CN118304811A - Liquid preparation method based on soft floating function - Google Patents

Abstract

The present disclosure provides a liquid dispensing method based on a soft floating function, which is a method for carrying a liquid suction and injection device by using a liquid dispensing device and driving the liquid suction and injection device to suck and inject liquid in each device at a liquid dispensing station for liquid dispensing, wherein the device has a preset gradient relative to a vertical direction when the liquid dispensing station is used, the liquid dispensing device comprises a carrying mechanism and a base with a liquid suction and injection device clamping mechanism, the base is arranged on the carrying mechanism and is configured to move under the control of the carrying mechanism, and the method comprises: the suction and injection device clamping mechanism is used for clamping the suction and injection device and enabling the suction and injection device to move towards a first point of the liquid distribution station, the conveying mechanism starts a soft floating function so that the base is flexibly connected with the conveying mechanism, and when the suction and injection device moves towards the first point of the liquid distribution station, the suction and injection device is abutted with the inner wall of the device with the preset gradient and moves along the inner wall to reach a second point. According to the liquid preparation method disclosed by the invention, the problem caused by deviation in the liquid preparation process can be reduced through the regulation and control of the liquid preparation mechanism.

Description

Liquid preparation method based on soft floating function

Technical Field

The present disclosure relates generally to the field of automated production, and in particular, to a liquid dispensing method based on a soft floating function.

Background

With the progress of technology, the automatic production technology is mature and widely applied to various industries to replace manual production operation. For example, with the growth of population and the continuous rise of health demands, the traditional pharmaceutical industry has failed to meet the supply gap, so that the pharmaceutical industry can increase the productivity by adopting automated production technology to meet the market demands.

In pharmaceutical production, a device for dispensing a drug (particularly, a liquid) according to a component ratio may be called an automatic dispensing device. The types of the automatic dispensing devices are different according to the working requirements, and the principle of one automatic dispensing device is that the suction and injection device clamps and makes the suction and injection device suck different liquid medicines to complete the dispensing process through a plurality of driving motors of the mechanical arm according to a pre-calibrated route. In the process of dispensing, the medicine below the suction and injection device is not fixed, and can be transferred to the lower part of the suction and injection device only when being sucked and injected, so that the situation that the medicine is inclined or the medicine bottle is inclined due to shaking easily occurs, in addition, in order to fully and reduce medicine waste in the process of dispensing, the medicine is inclined by a certain angle so that the suction and injection device can fully suck and inject the medicine, and if a mechanical arm still dispenses according to a pre-calibrated route, the damage of the medicine, the medicine bottle, the suction and injection device or the mechanical arm is likely to be caused due to the existence of deviation or inclination angle, so that the production efficiency of automatic dispensing is more likely to be seriously influenced.

Therefore, the medicine position or the position of the suction injector needs to be detected and adjusted in the dispensing process of the automatic dispensing device, namely, a detection link is introduced to form closed-loop control, so that the dispensing accuracy is improved. In the prior art, a sensor detection mode is generally adopted, for example, a pressure sensor is arranged at the tail end of the suction and injection device to detect whether the suction and injection device contacts a medicine bottle, and then adjustment is carried out based on a detection result, however, various complicated sensing data are required to be processed in the mode, the sensing data have certain delay property, which is not beneficial to the rapid and stable operation of a medicine dispensing system, and meanwhile, the suction and injection device is complicated and is not beneficial to the cost reduction due to the addition of the sensor and other structures, so that the medicine dispensing method which is simple in mode and does not need to be additionally provided with the sensor is particularly important.

Disclosure of Invention

The present disclosure has been made in view of the above-mentioned conventional circumstances, and an object thereof is to provide a liquid dispensing method based on a soft floating function, which can reduce problems caused by deviation in the liquid dispensing process by controlling the liquid dispensing mechanism itself.

To this end, the present disclosure provides a liquid dispensing method based on a soft floating function, which is a method for carrying a suction and injection device by using a liquid dispensing apparatus and driving the suction and injection device to suck and inject liquid in each appliance at a liquid dispensing station for dispensing liquid, the appliance having a preset inclination with respect to a vertical direction at the liquid dispensing station, the liquid dispensing apparatus including a carrying mechanism, a base having a suction and injection clamping mechanism, the base being disposed at the carrying mechanism and configured to move under control of the carrying mechanism, the liquid dispensing method comprising: utilize inhale annotate ware fixture centre gripping inhale annotate ware and pass through join in marriage liquid device make inhale annotate ware to join in marriage liquid station's first position location removes, handling mechanism starts soft floating function so base with flexible connection between the handling mechanism, inhale annotate ware to when moving to first position location with the inner wall butt of utensil that has the presetting gradient and along the inner wall motion reaches the second position location.

