CN106379594A - Box packing system of liquid transfer gun head - Google Patents
Box packing system of liquid transfer gun head Download PDFInfo
- Publication number
- CN106379594A CN106379594A CN201611052478.4A CN201611052478A CN106379594A CN 106379594 A CN106379594 A CN 106379594A CN 201611052478 A CN201611052478 A CN 201611052478A CN 106379594 A CN106379594 A CN 106379594A
- Authority
- CN
- China
- Prior art keywords
- pipette tips
- gun head
- workbench
- box
- liquid transfer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B7/00—Closing containers or receptacles after filling
- B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
- B65B7/20—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by folding-down preformed flaps
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
- Sampling And Sample Adjustment (AREA)
- Apparatus Associated With Microorganisms And Enzymes (AREA)
Abstract
The invention provides a box packing system of a liquid transfer gun head. The box packing system of the liquid transfer gun head comprises a box packing mechanism, and a conveying mechanism for conveying the liquid transfer gun head. The box packing mechanism comprises a gun head fetching mechanism, a gun head box platform, an electric push rod, and a horizontal workbench used for carrying the gun head box platform and capable of driving the gun head box platform to move in two vertical directions. The gun head fetching mechanism comprises a gun head acquiring device and a control mechanism. A cover buckling mechanism for buckling a box cover is arranged at the end, away from the electric push rod, of the edge of the gun head box platform. The cover buckling mechanism comprises a cover buckling strip installed on a work platform, and the cover buckling strip is inclined towards the inner side and the upper portion of the gun head box platform in the pushed direction of a gun head box. The liquid transfer gun head box packing complete flow operation of fetching the liquid transfer gun head, placing the liquid transfer gun head and automatically buckling the box cover of the gun head box after the liquid transfer gun head is subjected to box packing can be completed. In the integrated box packing process, manual intervention is not needed, and the box packing efficiency of the liquid transfer gun head can be improved.
Description
Technical field
The invention belongs to packing machinery technology, it is related to a kind of clip loading system, specifically, be related to a kind of automatic moving
Liquid pipette tips clip loading system.
Background technology
Often using liquid transfer gun head in biochemical test, liquid transfer gun head is a kind of pyrometric cone sample matching used with liquid-transfering gun
The plastic tube of formula, cooperation liquid-transfering gun is used for pipetting of a small amount of or micro liquid.
Under normal circumstances, the liquid transfer gun head after buying leaves in packaging bag.For ease of liquid transfer gun head using pipe
Reason, using front, need to put its unloading to liquid relief gun case, during use, directly takes liquid relief gun case, take shifting in gun case one by one
Liquid pipette tips.Liquid relief gun case is a kind of the storage box of storage liquid transfer gun head, its inner transverse, longitudinally regularly arranged is provided with multiple rifles
Liquid transfer gun head need to be inserted pipette tips in the hole by head bore one by one.
Conventional method is artificial operation, there is following drawback：First, efficiency is low, and liquid transfer gun head has plurality of specifications, leads to
Often between 40mm-80mm, diameter between 4mm-10mm, small volume, artificial operate inconvenience, process is loaded down with trivial details and wastes big
The time of amount；Second, increased the chance of liquid transfer gun head pollution, because artificial operation has more uncontrollability, for example：Pipette tips
Drop, pipette tips and pollutant are collided, and all can cause the pollution of liquid transfer gun head.
Automatization's liquid transfer gun head moves dress system and can be very good to solve problem above.But existing automatization liquid transfer gun head moves dress
There is complex structure, efficiency low deficiency system, the automatic clip loading system of some liquid transfer gun heads also has pipette tips and can not accurately enter more
The problem in pipette tips hole.Additionally, pipette tips are box-packed finishing, need to close pipette tips box lid, existing clip loading system does not have and is automatically switched off box
The function of lid.
Content of the invention
It is an object of the invention to provide one kind can accurately and fast complete liquid transfer gun head enters box operation, and realize in pipette tips
Box-packed complete rear automatization's liquid transfer gun head that pipette tips box is released and closed lid automatically moves dress system.
