CN106799266A - A kind of hand-held capacity calibration device of pipettor and calibration method - Google Patents
A kind of hand-held capacity calibration device of pipettor and calibration method Download PDFInfo
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- CN106799266A CN106799266A CN201611047039.4A CN201611047039A CN106799266A CN 106799266 A CN106799266 A CN 106799266A CN 201611047039 A CN201611047039 A CN 201611047039A CN 106799266 A CN106799266 A CN 106799266A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/02—Burettes; Pipettes
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Abstract
The invention discloses a kind of hand-held capacity calibration device of pipettor and pipettor calibration method, realize that mechanical device takes liquid, transfer, discharge opeing operation to pipettor by the rotation of PC control servomotor, mutual motion of ball-screw-sliding block etc., realized for the calculating for taking liquid level in liquid container so that it is determined that taking the adjustable height of pipettor during liquid by image processing techniques, the collection of liquid relief data is realized by electronic balance, temperature sensor, and according to vertification regulation《JJG 646‑2006》Data processing is realized in the host computer program of writing.The present invention is mainly characterized in that calibrating pipettor for manual weighing's method by the operation and host computer procedure of mechanical device is improved, realize the automation in single-point calibration pipettor, reduce single-point to repeat and the error brought when big data quantity is processed, while can be analyzed calibration data and provide Calibration Report.
Description
Technical field
The present invention relates to pipettor field, more particularly to a kind of hand-held capacity calibration device of pipettor and calibration method,
The method and device relate generally to calibrate liquid-transfering gun capacity relative error and capacity repeatability (under conditions of regulation,
With a standard for referring to, to the characteristic assignment including the measuring appliance including reference material, and its error of indication is determined).
Background technology
Pipettor is widely used in hospital, health and epidemic prevention station, blood donor center, Biochemical Lab, environmental laboratory, food analysis
In laboratory, belong to liquid precision sample apparatus, rapid, accurate quantitative sampling can be carried out to a small amount of fluid sample and test solution
And sample-adding, for adjustable pipette, operating personnel can also according to actual needs adjust the capability value of pipettor.Pipettor conduct
Necessary equipment during liquid relief, the calibration of its capacity directly affects measurement result, but during long-term use, operation, temperature, people
For factor etc. can all be impacted to its precision, there is liquid relief deficiency or excessive in pipettor not up to standard, can in use
Can cause production accident or achievement in research deviation, to ensure that result data has good precision, the degree of accuracy and confidence level,
Periodic calibration must be carried out to it.
Traditional pipettor calibration method uses measurement method, that is, weigh the pure water released in a certain scale of tested pipettor
Quality, then thus and the density of water tries to achieve the actual volume of tested pipettor, and compare with a calibrating point capacity.Due to root
Detection 6 times are needed according to each capacity of national rule calibrating point, one the 3 of adjustable pipette capability value of detection need to carry out 18
It is secondary to take liquid and discharge opeing operation, therefore, this method operating procedure repeats, complicated, and manually operation can bring certain error.
Hardware aspect, the high-freedom degree simulation manipulator that there are the production of part company in foreign countries can be realized moving to a certain extent
The operation of liquid device, however calibration pipettor it is actually used in and need not the mechanical excessive free degree, the excessive free degree
Can cause to waste, and high expense also counteracts that its application in pipettor calibration.Software aspects state, it is interior designed
Pipettor calibration system is also constantly improving, and the mass data for gathering can be efficiently treated through and is analyzed, but only real
Show the automation of data processing, also there is vacancy in the automation of pipettor control.
The content of the invention
It is an object of the invention to provide a kind of hand-held capacity calibration device of pipettor and calibration method, background skill is solved
The defect that art calibration method is present.