In the invention, the suction and injection device is clamped by the suction and injection device clamping mechanism, so that the suction and injection device can be conveniently and stably carried by the liquid preparation device, and the liquid in the device can be conveniently and stably sucked and injected during liquid preparation; the liquid dispensing device enables the liquid sucking and injecting device to move towards the first point of the liquid dispensing station, so that the liquid sucking and injecting device can be matched or aligned with the appliances conveniently, and liquid dispensing in each appliance can be finished conveniently through the liquid sucking and injecting device; the soft floating function is started through the carrying mechanism so that the base is flexibly connected with the carrying mechanism, the base can be subjected to the action of external force in a certain range to follow movement, and further the suction and injection device can be conveniently moved to a second point position subsequently; when the suction and injection device moves towards the first point, the suction and injection device moves to the second point through abutting and along the inner wall of the appliance with the preset gradient, namely, the suction and injection device can move along with the inner wall of the appliance, in other words, the suction and injection device can move to the second point from the first point through flexible connection between the base and the carrying mechanism. Therefore, according to the liquid preparation method, the problem that the liquid preparation device or the appliance is damaged due to deviation or inclination in the liquid preparation process can be reduced through the regulation and control of the liquid preparation device without additionally adding a sensing component, namely the problem that the unexpected situation that the liquid preparation device damages the appliance and the like can be reduced to improve the safety of the whole liquid preparation process, and meanwhile, the problem of cost increase caused by adding the sensing component can be reduced.

In addition, according to the liquid dispensing method related to the disclosure, optionally, before moving the suction and injection device toward the first point, a calibration step is further included, in which the suction and injection device is moved to a base point, and the base point is located above the first point. In this case, the base point may be used as an initial point of movement of the suction and injection device to the first point, i.e. a reference point or a teaching point, thereby enabling the suction and injection device to be more accurate when moving to the first point.

Additionally, according to the liquid dispensing method related to the present disclosure, optionally, the calibrating step includes: moving the pipette to a calibration area; and acquiring image information of the suction and injection device, acquiring position information of the suction and injection device based on the image information, and feeding back the position information to the conveying mechanism so that the suction and injection device is positioned at the basic point. In this case, the suction and injection device can be calibrated so as to be aligned with the instrument in a matching manner, for example, a route of the suction and injection device moving to the first point can be planned based on the calibration coordinate value of the suction and injection device, and thus, the alignment of the suction and injection device with the instrument can be facilitated to be more accurate.

In addition, according to the liquid dispensing method related to the disclosure, optionally, the liquid dispensing device includes a first camera and a second camera with optical axes perpendicular to each other, and the first camera and the second camera cooperate to form the calibration area, so that the suction and injection device is located in the calibration area. In this case, the calibration area may be an area formed at the intersection of the exit optical axis of the first camera and the exit optical axis of the first camera, which may be photographed by the first camera and the first camera at the same time, through which image position information of the suction and injection device can be acquired, so that it is possible to convert into calibration coordinate values, whereby a route along which the suction and injection device moves toward the first point can be planned based on the calibration coordinate values of the suction and injection device to make the alignment of the suction and injection device with the instrument more accurate.

In addition, according to the liquid dispensing method related to the present disclosure, optionally, the suction and injection device is clamped by the suction and injection device clamping mechanism and is moved in a vertical direction from the base point to the first point. In this case, the distance that the suction and injection device moves to the first point can be reduced.

In addition, according to the liquid dispensing method related to the present disclosure, optionally, the base is rotatably connected to the carrying mechanism, and the soft floating function is achieved by adjusting a rotation force of the base relative to the carrying mechanism, and the rotation force is adjusted by a current compensation manner. In this case, the base is rotatably connected to the carrying mechanism, and the direction of the suction and injection device held by the suction and injection device holding mechanism can be adjusted, so that the suction and injection device can be moved toward the first point; in addition, the rotating force of the base relative to the carrying mechanism is regulated in a current compensation mode, so that a soft floating function can be realized, namely, the connection between the base and the carrying mechanism has certain flexibility, and therefore, the suction and injection device clamped on the base can conveniently move along the inner wall of the appliance under the reaction force of the inner wall of the appliance.

In addition, according to the liquid dispensing method related to the present disclosure, optionally, a force of a reaction force of the suction and injection device contacting the inner wall is greater than the rotation force. In this case, the suction and injection device held on the base can be moved to follow the inner wall of the tool by the reaction force of the inner wall of the tool.

In addition, according to the liquid dispensing method related to the present disclosure, optionally, the base drives the syringe to reciprocate in a first direction to make the syringe partially enter the appliance, the base drives the syringe to reciprocate in the first direction without obstruction to have a first current value, and the base drives the syringe to reciprocate in the first direction to have a second current value. In this case, the base can drive the suction and injection device to reciprocate in the first direction to enable the suction and injection device to partially enter the appliance, so that the suction and injection device can suck and inject liquid in the appliance, and the liquid preparation in each appliance can be completed; in addition, the acquisition of the current values of the base in two situations can facilitate the subsequent detection of the operating state of the base based on the two current values.

In addition, according to the liquid dispensing method related to the present disclosure, optionally, the liquid dispensing device further includes a liquid-moving mechanism disposed on the base and configured to drive the liquid suction and injection device to suck the liquid from the appliance when the liquid suction and injection device is at the liquid dispensing station, the liquid-moving mechanism drives the liquid suction and injection device to suck air from the appliance to have a third current value, and the liquid-moving mechanism drives the liquid suction and injection device to suck the liquid from the appliance to have a fourth current value. In this case, the pipetting mechanism can drive the pipetting device to perform pipetting action, so that the liquid pipetting link in the liquid preparation process can be completed; in addition, the acquisition of the current values of the pipetting mechanism in two situations can facilitate the subsequent detection of the operation state of the pipetting mechanism based on the two current values.

