CN107433214A - A kind of full-automatic liquor removing workstation and its liquid relief control method - Google Patents
A kind of full-automatic liquor removing workstation and its liquid relief control method Download PDFInfo
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- CN107433214A CN107433214A CN201710708170.9A CN201710708170A CN107433214A CN 107433214 A CN107433214 A CN 107433214A CN 201710708170 A CN201710708170 A CN 201710708170A CN 107433214 A CN107433214 A CN 107433214A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/02—Burettes; Pipettes
- B01L3/021—Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L9/00—Supporting devices; Holding devices
- B01L9/54—Supports specially adapted for pipettes and burettes
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Abstract
A kind of full-automatic liquor removing workstation and liquid relief control method are disclosed in the present invention, the full-automatic liquor removing workstation, pipetting head is arranged on pipetting device, pipetting device includes fixed seat and connectors unit, connectors unit one end is connected in fixed seat, the other end is connected with pipetting head, connectors unit includes multiple connectors being sequentially connected, unique connecting node is formed respectively between connectors unit and fixed seat and in junction between each connector, each connector can realize freely rotating for three degree of freedom at its corresponding connection node around the connecting node.The present invention solves existing automatic liquor-transferring system using the liquid relief scope present in guide tracked liquid relief mode is limited, liquid relief mode is dumb, only support standard orifice plate, the higher problems of use cost, with operational stability is high, lower-cost feature, and liquid relief scope is not limited by plate bit platform, pipetting mode is flexible, is applicable to the pipetting of various standards or nonstandard orifice plate.
Description
Technical field
The present invention relates to a kind of full-automatic liquor removing workstation and its liquid relief control method.
Background technology
With the rapid development of science and technology, biology, chemistry, environment, medicine research and development, the laboratory such as food and hospital,
If the liquid relief work of the units such as blood station is no longer the small scale experiments of shirtsleeve operation dry-eye disease, but is ground in face of increasingly complex
Study carefully object and growing number of sample size, multipath, diversified large scale experiment are carried out with kinds of experiments technology.Such as gene
PCR system structure, two generation sequencing libraries structure and library screening, the research of gene order-checking and genetic chip, nucleic acid are pure
Change, the quick screening of clone, cell culture, the searching of differential protein in terms of proteomics, identification, the screening of protein crystal, height
The analysis of level structure, the new drug in new drug development laboratory also have at the sample that the laboratory such as new medicament screen and identification is born daily
Reason amount work increasingly increases.The sample treatment work of manual liquid relief not only needs substantial amounts of manpower and materials and time, and due to
Manual operation brings many human errors so that the liquid relief accuracy of sample treatment is low, and error probability is high, the stabilization of sample treatment
Property and repeatability are poor.Manual mode of operation can not meet high efficiency required in high flux sample handling processes, standard
True property and security.Part or overall process in experimental implementation flow are realized into automatic operating has become inevitable to become
Gesture.
At present, existing automatic liquor-transferring system is generally moved using guide tracked liquor removing workstation by XYZ axis rails
Part and pipetting device composition, wherein the fortune work(of X-direction are completed by an X-axis guide rail and motor, and the motion of Y direction is by one
Individual Y-axis guide rail and motor are completed, and the motion of Z-direction is completed by a pipetting device and motor.By X, Y-axis guide rail by liquid relief
Mechanism is moved to specific region, and Z-direction can only move up and down, and controls the XYZ coordinated movements of various economic factors by software, completes whole liquid relief
Process.It is exactly the liquid relief platform of whole liquor-transferring system in this liquor-transferring system, in the region that X, Y-axis guide rail can be moved to, liquid relief
Scope is limited by X, Y-axis guide rail moving range.
