CN116920976A - Liquid-transfering head changing device with adapter plate - Google Patents
Liquid-transfering head changing device with adapter plate Download PDFInfo
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- CN116920976A CN116920976A CN202310821205.5A CN202310821205A CN116920976A CN 116920976 A CN116920976 A CN 116920976A CN 202310821205 A CN202310821205 A CN 202310821205A CN 116920976 A CN116920976 A CN 116920976A
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- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 238000004891 communication Methods 0.000 claims abstract description 16
- 230000000875 corresponding effect Effects 0.000 claims abstract description 8
- 239000004020 conductor Substances 0.000 claims description 106
- 210000000078 claw Anatomy 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 2
- 239000003153 chemical reaction reagent Substances 0.000 description 16
- 238000012360 testing method Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
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- 230000005856 abnormality Effects 0.000 description 3
- 239000011324 bead Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000009776 industrial production Methods 0.000 description 1
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Classifications
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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
- B01L3/0213—Accessories for glass pipettes; Gun-type pipettes, e.g. safety devices, pumps
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Abstract
The invention discloses a pipetting head replacement device with an adapter plate, which comprises a pipetting head, wherein the pipetting head is connected with an actuator, and a zero sensor for sensing the zero position of the actuator is arranged in the pipetting head; the clamping and locking mechanism is used for clamping and locking the pipetting head; the driving mechanism is used for being clamped with the liquid-moving head and driving the liquid-moving head to enable the actuator to execute corresponding actions; the controller controls the pipetting head and the driving mechanism to work, and the switching plate is arranged on the pipetting head and is communicated with the pipetting head through the switching plate; the purpose of replacing different actuators can be achieved by replacing the pipetting heads with the same specification and the same shape connected with different actuators through the pipetting head replacing device with the adapter plate, the pipetting head replacing device with the adapter plate is simple in structure and convenient and quick to replace, and information of the replaced actuators can be known through communication of the adapter plate and the pipetting heads.
Description
Technical Field
The invention belongs to the field of medical equipment, and particularly relates to a pipetting head replacing device with an adapter plate.
Background
Experience in the fields of hospitals, scientific research institutions, biochemistry, food processing, industrial production and the like requires detection research on certain reagent samples, in order to improve detection efficiency, sample reagents in a plurality of test tubes need to be pumped into a detection vessel at one time for detection research, the process is called pipetting, and a hydraulic cylinder or an air cylinder with a plurality of suction heads is required for pipetting sample reagents from the plurality of test tubes or vessels at one time to improve working efficiency.
According to different detected sample reagents and different tube diameters of test tubes for containing the reagents, hydraulic cylinders or air cylinders with different measuring ranges are required to be configured, so that the hydraulic cylinders or air cylinders with different measuring ranges are required to be continuously replaced when different reagents are detected.
The current method for replacing the hydraulic cylinder or the air cylinder comprises the following steps:
1. the manual replacement of the hydraulic cylinder or the air cylinder is time-consuming and labor-consuming, the operation efficiency is low, and in the replacement process, sample reagent can be scattered and leaked to pollute the sample;
2. the hydraulic cylinder or the air cylinder is replaced in an electric or pneumatic mode, the replaced equipment is complex in structure, high in cost and low in stability;
3. different hydraulic cylinders or air cylinders are controlled through a plurality of pipetting arms, and when the hydraulic cylinders or air cylinders need to be replaced, the hydraulic cylinders or air cylinders are moved through moving parts.
Disclosure of Invention
The invention aims to solve the problems in the background art, and provides a pipetting head replacing device with an adapter plate, which is used for replacing pipetting heads with the same specification and connected with actuators, so that the purpose of replacing different actuators is realized, and the pipetting head replacing device is simple in structure and convenient and quick to replace.
The invention relates to a pipette head replacing device with an adapter plate, which comprises:
the pipetting head is connected with the actuator and is internally provided with a zero sensor for sensing the zero position of the actuator;
the clamping and locking mechanism is used for clamping and locking the pipetting head;
the driving mechanism is used for being clamped with the liquid-moving head and driving the liquid-moving head to enable the actuator to execute corresponding actions;
the controller is used for controlling the pipetting head and the driving mechanism to work, and the adapter plate is arranged on the pipetting head and is communicated with the pipetting head through the controller.
Preferably, the pipetting head comprises a zero sensor and a memory chip, wherein the zero sensor is used for detecting zero signals of the actuator, and the memory chip stores data of the actuator;
the interposer includes:
A reference ground contact conductor providing a working reference ground for the null sensor and the memory chip;
a power contact conductor for providing working voltage for the zero sensor and the memory chip;
communication contact conductor: a clock signal line through which the controller communicates with the memory chip;
data contact conductors: is a data line through which the controller communicates with the memory chip;
zero contact conductor: acquiring a zero signal of the actuator detected by the zero sensor;
a first state contact conductor and a second state contact conductor that together determine a type of the actuator;
the lengths of the reference ground contact conductor and the power contact conductor are gradually shortened, and the lengths of the first state contact conductor and the second state contact conductor are shortest and equal in length.
Preferably, the length of the communication contact conductor and the length of the data contact conductor are designed to be equal in length.
Preferably, the actuator is an air cylinder or a hydraulic cylinder;
the pipette head also comprises a pipette in-place sensor for detecting whether the pipette is on the pipette head;
the interposer further includes:
the suction tube is connected with the contact conductor: and acquiring a suction pipe on-site signal detected by the suction pipe on-site sensor, wherein the length of the suction pipe on-site contact conductor is longer than that of the first state contact conductor and shorter than that of the power supply contact conductor.
Preferably, the strategies for determining the type of actuator connected by the pipetting head by the first state contact conductor and the second state contact conductor are as follows:
the first state contact conductor is on, the second state contact conductor is not on, and the actuator is an air cylinder or a hydraulic cylinder;
the first state contact conductor is not communicated, the second state contact conductor is communicated, and the actuator is a mechanical claw;
the first state contact conductor and the second state contact conductor are all communicated, and the actuator is a scanning module for scanning a bar code;
and the first state contact conductor and the second state contact conductor are not communicated, and the installation fails.
