CN110333362B - Miniaturized full-automatic liquid workstation - Google Patents
Miniaturized full-automatic liquid workstation Download PDFInfo
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- CN110333362B CN110333362B CN201910726304.9A CN201910726304A CN110333362B CN 110333362 B CN110333362 B CN 110333362B CN 201910726304 A CN201910726304 A CN 201910726304A CN 110333362 B CN110333362 B CN 110333362B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1065—Multiple transfer devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Abstract
The invention relates to a miniaturized and fully-automatic liquid workstation. The liquid workstation aims at solving the problems of complex structure, large volume, low compatibility and poor product pertinence of the liquid workstation in the prior art. The invention comprises a fixed frame, a base, a pipettor, an X-axis motion mechanism, at least one Z-axis motion mechanism, a Y1-axis motion mechanism and a Y2-axis motion mechanism; the fixed frame is arranged on the base; the liquid transfer device is arranged on the Z-axis movement mechanism, and the Z-axis movement mechanism is used for driving the liquid transfer device to move along the Z-axis direction; the Z-axis movement mechanism is arranged on the X-axis movement mechanism, and the X-axis movement mechanism is used for driving the Z-axis movement mechanism to move along the X-axis direction; the X-axis movement mechanism is arranged at the top of the fixed frame and moves along the top of the fixed frame in the X-axis direction; the Y1 axis movement mechanism is arranged on the base and used for driving the fixed frame to move along the Y axis direction; the base is also provided with a working platform and a Y2 axis movement mechanism for driving the working platform to move along the Y axis.
Description
Technical Field
The invention relates to the technical field of medical appliances, in particular to a miniaturized and fully-automatic liquid workstation.
Background
Molecular biotechnology, which is one of the most advanced experimental means in modern biotechnology, has been widely penetrated into the fields of clinical detection, basic medical research, drug development, epidemic prevention and control, food safety and sanitation, and the like. Currently, common molecular biology techniques include: nucleic acid extraction, polymerase Chain Reaction (PCR), gene sequencing, biochip, etc. the techniques involve not only the complex and complicated liquid handling operations of sample handling, retention, reagent distribution, gradient dilution, micropipetting, etc., but also high requirements on the accuracy and repeatability of the operations. In the face of the rapidly growing sample size of molecular biology, the increasing degree of automation in molecular laboratories has become a necessary trend, and pipetting stations capable of automatically performing various liquid operations in molecular biology have been developed.
In the prior art, liquid workstations in the domestic market mainly take imported brands as main raw materials, are high in price and have low fitness with specific application in the domestic market. The specific limitation is that the structure is complex, the volume is large, the compatibility is not high, and the pertinence of the product is poor.
Therefore, the full-automatic liquid workstation which is small in size, simple in structure and high in pertinence is researched and developed, and meanwhile, the full-automatic liquid workstation can be flexibly applied to various different use scenes.
Disclosure of Invention
The invention aims to provide a miniaturized and full-automatic liquid workstation, which aims to solve the problems of complex structure, large volume, low compatibility and poor product pertinence of the liquid workstation in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the invention relates to a miniaturized and full-automatic liquid workstation, which is characterized in that:
comprises a fixed frame, a base, a pipettor, an X-axis motion mechanism, at least one Z-axis motion mechanism, a Y1-axis motion mechanism and a Y2-axis motion mechanism;
the fixed frame is arranged on the base;
the liquid transfer device is arranged on the Z-axis movement mechanism, and the Z-axis movement mechanism is used for driving the liquid transfer device to move along the Z-axis direction;
the Z-axis movement mechanism is arranged on the X-axis movement mechanism, and the X-axis movement mechanism is used for driving the Z-axis movement mechanism to move along the X-axis direction;
the X-axis movement mechanism is arranged at the top of the fixed frame and moves along the top of the fixed frame in the X-axis direction;
the Y1 axis movement mechanism is arranged on the base and used for driving the fixed frame to move along the Y axis direction;
the base is also provided with a working platform and a Y2 axis movement mechanism for driving the working platform to move along the Y axis.