In addition, according to the liquid dispensing method related to the present disclosure, optionally, when the suction and injection device is moved to the first point of the liquid dispensing station, the method further includes a detection step, where the detection step includes: obtaining a first comparison threshold value based on the first current value and the second current value, obtaining a second comparison threshold value based on the third current value and the fourth current value, obtaining a first detection result based on the first comparison threshold value and the first working current value, obtaining a second detection result based on the second comparison threshold value and the second working current value, judging the relative position of the suction and injection device and the appliance based on the first detection result and the second detection result, wherein the first working current is working current when the base is operated to drive the suction and injection device to reciprocate in a first direction, and the second working current is working current when the pipetting mechanism is operated to drive the suction and injection device to suck in the appliance.

In the detection step, whether the base is in a normal operation state (namely whether the operation is in the obstruction) is obtained by comparing the first working current value with the first comparison threshold value, so that whether the suction and injection device clamped on the base touches the appliance can be judged, and the operation condition of the pipetting mechanism (namely whether the pipetting mechanism drives the rear suction and injection device to suck liquid) is obtained by comparing the second working current value with the second comparison threshold value, so that whether the suction and injection device touches the liquid and can suck the liquid can be judged, namely the suction and injection device is partially positioned in the appliance and can suck the liquid.

According to the liquid preparation method based on the soft floating function, the problem caused by deviation in the liquid preparation process can be reduced through the regulation and control of the liquid preparation mechanism.

Drawings

Fig. 1 is a schematic diagram illustrating an application scenario of a liquid dispensing method according to an example of the present disclosure.

Fig. 2 is a flow chart illustrating a liquid dispensing method according to an example of the present disclosure.

Fig. 3 is a schematic diagram illustrating an abstract process of the action and position change of the suction and injection device in the liquid preparation method according to the example of the present disclosure.

Fig. 4 shows a schematic view of an inner wall of an abutment instrument during displacement of a suction injector to a first point in accordance with an example of the present disclosure.

Fig. 5 shows a schematic view of the displacement of the suction injector to a first point along with the movement of the inner wall of the implement to a second point in accordance with examples of the present disclosure.

Fig. 6 is a schematic diagram showing a configuration of a liquid dispensing device according to an example of the present disclosure.

Fig. 7 shows a flow chart of a second embodiment of a liquid preparation method according to an example of the present disclosure.

Fig. 8 is a flowchart illustrating calibration steps involved in examples of the present disclosure.

Fig. 9 shows a schematic diagram of the structure and mating relationship of the first and second cameras related to examples of the present disclosure.

Fig. 10 is a flowchart showing a third embodiment of the liquid dispensing method according to the example of the present disclosure.

Fig. 11 is a flowchart illustrating detection steps involved in examples of the present disclosure.

Fig. 12 is a schematic diagram showing a first positional relationship of the inhaler and the instrument in the detection step according to the example of the present disclosure.

Fig. 13 is a schematic diagram showing a second positional relationship of the inhaler and the instrument in the detection step according to the example of the present disclosure.

Fig. 14 is a flowchart showing a fourth embodiment of the liquid dispensing method according to the example of the present disclosure.

Reference numerals illustrate:

10 … liquid dispensing device, 11 … handling mechanism, 12 … base, 13 … aspirator, 14 … appliance, 15 … aspirator clamping mechanism, 16 … pipetting mechanism, 17 … first camera, 18 … second camera, 19 … casing, 191 … opening, H … calibration area, a … base point location, f … first point location, b … first point location, c … second point location.

Detailed Description

The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which are filled by those of ordinary skill in the art without undue burden based on the embodiments in this disclosure, are within the scope of the present disclosure.

It should be noted that the terms "first," "second," "third," and "fourth," etc. in the description and claims of the present disclosure and in the above figures are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed or inherent to such process, method, article, or apparatus but may optionally include other steps or elements not listed. In the following description, the same members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.

In the automatic medicine dispensing process, the condition that sways and leads to medicine bottle position deviation or medicine bottle slope easily appears, in addition, in order to reduce the medicine waste, also can be in order to inhale the injection syringe and can fully inhale the injection medicine with medicine bottle slope certain angle in general, and if the arm still dispenses according to the route of demarcating in advance, will probably lead to the damage of medicine, medicine bottle, injection syringe or arm self because of deviation or the existence of inclination, more probably seriously influences the production efficiency that automatic was dispensed. The prior art generally adopts a sensor detection mode, various complicated sensing data need to be processed in the mode, the sensing data have certain delay property, the rapid and stable operation of a dispensing system is not facilitated, and meanwhile, the suction and injection device is complicated due to the structure of the sensor and the like, and the cost is not facilitated to be reduced. Therefore, the liquid preparation method based on the soft floating function can reduce the problems caused by deviation of the liquid preparation process by regulating and controlling the liquid preparation device.

