulate circuit 106, detects the position in pump chamber when secondary piston.
By Fig. 4 and Fig. 6 as can be known, all circuit interfaces of multichannel electronic liquor-transferring device provided by the present invention all are the TTL signals of standard, therefore, based on the present invention, also different embodiment can be arranged, and perhaps the present invention are carried out secondary development, expand its range of application.
The present invention also provides the method for finishing dispense liquid automatically, can be summarized as:
(1) carrying platform and hoistable platform constitute the robot movement system, and the multichannel electronic liquor-transferring device is moved to the position that is placed with many volley of rifle fires head, utilize frictional force, and the rifle head is installed automatically;
(2) piston moves for the first time in the control syringe pump, moves to mechanical zero;
(3) robot movement system moves to the multichannel electronic liquor-transferring device at the liquid place of source position;
(4) piston moves for the second time in the syringe pump, moves upward, and liquid is inhaled into the middle vacancy of rifle head under the effect of pump chamber negative pressure;
(5) the robot movement system moves to the multichannel electronic liquor-transferring device at the liquid place of target location;
(6) piston moves for the third time in the syringe pump, and the liquid that sucks is discharged to the target location from the rifle head.
The present invention also provides to produce when preventing the robot movement system motion to drip and reveals, and causes the operation of cross staining.Specifically be after sucking liquid, be full of liquid on the suction nozzle of rifle head, when robot movement, because mechanical shock tends to cause liquid drippage in the suction nozzle, thereby pollutes.Can control micro machine, after sucking liquid, rotate the angle of 1～2 pulse again, piston moves upward in the drive syringe pump, liquid in the suction nozzle is drawn onto the middle vacancy of rifle head.When blowing liquid, to make the do more physical exercises distance of same umber of pulse of piston equally downwards, the precision of blowing liquid with raising.
The present invention can transfer to the liquid that needs mix together, and blows and beats action, makes liquid abundant, mixes uniformly, can be summarized as:
(1) the robot movement system moves to multi-channeled transposition arrangement at the liquid position place that will mix;
(2) piston carries out the action first time in the syringe pump, and the part of the liquid that mix is drawn in the rifle head;
(3) robot movement system control hoistable platform continues to move down certain distance, makes the subsidiary rifle head of pipettor stretch into once more and wants under the mixing material liquid level;
(4) piston carries out the action second time in the syringe pump, continues to move up, and the part of the liquid that will mix is drawn in the rifle head once more;
(5) robot movement system control hoistable platform is got back to the position of imbibition for the first time;
(6) piston is worked for the third time in the syringe pump, and the liquid that sucks in the rifle head is blown out;
(7) by imbibition with blow the mixing that eddy current that liquid causes is realized sample.
Adopt above-mentioned piping and druming action, also can prevent the rifle head when disposable insertion liquid bottom, liquid can overflow from sample cell.
Claims (2)
1, a kind of multichannel electronic liquor-transferring system with standard signal interface, be provided with computer-controlled robot movement system, the robot movement system is provided with the horizontal movement carrying platform and moves both vertically hoistable platform, pipettor is fixed on the vertical lifting platform below, pipettor contains syringe pump and is movably set in the hollow structure rifle head of pump chamber head, it is characterized in that:
Be provided with a plurality of syringe pumps identical with port number quantity, the piston rod upper end of each syringe pump is fixed on the below of one flat plate; Identical with syringe pump quantity and corresponding with the piston-rod lower end position of each syringe pump hollow structure rifle headpin is set, establishes pump chamber in this rifle headpin; A push pedal and a fixed head that has through hole is set, number of openings and position are corresponding with the rifle headpin, after rifle headpin external diameter passes fixed head and push pedal through hole, the lower end outlet connects with the rifle headgear, the diameter of each through hole of push pedal is less than the external diameter of rifle head, be provided with spring between push pedal and the fixed head, both ends of the spring is fixedly connected with two plates respectively, spring position place on fixed head is provided with aperture, this aperture position, quantity is corresponding with the push rod of setting, the piston rod upper end of this push rod upper end and each syringe pump all is fixed on the below of same flat board, and this flat board is by computer-controlled electromechanical movement unit drives, in the electromechanical movement unit, micro machine is by the rotation of the driving wheel of band drive synchronously, utilize the worm and gear structure that rotatablely moving of micro machine converted to rectilinear motion, drive piston indirectly and in pump chamber, move up and down, finish imbibition/the blow work that surges; End at driving wheel is equipped with electric clutch, a wheel disc is installed on the output shaft of micro machine, have evenly spaced slot on the wheel disc, detect the umber of pulse that micro machine rotated by a photoelectric detective circuit, measure the current location of piston in pump chamber in the syringe pump, control moves liquid measure, and all circuit interfaces all adopt the TTL signal of standard.
