WO2024119864A1 - 移液器和移液设备 - Google Patents

移液器和移液设备 Download PDF

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Publication number
WO2024119864A1
WO2024119864A1 PCT/CN2023/111661 CN2023111661W WO2024119864A1 WO 2024119864 A1 WO2024119864 A1 WO 2024119864A1 CN 2023111661 W CN2023111661 W CN 2023111661W WO 2024119864 A1 WO2024119864 A1 WO 2024119864A1
Authority
WO
WIPO (PCT)
Prior art keywords
pipette
hole
piston
assembly
adapter
Prior art date
Application number
PCT/CN2023/111661
Other languages
English (en)
French (fr)
Inventor
刘伟伟
高建东
Original Assignee
深圳晶泰科技有限公司
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 深圳晶泰科技有限公司 filed Critical 深圳晶泰科技有限公司
Publication of WO2024119864A1 publication Critical patent/WO2024119864A1/zh

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Classifications

    • 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
    • B01L3/0275—Interchangeable or disposable dispensing tips
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
    • B01L2400/00—Moving or stopping fluids
    • B01L2400/04—Moving fluids with specific forces or mechanical means
    • B01L2400/0475—Moving fluids with specific forces or mechanical means specific mechanical means and fluid pressure
    • B01L2400/0484—Cantilevers

Definitions

  • the present application relates to the field of liquid transfer technology, and in particular to a pipette and a liquid transfer device.
  • the purpose of the present application is to provide a pipette and a pipetting device to solve the problem that the current pipetting device has a low level of automation.
  • the present application provides a pipette, comprising: a bracket, comprising a supporting vertical plate and a supporting horizontal plate connected to each other; a pipetting assembly, arranged on the supporting vertical plate, the pipetting assembly is used to be detachably connected to a pipette tip, and the pipetting assembly is also used to drive the pipette tip to absorb or spit liquid; a head withdrawal assembly, arranged on the supporting horizontal plate, the head withdrawal assembly is used to push the pipette tip to detach from the pipetting assembly.
  • the pipetting assembly includes a first driving member, a piston cylinder, a piston and an adapter, wherein the piston cylinder has a accommodating chamber, the piston is accommodated in the accommodating chamber, the first driving member is connected to the piston to drive the piston to move in the accommodating chamber, the adapter is connected to one end of the piston cylinder, the adapter is used to be detachably connected to the pipette tip, and the adapter has an air flow channel connected to the accommodating chamber and the pipette tip.
  • the end of the piston cylinder facing away from the adapter has an opening communicating with the accommodating cavity, and the piston extends into the accommodating cavity through the opening.
  • the pipetting assembly further comprises a piston cover plate, wherein the piston cover plate covers the opening, the piston cover plate is provided with a through hole, and the piston is passed through the through hole.
  • the opening of the piston cylinder is a stepped hole
  • a first sealing ring is disposed in the stepped hole
  • the piston cover plate presses the first sealing ring
  • the first sealing ring is in close contact with the outer peripheral surface of the piston.
  • the pipetting assembly further includes a guide rail and a slider, wherein the guide rail is fixedly connected to the supporting vertical plate, the slider is slidably connected to the guide rail, and the slider is also connected to the first driving member and the piston, the first driving member drives the slider to move on the guide rail, and the slider drives the piston to move in the accommodating chamber.
  • the pipetting assembly further includes a transfer block, wherein the transfer block is connected between the slider and the piston, and the piston is made of ceramic.
  • the first driving member is a linear motor
  • the output shaft of the first driving member is connected to the movable the output shaft of the first drive member, the piston and the adapter all extend in a straight line and are located on the same extended straight line.
  • the supporting vertical plate is connected to the supporting horizontal plate and is in a cross shape;
  • the piston cylinder is connected to the supporting vertical plate, the supporting horizontal plate is provided with a first through hole,
  • the piston cylinder has a matching hole connected to the first through hole and the accommodating chamber, and a first matching portion is provided at one end of the adapter, and the first matching portion passes through the first through hole and is detachably matched with the matching hole.
  • a second sealing ring is provided between the first matching portion and the matching hole.
  • a second matching portion is provided at one end of the adapter away from the piston cylinder, and the second matching portion is used for detachably connecting with the suction head.
  • the second matching portion includes two annular protrusions spaced apart in the axial direction of the adapter, and the outer diameters of the two annular protrusions are both larger than the inner diameter of the suction head.
  • the pipetting component also includes a first sensing component and a first control component, the first sensing component is electrically connected to the first control component, the first sensing component is used to sense the position of the piston and output a first electrical signal, and the first control component controls whether the first driving component drives the piston to move according to the first electrical signal.
  • the head withdrawal assembly includes a second driving member, a guide column and a push rod
  • the guide column is slidably connected to the supporting cross plate, one end of the guide column is connected to the push rod, and the other end of the guide column can abut or separate from the second driving member;
  • the second driving member is used to push the guide column to move, the guide column drives the push rod to move, and the push rod pushes the pipette tip to detach from the pipetting assembly.
  • the length of the push rod extending from the supporting cross plate exceeds the length of the pipetting assembly extending from the supporting cross plate, and during the process of connecting the pipette tip to the pipette assembly, the push rod first contacts the pipette tip and retracts, and then the pipetting assembly contacts and connects with the pipette tip.
  • the supporting cross plate is provided with a second through hole, the guide column is passed through the second through hole and can slide in the second through hole; the end of the guide column abutting the second driving member is provided with a shoulder, the shoulder is located outside the second through hole, and the size of the shoulder is larger than the inner diameter of the second through hole; the end of the guide column away from the shoulder passes through the second through hole and is connected to the push rod.
  • the head withdrawal assembly also includes an elastic member, which is located in the second through hole and is sleeved on the outer periphery of the guide column, and the two opposite ends of the elastic member are used to abut the push rod and the top wall of the second through hole respectively; the elastic member is always in a compressed state and switches between a first compressed state and a second compressed state.
  • the elastic member is in the first compressed state, the suction tip is not connected to the pipetting assembly, and when the elastic member is in the second compressed state, the suction tip is connected to the pipetting assembly.
  • the withdrawing head assembly also includes a support block, which is fixedly connected to the supporting cross plate, and the second driving member is fixed on the support block; a receiving space and a third through hole and a fourth through hole connected to the receiving space are opened on the support block, and the output shaft of the second driving member can pass through the third through hole and the fourth through hole in sequence to abut against the guide column; the fourth through hole is a step hole, and the end of the guide column away from the shoulder passes through the fourth through hole and the second through hole in sequence to be connected to the push rod, and the shoulder is used to abut against the step surface of the fourth through hole.
  • the push rod includes a cross bar and a vertical bar, one end of the cross bar is connected and fixed to the end of the guide column away from the second driving member, one end of the vertical bar is connected to the end of the cross bar away from the guide column, and the extension direction of the vertical bar is the same as the extension direction of the adapter of the pipetting assembly; a sliding hole is provided on the vertical bar, the adapter is inserted into the sliding hole and can slide in the sliding hole, and the vertical bar moves to push the pipette tip to detach from the adapter.
  • the head-retracting assembly further includes a second induction member, an induction pin and a second control member, wherein the second induction member is arranged in the receiving space, the induction pin is arranged on the shaft shoulder, and the second induction member and the second control member are connected to each other.
  • the push rod is in contact with the pipette tip and the push rod pushes the guide column to move, thereby driving the sensing pin on the guide column to move.
  • the second sensing component is used to sense the position of the sensing pin and output a second electrical signal.
  • the second control component determines whether the pipette tip is properly connected to the pipetting component and/or whether the pipette tip is loose based on the second electrical signal.
  • the present application also provides a pipetting device, comprising a robotic arm, a pipette and a tip as described in any one of the various embodiments of the first aspect, wherein the robotic arm is connected to the pipette, and the robotic arm drives the pipette to move so that the pipetting component of the pipette is connected to the tip; and/or the robotic arm drives the pipette to move from an initial position to a target position so that the tip performs a pipetting operation at the initial position and a spitting operation at the target position; and/or the robotic arm drives the pipette to a recovery position so that the head retraction component of the pipette detaches the tip from the pipetting component.
  • a pipetting device comprising a robotic arm, a pipette and a tip as described in any one of the various embodiments of the first aspect, wherein the robotic arm is connected to the pipette, and the robotic arm drives the pipette to move so that the pipetting component of the pipet
  • the pipette provided in the present application is provided with a pipette component connected to a supporting vertical plate, a head withdrawal component connected to a supporting horizontal plate, the support is stable, the pipette component is detachably connected to the suction head, and can drive the suction head to perform suction and discharge operations.
  • the head withdrawal component can push the suction head to detach from the pipette component, thereby realizing the automatic installation and removal of the suction head, as well as the automatic operation of suction and discharge, realizing multiple operations, improving the level of automation, and being able to improve the efficiency of pipetting operations.
  • FIG1 is a perspective view of a pipette according to an embodiment
  • FIG2 is a cross-sectional view of a pipette according to an embodiment
  • FIG3 is a perspective view of a pipette with its housing removed according to an embodiment
  • FIG4 is a perspective view of a push rod according to an embodiment
  • FIG5 is a perspective view of an adapter according to an embodiment
  • FIG. 6 is a cross-sectional view of the connection between an adapter and a suction head according to an embodiment.
  • a component when a component is said to be “fixed to” another component, it can be directly on the other component or there can be a central component.
  • a component When a component is said to be “connected to” another component, it can be directly connected to the other component or there can be a central component at the same time.
  • An embodiment of the present application provides a pipetting device, including a robotic arm (not shown) and a pipette in any embodiment of the present application.
  • the robotic arm is connected to the pipette, and the robotic arm drives the pipette to move so that the pipette component 20 of the pipette is connected to the tip 50; and/or, the robotic arm drives the pipette to move from an initial position to a target position, so that the tip 50 performs a liquid aspiration operation at the initial position and performs a liquid spitting operation at the target position; and/or, the robotic arm drives the pipette to a recovery position, so that the head retraction component 30 of the pipette separates the tip 50 from the pipette component 20.
  • the robot arm may be a multi-axis robot arm, such as a four-axis robot arm, a six-axis robot arm, etc., or an XYZ three-axis moving mechanism, which is not limited here.
  • the robot arm and the pipette may be fixedly connected, such as by screwing, gluing, welding, etc.; the robot arm and the pipette may also be detachably connected, such as by magnetic connection, pneumatic connection, etc.
  • the pipetting device of the embodiment of the present application can perform a variety of operations by adopting a special pipette to improve the level of automation and the efficiency of the pipetting operation.
  • the embodiment of the present application provides a pipette, including a bracket 10, a pipette assembly 20 and a head-removing assembly 30.
  • the bracket 10 serves as a structural support base, and the pipette assembly 20 and the head-removing assembly 30 are both mounted on the bracket 10.
  • the pipette assembly 20 is used to connect with the suction head 50 and control the suction head 50 to perform suction and discharge operations, and the head-removing assembly 30 is used to separate the suction head 50 from the pipette assembly 20 to achieve the head-removing operation.
  • the bracket 10 includes a supporting vertical plate 11 and a supporting horizontal plate 12 connected to each other; the supporting vertical plate 11 can be set as a flat plate extending in the vertical direction, and the supporting horizontal plate 12 can be set as a flat plate extending in the horizontal direction.
  • the supporting vertical plate 11 can also have a certain inclination angle with the vertical direction
  • the supporting horizontal plate 12 can also have a certain inclination angle with the horizontal direction.
  • the supporting vertical plate 11 and the supporting horizontal plate 12 can be set as a flat plate and the flat plate is provided with a shape of a groove, a through hole, a protrusion, etc., so as to facilitate installation, connection and matching with other structures.
