CN111229349A - Pipette capable of automatically sleeving and taking suction head - Google Patents
Pipette capable of automatically sleeving and taking suction head Download PDFInfo
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- CN111229349A CN111229349A CN202010184398.4A CN202010184398A CN111229349A CN 111229349 A CN111229349 A CN 111229349A CN 202010184398 A CN202010184398 A CN 202010184398A CN 111229349 A CN111229349 A CN 111229349A
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- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 239000007788 liquid Substances 0.000 claims abstract description 17
- 238000012546 transfer Methods 0.000 claims abstract description 13
- 210000000078 claw Anatomy 0.000 claims description 38
- 230000003287 optical effect Effects 0.000 description 8
- 230000000903 blocking effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000008188 pellet Substances 0.000 description 1
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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
- B01L3/021—Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids
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Abstract
The invention discloses a liquid transfer device capable of automatically sleeving and taking a suction head, which comprises: the device comprises a bottom plate, a three-dimensional motion mechanism arranged on the bottom plate, a sucker grabbing mechanism arranged on the three-dimensional motion mechanism, a liquid transfer sucker arranged on the sucker grabbing mechanism and a mounting groove which is arranged on the bottom plate and used for placing a sucker box; the three-dimensional motion mechanism is used for driving the suction head grabbing mechanism to move in three dimensions; the suction head grabbing mechanism comprises a fixed sleeve and a gripper assembly arranged on the fixed sleeve, the pipetting pipe is communicated with the upper end of the fixed sleeve, the gripper assembly is used for grabbing the suction head at the designated position in the suction head box, and the lower end of the fixed sleeve is used for being communicated with the suction head grabbed by the gripper assembly. According to the invention, the suction head grabbing mechanism is driven by the three-dimensional movement mechanism to move three-dimensionally, so that the function of automatically sleeving and taking the suction heads by the liquid-transferring suction pipe can be realized, the stability of the sleeved and taken suction heads can be ensured, and the suction heads and the liquid-transferring suction pipe can be well protected.
Description
Technical Field
The invention relates to the field of liquid transfer equipment, in particular to a liquid transfer device capable of automatically sleeving and taking a suction head.
Background
Micropipette tips (or tips) are common in biological and medical laboratories and are the most commonly used consumable in experiments. In the prior art, a large number of pipettors are manually operated, but the pipetting efficiency is low, time and labor are wasted, so that some automatic pipetting devices are also provided, which generally load a pipetting assembly (including a pipette and an external liquid path unit connected with the pipette, and some pipettes may also be connected with a needle head) through a two-dimensional or three-dimensional movement mechanism, so as to drive the pipetting assembly to move to a specified position, and then use the pipette to pick up a pipette head, and then perform related pipetting work. Need guarantee that suction head and pipette can be firmly connected after the suction head is got to the pipette suit, prevent to move the liquid in-process and drop, so the following scheme of general accessible realizes, one of them mode is: the size of the tail end of the pipette is designed to be smaller than that of the suction head, the pipette is squeezed into the suction head through pressure, and a larger acting force needs to be applied to the pipette through the pipette when the suction head is sleeved and taken so as to ensure that the suction head is firmly sleeved on the pipette; however, the tip and the tip cassette on which the tip is loaded are easily deformed or damaged, and the pipette is easily damaged. The other way is to arrange relevant adaptive structures on the suction head and/or the pipette, and realize the connection of the suction head and the pipette through the adaptive structures; however, this has the disadvantage that the adaptation is often complicated and, in addition, requires a certain rotation of the pipette relative to the tip during the connection in order to achieve a secure connection, which increases the complexity of the movement mechanism. Therefore, a more reliable solution is now needed.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a pipette capable of automatically inserting and removing a pipette tip in order to overcome the above-mentioned shortcomings in the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that: a pipette capable of automatically cuffing tips, comprising: the device comprises a bottom plate, a three-dimensional motion mechanism arranged on the bottom plate, a sucker grabbing mechanism arranged on the three-dimensional motion mechanism, a liquid transfer sucker arranged on the sucker grabbing mechanism and a mounting groove which is arranged on the bottom plate and used for placing a sucker box;
the three-dimensional motion mechanism is used for driving the suction head grabbing mechanism to move in three dimensions;
the suction head grabbing mechanism comprises a fixed sleeve and a gripper assembly arranged on the fixed sleeve, the pipetting pipe is communicated with the upper end of the fixed sleeve, the gripper assembly is used for grabbing the suction head at the designated position in the suction head box, and the lower end of the fixed sleeve is used for being communicated with the suction head grabbed by the gripper assembly.