The liquid preparation method related to the present disclosure is described in detail below with reference to the accompanying drawings. Fig. 1 is a schematic diagram illustrating an application scenario of a liquid dispensing method according to an example of the present disclosure. Fig. 2 is a flow chart illustrating a liquid dispensing method according to an example of the present disclosure. Fig. 3 is a schematic diagram showing an abstract process of the action and position change of the suction and injection device 13 in the liquid dispensing method according to the example of the present disclosure. Fig. 4 shows a schematic view of the inner wall of the abutment instrument 14 during displacement of the suction and injection instrument 13 to the first point according to the example of the present disclosure. Fig. 5 shows a schematic view of the movement of the suction injector 13 to a first point along the inner wall of the tool 14 to a second point during the movement of the suction injector to the first point according to the example of the present disclosure.

As shown in fig. 1, the liquid dispensing method according to the present disclosure is a method of dispensing liquid by using a liquid dispensing device 10 to transport a suction and injection device 13 and driving the suction and injection device 13 to suck and inject liquid in each of the tools 14 at a liquid dispensing station. In some examples, the dispensing methods related to the present disclosure may also be referred to as "dispensing methods", "automatic dispensing flows", "automatic dispensing methods", "automatic dispensing flows" or "automatic pharmaceutical methods or flows", etc.

In some examples, the dispensing station may be multiple. In some examples, the dispensing stations may include a first dispensing station for placing the appliance 14 and a second dispensing station for placing the liquid. In some examples, the dispensing apparatus 10 may clamp the pipettor 13 and move the pipettor 13 between the first and second dispensing stations. In this case, the liquid dispensing device 10 is used to clamp the liquid suction and injection device 13 and move the liquid suction and injection device 13 between the first liquid dispensing station and the second liquid dispensing station, and the liquid suction and injection device 13 can be controlled to perform suction and injection actions at the first liquid dispensing station or the second liquid dispensing station by the liquid dispensing device 10, for example, multiple liquids at the second liquid dispensing station can be sucked and injected into one device 14 of the first liquid dispensing station by the liquid suction and injection device 13, thereby completing the automatic liquid dispensing process and improving the pharmaceutical efficiency.

In some examples, as shown in fig. 1, the implement 14 may have a preset inclination with respect to the vertical at the dispensing station. In this case, the suction and injection device 13 can be made to abut against the lowest part of the inner wall of the tool 14 in the subsequent liquid preparation process, whereby the suction and injection device 13 can be facilitated to sufficiently suck and inject the liquid, and the waste of the liquid medicine can be reduced.

In some examples, as shown in fig. 1, the dispensing device 10 may include a handling mechanism 11 and a base 12. In some examples, the handling mechanism 11 may be an automated manipulator (arm) that may be used to move the base 12.

In some examples, the base 12 is provided to the handling mechanism 11 and configured to move under control of the handling mechanism 11. In some examples, as shown in fig. 1, the base 12 may have a syringe clamp mechanism 15, the syringe clamp mechanism 15 for clamping the syringe 13. In this case, the suction and injection device 13 is held by the suction and injection device holding mechanism 15, so that the liquid dispensing apparatus 10 can stably convey the suction and injection device 13 and can stably suck and inject the liquid in the device 14 during liquid dispensing.

In some examples, as shown in fig. 1, the dispensing device 10 may further include a pipetting mechanism 16, and the pipetting mechanism 16 may be used to actuate the pipettor 13 to perform a pipetting action.

As shown in fig. 2, the liquid preparation method according to the present disclosure may include: the suction and injection device 13 is held and moved to the first point (step S100), and the soft floating function is activated (step S200), so that the suction and injection device 13 is brought into contact with the inner wall of the tool 14 and moves along the inner wall to the second point (step S300).

Specifically, step S100 may be to clamp the suction and injection device 13 by using the suction and injection device clamping mechanism 15 and move the suction and injection device 13 toward the first point of the liquid dispensing station by the liquid dispensing device 10, step S200 may be to enable the soft floating function by the carrying mechanism 11 to flexibly connect the base 12 and the carrying mechanism 11, and step S300 may be to enable the suction and injection device 13 to abut against the inner wall of the tool 14 having the preset inclination and move along the inner wall to reach the second point when moving toward the first point.

In step S100, as shown in fig. 3, the suction and injection device 13 may be moved toward the first point of the dispensing station (i.e., a to b in fig. 3) by the dispensing device 10. In this case, it can be convenient to match or align the pipettes 13 with the tools 14, and it can be convenient to complete the dispensing of the liquid in each tool 14 by driving the pipettes 13.

In some examples, the first point may be at or near the lowest point of the inner wall of the appliance 14 when the appliance 14 is ideally at the first dispensing station and tilted at a preset tilt (i.e., no positional offset or tilt deviation) (see fig. 4 and 5).

In some examples, displacing the pipettor 13 toward the first point of the dispensing station may refer to bringing the pipettor 13 to the first point, e.g., the tip of the pipettor 13 abutting the first point. In this case, the tip of the syringe 13 is brought into contact with the lowest part of the inner wall of the tool 14, whereby the syringe 13 can sufficiently suck the liquid, and the waste of the chemical solution can be reduced.