Simultaneously as being limited by guide tracked liquid relief structure, existing liquor-transferring system is only supported to meet the SBS worlds substantially
The orifice plate of specification, such as 96 and 384 orifice plates, its Kong Yukong, gap between row and row is fixed, and be only applicable to fixing hole away from
Pipetting；And other restriction conditions such as precision due to motor, plate shape such as 72 orifice plates of non-SBS specifications can not be carried out
Pipetting.
Existing automatic liquid relief processing system market is monopolized by import equipment substantially, but these equipment prices are high,
The cost of annex and consumptive material is also all very high, it is difficult to which widespread adoption is promoted；Domestic liquid shifting equipment is then simple in construction, and function list
One, precision and stability is not high, and occupation rate of market is low.
The content of the invention
It is an object of the invention to solve existing automatic liquor-transferring system using present in traditional guide tracked liquid relief mode
Liquid relief scope is limited, liquid relief mode is dumb, and only supports standard orifice plate, the higher problems of use cost, there is provided a kind of
Liquid relief precision and pipetting stability is high, lower-cost full-automatic liquor removing workstation, liquid relief scope is not by plate bit platform
Limitation, pipetting mode is flexible, and is applicable to the pipetting of various standards or nonstandard orifice plate.
The present invention also provides a kind of liquid relief control method for the full-automatic liquor removing workstation.
In order to solve the above technical problems, present invention employs a kind of full-automatic liquor removing workstation, including plate bit platform and shifting
Liquid head, the pipetting head are arranged on pipetting device, and pipetting device is used for the motion and action for driving pipetting head, can be by pipetting head
The optional position being moved on plate bit platform；
The pipetting device includes fixed seat and connectors unit, and connectors unit one end is connected in fixed seat,
The other end is connected with pipetting head, and the connectors unit includes multiple connectors being sequentially connected, and connectors unit is with consolidating
Unique connecting node is formed respectively between reservation and in junction between each connector, and each connector is in its corresponding connection node
Place can realize freely rotating for three degree of freedom around the connecting node.
In above-mentioned technical proposal, further, the pipetting device comprise at least a head, can be on head along its axis
The bearing that rotates, one end and bearing connection large arm, be connected to the forearm of the large arm other end and be connected on forearm
End cradle, the large arm can rotate around the connection connecting node between bearing in perpendicular, and forearm can be around
Connecting node between large arm is rotated in perpendicular, and the pipetting head is arranged on end cradle.
In above-mentioned technical proposal, further, the pipetting device comprises at least the big of a head, one end and head connection
Arm, the forearm of one end and the connection of large arm end and the end cradle that is connected on forearm, the large arm can be between head
Connecting node is rotated in horizontal plane, and the forearm can be done around the connecting node between large arm in horizontal plane
Rotary motion, the pipetting head are arranged on end cradle.
In above-mentioned technical proposal, further, the end cradle can rotate around the connecting node between forearm.
In above-mentioned technical proposal, further, the liquor removing workstation includes multiple pipetting devices, divides on each pipetting device
Pipetting head is not provided with it.
In above-mentioned technical proposal, further, the fixed seat is arranged on a slide rail, and fixed seat can move along slide rail.
In above-mentioned technical proposal, further, the plate bit platform is square, circular or sector structure.
In above-mentioned technical proposal, further, also include the control system for controlling pipetting device to act.
The present invention additionally uses a kind of liquid relief control method of full-automatic liquor removing workstation, comprises the following steps：
The cephalomotor initial position of liquid relief is set, and identifies the three-dimensional coordinate of initial position；
The three-dimensional coordinate of target location is obtained, compared with the three-dimensional coordinate of initial position, is calculated in pipetting device
The actuating quantity of each drive mechanism；
Control each drive mechanism to act, pipetting head is done linear motion and be moved to above target location.
In above-mentioned technical proposal, further, after the pipetting head is moved to target location, using the position as initial bit
Put；
The three-dimensional coordinate of next target location is obtained, compared with the three-dimensional coordinate of above-mentioned initial position, calculates liquid relief
The actuating quantity of each drive mechanism in mechanism；
Control each drive mechanism to act, pipetting head is done linear motion and be moved to above target location；
Circulated successively by above-mentioned steps, until completing pipetting.