  • the supporting vertical plate 11 and the supporting horizontal plate 12 are connected and cross-shaped, for example, they can be connected to form a shape of "L", "T", "X”, etc., and the connection between the two can be screwed, welded, clamped, etc., without limitation.
  • the material of the two is a material with high strength, such as metal and its alloy, high-strength plastic, etc., without limitation.
  • the pipette may further include a housing 13, which is connected to the support vertical plates 11 and the support horizontal plates 12.
  • the housing 13 can be used together with the support vertical plates 11 and the support horizontal plates 12 to enclose and shield at least part of the pipetting assembly 20, the head withdrawal assembly 30, etc., and reduce the exposed part as much as possible, so that the pipette has a complete and unified appearance on the one hand, and plays a role in dust and water resistance on the other hand.
  • the pipetting assembly 20 can be arranged as a whole on the supporting vertical plate 11, or most of it can be arranged on the supporting vertical plate 11, and the remaining part can be arranged on the supporting horizontal plate 12.
  • the pipetting assembly 20 is used to be detachably connected to the suction head 50, and the pipetting assembly 20 is also used to drive the suction head 50 to absorb or discharge liquid.
  • the mechanical arm can drive the bracket 10 and the pipetting assembly 20 and the head withdrawal assembly 30 thereon to move as a whole, wherein the pipetting assembly 20 can be connected to the suction head 50 after moving.
  • the specific structure of the pipetting assembly 20 is not limited, and it can provide positive pressure or negative pressure. By applying negative pressure to the suction head 50, the suction head 50 can absorb the sample liquid to realize the suction operation, and by applying positive pressure to the suction head 50, the sample liquid in the suction head 50 can be pushed out to realize the discharge operation.
  • the head-retracting assembly 30 is disposed on the supporting horizontal plate 12, and the head-retracting assembly 30 is used to push the suction head 50 to be separated from the liquid transfer assembly 20.
  • the specific structure of the head-retracting assembly 30 is not limited, and the head-retracting assembly 30 can be moved to separate the suction head 50 from the liquid transfer assembly 20 to achieve the head-retracting operation.
  • the bracket 10 is also provided with a quick-change connector 60, which can be provided on the supporting horizontal plate 12, for example, for detachable connection with the robot arm.
  • the specific structure of the quick-change connector 60 is not limited, and the detachable connection method includes but is not limited to pneumatic connection, magnetic connection, etc.
  • the method of using the pipette of the embodiment of the present application is as follows: the mechanical arm drives the pipette as a whole to move to the placement position of the pipette tip 50, so that the pipette component 20 is connected with the pipette tip 50 at the placement position of the pipette tip 50 (the mechanical arm drives the pipette component 20 to pierce the pipette tip 50 downward with a certain force, so that the pipette component 20 and the pipette tip 50 are interference-connected), and then drives the pipette and the pipette tip 50 to move to the initial position, and the pipette component 20 drives the pipette tip 50 to absorb liquid, and then the mechanical arm drives the pipette and the pipette tip 50 from the initial position to the target position again, and the pipette component 20 drives the pipette tip 50 to discharge liquid at the target position.
  • the pipette provided in the embodiment of the present application is provided with a pipette component 20 connected to the supporting vertical plate 11, and a head withdrawal component 30 connected to the supporting horizontal plate 12, so that the support is stable, the pipette component 20 is detachably connected to the suction head 50, and can drive the suction head 50 to perform suction and discharge operations, and the head withdrawal component 30 can push the suction head 50 to detach from the pipette component 20, thereby realizing the automatic installation and disassembly of the suction head 50, as well as the automatic operation of suction and discharge, realizing multiple operations, improving the level of automation, and being able to improve the efficiency of pipetting operations.
  • the pipetting assembly 20 includes a first driving member 21, a piston cylinder 22, a piston 23 and an adapter 24.
  • the piston cylinder 22 has a receiving chamber 221, and the piston 23 is received in the receiving chamber 221.
  • the first driving member 21 is connected to the piston 23 to drive the piston 23 to move in the receiving chamber 221.
  • the adapter 24 is connected to one end of the piston cylinder 22, and the adapter 24 is used to be detachably connected to the suction head 50.
  • the adapter 24 has an air flow channel 243 that communicates with the receiving chamber 221 and the suction head 50.
  • the first driving member 21, the piston 23, the piston cylinder 22 and the adapter 24 are arranged in sequence along a straight line, which is roughly parallel to the support vertical plate 11.
  • the first driving member 21 and the piston cylinder 22 are respectively connected and fixed to the support vertical plate 11, and the connection and fixing method can be screw connection.
  • the first driving member 21 and the piston cylinder 22 can also be connected to the support vertical plate 11 by other connection and fixing methods, which are not limited here.
  • the first driving member 21 is connected to the fixing plate 14, and the fixing plate 14 is further connected to the support vertical plate 11.
  • the vertical plate 11 is screwed and fixed.
  • the first driving member 21 has a first output shaft 211, which can move relative to the main body of the first driving member 21, and the main body is connected and fixed to the support vertical plate 11.
  • the movement mode of the first output shaft 211 relative to the main body of the first driving member 21 can be rotational motion, linear motion, or a mixed motion of linear motion and rotational motion.
  • the first output shaft 211 performs rotational motion and can be connected to the piston 23 through a transmission mechanism, so that the rotational motion of the first output shaft 211 is converted into the linear motion of the piston 23, and the direction of the linear motion of the piston 23 can be roughly the same as the extension direction of the support vertical plate 11, that is, roughly the vertical direction.
  • the first output shaft 211 performs linear motion, and the direction of the linear motion can be roughly the same as the extension direction of the support vertical plate 11, that is, roughly the vertical direction.
  • the first output shaft 211 is telescopic relative to the main body of the first driving member 21, and one end thereof can be directly or indirectly connected to the piston 23, and the linear motion of the first output shaft 211 directly drives the piston 23 to perform linear motion in the same direction.
  • the first drive member 21 is a linear motor, and the output shaft of the first drive member 21 is connected to the piston 23, that is, the first output shaft 211 can be directly or indirectly connected to the piston 23; the output shaft of the first drive member 21, the piston 23 and the adapter 24 all extend along a straight line and are located on the same extended straight line.
  • the first drive member 21 is a linear motor, which can directly drive the first output shaft 211 to move in a straight line, and each structure is arranged on the same extended straight line.
  • the above linear arrangement has a simple structure and direct drive, which can improve reliability and control accuracy.
  • the outer wall of the piston cylinder 22 is screwed to the support vertical plate 11, and other connection and fixing methods can also be used.
  • the accommodating chamber 221 of the piston cylinder 22 extends along a straight line, and the straight line is also roughly the same as the extension direction of the support vertical plate 11, that is, roughly in the vertical direction.
  • the piston 23 is accommodated in the accommodating chamber 221, and the outer peripheral surface of the piston 23 is in close contact with the inner peripheral wall of the accommodating chamber 221. As the piston 23 moves in the piston cylinder 22, the distance between the end face of the piston 23 away from the first driving member 21 and the bottom wall of the accommodating chamber 221 facing the first driving member 21 changes, so that the volume of the cavity of the accommodating chamber 221 changes continuously, generating positive pressure or negative pressure.
  • the adapter 24 is connected to the end of the piston cylinder 22 away from the first driving member 21, and the airflow channel 243 of the adapter 24 is in communication with the accommodating chamber 221 of the piston cylinder 22, that is, the airflow channel 243 is in communication with the accommodating chamber 221 at the bottom wall of the accommodating chamber 221 facing the first driving member 21.
  • the piston 23 moves in the accommodating chamber 221, which can generate positive pressure and negative pressure, and the positive pressure and negative pressure can be transmitted to the suction head 50 connected to the adapter 24 through the airflow channel 243 in communication with the accommodating chamber 221, so that the suction head 50 can be controlled to perform aspiration or dispensing operations.
  • the structure of the first driving member 21, the piston cylinder 22, the piston 23 and the adapter 24 is simple and reliable. By moving the piston 23 relative to the piston cylinder 22, positive pressure or negative pressure can be provided to the suction head 50 to perform liquid suction or liquid discharge operations, and the operation is simple.
  • the supporting horizontal plate 12 is provided with a first through hole 121, and the end of the piston cylinder 22 away from the first driving member 21 is provided with a matching hole 223, and the matching hole 223 is connected with the first through hole 121 and the accommodating chamber 221.
  • a first matching portion 241 is provided at one end of the adapter 24, and the first matching portion 241 passes through the first through hole 121 and is detachably matched with the matching hole 223.
  • the diameter of the first through hole 121 may be slightly larger than the diameter of the matching hole 223, so that the first matching portion 241 of the adapter 24 can pass through the first through hole 121.
  • the diameter of the first through hole 121 may be smaller than the outer diameter of the piston cylinder 22, and the end surface of the piston cylinder 22 away from the first driving member 21 may contact the supporting cross plate 12, so that the supporting cross plate 12 can play a role in supporting the piston cylinder 22.
  • the first through hole 121 and the matching hole 223 may be coaxially arranged.
  • the matching hole 223 may be a screw hole
  • the first matching portion 241 may be a screw rod
  • the first matching portion 241 and the matching hole 223 may be threaded matching, and the threaded matching has the advantages of convenient installation and disassembly, stable connection, etc.
  • the adapter 24 includes a first mating portion 241 at one end and a second mating portion 242 at the other end opposite to the first mating portion 241.
  • the adapter 24 may also include an operating portion 245, wherein the first mating portion 241 and the second mating portion 242 are respectively connected to the two opposite ends of the operating portion 245, and the first mating portion 241, the operating portion 245 and the second mating portion 242 are coaxially arranged and may be substantially cylindrical.
  • the end of the adapter 24 connected to the piston cylinder 22 is a first matching portion 241, and the end away from the piston cylinder 22 is a second matching portion 242.
  • the second matching portion 242 is used to be detachably connected to the suction head 50.
  • the outer peripheral surface of the operating portion 245 may be formed with an operating plane 246.
  • the operating plane 246 may be two and arranged on opposite sides of the operating portion 245 and parallel to each other.
  • the operating plane 246 is used to cooperate with an operating tool to connect and fix the first matching portion 241 to the matching hole 223.
  • the operating tool is, for example, a wrench.
  • An annular groove 244 is provided at one end of the screw of the first matching portion 241 connected to the operating portion 245, and the annular groove 244 is used to accommodate the second sealing ring 29.
  • the second sealing ring 29 is located between the first matching portion 241 and the matching hole 223.
  • the second sealing ring 29 can be an "O"-shaped sealing ring, which is used to seal the gap between the first matching portion 241 and the matching hole 223.
  • a positioning ring 247 is provided at the outer periphery of the end portion where the first matching portion 241 is connected to the operating portion 245.
  • the positioning ring 247 surrounds the first matching portion 241, and the diameter of the positioning ring 247 is greater than the diameter of the first matching portion 241 and less than or equal to the diameter of the operating portion 245.
  • the matching hole 223 can be set as a stepped hole, and the diameter of the outer side is greater than the diameter of the inner side.
  • the first matching portion 241 and the matching hole 223 When the first matching portion 241 and the matching hole 223 are installed, the first matching portion 241 extends into the inner side of the matching hole 223, and the positioning ring 247 extends into the outer side of the matching hole 223, and the positioning ring 247 can contact the side wall of the outer side of the matching hole 223.
  • the portion of the end surface of the operating portion 245 where the first matching portion 241 is provided, which is located outside the positioning ring 247, can abut against the lower end surface of the piston cylinder 22.
  • the matching hole 223 By setting the matching hole 223 to be stepped and setting a positioning ring 247 below the first matching portion 241, it can play a limiting role when the first matching portion 241 is connected to the matching hole 223, ensuring that the first matching portion 241 is in a vertical direction when installed and fixed, and preventing it from tilting during installation.
  • the positioning ring 247 is set below the annular groove 244 and can also form a side wall of the annular groove 244, playing a role in limiting the second sealing ring 29.