In step S200, the soft floating function is activated by the carrying mechanism 11 to flexibly connect the base 12 and the carrying mechanism 11. In this case, the base 12 can be moved to follow by an external force within a certain range, and the subsequent suction and injection device 13 can be moved to the second position.

In some examples, the soft float function may refer to the handling mechanism 11 exhibiting better flexibility when physically interacting with the external environment or the user to reduce the creation of excessive impact forces that could harm the user, the work piece, and even the handling mechanism 11 itself.

In some examples, the flexible connection between the base 12 and the carrying mechanism 11 may refer to that, when the carrying mechanism 11 operates and controls the movement of the base 12, if an external force acts, the base 12 may adapt to the external force to perform a corresponding movement or action, such as rotating by a certain angle or feeding by a certain distance.

In step S300, as shown in fig. 3, when the suction and injection device 13 moves toward the first point, the suction and injection device 13 reaches the second point by abutting against and moving along the inner wall of the tool 14 having the preset inclination, that is, the suction and injection device 13 may move following the inner wall of the tool 14, in other words, the suction and injection device 13 may be changed from moving toward the first point to moving to the second point by the flexible connection between the base 12 and the carrying mechanism 11 (see a to f to c in fig. 3).

In some examples, the second point location may refer to at or near the lowest point of the inner wall of the actual implement 14 (i.e., implement 14 is now tilted at a preset tilt but is positionally offset, or is positionally unbiased but is not tilted at a preset tilt) (see fig. 5). In some examples, the first point location may be identical to the second point location in an ideal case.

Fig. 6 is a schematic diagram showing the structure of the liquid dispensing device 10 according to the example of the present disclosure.

In some examples, the base 12 may be rotatably connected with the handling mechanism 11. In some examples, the soft float function may be achieved by adjusting the rotational force of the base 12 relative to the handling mechanism 11. In some examples, the rotational force may be adjusted by means of current compensation. In this case, the base 12 is rotatably connected to the carrying mechanism 11, and the orientation of the suction and injection device 13 held by the suction and injection device holding mechanism 15 can be adjusted so that the suction and injection device 13 moves toward the first point; in addition, by adjusting the rotational force of the base 12 with respect to the carrying mechanism 11 by means of the current compensation, a soft floating function can be realized, that is, the connection between the base 12 and the carrying mechanism 11 can be made flexible to a certain extent, whereby it is possible to facilitate the suction and injection device 13 held on the base 12 to move along the inner wall of the tool 14 under the reaction force of the inner wall of the tool 14.

In some examples, the base 12 may be rotatably connected with the handling mechanism 11 by a rotation shaft. Wherein the axial direction of the rotation shaft may be orthogonal to the longitudinal direction of the suction syringe 13 held on the suction syringe holding mechanism 15 (see fig. 6, line CA schematically represents the axial direction of the rotation shaft). This enables the base 12 to rotate in the left-right direction (for example, in the G1G2 direction in the drawing). In some examples, the base 12 may also be connected to the handling mechanism 11 by a telescoping rod. Wherein the axial direction of the telescopic rod may be orthogonal to the longitudinal direction of the suction syringe 13 held on the suction syringe holding mechanism 15 and may be telescopic in a direction consistent with the axial direction thereof. This enables the base 12 to be rotated in the front-rear direction (for example, in the G3G4 direction in the figure).

In some examples, the force of the reaction force of the aspirator 13 in contact with the inner wall may be greater than the rotational force. In this case, the suction and injection device 13 held on the base 12 can be moved to follow the inner wall of the tool 14 by the reaction force of the inner wall of the tool 14.

In some examples, the handling mechanism 11 may have a plurality of relatively rotatable joints. In some examples, the force of rotation through the plurality of joints may be adjusted to achieve a soft float function. In this case, the carrying mechanism 11 itself can also be provided with flexible control, whereby the ability of the suction and injection device 13 held on the base 12 to follow the inner wall of the tool 14 by the reaction force of the inner wall of the tool 14 can be enhanced.

In the present disclosure, specifically, the suction and injection device 13 is clamped to the base 12 by the suction and injection clamping mechanism 15, the base 12 is controlled to move by the carrying mechanism 11 so that the suction and injection device 13 moves in the implement 14 to perform suction and injection, when the suction and injection device 13 on the base 12 is abutted to the inner wall of the actual implement 14 (i.e. the implement 14 is inclined at a preset inclination but is shifted in position or is not shifted but is not inclined at a preset inclination) during the moving process of the suction and injection device 13 on the base 12 to the first point, after the soft floating function of the carrying mechanism 11 is started, the suction and injection device 13 on the base 12 can move to a new point, i.e. the second point, along with the inner wall of the implement 14 under the reaction force of the inner wall.

In summary, the present disclosure can solve the problem of damage to the suction and injection device 13 or the device 14 due to deviation or inclination in the liquid preparation process by adjusting and controlling the liquid preparation device 10 itself without adding a sensing component, that is, can suppress occurrence of undesirable situations such as damage to the suction and injection device 13 and the device 14 to improve the safety of the whole liquid preparation process, and can also reduce the problem of cost increase caused by adding the sensing component.