Further, the Y1 axis movement mechanism comprises a Y1 axis left slide rail, a Y1 axis right slide rail, a left first synchronous pulley, a left second synchronous pulley, a left tensioning mechanism, a right first synchronous pulley, a second stepping motor, a driving synchronous pulley, a right tensioning mechanism, a second synchronous belt, a Y1 axis left slide block seat and a Y1 axis right slide block seat;
the Y1-axis left sliding rail and the Y1-axis right sliding rail are arranged on the lower surface of the base in parallel along the Y-axis direction;
the left first synchronous belt pulley and the left second synchronous belt pulley are arranged close to a left sliding rail of the Y1 shaft along the Y axis direction, and the left tensioning mechanism is arranged close to the left first synchronous belt pulley;
the right side first synchronous belt pulley and the driving synchronous belt pulley are arranged close to the Y1 axis right sliding rail along the Y axis direction, and the right side tensioning mechanism is arranged close to the right side first synchronous belt pulley;
the second synchronous belt is wound along the driving synchronous belt pulley, the right tensioning mechanism, the left second synchronous belt pulley, the left first synchronous belt pulley and the right first synchronous belt pulley in sequence to form a moving loop;
the Y1-axis left sliding block seat is clamped on the Y1-axis left sliding rail and is connected to a second synchronous belt between the left second synchronous belt pulley and the left first synchronous belt pulley;
the Y1-axis right sliding block seat is clamped on the Y1-axis right sliding rail and is connected to a second synchronous belt between the driving synchronous belt wheel and the right tensioning mechanism;
the second stepping motor is connected with the driving synchronous belt pulley.
Further, the Y2 axis movement mechanism comprises a Y2 axis left slide rail, a Y2 axis right slide rail, a left limit bar, a right limit bar, a left guide wheel, a right guide wheel, a third stepping motor, a screw rod, a Y2 axis left sliding block and a Y2 axis right sliding block;
the Y2-axis left sliding rail and the Y2-axis right sliding rail are arranged on the upper surface of the base in parallel along the Y-axis direction, and the lengths of the Y2-axis left sliding rail and the Y2-axis right sliding rail along the Y-axis direction are larger than the lengths of the working platform along the Y-axis direction;
the Y2-axis left sliding block and the Y2-axis right sliding block are respectively clamped on the Y2-axis left sliding rail and the Y2-axis right sliding rail and are connected with the bottom of the working platform;
the left limit bar and the right limit bar are arranged between the left Y2-axis sliding rail and the right Y2-axis sliding rail in parallel along the Y-axis direction and are connected with the upper surface of the base;
the left guide wheel and the right guide wheel are positioned between the left limit bar and the right limit bar and fixedly connected with the bottom of the working platform, and are respectively clung to the left limit bar and the right limit bar in the movement range;
the screw rod is arranged between the left guide wheel and the right guide wheel, the screw rod is arranged along the Y-axis direction, and the screw rod nut is fixed at the bottom of the working platform;
and an output shaft of the third stepping motor is connected with a screw rod.
Further, at least two supporting wheels are arranged at the bottom of the working platform.
Further, the fixed frame is of a gantry type frame structure and comprises a cross beam and two support columns;
the cross beam is arranged along the X-axis direction;
the upper ends of the two support columns are respectively and vertically connected with the two ends of the cross beam, and the lower ends of the two support columns are respectively connected with the Y1-axis left sliding block seat and the Y1-axis right sliding block seat.
Further, the X-axis movement mechanism comprises an X-axis sliding rail, a synchronous belt fixing seat, a synchronous belt wheel, a first synchronous belt, a synchronous belt tensioning seat, a synchronous belt wheel, a first stepping motor and an X-axis sliding block seat;
the X-axis sliding rail is arranged along the length direction of the cross beam;
the synchronous belt fixing seat and the synchronous belt tensioning seat are arranged at two ends of the X-axis sliding rail;
the first synchronous belt is fixed between the synchronous belt fixing seat and the synchronous belt tensioning seat;
the synchronous belt wheel is rotationally wound on the first synchronous belt;
the first stepping motor is fixed on the X-axis sliding block seat, and the output end of the first stepping motor is connected with the synchronous pulley;
the X-axis sliding block seat is clamped on the X-axis sliding rail and is fixedly connected with the synchronous pulley;
the Z-axis movement mechanism is fixedly arranged on the X-axis sliding block seat.
Further, two Z-axis motion machines are arranged on the X-axis sliding block seat side by side.