Beneficial effect possessed by the present invention：
1) present invention using can freely activity mechanical arm, compared to traditional guide rail motion structure, pipetting is more
Flexibly, pipetting scope is extended, pipetting will not be limited by plate bit platform；
2) simple in construction, cost is relatively low；Compared to traditional guide rail motion structure, existing plate bit platform and machinery are utilized
Arm completes pipetting, and mechanical arm is more guide tracked simpler in structure, and the connection between mechanical arm and plate bit platform
Mode and position are more flexible, make the overall structure of work station simpler；And due to equal motion precision mechanical arm into
This is more and more lower, attachment structure is simple between mechanical arm and plate bit platform, reduces and is manufactured into using the work station of mechanical arm
This；
3) liquid relief efficiency high, speed are fast；Traditional guide tracked liquor-transferring system usually requires to be respectively completed along X-axis in motion
The motion of guide rail and Y-axis guide rail, can just be moved to specific position, and this motor pattern undoubtedly adds the motion of pipetting
Distance；And linear motion between 2 points can be realized in pipetting using mechanical arm, reduce the motions of pipetting processes away from
From so as to improve pipetting efficiency；
4) liquid relief mode is more flexible；Traditional guide tracked liquor-transferring system can only often be done in Z-direction in vertical direction
Move up and down, some complicated pipettings can not be completed, and using mechanical arm pipetting head can be made to be in random angle on the robotic arm
Degree, so as to complete various complicated pipettings；
5) there is good scalability；Work can be extended in work station as desired by the quantity of increase mechanical arm
Make the liquid relief ability stood；Guide rail can also be used, mechanical arm is arranged on guide rail, mechanical arm is moved along the rail, enters one
The liquid relief scope of step extension work station.
Brief description of the drawings
Fig. 1 is the full-automatic structural front view of liquor removing workstation embodiment one of the present invention.
Fig. 2 is the full-automatic structural front view of liquor removing workstation embodiment two of the present invention.
Fig. 3 is the full-automatic structure top view of liquor removing workstation embodiment three of the present invention.
Fig. 4 is liquid relief control method flow chart in the present invention.
In figure：1- plate bit platforms, 2- pipetting heads, 3- heads, 4- bearings, 5- large arm, 6- forearms, 7- end cradles, 8- are slided
Rail.
Embodiment
The present invention is described in detail with reference to specific the drawings and specific embodiments.
The present invention replaces traditional guide rail liquid relief mode using mechanical arm, can solve present in conventional guide rails liquid relief mode
Overall system architecture is complicated, and liquid relief scope is limited in itself by system architecture, and the requirement to the annexes such as orifice plate and consumptive material is high
Problem.
Full-automatic liquor removing workstation in the present invention, including plate bit platform 1 and pipetting head 2, pipetting head 2 are arranged on liquid relief machine
On structure, pipetting device is used for the motion and action for driving pipetting head, the optional position that can be moved to pipetting head on plate bit platform；
With the difference mainly improvement on pipetting device of traditional liquor removing workstation, traditional campaign-styled structure of XYZ guide rails has been abandoned, and has been adopted
With the more flexible similar industrial machinery arm configuration of operation.
Pipetting device uses the motion mode similar to industrial machinery arm, and is the further expansion on industrial machinery arm
Exhibition, as long as completing the pipetting device of pipetting in the present invention using similar industrial manipulator motion mode in pipetting processes
Protection domain within.Usually, pipetting device includes fixed seat and connectors unit, and connectors unit one end is connected to
In fixed seat, the other end is connected with pipetting head, and connectors unit includes multiple connectors being sequentially connected, connectors unit
Form unique connecting node between fixed seat and between each connector respectively in junction, each connector is in its corresponding connection
Freely rotating for three degree of freedom can be realized at node around the connecting node.Above-mentioned pipetting device structure to be expressed is a kind of
Similar to a kind of structure of arm, the flexibility of pipetting can be greatly improved by this structure, while is no longer influenced by plate position
The limitation of platform or guide-rail structure range of movement itself and motion mode, as long as above-mentioned connectors cell end can reach
Place, can complete the operation of liquid relief, undoubtedly expand liquid relief scope significantly.