  • the second matching portion 242 includes two annular protrusions spaced apart in the axial direction of the adapter 24 , and the outer diameters of the two annular protrusions are both larger than the inner diameter of the suction head 50 .
  • the second matching portion 242 includes an adapter rod 2421, a first annular protrusion 2422 and a second annular protrusion 2423.
  • One end of the adapter rod 2421 is connected to one end of the operating portion 245 away from the first matching portion 241, and the first annular protrusion 2422 and the second annular protrusion 2423 are arranged around the adapter rod 2421.
  • the shapes of the first annular protrusion 2422 and the second annular protrusion 2423 are both arc-shaped.
  • the first annular protrusion 2422 is located between the second annular protrusion 2423 and the operating portion 245, and the first annular protrusion 2422 can be connected to the operating portion 245, and the second annular protrusion 2423 can be arranged at one end of the adapter rod 2421 away from the operating portion 245.
  • the suction tip 50 includes an adapter section 51, a main section 52 and a liquid suction section 53 which are connected in sequence.
  • the adapter section 51 may have a certain elastic deformation ability, and the adapter section 51 is used to connect with the second matching portion 242.
  • the second matching portion 242 is connected with the adapter section 51
  • the second annular protrusion 2423 is inserted into the adapter section 51, squeezing the adapter section 51 to deform, so that the adapter section 51 is in close contact with the second annular protrusion 2423, and then the insertion continues, so that the first annular protrusion 2422 is also in close contact with the adapter section 51.
  • the second matching portion 242 and the adapter section 51 are tightly connected and fixed by friction, and the first annular protrusion 2422 and the second annular protrusion 2423 cooperate to achieve the coaxial positioning of the adapter 24 and the suction tip 50, ensuring that the connection is stable and not easy to shake, and also plays a role of double sealing.
  • the suction tip 50 needs to be replaced, the suction tip 50 is pushed out from the second matching portion 242 to the side away from the operating portion 245 until the two are separated.
  • the end of the liquid aspiration section 53 away from the main section 52 is a pointed end, which is used for aspirating and discharging liquid.
  • the suction head 50 has a liquid storage chamber 501, which is used for storing liquid.
  • the adapter 24 has an air flow channel 243 running through both ends in the axial direction. After the second matching portion 242 is connected to the adapter section 51, the air flow channel 243 in the adapter 24 is connected to the liquid storage chamber 501, and the air flow channel 243 is also connected to the accommodating chamber 221 of the piston cylinder 22. The positive pressure or negative pressure generated by the movement of the piston 23 can be transmitted to the liquid storage chamber 501 through the air flow channel 243 of the adapter 24.
  • liquid can be aspirated through the liquid aspiration section 53.
  • the sample liquid stored in the liquid storage chamber 501 can be driven to be discharged from the suction head 50.
  • the main body section 52 includes a first liquid storage section 521, a transition section 522, and a second liquid storage section 523 connected in sequence, the end of the first liquid storage section 521 away from the transition section 522 is connected to the adapter section 51, and the end of the second liquid storage section 523 away from the transition section 522 is connected to the liquid absorption section 53.
  • the first liquid storage section 521, the transition section 522, and the second liquid storage section 523 are all constricted structures, and the first liquid storage section 521 and the second liquid storage section 523 are connected to the transition section 522 in a smooth transition.
  • the minimum inner diameter of the first liquid storage section 521 is greater than the maximum inner diameter of the second liquid storage section 523, and the transition section 522 is tangent to the first liquid storage section 521 and the second liquid storage section 523.
  • the main body section 52 is configured as a constricted structure, so that the sample liquid can be smoothly sucked into and discharged from the pipette tip 50.
  • the sections within the main body section 52 are not prone to residual sample liquid, and the size of the first liquid storage section 521 is larger than that of the second liquid storage section 523, so that the pipette tip 50 can absorb a larger volume of sample liquid, thereby improving the efficiency of pipetting.
  • the end of the piston cylinder 22 facing away from the adapter 24, that is, the end facing the first driving member 21, has an opening 222 connected to the accommodating chamber 221, and the piston 23 extends into the accommodating chamber 221 through the opening 222.
  • the piston 23 may be cylindrical, and the shape of the opening 222 may be adapted to the shape of the accommodating chamber 221, for example, circular; the diameter of the opening 222 may be equal to or greater than the inner diameter of the accommodating chamber 221, so that the piston 23 may extend into the accommodating chamber 221 through the opening 222.
  • the outer peripheral surface of the piston 23 is in close contact with the inner peripheral wall of the accommodating chamber 221, so that the air in the part of the accommodating chamber 221 that is connected to the air flow channel 243 of the adapter 24 will not leak from the contact surface between the piston 23 and the accommodating chamber 221 to the side of the opening 222, which can improve the control accuracy of the positive pressure and the negative pressure.
  • the piston 23 is at least partially exposed from the opening 222 to facilitate connection with the first output shaft 211 of the first driving member 21.
  • the opening 222 is provided to facilitate installation of the piston 23.
  • the liquid transfer assembly 20 further includes a piston cover plate 25, which is covered at the opening 222.
  • the piston cover plate 25 is provided with a through hole 251, and the piston 23 is penetrated by the through hole 251.
  • the shape and size of the through hole 251 correspond to the shape and size of the piston 23.
  • the through hole 251 is also a circular hole, and the diameter of the piston 23 is equal to the diameter of the through hole 251.
  • the cover plate is provided at the opening 222, which can provide dustproof and waterproof protection for the accommodating chamber 221 of the piston cylinder 22.
  • the opening 222 of the piston cylinder 22 is a stepped hole
  • a first sealing ring 26 is arranged in the stepped hole
  • the piston cover plate 25 presses the first sealing ring 26
  • the first sealing ring 26 is in close contact with the outer peripheral surface of the piston 23.
  • the shape of the first sealing ring 26 can be roughly annular, the shape of the longitudinal section of the first sealing ring 26 corresponds to the shape of the stepped hole, and the shape of its longitudinal section can be "L", "T" shape, etc.
  • the outer surface of the first sealing ring 26 is in close contact with the side wall of the stepped hole, and the inner surface of the first sealing ring 26 is in close contact with the outer peripheral surface of the piston 23, which plays a sealing role.
  • the liquid transfer assembly 20 further includes a guide rail 271 and a slider 272.
  • the guide rail 271 is connected and fixed to the support vertical plate 11, and the connection and fixing method can be screw connection, clamping connection, etc., without limitation.
  • the shape of the guide rail 271 is not limited, and the guide rail 271 can form a guide structure by grooving, setting a protrusion, etc.
  • the slider 272 is slidably connected to the guide rail 271, and the slider 272 can be provided with a structure that cooperates with the guide structure on the guide rail 271, so that the slider 272 can slide relative to the guide rail 271 in a direction roughly parallel to the support vertical plate 11, that is, it can slide roughly in the vertical direction, and the guide rail 271 plays a guiding role.
  • the slider 272 is fixed in other directions, that is, the guide rail 271 also plays a limiting role on the slider 272.
  • the slider 272 is connected to the first driving member 21 and the piston 23.
  • the first driving member 21 drives the slider 272 to move on the guide rail 271, and the slider 272 drives the piston 23 to move in the accommodating chamber 221.
  • the first driving member 21 is a linear motor
  • One end of the slider 272 is connected to the first output shaft 211 of the first driving member 21, and the other end opposite to it is connected to the end of the piston 23 away from the adapter 24.
  • the linear motion direction of the first output shaft 211 is the same as the sliding direction of the slider 272 on the guide rail 271, and is also the same as the direction in which the piston 23 moves in the piston cylinder 22.
  • the pipetting assembly 20 further includes an adapter block 28, which is connected between the slider 272 and the piston 23.
  • the adapter block 28 may be a special-shaped structure, which may make the structure of the piston 23 regular and simple, and may facilitate the processing of the piston 23.
  • an adapter block 28 may effectively eliminate the concentricity error when the piston 23 and the piston cylinder 22 are matched, and may also avoid designing the piston 23 into a special-shaped structure suitable for being directly connected to the slider 272, thereby reducing its processing difficulty.
  • the piston 23 is made of ceramic. Compared with other materials, ceramic materials have good corrosion resistance, good wear resistance, long service life, good dimensional temperature stability, can meet the needs of long-term use, and basically do not need to be replaced.
  • the material of the adapter block 28 can be selected to be a material that is easy to process. Since the ceramic material is difficult to process, the adapter block 28 is set to connect the slider 272 and the piston 23 in accordance with the aforementioned embodiment, which can reduce the difficulty of processing.
  • the piston 23 may also be made of high-strength plastic, such as polyetheretherketone or corrosion-resistant plastic material used for syringes.
  • the pipetting component 20 also includes a first sensing member 42 and a first control member (not shown).
  • the first sensing member 42 is electrically connected to the first control member.
  • the first sensing member 42 is used to sense the position of the piston 23 and output a first electrical signal.
  • the first control member controls the first driving member 21 whether to drive the piston 23 to move according to the first electrical signal.
  • the aspiration and discharge operations are both realized by the piston 23 moving in the piston cylinder 22 and transmitting the positive pressure or negative pressure to the liquid storage chamber 501. Therefore, the timing of aspiration and discharge, as well as the volume of aspiration, can be determined by controlling the displacement of the piston 23 relative to the piston cylinder 22.
  • the first sensing element 42 is set to sense the position of the piston 23, so that the current state of aspiration or discharge can be detected, and whether the desired state is reached, and then whether to drive the piston 23 to move.
  • One method of use is as follows: during the liquid aspiration operation, the stroke of the first output shaft 211 is determined, that is, when the liquid is not aspirated, the first output shaft 211 extends the longest distance relative to the main body of the first driving member 21, and then the first output shaft 211 retracts, driving the slider 272, the adapter block 28 and the piston 23 to move toward the side of the first driving member 21, forming a negative pressure, and the suction head 50 starts to aspirate liquid until the first output shaft 211 retracts to the specified position, completing the liquid aspiration operation, at which time the suction head 50 just absorbs the specified volume of sample liquid.
  • the liquid discharge operation it can be a single full discharge, or there can be a liquid separation operation, and the sample liquid in the suction head 50 can be placed in different containers through multiple discharges.
  • the first output shaft 211 of the first driving member 21 extends, pushing the slider 272, the adapter block 28 and the piston 23 to move to the side away from the first driving member 21, and the liquid storage chamber 501 generates a positive pressure, and the sample liquid is discharged from the suction head 50.
  • the position of the piston 23 can be sensed by the first sensing member 42 to determine whether the required amount of liquid to be discharged has been reached.
  • the first control member controls the first driving member 21 to stop, and the first output shaft 211 no longer moves. If the sample liquid needs to be discharged all at once, the first sensing member 42 detects that the position of the piston 23 has been in place, and after the sample liquid in the liquid storage chamber 501 has been discharged, the first control member controls the first driving member 21 to stop, which can prevent the piston 23 from continuing to extend and hit the bottom wall of the piston cylinder 22 to cause wear, which is easy to generate residues and cause pollution, and it is also easy to cause the first driving member 21 to be overloaded and reduce the service life.
  • the position of the piston 23 can also be determined by detecting the position of the adapter block 28 , the slider 272 or the first output shaft 211 .
  • a sensing sheet 41 may be provided on any one of the piston 23, the adapter block 28, the slider 272 and the first output shaft 211, and a first sensing member 42 may be provided on the support vertical plate 11, and the piston 23 may be determined by sensing the sensing sheet 41 through the first sensing member 42.
  • the position when the first sensing element 42 senses the sensing sheet 41 can be set as the initial position of the piston 23, and the piston 23 must return to this position before or after aspirating liquid, that is, the piston returns to zero.
