CN219424437U - Automatic calibration device for pipettor - Google Patents
Automatic calibration device for pipettor Download PDFInfo
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- CN219424437U CN219424437U CN202320650028.4U CN202320650028U CN219424437U CN 219424437 U CN219424437 U CN 219424437U CN 202320650028 U CN202320650028 U CN 202320650028U CN 219424437 U CN219424437 U CN 219424437U
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- conveyor belt
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Abstract
The utility model discloses an automatic calibration device of a liquid dispenser, which comprises a controller and a mechanical arm controlled by the controller; the mechanical arm is a triaxial mechanical arm; the operation tail end of the mechanical arm is provided with a direct current motor, the output end of the direct current motor is provided with a driving piston structure, and the driving piston structure is connected with a pipetting piston of the pipetting device; the operation tail end of the mechanical arm is also provided with a first stepping motor, and the output end of the first stepping motor is provided with an installing and uninstalling structure; the operation end of the mechanical arm is further provided with a second stepping motor, and the output end of the second stepping motor is provided with a grasping structure. According to the utility model, the mechanical arm, the direct current motor, the first stepping motor and the second stepping motor which are arranged on the mechanical arm, the driving piston structure, the mounting and dismounting structure and the grasping structure are used for calibrating the liquid transfer device, so that the problem of temperature deviation caused by manual operation is avoided, and the calibration precision of the liquid transfer device is improved.
Description
Technical Field
The utility model relates to the technical field of pipettors, in particular to an automatic calibration device of a pipettor.
Background
The liquid transfer device has convenient use and wide range, so the liquid transfer device can be widely applied to qualitative, semi-quantitative and quantitative experiments of clinical and scientific research works such as biochemical examination, pharmacological research, radioimmunoassay, enzyme labeling research and the like. The pipettor is designed according to the hooke principle, and in the long-term use process, the precision of the pipettor can be changed due to the influence of environmental factors or human factors. If a pipette which does not reach the standard is used, the problems of insufficient or excessive pipetting and poor repeatability are caused, and further, the adverse effects of deviation of experimental results, reduction of production efficiency, production accidents and the like are caused.
In the process of manually calibrating the liquid dispenser, as the palm of a human body contacts the hand-held part of the liquid dispenser for a long time during manual operation, the temperature of the tube wall of the liquid dispenser is increased, heat can be transferred to the nozzle of the liquid dispenser through contact, so that the temperature of liquid in the nozzle of the liquid dispenser is increased, the temperature of the liquid transferred by the liquid dispenser is higher than the temperature of the liquid in a container measured by people, and the calculated liquid dispenser capacity is higher than the actual liquid dispenser capacity; meanwhile, the pipette is held for a long time, heat of a palm of a gun body is conducted to a part in the cavity, so that the internal temperature of the pipette is increased, the volume is expanded, the air pressure is increased, and after liquid with lower temperature is sucked in, the air contacted with the liquid is changed in density, so that the calibration precision of the pipette is affected.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art, and provides an automatic calibration device for a liquid dispenser.
The utility model provides an automatic calibration device of a liquid dispenser, which comprises a controller and a mechanical arm controlled by the controller;
the mechanical arm is a triaxial mechanical arm;
the operation tail end of the mechanical arm is provided with a direct current motor, the output end of the direct current motor is provided with a driving piston structure, and the driving piston structure is connected with a pipetting piston of the pipetting device;
the operation tail end of the mechanical arm is also provided with a first stepping motor, the output end of the first stepping motor is provided with a mounting and dismounting structure, and the mounting and dismounting structure is used for being matched with a disposable suction head of a mounting or dismounting pipettor;
the operation end of the mechanical arm is further provided with a second stepping motor, the output end of the second stepping motor is provided with a grasping structure, and the grasping structure is used for being matched with and clamping the pipettor.
In a preferred embodiment of the present utility model, the controller is provided with an embedded chip.