Embodiment one
Here provide a kind of embodiment of pipetting device, such as Fig. 1, in the present embodiment pipetting device include one
Head 3, the bearing 4 that can be rotated on head 3 along its axis, one end and the large arm 5 of the connection of bearing 4, it is connected to large arm 5
The forearm 6 of the other end and the end cradle 7 being connected on forearm 6, large arm 5 can be around the connecting node between bearing 4 vertical
Rotated in plane, forearm 6 can rotate around the connecting node between large arm 5 in perpendicular, pipetting head 2
On end cradle 7.Here the i.e. above-mentioned fixed seat of head 3, bearing 4, large arm 5, the forearm 6 being connected on head 3
Above-mentioned connectors unit is formed with end cradle 7.Driving machine is provided between bearing 4 and large arm 5, large arm 5 and forearm 6
Structure, each drive mechanism driving large arm are respectively relative to bearing with forearm and rotated with large arm.By the action for controlling each drive mechanism
Amount, the motion of pipetting head optional position within the specific limits can be achieved.Certainly, in the pipetting device in the present embodiment, end support
Drive mechanism can also be set between frame 7 and forearm 6, and connecting node of the driving end cradle 7 between forearm 6 is rotated, made
The deflection of certain angle can occur for pipetting head 2.
Embodiment two
The embodiment of another pipetting device, such as Fig. 2 are provided in the present embodiment, in the present embodiment pipetting device bag
Include a head 3, the large arm 5 of one end and the connection of head 3, one end and the forearm 6 of the end of large arm 5 connection and be connected on forearm 6
End cradle 7, large arm 6 can rotate around the connecting node between head 3 in horizontal plane, forearm 6 can around with it is big
Connecting node between arm 5 is rotated in horizontal plane, and pipetting head 2 is arranged on end cradle 7.Here head 3
I.e. above-mentioned fixed seat, the large arm 5 being connected on head 3, forearm 6 and end cradle 7 form above-mentioned connectors unit.Cloud
Be provided with drive mechanism between platform 3 and large arm 5, large arm 5 and forearm 6 in connecting node position, each drive mechanism driving large arm 5 with
Forearm 6 is respectively relative to head 3 and rotated with large arm 5 in horizontal plane.By controlling each drive mechanism angular turn
Amount, the optional position for enabling pipetting head to move on plate bit platform.Certainly, in the pipetting device of the present embodiment, the He of end cradle 7
Drive mechanism can also be set between forearm 6, and connecting node of the driving end cradle 7 between forearm 6 rotates, and makes pipetting head
2 can occur the deflection of certain angle.
Motion and the pipetting of pipetting head are controlled by pipetting device, the pipetting device can be arranged on plate bit platform 1,
And any position that may be provided on plate bit platform 1；Certainly can also be not provided between pipetting device and plate bit platform 1 any
Annexation, both can be only the relation being applied in combination, and can so make the dress between pipetting device and plate bit platform
It is more flexible with relation, make work station overall structure simpler.Using the liquor removing workstation of this pipetting device, its liquid relief model
The limitation that conventional pilot rail work station self structure to determine, is breached to liquid relief scope is enclosed by the coverage of pipetting device.