Preferably, the clamping and locking mechanism comprises
The clamping body is provided with a through hole and a clamping installation hole communicated with the through hole, and the liquid transferring head is arranged in the through hole;
the clamping assembly is arranged in the clamping mounting hole and used for circumferentially clamping the pipetting head;
the supporting and locking assembly is arranged on the clamping body at the lower part of the clamping assembly and used for supporting and locking the axial direction of the pipetting head.
Preferably, the supporting and locking assembly comprises a lock catch, wherein the lock catch is provided with a connecting end rotationally connected with the outer side face of the clamping body, and a first end and a second end which are respectively arranged at two sides of the connecting end, the first end is elastically connected with the clamping body, and the second end is in clamping connection with the pipetting head.
Preferably, each clamping assembly comprises a top block, a clamping elastic piece and a top seat which are sequentially connected and arranged in the clamping mounting hole, wherein the top block is fixed on the outer side face of the pipetting head, and the top seat is detachably connected with the clamping mounting hole.
Preferably, the pipetting head comprises a pipetting head body arranged in the through hole and a sliding rotation assembly arranged in the pipetting head body;
the clamping assembly clamps the outer side surface of the pipetting head body, and the supporting and locking assembly supports and locks the axial direction of the pipetting head body;
the sliding rotating assembly is clamped with the driving mechanism.
Preferably, the pipetting head body comprises a clamped part and a base which are connected up and down, the clamped part is arranged in the through hole and is clamped and locked, and the base supports the clamping body.
Preferably, the sliding rotary assembly comprises a driven shaft penetrating through the pipetting head body and the upper and lower ends of the sliding rotary assembly extend out of the pipetting head body, a driven connecting shaft fixedly connected with the upper end of the driven shaft, a nut in threaded fit with the driven shaft in the pipetting head body, and a second bushing sleeved on the outer side of the nut in the pipetting head body and fixedly connected with the nut at the same time, wherein the second bushing is in sliding connection with the pipetting head body, and the lower end of the second bushing is connected with the actuator;
The driving connecting shaft is clamped with the driving mechanism.
Preferably, the driving mechanism comprises a motor, a first bushing fixedly connected with an output shaft of the motor, and an active connecting shaft with one end elastically connected with the output shaft of the motor in the first bushing and the other end extending out of the first bushing;
the driving connecting shaft is clamped with the driven connecting shaft.
Preferably, the lower end of the driving connecting shaft is provided with a clamping groove, the upper end of the driven connecting shaft is provided with a clamping block, and the driving connecting shaft is driven to rotate to be clamped between the clamping groove and the clamping block when the clamping groove is aligned.
By adopting the technical scheme, the invention has the following beneficial effects:
1. the liquid-transfering head replacing device with the adapter plate is replaced by the liquid-transfering head replacing deviceConnectionThe liquid transferring head with the same specification and the same shape is provided with cylinders with different measuring ranges and different channel numbers, mechanical claws with different shapes and different sizes, tail ends of different robots, different scanning modules and other actuators, so that the purposes of replacing the different cylinders, the different mechanical claws, the tail ends of the different robots and the different scanning modules are realized, the compatibility is strong, the replacement is convenient, and the working efficiency is improved;
2. the contact conductors on the adapter plate are designed to be different in length, wherein the length of a reference ground contact conductor L3 is set to be longest, the length of a power supply contact conductor L1 is set to be shortest and equal in length, when the type of an actuator can be judged, other contact conductors and contact spring plates can be ensured to be in close contact, data read by a controller are real data, and communication abnormality does not occur;
3. Compared with the non-insertion design of the contact conductor and the contact spring plate on the adapter plate, the service life of the adapter plate is longer, and loose contact failure is not easy to occur;
4. when the pipetting heads with the same specification and different actuators are connected, the type of the replaced actuator can be automatically identified, and the data in the memory chip of the actuator can be acquired, so that an operator can conveniently identify the replaced actuator;
5. the clamping and locking mechanism does not need a power supply or an air source, is convenient for use in various scenes, does not need manual intervention, and is beneficial to automatic integration.
These and other features, aspects, and advantages of the present application will become better understood with reference to the following description. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Drawings
A full and enabling disclosure of the present application, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which:
fig. 1 is a schematic structural diagram of a pipetting head replacing device with an adapter plate according to an embodiment of the application;
FIG. 2 is a second schematic diagram of a pipette tip replacement device with an adapter according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an assembly structure of a driving mechanism, a clamping and locking mechanism and a pipetting head with a pipetting head replacing device with an adapter plate according to an embodiment of the invention;
fig. 4 is a second schematic diagram of an assembly structure of a driving mechanism, a clamping and locking mechanism and a pipetting head with a pipetting head replacing device with an adapter plate according to an embodiment of the invention;
fig. 5 is an assembled schematic cross-sectional view of a driving mechanism, a clamping and locking mechanism and a pipetting head with a pipetting head replacing device with an adapter plate according to an embodiment of the invention;
fig. 6 is a schematic structural diagram of a driving mechanism of a pipetting head replacing device with an adapter plate according to an embodiment of the invention;
fig. 7 is an assembly schematic diagram of a clamping assembly, a locking support assembly and a pipetting head of a pipetting head changing apparatus with an adapter according to an embodiment of the invention;
FIG. 8 is a cross-sectional view of a pipette tip with an adapter plate pipette tip changing device according to an embodiment of the present invention;
fig. 9 is a schematic structural view of a clamping and locking mechanism of a pipetting head replacing device with an adapter plate according to an embodiment of the invention;
FIG. 10 is a cross-sectional view of a clamping and locking mechanism of a pipetting head changing apparatus with adapter plates provided in an embodiment of the invention;
fig. 11 is a schematic structural view of a lock catch of a clamping and locking mechanism of a pipetting head replacing device with an adapter plate according to an embodiment of the invention;
fig. 12 is a schematic structural diagram of an adapter plate with an adapter plate replacement device according to an embodiment of the present invention.