  • aspirating liquid whether the aspirating liquid is completed can be determined by limiting the moving stroke of the first output shaft 211; when aspirating liquid, when the first sensing element 42 senses the sensing sheet 41, it indicates that the aspirating liquid is completed.
  • the first sensing element 42 can be a sensor for various detection positions, and the sensing sheet 41 can be a device that generates induction with the first sensing element 42.
  • the first sensing element 42 is a slot structure, and a laser emitting end and a laser receiving end are respectively provided on both sides of the slot.
  • the sensing sheet 41 can be a metal baffle. When the sensing sheet 41 enters the slot, the laser receiving end will not be able to receive the optical signal normally and send a corresponding signal to the first control element.
  • the first control element can be a chip, a PLC, a mobile terminal, an electronic computer, etc., without limitation. In some embodiments, for example, when the first sensing element 42 detects the position by optical principles, the sensing sheet 41 may not be provided.
  • the position of the piston 23 may also be detected by other means, not limited to the embodiments of the first sensing element 42 and the sensing sheet 41 .
  • the head withdrawal assembly 30 includes a second driving member 31, a guide column 32 and a push rod 33.
  • the support cross plate 12 is provided with a second through hole 122, and the guide column 32 is inserted into the second through hole 122, so that the guide column 32 is slidably connected to the support cross plate 12.
  • One end of the guide column 32 is connected to the push rod 33, and the other end of the guide column 32 can abut or separate from the second driving member 31.
  • the second driving member 31 is used to push the guide column 32 to move, and the guide column 32 drives the push rod 33 to move, and the push rod 33 pushes the suction head 50 to detach from the pipetting assembly 20.
  • the second driving member 31 includes a second output shaft 311, and the second output shaft 311 is used to abut against the guide column 32 to push the guide column 32 to move.
  • the second driving member 31 can be a linear motor, which can directly drive the second output shaft 311 to perform linear motion.
  • the second driving member 31 is in a shutdown state, at which time the second output shaft 311 and the guide column 32 are in a separated state, and the second output shaft 311 and the guide column 32 are spaced apart to avoid affecting the normal pipetting operation.
  • the second driving member 31 drives the second output shaft 311 to extend and abut against the guide column 32, and pushes the guide column 32 to slide in the second through hole 122, so that the guide column 32 drives the push rod 33 to move, and the push rod 33 then pushes the suction head 50 to detach from the pipetting assembly 20.
  • the second output shaft 311, the guide column 32 and the push rod 33 are arranged in sequence in a straight line direction, and the straight line is the axis of the second output shaft 311 and the guide column 32, and the second output shaft 311 and the first output shaft 211 can be arranged in parallel, that is, the pipetting component 20 and the head withdrawal component 30 can be arranged side by side, and the structure is compact.
  • the push rod 33 is not limited, one end of which is connected to the guide column 32, and the other end is used to push the suction head 50.
  • the push rod 33 includes a cross bar 331 and a vertical bar 332, the cross bar 331 is roughly parallel to the supporting horizontal plate 12, one end of the cross bar 331 is connected and fixed to one end of the guide column 32 away from the second driving member 31, and the connection and fixing method can be screw connection, clamping, etc., one end of the vertical bar 332 is connected to one end of the cross bar 331 away from the guide column 32, and the extension direction of the vertical bar 332 is the same as the extension direction of the adapter 24.
  • a matching boss 333 is provided on the crossbar 331, and a mounting hole 334 is also provided on the crossbar 331.
  • the mounting hole 334 can penetrate the crossbar 331 and the matching boss 333.
  • the matching boss 333 is matched and connected with one end of the guide column 32 away from the second driving member 31. Fasteners such as screws can pass through the mounting hole 334 and be screwed with the guide column 32.
  • the matching boss 333 is a non-circular special shape.
  • the matching boss 333 can include an annular ring and a protrusion connected to the outer circumference of the annular ring, so that after the matching boss 333 is matched and connected with the guide column 32, the relative rotation of the two in the circumferential direction of the guide column 32 can be restricted.
  • the vertical rod 332 is provided with a sliding hole 335, and the adapter 24 is inserted into the sliding hole 335 and can slide in the sliding hole 335.
  • the guide column 32 pushes the cross bar 331 to move, and the cross bar 331 drives the vertical rod 332 moves, and the end of the vertical rod 332 away from the piston cylinder 22 pushes the suction head 50 to disengage from the adapter 24.
  • the push rod 331 has a simple structure, can quickly realize the action of pushing out the suction head 50, and has good reliability.
  • the length of the push rod 33 extending from the support cross plate 12 exceeds the length of the pipette assembly 20 extending from the support cross plate 12.
  • the push rod 33 first contacts the pipette tip 50 and retracts, and then the pipette assembly 20 contacts and connects with the pipette tip 50.
  • the adapter 24 Since the adapter 24 is fixedly connected to the piston cylinder 22, the adapter 24 cannot move relative to the supporting cross plate 12.
  • the end of the vertical rod 332 away from the piston cylinder 22 exceeds the adapter 24, that is, the second matching portion 242 of the adapter 24 is accommodated in the sliding hole 335 of the vertical rod 332.
  • the end of the vertical rod 332 away from the piston cylinder 22 first contacts the suction head 50, and then as the pipette moves toward the side of the suction head 50, the suction head 50 pushes the vertical rod 332 to retract, and gradually inserts the adapter 24 into the suction head 50.
  • the second output shaft 311 of the second driving member 31 is always spaced apart from the guide column 32, that is, the push rod 33 can move freely, so it will not interfere with the installation of the suction head 50 and the adapter 24.
  • the push rod 33 can protect the adapter 24 and prevent the adapter 24 from being damaged by collision, while also not affecting the installation of the suction head 50 and the adapter 24 .
  • one end of the guide post 32 abutting against the second driving member 31 is provided with a shoulder 321, which is located outside the second through hole 122 and has a size larger than the inner diameter of the second through hole 122.
  • One end of the guide post 32 away from the shoulder 321 passes through the second through hole 122 and is connected to the push rod 33.
  • the shaft shoulder 321 is provided so that when the pipette tip 50 is not installed in the pipette assembly 20 and the push rod 33 has not been pushed by the pipette tip 50 , the guide post 32 and the push rod 33 connected to the guide post 32 will not be separated from the supporting cross plate 12 .
  • the head withdrawal assembly 30 further includes an elastic member 34 , which is located in the second through hole 122 and sleeved on the outer periphery of the guide column 32 , and the two opposite ends of the elastic member 34 are used to abut against the push rod 33 and the top wall of the second through hole 122 , respectively.
  • the head withdrawal assembly 30 further includes a support block 35, which is connected and fixed to the support cross plate 12, and the second driving member 31 is fixed to the support block 35.
  • the support block 35 at least partially blocks the second through hole 122, so that the top wall of the second through hole 122 is the bottom surface of the support block 35, one end of the elastic member 34 abuts on the support block 35, and the other end of the elastic member 34 abuts against the cross bar 331 of the push rod 33.
  • the elastic member 34 can be a spring.
  • the elastic member 34 is always in a compressed state and switches between a first compressed state and a second compressed state.
  • the pipette tip 50 is not connected to the pipette assembly 20.
  • the pipette tip 50 is connected to the pipette assembly 20.
  • the support block 35 is provided with a receiving space 351 and a third through hole 352 and a fourth through hole 353 communicating with the receiving space 351 .
  • the output shaft of the second driving member 31 can pass through the third through hole 352 and the fourth through hole 353 in sequence to abut against the guide column 32 .
  • the fourth through hole 353 is a stepped hole. One end of the guide column 32 away from the shaft shoulder 321 passes through the fourth through hole 353 and the second through hole 122 in sequence to be connected to the push rod 33 .
  • the shaft shoulder 321 can abut against the stepped surface of the fourth through hole 353 .
  • the shoulder 321 of the guide column 32 is always located close to the supporting cross plate 12 and will not shake or jump randomly, thereby avoiding abnormal noise and abnormal contact with the second output shaft 311, and avoiding the second output shaft 311 abnormally pushing the guide column 32 and the push rod 33 to move and abnormally detaching the suction head 50 from the adapter 24.
  • a receiving groove 123 can be opened on the side of the supporting cross plate 12 facing away from the first driving member 21 and the second driving member 31.
  • the receiving groove 123 can accommodate the push rod 33, so that the push rod 33 can be accommodated in the receiving groove 123 when retracted, which can reduce the overall volume of the pipette and make the structure more compact.
  • the head-retracting assembly 30 further includes a second sensing member 43, a sensing pin 44, and a second control member.
  • the sensing member 43 is arranged in the receiving space 351 and can be fixed on the wall of the receiving space 351 by means of the mounting block 431.
  • the sensing pin 44 is arranged on the shaft shoulder 321 and protrudes toward one side of the second driving member 31.
  • the second sensing member 43 is electrically connected to the second control member, the push rod 33 contacts the suction head 50 and the push rod 33 pushes the guide column 32 to move, driving the sensing pin 44 on the guide column 32 to move.
  • the second sensing member 43 is used to sense the position of the sensing pin 44 and output a second electrical signal.
  • the second control member determines whether the suction head 50 is connected to the liquid transfer assembly 20 in place and whether the suction head 50 is loose according to the second electrical signal. Specifically, if there is a loose phenomenon, the spring rebounds and drives the guide column 32 and the push rod 33 to move downward, and the sensing pin 44 moves downward away from the second sensing member 43, thereby judging that the suction head 50 is loose, so that the experimenter can deal with it in time.
  • the second sensing member 43 may be a device similar to the first sensing member 42, the sensing pin 44 may be a device similar to the sensing sheet 41, and the second control member may be a device similar to the first control member.
  • the description of the first sensing member 42, the sensing sheet 41 and the first control member may be referred to above, and will not be repeated here.
  • the second control member and the first control member may be integrated into one control member.
  • a circuit board 45 may be provided on the support block 35, and the first control member and the second control member may be provided on the circuit board 45.
  • the circuit board 45 may also be an adapter board for providing power supply and data transmission.
  • One method of use is: when the robot arm drives the pipette to move as a whole and performs the connection operation between the pipette assembly 20 and the suction head 50, the suction head 50 pushes the push rod 33 to move toward the second driving member 31, and the guide column 32 and the sensing pin 44 thereon follow the movement.
  • the sensing pin 44 moves from bottom to top in FIG. 2 until the second sensing member 43 can sense the position of the sensing pin 44 and output a second electrical signal, and it can be determined that the suction head 50 and the pipette assembly 20 are connected.
  • the second driving member 31 drives the guide column 32 to move downward so that the push rod 33 pushes the pipette tip 50 to detach.
  • the second output shaft 311 moves to the set stroke, it indicates that the pipette tip 50 has been completely detached from the pipetting assembly 20, and then the second driving member 31 moves upward to reset.