Preferably, the three-dimensional motion mechanism comprises an X-axis motion assembly arranged on the base plate, a Y-axis motion assembly arranged on the X-axis motion assembly, and a Z-axis motion assembly arranged on the Y-axis motion assembly;
the Z-axis motion assembly comprises a Z-axis mounting plate arranged on the Y-axis motion assembly, a Z-axis motor arranged on the Z-axis mounting plate, a Z-axis screw rod in driving connection with the Z-axis motor and a Z-axis sliding sleeve in threaded fit with the Z-axis screw rod;
the suction head grabbing mechanism is fixedly connected to the Z-axis sliding sleeve through a connecting plate.
Preferably, the bottom plate is provided with a mounting bracket, and the X-axis movement assembly comprises an X-axis motor arranged on the mounting bracket, an X-axis lead screw in driving connection with the X-axis motor, and an X-axis slider sleeved on the X-axis lead screw and in threaded fit with the X-axis lead screw;
the Y-axis motion assembly comprises a Y-axis mounting plate arranged on the X-axis sliding block, a Y-axis motor arranged on the Y-axis mounting plate, a Y-axis screw rod in driving connection with the Y-axis motor, and a Y-axis sliding block which is sleeved on the Y-axis screw rod and is in threaded fit with the Y-axis screw rod;
and a Z-axis mounting plate of the Z-axis movement assembly is arranged on the Y-axis sliding block.
Preferably, the lower end of the fixed sleeve is connected with a conical pipe section, and the conical pipe section is used for being inserted into a suction head grabbed by the grabbing component.
Preferably, the gripper assembly comprises 2 grippers symmetrically arranged on the outer wall of the fixed sleeve or 4 grippers symmetrically arranged on the outer wall of the fixed sleeve in pairs;
the upper end of the gripper is rotatably connected with the outer wall of the fixed sleeve, a tensioning spring is connected between the middle of the gripper and the outer wall of the fixed sleeve, a guide inclined plane is arranged on the inner side of the lower end of the gripper, and the lower end of the gripper rotates outwards when the guide inclined plane is in contact with the suction head and is stressed.
Preferably, the gripper comprises a gripper body and a gripper head connected to the lower end of the gripper body, an accommodating groove is formed in the inner side of the gripper body along the length direction, and arc-shaped surfaces used for being attached to the outer wall of the fixed sleeve are arranged on the inner side walls of the gripper body positioned on the two sides of the accommodating groove;
the upper end of the claw body is provided with a shaft hole;
the guide inclined plane is formed on the inner side wall of the claw head, the width of the claw head is larger than that of the claw body, and a fixing plane is formed on the upper surface of the claw head at the inner side part of the claw body.
Preferably, the suction head comprises a suction head body and an annular convex edge arranged at the upper end of the suction head body, and the annular convex edge is clamped on the fixed plane after the gripper assembly grips the suction head.
Preferably, the outer wall of the fixed sleeve is sequentially provided with a rotating connecting block and a spring mounting block from top to bottom, and the rotating connecting block is provided with a connecting shaft for rotatably connecting the upper end of the claw body;
one end of the tension spring is connected with the spring mounting block, and the other end of the tension spring is connected with the inner wall of the accommodating groove.
Preferably, four fixing blocks for fixing the suction head box placed in the mounting groove are arranged on the periphery of the mounting groove;
the inner wall of the fixed block is provided with a spring sheet groove, and an arc-shaped spring sheet is arranged in the spring sheet groove.
Preferably, the outer surface of the arc-shaped elastic sheet is provided with a positioning jacking ball, and the inner surface of the arc-shaped elastic sheet is provided with a pressure spring;
and the outer wall of the suction head box is provided with a positioning hole for the positioning top ball to be inserted in a matching way.