Certainly the structure of pipetting device is not limited in this several ways disclosed above here, here to pipetting device knot
The description of structure be intended to be merely illustrative of the present in pipetting device and conventional pilot rail structure liquid relief when, in liquid relief mode
Difference, the difference of this liquid relief mode are only the claimed technology point of the present invention.Moved by using this pipetting device
Liquid operation may be implemented in the linear motion of pipetting head between the two positions in pipetting processes, so be easier to ensure that the effect of liquid relief
Rate and control accuracy；Therefore, it can be said that using the liquor removing workstation of pipetting device in the present invention by using manipulator motion side
Formula replaces traditional XYZ guide rail move modes, although the only change or replacement of pipetting device on surface, actually exists
The change and innovation of liquid relief mode, the guide tracked liquid relief mode and motor pattern of current main flow are overturned.
Compared with traditional XYZ axis rail liquid relief modes, also resided in using the benefit of above-mentioned pipetting device：Traditional guide rail
In formula liquid relief mode, pipetting head can only move vertically when completing pipetting along Z axis, and use the pipetting device in the present invention
It can make pipetting head that arbitrary athletic posture be presented in pipetting, can so solve traditional liquor removing workstation and be grasped in micropipette
Usually there is liquid residue when making the pipetting head suction nozzle end the problem of, using this pipetting device liquid relief head tilt can be made certain
Angle, make in pipetting it is adherent between shifting suction nozzle and container, so as to solve the above problems well.
As aforesaid, because employing above-mentioned pipetting device, and combined between pipetting device and plate bit platform
Relation is more flexible, therefore facilitates and liquor removing workstation is further expanded.Specifically, can be set on a plate bit platform 1
Multiple pipetting devices are put, or multiple pipetting devices, each pipetting device are configured for a plate bit platform 1 in a liquor removing workstation
It is upper that a pipetting head 2 is installed respectively；It and can select that single channel pipetting head and Duo Tong are installed on different pipetting devices respectively
Road pipetting head, cooperate between each pipetting device, be so greatly improved liquid relief efficiency；And can be on this basis to liquid relief
Flow optimizes, so as to more save the consumptive materials such as suction nozzle.
Embodiment three
Liquor removing workstation is further improved and expanded in the present embodiment, such as Fig. 2, one is set in liquor removing workstation
Slide rail 8, the head 3 of above-mentioned pipetting device is installed on slide rail, head 3 is run on slide rail 8, such benefit is can be big
The opereating specification of big extension pipetting device, has expanded the liquid relief ability and scope of liquor removing workstation.
Due to the change of pipetting device liquid relief mode, plate bit platform 1 can also be improved in structure, no longer only office
Be limited to traditional rectangle, can the range of movement according to pipetting device and the set location relative to plate bit platform, use is square,
Circular or sector structure plate bit platform, enables whole positions on pipetting device cover plate bit platform.
Because liquor removing workstation is typically used in the units such as laboratory and hospital, blood station such as medical research and development, food, to work
The sterile working for making to stand has very high requirement, therefore, here in pipetting device using the synthetic material for being easy to sterilizing, such as 316
Stainless steel etc., while antimicrobial coating is coated on its surface, such as nano-silver ionic coating.
The liquor removing workstation can be equally placed in Biohazard Safety Equipment or super-clean bench as needed and used, or in liquid relief work
Stand outer setting dust cover, ultraviolet sterilization lamp or HEPA filters are set in dust cover, realize the sterileization operation of pipetting processes.
To realize the automatic pipetting of the full-automatic liquor removing workstation, it is necessary to which the motion to pipetting device is controlled automatically
System, it is therefore desirable to the control system of pipetting device motion and action is arranged for controlling in Automatic Workstation.The control system
System includes hardware and software part, hardware components can using the PC or PAD of wired or wireless connection between pipetting device or its
His SmartClient；Software section realizes Bit andits control and power control in pipetting processes by control algolithm.