The technical scheme is that：Liquid transfer gun head clip loading system, including frame, cassette loading mechanism be used for conveying liquid-transfering gun
The connecting gear of head, cassette loading mechanism includes a mechanism of taking arms for head of taking arms at conveying mechanism, for placing pipette tips box
Pipette tips kit platform, for promoting the electric pushrod that pipette tips box moves on pipette tips kit platform, being used for carrying pipette tips kit platform can
Drive the horizontal table that pipette tips kit platform moves along two directions vertical each other；
A mechanism of taking arms includes pipette tips acquisition device, and controllable pipette tips acquisition device is between conveying mechanism and cassette loading mechanism
The controlling organization of motion；
Horizontal table includes workbench I vertical each other and workbench II, along the length side of workbench I and workbench II
To moving track is provided with the two；Pipette tips kit platform is arranged on the moving track of workbench I, and can be along this moving rail
Road moves, and workbench I is arranged on the moving track of workbench II, and can move along this moving track；
The edge of pipette tips kit platform, away from one end of electric pushrod, is provided with the buckle closure mechanism fastening lid for execution；
Buckle closure mechanism includes the buckle closure bar being installed on work platformses, the direction being promoted along pipette tips box, and buckle closure bar is to pipette tips kit platform
Inner side, inclined upward.
Preferably：Pipette tips obtain mechanism include rocking-turn arm, air compressor and be arranged on rocking-turn arm with sky
The aspirated-air type suction nozzle that air compressor connects, controlling organization includes rotating motor, reductor, and stepper motor output shaft passes through
Meshed transmission gear drives reductor shaft, and rocking-turn arm is connected with reductor shaft, and is done back and forth forward and reverse by reductor shaft drive
Circular motion.
Preferably：Rocking-turn arm includes the arm I be arrangeding in parallel and arm II, and arm I is connected with speed reducer output shaft,
Arm II is connected with reductor drive shaft, and speed reducer output shaft passes through meshed transmission gear with reductor drive shaft；Horizontal on arm I
It is provided with gangbar I to perpendicular；Laterally perpendicular on arm II it is provided with gangbar II；Aspirated-air type suction nozzle is installed on suction
It is connected by the road on head installing plate and with air compressor；Suction nozzle installing plate passes through bearing respectively at gangbar I and gangbar II
Connect.
Preferably：Aspirated-air type suction nozzle is dismounting and change formula suction nozzle, is that on-fixed connects.
Preferably：Box groove is provided with pipette tips kit platform, the width of box groove is identical with the length of pipette tips box or width.
Preferably：Buckle closure bar is arranged on the notch edges of box groove.
Preferably：Pipette tips kit platform bottom is provided with platform slide block, is arranged on the movement of workbench I by platform slide block
On track；The bottom of workbench I is provided with workbench slide block, is arranged on the moving track of workbench II by workbench slide block
On；Workbench I and workbench II also includes mobile leading screw, and pipette tips kit platform bottom is arranged on workbench I by screw slider
Leading screw on, workbench I bottom is arranged on the leading screw of workbench II by screw slider.
Beneficial effects of the present invention are：
1st, pipette tips obtain mechanism by accurate circular motion, repeatedly move between connecting gear and cassette loading mechanism, level
Workbench controls the position in one pipette tips hole of pipette tips box accurate movement, obtains the cooperation work of mechanism, horizontal table by pipette tips
Make, can accurately realize picking and placeing of liquid transfer gun head.
2nd, because liquid transfer gun head is plastic material, adopt interchangeable take aspirated-air type suction nozzle draw, on the one hand, suction force is moderate,
Compare using robot manipulator structure crawl, it is possible to decrease the destructive rate to liquid transfer gun head；On the other hand, after suction nozzle damages, replaceable.
3rd, can complete to take liquid transfer gun head, put liquid transfer gun head, and after liquid transfer gun head mounted box terminates, automatic buckling pipette tips box
The liquid transfer gun head mounted box whole process operation of lid.