Further, the Z-axis movement mechanism comprises a fixed plate, a fourth stepping motor, a Z-axis sliding rail, a driving wheel, a driven wheel, at least two idler wheels, a Z-axis sliding block seat and a Z-axis belt;
the fixed plate is arranged on the X-axis sliding block seat;
the Z-axis sliding rail is arranged on the front end surface of the fixed plate along the Z-axis direction;
the output shaft of the fourth stepping motor is connected with the driving wheel by penetrating through the fixing plate;
the driving wheel and the driven wheel are arranged on one side of the Z-axis sliding rail along the Z-axis direction;
the at least two idler wheels are arranged between the driving wheel and the driven wheel along the Z-axis direction;
the Z-axis belt is sleeved on the driving wheel and the driven wheel and simultaneously is S-shaped and spirally wound on the at least two idler wheels;
the Z-axis sliding block seat is clamped on the Z-axis sliding rail and is fixedly connected with the Z-axis belt;
the pipettor is arranged on the Z-axis sliding block seat.
Further, cameras are arranged on the X-axis movement mechanism, the Y1-axis movement mechanism, the Y2-axis movement mechanism and the Z-axis movement mechanism, and can shoot the working platform and conduct image recognition and transmission.
Further, the working platform comprises a TIP area, a waste area and a replaceable area;
three mutually isolated TIP storage boxes are uniformly arranged in the TIP area;
the waste area is provided with a waste box;
the replaceable area is provided with a replaceable storage box.
The beneficial effects of the invention are as follows:
1. the invention is provided with the X-axis movement mechanism, the plurality of Z-axis movement mechanisms and the double Y-axis movement mechanism, so that a plurality of pipettes can reach all areas of a workbench surface, and the space utilization is more reasonably and effectively realized while the related operation is finished, and the volume of the whole machine is greatly reduced; the invention has simple and compact structure, simple and convenient operation and stable performance, has smaller volume than the existing pipetting workstations in the current market, and can be placed on a standardized test bed for use.
2. The fixed frame adopts a large-span gantry type frame structure, the size of the instrument is reduced, the limitation of the frame on the layout of a working platform is avoided, besides, the gantry type frame structure moves through the Y1 moving mechanism, and the Y1 moving mechanism forms double-side synchronous driving according to the combination of the left first synchronous belt wheel, the left second synchronous belt wheel, the left tensioning mechanism, the right first synchronous belt wheel, the driving synchronous belt wheel, the right tensioning mechanism, the second synchronous belt and the like, so that the two-side synchronism of the large-span gantry type moving mechanism is realized, the moving precision is high, and the work is more stable.
3. The invention can rapidly and accurately automatically finish operations such as sample adding, sample reserving, sample transferring, gradient dilution, reagent distribution, reaction system construction and the like, has high pipetting accuracy and high working efficiency, and can lead an experimenter to get rid of complex experimental operation, reduce the labor intensity of the experimenter, improve the experimental efficiency, effectively reduce errors in the manual operation process, improve the experimental repeatability and standardize the experimental flow.
4. The camera is arranged on each movement mechanism, so that the working table surface can be photographed, image recognition can be carried out, the position of a target object of the grabbing mechanism can be accurately informed, and the intelligent degree is high.
5. According to the invention, at least two idler wheels are arranged on the driving wheel and the driven wheel along the Z-axis direction, and the Z-axis belt is spirally wound on the at least two idler wheels, so that the structure can prevent the belt from increasing resistance and placing the pipette to drop when power is off.