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  • Clinical Laboratory Science (AREA)
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Abstract

一种移液器，包括：支架（10），包括相连接的支撑竖板（11）和支撑横板（12）；移液组件（20），设置在所述支撑竖板（11）上，所述移液组件（20）用于与吸头（50）可拆卸连接，所述移液组件（20）还用于驱动所述吸头（50）吸液或吐液；退头组件（30），设置在所述支撑横板（12）上，所述退头组件（30）用于推动所述吸头（50）从所述移液组件（20）上脱离；所述的移液器提升了自动化水平，能够提高移液操作效率。

Description

移液器和移液设备
本申请要求于2022年12月08日提交中国专利局、申请号为202211572242.9、申请名称为“移液器和移液设备”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
本申请涉及移液技术领域，具体涉及一种移液器和移液设备。
背景技术
在生物、化学领域，常需要提取样本液体进行相关实验，移液设备是提取样本操作中常用的设备。
目前的移液设备的自动化水平不高，往往需要人工手动安装和卸下吸头，甚至需要人工手动抽排液体，从而限制了移液操作的效率。
发明内容
本申请的目的是提供一种移液器和移液设备，解决目前的移液设备的自动化水平不高的问题。
为实现本申请的目的，本申请提供了如下的技术方案：
第一方面，本申请提供一种移液器，包括：支架，包括相连接的支撑竖板和支撑横板；移液组件，设置在所述支撑竖板上，所述移液组件用于与吸头可拆卸连接，所述移液组件还用于驱动所述吸头吸液或吐液；退头组件，设置在所述支撑横板上，所述退头组件用于推动所述吸头从所述移液组件上脱离。
一种实施方式中，所述移液组件包括第一驱动件、活塞缸、活塞和适配件，所述活塞缸具有容纳腔，所述活塞容置在所述容纳腔中，所述第一驱动件与所述活塞连接，以驱动所述活塞在所述容纳腔中移动，所述适配件连接在所述活塞缸的一端，所述适配件用于与所述吸头可拆卸连接，所述适配件具有与所述容纳腔、所述吸头连通的气流通道。
一种实施方式中，所述活塞缸背向所述适配件的一端具有与所述容纳腔连通的开口，所述活塞经所述开口伸入所述容纳腔。
一种实施方式中，所述移液组件还包括活塞盖板，所述活塞盖板盖设在所述开口处，所述活塞盖板开设有通过孔，所述活塞穿设于所述通过孔。
一种实施方式中，所述活塞缸的所述开口呈台阶孔，所述台阶孔内设置有第一密封圈，所述活塞盖板压紧所述第一密封圈，所述第一密封圈与所述活塞的外周表面紧贴。
一种实施方式中，所述移液组件还包括导轨和滑块，所述导轨与所述支撑竖板连接固定，所述滑块与所述导轨滑动连接，所述滑块还与所述第一驱动件和所述活塞连接，所述第一驱动件驱动所述滑块在所述导轨上移动，所述滑块带动所述活塞在所述容纳腔中移动。
一种实施方式中，所述移液组件还包括转接块，所述转接块连接在所述滑块和所述活塞之间，所述活塞的材质为陶瓷。
一种实施方式中，所述第一驱动件为直线电机，所述第一驱动件的输出轴连接至所述活 塞；所述第一驱动件的输出轴、所述活塞和所述适配件均沿直线延伸且位于同一延伸直线上。
一种实施方式中，所述支撑竖板与所述支撑横板相连接并呈交叉状；所述活塞缸与所述支撑竖板连接，所述支撑横板开设有第一通孔，所述活塞缸具有与所述第一通孔和所述容纳腔连通的配合孔，所述适配件的一端设置有第一配合部，所述第一配合部穿过所述第一通孔与所述配合孔可拆卸地配合连接。
一种实施方式中，所述第一配合部和所述配合孔之间设置有第二密封圈。
一种实施方式中，所述适配件远离所述活塞缸的一端设置有第二配合部，所述第二配合部用于与所述吸头可拆卸连接。
一种实施方式中，所述第二配合部包括两个在所述适配件的轴向上间隔设置的环形凸起，两个所述环形凸起的外径均大于所述吸头的内径。
一种实施方式中，所述移液组件还包括第一感应件和第一控制件，所述第一感应件与所述第一控制件电连接，所述第一感应件用于感应所述活塞的位置，并输出第一电信号，所述第一控制件根据所述第一电信号控制所述第一驱动件是否驱动所述活塞移动。
一种实施方式中，所述退头组件包括第二驱动件、导柱和推杆，所述导柱与所述支撑横板滑动连接，所述导柱的一端与所述推杆连接，所述导柱的另一端能够与所述第二驱动件抵接或分离；所述第二驱动件用于推动所述导柱移动，所述导柱带动所述推杆移动，所述推杆推动所述吸头从所述移液组件上脱离。
一种实施方式中，在所述吸头未与所述移液组件连接时，所述推杆伸出所述支撑横板的长度超过所述移液组件伸出所述支撑横板的长度，在所述吸头与所述移液组件连接的过程中，所述推杆先与所述吸头接触并缩回，所述移液组件后与所述吸头接触并相连接。
一种实施方式中，所述支撑横板开设有第二通孔，所述导柱穿设于所述第二通孔并可在所述第二通孔内滑动；所述导柱与所述第二驱动件抵接的一端设有轴肩，所述轴肩位于所述第二通孔外，且所述轴肩的尺寸大于所述第二通孔的内径；所述导柱远离所述轴肩的一端穿过所述第二通孔并与所述推杆连接。
一种实施方式中，所述退头组件还包括弹性件，所述弹性件位于所述第二通孔内且套设在所述导柱外周，所述弹性件相背的两端分别用于抵接所述推杆和所述第二通孔的顶壁；所述弹性件始终为压缩状态，且在第一压缩状态和第二压缩状态之间切换，所述弹性件为所述第一压缩状态时，所述吸头与所述移液组件未连接，所述弹性件为所述第二压缩状态时，所述吸头与所述移液组件连接。
一种实施方式中，所述退头组件还包括支撑块，所述支撑块与所述支撑横板固定连接，所述第二驱动件固定于所述支撑块上；所述支撑块上开设有收容空间以及与所述收容空间连通的第三通孔和第四通孔，所述第二驱动件的输出轴能够依次穿过所述第三通孔和所述第四通孔与所述导柱抵接；所述第四通孔为台阶孔，所述导柱远离所述轴肩的一端依次穿过所述第四通孔和所述第二通孔与所述推杆连接，所述轴肩用于抵接在所述第四通孔的台阶面。
一种实施方式中，所述推杆包括横杆和竖杆，所述横杆的一端与所述导柱远离所述第二驱动件的一端连接固定，所述竖杆的一端与所述横杆远离所述导柱的一端连接，所述竖杆的延伸方向与所述移液组件的适配件的延伸方向相同；所述竖杆上开设有滑动孔，所述适配件穿设于所述滑动孔，并可在所述滑动孔中滑动，所述竖杆移动以推动所述吸头从所述适配件上脱离。
一种实施方式中，所述退头组件还包括第二感应件、感应销和第二控制件，所述第二感应件设置在所述收容空间内，所述感应销设置在所述轴肩上，所述第二感应件与所述第二控 制件电连接，所述推杆与所述吸头接触且所述推杆推动所述导柱移动，带动所述导柱上的所述感应销移动，所述第二感应件用于感应所述感应销的位置，并输出第二电信号，所述第二控制件根据所述第二电信号确定所述吸头是否与所述移液组件连接到位，和/或所述吸头是否有松脱。
第二方面，本申请还提供一种移液设备，包括机械臂、第一方面各种实施方式中任一项所述的移液器和吸头，所述机械臂与所述移液器连接，所述机械臂带动所述移液器移动，以使所述移液器的移液组件与所述吸头连接；和/或，所述机械臂带动所述移液器从初始位置移动至目标位置，以使所述吸头在所述初始位置进行吸液操作，在所述目标位置进行吐液操作；和/或，所述机械臂带动所述移液器移动至回收位置，以使所述移液器的退头组件将所述吸头从所述移液组件上脱离。
本申请提供的移液器，通过设置移液组件与支撑竖板连接，退头组件与支撑横板连接，支撑稳定，移液组件与吸头可拆卸连接，并能驱动吸头进行吸液和吐液操作，退头组件能推动吸头从移液组件上脱离，从而可实现吸头的自动化安装和拆卸，以及吸液和吐液的自动化操作，实现了多种操作，提升了自动化水平，能够提高移液操作的效率。
附图说明
为了更清楚地说明本申请实施方式或现有技术中的技术方案，下面将对实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是一种实施例的移液器的立体图；
图2是一种实施例的移液器的剖视图；
图3是一种实施例的移液器去除外壳的立体图；
图4是一种实施例的推杆的立体图；
图5是一种实施例的适配件的立体图；
图6是一种实施例的适配件和吸头连接的剖视图。
附图标记说明：
10-支架，11-支撑竖板，12-支撑横板，121-第一通孔，122-第二通孔，123-容置槽，13-
外壳，14-固定板；
20-移液组件，21-第一驱动件，211-第一输出轴，22-活塞缸，221-容纳腔，222-开口，
223-配合孔，23-活塞，24-适配件，241-第一配合部，242-第二配合部，2421-适配杆，2422-第一环形凸起，2423-第二环形凸起，243-气流通道，244-环形卡槽，245-操作部，246-操作平面，247-定位圆环，25-活塞盖板，251-通过孔，26-第一密封圈，271-导轨，272-滑块，28-转接块，29-第二密封圈；
30-退头组件，31-第二驱动件，311-第二输出轴，32-导柱，321-轴肩，33-推杆，331-
横杆，332-竖杆，333-配合凸台，334-安装孔，335-滑动孔，34-弹性件，35-支撑块，351-收容空间，352-第三通孔，353-第四通孔；
41-感应片，42-第一感应件，43-第二感应件，431-安装块，44-感应销，45-电路板；
50-吸头，501-储液腔，51-适配段，52-主体段，521-第一储液段，522-过渡段，523-
第二储液段，53-吸液段；
60-快换接头。
具体实施方式
下面将结合本申请实施方式中的附图，对本申请实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式仅仅是本申请一部分实施方式，而不是全部的实施方式。基于本申请中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本申请保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本申请所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本申请中在说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本申请所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参考图1至图3，本申请实施例提供一种移液设备，包括机械臂(未图示)和本申请任一实施例中的移液器。
机械臂与移液器连接，机械臂带动移液器移动，以使移液器的移液组件20与吸头50连接；和/或，机械臂带动移液器从初始位置移动至目标位置，以使吸头50在初始位置进行吸液操作，在目标位置进行吐液操作；和/或，机械臂带动移液器移动至回收位置，以使移液器的退头组件30将吸头50从移液组件20上脱离。
其中，机械臂可以是多轴机械臂，如四轴机械臂、六轴机械臂等，也可以是XYZ三轴移动机构，这里不做限定。机械臂与移液器之间可以是固定连接，如通过螺接、胶接、焊接等方式进行固定；机械臂与移液器之间也可以是可拆卸连接，如磁性连接、气动连接等。
本申请实施例的移液设备通过采用特制的移液器，能够进行多种操作，以提升自动化水平，能够提升移液操作的效率。
下面对本申请实施例的移液器进行详细介绍。
请参考图1至图3，本申请实施例提供一种移液器，包括支架10、移液组件20和退头组件30。支架10作为结构支撑基础，移液组件20和退头组件30均安装在支架10上。移液组件20用于与吸头50连接并控制吸头50进行吸液和吐液操作，退头组件30用于将吸头50与移液组件20分离以实现退头操作。