The purpose of the present invention is achieved through the following technical solutions：A kind of hand-held capacity calibration device of pipettor, by
Following component composition：Host computer, experimental operation table, the first servomotor, first shaft coupling, the first ball-screw, two first
Bearing, the first ball nut, the first nut seat, first support, the second servomotor, second shaft coupling, the second ball-screw,
Two bearings, the second ball nut, the second nut seat, second support, the 4th servomotor, guide rod, it is calibrated pipettor, CCD phases
Machine, circular float, beaker, electronic balance, conical beaker, temperature sensor.First servomotor, the second servomotor,
4th servomotor, temperature sensor are connected by I/O module with host computer respectively, electronic balance, CCD camera respectively with it is upper
Position machine is connected；
First servomotor, two clutch shaft bearings, beaker, electronic balances are sequentially fixed on experimental operation table；The burning
Measurement liquid is filled in cup, the circular float is floated on measurement liquid；Conical beaker is positioned on electronic balance；Temperature sensor
In conical beaker, fluid temperature in conical beaker is measured in real time.
The two ends of the first ball-screw are arranged on experimental operation table by clutch shaft bearing, the output shaft of the first servomotor
It is connected with the first ball-screw by first shaft coupling, the first ball nut is enclosed within the first ball-screw；First servo electricity
Machine drives the first ball screw turns so that the first ball nut is moved horizontally；First nut seat is arranged on the first ball nut
Top, moves with the first ball nut level of synchronization；First support is fixed on the first nut seat vertically, perpendicular to the first ball
Leading screw, the second servomotor is fixed on the bottom of first support, and the two ends of the second ball-screw are arranged on the by second bearing
On one support, the output shaft of the second servomotor is connected by second shaft coupling with the second ball-screw, the second ball nut
It is enclosed within the second ball-screw, the second servomotor drives the second ball screw turns so that the second ball nut is in side vertically
Move up；Second nut seat is connected with the second ball nut, with the second ball nut synchronizing moving；One end of second support
It is horizontally fixed on the second nut seat, the 4th servomotor and pipettor clamping device are fixed on the other end of second support,
The output shaft of four servomotors is connected with guide rod, drives guide rod to rotate by the 4th servomotor, realizes clamping pipettor
The pressing of the liquid-transfering gun of device clamping.CCD camera is fixed on pipettor clamping device lower end.
A kind of pipettor calibration method based on hand-held capacity calibration device of pipettor, comprises the following steps：
(1) moved by the servomotor of PC control first, CCD camera real-time image acquisition, filled when pipettor is clamped
When the liquid-transfering gun for putting clamping is located at beaker top, the first servomotor is closed；
(2) moved by the servomotor of PC control the 4th, drive guide rod pressing liquid-transfering gun top, push action is completed
The 4th servomotor is closed afterwards；
(3) and then by the servomotor of PC control second move so that the second ball nut is moved down apart from D1,
The liquid-transfering gun pipette tips of pipettor gripping apparatus grips are inserted into 2~3mm below liquid level；It is then shut off the second servomotor；
(4) servomotor of Reverse Turning Control the 4th, until guide rod resets, closes the 4th servomotor, and guide rod is to liquid-transfering gun top
The pressing event resolves in portion, liquid-transfering gun draws the measurement liquid of full scale from beaker；
(5) moved by the servomotor of PC control second so that the second ball nut moves up same distance D1,
It is then shut off the second servomotor；
(6) host computer obtains initial weight by electronic balance, meanwhile, control the first servomotor motion, CCD camera reality
When gather image, when pipettor gripping apparatus grips liquid-transfering gun be located at conical beaker top when, close the first servomotor；
(7) moved by the servomotor of PC control second so that the second ball nut is moved down apart from D2, liquid relief
The liquid-transfering gun pipette tips of device gripping apparatus grips are inserted into conical beaker bottom but do not contact liquid level；It is then shut off the second servo electricity
Machine；
(8) moved by the servomotor of PC control the 4th, guide rod pressing liquid-transfering gun top is driven, by the survey of full scale
Amount liquid is transferred in conical beaker；Then the servomotor of Reverse Turning Control the 4th, until guide rod resets, closes the 4th servomotor,
Guide rod is to the pressing event resolves at the top of liquid-transfering gun；And moved by the servomotor of PC control second so that the second ball
Nut moves up same distance D2, is then shut off the second servomotor.
(9) host computer obtains terminal weight by electronic balance, and liquid temperature in conical beaker is obtained by temperature sensor
Degree.
(10), by temperature sensor actual temperature t, corresponding calibration factor is related under acquisition fluid temperature for host computer
COEFFICIENT K (t), further obtains actual weight m according to terminal weight and initial weight, obtains actual volume V '=K (t) m.