6. The invention is based on modularized design, changes the table layout according to the continuously changing experimental requirements, and can be flexibly applied to various different use scenes; meanwhile, the number of samples can be set at will according to actual requirements, so that unnecessary operations are greatly reduced, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic view of a miniaturized, fully automated liquid workstation according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a Y1 axis motion mechanism according to an embodiment of the present invention;
FIG. 3 is a bottom view of the Y2 axis motion mechanism according to the embodiment of the present invention;
FIG. 4 is a front view of the structure of an X-axis movement mechanism according to an embodiment of the present invention;
FIG. 5 is a top view of the structure of an X-axis motion mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic view of a Z-axis motion mechanism according to an embodiment of the present invention;
fig. 7 is a schematic layout diagram of a movable platform according to an embodiment of the invention.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
1. an X-axis movement mechanism; 11. a synchronous belt fixing seat; 12. an X-axis sliding rail; 13. an X-axis sliding block seat; 14. a synchronous pulley; 15. a first synchronization belt; 16. a synchronous belt tensioning seat; 17. a first stepping motor; 18. a guide wheel;
2. a Y1 axis motion mechanism; 21. a second timing belt; 221. a first synchronous pulley on the left side; 222. a right first synchronous pulley; 23. a left second synchronous pulley; 241. a left side tensioning mechanism; 242. a right side tensioning mechanism; 251. a left slide rail; 252. a right slide rail; 261. y1 axis left slide block seat; 262. y1 axis right slider seat; 27. a second stepping motor; 28. a driving synchronous pulley;
3. a Y2 axis motion mechanism; 321. y2 axis left slide rail; 322. y2 axis right slide rail; 351. a left limit bar; 352. a right limit bar; 341. a left guide wheel; 342. a right guide wheel; 331. a support wheel; 31. a third stepper motor; 32. a screw rod; 311. y2 axis left slider; 312. y2 axis right slider;
4. z-axis movement mechanism: 47. a fixing plate; 43. a fourth stepping motor; 45. a Z-axis sliding rail; 44. a driving wheel; 41. driven wheel; 42. an idler; 48. a Z-axis belt; 49. a Z-axis slide block seat;
5. a working platform; 51. a TIP region; 52. a waste area; 53. a replaceable zone;
6. a pipette;
7. a fixed frame; 71. a cross beam; 72. a support column;
9. a camera; 10. a base;
Detailed Description
To further clarify the objects, advantages and features of the present invention, a miniaturized, fully automated liquid station according to the present invention will be described in further detail with reference to the accompanying drawings and detailed description. The advantages and features of the present invention will become more apparent from the following detailed description. It should be noted that: the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention; secondly, the structure shown in the drawings is often part of an actual structure, and again, the emphasis on the structure to be shown in the drawings is different, and sometimes different proportions are adopted.
The invention will be described in detail below with reference to the drawings and the detailed description.
Examples:
the specific structure of the miniaturized and fully-automatic liquid workstation of the embodiment is as follows:
as shown in fig. 1, the present embodiment includes a fixed frame 7, a base 10, a pipette 6, an X-axis movement mechanism 1, two Z-axis movement mechanisms 4, a Y1-axis movement mechanism 2, and a Y2-axis movement mechanism 3; the fixed frame 7 is arranged on the base 10; the liquid transfer device 6 is arranged on the Z-axis movement mechanism 4, and the Z-axis movement mechanism 4 is used for driving the liquid transfer device 6 to move along the Z-axis direction; the two Z-axis motion mechanisms 4 are arranged on the X-axis motion mechanism 1 side by side, and the X-axis motion mechanism 1 is used for driving the Z-axis motion mechanism 4 to move along the X-axis direction; the X-axis movement mechanism 1 is arranged at the top of the fixed frame 7 and moves along the top of the fixed frame 7 in the X-axis direction; the Y1 axis movement mechanism 2 is arranged on the base 10 and used for driving the fixed frame 7 to move along the Y axis direction; the base 10 is also provided with a working platform 5 and a Y2 axis movement mechanism 3 for driving the working platform 5 to move along the Y axis.
Therefore, by adopting a double Y-axis design, the working platform driven by the Y2-axis movement mechanism is matched with the fixed frame driven by the Y1-axis to realize relative movement, so that the whole machine is small in size, and the pipettor can reach all areas of the working table surface to finish the operations of reaction system establishment, automatic sample transfer, automatic sample retention, different system product transfer and the like. The structure is simple and compact, the operation is simple and convenient, the performance is stable, the volume is smaller than that of the existing pipetting workstations in the current market, and the pipetting workstations can be placed on a standardized test bed for use; the invention can also rapidly and accurately automatically finish operations such as sample adding, sample reserving, sample transferring, gradient dilution, reagent distribution, reaction system construction and the like, has high pipetting accuracy and high working efficiency, and the automatic operation of the invention can lead an experimenter to get rid of complex experimental operation, reduce the labor intensity of the experimenter, improve the experimental efficiency, effectively reduce errors in the manual operation process, improve the experimental repeatability and standardize the experimental flow. Meanwhile, the operation interface of the software is visual and simple, and no matter the expert with abundant experience or the automatic primary user, the automatic program is easy to operate in establishment, editing or running.