For the pipetting device employed in above-mentioned full-automatic liquor removing workstation, due to its essence in liquid relief mode
Change, this new liquid relief mode needs corresponding liquid relief control method；Specifically, full-automatic liquor removing workstation bag in the present invention
Include following steps：
The cephalomotor initial position of liquid relief is set, and identifies the three-dimensional coordinate of initial position；
The three-dimensional coordinate of target location is obtained, compared with the three-dimensional coordinate of initial position, is calculated in pipetting device
The actuating quantity of each drive mechanism；
Control each drive mechanism to act, pipetting head is done linear motion and be moved to above target location；
After pipetting head is moved to target location, using the position as initial position；
The three-dimensional coordinate of next target location is obtained, compared with the three-dimensional coordinate of above-mentioned initial position, calculates liquid relief
The actuating quantity of each drive mechanism in mechanism；
Control each drive mechanism to act, pipetting head is done linear motion and be moved to above target location；
Circulated successively by above-mentioned steps, until completing pipetting.
Specifically, each anchor point is first marked on plate bit platform, anchor point self-test is carried out before pipetting device motion.Open
Before beginning pipetting, the orifice plate class of suction nozzle position, mother liquor position, liquid position to be transferred and liquid to be transferred is pre-defined
Type, if the orifice plate of SBS international standards, control system can calculate Kong Yukong on orifice plate, interval between row and row automatically, such as
It is not SBS standard orifice plates, can self-defined row's spacing in the controls.Now, suction nozzle position, mother liquor position, liquid to be transferred
Body position can arbitrarily be set on plate bit platform as needed.
After position on to plate bit platform is set, you can carry out liquid relief programming, realize as repetition liquid separation, gradient are dilute
The operation such as release, some parameters in input step are only needed during operation.
For standard orifice plate, the software of control system is built-in with the database of standard orifice plate, including the hole of various orifice plates with
The parameters such as hole, spacing between row and row, plate height；Such as unusual straightedge, oneself data above can be manually entered, automatically generated
One orifice plate database.
The present invention specification and drawings be considered as it is illustrative and not restrictive, on the basis of the present invention, ability
Field technique personnel are according to disclosed technology contents, it is not necessary to which performing creative labour can is made to some of technical characteristics
Some are replaced and deformation, within the scope of the present invention.
Claims (10)
1. a kind of full-automatic liquor removing workstation, including plate bit platform and pipetting head, the pipetting head is arranged on pipetting device, is moved
Liquid mechanism is used for the motion and action for driving pipetting head, the optional position that can be moved to pipetting head on plate bit platform；Its feature
It is：
The pipetting device includes fixed seat and connectors unit, and connectors unit one end is connected in fixed seat, another
End is connected with pipetting head, and the connectors unit includes multiple connectors being sequentially connected, connectors unit and fixed seat
Between and each connector between form unique connecting node respectively in junction, each connector can at its corresponding connection node
Freely rotating for three degree of freedom is realized around the connecting node.
2. full-automatic liquor removing workstation according to claim 1, it is characterised in that：The pipetting device comprises at least a cloud
Platform, the bearing that can be rotated on head along its axis, one end and the large arm of bearing connection, it is connected to the large arm other end
Forearm and the end cradle being connected on forearm, the large arm can be around the connection connecting node between bearing in perpendicular
Rotate, forearm can rotate around the connecting node between large arm in perpendicular, the pipetting head installation
On end cradle.
3. full-automatic liquor removing workstation according to claim 1, it is characterised in that：The pipetting device comprises at least a cloud
Platform, the large arm of one end and head connection, one end and the forearm of large arm end connection and the end cradle being connected on forearm, it is described
Large arm can rotate around the connecting node between head in horizontal plane, and the forearm can be around the company between large arm
Connect node to rotate in horizontal plane, the pipetting head is arranged on end cradle.
4. the full-automatic liquor removing workstation according to Claims 2 or 3, it is characterised in that：The end cradle can around with it is small
Connecting node between arm rotates.