(11) n measurement is carried out according to step 1~10, obtains range V1Under the volume data that measures, be V11'~V1n’；
(12) liquid-transfering gun range is adjusted, n measurement (n=6 is carried out according to step 1~10.), obtain range ViUnder volume
Data Vi1'~Vin’；
(13) according to measurement volume and actual volume, capacity relative error and the capacity repeatability of pipettor are obtained.Wherein,
Range ViUnder capacity relative error be：
Wherein,
Capacity repeatability is：Wherein
The beneficial effects of the present invention are：The present invention realizes the automatic of the volumetric correction for single hand-held pipettor
Change, the person's that greatly reduces calibration operation repeats.
Brief description of the drawings
Fig. 1 is the structural representation of calibrating installation of the present invention；
In figure, experimental operation table 1, the first servomotor 2, first shaft coupling 3, the first ball-screw 4, clutch shaft bearing 5,
One ball nut 6, the first nut seat 7, first support 8, the second servomotor 9, second shaft coupling 10, the second ball-screw 11,
Second bearing 12, the second ball nut 13, the second nut seat 14, second support 15, the 4th servomotor 16, guide rod 17, by school
Quasi- pipettor 18, CCD camera 20, circular float 21, beaker 22, electronic balance 23, conical beaker 24, temperature sensor 33.
Specific embodiment
As shown in figure 1, a kind of hand-held capacity calibration device of pipettor, is made up of following component：Host computer, experimental implementation
Platform 1, the first servomotor 2, first shaft coupling 3,4, two clutch shaft bearings 5 of the first ball-screw, the first ball nut 6, first
Nut seat 7, first support 8, the second servomotor 9, second shaft coupling 10,11, two second bearings 12 of the second ball-screw,
Two ball nuts 13, the second nut seat 14, second support 15, the 4th servomotor 16, guide rod 17, it is calibrated pipettor 18, CCD
Camera 20, circular float 21, beaker 22, electronic balance 23, conical beaker 24, temperature sensor 33.First servomotor
2nd, the second servomotor 9, the 4th servomotor 16, temperature sensor 33 be connected with host computer by I/O module respectively, electronics
Balance 23, CCD camera 20 are connected with host computer respectively；
First servomotor 2, first shaft coupling 3,4, two clutch shaft bearings 5 of the first ball-screw, the first ball nut 6,
First nut seat 7 constitutes horizontal transportation system, first support 8, the second servomotor 9, second shaft coupling 10, the second ball-screw
11st, second bearing 12, the second ball nut 13, the second nut seat 14 constitute vertical transportation system, and two systems synergy is right
The position of liquid-transfering gun to be measured is closely adjusted.
First servomotor 2, two clutch shaft bearing 5, beaker 22, electronic balance 23 is sequentially fixed on experimental operation table 1；
Measurement liquid is filled in the beaker 22, the circular float 21 is floated on measurement liquid；Conical beaker 24 is positioned over electronic balance
On 23；Temperature sensor 33 is arranged in conical beaker 24, in real time fluid temperature in measurement conical beaker 24.
The two ends of the first ball-screw 4 by clutch shaft bearing 5 be arranged on experimental operation table 1 on, the first servomotor 2 it is defeated
Shaft is connected by first shaft coupling 3 with the first ball-screw 4, and the first ball nut 6 is enclosed within the first ball-screw 4；The
One servomotor 2 drives the first ball-screw 4 to rotate so that the first ball nut 6 is moved horizontally；First nut seat 7 is arranged on
The top of first ball nut 6, moves with the level of synchronization of the first ball nut 6；First support 8 is fixed on the first nut seat 7 vertically
On, perpendicular to the first ball-screw 4, the second servomotor 9 is fixed on the bottom of first support 8, the two of the second ball-screw 11
End is arranged in first support 8 by second bearing 12, and the output shaft of the second servomotor 9 passes through second shaft coupling 10 and second
Ball-screw 11 is connected, and the second ball nut 13 is enclosed within the second ball-screw 11, and the second servomotor 9 drives the second ball
Leading screw 11 is rotated so that the in the vertical direction of the second ball nut 13 is moved；Second nut seat 14 and the phase of the second ball nut 13
Connection, with the synchronizing moving of the second ball nut 13；One end of second support 15 is horizontally fixed on the second nut seat 14, and the 4th watches
Take motor 16 and pipettor clamping device 18 be fixed on the other end of second support 15, the output shaft of the 4th servomotor 16 with lead
Bar 17 is connected, and drives guide rod 17 to rotate by the 4th servomotor 16, realizes the liquid relief to the clamping of pipettor clamping device 18
The pressing of rifle.CCD camera 20 is fixed on the lower end of pipettor clamping device 18.