2, according to the multichannel electronic liquor-transferring system of band standard signal interface according to claim 1, it is characterized in that pipettor by being bolted on the vertical lifting platform, and by spring compression; Be designed to the interference fits socket between the rifle headpin external diameter of each syringe pump and the rifle head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200810023952XA CN100537035C (en) | 2008-04-22 | 2008-04-22 | Multichannel electronic liquor-transferring system with standard signal interface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200810023952XA CN100537035C (en) | 2008-04-22 | 2008-04-22 | Multichannel electronic liquor-transferring system with standard signal interface |
Publications (2)
| Publication Number | Publication Date |
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| CN101279297A CN101279297A (en) | 2008-10-08 |
| CN100537035C true CN100537035C (en) | 2009-09-09 |
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| CNB200810023952XA Expired - Fee Related CN100537035C (en) | 2008-04-22 | 2008-04-22 | Multichannel electronic liquor-transferring system with standard signal interface |
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| CN102539806B (en) * | 2012-02-16 | 2013-05-08 | 哈尔滨工业大学（威海） | Multi-channel liquid sampling equivalent distancing device |
| CN104043491B (en) * | 2013-03-13 | 2016-08-10 | 精浚科技股份有限公司 | Suction pipe fitting |
| CN103586095B (en) * | 2013-11-26 | 2015-07-01 | 东南大学 | Multichannel pipettor |
| CN107439766A (en) * | 2016-05-31 | 2017-12-08 | 苏州姑苏食品机械有限公司 | Chocolate drop pours machine |
| CN109856416A (en) * | 2017-11-30 | 2019-06-07 | 深圳华大智造科技有限公司 | A kind of liquid-transfering device and its application for automating specimen preparation system |
| CN108097341A (en) * | 2018-01-08 | 2018-06-01 | 江苏师范大学 | A kind of automatic ration gradient sample adding device |
| CN108273577A (en) * | 2018-01-08 | 2018-07-13 | 江苏师范大学 | A kind of single gradient multichannel pipettor |
| CN108187771A (en) * | 2018-01-08 | 2018-06-22 | 江苏师范大学 | A kind of automatic ration gradient is loaded multichannel pipettor piston component |
| CN108176419A (en) * | 2018-01-08 | 2018-06-19 | 江苏师范大学 | A kind of automatic gradient sample adding device |
| CN110038657A (en) * | 2019-04-11 | 2019-07-23 | 深圳垦拓流体控制有限公司 | It is loaded component and loading device |
| CN110124765B (en) * | 2019-06-18 | 2021-07-30 | 安阳工学院 | High flux multithread micropipette device |
| CN110215944B (en) * | 2019-07-08 | 2022-06-21 | 江苏汇先医药技术有限公司 | Automatic liquid-transfering gun |
| CN110215945B (en) * | 2019-07-08 | 2024-03-15 | 江苏汇先医药技术有限公司 | Automatic pipette gun of suction head fades |
| CN110193388B (en) * | 2019-07-08 | 2023-12-15 | 江苏汇先医药技术有限公司 | Multi-channel automatic pipetting gun |
| US11369954B2 (en) * | 2019-10-25 | 2022-06-28 | Mettler-Toledo Rainin, LLC | Powered positive displacement pipette assembly |
| CN114917975B (en) * | 2022-05-17 | 2023-06-27 | 中国科学院沈阳自动化研究所 | Robot tail end pipetting device and robot pipetting control method |
| CN115430476A (en) * | 2022-09-26 | 2022-12-06 | 台州市中心医院（台州学院附属医院） | Nucleic acid reagent preparation device |
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2008
- 2008-04-22 CN CNB200810023952XA patent/CN100537035C/en not_active Expired - Fee Related
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| CN101279297A (en) | 2008-10-08 |
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