The invention has the beneficial effects that: according to the pipettor capable of automatically sleeving and taking the suction heads, the suction head grabbing mechanism is driven to move in a three-dimensional mode through the three-dimensional movement mechanism, the function of automatically sleeving and taking the suction heads by the liquid-transferring suction pipes can be achieved, the stability of the sleeving and taking suction heads can be guaranteed, and the suction heads and the liquid-transferring suction pipes can be well protected;
when the suction head grabbing mechanism is used for sleeving and grabbing the suction head, the suction head can be firmly grabbed only by applying slight downward pressure to the suction head, so that the suction head or the suction head box can be prevented from being deformed or damaged due to overlarge downward pressure; in the sleeving and taking process, the liquid transfer pipette cannot be in direct contact with the suction head, and the liquid transfer pipette can be prevented from being damaged.
Drawings
Fig. 1 is a schematic structural diagram of a pipette capable of automatically trapping a tip according to the present invention;
fig. 2 is a schematic structural diagram of another view of the pipette capable of automatically trapping the pipette tip according to the present invention;
FIG. 3 is a schematic view of the tip gripping mechanism of the present invention;
FIG. 4 is a schematic view of the gripper of the present invention;
FIG. 5 is a schematic structural view of the locking collar of the present invention;
FIG. 6 is a schematic view of the engagement of the locking collar with the gripper of the present invention;
FIG. 7 is a schematic view of the structure of the suction head of the present invention;
FIG. 8 is a schematic view of a state in which the tip gripping mechanism of the present invention grips a tip;
FIG. 9 is a schematic view of another state in which the tip gripping mechanism of the present invention grips a tip;
FIG. 10 is a schematic structural view of a base plate of the present invention;
FIG. 11 is a schematic view showing the structure of the head cartridge of the present invention;
FIG. 12 is a schematic structural view of a fixing block according to the present invention;
fig. 13 is a schematic cross-sectional view of the fixing block of the present invention.
Description of reference numerals:
1-a bottom plate; 10, mounting a bracket; 11-mounting groove; 12, fixing blocks; 13-a pellet slot; 14-arc shaped spring plate; 15, positioning a top ball; 16-a pressure spring;
2-an X-axis motion assembly; 20-X axis motor; 21-X axis lead screw; 22-X axis slide; 23-X axis optocoupler; 24-X stop;
3-Y axis motion assembly; 30-Y axis mounting plate; 31-Y axis motor; 32-Y axis lead screw; 33-Y-axis slide; 34-Y-axis optocoupler; 35-Y stop;
4-Z axis motion assembly; 40-Z axis mounting plate; 41-Z axis motor; 42-Z axis lead screw; 43-Z axis sliding sleeve; 44-a connecting plate; 45-Z axis optical coupler; 46-Z stop;
5, a suction head grabbing mechanism; 50, fixing the sleeve; 51-a gripper assembly; 52-a gripper; 53-paw body; 54-claw head; 500-a cone pipe section; 501, rotating a connecting block; 502-spring mounting block; 503-tensioning the spring; 504-connecting shaft; 505-a communication hole; 506-arc notch; 530-accommodating grooves; 531-arc surface; 532-axle hole; 540 — a lead ramp; 541-fixed plane;
6-pipetting;
7-suction head box; 70-suction head hole; 71-positioning holes;
8, sucking heads; 80-a sucker body; 81-annular convex edge.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1, the pipette capable of automatically trapping a tip 8 according to the present embodiment includes: the device comprises a bottom plate 1, a three-dimensional motion mechanism arranged on the bottom plate 1, a sucker grabbing mechanism 5 arranged on the three-dimensional motion mechanism, a liquid transfer sucker 6 arranged on the sucker grabbing mechanism 5 and a mounting groove 11 which is arranged on the bottom plate 1 and used for placing a sucker box 7;
the three-dimensional motion mechanism is used for driving the suction head grabbing mechanism 5 to move in three dimensions;
the suction head grabbing mechanism 5 comprises a fixed sleeve 50 and a gripper assembly 51 arranged on the fixed sleeve 50, a liquid transfer suction pipe 6 is communicated with the upper end of the fixed sleeve 50, the gripper assembly 51 is used for grabbing a suction head 8 at a specified position in a suction head box 7, and the lower end of the fixed sleeve 50 is used for being communicated with the suction head 8 grabbed by the gripper assembly 51.
