WO2015139667A1 - 全自动移液工作站和其用途 - Google Patents

全自动移液工作站和其用途 Download PDF

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Publication number
WO2015139667A1
WO2015139667A1 PCT/CN2015/074812 CN2015074812W WO2015139667A1 WO 2015139667 A1 WO2015139667 A1 WO 2015139667A1 CN 2015074812 W CN2015074812 W CN 2015074812W WO 2015139667 A1 WO2015139667 A1 WO 2015139667A1
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WO
WIPO (PCT)
Prior art keywords
pipetting
base
drive
linear guide
moving
Prior art date
Application number
PCT/CN2015/074812
Other languages
English (en)
French (fr)
Inventor
刘丹
赵海峰
Original Assignee
北京自由度科学机器有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京自由度科学机器有限公司 filed Critical 北京自由度科学机器有限公司
Priority to EP15764571.4A priority Critical patent/EP3120931A4/en
Priority to US15/128,085 priority patent/US20170108525A1/en
Publication of WO2015139667A1 publication Critical patent/WO2015139667A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1065—Multiple transfer devices
    • 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
    • B01L3/0217—Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids of the plunger pump type
    • B01L3/0227—Details of motor drive means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1065—Multiple transfer devices
    • G01N35/1072—Multiple transfer devices with provision for selective pipetting of individual channels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1081—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1081—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane
    • G01N35/1083—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane with one horizontal degree of freedom
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/10—Devices for withdrawing samples in the liquid or fluent state
    • G01N1/14—Suction devices, e.g. pumps; Ejector devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • G01N2035/0475—Details of actuating means for conveyors or pipettes electric, e.g. stepper motor, solenoid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • G01N2035/0482—Transmission
    • G01N2035/0484—Belt or chain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • G01N2035/0482—Transmission
    • G01N2035/0487—Helix or lead screw
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
    • G01N2035/1025—Fluid level sensing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1065—Multiple transfer devices
    • G01N35/1067—Multiple transfer devices for transfer to or from containers having different spacing
    • G01N2035/1069—Multiple transfer devices for transfer to or from containers having different spacing by adjusting the spacing between multiple probes of a single transferring head

Definitions

  • the present invention relates to automated liquid handling equipment. More specifically, the present invention relates to a fully automatic pipetting station and a pipetting mechanism therefor, and their use in performing liquid loading, liquid transfer, and the like.
  • the fully automatic liquid handling workstation is a biomedical laboratory automation operation platform that combines automation and liquid processing. It can realize automatic sample loading, reagent dispensing, ultra-micro pipetting and vibration, incubation, etc. related to liquid processing. operating. Can be widely used in nucleic acid purification, gene protein sequencing, rapid screening of clones, cell culture, biochip sample preparation and other fields.
  • the pipetting mechanism is one of the core mechanisms of the fully automatic liquid handling workstation, which is used to realize the transportation, extraction and transfer of liquid between standard liquid containers.
  • the most common standard liquid containers are standard liquid containers such as 8-well plates, 96-well plates, and the like.
  • the standard liquid containers such as 96-well plates commonly used in laboratories have a minimum spacing of 9 mm, a volume of about 0.5 ml, and a single column of 8 holes. Therefore, an automatic liquid handling workstation, particularly a pipetting mechanism therein, requires simultaneous or separate pipetting of a plurality of, for example, eight pipetting channels in a small space with high precision and high repeatability.
  • the prior art automatic liquid processing workstation and the pipetting mechanism have large mechanism wear, high noise, and low motion stability, and the processing precision of the moving base chute is high, and the assembly process debugging is complicated. Miscellaneous, high-volume defects, and cumbersome daily operations and maintenance, and easy to cause pollution and corrosion inside the instrument.
  • the invention provides a novel automatic workstation, which overcomes the problems of large wear of the pipetting mechanism, complicated assembly and debugging, and large noise of the whole operation of the mechanism in the prior art, and provides an internal environment with simple maintenance and no pollution.
  • the invention provides a pipetting workstation comprising:
  • a moving rod movably mounted to the moving base, the moving rod being movable relative to the moving base in a vertical direction;
  • a moving rod driving mechanism comprising: a screw rod disposed in parallel with the moving rod; and a driving mechanism of the screw rod, wherein the screw rod is fixedly connected to the moving rod through a driving connection;
  • a pedestal horizontal moving mechanism comprising a horizontally disposed pedestal drive belt and a belt drive clamping member fixed to the moving base frame (for example, inside or outside of the frame, preferably outside), the base passing through the belt drive clamping member and the transmission belt Fixed, the rotation of the belt can drive the base to move horizontally; the linear guide mount fixed on the moving base (for example, inside or outside of the frame, preferably outside);
  • the base belt is horizontally disposed, and has a base belt drive driving wheel and a base belt transmission driven wheel at both ends thereof, and the base belt drive driving wheel can be in the motor Driven by a stepper motor (preferably a stepper motor), the base belt is driven to operate, whereby the base is moved horizontally by the belt drive clamp.
  • a stepper motor preferably a stepper motor
  • the driving mechanism of the base is adopted Belt drive drive mode, even if stepper motor is used as the drive motor, it can effectively buffer the impact and vibration during operation, especially the transmission noise of other drive modes (such as rack and pinion) is less obvious than the prior art. .
  • the use of stepper motors can greatly reduce production costs and simplify control algorithms.
  • the linear guide fixing seat can be connected and fixed to the slider of the linear guide.
  • the linear guide is disposed in a horizontal direction and is parallel to the pedestal drive belt.
  • the slider of the linear guide rail is connected and fixed to the linear rail fixing seat, whereby the linear rail fixing seat and the moving base connected and fixed with the linear rail fixing seat can follow the sliding rail of the linear guide rail along the linear guide rail Move in the horizontal direction.
  • the base belt of the pipetting station, and the position of the linear guide holder and the linear guide are arranged such that when the belt is operated, a moving base that drives the slider of the linear guide can be realized.
  • the belt drive clamp and the linear guide mount are disposed on the same side of the frame, and the drive belt and the linear guide are juxtaposed in parallel.
  • the linear guide mount has a square surface that is the same or similar in shape and size to the surface of the slider of the linear guide.
  • the height H1 of the linear guide mount is greater than 25 mm, preferably greater than 30 mm.
  • the linear guide rail to which the linear guide fixing seat can be fitted or used is a linear guide rail having a slider width w of more than 25 mm, preferably more than 30 mm.
  • the linear guide fixing seat of the pipetting mechanism is fixed to a linear guide fixing area of the frame of the moving base.
  • the linear guide fixing area is located directly below the belt drive clamping member on the moving base frame.
  • the linear guide fixing area may be a part of the moving base frame or a separate component that can be fixed on the moving base by threads or the like.
  • the linear guide fixing area has a height (usually a length in the vertical direction) that is not less than twice the height of the linear guide fixing seat.
  • the height H2 of the linear guide fixing region is greater than or equal to 50 mm, preferably greater than or equal to 60 mm.
  • the moving base of the pipetting mechanism has a quadrangular outer frame having four sides, an upper beam, a lower beam, and two frames.
  • the moving rod of the pipetting mechanism of the pipetting station is movably fitted to a side frame of the moving base.
  • the frame for assembling the moving rod in the pipetting mechanism of the pipetting station has a groove opening toward the inner side of the moving base, the moving rod being movably Fitted in the groove, a part of the moving rod is outside the groove, that is, the inner side surface of the left frame is protruded, and the protruding portion of the moving rod can be used for fixed connection with the driving connection of the moving rod driving mechanism.
  • the moving rod of the pipetting mechanism of the pipetting station is movably fitted in a frame on the moving base by a moving rod sliding sleeve disposed on the frame, wherein the moving The rod sleeve is fixedly coupled to the frame, and the moving rod is movable within the moving rod sleeve.
  • the moving rod sliding sleeve of the pipetting mechanism of the pipetting station is a sliding sleeve prepared from a polymer material.
  • a polymer material such as Igus's Series, such as G, W300, J, X and M250 and so on.
  • the parts made of these polymer materials have the characteristics of no lubrication (self-lubricating), excellent acid-base resistance, good shock absorption performance, no need for sealing or oil scraping ring, and easy installation and replacement.
  • the moving rod sliding sleeve is not a metal material component.
  • the moving rod in the pipetting mechanism of the pipetting station is a hollow tube.
  • the hollow tube can be used to install wires or pipettes.
  • the driving mechanism of the screw rod in the pipetting mechanism comprises a screw belt drive driven wheel fixedly connected with the top end of the screw rod, the screw belt drive driving wheel and the screw rotating transmission belt, And a screw drive motor coupled to the lead screw drive drive wheel.
  • the drive motor is a stepper motor.
  • the screw rotating transmission belt is horizontally disposed, and the screw belt driving driven wheel and the screw belt driving driving wheel are respectively located at two ends of the transmission belt, and can be fixed on the top plate of the top of the base .
  • the lead screw belt driven driven wheel is fixedly connected to the top end of the screw rod and can be located above the top plate at the top of the base.
  • the belt drive driving wheel is fixedly connected to the rotating shaft of the screw driving motor.
  • the lead screw drive motor can be located below the top plate at the top of the base.
  • the belt drive drive motor is coupled to an encoder, such as the encoder mounted below the motor.
  • the encoder can feedback the number of steps of the belt drive drive motor in real time, so that the rotational distance of the screw can be calculated and assisted, thereby calculating and assisting in controlling the moving distance of the moving rod.
  • the drive mechanism of the screw rod is driven by a belt drive, even if it is adopted As a drive motor, the stepping motor can effectively buffer the shock and vibration during operation, and it is particularly clear that the transmission noise is smaller than other driving methods (such as gear rack and pinion) in the prior art.
  • the use of stepper motors can greatly reduce production costs and simplify control algorithms.