Reference numerals:
1-a driving mechanism; 11-an electric motor; a 12-coupling; 13-a first bushing; 14-an active connection shaft; 15-a first elastic member 15;
2-clamping and locking mechanisms;
21-clamping the body; 221-a through hole;
22-a clamping assembly; 221-top block; 222-clamping the elastic member; 223-footstock;
23-supporting the locking assembly; 231-locking buckle; 232-locking the elastic member;
2311-a connection terminal; 2312-elastomeric joint; 2313-a chuck; 23131-first side; 23132-second side;
3-pipetting head; 31-a driven connecting shaft; 32-bearings; 33-driven shaft; 34-nut; 35-a second bushing; 36-a bearing cap; 37-pipetting head body; 371-an annular groove; 372-a clamping groove; 373-bearing mounting holes; 374-a driven shaft mounting hole; 375-bushing mounting holes; 376-chute; 351-a slider; 331-first step; 332-second step.
Detailed Description
Reference now will be made in detail to embodiments of the application, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation, not limitation, of the application. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the scope or spirit of the application. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Accordingly, it is intended that the present application cover such modifications and variations as come within the scope of the appended claims and their equivalents. As used in this specification, the terms "first," "second," and the like are used interchangeably to distinguish one component from another and are not intended to represent the location or importance of the respective components. As used in this specification, the terms "a," "an," "the," and "said" are intended to mean that there are one or more elements unless the context clearly indicates otherwise. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements.
Referring now to the drawings, in which like numerals represent like elements throughout, the present invention is further explained below in connection with specific embodiments.
The pipetting head of the pipetting head replacing device with the adapter plate can be connected with different actuators, such as a multi-head or single-head cylinder or a hydraulic cylinder with different measuring ranges, or a mechanical claw with different specifications, or different scanning modules needing scanning, or other occasions needing to frequently replace actuators with different specifications. According to the pipetting head replacing device with the adapter plate, the pipetting heads are set to be identical in shape and specification, and the purpose of replacing different actuators can be achieved by replacing the pipetting heads connected with the different actuators. The cylinder body (cylinder or hydraulic cylinder) connected with the liquid-transferring head is different in sample reagent type according to the need, the test tube or vessel for holding reagent type is also different, the diameter of the corresponding test tube or vessel is also different, the range of the corresponding cylinder or hydraulic rod for sucking sample reagent from the test tube or vessel to detect is also different, so that the multi-head or single-head cylinder body with different ranges is needed. Correspondingly, the gripper has different gripping positions because of different gripping objects, and different grippers are required to be equipped, so that different grippers are required to be replaced according to different gripping objects, and the gripper, the air cylinder or the hydraulic cylinder and the scanning module are collectively called as an actuator.
The pipette head replacement device with the adapter plate will be described below by taking an actuator as an air cylinder or a hydraulic cylinder as an example.
When communication is not required, the pipetting head changing apparatus with adapter plate according to the invention as shown in fig. 1 comprises:
a pipetting head 3 connected to the cylinder or hydraulic cylinder;
the clamping and locking mechanism 2 is used for clamping and locking the pipetting head 3;
the driving mechanism 1 is used for being clamped with the pipetting head 3 and driving an air cylinder or a hydraulic cylinder to suck sample reagents from a test tube or a vessel.
Drive mechanism 1
As shown in fig. 1 to 5, the driving mechanism includes a motor 11, a coupling 12, a first bushing 13, a first elastic member 15, and an active connection shaft 14, which are sequentially connected. The first bush 13 is provided with three stepped holes with gradually reduced communication inner diameters up and down: a first stepped hole, a second stepped hole, and a third stepped hole; the first end of the coupling 12 is connected with the output shaft of the motor 11, the second end is arranged in the first stepped hole and is in pin joint with the first bushing 13, but the inner diameter of the second end of the coupling 12 is smaller than that of the first stepped hole but larger than that of the second stepped hole, so that the coupling 12 can only be arranged in the first stepped hole; the driving connecting shaft 14 is arranged in the second stepped hole and the third stepped hole, the first end of the driving connecting shaft 14 is connected with the first end of the first elastic piece 15 arranged in the second stepped hole, the second end of the first elastic piece 15 is connected with the first end of the driving connecting shaft 12; in order to prevent the whole active connecting shaft 14 from falling from the lower end of the first bushing 13, the outer side surface of the active connecting shaft 14 has a downward step, and the outer diameter of the active connecting shaft 14 above the step is larger than the inner diameter of the third stepped hole, so the active connecting shaft 14 above the step is arranged in the second stepped hole, and the active connecting shaft 14 below the step is arranged in the third stepped hole and extends out of the third stepped hole.
When the motor 11 is started, the active connecting shaft 14 rotates synchronously through the action of the coupler 12 and the first elastic piece 15, the first bushing 13 limits the circumferential displacement of the active connecting shaft 14 to enable the active connecting shaft 14 to rotate concentrically with the first bushing 13, and the active connecting shaft 14 can move up and down in the first bushing 13 due to the existence of the first elastic piece 15.
In some embodiments, the coupling 12 may not be provided, where the first bushing 13 is directly connected to the output shaft of the motor 11, and the first end of the first elastic member 1 is directly connected to the output shaft of the motor 11, and the second end is connected to the active connecting shaft 14.
Pipetting head 3
As shown in fig. 1 to 5, the lower part of the pipetting head 3 may be connected to a cylinder, and the pipetting head 3 is mounted in the clamping and locking mechanism 2 during assembly.
Specifically, the pipetting head 3 includes a pipetting head body 37 and a sliding and rotating assembly disposed in the pipetting head body 37, where the sliding and rotating assembly includes a driven shaft 33 disposed in the pipetting head body 37 and having its upper and lower ends extending out of the pipetting head body 37, and a driven connecting shaft 31 fixedly connected to the upper end of the driven shaft 33, and the sliding and rotating assembly is clamped with the driving connecting shaft 14 through the driven connecting shaft 31 to realize the rotation of the sliding and rotating assembly. Wherein the driven connecting shaft 31 is fixedly connected with the driven shaft 33 by interference fit, pin joint or jackscrew connection.