Based on the pipettor calibration method of above-mentioned hand-held capacity calibration device of pipettor, comprise the following steps：
(1) moved by the first servomotor of PC control 2, the real-time image acquisition of CCD camera 20, when pipettor clamping
When the liquid-transfering gun of the clamping of device 18 is located at beaker top, the first servomotor 2 is closed；
(2) moved by the servomotor 16 of PC control the 4th, drive the pressing liquid-transfering gun of guide rod 17 top, push action
After the completion of close the 4th servomotor 16；
(3) and then by the second servomotor of PC control 9 move so that the second ball nut 13 moves down distance
D1, the liquid-transfering gun pipette tips of the clamping of pipettor clamping device 18 are inserted into 2~3mm below liquid level；It is then shut off the second servomotor
9；
(4) by the servomotor 16 of host computer Reverse Turning Control the 4th, until guide rod 17 resets, the 4th servomotor is closed
16, to the pressing event resolves at the top of liquid-transfering gun, liquid-transfering gun draws the measurement liquid of full scale from beaker to guide rod 17；
(5) moved by the second servomotor of PC control 9 so that the second ball nut 13 moves up same distance
D1, is then shut off the second servomotor 9；
(6) host computer obtains initial weight by electronic balance 23, meanwhile, the first servomotor 2 of control is moved, CCD phases
The real-time image acquisition of machine 20, when the liquid-transfering gun of the clamping of pipettor clamping device 18 is located at 24 top of conical beaker, closes first
Servomotor 2；
(7) moved by the second servomotor of PC control 9 so that the second ball nut 13 is moved down apart from D2,
The liquid-transfering gun pipette tips of the clamping of pipettor clamping device 18 are inserted into the bottom of conical beaker 24 but do not contact liquid level；It is then shut off second
Servomotor 9；
(8) moved by the servomotor 16 of PC control the 4th, the pressing liquid-transfering gun of guide rod 17 top is driven, by full scale
Measurement liquid be transferred in conical beaker 24；Then by the servomotor 16 of host computer Reverse Turning Control the 4th, until guide rod 17 is multiple
Position, closes the 4th servomotor 16, and guide rod 17 is to the pressing event resolves at the top of liquid-transfering gun；And watched by PC control second
Take motor 9 to move so that the second ball nut 13 moves up same distance D2, be then shut off the second servomotor 9.
(9) host computer obtains terminal weight by electronic balance 23, is obtained in conical beaker 24 by temperature sensor 33
Fluid temperature.
(10) host computer passes through the actual temperature t of temperature sensor 33, corresponding calibration factor phase under acquisition fluid temperature
COEFFICIENT K (t) is closed, actual weight m is further obtained according to terminal weight and initial weight, obtain actual volume V '=K (t) m.