According to the preferred scheme of the utility model, the driving piston structure comprises a first gear, a second gear, a first conveying belt and a second conveying belt, wherein the first conveying belt is connected with the output end of the direct current motor and the first gear, and the second conveying belt is connected with the first gear and the second gear.
In a preferred embodiment of the present utility model, the driving piston structure further includes a first structural block and a second structural block, one end of the first structural block is connected to the second conveyor belt, and the second structural block is disposed on a bottom surface of the other end of the first structural block.
According to the preferred scheme of the utility model, the mounting and dismounting structure comprises a third gear, a fourth gear, a third conveyor belt and a fourth conveyor belt, wherein the third conveyor belt is connected with the output end of the first stepping motor and the third gear, and the fourth conveyor belt is connected with the third gear and the fourth gear.
In a preferred embodiment of the present utility model, the mounting and dismounting structure further includes a third structural block and a fourth structural block, one end of the third structural block is connected to the fourth conveyor belt, and the fourth structural block is disposed on a bottom surface of the other end of the third structural block.
In a preferred embodiment of the present utility model, the second stepper motor includes a vertical stepper motor for driving the gripping structure to move in a vertical direction, and a horizontal stepper motor for driving the gripping structure to move in a horizontal direction.
In a preferred embodiment of the present utility model, the gripping structure includes a fifth gear, a fifth conveyor belt, a sixth conveyor belt, and a gripper, wherein the fifth conveyor belt is connected to the output end of the vertical stepper motor and the fifth gear, the sixth conveyor belt is connected to the output end of the horizontal stepper motor and the fifth gear, and the fifth gear is connected to the gripper.
According to the preferred scheme, the automatic calibration device of the pipettor is provided with an electronic balance, a temperature sensor, a capacitance sensor, an air pressure sensor and a Hall sensor, and the electronic balance, the temperature sensor, the capacitance sensor, the air pressure sensor and the Hall sensor are respectively connected with the controller.
According to the preferred scheme of the utility model, the automatic calibration device of the pipettor is further provided with an upper computer, and the upper computer is connected with the controller.
The utility model provides an automatic calibration device of a liquid dispenser, which is used for realizing the accurate control of a liquid dispenser liquid-transferring piston through a mechanical arm, a direct-current motor and a second stepping motor which are arranged on the mechanical arm, and a driving piston structure and a grasping structure in a matching way; through setting up first step motor, the second step motor on the arm, cooperation installation uninstallation structure and grasp the structure, realize the installation and uninstallation to the disposable suction head of pipettor, avoid the problem of the temperature deviation that manual operation brought, improve the calibration accuracy of pipettor.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an automatic calibration device for a pipette according to an embodiment of the present utility model;
FIG. 2 is a schematic front view of a mechanical arm structure according to an embodiment of the present utility model;
FIG. 3 is a schematic view of a bevel of a mechanical arm structure according to an embodiment of the present utility model;
fig. 4 is a schematic view of the operation end structure of the mechanical arm in the embodiment of the utility model.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The embodiment of the utility model provides an automatic calibration device for a liquid dispenser, which comprises a controller and a mechanical arm controlled by the controller; the mechanical arm is a triaxial mechanical arm; the operation tail end of the mechanical arm is provided with a direct current motor, the output end of the direct current motor is provided with a driving piston structure, and the driving piston structure is connected with a pipetting piston of the pipetting device; the operation tail end of the mechanical arm is also provided with a first stepping motor, the output end of the first stepping motor is provided with a mounting and dismounting structure, and the mounting and dismounting structure is used for being matched with a disposable suction head of a mounting or dismounting pipettor; the operation end of the mechanical arm is further provided with a second stepping motor, the output end of the second stepping motor is provided with a grasping structure, and the grasping structure is used for being matched with and clamping the pipettor.