  • the use of stepper motors can greatly reduce production costs and control algorithms are simple.
  • the lead screw is fixedly coupled to the travel bar by a spindle nut and a drive link.
  • the screw nut is screwed onto the screw, and one end of the drive coupling is fixedly connected to the moving rod, and the other end is fixed to the outside of the screw nut.
  • the screw nut is prepared from a polymer.
  • the screw nut in the pipetting mechanism of the present invention is not a metal material component.
  • the pipetting mechanism further has a base positioning member, such as a base positioning member mounted on the base frame, which cooperates with the optical position sensor for determining and controlling the horizontal coordinate of the base For example, it can be used for operations such as resetting.
  • a base positioning member such as a base positioning member mounted on the base frame, which cooperates with the optical position sensor for determining and controlling the horizontal coordinate of the base For example, it can be used for operations such as resetting.
  • the pipetting station further includes a linear guide disposed in a horizontal direction parallel to the base belt, the slider of the linear guide being connected and fixed to the linear guide mount,
  • the moving base can move horizontally along the track of the linear guide along with the slider of the linear guide.
  • the moving base is connected and fixed to the slider of the linear guide by a linear guide mount.
  • the base drive belt and the linear guide mount are positioned such that when the base drive belt is operated (rotated), the movable base is moved horizontally in the direction of the slide rail of the linear guide.
  • the moving base is connected and fixed to the slider of the linear guide through the linear guide fixing seat.
  • the base drive belt and the linear guide mount are disposed on the same side of one of the frames, and the corresponding base drive belt and the linear guide are juxtaposed in parallel.
  • the pipetting head of the pipetting mechanism has a limiting block, and a pipette holder connected to the catheter below the pipette holder, the catheter being connectable to the replaceable pipette head.
  • the catheter is provided with a tube sleeve.
  • the pipetting head has a liquid level detector. The level detector can be placed below the pipette holder.
  • the pipetting station has a plurality (eg, four or eight) of the aforementioned pipetting mechanisms, wherein two or more of the plurality of pipetting mechanisms are juxtaposed,
  • the moving rods of two or more pipetting mechanisms assembled side by side are arranged in a straight line, and
  • the susceptor belts of the two or more pipetting mechanisms arranged side by side are arranged in parallel above and below, preferably in the same plane.
  • the linear guide fixing seat of the moving base of each of the two or more pipetting mechanisms of the side-by-side assembly is connected to the two sliders of one linear guide,
  • the two linear pipetting mechanisms of the linear guide fixing seat and the two sliders of one linear guide are separated by another moving base in the same group.
  • the linear guide fixing seats on the adjacent two moving bases are respectively fixed to the upper half or the lower half of the linear guide fixing area of the moving base, thereby the plurality of pipetting mechanisms assembled in parallel
  • the two moving bases of one pipetting mechanism can be connected to the two sliders of the same linear guide.
  • the pedestal transmission belt and the belt drive clamping member, and the position of the linear guide fixing seat and the linear guide rail are arranged such that when the pedestal transmission belt is in operation, the movable pedestal for driving the slider fixed with the linear guide can be realized along the pedestal transmission belt Move horizontally with the rail of the linear guide.
  • the pipetting station comprises four or eight of the pipetting mechanisms.
  • the eight pipetting mechanisms are divided into two groups arranged in parallel, each group of four pipetting mechanisms being assembled side by side, and the base belt of each group of four pipetting mechanisms The top and bottom are arranged in parallel, preferably in the same plane.
  • the linear guide mounts of the moving bases of the two spaced pipetting mechanisms of each of the four pipetting mechanisms are coupled to the two sliders of the same linear guide.
  • the linear guide fixing seats on the adjacent two moving bases are respectively fixed to the upper half or the lower half of the linear guide fixing area of the moving base, thereby the four pipetting mechanisms assembled in parallel
  • the two spaced moving bases in the middle can be respectively connected to the two sliders of the same linear guide.
  • the base transmission belt and the belt drive clamping member, and the linear guide fixing seat and the linear guide rail are disposed in such a manner that when the base belt is rotated, the movable base that drives the slider with the linear guide can be driven along the base transmission belt. Move horizontally with the rail of the linear guide.
  • the moving rods of each of the four pipetting mechanisms are arranged in a straight line, and are alternately arranged with the moving rods of another group of four pipetting mechanisms, so that the eight pipetting mechanisms are arranged.
  • the pipette tips can be arranged in a straight line.
  • the pipetting station further includes other detection devices or containers, such as syringe pumps, heating plates, oscillators, microplate readers, PCR machines, grip mechanisms, and various samples or reagents.
  • Containers such as microcentrifuge tubes, centrifuge tubes, PCR microplates, deep well plates, microporous filter plates, tube racks, and the like.
  • a pipetting mechanism as described above is also provided.
  • a multi-channel pipetting device employing the pipetting mechanism, the multi-channel pipetting device being equipped with two, four or eight of the pipetting mechanisms.
  • the pipetting mechanism, device and instrument of the invention can realize vertical or horizontal movement of each pipetting mechanism independently in operation, and the layout of the overall structure is more reasonable, the movement space is more clear, and the difficulty and complexity of assembly and debugging are assembled. It has also been greatly reduced.
  • the pipetting mechanism of the present invention uses a self-lubricating, maintenance-free polymer material to prepare a sliding sleeve for fixing and sliding the moving rod therein, and the hollow square tube is in the polymer polymer sliding sleeve.
  • the sliding is smooth, soft, and the noise is small, and the operation of lubricating the same is avoided or reduced, and the contamination of the grease-like lubricant on the pipetting operation is avoided.
  • the use of a timing belt mechanism in the rotation of the screw and/or the horizontal movement of the pedestal greatly buffers the shock and vibration during operation, in particular significantly other than the prior art (eg gear rack and pinion).
  • the transmission noise is small.
  • the use of stepper motors can greatly reduce production costs and simplify control algorithms.
  • the pipetting mechanism and instrument of the present invention are more compact in construction, making the pipetting arm more flexible to operate, allowing the pipetting head to run to more plates.
  • the structural design and use mode of the pipetting mechanism and instrument of the present invention enable the timing belt component to achieve high transmission efficiency, and can be tested up to 98%, the energy saving effect is obvious, and the cost can be effectively reduced.
  • the assembly and debugging is simple and the maintenance is convenient.
  • the use of stepper motors can greatly reduce production costs and control algorithms are simple.
  • the screw pair used in the pipetting mechanism of the present invention for realizing the vertical movement of the pipetting head drives the screw with a servo motor, which can overcome the disadvantages of large mechanical vibration and instability in the prior art.
  • the screw nut adopts a backlash structure, which can eliminate most of the mechanical clearance between the screw nut and the screw, and can further realize a more precise transmission, thereby realizing a finer pipetting operation of the pipetting head.
  • the screw nut can also be prepared as a polymer material, whereby the mechanism for driving the vertical movement of the pipetting head can avoid or reduce the lubrication operation, and avoid the possibility that the grease lubricant can be used for pipetting operation. The pollution caused.
  • FIG. 1 is a schematic view showing a first direction of a partial internal device of a pipetting station according to a preferred embodiment of the present invention
  • FIG. 2 is a schematic view showing a second direction of a partial internal device of a pipetting station according to a preferred embodiment of the present invention
  • Figure 3 is a perspective view of a pipetting mechanism of a pipetting station in accordance with a preferred embodiment of the present invention
  • FIG. 4 is a partial, assembled view of the pipetting mechanism of the pipetting station in accordance with a preferred embodiment of the present invention.
  • Figure 1 is a schematic illustration of a first direction of a partial internal device of a pipetting station in accordance with a preferred embodiment of the present invention.
  • 2 is a schematic illustration of a second direction of a partial internal device of a pipetting station in accordance with a preferred embodiment of the present invention.
  • the pipetting station of the present invention typically has eight pipetting mechanisms 38 for performing liquid loading, liquid transfer.
  • the eight pipetting mechanisms are divided into two groups arranged in parallel, and each group of four pipetting mechanisms are assembled side by side.
  • Figure 1 is a schematic view showing the internal portion of a pipetting station of the present invention, which includes a device of a set of four pipetting mechanisms arranged side by side in the two sets of pipetting mechanisms.
  • the pipetting mechanism has a moving base 1 having a quadrangular outer frame.
  • the pipetting mechanism further has a moving rod 7 movably mounted vertically on a side frame of the moving base and a pipetting head mounted at a lower end of the moving rod.
  • the moving rod can move up and down relative to the moving base in the frame in a vertical direction move.
  • the pipetting head is a mechanism for liquid sensing, conveying, suctioning, etc., and can move up and down with the up and down movement of the moving rod, and realize the function of processing the liquid sample in the container provided under the pipetting head.
  • the pipetting mechanism further has a base horizontal moving mechanism including a horizontally disposed base drive belt 44 and a belt drive clamp 43 fixed to the outside of the frame of the mobile base 1, the base being passable by the belt drive clamp
  • the clamping member is fixed to the base transmission belt, and the operation of the base transmission belt can drive the base to move horizontally.
  • the pipetting mechanism further has a linear guide fixing seat 34 fixed to the moving base for connecting and fixing with the slider of the linear guide, whereby the moving base can slide along the sliding rail 41 of the horizontally disposed linear guide Achieve horizontal movement.
  • the moving rods of each group of four pipetting mechanisms of the pipetting station of the present invention are arranged in a straight line, and are alternately arranged with the moving rods of another group of four pipetting mechanisms, so that the pipetting guns of the eight pipetting mechanisms are provided.
  • the heads can be arranged in a straight line.