具体而言，支架10包括相连接的支撑竖板11和支撑横板12；支撑竖板11可设置为在竖直方向延伸的平板，支撑横板12可设置为在水平方向延伸的平板。当然，根据不同的设置要求，支撑竖板11也可与竖直方向具有一定倾斜角度，支撑横板12也可与水平方向具有一定倾斜角度。支撑竖板11和支撑横板12可设置为平板且平板上设置有凹槽、通孔、凸起等结构的形状，以便于与其他结构进行安装、连接和配合等操作。支撑竖板11和支撑横板12相连接并呈交叉状，例如可以连接形成“L”、“T”、“十”等形状，两者的连接可以采用螺接、焊接、卡接等方式，不做限制。两者的材质为具有较高强度的材料，如金属及其合金、高强度塑料等，不做限制。
支撑竖板11可以有多个，也可为一个，不做限制。移液器还可包括外壳13，外壳13与支撑竖板11和支撑横板12连接，外壳13能够与支撑竖板11和支撑横板12共同将至少部分移液组件20、退头组件30等包围遮挡起来，尽可能的减少外露的部分，一方面使得移液器具有完整统一的外观，另外一方面起到防尘防水等作用。
移液组件20可整体设置在支撑竖板11上，也可大部分设置在支撑竖板11，其余部分设置在支撑横板12上。移液组件20用于与吸头50可拆卸连接，移液组件20还用于驱动吸头50吸液或吐液。机械臂可带动支架10及其上的移液组件20和退头组件30整体移动，其中移液组件20移动后可与吸头50进行连接。移液组件20的具体结构可不做限制，其能够提供正压或负压。通过对吸头50施加负压，可以使得吸头50吸取样本液，实现吸液操作，对吸头50施加正压，可以将吸头50内的样本液推出，实现吐液操作。
退头组件30设置在支撑横板12上，退头组件30用于推动吸头50从移液组件20上脱离。退头组件30的具体结构不做限制，退头组件30可以移动，以使吸头50从移液组件20上脱离，实现退头操作。
支架10上还设置有快换接头60，该快换接头60例如可设置在支撑横板12上，用于与机械臂可拆卸的连接，快换接头60的具体结构不做限制，可拆卸的连接方式包括但不限于气动连接、磁性连接等。通过快换接头60，可实现与机械臂上的快换接头进行快速连接和断开，自动化集成度高，也便于机械臂能够快速更换不同规格或不同功能的末端执行器进行相应的操作。
本申请实施例的移液器的使用方法如下：机械臂带动移液器整体移动至吸头50的放置位置，使得移液组件20在吸头50放置位置与吸头50连接(机械臂带动移液组件20以一定的力度向下扎取吸头50，使得移液组件20与吸头50过盈连接)，之后带动移液器和吸头50移动至初始位置，移液组件20驱动吸头50吸液，之后机械臂再次带动移液器和吸头50从初始位置移动至目标位置，移液组件20在目标位置驱动吸头50吐液。如此完成一次吸头50安装以及吸液和吐液的步骤，一个吸头50可以进行多次吸液和吐液操作，直至完成一种样本液的所需移液的容量。之后，如需要对另外一种样本液进行移液时，需要更换吸头50，此时机械臂带动移液器和吸头50移动至回收位置，退头组件30运动以将与移液组件20连接的吸头50推出，从而实现退头操作。之后再重复前述的移液组件20与吸头50安装以及吸液、吐液的操作。
本申请实施例提供的移液器，通过设置移液组件20与支撑竖板11连接，退头组件30与支撑横板12连接，支撑稳定，移液组件20与吸头50可拆卸连接，并能驱动吸头50进行吸液和吐液操作，退头组件30能推动吸头50从移液组件20上脱离，从而可实现吸头50的自动化安装和拆卸，以及吸液和吐液的自动化操作，实现了多种操作，提升了自动化水平，能够提高移液操作的效率。
请参考图2和图6，移液组件20包括第一驱动件21、活塞缸22、活塞23和适配件24。活塞缸22具有容纳腔221，活塞23容置在容纳腔221中，第一驱动件21与活塞23连接，以驱动活塞23在容纳腔221中移动。适配件24连接在活塞缸22的一端，适配件24用于与吸头50可拆卸连接，适配件24具有与容纳腔221、吸头50连通的气流通道243。
参考图2，第一驱动件21、活塞23、活塞缸22和适配件24沿一直线依次布置，该直线大致与支撑竖板11平行。第一驱动件21和活塞缸22分别与支撑竖板11连接固定，连接固定的方式可为螺接。当然，第一驱动件21和活塞缸22也可采用其他的连接固定方式与支撑竖板11连接，这里不做限制。例如，第一驱动件21与固定板14连接，固定板14再与支撑 竖板11螺接固定。
第一驱动件21具有第一输出轴211，该第一输出轴211可相对第一驱动件21的主体部分运动，该主体部分与支撑竖板11连接固定。第一输出轴211相对第一驱动件21的主体部分的运动方式可为旋转运动、直线运动或者直线运动和旋转运动的混合运动。例如，第一输出轴211做旋转运动，可通过传动机构与活塞23连接，使得第一输出轴211的旋转运动转换为活塞23的直线运动，活塞23的直线运动的方向可大致与支撑竖板11的延伸方向相同，即可大致为竖直方向。又例如，第一输出轴211做直线运动，该直线运动的方向可大致与支撑竖板11的延伸方向相同，即可大致为竖直方向，第一输出轴211相对第一驱动件21的主体部分伸缩，其伸出的一端可与活塞23直接连接或间接连接，第一输出轴211的直线运动直接带动活塞23作同向的直线运动。
可选的，第一驱动件21为直线电机，第一驱动件21的输出轴连接至活塞23，也即是第一输出轴211可直接或间接地与活塞23连接；第一驱动件21的输出轴、活塞23和适配件24均沿直线延伸且位于同一延伸直线上。如此设置，第一驱动件21为直线电机，能够直接驱动第一输出轴211作直线运动，且各结构在同一延伸直线上布置，上述的线性布置方式，结构简单，驱动也直接，能够提升可靠性和控制精度。
活塞缸22的外壁与支撑竖板11螺接，也可为其他连接固定方式。活塞缸22的容纳腔221沿直线延伸，该直线也大致与支撑竖板11的延伸方向相同，即大致为竖直方向。活塞23容置在容纳腔221中，活塞23的外周表面与容纳腔221的内周壁紧密接触。通过活塞23在活塞缸22中移动，使得活塞23远离第一驱动件21一端的端面与容纳腔221的朝向第一驱动件21的底壁之间的距离产生变化，从而使得容纳腔221的空腔的体积不断变化，产生正压或负压。
参考图2和图6，适配件24与活塞缸22远离第一驱动件21的一端连接，且适配件24的气流通道243与活塞缸22的容纳腔221连通，即气流通道243在容纳腔221的朝向第一驱动件21的底壁处与容纳腔221连通。通过活塞23在容纳腔221中移动，可以产生正压和负压，而正压和负压可通过与容纳腔221连通的气流通道243传递至与适配件24连接的吸头50中，从而可控制吸头50进行吸液或吐液操作。
设置第一驱动件21、活塞缸22、活塞23和适配件24的结构，结构简单可靠，通过活塞23相对活塞缸22的移动便可实现对吸头50提供正压或负压，以进行吸液或吐液操作，操作简单。
可选的，参考图2、图5和图6，支撑横板12开设有第一通孔121，活塞缸22远离第一驱动件21的一端开设有配合孔223，配合孔223与第一通孔121和容纳腔221连通。适配件24的一端设置有第一配合部241，第一配合部241穿过第一通孔121与配合孔223可拆卸地配合连接。
第一通孔121的直径可略大于配合孔223的直径，以使适配件24的第一配合部241可以穿过第一通孔121。第一通孔121的直径可小于活塞缸22的外径，活塞缸22远离第一驱动件21的一端的端面可与支撑横板12接触，使得支撑横板12可以起到支撑活塞缸22的作用。第一通孔121和配合孔223可同轴设置。配合孔223可为螺孔，第一配合部241可为螺杆，第一配合部241和配合孔223可为螺纹配合，螺纹配合具有安装拆卸方便，连接稳定等优点。
参考图2和图5，适配件24包括位于一端的第一配合部241和位于相背的另一端的第二配合部242。还可包括操作部245，第一配合部241和第二配合部242分别连接在操作部245的相背的两端，第一配合部241、操作部245和第二配合部242同轴设置，可均大体为圆柱 状。适配件24与活塞缸22连接的一端为第一配合部241，远离活塞缸22的一端为第二配合部242，第二配合部242用于与吸头50可拆卸连接。操作部245的外周表面可形成有操作平面246，该操作平面246可为2个且设置在操作部245的相背的两侧，并互相平行，操作平面246用于与操作工具配合，以将第一配合部241与配合孔223连接固定。操作工具例如为扳手。
第一配合部241的螺杆与操作部245连接的一端开设有环形卡槽244，该环形卡槽244用于容置第二密封圈29。第一配合部241与配合孔223安装后，第二密封圈29位于第一配合部241和配合孔223之间。第二密封圈29可为“〇”形密封圈，用于密封第一配合部241和配合孔223之间的间隙。
可选的，第一配合部241与操作部245连接的端部处的外周设有定位圆环247，定位圆环247环绕第一配合部241，定位圆环247的直径大于第一配合部241的直径且小于或等于操作部245的直径。配合孔223可设置为台阶型孔，外侧的直径大于内侧的直径，在第一配合部241与配合孔223安装时，第一配合部241伸入配合孔223的内侧，而定位圆环247伸入配合孔223的外侧，且定位圆环247与配合孔223的外侧的侧壁可接触。操作部245的设置第一配合部241的端面上位于定位圆环247的外侧的部分可抵接在活塞缸22的下端面。通过将配合孔223设置为台阶型，且在第一配合部241下方设置定位圆环247，能够在将第一配合部241与配合孔223连接时起到限位作用，确保第一配合部241安装固定时呈竖直方向，防止安装时发生倾斜。定位圆环247设置于环形卡槽244的下方，还可构成环形卡槽244的一侧侧壁，起到对第二密封圈29进行限位的作用。
参考图5和图6，第二配合部242包括两个在适配件24的轴向上间隔设置的环形凸起，两个环形凸起的外径均大于吸头50的内径。
具体的，第二配合部242包括适配杆2421、第一环形凸起2422和第二环形凸起2423，适配杆2421的一端与操作部245远离第一配合部241的一端连接，第一环形凸起2422和第二环形凸起2423环绕适配杆2421设置。在纵截面中，第一环形凸起2422和第二环形凸起2423的形状均呈圆弧形。第一环形凸起2422位于第二环形凸起2423和操作部245之间，第一环形凸起2422可以与操作部245连接，第二环形凸起2423可以设置在适配杆2421远离操作部245的一端端部。
吸头50包括依次连接的适配段51、主体段52和吸液段53，适配段51可具有一定的弹性形变能力，适配段51用于与第二配合部242连接。第二配合部242与适配段51连接时，第二环形凸起2423插入适配段51，挤压适配段51产生变形，从而使得适配段51紧密的和第二环形凸起2423接触，之后继续插入，使得第一环形凸起2422也与适配段51紧密接触。通过摩擦力使得第二配合部242和适配段51紧紧的连接固定，第一环形凸起2422和第二环形凸起2423配合实现了适配件24与吸头50的同轴定位，确保连接稳固不易晃动，也起到双重密封的作用。当需要更换吸头50时，用力将吸头50从第二配合部242上向远离操作部245的一侧推出直至两者分离即可。
吸液段53远离主体段52的一端为尖端，用于吸液和吐液。吸头50具有储液腔501，该储液腔501用于储液。适配件24内部具有贯穿轴向上两端的气流通道243，第二配合部242与适配段51连接后，适配件24内的气流通道243与储液腔501连通，且该气流通道243也与活塞缸22的容纳腔221连通，通过活塞23的移动制造的正压或负压可以通过适配件24的气流通道243传递至储液腔501，储液腔501内为负压时可通过吸液段53吸液，储液腔501内为正压时可驱动储液腔501内储存的样本液从吸头50吐出。