5. full-automatic liquor removing workstation according to claim 1, it is characterised in that：The liquor removing workstation includes multiple shiftings
Liquid mechanism, pipetting head is respectively arranged with each pipetting device.
6. full-automatic liquor removing workstation according to claim 1, it is characterised in that：The fixed seat is arranged on a slide rail
On, fixed seat can move along slide rail.
7. full-automatic liquor removing workstation according to claim 1, it is characterised in that：The plate bit platform is square, circular
Or sector structure.
8. full-automatic liquor removing workstation according to claim 1, it is characterised in that：Also include for controlling pipetting device
The control system of action.
9. a kind of liquid relief control method of full-automatic liquor removing workstation, it is characterised in that comprise the following steps：
The cephalomotor initial position of liquid relief is set, and identifies the three-dimensional coordinate of initial position；
The three-dimensional coordinate of target location is obtained, compared with the three-dimensional coordinate of initial position, calculates in pipetting device and respectively drives
The actuating quantity of motivation structure；
Control each drive mechanism to act, pipetting head is done linear motion and be moved to above target location.
10. liquid relief control method according to claim 9, it is characterised in that：After the pipetting head is moved to target location,
Using the position as initial position；
The three-dimensional coordinate of next target location is obtained, compared with the three-dimensional coordinate of above-mentioned initial position, calculates pipetting device
In each drive mechanism actuating quantity；
Control each drive mechanism to act, pipetting head is done linear motion and be moved to above target location；
Circulated successively by above-mentioned steps, until completing pipetting.
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| CN201710708170.9A CN107433214A (en) | 2017-08-17 | 2017-08-17 | A kind of full-automatic liquor removing workstation and its liquid relief control method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN110153988A (en) * | 2018-02-05 | 2019-08-23 | 北京华信智航科技有限公司 | A robotic arm that can translate in Cartesian coordinates |
| CN110694705A (en) * | 2019-10-14 | 2020-01-17 | 山东省化工研究院 | Liquid feeding and taking device convenient for U-shaped porous glass plate absorption tube |
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| CN116764710A (en) * | 2023-08-01 | 2023-09-19 | 长沙迈迪克智能科技有限公司 | Liquid level following imbibition method |
| WO2025030747A1 (en) * | 2023-08-10 | 2025-02-13 | 上海镁伽智能科技有限公司 | Variable pitch method for pipetting apparatus, variable pitch control apparatus, and pipetting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153988A (en) * | 2018-02-05 | 2019-08-23 | 北京华信智航科技有限公司 | A robotic arm that can translate in Cartesian coordinates |
| CN109679827A (en) * | 2019-01-22 | 2019-04-26 | 邹宇彬 | A kind of biologic medical liquid relief workbench |
| CN109679827B (en) * | 2019-01-22 | 2024-09-06 | 亳州市中知科技咨询有限公司 | Biomedical pipetting platform |
| CN110694705A (en) * | 2019-10-14 | 2020-01-17 | 山东省化工研究院 | Liquid feeding and taking device convenient for U-shaped porous glass plate absorption tube |
| CN110694705B (en) * | 2019-10-14 | 2021-07-02 | 山东省化工研究院 | Liquid feeding and taking device convenient for U-shaped porous glass plate absorption tube |
| CN112718037A (en) * | 2020-12-17 | 2021-04-30 | 陈修芳 | Titration pipe rack for oilfield water quality analysis |
| CN116764710A (en) * | 2023-08-01 | 2023-09-19 | 长沙迈迪克智能科技有限公司 | Liquid level following imbibition method |
| CN116764710B (en) * | 2023-08-01 | 2025-05-16 | 长沙迈迪克智能科技有限公司 | Liquid level following imbibition method |
| WO2025030747A1 (en) * | 2023-08-10 | 2025-02-13 | 上海镁伽智能科技有限公司 | Variable pitch method for pipetting apparatus, variable pitch control apparatus, and pipetting device |
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