Fig. 7 shows a flow chart of a second embodiment of a liquid preparation method according to an example of the present disclosure. Fig. 8 is a flowchart illustrating calibration steps involved in examples of the present disclosure. Fig. 9 shows a schematic diagram of the structure and the mating relationship of the first camera 17 and the second camera 18 according to the example of the present disclosure.

In addition, in the present disclosure, as shown in fig. 7, a calibration step may be further included before the pipette 13 is moved toward the first point, that is, the calibration step S000 may be before the step S100.

In some examples, in the calibration step, the pipettor 13 may be moved to a base point position. In some examples, the base point location may be above the first point location. In this case, the base point may be used as an initial point, i.e., a reference point or a teaching point, at which the suction and injection device 13 moves toward the first point, thereby enabling the suction and injection device 13 to move toward the first point more accurately.

In some examples, the pipettor 13 may be held by the pipettor holding mechanism 15 and displaced in a vertical direction from the base point to the first point. In this case, the path length of the suction and injection device 13 moving to the first point can be reduced. In some examples, the operation of the suction and injection clamping mechanism 15 to clamp the suction and injection 13 may not be performed at the dispensing station, for example, the operation of the suction and injection clamping mechanism 15 to clamp the suction and injection 13 may be performed at a gripping station where a large number of suction and injection machines 13 are placed.

In some examples, as shown in fig. 8, the calibration step may include: moving the suction syringe 13 to the calibration area H (step S001); acquiring image information of the suction and injection device 13 (step S002); the conveyance mechanism 11 is fed back based on the image information so that the suction and injection device 13 is positioned at the basic point of the liquid preparation station (step S003). In this case, the suction and injection device 13 can be calibrated so that the suction and injection device 13 is aligned with the instrument 14 in a matching manner, for example, a route along which the suction and injection device 13 moves to the first point can be planned based on the calibration coordinate value of the suction and injection device 13, thereby enabling accurate alignment of the suction and injection device 13 with the instrument 14.

In some examples, in step S002, image information of the suction and injection device 13 may be acquired and positional information of the suction and injection device 13 may be obtained based on the image information of the suction and injection device 13. In some examples, the acquired position information of the pipettor 13 may be fed back to the handling mechanism to position the pipettor at the base point.

In some examples, the base point location may be located in the calibration area H.

In some examples, as shown in fig. 9, the liquid dispensing device 10 may include a first camera 17 and a second camera 18 having optical axes perpendicular to each other. In some examples, the first camera 17 and the second camera 18 may be provided independently of the dispensing device 10.

In some examples, as shown in fig. 9, the first camera 17 and the second camera 18 may cooperate to form a calibration area H. In some examples, the calibration area H may be an area formed where the outgoing optical axis of the first camera 17 intersects the outgoing optical axis of the second camera 18 and that can be photographed by both the first camera 17 and the second camera 18 (where A1 in fig. 9 indicates the outgoing optical axis of the first camera 17 and A2 indicates the outgoing optical axis of the second camera 18).

In some examples, as shown in fig. 9, the dispensing device 10 may further include a housing 19 that houses the first camera 17 and the second camera 18. In some examples, the first camera 17, the second camera 18, and the calibration area H may be located within the receiving space of the housing 19, and have an opening 191 on the housing 19 opposite the calibration area H for the inhaler 13 to enter. When it is desired to move the needle tip to the calibration area H, the calibration area H may be accessed through the opening 191 in the housing 19. In this case, the housing 19 can reduce the influence of the outside on the calibration area H (for example, stray light and reflected light from the outside), thereby improving the calibration accuracy, and the housing 19 can protect the optical element (for example, prevent dust and water).

In some examples, the pipettor 13 may be positioned in the calibration area H at the dispensing station, e.g., the pipettor 13 may be driven to a base point positioned in the calibration area H. In this case, the image position information of the suction and injection device 13 can be acquired by the first camera 17 and the second camera 18, so that it can be converted into the calibration coordinate values, and thus the route of the suction and injection device 13 moving to the first point position can be planned based on the calibration coordinate values of the suction and injection device 13 to achieve accurate alignment of the suction and injection device 13 with the instrument 14.

Fig. 10 is a flowchart showing a third embodiment of the liquid dispensing method according to the example of the present disclosure. Fig. 11 is a flowchart illustrating detection steps involved in examples of the present disclosure. Fig. 12 is a schematic diagram showing a first positional relationship of the inhaler 13 and the instrument 14 in the detection step according to the example of the present disclosure. Fig. 13 is a schematic diagram showing a second positional relationship of the inhaler 13 and the instrument 14 in the detection step according to the example of the present disclosure.

In addition, in the present disclosure, the base 12 may actuate the inhaler 13 to reciprocate in a first direction to partially advance the inhaler 13 into the appliance 14 (see the F1F2 direction of fig. 6).