In an alternative implementation manner of this embodiment, as shown in fig. 1, fig. 1 shows a schematic structural diagram of a pipette automatic calibration device in an embodiment of the present utility model, where the pipette automatic calibration device includes a controller 1 and a mechanical arm 2 controlled by the controller.
In an alternative implementation manner of this embodiment, an embedded chip is disposed in the controller 1.
Preferably, the embedded chip is an APT32S003 control chip.
Specifically, the APT32S003 control chip is a 32-bit high-speed high-performance high-reliability single-chip microcomputer developed based on RISC CPU cores, and is mainly applied to industrial control, electronic equipment and wearable equipment.
The APT32S003 control chip is adopted as a processing chip of the controller, namely the core of the automatic calibration device of the pipettor, so that the functions of data and instruction transmission, data processing, upper computer communication, mechanical arm control and the like are efficiently realized.
In an alternative implementation manner of this embodiment, as shown in fig. 2 and fig. 3, fig. 2 shows a schematic front view of a mechanical arm structure in an embodiment of the present utility model, fig. 3 shows a schematic inclined plane of the mechanical arm structure in an embodiment of the present utility model, the mechanical arm 2 is a three-axis mechanical arm, and the mechanical arm 2 is used to implement grabbing, liquid taking and liquid draining of a liquid dispenser.
In the embodiment, the mechanical arm is used for realizing grabbing, liquid taking and liquid draining of the liquid dispenser, so that the liquid temperature and the temperature change of the inner cavity of the liquid dispenser caused by manual contact with the liquid dispenser are avoided, and the defect of temperature deviation is overcome.
In an alternative implementation manner of this embodiment, as shown in fig. 4, fig. 4 shows a schematic diagram of an operating end of a mechanical arm in an embodiment of the present utility model, where an operating end of the mechanical arm 2 is provided with a dc motor 31, an output end of the dc motor 31 is connected to a driving piston structure 32, and the driving piston structure 32 is connected to a pipetting piston of a pipetting device.
Specifically, as shown in fig. 4, the driving piston structure 32 includes a first gear 321, a second gear 322, a first conveyor belt connected to the dc motor 31 and the first gear 321, a second conveyor belt connected to the first gear 321 and the second gear 322, a first structural block 323, and a second structural block 324, one end of the first structural block 323 is connected to the second conveyor belt, and the second structural block 324 is connected to the bottom surface of the other end of the first structural block 323, when the driving piston structure 32 is driven by the dc motor 31, the pressing and releasing of the pipetting piston control button are realized by controlling the up-down movement of the second structural block 324, so that the pipetting piston of the pipettor is precisely controlled.
Specifically, according to the pipette verification procedure JJG 646-2006, during the process of pipette calibration, a pipette button is pressed to a first stopping point during the process of pipetting; when the liquid is discharged, the button of the liquid dispenser is pressed to a complete stopping point, and the movement precision of the piston can obviously influence the measurement of the capacity value of the liquid dispenser, so that the method has very important significance for carrying out high-precision movement control on the piston of the liquid dispenser. In the embodiment, the direct current motor is adopted to accurately control the liquid transfer device piston, so that the defects of repeated workload and low pressing precision of manual operation can be avoided, and the liquid transfer performance of the liquid transfer device is ensured to be stable and reliable.
Further, the dc motor 31 is a high-performance brushless dc motor.
In an alternative implementation manner of this embodiment, as shown in fig. 4, the operation end of the mechanical arm 2 is further provided with a first stepper motor 33, and the output end of the first stepper motor 32 is provided with a mounting and dismounting structure 34, and the mounting and dismounting structure 34 can be matched to mount or dismount the disposable tip of the pipette.