4th, during whole mounted box, it is not required to manual intervention, the mounted box efficiency of liquid transfer gun head can be improved.
Brief description
Fig. 1 is present configuration schematic diagram.
Fig. 2 is a mechanism structure schematic diagram of taking arms.
Fig. 3 is buckle closure mechanism, horizontal table partial structural diagram.
Wherein：1- frame, 2- pipette tips box, 201- pipette tips hole, 3- pipette tips kit platform, 301- platform slide block, 302- pipette tips box
Platform screw slider, 4- electric pushrod, 5- workbench I, 501- workbench slide block, 502- workbench I moves leading screw, and 503- works
The moving track of platform I, 6- workbench II, 601- workbench II moves leading screw, the moving track of 602- workbench II, 7- control machine
Structure, 701- rotating motor, 702- reductor, 703- gear, 704- speed reducer output shaft, 705- reductor drive shaft,
801- motor, 802- motor, 901- arm I, 902- arm II, 10- air compressor, 11- aspirated-air type suction nozzle, 12- pipeline,
131- gangbar I, 13- suction nozzle installing plate, 14- buckle closure bar
Specific embodiment
Below with reference to accompanying drawing, the specific embodiment of the present invention is conducted further description.
As shown in figure 1, liquid transfer gun head clip loading system, including the cassette loading mechanism in frame 1, setting and frame 1 be used for defeated
Send the connecting gear of liquid transfer gun head.The liquid transfer gun head buying back, conveys one by one through conveying mechanism.
Cassette loading mechanism includes the mechanism of taking arms for head of taking arms at conveying mechanism, the pipette tips for placing pipette tips box 2
Kit platform 3, for promoting the electric pushrod 4 that pipette tips box 2 moves on pipette tips kit platform 3, being used for carrying pipette tips kit platform 3 can
Drive the horizontal table that pipette tips kit platform 3 moves along two directions vertical each other.
Take arms the inclusion pipette tips acquisition device of a mechanism, and controllable pipette tips acquisition device is in conveying mechanism and cassette loading mechanism
Between motion controlling organization 7.
In work, pipette tips box 2 is placed on pipette tips kit platform 3, and inside pipette tips box 2, transverse and longitudinal is regularly arranged is provided with multiple rifles
Head bore 201, the size in pipette tips hole 201 can design according to the size of liquid transfer gun head.Controlling organization controls pipette tips acquisition device to adopt
Take crawl or the mode such as draw obtain liquid transfer gun head one by one, transhipment defeated at cassette loading mechanism, and be placed on one by one in pipette tips box 2
In pipette tips hole 201.
Specifically, take arms a mechanism structure as shown in Fig. 2 pipette tips obtain mechanism include rocking-turn arm, air compression
Machine 10 and be arranged at the aspirated-air type suction nozzle 11 connecting with air compressor 10 on rocking-turn arm, controlling organization includes rotating step
Stepper motor 701, reductor 702, rotating motor 701 output shaft drives reductor 702 by gear 703 engaged transmission,
Rocking-turn arm is connected with speed reducer output shaft, and does back and forth forward and reverse circular motion by reductor shaft drive.For example：Rotating walks
When stepper motor 701 rotates forward, rocking-turn arm is driven to drive aspirated-air type suction nozzle 11 to draw pipette tips；Rotating motor 701 is anti-
Drive aspirated-air type suction nozzle 11 that pipette tips are positioned in pipette tips box 2 to when rotating, driving rocking-turn arm.
In order to preferably realize the effect of head of stably taking arms, rocking-turn arm further include the arm I901 that be arranged in parallel and
Arm II902, arm I901 is connected with speed reducer output shaft 704, and arm II902 is connected with reductor drive shaft 705, reductor
Output shaft 704 passes through meshed transmission gear with reductor drive shaft 705；Laterally perpendicular on arm I901 it is provided with gangbar
I131；Laterally perpendicular on arm II902 it is provided with gangbar II (in figure is stopped by suction nozzle installing plate 13 and not visible)；Gas
Suction suction nozzle 11 is installed on suction nozzle installing plate 13 and 12 is connected with air compressor 10 by the road；Suction nozzle installing plate 13 leads to respectively
Cross bearing I and bearing I I to connect respectively at gangbar I131 and gangbar II.