In some examples, the base 12 may have a first current value when driving the pipettor 13 in a first direction to reciprocate without obstruction. In some examples, the base 12 may have a second current value when driving the pipettor 13 in a first direction to reciprocate in the presence of an obstruction. In this case, the suction and injection device 13 can be driven to reciprocate in the first direction by the base 12 to enable the suction and injection device 13 to partially enter the appliances 14, so that the suction and injection device 13 can suck and inject the liquid in the appliances 14, and the liquid preparation in each appliance 14 can be completed; in addition, the subsequent detection of the operating state of the base 12 based on the two current values can be facilitated by acquiring the current values of the base 12 in both cases.

In the present disclosure, the dispensing device 10 may also include a pipetting mechanism 16, as previously mentioned. In some examples, a pipetting mechanism 16 may be provided to the base 12 and configured to actuate the pipettor 13 to aspirate liquid from the instrument 14 when the pipettor 13 is in the dispensing station.

In some examples, pipetting mechanism 16 may drive pipettor 13 to draw air from appliance 14 at a third current value. In some examples, the pipetting machine may be configured to drive the pipettor 13 to aspirate liquid from the instrument 14 with a fourth current value. In this case, the pipetting mechanism 16 can drive the pipetting device 13 to perform pipetting, so that a liquid pipetting link in the liquid preparation process can be completed; in addition, the subsequent detection of the operation state of the pipetting mechanism 16 based on the two current values can be facilitated by acquiring the current values of the pipetting mechanism 16 in both cases.

Since the current change of the driving mechanism (e.g., the base 12, the pipetting mechanism 16, etc.) has a correspondence with the load change, the actual load situation can be determined by detecting the operating current of the driving mechanism, so that the position of the pipette 13 can be detected, and the method is simple, and the problems of high cost or complex data processing in the prior art can be solved.

Thus, in some examples, as shown in fig. 10, when the suction injector 13 is moved to the first position of the liquid dispensing station, the detection step S120 may be further included, that is, the detection step S120 may be performed after the step S100 and before the step S200. In some examples, the detecting step may be used to detect the relative position of the pipettor 13 and the implement 14.

In other examples, the detecting step S120 may be after the step S200 and before the step S300. In other words, the soft floating function of the carrying mechanism 11 may be started before the suction and injection device 13 abuts against the inner wall of the tool 14, that is, before the detecting step S120.

In some examples, as shown in fig. 11, the detecting step S120 may include: a first comparison threshold is obtained based on the first current value and the second current value (step S121), a second comparison threshold is obtained based on the third current value and the fourth current value (step S122), a first detection result is obtained based on the first comparison threshold and the first operation current value (step S123), a second detection result is obtained based on the second comparison threshold and the second operation current value (step S124), and the relative position of the suction and injection device 13 and the implement 14 is determined based on the first detection result and the second detection result (step S125).

In some examples, the first operating current may be an operating current that the operating base 12 has when driving the aspirator 13 to reciprocate in the first direction. In some examples, the second operating current may be an operating current when operating pipetting mechanism 16 to drive pipette 13 into a pipetting action in implement 14. In this case, the operation state of the base 12 can be obtained by the first operation current, and the operation state of the pipetting mechanism 16 can be obtained by the second operation current, whereby the relative positions of the pipette 13 and the instrument 14 can be determined based on the operation state of the base 12 and the operation state of the pipetting mechanism 16.

In the detecting step S120, whether the base 12 is in a state of normal operation (i.e., whether the operation is in a hindrance) is obtained by comparing the first operation current value with the first comparison threshold value, thereby it can be judged whether the pipette 13 held on the base 12 touches the implement 14, and the operation condition of the pipetting mechanism 16 (i.e., whether the pipetting mechanism 16 drives the post-pipette 13 to aspirate liquid) is obtained by comparing the second operation current value with the second comparison threshold value, thereby it can be judged whether the pipette 13 touches liquid and can aspirate liquid, i.e., the pipette 13 is partially located within the implement 14 and can aspirate liquid.

In the liquid dispensing method according to the present disclosure, by adding the detection step S120 before the step S200 or the step S300, it is possible to automatically detect the specific position of the syringe 13 (particularly, the portion of the syringe 13 that enters the implement 14, such as the needle tip) with respect to the implement 14, for example, see fig. 12, where the syringe 13 is located at the mouth of the implement 14 (where the operation of the base 12 is blocked), see fig. 13, where the operation of the base 12 is unobstructed but the pipetting mechanism 16 sucks air, or see fig. 3 and 4, where the syringe 13 is correctly located inside the implement 14 (where the operation of the base 12 is unobstructed and the pipetting mechanism 16 sucks liquid), etc., and then to continue to open the soft-floating function of the handling mechanism 11, thereby making it possible to improve the safety of the overall liquid dispensing flow without the need for external sensing means to suppress the occurrence of damage to the syringe 13 or damage to the implement 14, while the syringe 13 can reach the lowest point inside of the inclined implement 14 (i.e., the second point where the liquid can be sufficiently filled by the soft-floating function.

Fig. 14 is a flowchart showing a fourth embodiment of the liquid dispensing method according to the example of the present disclosure.