In the invention, the pipetting tube 6 is communicated with the upper end of the fixed sleeve 50, the three-dimensional motion mechanism drives the fixed sleeve 50, the gripper assembly 51 thereon and the pipetting tube 6 to move three-dimensionally together to move to the position above the pipette tip 8 at the specified position in the pipette tip box 7, then the pipette tip 8 is gripped by the gripper assembly 51, and the lower end of the fixed sleeve 50 is communicated with the gripped pipette tip 8, so that the pipetting tube 6 is communicated with the pipette tip 8, and then the pipette tip 6 can move to other positions to perform related pipetting operation. In the present invention, instead of grasping the pipette tip 8 by the pipette tip 6 itself in the conventional pipetting apparatus, the pipette tip 8 is grasped by a special grasping assembly 51, and then the pipette tip 6 is fixed and communicated with the pipette tip 8. Can ensure the stability of the nesting suction head 8 and can well protect the suction head 8 and the liquid-transferring suction pipe 6. It will be appreciated that the end of the pipette tip 6 may also be attached to a needle. In addition, the upper end of the pipetting tube 6 is connected with an external necessary conventional liquid path system (not specifically described in the invention) to realize the function of pipetting. The foregoing is the basic idea of the invention, on the basis of which further detailed embodiments are provided below.
In a preferred embodiment, referring to fig. 1 and 2, the three-dimensional movement mechanism includes an X-axis movement assembly 2 provided on a base plate 1, a Y-axis movement assembly 3 provided on the X-axis movement assembly 2, and a Z-axis movement assembly 4 provided on the Y-axis movement assembly 3; the Z-axis motion assembly 4 comprises a Z-axis mounting plate 40 arranged on the Y-axis motion assembly 3, a Z-axis motor 41 arranged on the Z-axis mounting plate 40, a Z-axis screw rod 42 in driving connection with the Z-axis motor 41 and a Z-axis sliding sleeve 43 in threaded fit with the Z-axis screw rod 42; the sucker grabbing mechanism 5 is fixedly connected on the Z-axis sliding sleeve 43 through a connecting plate 44. The Z-axis motor 41 drives the Z-axis screw rod 42 to rotate, so that the Z-axis sliding sleeve 43 in threaded fit with the Z-axis screw rod 42 moves up and down.
The X-axis moving assembly 2 comprises an X-axis motor 20 arranged on the mounting bracket 10, an X-axis screw 21 in driving connection with the X-axis motor 20 and an X-axis slider 22 which is sleeved on the X-axis screw 21 and is in threaded fit with the X-axis screw 21;
the Y-axis motion assembly 3 comprises a Y-axis mounting plate 30 arranged on the X-axis slide block 22, a Y-axis motor 31 arranged on the Y-axis mounting plate 30, a Y-axis screw rod 32 in driving connection with the Y-axis motor 31 and a Y-axis slide block 33 which is sleeved on the Y-axis screw rod 32 and is in threaded fit with the Y-axis screw rod 32; the Z-axis mounting plate 40 of the Z-axis moving assembly 4 is provided on the Y-axis slider 33.
In the embodiment, three-dimensional driving is realized through a motor screw mechanism so as to move the gripper assembly 51 and the pipetting tube 6 to specified positions.
In a further embodiment, position detection mechanisms are arranged in three directions to realize X, Y, Z positioning of zero positions in the three directions, and each position detection mechanism comprises a groove-shaped optical coupler and a blocking piece. Specifically, an X-axis optical coupler 23 is arranged on the mounting bracket 10, and an X-blocking piece 24 matched with the X-axis optical coupler 23 is arranged on the X-axis sliding block 22; a Y-axis optical coupler 34 is arranged on the Y-axis mounting plate 30, and a Y blocking piece 35 matched with the Y-axis optical coupler 34 is arranged on the Y-axis sliding block 33; the Z-axis mounting plate 40 is provided with a Z-axis optical coupler 45, and the Z-axis sliding sleeve 43 is provided with a Z blocking piece 46 matched with the Z-axis optical coupler 45.