  • the linear guide mounts 34 on adjacent two moving bases of each of the four pipetting mechanisms of the pipetting station of the present invention are respectively two slides of the same linear guide Block connection, whereby each set of four pipetting mechanisms is connected to two linear guides, wherein among the four pipetting mechanisms arranged side by side, the moving bases of the two pipetting mechanisms separated by one pipetting mechanism can be Connect the two sliders of the same linear guide.
  • the four base drive belts 44 of the four pipetting mechanisms arranged in parallel for each of the four pipetting mechanisms are arranged in parallel up and down, and can be arranged in parallel with the two linear guide rails.
  • the pipetting station of the present invention may further have a casing (not shown) and a bracket supporting the aforementioned pipetting mechanism.
  • the bracket may include a post, a beam, a side panel, a back panel, and the like for supporting and/or erecting the pipetting mechanism.
  • the slide rails 41 of the two linear guide rails 40 are arranged in parallel above and below, and are fixed to the back plate 38.
  • the back plate 9 can be fixed to the side wall of the casing or to the side plate 37 which is mounted on the inside of the machine body.
  • a motor frame 33 for erecting and accommodating the base belt drive drive motor 45 may also be included on the bracket.
  • FIG 3 is a perspective view of a pipetting mechanism in accordance with a preferred embodiment of the present invention.
  • Figure 4 is an internal cross-sectional view of a pipetting mechanism in accordance with a preferred embodiment of the present invention.
  • the pipetting mechanism has a moving base 1 having a quadrangular outer frame; the pipetting mechanism further has a side frame movably mounted vertically on the moving base ( a moving rod 7 as shown in the left frame 23) and a pipetting head mounted at the lower end of the moving rod, the movement
  • the rod can be moved up and down relative to the moving base in the frame in a vertical direction
  • the pipetting head is a mechanism for liquid sensing, conveying, suction, etc., which can occur with the moving rod moving up and down Move up and down to achieve the function of processing the liquid sample set in the container below the pipetting head.
  • the pipetting mechanism further has a driving mechanism for driving the moving rod to move up and down relative to the moving base, and includes a screw rod 4 mounted on the moving base and parallel to the moving rod a driving device for the screw, the screw is fixedly connected to the moving rod 7 through a driving connection 17;
  • the pipetting mechanism further has a base horizontal moving mechanism including a horizontally disposed base driving belt 44 and fixed at Moving the belt clamping member 43 outside the frame of the base 1, the base can be fixed with the belt by the belt transmission clamping member, and the rotation of the belt can drive the base to move horizontally;
  • the pipetting mechanism also has a fixed On the moving base, a linear guide holder 34 for connecting and fixing the slider of the linear guide, whereby the movable base can be slid along the slide rail 41 of the horizontally disposed linear guide to achieve horizontal movement.
  • the moving base is a rectangular parallelepiped member having a quadrangular outer frame, the four sides of which are the upper beam 21, the lower beam 22, and the left frame 23 and Right border 24.
  • the base is typically made of a material such as aluminum or stainless steel that reduces the weight of the device and reduces liquid adhesion.
  • the bezel has a thickness to support a motor, a circuit board box for housing a circuit board that controls a motor, and the like, and can be used to accommodate and support the aforementioned moving rod.
  • the bezel may have a thickness similar to the width of the motor (eg, the diameter of a cylindrical motor or the width of a rectangular motor, etc.) or may be greater than the width of the moving rod (eg, the diameter or square of a cylindrical moving rod) The thickness of the moving rod, etc.).
  • the bezel has a thickness greater than 0.5 cm.
  • the moving base may also be a rectangular parallelepiped component that does not have a hollow portion. At this time, the portions of the four sides thereof are also equivalent to the outer frame of the aforementioned quadrilateral, that is, "upper beam, lower beam, left border, and right border".
  • the left bezel 23 is used to provide the aforementioned moving bar 7 for moving up and down relative to the moving base within the bezel.
  • the left bezel 23 has a recess that opens toward the inside of the moving base (ie, the side facing the right bezel) that is movably fitted in the recess In the slot, a part of the moving rod is outside the groove, that is, the inner side surface of the left side frame is protruded, and the protruding portion of the moving rod can be used for driving up and down with the driving moving rod.
  • the moving mechanism makes a fixed connection.
  • a driving mechanism for driving the moving rod to move up and down relative to the moving base in the left frame includes a screw 4 mounted on the moving base and parallel to the moving rod. And a drive mechanism of the screw.
  • the driving mechanism comprises a screw belt drive driven wheel 11 fixedly connected with the top end of the screw rod, a screw belt drive driving wheel 10 and a screw rotating transmission belt 12, and a screw belt transmission connected with the belt driving driving wheel Drive motor 9.
  • the drive motor 9 is a stepper motor.
  • the screw rotating transmission belt is horizontally disposed, and the screw belt driving driven wheel and the screw belt driving driving wheel are respectively located at two ends of the screw rotating transmission belt, and can be fixed on the top of the base
  • the top plate 18 is fixedly connected to the top end of the screw rod, and can be located above the top plate of the top of the base; the screw belt drive drive wheel and the lead rod drive drive motor
  • the rotating shaft is fixedly connected; the screw drive drive motor can be located below the top plate at the top of the base.
  • the lead screw drive drive motor is coupled to an encoder, such as the encoder 36 mounted below the motor.
  • the encoder can feedback the number of steps of the belt drive drive motor in real time, so that the rotational distance of the screw can be calculated and assisted, thereby calculating and assisting in controlling the moving distance of the moving rod.
  • the lead screw drive drive motor 9 is a stepper motor.
  • the upper and lower ends of the screw are restrained between the upper beam 21 and the lower beam 22 of the moving base by bearings.
  • the upper beam of the mobile base has a top plate 18, the lead screw belt drives a driven wheel 11, and the lead screw drive drive wheel 10 and the screw rotation drive belt 12 are erected in the Above the top plate 18.
  • the top panel may have the same or similar length and width as the upper beam.
  • the top plate may also have a larger length than the upper beam, in addition to being used for erecting the screw belt drive driven wheel and the screw belt drive driving wheel, and may also be used for erecting a circuit board box for accommodating a circuit board for controlling a motor and the like. Device. This design can greatly save the internal space of the automatic pipetting instrument using the pipetting mechanism of the present invention, and facilitate the erection of wires and pipetting pipes.
  • the screw shaft 4 is fixedly connected to the moving rod 7 via a spindle nut 6 and a drive connection 17 .
  • the screw nut 6 is screwed onto the screw rod, and one end of the driving connector 17 is fixedly connected to the moving rod 7 by screws or the like, and the other end is fixed to the outside of the screw nut 6 by screwing.
  • the driving connection member 17 can move up and down within the height range of the upper and lower beams of the moving base, thereby driving the moving rod to move up and down.
  • the spindle nut can take a backlash structure that eliminates most of the mechanical play of movement between the spindle nut and the lead screw.
  • the lead screw nut is made of a high molecular polymer material.
  • a high molecular polymer material such as Igus's Series, such as G, W300, J, X and M250 and so on.
  • the parts made of these polymer materials have the characteristics of no lubrication (self-lubricating), excellent acid-base resistance, good shock absorption performance, no need for sealing or oil scraping ring, and easy installation and replacement.
  • the illustrated moving rod of the pipetting mechanism of the present invention is movably fixed to the moving base in a vertical direction (i.e., a direction parallel to the frame).
  • the illustrated moving rod is movably secured within one of the frames of the mobile base.
  • the moving rod sliding sleeve disposed at the upper and lower ends of the frame is movably mounted in the frame on the moving base, wherein the moving rod sliding sleeve is fixedly connected with the frame, and the moving rod can be sleeved on the moving rod Move inside.
  • the moving rod is a square rod 7 that is movably fixed by the square tube sliding sleeve 2 and the left frame 23 at the upper and lower ends of the moving base.
  • the square tube sliding sleeve 2 is fixed inside the one end of the left frame 23 (for example, the upper end of the figure, which also has the same structure at the lower end) (for example, the protrusion 201 and the left border on the square tube sliding sleeve).
  • the groove 231 of the edge is fitted, and the square rod 7 is slidably fitted in the square tube sleeve 2.
  • the square tube sleeve is made from a self-lubricating polymeric material.
  • a self-lubricating polymeric material such as Igus's Series, such as G, W300, J, X and M250 and so on. These polymer materials have excellent acid-base resistance and good shock absorption performance, eliminating the need for a seal or scraper ring for easy installation and replacement.
  • the illustrated moving rod is a hollow square rod 7.
  • the moving rod adopts a hollow tube, which can be used for installing wires or pipetting pipes and the like.
  • it can be used for wiring, including a catheter connected to a catheter, a liquid for conveying and extracting liquid, and wires used for various components and mechanisms, such as a cable of a liquid level detector, a wire of a motor, and the like.
  • a routing pipe joint can be provided at the top of the square rod 7, a routing pipe joint can be provided.
  • the pipetting mechanism of the present invention also has a belt drive clamp 43 disposed on the moving base (e.g., inside or outside the frame).
  • the belt drive clamp is disposed on the outer side of the other side frame of the frame on which the travel bar 7 is mounted, and is fixed to the horizontally disposed base drive belt 44, thereby implementing the base drive belt 44.
  • the moving base is driven to move horizontally.
  • the rotation of the base belt is driven by the base belt drive pulley 46 at one end thereof, and the rotation of the base belt drive wheel is driven by the base belt drive drive motor 45.
  • the pipetting mechanism of the present invention further has a linear guide fixing seat 34 fixed to the moving base for fixing the slider of the linear guide.
  • the linear guide mount 34 is secured to the outside of the moving base bezel (eg, the right bezel 24 of the illustration).
  • the linear guide mount has a square surface of the same or similar size as the surface of the slider of the linear guide.
  • the height H1 of the linear guide mount is not less than 25 mm, preferably not less than 30 mm.