Its motion principle is：Control rotating motor 701 to rotate forward (reversion), reductor 702 is driven by gear 703
Rotate forward, drive arm I901 and arm II902 to do circular motion counterclockwise, rotating motor 701 turns to required step-length,
Stop operating, aspirated-air type suction nozzle 11 draws liquid transfer gun head；After absorption, control rotating motor 701 to invert (rotating forward), pass through
Gear 703 drives reductor 702 to invert, and drives arm I901 and arm II902 to do circular motion clockwise, moves to pipette tips box
At 2, liquid transfer gun head is put into pipette tips hole 201.By controlling the moving step sizes of step-by-step movement clockwise and anticlockwise motor 701, it is accurately controlled
The motion radian of arm I901 and arm II902, thus precise control its take liquid transfer gun head position and fire a position, that is, from rifle
Take liquid transfer gun head at the discharging of head connecting gear, and it is accurately put in the pipette tips hole 201 of pipette tips box 2.
Ensure that the pipette tips fetched every time all can accurately be put in the pipette tips hole 201 of pipette tips box 2, in pipette tips acquisition device fortune
In the case that dynamic rail mark is constant, need after head of firing every time terminates, the position of mobile pipette tips box 2, thus ensure that pipette tips are put down
Position alignment the next one pipette tips hole 201.The effect of horizontal table is to drive pipette tips kit platform 3 mobile, that is, realize above
The effect of mobile pipette tips box 2 position.
Horizontal table includes workbench I5 vertical each other and workbench II6, along the length of workbench I5 and workbench II6
Degree direction, the two is provided with moving track；Pipette tips kit platform 3 is arranged on the workbench I moving track 503 of workbench I5
On, and can move along this moving track 503, thus realizing pipette tips kit platform 3 moving along direction X；Workbench I5 is arranged on work
On the moving track 602 of station II6, and can move along this moving track 602, the motion of workbench I5 will drive pipette tips kit platform
3 moving along direction Y.Wherein direction X or direction Y is parallel in the direction of relative movement of a mechanism of taking arms.Example side in Fig. 1
To X and direction Y.
As shown in figures 1 and 3, as one kind more specifically embodiment, pipette tips kit platform 3 bottom is provided with platform slide block
301, it is arranged on the moving track 503 of workbench I by platform slide block 301；The bottom of workbench I5 is provided with workbench and slides
Block 501, is arranged on the moving track 602 of workbench II6 by workbench slide block 501；Workbench I5 and workbench II6 is also equal
Including mobile leading screw 502,601, pipette tips kit platform 3 bottom is arranged on the mobile leading screw 502 of workbench 1 by screw slider 302
On, workbench I5 bottom is arranged on the mobile leading screw 601 of workbench II6 by screw slider.
The mobile leading screw 502 of workbench I5 passes through motor 801 and drives rotation, and pipette tips kit platform 3 will move along direction X；Work
The mobile leading screw 601 of station II6 passes through motor 802 and drives rotation, and pipette tips kit platform 3 will be along direction Y motion.Liquid transfer gun head every time
After putting into pipette tips hole 201, all need to control pipette tips kit platform 3 to move by horizontal table, so that under aspirated-air type suction nozzle 11 be aligned
One empty pipette tips hole 201.