As shown in fig. 2, the Y1 axis movement mechanism 2 preferably includes a Y1 axis left slide rail 251, a Y1 axis right slide rail 252, a left first timing pulley 221, a left second timing pulley 23, a left tension mechanism 241, a right first timing pulley 222, a second stepping motor 27, a driving timing pulley 28, a right tension mechanism 242, a second timing belt 21, a Y1 axis left slider seat 261, and a Y1 axis right slider seat 262; the left Y1-axis sliding rail 251 and the right Y1-axis sliding rail 252 are arranged on the lower surface of the base 10 in parallel along the Y-axis direction; the left first timing pulley 221 and the left second timing pulley 23 are disposed near the Y1-axis left slide rail 251 in the Y-axis direction, and the left tensioning mechanism 241 is disposed near the left first timing pulley 221; the right first timing pulley 222 and the driving timing pulley 28 are disposed near the Y1-axis right slide rail 252 in the Y-axis direction, and the right tensioning mechanism 242 is disposed near the right first timing pulley 222; the second timing belt 21 is wound around the driving timing pulley 28, the right side tension mechanism 242, the left side tension mechanism 241, the left side second timing pulley 23, the left side first timing pulley 221, and the right side first timing pulley 222 in this order to form a movement loop; the Y1-axis left slider seat 261 is clamped on the Y1-axis left sliding rail 251 and is connected to the second synchronous belt 21 between the left second synchronous pulley 23 and the left first synchronous pulley 221; the Y1-axis right slider seat 262 is clamped on the Y1-axis right slide rail 252 and is simultaneously connected to the second synchronous belt 21 between the driving synchronous pulley 28 and the right tensioning mechanism 242; the second stepper motor 27 is connected to a driving synchronous pulley 28.
Therefore, the driving synchronous pulley 28 drives the second synchronous belt 21 to rotate in a concave loop, the rotation of the second stepping motor 27 is converted into linear motion, and the Y1-axis left sliding block seat 261 and the Y1-axis right sliding block seat 262 connected with the second synchronous belt 21 respectively move on the Y1-axis left sliding rail 251 and the Y1-axis right sliding rail 252 along the Y-axis in the same direction, thereby realizing the movement of the fixed frame in the Y-axis direction. The present embodiment exemplifies that the direction of movement of the timing belt is shown as the arrow direction in the figure. The left tensioning mechanism 241 and the right tensioning mechanism 242 can adjust the tensioning force of the second synchronous belt 21, so that the assembly is simple and convenient, and the mechanism can reach the optimal running state.
As shown in fig. 3, the Y2 axis movement mechanism 3 includes a Y2 axis left slide rail 321, a Y2 axis right slide rail 322, a left limit bar 351, a right limit bar 352, a left guide wheel 341, a right guide wheel 342, a third stepping motor 31, a screw 32, a Y2 axis left slider 311, and a Y2 axis right slider 312; the Y2-axis left sliding rail 321 and the Y2-axis right sliding rail 322 are arranged on the upper surface of the base in parallel along the Y-axis direction, and the lengths of the Y2-axis left sliding rail 321 and the Y2-axis right sliding rail 322 along the Y-axis direction are larger than the length of the working platform 5 along the Y-axis direction; the Y2-axis left sliding block 311 and the Y2-axis right sliding block 312 are respectively clamped on a Y2-axis left sliding rail 321 and a Y2-axis right sliding rail 322 and are connected with the bottom of the working platform 5; the left limit bar 351 and the right limit bar 352 are arranged between the left Y2-axis slide rail 321 and the right Y2-axis slide rail 322 in parallel along the Y-axis direction and are connected with the upper surface of the base 10; the left guide wheel 341 and the right guide wheel 342 are positioned between the left limit bar 351 and the right limit bar 352 and are fixedly connected with the bottom of the working platform 5, and the left guide wheel 341 and the right guide wheel 342 are respectively clung to the left limit bar 351 and the right limit bar 352 in the movement range; the screw rod 32 is arranged between the left guide wheel 341 and the right guide wheel 342, the screw rod is arranged along the Y-axis direction, and the screw rod nut is fixed at the bottom of the working platform 5; an output shaft of the third stepping motor 31 is connected to a lead screw 32. Two supporting wheels 331 are also uniformly installed at the bottom of the working platform 5.
Thus, the Y2 axis motion mechanism and the Y1 axis motion mechanism do not interfere with each other, so that the pipette can reach all areas of the work surface to complete the relevant operation.
Preferably, as shown in fig. 1, the fixed frame 7 is a gantry frame structure, and includes a cross beam 71 and two support columns 72; the cross member 71 is disposed along the X-axis direction; the upper ends of the two support columns 72 are respectively and vertically connected with the two ends of the cross beam 71, and the lower ends are respectively connected with the Y1-axis left slide block seat 261 and the Y1-axis right slide block seat 262.