  • the linear guide rail of the pipetting mechanism of the present invention or the automatic pipetting instrument adopting the pipetting mechanism can have a slider width w (ie, the slider of the linear guide is in a vertical direction with the slide rail of the linear guide rail)
  • the length of the linear guide is not less than 25 mm, preferably not less than 30 mm.
  • the use of a linear guide having the above-described slider width and/or a linear guide holder of the above-described height greatly unexpectedly improves the stability of the operation of the pipetting mechanism of the present invention.
  • the linear guide fixing seat of the pipetting mechanism of the present invention and the slider of the linear guide can be fixed by screws or the like, whereby the moving base can be slidably moved along the linear guide.
  • the linear guides are horizontally disposed, thereby realizing horizontal movement of the moving base in the direction of the linear guide.
  • the linear guide rail fixing region 35 is provided on the frame of the base of the pipetting mechanism of the present invention.
  • the linear guide fixing seat 34 can be coupled to the moving base by being fixed to the linear guide fixing area.
  • the linear guide fixing area is located directly below the belt drive clamping member on the frame of the moving base for fixing the linear guide fixing seat 34.
  • the linear guide fixing area may be a part of the moving base frame or a separate component that can be fixed on the moving base by threads or the like.
  • the linear guide fixing area 35 may be a part of the bezel.
  • the height H1 of the linear guide fixing region is greater than or equal to twice the height H2 of the linear guide mount.
  • the height of the linear guide fixing area is not less than 50 mm, preferably not less than 60 mm.
  • the linear guide mount 34 can be fixed to the upper half or the lower half of the linear guide fixing region 35.
  • the belt drive clamp 43 and the linear guide mount 34 are disposed on the same outer side of the frame of the moving base, as shown in the right border. Outside. As shown, the base drive belt 44 and the linear guide 40 connected to the linear guide mount 34 can be disposed in parallel. The belt drive clamp 43 and the linear guide mount 34 are disposed in such a manner that when the base belt is rotated, the movable base that drives the slider fixed to the linear guide can be horizontally moved in the direction of the slide rail of the linear guide.
  • the belt drive clamp 43 and the linear guide mount 34 are disposed on the same side of the frame, the corresponding base drive belt 44 and the linear guide 40 up and down parallel and juxtaposed.
  • the belt drive clamp 43 and the linear guide mount 34 may also be disposed at other suitable positions of the mobile base, and the movable base that drives the slider of the linear guide can be driven along the base drive belt and The slide rail of the linear guide moves horizontally.
  • the pipetting mechanism further has a base positioning member, such as a base positioning member 48 mounted on the base frame, which cooperates with the optical position sensor for determining and controlling the level of the base Coordinates, for example, can be used for operations such as resetting.
  • a base positioning member such as a base positioning member 48 mounted on the base frame, which cooperates with the optical position sensor for determining and controlling the level of the base Coordinates, for example, can be used for operations such as resetting.
  • the pipetting mechanism of the preferred embodiment of the present invention also has a pipetting head fixedly mounted at the lower end of the moving rod 7.
  • the pipetting head is a mechanism for functions such as liquid sensing, extraction, etc., and includes components for realizing these functions.
  • the pipetting head includes a pipette holder 27, a tube sleeve 28, a conduit 26, a stop block 31, a pipette tip 30, and a level detector 25.
  • the pipette holder 27 is used for erecting the liquid level detector 25 and the conduit 26 for connecting the pipette tip and the limiting block 31.
  • the tube sleeve 28 is used to achieve separation of the pipette tip from the catheter for automatic replacement.
  • the tube sleeve requires separation of the pipette tip from the catheter over a small distance.
  • the design of the pipetting head of the pipetting mechanism of the present invention enables the tube sleeve to achieve this purpose.
  • the level detector can be used to sense the distance between the liquid and the pipette tip in a standard liquid container (eg 8-well plate, 96-well plate) below the pipetting head, feed the signal back to the automated station, and program as needed The signal is fed back to the instrument that controls the pipetting mechanism under control.
  • the fully automatic pipetting station of the present invention can be equipped with four or eight of the pipetting mechanisms.
  • the four or eight of the pipetting mechanisms can move independently in a horizontal or vertical direction, or can move horizontally or vertically in synchronization, and the two adjacent pipetting mechanisms undergo the same horizontal distance change. The same horizontal distance change occurs for adjacent pipette tips.
  • the fully automatic pipetting station of the present invention is usually equipped with four or eight of the pipetting mechanisms, and the eight pipetting mechanisms are divided into two parallel groups, each group of four pipetting mechanisms being assembled side by side, each group of four pipetting
  • the moving rods of the mechanism are arranged in a straight line, and the linear rail fixing seats 34 on the moving bases of the two adjacent pipetting mechanisms are respectively fixed to the upper half or the lower half of the linear rail fixing area 35, thereby being the same
  • the moving bases of two of the four pipetting mechanisms can be respectively connected to the two sliders of the same linear guide (fixed by the linear guide fixing seat and the linear guide), thereby greatly saving the pipetting mechanism using the present invention.
  • the internal space of the automated pipetting instrument is usually equipped with four or eight of the pipetting mechanisms, and the eight pipetting mechanisms are divided into two parallel groups, each group of four pipetting mechanisms being assembled side by side, each group of four pipetting
  • the moving rods of the mechanism are arranged in a straight line, and the linear rail fixing seats 34 on the moving bases of
  • the multi-channel pipetting device formed by the eight pipetting mechanisms can conveniently handle standard liquid containers such as 8-well plates, 24-well plates, and 96-well plates. Each of the pipetting mechanisms can move up and down independently.
  • the pipetting station of the present invention described above can be used for sensing, detecting, sucking, and discharging liquids to achieve liquid transfer.
  • the invention also provides the above-described pipetting mechanism, multi-channel pipetting device or fully automatic pipetting station of the invention for sensing, detecting, sucking and discharging liquid, thereby realizing the transfer of liquid.
  • the pipetting mechanism When a liquid suction or discharge operation is required on a standard liquid container (for example, an 8-well plate or a 96-well plate) under the pipetting head, the pipetting mechanism is moved under the program control to the upper of the standard liquid container.
  • the liquid level detector senses the distance between the liquid in the standard liquid container below the pipetting head and the pipette tip, and feeds the signal back to the control system.
  • the screw belt drive drive motor 9 can drive the driven wheel 11 through the screw belt.
  • the screw belt drive driving wheel 10 and the screw rotating transmission belt 12 rotate the screw rod, and the screw rod drives the connecting rod 17 to vertically move up and down in the vertical hole of the left frame of the moving base, thereby realizing suction.
  • the liquid head moves up and down.
  • the base belt drive driving motor 45 drives the base belt 44 to rotate, thereby driving the moving base to be horizontally moved along the linear guide by being fixed with the slider of the linear guide. .
  • the structural design of the pipetting mechanism of the present invention greatly buffers the shock and vibration during operation, and is particularly significantly less than the transmission noise of other driving methods (e.g., rack and pinion pairs) used in the prior art. Moreover, the use of stepper motors can greatly reduce production costs, simplify control algorithms, and provide smooth and reliable transmission.
  • the pipetting mechanism and instrument of the present invention are more compact in construction, making the pipetting arm more flexible to operate, allowing the pipetting head to run to more plates.
  • the design of the pipetting mechanism of the present invention enables the respective pipetting mechanisms in the pipetting station adopting them to perform vertical or horizontal movement completely independently, without any connection relationship with each other.
  • the components in the mechanism for controlling the movement of the pipetting head are mostly prepared by self-lubricating and maintenance-free polymer, which avoids or greatly reduces the lubrication operation and avoids grease lubrication. There is a possibility of contamination of the pipetting operation.