In order to facilitate the clamping connection between the driving connecting shaft 14 and the driven connecting shaft 31, the end part of the second end of the driving connecting shaft 14 is provided with a clamping groove 141, the upper end of the driven connecting shaft 31 is provided with a clamping block 311, and the clamping block 311 is clamped into the clamping groove 141 when the driving connecting shaft 14 and the driven connecting shaft 31 are connected, so that the driving mechanism 1 can drive the driven shaft 33 in the pipetting head 3 to rotate, as shown in fig. 6 and 7.
In order to facilitate connection with the cylinder or hydraulic cylinder, a drive assembly is required to push the piston of the cylinder or hydraulic cylinder up and down so that the suction head of the cylinder or hydraulic cylinder sucks the sample reagents from the test tube or vessel, for which purpose the sliding and rotating assembly further comprises a nut 34 and a second bushing 35. The driven shaft 33 is provided with a part of screw rods, the driven shaft 33 of the part is provided with a nut 34, the outer side of the nut 34 is sleeved with a second bushing 35 fixedly connected with the nut 34, the lower end of the second bushing 35 is connected with an air cylinder or a hydraulic cylinder, when the driven shaft 33 is driven to rotate by the driving mechanism 1, the nut 34 drives the second bushing 35 and the air cylinder or the hydraulic cylinder to move upwards along the driven shaft 33 to suck sample reagents in a test tube, the motor 11 is reversed after the sucking is finished, the nut drives the second bushing 35 and the air cylinder or the hydraulic cylinder to move downwards for a certain distance, and the air cylinder or the hydraulic cylinder is emptied of gas or a small amount of left sample reagents, so that the next sucking is prepared.
In order to prevent the driven shaft 33 from rattling when the second bush 35 moves up and down, thereby affecting the alignment of the cylinder or the hydraulic cylinder with the test tube containing the sample reagent, it is necessary to restrict the circumferential displacement of the driven shaft 33. As shown in fig. 5 and 8, a bearing mounting hole 373, a bushing mounting hole 375, and a driven shaft mounting hole 374 provided between the bearing mounting hole 373 and the bushing mounting hole 375 to communicate both and having an inner diameter smaller than both are provided up and down in the pipette head body 37. A second step 332 and a first step 331 are provided up and down on the outer side surface of the corresponding driven shaft 33, respectively. The outer diameter of the first step 331 is greater than or equal to the inner diameter of the driven shaft mounting hole 374, so that the driven shaft 33 below the first step 331 is disposed in the sleeve mounting hole 375 and cannot pass through the driven shaft mounting hole 374, limiting the vertical upward displacement of the driven shaft 33. In addition, the driven shaft 33 below the first step 331 is a screw rod, on which a nut 34 is mounted, and the outer diameter of the nut 34 is larger than the inner diameter of the driven shaft mounting hole 374, so that the nut 34 always moves up and down in the bushing mounting hole 375, and the outer surface of the second bushing 35 is attached to the inner surface of the bushing mounting hole 375, so that the second bushing 35 limits the circumferential displacement of the lower portion of the driven shaft 33.
In order to further limit the circumferential displacement of the driven shaft 33, the upper portion of the driven shaft 33 needs to be circumferentially limited, and for this purpose, the sliding rotation assembly further includes a bearing 32 disposed on the lower portion of the driven connecting shaft 14 and sleeved on the driven shaft 33 and simultaneously disposed in the bearing mounting hole 373, the inner ring of the bearing 32 is clamped on the upper portion of the second step 332 and fixedly connected with the driven shaft 33, and the outer ring of the bearing 32 is fixedly connected with the bearing mounting hole 373, wherein the fixedly connected manner has interference fit, bonding or jackscrew connection. Wherein the driven connecting shaft 31 is in up-down contact with the inner ring of the bearing 32 without affecting the rotation of the bearing 32. Since the bearing 32 is disposed in the bearing mounting hole 373 at the upper end of the pipetting head body 37, the bearing 32 is fixedly connected with the driven shaft 33, and the pipetting head body 37 is clamped and locked by the clamping and locking mechanism 2, so that not only is the circumferential direction of the upper end of the driven shaft 33 limited, but also the driven shaft 33, the nut 34 and the second bushing 35 do not fall from the lower end of the pipetting head body 37 and only rotate along with the driven connecting shaft 31 and the driving connecting shaft 14.
In order to further prevent the risk of the bearing 32 coming off the upper end of the pipetting head body 37, the sliding and rotating assembly further comprises a bearing cap 36, the bearing cap 36 being arranged on the outside of the driven connecting shaft 31 in a gap and in up-down contact with the upper end surface of the pipetting head body 37 and the outer ring of the bearing 32, wherein the bearing cap 36 is fixedly connected with the pipetting head body 37. Since there is the driven shaft 33 fixedly connected with the bearing 32, there is the bearing cap 36 pressing the bearing 32 and fixedly connected with the pipetting head body 37, and there is the nut 34 screw-fitted with the driven shaft 33, the driven shaft 33 does not pass out from the upper end of the pipetting head body 37 when rotating.
In order to stabilize the upward and downward movement of the second bush 35, a pair of slide grooves 376 penetrating the bearing mounting hole 373, the driven shaft mounting hole 374, and the bush mounting hole 375 are provided on the inner side surface of the pipetting head body 37, a pair of slide blocks 351 are provided on the outer side surface of the second bush 35, the slide blocks 351 are provided in the slide grooves 376, and when the second bush 35 moves up and down in the bush mounting hole 375, the slide blocks 351 move up and down along the slide grooves 376.
In some embodiments, the slide 351 described above may be disposed on the inner side of the pipette head body 37, and the chute 376 may be disposed on the outer side of the second bushing 35.
Clamping and locking mechanism 2
As shown in fig. 7 to 11, the clamp lock mechanism 2 includes:
the clamping body 21 is a square body, the center of the clamping body is provided with a through hole 211 matched with the outer side surface of the pipetting head body 37 and a clamping mounting hole communicated with the through hole 211, and the pipetting head body 37 is arranged in the through hole 211 to limit the circumferential displacement of the pipetting head body 37;
a plurality of clamping members 22 provided in the clamping mounting holes communicating with the through holes 211 for clamping the circumferential direction of the pipetting head body 37;
and a supporting and locking assembly 23 is arranged on the clamping body 21 at the lower part of the clamping assembly 22 and is used for supporting the axial direction of the pipetting head body 37 and locking the pipetting head body on the clamping body 21.