Preferably, as shown in fig. 4 and 5, the X-axis movement mechanism 1 includes an X-axis slide rail 12, a synchronous belt fixing seat 11, a synchronous pulley 14, a first synchronous belt 15, a synchronous belt tensioning seat 16, a synchronous pulley 14, a first stepping motor 17, and an X-axis slide block seat 13; the X-axis slide rail 12 is arranged along the length direction of the cross beam 71; the synchronous belt fixing seat 11 and the synchronous belt tensioning seat 16 are arranged at two ends of the X-axis sliding rail 12; the first synchronous belt 15 is fixed between the synchronous belt fixing seat 11 and the synchronous belt tensioning seat 16; the timing pulley 14 is wound around the first timing belt 15 in a rotating manner; the first stepping motor 17 is fixed on the X-axis sliding block seat 13, and the output end of the first stepping motor is connected with the synchronous pulley 14; the X-axis sliding block seat 13 is clamped on the X-axis sliding rail 12 and is fixedly connected with the synchronous pulley 14; the Z-axis movement mechanism 4 is fixedly arranged on the X-axis sliding block seat 13.
Therefore, the first synchronous belt 15 is fixed, the X-axis power device and the executing mechanism move together, the first synchronous belt 15 is fixed by the synchronous belt fixing seat 11 and the synchronous belt tensioning seat 16, the tensioning force of the first synchronous belt 15 is adjusted by the synchronous belt tensioning seat 16, the first stepping motor 17 drives the synchronous belt pulley 14 to convert rotation into linear motion, and the X-axis sliding block seat 13 moves on the X-axis sliding rail 12 along the X-axis direction. The forward rotation and the reverse rotation of the first stepping motor 17 realize the reciprocating motion of the X-axis slider seat 13 back and forth along the X-axis direction. The X-axis movement mechanism 1 has small volume, simple structure and high operation precision, and meets the requirements of operation precision and service life of the device through a durability test.
Preferably, as shown in fig. 6, the Z-axis movement mechanism 4 includes a fixed plate 47, a fourth stepping motor 43, a Z-axis slide rail 45, a driving wheel 44, a driven wheel 41, three idle wheels 42, a Z-axis slide block seat 49, and a Z-axis belt 48; the fixed plate 47 is mounted on the X-axis slide block seat 13; the Z-axis slide rail 45 is provided on the front end surface of the fixed plate 47 in the Z-axis direction; the fourth stepping motor 43 is mounted on the rear end surface of the fixed plate 47, and the output shaft thereof passes through the fixed plate 47 to be connected with the driving wheel 44; the driving wheel 44 and the driven wheel 41 are arranged on one side of the Z-axis sliding rail 45 along the Z-axis direction; three idler wheels 42 are arranged between the driving wheel 44 and the driven wheel 41 along the Z-axis direction; the Z-axis belt 48 is sleeved on the driving wheel 44 and the driven wheel 41 and simultaneously is S-shaped and spirally wound on the three idle wheels 42; the Z-axis sliding block seat 49 is clamped on the Z-axis sliding rail 45 and is fixedly connected with the Z-axis belt 48; the pipette 6 is mounted on a Z-axis slide 49.
Preferably, the X-axis motion mechanism 1, the Y1-axis motion mechanism 2, the Y2-axis motion mechanism 3 and the Z-axis motion mechanism 4 are respectively provided with a camera 9, and the cameras 9 can take pictures of the working platform 5 and perform image recognition and transmission.
Preferably, as shown in fig. 7, the working platform 5 includes a TIP zone 51, a reject zone 52, and a replaceable zone 53; the TIP region 51 uniformly accommodates three TIP storage boxes isolated from each other; the reject zone 52 houses the reject box; the exchangeable area 53 houses an exchangeable storage case.