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Abstract

一种全自动移液工作站，包括移液机构支架和数个移液机构，其中移液机构包括移动基座（1）；可移动地装配于所述移动基座（1）的移动杆（7）；移动杆驱动机构；直线导轨固定座（35）；以及安装在移动杆（7）下端的移液头。一种移液工作站在实施液体加样、液体转移的用途。

Description

全自动移液工作站和其用途
本申请要求了2014年3月21日提交的、申请号为201410109314.5、发明名称为“全自动移液工作站和其用途”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及自动化液体处理设备。更具体的，本发明涉及一种全自动移液工作站和其中的移液机构，及其在实施液体加样、液体转移等方面的用途。
背景技术
随着生命科学技术的飞速发展，生化实验室的研究工作面对的是更为复杂的研究对象和不断增多的样品数量，传统的手工操作方式已经不能满足高通量样品处理过程中所要求的高效性、准确性和安全性，实验操作流程中部分或整体过程的自动化运行已成为必然趋势。
全自动液体处理工作站是将自动化操作与液体处理巧妙融合在一起的生物医药实验室自动化操作平台，可实现样品的自动加样、试剂分配、超微量移液以及与液体处理相关的振动、孵育等操作。可广泛应用于核酸纯化、基因蛋白质测序、克隆快速筛选、细胞培养、生物芯片样品制备等领域。
移液机构是全自动液体处理工作站的核心机构之一，用于实现液体在标准液体容器之间输送、抽提、转移等动作。在现代全自动液体处理工作站的使用中，最常用的标准液体容器是例如8孔板、96孔板等标准液体容器。其中，实验室常用的96孔板等标准液体容器相邻孔间距最小为9mm，容积约0.5ml，单列分布8个孔。因此，自动液体处理工作站，特别是其中的移液机构，需要在很小的空间范围内，高精度和高重复性地实现多个，例如八个移液通道的同时或分别的移液动作。
现有技术的自动液体处理工作站以及移液机构存在机构磨损大、噪音大、运动平稳性不高，移动基座滑槽的加工精度要求较高，装配过程调试繁 杂，工作量大的缺陷，以及日常运作和维护繁琐，且容易在仪器内部产生污染和腐蚀的问题。
发明内容
本发明提供了一种新型的全自动工作站，克服了现有技术中移液机构磨损大、装配调试繁杂且机构整体运行噪音大的问题，并且提供了维护简单，不产生污染的内部环境。
本发明提供了一种移液工作站，包括：
(a)移液机构支架；
(b)数个移液机构，其中，所述移液机构具有:
移动基座；
可移动地装配于所述移动基座的移动杆，所述移动杆可在竖直方向做相对所述移动基座的移动；
移动杆驱动机构，包括与所述移动杆平行设置的丝杆以及所述丝杆的驱动机构，所述丝杆通过驱动连接件与所述移动杆固定连接；
基座水平移动机构，包括水平设置的基座传动带和固定在移动基座边框上(例如边框内侧或外侧，优选外侧)的带传动夹紧件，基座通过所述带传动夹紧件与传动带固定，传动带的转动可带动基座水平移动；固定在移动基座上(例如边框内侧或外侧，优选外侧)的直线导轨固定座；以及
安装在移动杆下端的移液头；
和
(c)沿水平方向设置，与所述基座传动带平行的直线导轨，所述直线导轨的滑块与所述移液机构的直线导轨固定座连接和固定，由此移动基座可随直线导轨的滑块沿直线导轨的轨道进行水平方向的移动。
在本发明移液工作站的上述移液机构中，所述基座传动带水平设置，在其两端各自具有基座带传动主动轮和基座带传动从动轮，基座带传动主动轮可在电机(优选为步进电机)驱动下，带动基座传动带运行，由此通过所述带传动夹紧件带动基座水平移动。出乎意料地，所述基座的驱动机构采用 带传动驱动方式，即使是采用步进电机作为驱动电机，也可有效地缓冲运行过程中的冲击和振动，特别明显地比现有技术中采用其它驱动方式(例如齿轮齿条副)传动噪音小。而且，采用步进电机能够大大降低生产成本，简化控制算法。
在本发明的移液工作站的移液机构中，所述直线导轨固定座可与直线导轨的滑块连接和固定。所述直线导轨沿水平方向设置，与前述基座传动带平行。所述直线导轨的滑块与所述直线导轨固定座连接和固定，由此直线导轨固定座以及与直线导轨固定座连接和固定的移动基座可随直线导轨的滑块沿直线导轨的滑轨进行水平方向的移动。
在本发明的其中一个方面，所述移液工作站的基座传动带，以及直线导轨固定座和直线导轨的位置设置方式使得当传动带运行时，可实现驱动与直线导轨的滑块固定的移动基座沿传动带和直线导轨的滑轨方向水平移动。例如，带传动夹紧件以及直线导轨固定座设置在边框的同一侧，传动带和直线导轨上下平行并置。
在本发明的其中一个方面，所述直线导轨固定座具有与直线导轨的滑块的表面相同或类似形状和大小的四方形表面。例如，所述直线导轨固定座的高度H1大于25mm，优选大于30mm。所述直线导轨固定座可配合或使用的直线导轨为具有滑块宽度w大于25mm，优选大于30mm的直线导轨。
在本发明的其中一个方面，所述移液机构中所述直线导轨固定座固定在移动基座边框的直线导轨固定区。所述直线导轨固定区位于移动基座边框上所述带传动夹紧件的正下方。所述直线导轨固定区可以为移动基座边框的一部分，或为可通过螺纹等方式固定在移动基座上的独立部件。所述直线导轨固定区具有与直线导轨固定座的高度比较不低于两倍的高度(通常指竖直方向的长度)。例如，所述直线导轨固定区的高度H2大于或等于50mm，优选大于或等于60mm。
在本发明的其中一个方面，所述移液机构的移动基座具有四边形的外框，其四个边分别为上梁、下梁和两个边框。
在本发明的其中一个方面，所述移液工作站的移液机构中所述移动杆可移动地装配于所述移动基座一侧边框。
在本发明的其中一个方面，所述移液工作站的移液机构中所述用于装配移动杆的边框具有凹槽，所述凹槽开口向移动基座的内侧，所述移动杆可移动地装配在所述凹槽内，移动杆的一部分处于凹槽外，即突出左边框内侧表面，该移动杆的突出部分可用于与移动杆驱动机构的驱动连接件进行固定连接。
在本发明的其中一个方面，所述移液工作站的移液机构中所述移动杆通过设置在边框的移动杆滑套可移动地装配在所述移动基座上的边框内，其中所述移动杆滑套与边框固定连接，所述移动杆可在移动杆滑套内移动。
在本发明的其中一个方面，所述移液工作站的移液机构中所述移动杆滑套为高分子聚合物材料制备的滑套。例如易格斯(Igus)公司的
Figure PCTCN2015074812-appb-000001
系列，如
Figure PCTCN2015074812-appb-000002
G、
Figure PCTCN2015074812-appb-000003
W300、
Figure PCTCN2015074812-appb-000004
J、
Figure PCTCN2015074812-appb-000005
X和
Figure PCTCN2015074812-appb-000006
M250等。这些聚合物材料制备的零件具有免润滑(自润滑)的特性，以及具有优良的酸碱抗性，吸震性能好，无需密封或刮油环，方便安装和替换。优选的，本发明的移液机构中所述移动杆滑套不为金属材料部件。
在本发明的其中一个方面，所述移液工作站的移液机构中所述移动杆为空心管。空心管内可用于安装电线或移液导管。
在本发明的其中一个方面，所述移液机构中所述丝杆的驱动机构包括与所述丝杆顶端固定连接的丝杆带传动从动轮，丝杆带传动主动轮和丝杆转动传动带，以及与所述丝杆带传动主动轮连接的丝杆驱动电机。优选的，所述驱动电机为步进电机。在本发明的其中又一个方面，所述丝杆转动传动带水平设置，所述丝杆带传动从动轮和丝杆带传动主动轮分别位于所述传动带两端，可固定在基座顶部的顶板上。所述丝杆带传动从动轮与所述丝杆顶端固定连接，可位于基座顶部的顶板的上方。所述带传动主动轮与所述丝杆驱动电机的转轴固定连接。所述丝杆驱动电机可位于基座顶部的顶板的下方。在本发明的其中一个方面，所述带传动驱动电机与编码器连接，例如在所述电机下方安装所述编码器。编码器可以实时反馈带传动驱动电机运动的步数，从而能够计算和协助控制丝杆的转动距离，由此可计算和协助控制移动杆的移动距离。
出乎意料地，所述丝杆的驱动机构采用带传动驱动方式，即使是采用 步进电机作为驱动电机，也可有效地缓冲运行过程中的冲击和振动，特别明显地比现有技术中采用其它驱动方式(例如齿轮齿条副)传动噪音小。而且，采用步进电机能够大大降低生产成本，简化控制算法。另外，采用步进电机能够大大降低生产成本，控制算法简单。在本发明的其中一个方面，所述丝杆通过丝杆螺母和驱动连接件与移动杆固定连接。例如，丝杆螺母旋装在丝杆上,驱动连接件的一端与移动杆固定连接，另一端固定在所述丝杆螺母外侧。优选的，其中所述丝杆螺母为高分子聚合物制备。优选的，本发明的移液机构中所述丝杆螺母不为金属材料部件。
在本发明的其中一个方面，所述移液机构还具有基座定位件，例如安装在基座边框上的基座定位件，其与光学位置传感器配合，可用于判断和控制基座的水平坐标，例如可用于复位等操作。
在本发明的其中一个方面，所述移液工作站还包括沿水平方向设置，与所述基座传动带平行的直线导轨，所述直线导轨的滑块与所述直线导轨固定座连接和固定，由此移动基座可随直线导轨的滑块沿直线导轨的轨道进行水平方向的移动。在本发明的其中一个方面，所述移动基座是通过直线导轨固定座与直线导轨的滑块连接和固定。
在本发明的其中一个方面，其中所述基座传动带以及直线导轨固定座的位置设置方式使得当基座传动带运转(转动)时，带动移动基座沿直线导轨的滑轨方向水平移动。移动基座是通过直线导轨固定座与直线导轨的滑块连接和固定。例如，基座传动带以及直线导轨固定座设置在其中一个边框的同一侧，对应的基座传动带和直线导轨上下平行并置。