Clamping body 21 and pipetting head body 37
The pipetting head body 37 shown in fig. 8 includes a joined clamped portion and a base, wherein the clamped portion is provided with a cylindrical first clamped portion, a circular truncated cone-shaped circumferential limit portion, and a cylindrical second clamped portion, which are joined up and down, and the base is square, and the bearing mounting hole 373, the driven shaft mounting hole 374, and the bushing mounting hole 375 penetrate the clamped portion and the base from top to bottom.
The through hole 211 of the clamping body 21 is matched with the outer side face of the clamped part, the through hole 211 comprises a first round hole, a wedge-shaped hole and a second round hole which are communicated up and down, the clamped part is arranged in the through hole 211, the clamping assembly 22 circumferentially clamps the clamped part, and the clamping body 21 is supported by the base.
Clamping assembly 22
In the embodiment shown in fig. 7-11, there are 4 clamping assemblies 22, and each clamping assembly 22 includes a top block 221, a clamping elastic member 222, and a top seat 223, which are sequentially connected.
The clamping body 21 is provided with 4 clamping installation holes communicated with the through holes 211, each clamping installation hole is internally provided with a clamping assembly 22, wherein the jacking block 221 is jacked on the peripheral surface of the clamped part, and the jacking seat 223 is detachably connected with the clamping installation holes of the clamping body 21, preferably in threaded connection.
When the pipette head body 37 is mounted in the through hole 211 from the bottom of the holding body 21, in the process of moving up the pipette head body 37 held by the manipulator, the 4 top blocks 221 are pressed by the first held portion, the holding elastic members 222 connected to the top blocks 221 are compressed by the pressing force from the first held portion as well, the elastic force of the holding elastic members 222 acts on the top blocks 221, so that the 4 top blocks 221 tightly press against the outer peripheral surface of the first held portion of the pipette head body 37 to hold it, and at this time, the holding force of the 4 top blocks 221 to the first held portion of the pipette head body 37 is larger than the gravity of the pipette head body 37 itself, and the holding elastic members 222 are preferably coil springs.
In order to increase the clamping force of the clamping assembly 22 on the pipetting head body 37, an annular groove 371 is disposed at the upper portion of the outer peripheral surface of the first clamped portion of the pipetting head body 37 in this embodiment, and the top block 221 is a top bead. When moving up the pipette head body 37 from the bottom of the through hole 211, the first clamped part passes through the bead-propping position and then is clamped into the annular groove 371, and at the moment, the cambered surface of the bead-propping part not only circumferentially clamps the first clamped part, but also supports the axial direction of the pipette head body 37, so that the clamping degree of the pipette head body 37 is increased, and the pipette head body 37 is not easy to drop from the through hole 211.
In some embodiments, the number of clamping assemblies 22 may be set to 2, 3 or 5 or more clamping assemblies 22 depending on the size of the pipetting head 3.
In some embodiments, the top block 221 may be a top post, a top cone, or a top block of other shapes in addition to the top bead.
In some embodiments, the clamping elastic member 222 may be an elastic membrane, a bellows, a spring tube, or the like, in addition to the coil spring.
Support locking assembly 23
In order to increase the supporting force to the vertical direction of the pipette head body 37, prevent the pipette head body 37 from falling from the holding body 21 when the holding elastic member 222 loses elasticity, it is also necessary to provide a supporting lock assembly 23 to support the axial direction of the pipette head body 37.
As shown in fig. 7, 9 and 11, the locking assembly 23 provided on the outer side of the holding body 21 includes a lock 231 rotatably coupled to the holding body 21 and a locking elastic member 232 for locking the pipette head body 37 by applying an elastic force to the lock 231.
As shown in fig. 11, the latch 231 includes a connection end 2311 rotatably connected to an outer side surface of the clamping body 21, and first and second ends respectively provided at both sides of the connection end 2311. The clamping body 21 is provided with a blind hole on the outer side surface, the locking elastic piece 232 is arranged in the blind hole, the first end of the lock catch 231 is elastically connected with the clamping body 21 through the locking elastic piece 232, and the second end is clamped with the outer side surface of the pipetting head body 37, in particular to the second clamped part of the pipetting head body 37.
In the embodiment shown in fig. 7-11, the locking spring 232 is a coil spring, but may also be an elastic diaphragm, a bellows, a spring tube, or the like.
In order to facilitate the connection of the locking elastic member 232 to the first end of the latch 231, an elastic member joint 2312 is further provided at the inner side of the first end of the latch 231, and the latch 231 is connected to the locking elastic member 232 through the elastic member joint 2312, as shown in fig. 11.
In order to increase the clamping force between the lock catch 231 and the pipetting head body 37, a chuck 2313 is disposed at the second end of the lock catch 231, and a clamping groove 372 is disposed on the outer circumferential surface of the second clamped portion of the pipetting head body 37. The chuck 2313 is an upward step with an upward opening, the clamping groove 372 is a downward step with a downward opening, and the axial direction of the elastic piece joint 2312 is perpendicular to the first side 23131 of the upward step and parallel to the second side 23132, so that the elastic piece joint 2312 is arranged in the blind hole when the upward and downward steps are clamped, the axial direction of the elastic piece joint 2312 is horizontally arranged, and the chuck 2313 is a horizontal plane to the supporting surface of the clamping groove 372, namely the second side 23132, so as to play a supporting role on the clamping groove 372.
To reduce the length of the latch 231, a locking assembly 23 is provided at a lower portion of the outer side of the clamping body 21.
In the above embodiment, the limiting portion of the pipette head body 37 is a circular table, the through hole 211 is provided with a wedge hole adapted to the wedge hole, and when the pipette head body 37 is disposed in the through hole 211 of the clamping body 21, the limiting portion of the pipette head body 37 is disposed in the wedge hole, so that the pipette head body 37 is concentric with the through hole 211 of the clamping body 21, so as to facilitate limiting the circumferential displacement of the pipette head body 37, and maintain the stability of the pipette head body 37.