Specifically, as shown in fig. 4, the mounting and dismounting structure 34 includes a third gear 341, a fourth gear 342, a third conveyor connected to the first stepper motor 33 and the third gear 341, a fourth conveyor connected to the third gear 341 and the fourth gear 342, a third block 343, and a fourth block 344, one end of the third block 343 is connected to the fourth conveyor, and the fourth block 344 is connected to the bottom surface of the other end of the third block 343, when the disposable tip of the pipette is required to be mounted, the first stepper motor 33 controls the fourth block 344 not to press the tip dismounting button of the pipette, and clamps the pipette by a mechanical claw, so that the head of the pipette is pressed onto the disposable tip mounted in the disposable tip box, the first stepper motor 33 controls the fourth block 344 to move down to press the tip dismounting button of the pipette, so that the head of the disposable tip pipette is separated from the pipette, and the mounting is completed when the dismounting is required.
In particular, when manually calibrating a pipette, a disposable tip is often attached to the pipette by manual operation, and thus the efficiency of the attachment is low. In the embodiment, the first stepping motor is used for controlling the mounting and dismounting structure to mount and dismount the disposable suction head, so that the working efficiency is improved.
In an alternative implementation of this embodiment, as shown in fig. 4, the operating end of the mechanical arm 2 is further provided with a second stepper motor 35, and the output end of the second stepper motor 35 is provided with a gripping structure 36, and the gripping structure 36 can be matched to clamp the pipette.
Specifically, the second stepper motor 35 includes a vertical stepper motor 351 and a horizontal stepper motor 352, the vertical stepper motor 351 is used for driving the grasping structure to move in the vertical direction, and the horizontal stepper motor 352 is used for driving the grasping structure to move in the horizontal direction.
Further, the gripping structure 36 includes a fifth gear 361, a fifth belt connecting the vertical stepping motor 351 and the fifth gear 361, a sixth belt connecting the horizontal stepping motor 352 and the fifth gear 361, and a gripper 362, the gripper 362 being connected to the fifth gear 361, and the gripping structure 36 is capable of gripping the body of the pipette in cooperation with performing the pipetting and discharging operations of the pipette, and the mounting and the unloading operations of the disposable tip.
In an alternative implementation manner of this embodiment, as shown in fig. 1, the automatic calibration device of the pipette is provided with a data acquisition device, where the data acquisition device includes an electronic balance 4, a temperature sensor 5, a capacitance sensor 6, a barometric sensor 7, and a hall sensor 8, and the data acquisition device is used for acquiring working data of the automatic calibration device of the pipette.
In an alternative implementation of this embodiment, the automatic pipette calibration arrangement is provided with an electronic balance 4, which electronic balance 4 is used to obtain the quality of the pipette discharges.
Specifically, in this embodiment, the two processes of liquid taking and liquid draining are performed in the same container, the container is placed in an electronic balance, the primary mass is weighed after liquid taking, the primary mass is weighed again after liquid draining, and the difference between the two masses is the mass of the liquid collected by the liquid transfer device at the current calibration point.
The electronic balance is adopted to obtain the liquid draining quality of the liquid draining device, so that the time for transferring the liquid draining device from one container to the other in the liquid taking and draining process can be reduced, and the risks of liquid dripping and evaporation are reduced.
More, the electronic balance is connected with the controller 1 based on an RS232 interface, and the electronic balance transmits the acquired mass data to the controller 1 through a serial communication interface standard RS 232.
In an alternative implementation of the present embodiment, the pipette auto-calibration device is provided with a temperature sensor 5, the temperature sensor 5 being connected to the controller 1.
Specifically, the temperature sensor 5 monitors the temperature of the liquid and the cavity in the pipette, and transmits temperature data to the controller 1.
The temperature sensor is arranged here, so that the temperature change of the liquid and the inner cavity in the liquid transfer device can be monitored in real time, and the defect of temperature deviation is avoided.
In an alternative implementation of the present embodiment, the pipette auto-calibration arrangement is provided with a capacitive sensor 6, which capacitive sensor 6 is connected to the controller 1.
Specifically, the capacitance sensor 6 detects the capacitance value of the polar liquid in the pipette, and transmits the detection data to the controller 1.