Action for making placement liquid transfer gun head more standardizes, and aspirated-air type suction nozzle 11 can be made to be directed at pipette tips box 2 in initial position
The pipette tips hole 201 at one corner end, the liquid transfer gun head drawn for the first time, it is placed in this pipette tips hole 201.Place liquid relief when first time
After pipette tips terminate, mobile leading screw 502 is controlled to rotate by motor 801, thus controlling pipette tips box 2 to move along direction X, wherein every time
Moving step sizes control the spacing between two adjacent gun head bore 201, thus ensureing that aspirated-air type suction nozzle 11 is directed at next pipette tips hole
201.So repeat, until full liquid transfer gun head is all placed in the string pipette tips hole 201 of X-direction, subsequently, controlled by motor 802 and move
Dynamic leading screw 601 rotates, thus controlling pipette tips box 2 along the distance in the mobile pipette tips hole 201 of Y-direction, and repeats to inhale before this and takes, puts
Put the action of liquid transfer gun head, until full liquid transfer gun head is put in the string pipette tips hole adjacent with first row pipette tips hole 201.The like,
Until whole pipette tips box 2 is filled.
These are only a kind of distance of motion mode of pipette tips box 2, reality can be according to demand for control, by controlling horizontal operation
The motion of the motor control pipette tips box 2 of platform.
After whole pipette tips box 2 is filled, electric pushrod 4 works, and pipette tips box 2 is released.
Another critical function that automatization's liquid transfer gun head moves dress system is can be after liquid transfer gun head mounted box terminates, pipette tips box
During 2 are pushed out, the snap action of execution lid.
This part-structure visible in Fig. 1 and Fig. 3.The edge of pipette tips kit platform 3, away from one end of electric pushrod 4, is provided with
Fasten the buckle closure mechanism of lid for execution；Buckle closure mechanism includes the buckle closure bar 14 being installed on work platformses, along pipette tips box quilt
The direction promoting, buckle closure bar 14 is to the inner side of pipette tips kit platform, inclined upward.
During the shifting of liquid transfer gun head fills, pipette tips box 2 lid is open mode, i.e. the box body of relative pipette tips box 2, box
Lid is towards the inner side of pipette tips kit platform 3.Buckle closure bar 14 is one section of plate-like structure.In order to ensure stablizing of buckle closure bar 14 structure
Property, in buckle closure bar 15 bottom, a supporting construction is installed and pipette tips kit platform 3 between, it is to avoid the impact that buckle closure bar 14 is subject to is excessive,
It is deformed.
During pipette tips box 2 is pushed out, lid is contacted with buckle closure bar 14, due to the direction of pipette tips box motion relatively, buckle closure
There is the angle on relatively oblique, under the transitional function of buckle closure bar 14, lid is snapped between bar 15 and lid.
Cooperating in view of aspirated-air type suction nozzle 11, pipette tips box 2, horizontal table needs to ensure pipette tips box 2 position
Stability, as a kind of more excellent embodiment, is provided with box groove, the width of box groove and pipette tips box on pipette tips kit platform 3
Length or width are identical.So, pipette tips box 2 can prevent in box groove, it is to avoid in work, and double swerve occurs, and produces position inclined
Difference, makes liquid transfer gun head can not accurately put in pipette tips hole 201.
Claims (7)
1. liquid transfer gun head clip loading system, including frame, cassette loading mechanism and the connecting gear for conveying liquid transfer gun head, its feature exists
In：Described cassette loading mechanism includes the mechanism of taking arms for head of taking arms at described conveying mechanism, the rifle for placing pipette tips box
Head cartridge platform, for promoting the electric pushrod that pipette tips box moves on pipette tips kit platform, being used for carrying pipette tips kit platform and can carrying
The horizontal table that dynamic pipette tips kit platform moves along two directions vertical each other；
A described mechanism of taking arms includes pipette tips acquisition device, and controllable pipette tips acquisition device is between conveying mechanism and cassette loading mechanism
The controlling organization of motion；
Described horizontal table includes workbench I vertical each other and workbench II, along the length side of workbench I and workbench II
To moving track is provided with the two；Described pipette tips kit platform is arranged on the moving track of workbench I, and can be along this shifting
Dynamic track motion, workbench I is arranged on the moving track of workbench II, and can move along this moving track；
The edge of pipette tips kit platform, away from one end of electric pushrod, is provided with the buckle closure mechanism fastening lid for execution；Described
Buckle closure mechanism includes the buckle closure bar being installed on work platformses, the direction being promoted along pipette tips box, and buckle closure bar is to pipette tips kit platform
Inner side, inclined upward.