The process of clamping and removing the pipetting head 3 will be described as follows:
and (3) a pipette head clamping process:
when the pipetting head 3 is mounted, the manipulator circumferentially clamps the first clamped portion of the pipetting head body 37 when the pipetting head 3 connected with the cylinder enters the through hole 21 from the lower portion of the clamping body, and at this time, the second clamped portion of the pipetting head body 37 is required to be axially supported.
When the pipette head 3 is clamped and locked, the support locking assembly 23 needs to be in an unlocked state to place the pipette head 3 into the clamping body 21. Because the first end of the latch 231 is connected to the locking elastic member 232, the first end of the latch 231 is compressed inward when pressed from the outside, the first end and the second end of the latch 231 are like levers, the first end is pressed inward, and the second end moves outward with the chuck 2313, and at this time, the latch 231 is in an unlocked state. The manipulator clamps the pipetting head body 37 to enter the through hole 211 from the bottom of the clamping body 21, when the first clamped part of the pipetting head body 37 reaches the first round hole, the top bead is extruded and retracted by the first clamped part of the pipetting head body 37, and is clamped into the annular groove 371 under the action of the clamping elastic piece 222 when passing through the annular groove 371 on the first clamped part, so that the circumferential clamping of the first clamped part of the pipetting head body 37 is realized; then remove the depression to the first end of hasp 231, the first end outwards removes the reset under the effect of locking elastic component 232, and the second end of hasp 231 is rotated to the second by the clamping part of pipetting head body 37, and the dop 2313 card of second end is on the joint groove 372 of pipetting head body 37, realizes the axial support to pipetting head body 37 through the support to the second by the clamping part, and the hasp is in the dead state of lock this moment.
After the clamping and locking mechanism 2 clamps and locks the pipetting head 3, the pipetting head 3 is driven to draw the sample reagent with the connected actuator after being aligned and clamped with the pipetting head 3 by the driving mechanism 1.
After the pipetting head 3 is clamped, the driving connecting shaft 14 is compressed, the motor 11 starts to rotate with the driving connecting shaft 14, the clamping groove 141 on the driving connecting shaft 14 is opposite to the clamping block 311 on the driven connecting shaft 31, and then the clamping groove 141 is clamped with the clamping block 311 under the elastic force of the first elastic piece 15, so that the clamping connection between the driving mechanism 1 and the pipetting head 3 is realized.
The process of disassembling the pipetting head 3:
when the pipette head body 37 mounted on the clamping body 21 needs to be replaced, the first end of the lock catch 231 is still pressed, so that the chuck at the second end is separated from the clamping groove of the pipette head body 37, the lock catch is in an unlocking state, and the manipulator applies downward dragging force to the pipette head body 37 to take the pipette head body 37 off the clamping body 21.
Adapter plate 4
Because a multi-head or single-head cylinder is connected with a pipetting head 3, replacing the pipetting head 3 connected with the multi-head or single-head cylinder is equivalent to replacing the multi-head or single-head cylinder, in order to enable the pipetting head replacing device with the adapter plate to know the channel number, the measuring range and the correction data of the replaced cylinder, each pipetting head connected with the cylinder is provided with the adapter plate 4 and a storage chip for storing the channel number, the measuring range and the correction data of the cylinder.
In order to detect the null position of the cylinder or hydraulic cylinder, the pipetting head 3 further comprises a null sensor for sensing the null position of the cylinder or hydraulic cylinder.
In order to detect whether the suction pipe sleeved on the suction head of the air cylinder or the hydraulic cylinder is well assembled, the pipetting head 3 further comprises a suction pipe in-place sensor for sensing whether the suction pipe sleeved on the suction head of the air cylinder or the hydraulic cylinder is in place or not: i.e. if the sleeve is well arranged during working and is discarded during non-working.
In order to acquire the zero position information of the cylinder or the piston of the hydraulic cylinder acquired by the zero position sensor and the information of whether the suction pipe is in place acquired by the suction pipe in place sensor, the pipetting head replacing device with the adapter plate also comprises a controller electrically connected with the adapter plate 4, acquires the zero position information of the actuator transmitted by the adapter plate 4, the suction pipe in place information and the information in the memory chip, and controls the pipetting head 3 and the driving mechanism 1 to work.
The transfer plate 4 of the present invention will be described by taking an actuator connected to a pipetting head as an air cylinder or a hydraulic cylinder as an example.
As shown in fig. 12, which is a design style of the adapter 4, there are 8 contact conductors L1 to L8, corresponding 8 contacts are disposed on the pipette head replacement device with the adapter, the 8 contacts are respectively contacted with the 8 contact conductors L1 to L8, signals acquired by a memory chip and two sensors in the pipette head are acquired, and the 8 contact conductors L1 to L8 of the adapter 4 are respectively:
Power contact conductor L1: VCC signals, mainly providing working voltage for a storage chip, a zero sensor and a suction pipe on-site sensor on the pipetting head 3;
reference ground contact conductor L3: GND signal, provide the work reference ground for the memory chip, zero position sensor and suction pipe of the pipetting head 3 in place sensor, namely the power zero line;
the voltage value supplied to the pipetting head 3 is determined by the above-mentioned reference ground contact conductor L3 and the power contact conductor L1.
Communication contact conductor L2: an SCL signal is a clock signal line for communicating the controller of the pipetting head replacing device with the adapter plate with the memory chip in the pipetting head 3;
data contact conductor L4: the SDA signal is a data line when the controller of the pipetting head replacement device with the adapter plate communicates with the memory chip in the pipetting head 3.
Through the communication contact conductor L2 and the data contact conductor L4, the controller on the pipetting head replacing device with the adapter plate can acquire data in the storage chip in the pipetting head, and know the channel number, the measuring range and the correction data of the air cylinder or the hydraulic cylinder connected with the replaced pipetting head or the opening and closing distance and the clamping force of the mechanical claw and the correction data.
Zero contact conductor L7: MS signal, detecting the zero signal of the cylinder or the piston of the hydraulic cylinder through the zero sensor. If the actuator is a gripper, the null sensor detects a null signal when the gripper begins to close.