Further, the capacitive sensor 6 is provided with a high-precision capacitance measuring chip.
The high-precision capacitance measuring chip is adopted to realize the rapid liquid level detection of the polar liquid in the liquid transfer device, and the accurate measurement of the liquid volume in the liquid transfer device is realized.
In an alternative implementation of this embodiment, the pipette auto-calibration arrangement is provided with a barometric pressure sensor 7, which barometric pressure sensor 7 is connected to the controller 1.
Specifically, the air pressure sensor 7 detects air pressure information data in the pipette and transmits the air pressure information data to the controller 1.
More, the barometric sensor 7 is provided with a 24-bit high-precision data acquisition chip.
The air pressure sensor is adopted, so that abnormal conditions such as blockage of the disposable suction head, insufficient liquid suction bubble residue and the like in the liquid discharge process can be monitored and processed in real time, and the accuracy of the calibration process is effectively improved.
In an alternative implementation manner of this embodiment, an analog-to-digital converter is further disposed in the air pressure sensor 7, and the analog-to-digital converter is configured to convert an analog voltage signal output by the air pressure sensor 7 into a digital signal, and transmit the digital signal to the controller 1 for processing.
In an alternative implementation of the present embodiment, the pipette auto-calibration device is provided with a hall sensor 8, the hall sensor 8 being connected to the controller 1.
Specifically, the hall sensor 8 monitors the position of the liquid dispenser in real time, and achieves the limiting function of the liquid dispenser.
In an alternative implementation manner of this embodiment, the automatic calibration device for a pipette further includes a host computer 9, and the host computer 9 is connected to the controller 1.
Specifically, the upper computer 9 sends a control instruction to the controller 1, the controller 1 controls the mechanical arm 2 to move according to the control instruction sent by the upper computer 9, and controls the data acquisition module to acquire data such as temperature, quality and the like, and the data are returned to the upper computer 9, so that the upper computer 9 receives the data and generates an original record, and a calibration certificate is generated according to a calculation result of a calibration formula.
In an optional implementation manner of this embodiment, the automatic calibration device for a pipette further includes a data communication device, where the data communication device is configured to transmit the working data of the automatic calibration device for a pipette acquired by the data acquisition device to the controller 1, and transmit the working data to the upper computer 9 for processing.
In an alternative implementation manner of the embodiment, the correction formula of the automatic calibration device for the pipettor in the embodiment of the utility model is as follows according to the measurement method correction of the national metrological verification procedure of the people's republic of China, JJG 196-2006:
V 20 ＝(ρ B -ρ A )/ρ A (ρ W -ρ A )[1+β(20-t)]，
for simplicity of calculation, it can be expressed as:
V 20 ＝m·K(t)，
wherein V is 20 Actual capacity (ml) of glass instrument to be tested at standard temperature of 20℃ ρ B To weight density (8.00 g/cm) 3 )，ρ A For the measurement of the density of laboratory air (0.0012 g/cm 3) ρ W Beta is the volume expansion coefficient (DEG C) of the glass gauge to be tested, which is the temperature (g/cm 3) of distilled water at t DEG C -1 ) T is the temperature (DEG C) of distilled water during measurement, m is the apparent mass (g) of water which can be contained in the glass gauge to be detected, and the K (t) value can be referred to a K (t) value table.
In summary, the embodiment of the utility model provides an automatic calibration device for a liquid dispenser, which realizes the functions of data and instruction transmission, processing, communication and the like through an upper computer and a controller with an embedded chip; the accurate control of the pipetting piston of the pipetting device is realized by the mechanical arm, the direct current motor arranged on the mechanical arm and the second stepping motor which are matched with the driving piston structure and the grasping structure; the first stepping motor and the second stepping motor which are arranged on the mechanical arm are matched with the mounting and dismounting structure and the grasping structure, so that the mounting and dismounting of the disposable suction head of the pipettor are realized; working data of the automatic calibration device of the liquid transfer device are collected through various collectors, the mechanical arm is controlled to operate after being processed by the controller, the problem of temperature deviation caused by manual operation is avoided, and the calibration precision of the liquid transfer device is improved.