Therefore, the invention is based on modularized design, changes the table layout according to the continuously changing experimental requirements, and can be flexibly applied to various different use scenes; meanwhile, the number of samples can be set at will according to actual requirements, so that unnecessary operations are greatly reduced, and the working efficiency is improved; the flexible switching of the multiple modules can be realized to realize different experimental purposes, fluxes, functions and different requirements of use scenes.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (10)
1. A miniaturized, fully automatic liquid workstation, characterized in that:
comprises a fixed frame (7), a base (10), a pipettor (6), an X-axis movement mechanism (1), at least one Z-axis movement mechanism (4), a Y1-axis movement mechanism (2) and a Y2-axis movement mechanism (3);
the fixed frame (7) is arranged on the base (10);
the liquid transfer device (6) is arranged on the Z-axis movement mechanism (4), and the Z-axis movement mechanism (4) is used for driving the liquid transfer device (6) to move along the Z-axis direction;
the Z-axis movement mechanism (4) is arranged on the X-axis movement mechanism (1), and the X-axis movement mechanism (1) is used for driving the Z-axis movement mechanism (4) to move along the X-axis direction;
the X-axis movement mechanism (1) is arranged at the top of the fixed frame (7) and moves along the X-axis direction of the top of the fixed frame (7);
the Y1 axis movement mechanism (2) is arranged on the base (10) and used for driving the fixed frame (7) to move along the Y axis direction;
the base (10) is also provided with a working platform (5) and a Y2 axis movement mechanism (3) for driving the working platform (5) to move along the Y axis;
the Y1 axis movement mechanism (2) and the Y2 axis movement mechanism (3) move relatively, so that the pipettor (6) can reach all areas of the working platform (5).
2. A miniaturized, fully automated liquid workstation according to claim 1, wherein: the Y1 axis movement mechanism (2) comprises a Y1 axis left sliding rail (251), a Y1 axis right sliding rail (252), a left first synchronous pulley (221), a left second synchronous pulley (23), a left tensioning mechanism (241), a right first synchronous pulley (222), a second stepping motor (27), a driving synchronous pulley (28), a right tensioning mechanism (242), a second synchronous belt (21), a Y1 axis left sliding block seat (261) and a Y1 axis right sliding block seat (262);
the Y1-axis left sliding rail (251) and the Y1-axis right sliding rail (252) are arranged on the lower surface of the base (10) in parallel along the Y-axis direction;
the left first synchronous pulley (221) and the left second synchronous pulley (23) are arranged close to a left sliding rail (251) of the Y1 shaft along the Y-axis direction, and the left tensioning mechanism (241) is arranged close to the left first synchronous pulley (221);
the right first synchronous pulley (222) and the driving synchronous pulley (28) are arranged close to a Y1-axis right sliding rail (252) along the Y-axis direction, and the right tensioning mechanism (242) is arranged close to the right first synchronous pulley (222);
the second synchronous belt (21) is wound along the driving synchronous pulley (28), the right tensioning mechanism (242), the left tensioning mechanism (241), the left second synchronous pulley (23), the left first synchronous pulley (221) and the right first synchronous pulley (222) in sequence to form a moving loop;
the Y1-axis left sliding block seat (261) is clamped on a Y1-axis left sliding rail (251) and is simultaneously connected to a second synchronous belt (21) between a left second synchronous belt wheel (23) and a left first synchronous belt wheel (221);
the Y1-axis right sliding block seat (262) is clamped on the Y1-axis right sliding rail (252) and is simultaneously connected to a second synchronous belt (21) between the driving synchronous belt wheel (28) and the right tensioning mechanism (242);
the second stepping motor (27) is connected with a driving synchronous pulley (28).
3. A miniaturized, fully automated liquid workstation according to claim 1, wherein: the Y2 axis movement mechanism (3) comprises a Y2 axis left sliding rail (321), a Y2 axis right sliding rail (322), a left limit bar (351), a right limit bar (352), a left guide wheel (341), a right guide wheel (342), a third stepping motor (31), a screw (32), a Y2 axis left sliding block (311) and a Y2 axis right sliding block (312);
the Y2-axis left sliding rail (321) and the Y2-axis right sliding rail (322) are arranged on the upper surface of the base in parallel along the Y-axis direction, and the lengths of the Y2-axis left sliding rail (321) and the Y2-axis right sliding rail (322) along the Y-axis direction are larger than the length of the working platform (5) along the Y-axis direction;
the Y2-axis left sliding block (311) and the Y2-axis right sliding block (312) are respectively clamped on a Y2-axis left sliding rail (321) and a Y2-axis right sliding rail (322), and are connected with the bottom of the working platform (5);
the left limit bar (351) and the right limit bar (352) are arranged between the left Y2-axis sliding rail (321) and the right Y2-axis sliding rail (322) in parallel along the Y-axis direction and are connected with the upper surface of the base (10);
the left guide wheel (341) and the right guide wheel (342) are positioned between the left limit bar (351) and the right limit bar (352) and are fixedly connected with the bottom of the working platform (5), and the left guide wheel (341) and the right guide wheel (342) are respectively clung to the left limit bar (351) and the right limit bar (352) in the movement range;
the screw rod (32) is arranged between the left guide wheel (341) and the right guide wheel (342), the screw rod is arranged along the Y-axis direction, and the screw rod nut is fixed at the bottom of the working platform (5);
an output shaft of the third stepping motor (31) is connected with a screw rod (32).