The suction tube is positioned on the contact conductor L8: TS signal, detect the straw on-the-spot signal of cover on cylinder or pneumatic cylinder suction head, can feel the suction pipe and establish on the suction head when working through this signal promptly, whether the suction pipe is abandoned when not working. If the actuator is a mechanical jaw, no suction tube is required at the position of the contact conductor L8.
In the above-mentioned pipette head replacement device with adapter plate, the pipette head 3 can be connected with a cylinder or a hydraulic cylinder, and also can be connected with a mechanical claw, so that in order to better make the pipette head replacement device with adapter plate recognize that the actuator connected with the replaced pipette head may be a cylinder, a mechanical claw or a scanning module, two state contact conductors are specially set:
first state contact conductor L5: t1 signal, is used for having transfer head changing device of adapter plate confirm transfer head loading state changed;
second state contact conductor L6: a T2 signal for confirming the loading state of the replaced pipetting head by the pipetting head replacement device with the adapter plate;
The type of the actuator connected to the pipetting head 3 is commonly detected by the first and second state contact conductors L5 and L6, and the detection strategy adopted is:
if T1 is not communicated with T2 and is connected with the pipetting head 3, T1 is not communicated with T2 and is connected with the pipetting head 3 by a mechanical claw, T1 and T2 are not communicated with each other and are failed in installation, T1 and T2 are communicated with each other and are scanning modules, and bar codes on test tubes or other articles are scanned.
Because the first and second state contact conductors L5, L6 comprehensively judge the type of the actuator, the controller quickly reads the test tube in-place signal, the piston zero signal and the data in the storage chip, and if the contact conductor is not contacted with the contact spring, the controller cannot read the data which should be communicated through the corresponding contact conductor, namely abnormal communication occurs, in order to prevent the situation, the length of the reference ground contact conductor L3 is set to be longest, the contact is ensured to be in preferential contact with the reference ground contact conductor L3, and the length of the power contact conductor L1 is smaller than the length of the reference ground contact conductor L3 for safety. The reference ground contact conductor L3 and the power contact conductor L1 are connected to provide power for a storage chip, a pipette in the pipetting head, and a position sensor and a zero sensor.
And then the lengths of the first state contact conductor L5 and the second state contact conductor L6 are set to be shortest and equal in length, the first state contact conductor L5 and the second state contact conductor L6 are in final contact with the contact spring piece, and other contact conductors are in a connection state when the first state contact conductor L5 and the second state contact conductor L6 are in contact with the contact spring piece. Because the first and second state contact conductors L5 and L6 are contacted with the contact spring and the type of the actuator is identified through the first and second state contact conductors L5 and L6, the controller reads the test tube in-place signal and the piston zero signal immediately and stores data in the chip, and because the first and second state contact conductors L5 and L6 are finally contacted with the contact spring, other contact conductors are contacted with the contact spring, the controller can read the test tube in-place signal and the piston zero signal normally and store data in the chip, thereby preventing communication abnormality.
The lengths of the communication contact conductor L2 and the data contact conductor L4 need to be equal in length, because the communication contact conductor L2 and the data contact conductor L4 are required to jointly complete the communication transmission of data.
The length of the zero contact conductor L7 and the suction pipe may be equal or different from each other, but both are smaller than the lengths of the first and second state contact conductors L5 and L6.
Compared with the prior art, the invention has the following beneficial effects:
1. the liquid-transfering head replacing device with the adapter plate is replaced by the liquid-transfering head replacing deviceConnectionThe liquid transferring head with the same specification and the same shape is provided with cylinders with different measuring ranges and different channel numbers, mechanical claws with different shapes and different sizes, tail ends of different robots, different scanning modules and other actuators, so that the purposes of replacing the different cylinders, the different mechanical claws, the tail ends of the different robots and the different scanning modules are realized, the compatibility is strong, the replacement is convenient, and the working efficiency is improved;
2. the contact conductors on the adapter plate are designed to be different in length, wherein the length of a reference ground contact conductor L3 is set to be longest, the length of a power supply contact conductor L1 is set to be shortest and equal in length, when the type of an actuator can be judged, other contact conductors and contact spring plates can be ensured to be in close contact, data read by a controller are real data, and communication abnormality does not occur;
3. compared with the non-insertion design of the contact conductor and the contact spring plate on the adapter plate, the service life of the adapter plate is longer, and loose contact failure is not easy to occur;
4. When the pipetting heads with the same specification and different actuators are connected, the type of the replaced actuator can be automatically identified, and the data in the memory chip of the actuator can be acquired, so that an operator can conveniently identify the replaced actuator;
5. the clamping and locking mechanism does not need a power supply or an air source, is convenient for use in various scenes, does not need manual intervention, and is beneficial to automatic integration.
This written description uses examples to disclose the application, including the best mode, and also to enable any person skilled in the art to practice the application, including making and using any devices or systems and performing any incorporated methods. The embodiments of the present application and the technical solutions obtained by slightly changing the embodiments are all within the protection scope of the present patent.
Claims (13)
1. A pipetting head changing apparatus having an adapter plate, comprising:
a pipetting head (3) connected with the actuator and provided with a zero sensor for sensing the zero position of the actuator;
the clamping and locking mechanism (2) is used for clamping and locking the pipetting head (3);
the driving mechanism (1) is used for being clamped with the pipetting head (3) and driving the pipetting head (3) to enable the actuator to execute corresponding actions;
The controller is used for controlling the pipetting head (3) and the driving mechanism (1) to work, the pinboard (4) is arranged on the pipetting head (3), and the controller is communicated with the pipetting head (3) through the pinboard (4).
2. The pipette head exchange device according to claim 1, wherein,
the pipetting head (3) comprises a zero position sensor and a memory chip, wherein the zero position sensor is used for detecting a zero position signal of the actuator, and the memory chip stores data of the actuator;
the adapter plate (4) comprises:
a reference ground contact conductor (L3) providing a working reference ground for the null sensor and the memory chip;
a power contact conductor (L1) for providing an operating voltage for the null sensor and the memory chip;
communication contact conductor (L2): a clock signal line through which the controller communicates with the memory chip;
data contact conductor (L4): is a data line through which the controller communicates with the memory chip;
zero contact conductor (L7): acquiring a zero signal of the actuator detected by the zero sensor;
a first (L5) and a second (L6) state contact conductor, which together determine the type of actuator;
The lengths of the reference ground contact conductor (L3) and the power contact conductor (L1) are gradually shortened, and the lengths of the first state contact conductor (L5) and the second state contact conductor (L6) are shortest and equal in length.