The foregoing has described in detail the automatic calibration device for pipettes provided by the embodiments of the present utility model, and specific examples have been employed herein to illustrate the principles and embodiments of the present utility model, the above examples being provided only to assist in understanding the method of the present utility model and its core ideas; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present utility model, the present description should not be construed as limiting the present utility model in view of the above.
Claims (10)
1. The automatic calibration device for the pipettor is characterized by comprising a controller and a mechanical arm controlled by the controller;
the mechanical arm is a triaxial mechanical arm;
the operation tail end of the mechanical arm is provided with a direct current motor, the output end of the direct current motor is provided with a driving piston structure, and the driving piston structure is connected with a pipetting piston of the pipetting device;
the operation tail end of the mechanical arm is also provided with a first stepping motor, the output end of the first stepping motor is provided with a mounting and dismounting structure, and the mounting and dismounting structure is used for being matched with a disposable suction head of a mounting or dismounting pipettor;
the operation end of the mechanical arm is further provided with a second stepping motor, the output end of the second stepping motor is provided with a grasping structure, and the grasping structure is used for being matched with and clamping the pipettor.
2. The pipette auto-calibration arrangement as recited in claim 1 wherein an embedded chip is disposed in the controller.
3. The automatic pipette calibration arrangement as recited in claim 1 wherein the drive piston structure comprises a first gear, a second gear, a first conveyor belt, a second conveyor belt, the first conveyor belt connecting the output of the dc motor and the first gear, the second conveyor belt connecting the first gear and the second gear.
4. The automatic pipette calibration arrangement as recited in claim 3 wherein said drive piston structure further comprises a first block and a second block, one end of said first block being connected to said second conveyor belt, said second block being disposed on a bottom surface of the other end of said first block.
5. The pipette auto-calibration device as recited in claim 1 wherein the mounting and dismounting structure comprises a third gear, a fourth gear, a third conveyor belt, a fourth conveyor belt, the third conveyor belt connecting the output of the first stepper motor and the third gear, the fourth conveyor belt connecting the third gear and the fourth gear.
6. The automatic pipette calibration arrangement as recited in claim 5 wherein said mounting and dismounting structure further comprises a third block and a fourth block, one end of said third block being connected to said fourth conveyor belt, said fourth block being disposed on a bottom surface of the other end of said third block.
7. The pipette auto-calibration arrangement as recited in claim 1 wherein the second stepper motor comprises a vertical stepper motor for driving movement of the gripping structure in a vertical direction and a horizontal stepper motor for driving movement of the gripping structure in a horizontal direction.
8. The automatic pipette calibration arrangement as recited in claim 7 wherein said grasping structure comprises a fifth gear, a fifth conveyor belt, a sixth conveyor belt, a gripper, said fifth conveyor belt connecting an output of said vertical stepper motor and a fifth gear, said sixth conveyor belt connecting an output of said horizontal stepper motor and a fifth gear, said fifth gear connecting said gripper.
9. The automatic calibration device for a pipette of claim 1, wherein the automatic calibration device for a pipette is provided with an electronic balance, a temperature sensor, a capacitance sensor, a barometric pressure sensor and a hall sensor, and the electronic balance, the temperature sensor, the capacitance sensor, the barometric pressure sensor and the hall sensor are respectively connected with the controller.
10. The automatic pipette calibration arrangement as recited in claim 1 wherein said automatic pipette calibration arrangement is further provided with an upper computer, said upper computer being connected to said controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320650028.4U CN219424437U (en) | 2023-03-28 | 2023-03-28 | Automatic calibration device for pipettor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320650028.4U CN219424437U (en) | 2023-03-28 | 2023-03-28 | Automatic calibration device for pipettor |
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