4. A miniaturized, fully automated liquid station as set forth in claim 3, wherein: at least two supporting wheels (331) are arranged at the bottom of the working platform (5).
5. A miniaturized, fully automated liquid station as set forth in claim 2, wherein: the fixed frame (7) is of a gantry type frame structure and comprises a cross beam (71) and two support columns (72);
the cross beam (71) is arranged along the X-axis direction;
the upper ends of the two support columns (72) are respectively and vertically connected with the two ends of the cross beam (71), and the lower ends of the two support columns are respectively connected with the Y1-axis left sliding block seat (261) and the Y1-axis right sliding block seat (262).
6. A miniaturized, fully automated liquid station as set forth in claim 5, wherein: the X-axis movement mechanism (1) comprises an X-axis sliding rail (12), a synchronous belt fixing seat (11), a synchronous belt pulley (14), a first synchronous belt (15), a synchronous belt tensioning seat (16), a synchronous belt pulley (14), a first stepping motor (17) and an X-axis sliding block seat (13);
the X-axis sliding rail (12) is arranged along the length direction of the cross beam (71);
the synchronous belt fixing seat (11) and the synchronous belt tensioning seat (16) are arranged at two ends of the X-axis sliding rail (12);
the first synchronous belt (15) is fixed between the synchronous belt fixing seat (11) and the synchronous belt tensioning seat (16);
the synchronous pulley (14) is rotationally wound on a first synchronous belt (15);
the first stepping motor (17) is fixed on the X-axis sliding block seat (13), and the output end of the first stepping motor is connected with the synchronous pulley (14);
the X-axis sliding block seat (13) is clamped on the X-axis sliding rail (12) and is fixedly connected with the synchronous pulley (14);
the Z-axis movement mechanism is fixedly arranged on the X-axis sliding block seat (13).
7. A miniaturized, fully automated liquid station as set forth in claim 6, wherein: two Z-axis motion machines (4) are arranged on the X-axis sliding block seat (13) side by side.
8. A miniaturized, fully automated liquid station as set forth in claim 7, wherein: the Z-axis movement machine (4) comprises a fixed plate (47), a fourth stepping motor (43), a Z-axis sliding rail (45), a driving wheel (44), a driven wheel (41), at least two idler wheels (42), a Z-axis sliding block seat (49) and a Z-axis belt (48);
the fixed plate (47) is arranged on the X-axis sliding block seat (13);
the Z-axis sliding rail (45) is arranged on the front end surface of the fixed plate (47) along the Z-axis direction;
the fourth stepping motor (43) is arranged on the rear end surface of the fixed plate (47), and an output shaft of the fourth stepping motor passes through the fixed plate (47) to be connected with the driving wheel (44);
the driving wheel (44) and the driven wheel (41) are arranged on one side of the Z-axis sliding rail (45) along the Z-axis direction;
the at least two idler wheels (42) are arranged between the driving wheel (44) and the driven wheel (41) along the Z-axis direction;
the Z-axis belt (48) is sleeved on the driving wheel (44) and the driven wheel (41) and simultaneously is S-shaped and spirally wound on the at least two idler wheels (42);
the Z-axis sliding block seat (49) is clamped on the Z-axis sliding rail (45) and is fixedly connected with the Z-axis belt (48);
the pipettor (6) is arranged on the Z-axis sliding block seat (49).
9. A miniaturized, fully automated liquid workstation according to claim 1, wherein: the X-axis motion mechanism (1), the Y1-axis motion mechanism (2), the Y2-axis motion mechanism (3) and the Z-axis motion mechanism (4) are respectively provided with a camera (9), and the cameras (9) can shoot the working platform (5) and perform image recognition and transmission.
10. A miniaturized, fully automated liquid workstation according to claim 1, wherein: the working platform (5) comprises a TIP zone (51), a waste zone (52) and a replaceable zone (53);
three mutually isolated TIP storage boxes are uniformly arranged in the TIP region (51);
-said reject zone (52) houses a reject box;
the replaceable area (53) houses a replaceable storage box.
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