2. liquid transfer gun head clip loading system as claimed in claim 1 it is characterised in that：Described pipette tips obtain mechanism and include rocking-turn handss
Arm, air compressor and be arranged at the aspirated-air type suction nozzle connecting with air compressor on rocking-turn arm, described controlling organization bag
Include rotating motor, reductor, described rotating stepper motor output shaft drives reductor shaft by meshed transmission gear,
Described rocking-turn arm is connected with reductor shaft, and does back and forth forward and reverse circular motion by reductor shaft drive.
3. liquid transfer gun head clip loading system as claimed in claim 2 it is characterised in that：Described rocking-turn arm includes be arrangeding in parallel
Arm I and arm II, arm I are connected with speed reducer output shaft, and arm II is connected with reductor drive shaft, described reductor output
Axle passes through meshed transmission gear with reductor drive shaft；Laterally perpendicular on described arm I it is provided with gangbar I；Described handss
Laterally perpendicular on arm II it is provided with gangbar II；Aspirated-air type suction nozzle be installed on suction nozzle installing plate and by the road with air pressure
Contracting machine is connected；Suction nozzle installing plate is connected respectively at gangbar I and gangbar II by bearing.
4. liquid transfer gun head clip loading system as claimed in claim 2 or claim 3 it is characterised in that：Described aspirated-air type suction nozzle is to dismantle more
Change formula suction nozzle.
5. the liquid transfer gun head clip loading system as described in claim 1 or 2 or 3 it is characterised in that：Arrange on described pipette tips kit platform
There is box groove, the width of box groove is identical with the length of pipette tips box or width.
6. liquid transfer gun head clip loading system as claimed in claim 5 it is characterised in that：Described buckle closure bar is arranged on the notch of box groove
Edge.
7. the liquid transfer gun head clip loading system as described in claim 1 or 2 or 3 it is characterised in that：Described pipette tips kit platform bottom sets
It is equipped with platform slide block, be arranged on the moving track of workbench I by platform slide block；The bottom of described workbench I is provided with work
Station slide block, is arranged on the moving track of workbench II by workbench slide block；Described workbench I and workbench II also all wraps
Include mobile leading screw, pipette tips kit platform bottom is arranged on the mobile leading screw of workbench I by screw slider, workbench I bottom leads to
Cross screw slider to be arranged on the mobile leading screw of workbench II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611052478.4A CN106379594B (en) | 2016-11-24 | 2016-11-24 | Liquid transfer gun head clip loading system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611052478.4A CN106379594B (en) | 2016-11-24 | 2016-11-24 | Liquid transfer gun head clip loading system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106379594A true CN106379594A (en) | 2017-02-08 |
| CN106379594B CN106379594B (en) | 2018-08-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611052478.4A Active CN106379594B (en) | 2016-11-24 | 2016-11-24 | Liquid transfer gun head clip loading system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864797A (en) * | 2017-03-31 | 2017-06-20 | 深圳市云科为科技有限公司 | Pipette tips stuffing apparatus |
| CN106945889A (en) * | 2017-05-05 | 2017-07-14 | 中禹科技集团有限公司 | A kind of full-automatic liquid transfer gun head box packing machine and its mounted box method |
| CN109911305A (en) * | 2019-01-17 | 2019-06-21 | 上海海洋大学 | A kind of pipette tips boxing device of semi-automation |
| CN110182428A (en) * | 2019-02-21 | 2019-08-30 | 杭州多泰科技有限公司 | A kind of pipette tips batch clip loading system of liquid-transfering gun |
| CN111792090A (en) * | 2020-06-10 | 2020-10-20 | 江苏大学 | Intelligent robot high accuracy vibrating rifle head cartoning device |
| CN113978813A (en) * | 2021-10-28 | 2022-01-28 | 郑州大学第一附属医院 | Automatic boxing device for pipette head |
| CN114797641A (en) * | 2022-04-21 | 2022-07-29 | 深圳市瑞吉生物科技有限公司 | Dispensing and transferring machine |
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