Further, a conical pipe section 500 is connected to the lower end of the fixing sleeve 50, and the conical pipe section 500 is used for inserting into the suction head 8 gripped by the gripper assembly 51. The gripper assembly 51 comprises 2 grippers 52 symmetrically arranged on the outer wall of the fixed sleeve 50 or 4 grippers 52 symmetrically arranged on the outer wall of the fixed sleeve 50 in pairs; 2 in this example; the upper end of the gripper 52 is rotatably connected with the outer wall of the fixing sleeve 50, a tension spring 503 is connected between the middle part of the gripper 52 and the outer wall of the fixing sleeve 50, the inner side of the lower end of the gripper 52 is provided with a guide inclined surface 540, and the lower end of the gripper 52 rotates outwards when the guide inclined surface 540 contacts with the suction head 8 and is stressed. A communication hole 505 is formed in the fixing sleeve 50.
The gripper 52 comprises a gripper body 53 and a gripper head 54 connected to the lower end of the gripper body, the inner side of the gripper body 53 is provided with an accommodating groove 530 along the length direction, and the inner side walls of the gripper body 53 at the two sides of the accommodating groove 530 are provided with arc surfaces 531 for fitting with the outer wall of the fixed sleeve 50; the upper end of the claw body 53 is provided with a shaft hole 532; a guide ramp 540 is formed on the inner side wall of the claw head 54. The guide ramps 540 are preferably arcuate guide ramps 540. The claw head 54 has a width larger than that of the claw body 53, and a fixing plane 541 is formed on an upper surface of the claw head 54 at an inner portion of the claw body 53. Furthermore, the inner side of the fixing plane 541 is provided with an arc-shaped notch 506, the arc-shaped notch 506 can be attached to the outer wall of the cleaner head body 80, and when the fixing plane 541 of the claw head 54 is located below the annular convex edge 81, the arc-shaped notch 506 is designed to facilitate the claw head 54 to be attached to the outer wall of the cleaner head body 80.
Wherein, the suction head 8 comprises a suction head body 80 and an annular convex edge 81 arranged at the upper end of the suction head body 80, and after the suction head 8 is grabbed by the gripper assembly 51, the annular convex edge 81 is clamped on the fixed plane 541, so that the suction head 8 can be firmly grabbed on the gripper 52.
Wherein, the outer wall of the fixed sleeve 50 is sequentially provided with a rotary connecting block 501 and a spring mounting block 502 from top to bottom, and the rotary connecting block 501 is provided with a connecting shaft 504 for rotatably connecting the upper end of the claw body 53; one end of the tension spring 503 is connected to the spring mounting block 502 and the other end is connected to the inner wall of the receiving groove 530.
The spring is tensioned to provide an inward pulling force to the gripper 52, so that the gripper 52 can be folded towards the middle when no external force is applied, the claw body 53 is tightly attached to the outer wall of the fixing sleeve 50 through the arc surface 531, the fixing plane 541 at the upper end of the claw head 54 is kept horizontal, and the distance between the two claw heads 54 is smaller than the outer diameter of the annular convex edge 81, thereby ensuring that the two fixing planes 541 can firmly hold the suction head 8 when being positioned at the bottom surface of the annular convex edge 81.
The operating principle of the gripper assembly 51 is: after the gripper assembly 51 is moved to the position above the suction head 8 at the designated position through the X-axis movement assembly 2 and the Y-axis movement assembly 3, the gripper assembly 51 and the fixed sleeve 50 are driven by the Z-axis movement assembly 4 to move downwards; the guiding inclined plane 540 at the inner side of the claw head 54 contacts with the outer wall of the annular convex edge 81 at the upper end of the suction head 8, and as the gripper 52 moves downwards, the claw head 54 expands outwards while moving downwards (the claw body 53 of the gripper 52 rotates outwards around the rotating connecting block 501) under the cooperation of the guiding inclined plane 540, as shown in FIG. 8; until the claw head 54 passes over the annular convex edge 81 to reach the position below the annular convex edge 81, the claw 52 has inward pulling force due to the tension of the spring, so that the claw body 53 rotates inwards around the rotating connecting block 501, the claw head 54 also rotates inwards, and returns to the initial position, as shown in FIG. 9, the fixed plane 541 at the upper end of the claw head 54 is kept horizontal and holds the annular convex edge 81 of the suction head 8, and the inner side of the claw head 54 presses the suction head body 80, so that the suction head 8 is firmly fixed on the claw assembly 51; meanwhile, the conical tube section 500 at the lower end of the fixing sleeve 50 is fittingly inserted into the pipette tip 8, so that the pipette tip 6 at the upper end of the fixing sleeve 50 is communicated with the pipette tip 8, and then the pipette tip 8 is moved to the corresponding working position, and then the relevant liquid can be sucked up through the pipette tip 8.