在本发明的其中一个方面，所述移液机构中所述移液头具有限位块，以及移液管架，连接在移液管架下方的导管，所述导管可连接可更换移液枪头。在本发明的其中又一个方面，所述导管上设置有脱管套筒。在本发明的其中又一个方面，其中所述移液头具有液面探测器。所述液面探测器可设置在移液管架下方。
在本发明的其中一个方面，所述移液工作站具有数个(例如四个或八个)前述移液机构，其中所述数个移液机构中的两个或两个以上并列装配，所述并列装配的两个或两个以上移液机构的移动杆排列在一条直线上，并且 所述并列装配的两个或两个以上移液机构的基座传动带上下平行排列，优选为排列在同一平面内。在本发明的其中又一个方面，所述并列装配的两个或两个以上移液机构中每两个移液机构的移动基座的直线导轨固定座与一个直线导轨的两个滑块连接，优选的，所述其直线导轨固定座与一个直线导轨的两个滑块连接的两个移液机构之间间隔一个同一组中的其它移动基座。例如，通过相邻两个移动基座上的直线导轨固定座分别固定在移动基座的直线导轨固定区上的上半部分或是下半部分，由此所述并列装配的数个移液机构中的间隔一个移液机构的两个移动基座可与同一个直线导轨的两个滑块连接。所述基座传动带和带传动夹紧件，以及直线导轨固定座和直线导轨的位置设置方式使得当基座传动带运转时，可实现驱动与直线导轨的滑块固定的移动基座沿基座传动带和直线导轨的滑轨方向水平移动。
在本发明的其中一个方面，所述移液工作站包括四个或八个所述移液机构。在包括八个所述移液机构的移液工作站中，所述八个移液机构分成平行设置的两组，每组四个移液机构并列装配，每组四个移液机构的基座传动带上下平行排列，优选为排列在同一平面内。在本发明的其中又一个方面，所述每组四个移液机构中两个间隔的移液机构的移动基座的直线导轨固定座与同一个直线导轨的两个滑块连接。例如，通过相邻两个移动基座上的直线导轨固定座分别固定在移动基座的直线导轨固定区上的上半部分或是下半部分，由此所述并列装配的四个移液机构中的两个间隔的移动基座可分别与同一个直线导轨的两个滑块连接。所述基座传动带和带传动夹紧件，以及直线导轨固定座和直线导轨的位置设置方式使得当基座传动带转动时，可实现驱动与直线导轨的滑块固定的移动基座沿基座传动带和直线导轨的滑轨方向水平移动。在本发明的移液工作站中，所述每组四个移液机构的移动杆排列在一条直线上，与另一组四个移液机构的移动杆交错设置，使得八个所述移液机构的移液枪头可排列在一条直线上。
在本发明的其中一个方面，所述移液工作站还包括其它检测装置或容器，例如注射泵、加热板、振荡器、酶标仪、PCR仪、抓手机构，以及各种容纳样品或试剂的容器，如微量离心管、离心管，PCR微孔板、深孔板、微孔过滤板、管架等。
在本发明的其中一个方面，还提供了一种前述的移液机构。在本发明的其中一个方面，还提供了一种采用所述移液机构的多通道移液装置，所述多通道移液装置装配有二个、四个或八个所述移液机构。
本发明的移液机构、装置和仪器可实现在运作中各移液机构独立地进行竖直或水平的移动，以及整体结构的布局更加合理，运动空间更加明确，其装配调试的难度以及复杂性也得以大大的降低。另外,本发明的移液机构采用自润滑、免维护的高分子聚合物材料来制备用于固定和使其在其中滑动的移动杆的滑套，空心方管在高分子聚合物滑套内的滑动平顺、柔和、噪音小，并且避免或减少了对其进行润滑的操作，避免了油脂类润滑物对移液操作有可能造成的污染。特别是在丝杆的转动和/或基座的水平移动中采用同步带机构，大大缓冲运行过程中的冲击和振动，特别明显地比现有技术中采用其它驱动方式(例如齿轮齿条副)传动噪音小。而且，采用步进电机能够大大降低生产成本，简化控制算法。本发明的移液机构和仪器结构更加紧凑，使得移液臂能够运行的更加灵活，使得移液头能够运行到更多的板位。出乎意料的，本发明的移液机构和仪器采用的结构设计和使用方式，使得同步带部件能够达到很高的传动效率，经测试，可高达98％，节能效果明显，而且能够有效降低成本，装配调试简单，维护保养方便。同时，采用步进电机能够大大降低生产成本，控制算法简单。另外,本发明的移液机构使用的用于实现移液头竖直方向运动的丝杠副，以伺服电机驱动丝杠，能克服现有技术中机械振动大，不稳定的缺陷。并且其中丝杠螺母采取消隙结构，可消除丝杠螺母与丝杠之间运动的大部分机械间隙，可进一步实现更精密的传动，从而实现移液头更精细的移液操作。其中，丝杠螺母也可为聚合物材料制备，由此，驱动移液头竖直方向移动的机构可避免或减少了对其进行润滑的操作，避免了油脂类润滑物对移液操作有可能造成的污染。
附图说明
图1为本发明优选实施例的移液工作站的局部内部装置第一方向示意图；
图2为本发明优选实施例的移液工作站的局部内部装置第二方向示意 图；
图3为本发明优选实施例的移液工作站的移液机构的立体图；
图4为本发明优选实施例的移液工作站的移液机构的局部装配示意图。
附图中各标记分别为：
1  移动基座
2  方管滑套
   201 方管滑套凸起
4  丝杆
6  丝杆螺母
7  移动杆
9  丝杆带传动驱动电机
10 丝杆带传动主动轮
11 丝杆带传动从动轮
12 丝杆转动传动带
17 驱动连接件
18 顶板
19 底板
21 上梁
22 下梁
23 左边框
   231 左边框凹槽
24 右边框
25 移液管架
26 导管
28 脱管套筒
30 移液枪头
31 限位块
33 电机框
34 直线导轨固定座
35 直线导轨固定区
36 编码器
37 侧板
38 背板
40 直线导轨
41 直线导轨滑轨
42 直线导轨滑块
43 带传动夹紧件
44 基座传动带
45 基座带传动驱动电机
46 基座带传动主动轮
47 基座带传动从动轮
48 定位件
具体实施方式
为了更好地理解和阐释本发明，下面将参照附图对本发明作进一步的详细描述。
图1是根据本发明的一个优选实施例的移液工作站的局部内部装置第一方向示意图。图2是根据本发明的一个优选实施例的移液工作站的局部内部装置第二方向示意图。
本发明的移液工作站一般具有八个用于实施液体加样、液体转移的移液机构38。所述八个移液机构分成平行设置的两组，每组四个移液机构并列装配。图1示出本发明的移液工作站的内部部分装置示意图，其包括上述两组移液机构中的一组并列装配的四个移液机构的装置。所述移液机构具有移动基座1，所述移动基座具有四边形的外框。所述移液机构还具有可移动地竖直装配于移动基座的一侧边框上的移动杆7和安装在该移动杆下端的移液头。所述移动杆可在竖直方向上在所述边框内做相对所述移动基座的上下移 动。移液头是用于液体感应、输送、吸取等功能的机构，可随所述移动杆的上下移动发生上下移动，实现处理设置在移液头下方的盛器皿中的液体样品的功能。
所述移液机构还具有基座水平移动机构，其包括水平设置的基座传动带44和固定在移动基座1边框外侧的带传动夹紧件43，所述基座可通过所述带传动夹紧件与基座传动带固定，基座传动带的运行可带动基座水平移动。所述移液机构还具有固定在移动基座上，用于与直线导轨的滑块进行连接和固定的直线导轨固定座34，由此移动基座可沿水平设置的直线导轨的滑轨41滑动实现水平移动。
本发明的移液工作站的每组四个移液机构的移动杆排列在一条直线上，与另一组四个移液机构的移动杆交错设置，使得八个所述移液机构的移液枪头可排列在一条直线上。
在如图所述的优选实施例中，本发明的移液工作站的每组四个移液机构中相邻两个移动基座上的直线导轨固定座34分别与同一个直线导轨的两个滑块连接，由此每组四个移液机构与两条直线导轨连接，其中，所述并列装配的四个移液机构中，间隔一个移液机构的两个移液机构的移动基座可与同一个直线导轨的两个滑块连接。每组四个移液机构的所述并列装配的四个移液机构的四条基座传动带44上下平行排列，同时可以和所述两条直线导轨上下平行设置。
本发明的移液工作站还可具有机壳(未示出)和支撑前述移液机构的支架。支架可包括用于支撑和/或架设移液机构的支柱、横梁、侧板和背板等。如图2所示，所述两条直线导轨40的滑轨41上下平行设置，固定在背板38上。背板9可固定在机壳侧壁或是固定在架设在机体内部的侧板37上。支架上还可包括用于架设和容纳基座带传动驱动电机45的电机框33。
图3是根据本发明的一个优选实施例的移液机构的立体示意图。图4为本发明的一个优选实施例的移液机构的内部剖视图。
如图3所示，该移液机构具有移动基座1，所述移动基座具有四边形的外框；所述移液机构还具有可移动地竖直装配于移动基座的一侧边框上(如图示左边框23)的移动杆7和安装在该移动杆下端的移液头，所述移动 杆可在竖直方向上在所述边框内做相对所述移动基座的上下移动，移液头是用于液体感应、输送、吸取等功能的机构，可随所述移动杆的上下移动发生上下移动，实现处理设置在移液头下方的盛器皿中的液体样品的功能。所述移液机构还具有用于驱动所述移动杆做相对所述移动基座的上下移动的驱动机构，包括装配于所述移动基座上，与所述移动杆平行的丝杆4以及所述丝杆的驱动装置，所述丝杆通过驱动连接件17与所述移动杆7固定连接；所述移液机构还具有基座水平移动机构，其包括水平设置的基座传动带44和固定在移动基座1边框外侧的带传动夹紧件43，所述基座可通过所述带传动夹紧件与传动带固定，传动带的转动可带动基座水平移动；所述移液机构还具有固定在移动基座上，用于与直线导轨的滑块进行连接和固定的直线导轨固定座34，由此移动基座可沿水平设置的直线导轨的滑轨41滑动实现水平移动。