(11) n measurement is carried out according to step 1~10, obtains range V1Under the volume data that measures, be V11'~V1n’；
(12) liquid-transfering gun range is adjusted, 6 measurements is carried out according to step 1~10, obtain range ViUnder volume data Vi1’
~Vin’；
(13) according to measurement volume and actual volume, capacity relative error and the capacity repeatability of pipettor are obtained.Wherein,
Range ViUnder capacity relative error be：
Wherein,
Capacity repeatability is：Wherein
Claims (3)
1. a kind of hand-held capacity calibration device of pipettor, is made up of following component：Host computer, experimental operation table (1), first are watched
Take motor (2), first shaft coupling (3), the first ball-screw (4), two clutch shaft bearings (5), the first ball nut (6), first
Nut seat (7), first support (8), the second servomotor (9), second shaft coupling (10), the second ball-screw (11), the second axle
Hold (12), the second ball nut (13), the second nut seat (14), second support (15), the 4th servomotor (16), guide rod
(17) pipettor (18), CCD camera (20), circular float (21), beaker (22), electronic balance (23), conical beaker, are calibrated
(24), temperature sensor (33) etc..First servomotor (2), the second servomotor (9), the 4th servomotor (16), temperature
Degree sensor (33) is connected by I/O module with host computer respectively；Electronic balance (23), CCD camera (20) respectively with host computer
It is connected；
First servomotor (2), two clutch shaft bearings (5), beaker (22), electronic balances (23) are sequentially fixed at experimental operation table
(1) on；Measurement liquid is filled in the beaker (22), the circular float (21) is floated on measurement liquid；Conical beaker (24) is put
It is placed on electronic balance (23)；Temperature sensor (33) is measured in conical beaker (24) in real time in conical beaker (24)
Fluid temperature.
The two ends of the first ball-screw (4) by clutch shaft bearing (5) on experimental operation table (1), the first servomotor (2)
Output shaft be connected with the first ball-screw (4) by first shaft coupling (3), the first ball nut (6) is enclosed within the first ball
On leading screw (4)；First servomotor (2) drives the first ball-screw (4) to rotate so that the first ball nut (6) is moved horizontally；
First nut seat (7) is moved installed in the first ball nut (6) top with the first ball nut (6) level of synchronization；First support
(8) it is fixed on the first nut seat (7) vertically, perpendicular to the first ball-screw (4), the second servomotor (9) is fixed on first
The bottom of support (8), the two ends of the second ball-screw (11) by second bearing (12) in first support (8), second
The output shaft of servomotor (9) is connected by second shaft coupling (10) with the second ball-screw (11), the second ball nut
(13) it is enclosed within the second ball-screw (11), the second servomotor (9) drives the second ball-screw (11) to rotate so that the second rolling
Pearl nut (13) in the vertical direction is moved；Second nut seat (14) is connected with the second ball nut (13), with the second ball
Nut (13) synchronizing moving；One end of second support (15) is horizontally fixed on the second nut seat (14), the 4th servomotor
(16) and pipettor clamping device (18) is fixed on the other end of second support (15), the output shaft of the 4th servomotor (16) with
Guide rod (17) is connected, and drives guide rod (17) to rotate by the 4th servomotor (16), realizes to pipettor clamping device (18)
The pressing of the liquid-transfering gun of clamping.CCD camera (20) is fixed on pipettor clamping device (18) lower end.
2. a kind of pipettor calibration method of the hand-held capacity calibration device of pipettor based on described in claim 1, its feature
It is that the method is comprised the following steps：
(1) moved by the servomotor of PC control first (2), CCD camera (20) real-time image acquisition, when pipettor clamping
When the liquid-transfering gun of device (18) clamping is located at beaker top, the first servomotor (2) is closed；
(2) moved by the servomotor (16) of PC control the 4th, drive guide rod (17) pressing liquid-transfering gun top, push action
After the completion of close the 4th servomotor (16)；
(3) moved by the servomotor of PC control second (9) so that the second ball nut (13) is moved down apart from D1,
The liquid-transfering gun pipette tips of pipettor clamping device (18) clamping are inserted into 2~3mm below liquid level；It is then shut off the second servomotor
(9)；
(4) by the servomotor (16) of host computer Reverse Turning Control the 4th, until guide rod (17) resets, the 4th servomotor is closed
(16), to the pressing event resolves at the top of liquid-transfering gun, liquid-transfering gun draws the measurement liquid of full scale from beaker to guide rod (17)；
(5) moved by the servomotor of PC control second (9) so that the second ball nut (13) moves up same distance
D1, is then shut off the second servomotor (9)；
(6) host computer obtains initial weight by electronic balance (23), meanwhile, the first servomotor of control (2) motion, CCD phases
Machine (20) real-time image acquisition, when the liquid-transfering gun of pipettor clamping device (18) clamping is located at conical beaker (24) top, closes
Close the first servomotor (2)；
(7) moved by the servomotor of PC control second (9) so that the second ball nut (13) is moved down apart from D2,
The liquid-transfering gun pipette tips of pipettor clamping device (18) clamping are inserted into conical beaker (24) bottom but do not contact liquid level；It is then shut off
Second servomotor (9)；
(8) moved by the servomotor (16) of PC control the 4th, guide rod (17) pressing liquid-transfering gun top is driven, by full scale
Measurement liquid be transferred in conical beaker (24)；Then by the servomotor (16) of host computer Reverse Turning Control the 4th, until guide rod
(17) reset, close the 4th servomotor (16), guide rod (17) is to the pressing event resolves at the top of liquid-transfering gun；And by host computer
The second servomotor (9) is controlled to move so that the second ball nut (13) moves up same distance D2, is then shut off second and watches
Take motor (9).