In some examples, as shown in fig. 14, the liquid dispensing method according to the present disclosure may include a calibration step (step S000), gripping the pipettor 13 and moving the pipettor 13 toward a first point (step S100), a detection step (step S120), activating a soft float function (step S200), and moving the pipettor 13 against and along the inner wall of the fixture 14 to a second point (step S300). In this case, whether the suction and injection device 13 is located at the base point or not can be calibrated through the calibration step S000, the suction and injection device 13 is moved to the first point through the step S100, the relative position of the suction and injection device 13 and the appliance 14 is detected through the detection step S120, and the suction and injection device 13 is moved along the inner wall of the appliance 14 through the opening of the soft floating function in the steps 200 and S300, so that a liquid dispensing method based on the soft floating function can be provided, and the deviation or cost problem in the liquid dispensing process can be solved by adjusting and controlling the liquid dispensing device 10 itself.

In some examples, the calibration step (step S000) and the detection step (step S120) may be the same as the aforementioned steps.

In summary, the present disclosure can provide a liquid dispensing method based on a soft floating function, which can reduce problems caused by deviation in a liquid dispensing process by adjusting and controlling the liquid dispensing device 10 itself.

While the disclosure has been described in detail in connection with the drawings and examples, it is to be understood that the foregoing description is not intended to limit the disclosure in any way. Those skilled in the art can make modifications and variations to the present disclosure as required without departing from the true spirit and scope of the disclosure, and such modifications and variations are within the scope of the disclosure.

Claims (10)

1. The liquid dispensing method based on soft floating function is characterized by that it utilizes liquid dispensing device to convey suction and injection device and drive said suction and injection device to suck and inject the liquid in every implement in the liquid dispensing station so as to implement liquid dispensing, said implement has preset inclination relative to vertical direction when the liquid dispensing station is used, the liquid dispensing device includes conveying mechanism and base seat with suction and injection device holding mechanism, said base seat is placed in the conveying mechanism and is configured for movement under the control of the conveying mechanism,

Utilize inhale annotate ware fixture centre gripping inhale annotate ware and pass through join in marriage liquid device make inhale annotate ware to join in marriage liquid station's first position location removes, handling mechanism starts soft floating function so base with flexible connection between the handling mechanism, inhale annotate ware to when moving to first position location with the inner wall butt of utensil that has the presetting gradient and along the inner wall motion reaches the second position location.

2. The method for preparing liquid according to claim 1, wherein,

And before the suction and injection device moves towards the first point, the method further comprises a calibration step, wherein in the calibration step, the suction and injection device is moved to a basic point position, and the basic point position is positioned above the first point position.

3. The method for preparing liquid according to claim 2, wherein,

The calibration step includes:

Moving the pipette to a calibration area;

and acquiring image information of the suction and injection device, acquiring position information of the suction and injection device based on the image information, and feeding back the position information to the conveying mechanism so that the suction and injection device is positioned at the basic point.

4. The method for preparing liquid according to claim 3, wherein,

The liquid dispensing device comprises a first camera and a second camera, the optical axes of the first camera and the second camera are perpendicular to each other, the first camera and the second camera are matched to form the calibration area, and the suction and injection device is located in the calibration area.

5. The method for preparing liquid according to claim 2, wherein,

And clamping the suction and injection device by using the suction and injection device clamping mechanism and enabling the suction and injection device to move from the basic point to the first point along the vertical direction.

6. The method for preparing liquid according to claim 1, wherein,

The base is rotatably connected with the carrying mechanism, the soft floating function is realized by adjusting the rotation force of the base relative to the carrying mechanism, and the rotation force is adjusted in a current compensation mode.

7. The method for preparing liquid according to claim 6, wherein,

The force of the reaction force of the suction and injection device contacted with the inner wall is larger than the rotation force.

8. The method for preparing liquid according to claim 1, wherein,

The base drives the syringe to reciprocate in a first direction to partially enter the instrument, the base drives the syringe to reciprocate in the first direction with a first current value without obstruction, and the base drives the syringe to reciprocate in the first direction with a second current value with obstruction.

9. The method for preparing liquid according to claim 8, wherein,

The dispensing device further includes a pipetting mechanism disposed on the base and configured to drive the pipettor to aspirate the liquid from the implement when the pipettor is in the dispensing station, the pipetting mechanism driving the pipettor to aspirate air from the implement having a third current value, and the pipetting mechanism driving the pipettor to aspirate liquid from the implement having a fourth current value.

10. The method for preparing liquid according to claim 9, wherein,

When the suction and injection device moves to the first point of the liquid preparation station, the detection step is further included, and the detection step includes: obtaining a first comparison threshold value based on the first current value and the second current value, obtaining a second comparison threshold value based on the third current value and the fourth current value, obtaining a first detection result based on the first comparison threshold value and the first working current value, obtaining a second detection result based on the second comparison threshold value and the second working current value, judging the relative position of the suction and injection device and the appliance based on the first detection result and the second detection result, wherein the first working current is working current when the base is operated to drive the suction and injection device to reciprocate in a first direction, and the second working current is working current when the pipetting mechanism is operated to drive the suction and injection device to suck in the appliance.