在图3所示的本发明优选实施例的移液机构中，所述移动基座为长方体部件,具有四边形的外框，其四个边分别为上梁21、下梁22，左边框23和右边框24。所述基座通常由可减轻装置重量并减少液体附着的金属材料如铝材或不锈钢等材料制成。所述边框具有一定厚度，以对电机、用于容纳控制电机等设备的电路板的电路板盒等装置提供支持作用，以及可以用于容纳和支撑前述移动杆。例如，所述边框可具有与电机宽度(例如圆柱型电机的直径或长方体型电机的宽度等)相似的厚度，或是具有大于所述移动杆的宽度(例如圆柱形移动杆的直径或方型移动杆的宽度等)的厚度。在本发明的其中一个方面，所述边框具有大于0.5cm的厚度。采用具有边框的设计,可以减小部件重量等优点。在其它实施方式中，移动基座也可以为不具有中空部分的长方体部件。此时，其四个边的部分也等同于前述四边形的外框，即“上梁、下梁，左边框和右边框”。
在图示本发明优选实施例中，左边框23用于设置前述在所述边框内做相对所述移动基座的上下移动的移动杆7。在图示优选的实施例中，左边框23具有凹槽，所述凹槽开口向移动基座的内侧(即面对右边框的一侧)，所述移动杆可移动地装配在所述凹槽内，移动杆的一部分处于凹槽外，即突出左边框内侧表面，该移动杆的突出部分可用于与驱动移动杆上下运动的驱 动机构进行固定连接。
如图3所示，用于驱动所述移动杆在左边框内做相对所述移动基座的上下移动的驱动机构包括装配于所述移动基座上，与所述移动杆平行的丝杆4以及所述丝杆的驱动机构。所述驱动机构包括与所述丝杆顶端固定连接的丝杆带传动从动轮11，丝杆带传动主动轮10和丝杆转动传动带12，以及与所述带传动主动轮连接的丝杆带传动驱动电机9。优选的，所述驱动电机9为步进电机。在本发明的其中又一个方面，所述丝杆转动传动带水平设置，所述丝杆带传动从动轮和丝杆带传动主动轮分别位于所述丝杆转动传动带两端，可固定在基座顶部的顶板18上；所述丝杆带传动从动轮与所述丝杆顶端固定连接，可位于基座顶部的顶板的上方；所述丝杆带传动主动轮与所述丝杆带传动驱动电机的转轴固定连接；所述丝杆带传动驱动电机可位于基座顶部的顶板的下方。在本发明的其中一个方面，所述丝杆带传动驱动电机与编码器连接，例如在所述电机下方安装所述编码器36。编码器可以实时反馈带传动驱动电机运动的步数，从而能够计算和协助控制丝杆的转动距离，由此可计算和协助控制移动杆的移动距离。在优选实施例中，所述丝杆带传动驱动电机9为步进电机。所述丝杆的上下两端通过轴承限制在移动基座的上梁21和下梁22之间。在图示本发明的优选实施例中，所述移动基座的上梁具有顶板18，所述丝杆带传动从动轮11，丝杆带传动主动轮10和丝杆转动传动带12架设在所述顶板18上方。所述顶板可具有与上梁相同或相似的长度和宽度。所述顶板还可具有较上梁大的长度，除了可用于架设所述丝杆带传动从动轮和丝杆带传动主动轮，还可用于架设容纳控制电机等设备的电路板的电路板盒等装置。这种设计可大大节省采用本发明的移液机构的自动化移液仪器的内部空间，便于电线、移液导管的架设。
所述丝杆4通过丝杆螺母6和驱动连接件17与移动杆7固定连接。其中,丝杆螺母6旋装在丝杆上,驱动连接件17的一端通过螺丝等方式与移动杆7固定连接，另一端可通过旋装方式固定在丝杆螺母6外侧。当丝杆在丝杆带传动驱动机构驱动下发生转动时，驱动连接件17可在移动基座的上下梁高度范围内上下移动，从而带动移动杆发生上下移动。在本发明的其中一个方面，所述丝杠螺母可采取消隙结构，消除丝杠螺母与丝杠之间运动的 大部分机械间隙。在本发明的其中一个方面，所述丝杠螺母采用高分子聚合物材料制备。例如易格斯(Igus)公司的
Figure PCTCN2015074812-appb-000007
系列，如
Figure PCTCN2015074812-appb-000008
G、
Figure PCTCN2015074812-appb-000009
W300、
Figure PCTCN2015074812-appb-000010
J、
Figure PCTCN2015074812-appb-000011
X和
Figure PCTCN2015074812-appb-000012
M250等。这些聚合物材料制备的零件具有免润滑(自润滑)的特性，以及具有优良的酸碱抗性，吸震性能好，无需密封或刮油环，方便安装和替换。
本发明的移液机构的所示移动杆可移动地沿竖直方向(即与边框平行的方向)固定在移动基座上。优选的，所示移动杆可移动地固定在移动基座的其中一个边框内。例如，通过设置在边框上下两端的移动杆滑套可移动地装配在所述移动基座上的边框内，其中所述移动杆滑套与边框固定连接，所述移动杆可在移动杆滑套内移动。在图示实施例中，所述移动杆为方形杆7，通过方管滑套2与左边框23在移动基座的上下两端可移动地固定。图3为所述方形杆7，方管滑套2与左边框23的连接关系示意图。如图3所示，方管滑套固定在左边框23其中一端(例如图示的上端，其在下端也具有同样的结构)的内部(例如通过方管滑套上的凸起201与左边框边缘的凹槽231配合)，方形杆7可滑动地装配在方管滑套2内。在本发明的其中一个方面，所述方管滑套采用自润滑的聚合物材料制备。例如易格斯(Igus)公司的
Figure PCTCN2015074812-appb-000013
系列，如
Figure PCTCN2015074812-appb-000014
G、
Figure PCTCN2015074812-appb-000015
W300、
Figure PCTCN2015074812-appb-000016
J、
Figure PCTCN2015074812-appb-000017
X和
Figure PCTCN2015074812-appb-000018
M250等。这些聚合物材料具有优良的酸碱抗性，吸震性能好，无需密封或刮油环，方便安装和替换。
在图示实施例中，所示移动杆为中空的方形杆7。所述移动杆采用空心管，可用于安装电线或移液导管等。例如，可用于走线，包括与导管相连，用于液体的输送和抽提的导液管，以及各个部件和机构使用的电线，例如液面探测器的线缆，电机的电线等。在方形杆7的顶端，可设置走线走管接头。
本发明的移液机构还具有设置在移动基座上(例如边框内侧或外侧)的带传动夹紧件43。在图示实施例中，所述带传动夹紧件设置在于装配所述移动杆7的边框的另一侧边框的外侧，可与水平设置的基座传动带44固定，由此实现基座传动带44转动时，驱动移动基座水平移动。基座传动带的转动由其一端的基座传动带主动轮46带动，基座传动带主动轮的转动由基座带传动驱动电机45驱动。
本发明的移液机构还具有固定在移动基座上，用于与直线导轨的滑块进行固定的直线导轨固定座34。在本发明的其中一个方面，所述直线导轨固定座34固定在移动基座边框(例如图示的右边框24)外侧。直线导轨固定座具有与直线导轨的滑块的表面相同或类似的尺寸的四方形表面。在本发明的其中一个方面，所述直线导轨固定座的高度H1不小于25mm，优选不小于30mm。本发明的移液机构或采用所述移液机构的自动化移液仪器可配合或使用的直线导轨为具有滑块宽度w(即直线导轨的滑块在与直线导轨的滑轨竖直的方向上的长度)不小于25mm，优选不小于30mm的直线导轨。采用具有上述滑块宽度的直线导轨和/或上述高度的直线导轨固定座，出乎意料地大大提高了本发明移液机构运行的稳定性。本发明的移液机构的所述直线导轨固定座与直线导轨的滑块可通过螺钉等方式进行固定，由此移动基座可沿直线导轨滑动移动。在本发明的移液机构或采用本发明的移液机构的移液仪器中，直线导轨水平设置，由此实现移动基座沿直线导轨方向水平移动。
本发明的移液机构的基座的边框上设有直线导轨固定区35。所述直线导轨固定座34可通过固定在所述直线导轨固定区上而与移动基座连接。所述直线导轨固定区位于移动基座边框上所述带传动夹紧件的正下方，用于固定所述直线导轨固定座34。所述直线导轨固定区可为移动基座边框的一部分，或为可通过螺纹等方式固定在移动基座上的独立部件。在其中一种实施方式中，直线导轨固定区35可以是边框的一部分。在本发明的其中一个方面，所述直线导轨固定区的高度H1大于或等于两倍的直线导轨固定座的高度H2。优选的，所述直线导轨固定区的高度不小于50mm，优选不小于60mm。直线导轨固定座34可固定在直线导轨固定区35的上半部分或是下半部分。
本发明优选实施例的移液机构中，例如附图所示的优选实施例中，带传动夹紧件43以及直线导轨固定座34设置在移动基座的边框同一外侧，如图示的右边框外侧。如图所示，基座传动带44和与直线导轨固定座34连接的直线导轨40可平行设置。带传动夹紧件43以及直线导轨固定座34的位置设置方式使得当基座传动带转动时，可实现驱动与直线导轨的滑块固定的移动基座沿直线导轨的滑轨方向水平移动。优选的，带传动夹紧件43以及直线导轨固定座34设置在边框的同一侧，对应的基座传动带44和直线导轨 40上下平行并置。由此，可大大节省采用本发明的移液机构的自动化移液仪器的内部空间。在其它实施方式中，带传动夹紧件43以及直线导轨固定座34也可以设置在移动基座的其它合适的位置，可实现驱动与直线导轨的滑块固定的移动基座沿基座传动带和直线导轨的滑轨方向水平移动。
在本发明的其中一个方面，所述移液机构还具有基座定位件，例如安装在基座边框上的基座定位件48，其与光学位置传感器配合，可用于判断和控制基座的水平坐标，例如可用于复位等操作。