可选的，主体段52包括依次连接的第一储液段521、过渡段522和第二储液段523，第一储液段521远离过渡段522的一端与适配段51连接，第二储液段523远离过渡段522的一端与吸液段53连接。自适配段51向吸液段53的方向，第一储液段521、过渡段522和第二储液段523均为缩口结构，且第一储液段521和第二储液段523均与过渡段522圆滑过渡地连接。进一步的，第一储液段521的最小内径大于第二储液段523的最大内径，过渡段522与第一储液段521和第二储液段523均相切。设置主体段52为缩口结构，能够使得样本液能够顺畅的吸入和吐出吸头50，主体段52内的各段不易产生样本液的残留，并且第一储液段521的尺寸比第二储液段523更大，使得吸头50能够吸取更大容量的样本液，可以提高移液的效率。
一种实施例中，请参考图2，活塞缸22背向适配件24的一端，也即是朝向第一驱动件21的一端具有与容纳腔221连通的开口222，活塞23经开口222伸入容纳腔221。活塞23可呈圆柱状，该开口222的形状可与容纳腔221的形状相适配，例如为圆形；该开口222的直径可与容纳腔221的内径相等或大于该容纳腔221的内径，使得活塞23可以通过该开口222伸入容纳腔221。可选的，活塞23的外周表面与容纳腔221的内周壁紧密接触，使得容纳腔221的与适配件24的气流通道243连通的部分的空气不会从活塞23和容纳腔221接触的表面泄露至开口222一侧，可提升正压和负压的控制精准性。活塞23至少部分从该开口222处外露，以便于与第一驱动件21的第一输出轴211连接。通过设置该开口222，能够方便活塞23的安装。
可选的，移液组件20还包括活塞盖板25，活塞盖板25盖设在开口222处，活塞盖板25开设有通过孔251，活塞23穿设于通过孔251。通过孔251的形状和尺寸与活塞23的形状和尺寸对应，具体的，活塞23为圆柱形时，通过孔251也为圆形孔，活塞23的直径与通过孔251的直径相等。如此设置，使得活塞23的外周表面与通过孔251的内壁也紧密接触，使得空气不会从活塞23与活塞盖板25接触的表面处泄露，提升正压和负压的控制精准性。同时，在开口222处设置盖板，可以对活塞缸22的容纳腔221起到防尘防水等防护作用。
可选的，活塞缸22的开口222呈台阶孔，台阶孔内设置有第一密封圈26，活塞盖板25压紧第一密封圈26，第一密封圈26与活塞23的外周表面紧贴。第一密封圈26的形状大致可呈圆环形，第一密封圈26的纵截面的形状与台阶孔的形状对应，其纵截面的形状可为“L”、“T”形等，第一密封圈26的外侧表面与台阶孔的侧壁紧密接触，第一密封圈26的内侧表面与活塞23的外周表面紧密接触，起到密封作用。在本实施例中，活塞23的外周表面与容纳腔221的内壁，以及通过孔251的内壁之间均可具有间隙，由于设置了第一密封圈26进行密封，使得容纳腔221内的气体也不会从活塞的外周表面与容纳腔221的内壁之间的间隙处泄露，从而实现密封。
可选的，移液组件20还包括导轨271和滑块272。导轨271与支撑竖板11连接固定，连接固定的方式可为螺接、卡接等，不做限制。导轨271的形状不做限制，导轨271上可通过开槽、设置凸起等方式形成导向结构。滑块272与导轨271滑动连接，滑块272可设置有与导轨271上的导向结构配合的结构，使得滑块272可以相对导轨271沿指定方向滑动。例如，滑块272可相对导轨271在大致与支撑竖板11平行的方向上滑动，即大致可在竖直方向上滑动，导轨271起到导向作用。滑块272除了能够在导轨271的导向结构的延伸方向上滑动外，在其他方向上是被固定的，即导轨271还对滑块272起到了限位作用。
滑块272与第一驱动件21和活塞23连接，第一驱动件21驱动滑块272在导轨271上移动，滑块272带动活塞23在容纳腔221中移动。在第一驱动件21为直线电机的实施例中， 滑块272的一端与第一驱动件21的第一输出轴211连接，相背的另一端与活塞23远离适配件24的一端连接，第一输出轴211的直线运动方向与滑块272在导轨271上的滑动方向相同，也与活塞23在活塞缸22中移动的方向相同。通过设置导轨271和滑块272，提升了驱动结构的可靠性，使得活塞23能够在确定的方向上移动，结构可靠稳定。
可选的，移液组件20还包括转接块28，转接块28连接在滑块272和活塞23之间。转接块28可以为异形结构，可使得活塞23的结构规则而简单，能够方便活塞23的加工。另外，相比于活塞23直接与滑块272连接，增设一转接块28，可以有效消除活塞23与活塞缸22配合时的同心度误差，也能避免将活塞23设计成适合直接与滑块272连接的异性结构，降低其加工难度。
可选的，活塞23的材质为陶瓷，陶瓷材料与其他材料相比耐腐蚀性好，耐磨性好，使用寿命长，尺寸温度稳定性好，可满足长期使用需求，基本不需要更换。另外，由于前述的转接块28不需要与活塞缸22产生摩擦，对耐磨性能没有要求，故可选择转接块28的材质为易于加工的材质，而由于陶瓷材质加工难度较大，故呼应前述实施例的设置转接块28连接滑块272和活塞23，可以降低加工难度。
其他实施例中，活塞23的材质也可为高强度塑料，如聚醚醚酮或者注射器用的耐腐蚀塑胶材料等。
请参考图2和图3，移液组件20还包括第一感应件42和第一控制件(未图示)，第一感应件42与第一控制件电连接，第一感应件42用于感应活塞23的位置，并输出第一电信号，第一控制件根据第一电信号控制第一驱动件21是否驱动活塞23移动。
根据前述的移液操作流程，吸液和吐液操作均通过活塞23在活塞缸22中移动，并将正压或负压传递至储液腔501中而实现，因此，对于吸液、吐液的时机，以及吸液的容量等，均可通过控制活塞23相对活塞缸22的位移而确定。设置第一感应件42感应活塞23的位置，能够检测到当前吸液或吐液的状态，并判断是否达到所需的状态进而决定是否驱动活塞23移动。
一种使用方法如下：吸液操作时，通过第一输出轴211的行程确定，即未吸液时第一输出轴211相对第一驱动件21的主体部分伸出最长的距离，之后第一输出轴211回缩，带动滑块272、转接块28和活塞23向第一驱动件21一侧移动，形成负压，吸头50开始吸液，直至第一输出轴211回缩到指定位置，完成吸液操作，此时吸头50正好吸取指定容量的样本液。吐液操作时，可以为单次全部吐出，也可以有分液操作，可将吸头50内的样本液通过多次吐液而盛放到不同的器皿中。无论何种吐液，都是通过第一驱动件21的第一输出轴211伸出，推动滑块272、转接块28和活塞23向远离第一驱动件21的一侧移动，储液腔501产生正压，样本液从吸头50吐出。此过程中，可通过第一感应件42感应活塞23的位置，进而确定是否达到所需吐液的量，如达到，则第一控制件控制第一驱动件21停机，第一输出轴211不再移动。如需要单次将样本液全部吐出，通过第一感应件42检测活塞23的位置已到位，储液腔501中的样本液已全部吐出后，第一控制件控制第一驱动件21停机，可以避免活塞23继续伸出而撞击到活塞缸22的底壁而造成磨损，易产生残渣造成污染，也容易导致第一驱动件21过载而降低使用寿命。
可选的，由于活塞23通过转接块28和滑块272而与第一驱动件21的第一输出轴211连接，故活塞23的位置也可通过检测转接块28、滑块272或第一输出轴211的位置而确定。
可选的，可在活塞23、转接块28、滑块272和第一输出轴211的任意一者上设置感应片41，在支撑竖板11上设置第一感应件42，通过第一感应件42感应感应片41而确定活塞23 的位置。例如，可以设定第一感应件42感应到感应片41时的位置为活塞23的初始位置，活塞23在吸液前或吐液后都要回到这个位置，即活塞回零。吸液时，可以通过限定第一输出轴211的移动行程来限定是否吸液完成；吐液时，当第一感应件42感应到感应片41，则表示吐液完成。
第一感应件42可为各种检测位置的传感器，感应片41可为与第一感应件42产生感应的器件，例如第一感应件42为一插槽结构，插槽的两侧分别设有一激光发射端和一激光接收端，感应片41可以为一金属挡片，当感应片41进入插槽中，将使得激光接收端无法正常接收光信号，并向第一控制件发送相应信号。第一控制件可为芯片、PLC、移动终端、电子计算机等，均不做限制。在一些实施例中，例如第一感应件42通过光学原理检测位置时，可不设感应片41。
通过设置第一感应件42和第一控制件，可以实现吸液和吐液的自动化控制。
其他实施例中，也可通过其他方式检测活塞23的位置，不限于第一感应件42和感应片41的实施例。
一种实施例中，请参考图1至图3，退头组件30包括第二驱动件31、导柱32和推杆33。支撑横板12开设有第二通孔122，导柱32穿设于该第二通孔122，使得导柱32与支撑横板12滑动连接。导柱32的一端与推杆33连接，导柱32的另一端能够与第二驱动件31抵接或分离。第二驱动件31用于推动导柱32移动，导柱32带动推杆33移动，推杆33推动吸头50从移液组件20上脱离。
第二驱动件31包括第二输出轴311，第二输出轴311用于与导柱32抵接而推动导柱32移动。第二驱动件31可为直线电机，能够直接驱动第二输出轴311作直线运动。
当移液组件20进行吸液或吐液操作，以及机械臂带动移液器与吸头50进行安装并带动整体移动过程中，第二驱动件31均为停机状态，此时第二输出轴311与导柱32处于分离状态，第二输出轴311与导柱32具有间隔距离，避免影响到正常的移液操作。当移液完成而需要更换吸头50时，第二驱动件31驱动第二输出轴311伸出而与导柱32抵接，并推动导柱32在第二通孔122中滑动，使得导柱32带动推杆33移动，推杆33再推动吸头50从移液组件20上脱离。
第二输出轴311、导柱32和推杆33在一直线方向上依次布置，该直线为第二输出轴311和导柱32的轴线，且第二输出轴311和第一输出轴211可平行设置，即移液组件20和退头组件30可并排设置，结构紧凑。
推杆33的结构不做限制，其一端与导柱32连接，另一端用于推动吸头50。可选的，请参考图2和图4，推杆33包括横杆331和竖杆332，横杆331大致与支撑横板12平行，横杆331的一端与导柱32远离第二驱动件31的一端连接固定，连接固定的方式可为螺接、卡接等，竖杆332的一端与横杆331远离导柱32的一端连接，竖杆332的延伸方向与适配件24的延伸方向相同。
横杆331上设置有配合凸台333，横杆331还开设有安装孔334，安装孔334可贯穿横杆331和配合凸台333，配合凸台333与导柱32远离第二驱动件31的一端配合连接，如螺钉等紧固件可穿过安装孔334而与导柱32螺接。配合凸台333呈非圆形的异形，例如，配合凸台333可包括圆环形套圈和与圆环形套圈的外周连接的凸起，使得配合凸台333与导柱32配合连接后，能够限制两者在导柱32周向上的相对转动。
竖杆332开设有滑动孔335，适配件24穿设于该滑动孔335中，并可在滑动孔335中滑动。当需要将吸头50从适配件24上推出时，导柱32推动横杆331移动，横杆331带动竖杆 332移动，竖杆332远离活塞缸22的端部推动吸头50从适配件24上脱离。推杆331的结构简单，可快速的实现推出吸头50的动作，可靠性好。
可选的，参考图2和图4，在吸头50未与移液组件20连接时，推杆33伸出支撑横板12的长度超过移液组件20伸出支撑横板12的长度。在吸头50与移液组件20连接的过程中，推杆33先与吸头50接触并缩回，移液组件20后与吸头50接触并相连接。