In this embodiment, when the suction head 8 is pulled out, the suction head 8 can be firmly grabbed only by applying slight downward pressure to the suction head 8, so that the suction head 8 or the suction head box 7 can be prevented from being deformed or damaged due to excessive downward pressure; in the process of extracting, the liquid transfer pipette 6 can not be in direct contact with the suction head 8, and the liquid transfer pipette 6 can be prevented from being damaged (especially when a needle is connected to the liquid transfer pipette 6).
In addition, it will be appreciated that in the preferred embodiment, the suction head 8 is provided with an annular lip 81 to provide good extraction. The suction head 8 can be grasped without the annular flange 81 provided on the suction head 8, and it is only necessary that the distance between the two claw heads 54 is smaller than the diameter of the suction head 8 when the claw heads 54 are folded.
In a further embodiment, the periphery of the mounting slot 11 is provided with four fixing blocks 12 for fixing the tip cassette 7 placed in the mounting slot 11. An elastic sheet groove 13 is formed in the inner wall of the fixing block 12, and an arc-shaped elastic sheet 14 is arranged in the elastic sheet groove 13. A positioning top ball 15 is arranged on the outer surface of the arc-shaped elastic sheet 14, and a pressure spring 16 is arranged on the inner surface of the arc-shaped elastic sheet 14; the outer wall of the suction head box 7 is provided with a positioning hole 71 for the matching insertion of the positioning top ball 15. The compression spring 16 has an outward pressing effect on the arc spring 14. The sucker box 7 is provided with a plurality of sucker holes 7070 for storing suckers 8.
The 4 fixing blocks 12 are symmetrically arranged on four edges of the mounting groove 11 in pairs, the suction head box 7 is downwards inserted into the mounting groove 11, and the arc-shaped elastic sheet 14 is extruded outwards and is inserted in place; the arc-shaped elastic sheet 14 and the pressure spring 16 provide a top pressure for the positioning top balls 15, and the four positioning top balls 15 are matched and inserted into the 4 positioning holes 71, so that the suction head box 7 can be firmly arranged in the mounting groove 11.
While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.
Claims (10)
1. A pipettor capable of automatically sleeving and taking a sucker is characterized by comprising: the device comprises a bottom plate, a three-dimensional motion mechanism arranged on the bottom plate, a sucker grabbing mechanism arranged on the three-dimensional motion mechanism, a liquid transfer sucker arranged on the sucker grabbing mechanism and a mounting groove which is arranged on the bottom plate and used for placing a sucker box;
the three-dimensional motion mechanism is used for driving the suction head grabbing mechanism to move in three dimensions;
the suction head grabbing mechanism comprises a fixed sleeve and a gripper assembly arranged on the fixed sleeve, the pipetting pipe is communicated with the upper end of the fixed sleeve, the gripper assembly is used for grabbing the suction head at the designated position in the suction head box, and the lower end of the fixed sleeve is used for being communicated with the suction head grabbed by the gripper assembly.
2. The pipette capable of automatically pipette tips according to claim 1, wherein the three-dimensional movement mechanism includes an X-axis movement assembly provided on the bottom plate, a Y-axis movement assembly provided on the X-axis movement assembly, and a Z-axis movement assembly provided on the Y-axis movement assembly;
the Z-axis motion assembly comprises a Z-axis mounting plate arranged on the Y-axis motion assembly, a Z-axis motor arranged on the Z-axis mounting plate, a Z-axis screw rod in driving connection with the Z-axis motor and a Z-axis sliding sleeve in threaded fit with the Z-axis screw rod;
the suction head grabbing mechanism is fixedly connected to the Z-axis sliding sleeve through a connecting plate.