所述本发明优选实施例的移液机构还具有固定安装在移动杆7下端的移液头。移液头是用于液体感应、抽提等功能的机构，包括了实现这些功能的部件。在图示实施例中，该移液头包括移液管架27、脱管套筒28、导管26、限位块31、移液枪头30和液面检测器25。其中，移液管架27用于架设液面检测器25和导管26，导管26用于连接移液枪头，限位块31。脱管套筒28用于实现移液枪头与导管的分离从而达到自动更换的目的。由于移液枪头与导管的结合非常紧密，脱管套筒需要在很小的距离范围内实现移液枪头与导管的分离。本发明的移液机构移液头的设计使得脱管套筒能够达到这个目的。液面检测器可用于感测移液头下方的标准液体容器(例如8孔板、96孔板)中液体与移液枪头之间的距离，将信号反馈到自动工作站，并按照需要在程序控制下把信号反馈给操控移液机构的仪器。
本发明的全自动移液工作站可装配四个或八个所述移液机构。所述四个或八个所述移液机构可独立水平或竖直方向的移动，也可同步发生水平或竖直方向的移动，且相邻的两个移液机构发生相同的水平距离变化，使得相邻的移液枪头发生相同的水平距离变化。
本发明的全自动移液工作站通常装配四个或八个所述移液机构，所述八个移液机构分成平行的两组，每组四个移液机构并列装配，每组四个移液机构的移动杆排列在一条直线上，相邻两个移液机构的移动基座上的直线导轨固定座34分别固定在直线导轨固定区35上的上半部分或是下半部分，由此同一组四个移液机构中的两个的移动基座可分别与同一个直线导轨的两个滑块连接(通过直线导轨固定座和直线导轨固定位)，从而大大节省采用本发明的移液机构的自动化移液仪器的内部空间。本发明的全自动移液工作 站中每组四个移液机构的移动杆排列在一条直线上，与另一组四个移液机构的移动杆交错设置，使得八个所述移液机构的移液枪头可排列在一条直线上。
八个移液机构形成的多通道移液装置可以方便地处理8孔板、24孔板、96孔板等标准液体容器。其中每个移液机构可以独立地上下移动。
上述本发明移液工作站可用于对液体进行感应、探测、吸取和排出等操作，从而实现液体的转移。
本发明还提供了上述本发明的移液机构、多通道移液装置或全自动移液工作站用于对液体进行感应、探测、吸取和排出，从而实现液体的转移的用途。
在操作中，上述本发明优选实施例的移液工作站的整个工作流程如下：
在需要对移液头下方的标准液体容器(例如8孔板、96孔板)进行液体的吸取或放出动作时，在程序控制下使移液机构移动到标准液体容器上方。液面检测器感测移液头下方的标准液体容器中液体与移液枪头之间的距离，将信号反馈到控制系统，丝杆带传动驱动电机9可通过丝杆带传动从动轮11，丝杆带传动主动轮10和丝杆转动传动带12令丝杆发生转动，丝杆通过驱动连接件17使移动杆7在移动基座左边框的竖直孔内做竖直上下移动，从而实现吸液头的上下移动。当移液基座需要进行水平方向上的移动时，基座带传动驱动电机45驱动基座传动带44发生转动，由此驱动移动基座通过与直线导轨的滑块固定，可沿直线导轨水平移动。
本发明的移液机构的结构设计大大缓冲运行过程中的冲击和振动，特别明显地比现有技术中采用其它驱动方式(例如齿轮齿条副)传动噪音小。而且，采用步进电机能够大大降低生产成本，简化控制算法，传动平稳可靠。本发明的移液机构和仪器结构更加紧凑，使得移液臂能够运行的更加灵活，使得移液头能够运行到更多的板位。本发明的移液机构的设计使得在采用其的移液工作站中各个移液机构可完全独立地进行竖直或水平的移动，互相之间没有连接关系.这样的结构设置使得整体结构的布局更加合理，运动空间更加明确，其装配调试的难度以及复杂性也得以大大的降低。在进行移液机构 的维护时，只需对其中某个损坏的移液通道维修更换即可，无需涉及其他通道的拆卸。
另外,本发明的移液工作站中控制移液头移动的机构中的部件多采用自润滑、免维护的高分子聚合物制备，避免或大大减少了对其进行润滑的操作，避免了油脂类润滑物对移液操作有可能造成的污染。
虽然关于本发明的示例实施例及其优点已经详细说明，应当理解在不脱离本发明的精神和所附权利要求限定的保护范围的情况下，可以对这些实施例进行各种变化、替换和修改。对于其他例子，本领域的普通技术人员应当容易理解在保持本发明保护范围内的同时，工艺步骤的次序可以变化。
此外，本发明的应用范围不局限于说明书中描述的特定实施例的工艺、机构、制造、物质组成、手段、方法及步骤。从本发明的公开内容，作为本领域的普通技术人员将容易地理解，对于目前已存在或者以后即将开发出的工艺、机构、制造、物质组成、手段、方法或步骤，其中它们执行与本发明描述的对应实施例大体相同的功能或者获得大体相同的结果，依照本发明可以对它们进行应用。因此，本发明所附权利要求旨在将这些工艺、机构、制造、物质组成、手段、方法或步骤包含在其保护范围内。

Claims (12)

  1. 一种移液工作站，包括：
    (a)移液机构支架；
    (b)数个移液机构，其中，所述移液机构具有:
    移动基座(1)，
    可移动地装配于所述移动基座(1)的移动杆(7)，所述移动杆可在竖直方向做相对所述移动基座的移动；优选的，所述移动杆为空心管；
    移动杆驱动机构，包括与所述移动杆(7)平行设置的丝杆(4)以及所述丝杆的驱动机构，所述丝杆(4)通过驱动连接件(17)与所述移动杆(7)固定连接；
    基座水平移动机构，其包括水平设置的基座传动带(44)和固定在移动基座(1)上的带传动夹紧件(43)，基座通过所述带传动夹紧件与传动带固定，传动带的转动可带动基座水平移动；
    固定在移动基座(1)上的直线导轨固定座(34)；以及
    安装在移动杆(7)下端的移液头；
    和
    (c)沿水平方向设置，与所述基座传动带平行的直线导轨，所述直线导轨的滑块与所述移液机构的直线导轨固定座(34)连接和固定，由此移动基座可随直线导轨的滑块沿直线导轨的轨道进行水平方向的移动，
    优选的，其中所述移动基座具有四边形的外框，所述移动杆(7)可移动地装配于所述移动基座(1)一侧边框，
    例如，其中所述用于装配移动杆(7)的边框具有凹槽，所述凹槽开口向移动基座的内侧，所述移动杆可移动地装配在所述凹槽内，移动杆的一部分处于凹槽外，即突出左边框内侧表面，该移动杆的突出部分可用于与移动杆驱动机构的驱动连接件(17)进行固定连接。
  2. 权利要求1所述的移液工作站，其中所述移动杆通过设置在边框内 的移动杆滑套可移动地装配在所述移动基座上的边框内，其中所述移动杆滑套与边框固定连接，所述移动杆可在移动杆滑套内移动，优选的，所述移动杆滑套为高分子聚合物滑套。
  3. 权利要求1的移液机构，其中所述基座传动带水平设置，其两端各自具有带传动主动轮和带传动从动轮，带传动主动轮在基座传动带驱动电机驱动下，带动基座传动带运行，由此通过所述带传动夹紧件带动基座水平移动,优选的,所述基座传动带驱动电机为步进电机。
  4. 权利要求1所述的移液机构，其中所述丝杆的驱动机构包括与所述丝杆顶端固定连接的丝杆带传动从动轮(11)，丝杆带传动主动轮(10)和丝杆转动传动带(12)，以及与所述丝杆带传动主动轮(10)连接的丝杆驱动电机(9)，优选的，所述驱动电机为步进电机。
  5. 权利要求1所述的移液机构，其中所述丝杆转动传动带(12)水平设置，其中所述丝杆带传动从动轮和丝杆带传动主动轮分别位于所述传动带两端，固定在基座顶部的顶板上，所述丝杆带传动从动轮与所述丝杆顶端固定连接，位于所述顶板的上方，所述丝杆带传动主动轮与所述丝杆驱动电机的转轴固定连接，所述丝杆驱动电机位于基座顶部的顶板的下方。
  6. 权利要求1所述的移液工作站，其中所述丝杆(4)通过丝杆螺母(6)和驱动连接件(17)与移动杆(7)固定连接，其中，丝杆螺母(6)旋装在丝杆上,驱动连接件(17)的一端与移动杆(7)固定连接，另一端固定在所述丝杆螺母(6)外侧，优选的，其中所述丝杆螺母为高分子聚合物丝杆螺母。
  7. 权利要求1所述的移液机构，其中所述直线导轨固定座(34)固定在基座边框的直线导轨固定区(35)，
    优选的，其中所述直线导轨固定座(34)的高度H1大于25mm，较优选大于30mm，
    更优选的，其中所述直线导轨固定区的高度H2大于或等于50mm，较优选大于或等于60mm。
  8. 权利要求1-7中任一项所述的移液工作站，其中所述数个移液机构中的两个或两个以上并列装配，所述并列装配的两个或两个以上移液机构的移动杆排列在一条直线上，并且所述并列装配的两个或两个以上移液机构的基座传动带(44)上下平行排列。
  9. 权利要求8所述的移液工作站，其中所述并列装配的两个或两个以上移液机构中每两个移液机构的移动基座的直线导轨固定座(34)与同一个直线导轨的两个滑块连接，所述其直线导轨固定座与一个直线导轨的两个滑块连接的两个移液机构之间间隔一个所述并列装配的两个或两个以上移液机构中的其它一个移液机构，
    优选的，其中所述并列装配的两个或两个以上移液机构中相邻两个移液机构的移动基座的直线导轨固定座(34)分别固定在其直线导轨固定区(35)上的上半部分或是下半部分。
  10. 权利要求1-9中任一项所述的移液工作站，其包括四个或八个所述移液机构，
    例如，所述移液工作站包括八个所述移液机构，所述八个移液机构分成平行设置的两组，每组四个移液机构并列装配，每组四个移液机构的基座传动带上下平行排列，以及所述每组四个移液机构中每两个间隔的移液机构的移动基座的直线导轨固定座与同一个直线导轨的两个滑块连接。
  11. 权利要求10所述的移液工作站，其中相邻两个移动基座上的直线导轨固定座(34)分别固定在直线导轨固定区(35)上的上半部分或是下半 部分。
  12. 权利要求10或11中任一项所述的移液工作站，其中每组四个移液机构的移动杆排列在一条直线上，与另一组四个移液机构的移动杆交错设置，使得八个所述移液机构的移液枪头可排列在一条直线上。
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