(9) host computer obtains terminal weight by electronic balance (23), and conical beaker (24) is obtained by temperature sensor (33)
Interior fluid temperature.
(10), by temperature sensor (33) actual temperature t, corresponding calibration factor is related under acquisition fluid temperature for host computer
COEFFICIENT K (t), further obtains actual weight m according to terminal weight and initial weight, obtains actual volume V '=K (t) m.
(11) n measurement is carried out according to step 1~10, obtains range V1Under the volume data that measures, be V11'~V1n’；
(12) liquid-transfering gun range is adjusted, n measurement is carried out according to step 1~10, obtain range ViUnder volume data Vi1'~
Vin’；
(13) according to measurement volume and actual volume, capacity relative error and the capacity repeatability of pipettor are obtained.Wherein, range
ViUnder capacity relative error be：
Wherein,
Capacity repeatability is：Wherein
3. method according to claim 2, it is characterised in that n=6.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107036764A (en) * | 2017-06-08 | 2017-08-11 | 南京医科大学 | A kind of High Precision Automatic hand-held pipettor metering device and its metering method |
| CN107917747A (en) * | 2017-11-15 | 2018-04-17 | 中国计量大学 | A kind of hand-held capacity calibration device of pipettor and its calibration method |
| CN108489576A (en) * | 2018-07-09 | 2018-09-04 | 中国计量大学 | A kind of calibrating installation and calibration method of small volumetric(al) standards device |
| CN108786946A (en) * | 2018-05-03 | 2018-11-13 | 昆明仁旺科技有限公司 | A kind of novel intelligent liquid relief machine and system |
| CN109556919A (en) * | 2017-09-26 | 2019-04-02 | 深圳市新产业生物医学工程股份有限公司 | Liquid-transfering device and its liquid relief control method |
| CN110065083A (en) * | 2019-05-15 | 2019-07-30 | 林伟阳 | A kind of full-automatic pipettor manipulator robot |
| CN110075940A (en) * | 2019-06-03 | 2019-08-02 | 熙迈(上海)检测技术服务有限公司 | A kind of pipettor calibrator (-ter) unit |
| CN113070114A (en) * | 2021-04-26 | 2021-07-06 | 安图实验仪器(郑州)有限公司 | Plating inoculation instrument and liquid transfer control method and device of liquid transfer device of plating inoculation instrument |
| EP3911442A4 (en) * | 2019-01-17 | 2023-04-05 | Shahar, Dan Yehoshoa | Pipettor calibration system devices and methods thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107036764A (en) * | 2017-06-08 | 2017-08-11 | 南京医科大学 | A kind of High Precision Automatic hand-held pipettor metering device and its metering method |
| CN109556919A (en) * | 2017-09-26 | 2019-04-02 | 深圳市新产业生物医学工程股份有限公司 | Liquid-transfering device and its liquid relief control method |
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Application publication date: 20170606 Assignee: Xinchang China Metrology University Enterprise Innovation Research Institute Co.,Ltd. Assignor: China Jiliang University Contract record no.: X2021330000071 Denomination of invention: A capacity calibration device and calibration method for hand-held pipette Granted publication date: 20181225 License type: Common License Record date: 20210816 |
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Assignee: Xinchang China Metrology University Enterprise Innovation Research Institute Co.,Ltd. Assignor: China Jiliang University Contract record no.: X2021330000071 Date of cancellation: 20211231 |