3. The pipettor capable of automatically extracting a sucker is characterized in that a mounting bracket is arranged on the bottom plate, and the X-axis movement assembly comprises an X-axis motor arranged on the mounting bracket, an X-axis screw rod in driving connection with the X-axis motor, and an X-axis slide block sleeved on the X-axis screw rod and in threaded fit with the X-axis screw rod;
the Y-axis motion assembly comprises a Y-axis mounting plate arranged on the X-axis sliding block, a Y-axis motor arranged on the Y-axis mounting plate, a Y-axis screw rod in driving connection with the Y-axis motor, and a Y-axis sliding block which is sleeved on the Y-axis screw rod and is in threaded fit with the Y-axis screw rod;
and a Z-axis mounting plate of the Z-axis movement assembly is arranged on the Y-axis sliding block.
4. The pipette capable of automatically extracting a tip according to claim 2, wherein a tapered pipe section is connected to a lower end of the fixed sleeve, and the tapered pipe section is used for being inserted into a tip captured by the gripper assembly.
5. The pipette capable of automatically trapping pipette tips according to claim 1, wherein the gripper assembly comprises 2 grippers symmetrically arranged on the outer wall of the fixed sleeve or 4 grippers symmetrically arranged two by two on the outer wall of the fixed sleeve;
the upper end of the gripper is rotatably connected with the outer wall of the fixed sleeve, a tensioning spring is connected between the middle of the gripper and the outer wall of the fixed sleeve, a guide inclined plane is arranged on the inner side of the lower end of the gripper, and the lower end of the gripper rotates outwards when the guide inclined plane is in contact with the suction head and is stressed.
6. The pipette capable of automatically extracting a suction head according to claim 5, wherein the gripper comprises a gripper body and a gripper head connected to the lower end of the gripper body, the inner side of the gripper body is provided with a receiving groove along the length direction, and the inner side wall of the gripper body at the two sides of the receiving groove is provided with an arc-shaped surface for fitting with the outer wall of the fixed sleeve;
the upper end of the claw body is provided with a shaft hole;
the guide inclined plane is formed on the inner side wall of the claw head, the width of the claw head is larger than that of the claw body, and a fixing plane is formed on the upper surface of the claw head at the inner side part of the claw body.
7. The pipette capable of automatically trapping a tip according to claim 6, wherein the tip comprises a tip body and an annular convex edge arranged at an upper end of the tip body, and the annular convex edge is clamped on the fixed plane after the gripper assembly grips the tip.
8. The pipette capable of automatically extracting a suction head according to claim 7, wherein a rotary connecting block and a spring mounting block are sequentially arranged on the outer wall of the fixing sleeve from top to bottom, and a connecting shaft for rotatably connecting the upper end of the claw body is arranged on the rotary connecting block;
one end of the tension spring is connected with the spring mounting block, and the other end of the tension spring is connected with the inner wall of the accommodating groove.
9. The pipette capable of automatically trapping pipette tips according to claim 1, wherein four fixing blocks for fixing the pipette tip cartridge placed in the mounting groove are provided on the outer periphery of the mounting groove;
the inner wall of the fixed block is provided with a spring sheet groove, and an arc-shaped spring sheet is arranged in the spring sheet groove.
10. The pipette capable of automatically sleeving and taking the suction head according to claim 9, wherein a positioning top ball is arranged on the outer surface of the arc-shaped elastic sheet, and a pressure spring is arranged on the inner surface of the arc-shaped elastic sheet;
and the outer wall of the suction head box is provided with a positioning hole for the positioning top ball to be inserted in a matching way.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010184398.4A CN111229349B (en) | 2020-03-17 | 2020-03-17 | Pipette capable of automatically sleeving suction head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010184398.4A CN111229349B (en) | 2020-03-17 | 2020-03-17 | Pipette capable of automatically sleeving suction head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111229349A true CN111229349A (en) | 2020-06-05 |
| CN111229349B CN111229349B (en) | 2024-04-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010184398.4A Active CN111229349B (en) | 2020-03-17 | 2020-03-17 | Pipette capable of automatically sleeving suction head |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112844507A (en) * | 2020-12-31 | 2021-05-28 | 广西机电职业技术学院 | Liquid-transfering suction head and equipment mechanism who moves liquid cover handle |
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| CN111229349B (en) | 2024-04-26 |
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