3. The pipette head exchange device according to claim 2, wherein,
the length of the communication contact conductor (L2) and the length of the data contact conductor (L4) are designed to be equal in length.
4. A pipette head exchange device according to claim 3, wherein,
the actuator is an air cylinder or a hydraulic cylinder;
the pipetting head (3) further comprises a pipette in-place sensor for detecting whether a pipette is on the pipette head;
the adapter plate (4) further comprises:
suction tube in-place contact conductor (L8): and acquiring a suction pipe on-site signal detected by the suction pipe on-site sensor, wherein the length of an on-site contact conductor (L8) of the suction pipe is larger than that of a first state contact conductor (L5) and smaller than that of a power supply contact conductor (L1).
5. A pipetting head changing device according to any one of claims 2 to 4, wherein the strategy for determining the actuator type to which the pipetting head (3) is connected by the first and second status contact conductors (L5, L6) is:
The first state contact conductor (L5) is communicated, the second state contact conductor (L6) is not communicated, and the actuator is an air cylinder or a hydraulic cylinder;
the first state contact conductor (L5) is not communicated, the second state contact conductor (L6) is communicated, and the actuator is a mechanical claw;
the first state contact conductor (L5) and the second state contact conductor (L6) are communicated, and the actuator is a scanning module for scanning a bar code;
the first state contact conductor (L5) and the second state contact conductor (L6) are not connected, and the installation fails.
6. The pipette head exchange device according to claim 5, wherein the clamping and locking mechanism (2) comprises
A clamping body (21) having a through hole (211) and a clamping mounting hole communicating with the through hole (211), the pipetting head (3) being disposed in the through hole (211);
the clamping assembly (22) is arranged in the clamping mounting hole and used for circumferentially clamping the pipetting head (3);
and the supporting and locking assembly (23) is arranged on the clamping body (21) at the lower part of the clamping assembly (22) and is used for supporting and locking the axial direction of the pipetting head (3).
7. The pipette head exchange device according to claim 6, wherein the supporting and locking assembly (23) comprises a lock catch (231), the lock catch (231) is provided with a connecting end (2311) rotatably connected with the outer side surface of the clamping body (21), and a first end and a second end which are respectively arranged at two sides of the connecting end (2311), the first end is elastically connected with the clamping body (21), and the second end is clamped with the pipette head (3).
8. The pipette head exchange device according to claim 7, wherein each of the holding assemblies (22) comprises a top block (221), a holding elastic member (222) and a top seat (223) which are sequentially connected and arranged in the holding mounting hole, the top block (221) is fixed on the outer side surface of the pipette head (3), and the top seat (223) is detachably connected with the holding mounting hole.
9. The pipette head exchange device according to claim 8, wherein the pipette head (3) comprises a pipette head body (37) disposed in the through hole (211) and a sliding rotation assembly disposed in the pipette head body (37);
the clamping assembly (22) clamps the outer side surface of the pipetting head body (37), and the supporting and locking assembly (23) supports and locks the axial direction of the pipetting head body (37);
the sliding rotation assembly is clamped with the driving mechanism (1).
10. The pipette head exchange device according to claim 9, wherein the pipette head body (37) includes a clamped portion and a base which are connected up and down, the clamped portion is arranged in the through hole (211) and clamped and locked, and the base supports the clamping body (21).
11. The pipette head exchange device according to claim 10, wherein,
The sliding rotating assembly comprises a driven shaft (33) penetrating through the pipetting head body (37) and extending out of the pipetting head body (37) from the upper end and the lower end, a driven connecting shaft (31) fixedly connected with the upper end of the driven shaft (33), a nut (34) in the pipetting head body (37) in threaded fit with the driven shaft (33), and a second bushing (35) sleeved outside the nut (34) in the pipetting head body (37) and fixedly connected with the nut at the same time, wherein the second bushing (35) is in sliding connection with the pipetting head body (37), and the lower end of the second bushing (35) is connected with the actuator;
the driving connecting shaft (14) is clamped with the driving mechanism (1).
12. The pipette head exchange device according to claim 11, wherein,
the driving mechanism (1) comprises a motor (11), a first bushing (13) fixedly connected with an output shaft of the motor, and an active connecting shaft (14) with one end elastically connected with the output shaft of the motor in the first bushing (13) and the other end extending out of the first bushing (13);
the driving connecting shaft (14) is clamped with the driven connecting shaft (31).
13. The pipette head exchange device according to claim 12, wherein,
the lower extreme of initiative connecting axle (14) is provided with draw-in groove (141), the upper end of driven connecting axle (31) is provided with fixture block (311), initiative connecting axle (14) are driven to rotate to draw-in groove (141) with both joint when fixture block (311) counterpoint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310821205.5A CN116920976A (en) | 2023-07-06 | 2023-07-06 | Liquid-transfering head changing device with adapter plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310821205.5A CN116920976A (en) | 2023-07-06 | 2023-07-06 | Liquid-transfering head changing device with adapter plate |
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| Publication Number | Publication Date |
|---|---|
| CN116920976A true CN116920976A (en) | 2023-10-24 |
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|---|---|---|---|
| CN202310821205.5A Pending CN116920976A (en) | 2023-07-06 | 2023-07-06 | Liquid-transfering head changing device with adapter plate |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117816270A (en) * | 2024-03-06 | 2024-04-05 | 北京雷奥顶峰生物科技有限责任公司 | Mechanical arm for pipetting and pipetting workstation |
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2023
- 2023-07-06 CN CN202310821205.5A patent/CN116920976A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117816270A (en) * | 2024-03-06 | 2024-04-05 | 北京雷奥顶峰生物科技有限责任公司 | Mechanical arm for pipetting and pipetting workstation |
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