由于适配件24与活塞缸22连接固定，适配件24不能相对支撑横板12移动。在吸头50未与移液组件20连接时，竖杆332远离活塞缸22的一端超出适配件24，也就是适配件24的第二配合部242容置在竖杆332的滑动孔335中。在移液器整体移动而与吸头50连接时，竖杆332远离活塞缸22的一端先与吸头50接触，之后随着移液器朝向吸头50一侧移动，吸头50推动竖杆332回缩，并逐渐使得适配件24插入到吸头50中。在吸头50推动推杆33回缩时至吸头50与适配件24安装完成的整个过程中，第二驱动件31的第二输出轴311始终与导柱32具有间隔距离，即推杆33能够自由移动，故而不会对吸头50与适配件24的安装造成干涉。
如此设置，使得推杆33可以起到对适配件24的保护作用，避免适配件24被磕碰损坏，同时也不影响吸头50与适配件24的安装。
参考图2，导柱32与第二驱动件31抵接的一端设有轴肩321，轴肩321位于第二通孔122外，且轴肩321的尺寸大于第二通孔122的内径。导柱32远离轴肩321的一端穿过第二通孔122并与推杆33连接。
设置轴肩321，可以使得移液组件20在未安装吸头50时，推杆33还未被吸头50推动时，导柱32及与导柱32连接的推杆33不会从支撑横板12上脱离。
参考图2，退头组件30还包括弹性件34，弹性件34位于第二通孔122内且套设在导柱32外周，弹性件34相背的两端分别用于抵接推杆33和第二通孔122的顶壁。
具体的，退头组件30还包括支撑块35，支撑块35与支撑横板12连接固定，第二驱动件31固定在支撑块35上。支撑块35至少部分遮挡第二通孔122，使得第二通孔122的顶壁为支撑块35的底面，弹性件34的一端抵接在支撑块35上，弹性件34的另一端与推杆33的横杆331抵接。弹性件34可为弹簧。
弹性件34始终为压缩状态，且在第一压缩状态和第二压缩状态之间切换，弹性件34为第一压缩状态时，吸头50与移液组件20未连接，弹性件34为第二压缩状态时，吸头50与移液组件20连接。
支撑块35上开设有收容空间351以及与收容空间351连通的第三通孔352和第四通孔353，第二驱动件31的输出轴能够依次穿过第三通孔352和第四通孔353与导柱32抵接。
第四通孔353为台阶孔，导柱32远离轴肩321的一端依次穿过第四通孔353和第二通孔122与推杆33连接，轴肩321能够抵接在第四通孔353的台阶面。
通过设置始终为压缩状态的弹性件34，使得导柱32的轴肩321处始终处于靠近支撑横板12的位置，且不会随意晃动或跳动，从而避免产生异响以及避免与第二输出轴311异常接触，避免导致第二输出轴311异常推动导柱32及推杆33移动而将吸头50异常的从适配件24上脱离。
可选的，在支撑横板12背向第一驱动件21和第二驱动件31的一侧可开设容置槽123，该容置槽123可以容置推杆33，使得推杆33缩回时可以容置在该容置槽123中，可以缩减移液器整体的体积，使得结构更为紧凑。
请参考图1至图3，退头组件30还包括第二感应件43、感应销44和第二控制件。第二 感应件43设置在收容空间351内，可通过安装块431固定在收容空间351的壁面上。感应销44设置在轴肩321上，并朝向第二驱动件31一侧凸出。第二感应件43与第二控制件电连接，推杆33与吸头50接触且推杆33推动导柱32移动，带动导柱32上的感应销44移动。第二感应件43用于感应感应销44的位置，并输出第二电信号，第二控制件根据第二电信号确定吸头50是否与移液组件20连接到位，以及吸头50是否有松脱现象，具体的，如果有松脱现象，弹簧回弹带动导柱32和推杆33下移，感应销44下移离开第二感应件43，从而可判断吸头50有松脱情况，以便于使实验人员可以及时处理。
第二感应件43可为与第一感应件42类似的器件，感应销44可为与感应片41类似的器件，第二控制件可为与第一控制件类似的器件，可参考前述第一感应件42、感应片41和第一控制件的说明，此处不再赘述。可选的，第二控制件和第一控制件可集成为一个控制件。参考图3，支撑块35上可设置有电路板45，第一控制件和第二控制件可设置在电路板45上。可选的，电路板45也可为转接板，用于提供电源和数据传输。
一种使用方法为：当机械臂带动移液器整体移动并进行移液组件20与吸头50的连接操作时，吸头50推动推杆33朝向第二驱动件31一侧移动，导柱32及其上的感应销44跟随移动，感应销44从图2中由下至上移动，至第二感应件43能够感应到感应销44的位置并输出第二电信号时，便可判断吸头50与移液组件20已连接好。通过设置感应销44和第二感应件43，便可实现吸头50与移液组件20的安装的控制。
当需要将吸头50从移液组件20上脱离时，第二驱动件31驱动导柱32向下运动，以使推杆33推动吸头50脱离，当第二输出轴311移动到设定行程时，表示吸头50已从移液组件20上完全脱离，之后第二驱动件31上移复位。
在本申请实施例的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指标的方位或位置关系为基于附图所述的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
以上所揭露的仅为本申请一种较佳实施例而已，当然不能以此来限定本申请之权利范围，本领域普通技术人员可以理解实现上述实施例的全部或部分流程，并依本申请权利要求所作的等同变化，仍属于本申请所涵盖的范围。

Claims (20)

  1. 一种移液器，其中，包括：
    支架，包括相连接的支撑竖板和支撑横板；
    移液组件，设置在所述支撑竖板上，所述移液组件用于与吸头可拆卸连接，所述移液组件还用于驱动所述吸头吸液或吐液；
    退头组件，设置在所述支撑横板上，所述退头组件用于推动所述吸头从所述移液组件上脱离。
  2. 根据权利要求1所述的移液器，其中，所述移液组件包括第一驱动件、活塞缸、活塞和适配件，所述活塞缸具有容纳腔，所述活塞容置在所述容纳腔中，所述第一驱动件与所述活塞连接，以驱动所述活塞在所述容纳腔中移动，所述适配件连接在所述活塞缸的一端，所述适配件用于与所述吸头可拆卸连接，所述适配件具有与所述容纳腔、所述吸头连通的气流通道。
  3. 根据权利要求2所述的移液器，其中，所述活塞缸背向所述适配件的一端具有与所述容纳腔连通的开口，所述活塞经所述开口伸入所述容纳腔。
  4. 根据权利要求3所述的移液器，其中，所述移液组件还包括活塞盖板，所述活塞盖板盖设在所述开口处，所述活塞盖板开设有通过孔，所述活塞穿设于所述通过孔。
  5. 根据权利要求4所述的移液器，其中，所述活塞缸的所述开口呈台阶孔，所述台阶孔内设置有第一密封圈，所述活塞盖板压紧所述第一密封圈，所述第一密封圈与所述活塞的外周表面紧贴。
  6. 根据权利要求2所述的移液器，其中，所述移液组件还包括导轨和滑块，所述导轨与所述支撑竖板连接固定，所述滑块与所述导轨滑动连接，所述滑块还与所述第一驱动件和所述活塞连接，所述第一驱动件驱动所述滑块在所述导轨上移动，所述滑块带动所述活塞在所述容纳腔中移动。
  7. 根据权利要求6所述的移液器，其中，所述移液组件还包括转接块，所述转接块连接在所述滑块和所述活塞之间，所述活塞的材质为陶瓷。
  8. 根据权利要求2所述的移液器，其中，所述第一驱动件为直线电机，所述第一驱动件的输出轴连接至所述活塞；所述第一驱动件的输出轴、所述活塞和所述适配件均沿直线延伸且位于同一延伸直线上。
  9. 根据权利要求2所述的移液器，其中，所述支撑竖板与所述支撑横板相连接并呈交叉状；所述活塞缸与所述支撑竖板连接，所述支撑横板开设有第一通孔，所述活塞缸具有与所述第一通孔和所述容纳腔连通的配合孔，所述适配件的一端设置有第一配合部，所述第一配合部穿过所述第一通孔与所述配合孔可拆卸地配合连接。
  10. 根据权利要求9所述的移液器，其中，所述第一配合部和所述配合孔之间设置有第二密封圈。
  11. 根据权利要求2所述的移液器，其中，所述适配件远离所述活塞缸的一端设置有第二配合部，所述第二配合部用于与所述吸头可拆卸连接。
  12. 根据权利要求11所述的移液器，其中，所述第二配合部包括两个在所述适配件的轴向上间隔设置的环形凸起，两个所述环形凸起的外径均大于所述吸头的内径。
  13. 根据权利要求1-12任一项所述的移液器，其中，所述退头组件包括第二驱动件、导柱和推杆，所述导柱与所述支撑横板滑动连接，所述导柱的一端与所述推杆连接，所述导柱的另一端能够与所述第二驱动件抵接或分离；所述第二驱动件用于推动所述导柱移动，所述 导柱带动所述推杆移动，所述推杆推动所述吸头从所述移液组件上脱离。
  14. 根据权利要求13所述的移液器，其中，在所述吸头未与所述移液组件连接时，所述推杆伸出所述支撑横板的长度超过所述移液组件伸出所述支撑横板的长度，在所述吸头与所述移液组件连接的过程中，所述推杆先与所述吸头接触并缩回，所述移液组件后与所述吸头接触并相连接。
  15. 根据权利要求13所述的移液器，其中，所述支撑横板开设有第二通孔，所述导柱穿设于所述第二通孔并可在所述第二通孔内滑动；所述导柱与所述第二驱动件抵接的一端设有轴肩，所述轴肩位于所述第二通孔外，且所述轴肩的尺寸大于所述第二通孔的内径；所述导柱远离所述轴肩的一端穿过所述第二通孔并与所述推杆连接。
  16. 根据权利要求15所述的移液器，其中，所述退头组件还包括弹性件，所述弹性件位于所述第二通孔内且套设在所述导柱外周，所述弹性件相背的两端分别用于抵接所述推杆和所述第二通孔的顶壁；
    所述弹性件始终为压缩状态，且在第一压缩状态和第二压缩状态之间切换，所述弹性件为所述第一压缩状态时，所述吸头与所述移液组件未连接，所述弹性件为所述第二压缩状态时，所述吸头与所述移液组件连接。
  17. 根据权利要求15所述的移液器，其中，所述退头组件还包括支撑块，所述支撑块与所述支撑横板固定连接，所述第二驱动件固定于所述支撑块上；所述支撑块上开设有收容空间以及与所述收容空间连通的第三通孔和第四通孔，所述第二驱动件的输出轴能够依次穿过所述第三通孔和所述第四通孔与所述导柱抵接；
    所述第四通孔为台阶孔，所述导柱远离所述轴肩的一端依次穿过所述第四通孔和所述第二通孔与所述推杆连接，所述轴肩用于抵接在所述第四通孔的台阶面。
  18. 根据权利要求13所述的移液器，其中，所述推杆包括横杆和竖杆，所述横杆的一端与所述导柱远离所述第二驱动件的一端连接固定，所述竖杆的一端与所述横杆远离所述导柱的一端连接，所述竖杆的延伸方向与所述移液组件的适配件的延伸方向相同；所述竖杆上开设有滑动孔，所述适配件穿设于所述滑动孔，并可在所述滑动孔中滑动，所述竖杆移动以推动所述吸头从所述适配件上脱离。
  19. 根据权利要求17所述的移液器，其中，所述退头组件还包括第二感应件、感应销和第二控制件，所述第二感应件设置在所述收容空间内，所述感应销设置在所述轴肩上，所述第二感应件与所述第二控制件电连接，所述推杆与所述吸头接触且所述推杆推动所述导柱移动，带动所述导柱上的所述感应销移动，所述第二感应件用于感应所述感应销的位置，并输出第二电信号，所述第二控制件根据所述第二电信号确定所述吸头是否与所述移液组件连接到位，和/或所述吸头是否有松脱。
  20. 一种移液设备，其中，包括机械臂、如权利要求1至19任一项所述的移液器和吸头，所述机械臂与所述移液器连接，所述机械臂带动所述移液器移动，以使所述移液器的移液组件与所述吸头连接；和/或，所述机械臂带动所述移液器从初始位置移动至目标位置，以使所述吸头在所述初始位置进行吸液操作，在所述目标位置进行吐液操作；和/或，所述机械臂带动所述移液器移动至回收位置，以使所述移液器的退头组件将所述吸头从所述移液组件上脱离。
PCT/CN2023/111661 2022-12-08 2023-08-08 移液器和移液设备 WO2024119864A1 (zh)

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