CN211936797U - Liquid accurate proportioning device - Google Patents

Abstract

The utility model provides a liquid accurate proportioning device, which relates to the field of medical equipment and comprises a suction loading and unloading track spanning each workstation, a slidable suction loading and unloading mechanical arm is arranged on the suction loading and unloading track, and a suction loading and unloading mechanical arm is arranged on the suction loading and unloading track. The arm seat is provided with an upper suction slider and a lower suction slider independently driven by the driving device, and an upper suction position for clamping the end of the suction rod of the suction device is arranged on the upper suction slider. The lower suction sliding block is provided with a lower suction positioning block for clamping the suction sleeve of the suction device. Through the set suction loading and unloading system, the automatic proportioning of the liquid can be realized, and the automatic loading and unloading of the test tube can be realized, which greatly improves the efficiency.

Description

Liquid Precise Proportioning Device

technical field

The utility model relates to the field of medical equipment, in particular to a liquid precise proportioning device.

Background technique

For patients undergoing artificial insemination or in vitro fertilization and embryo transfer technology, the spouse's semen needs to be washed and optimized to remove impurities such as seminal plasma, immobile sperm, and white blood cells, and to extract sperm with good motility and high quality for fertilization.

Defects in the prior art: at present, no matter which method is adopted to carry out semen washing optimization, it is all manual operation, and the manual operation has the following limitations:

1. Repeating the same operation, the workload is large, the time is long, and the efficiency is low. For example, a center washes about 30 people every day to optimize the semen. It needs at least 2 people to repeat the same operation process every day, and it takes at least one whole morning to complete.

2. In the current manual operation, the amount of washed semen and various washing solutions added cannot be accurately quantified, resulting in inaccurate calculation of the concentration of semen after washing, and it is necessary to re-evaluate and then adjust the concentration of semen after washing for fertilization.

3. There is also a scheme of adding negative pressure adsorption equipment, but it is difficult to ensure the accuracy of the amount added in this scheme.

In many other operations involving the medical field, the operation of adding a precisely proportioned liquid to a container is required. In particular, it is necessary to extract a certain amount of liquid from one container and then inject it into another container, and the device for each extraction can only be used once to avoid contamination of other liquids. The existing operations are all manual operations. The Chinese patent document CN110358673A describes a cell separation system and method, which realizes the suction operation through a lifting device and a syringe, but this solution is very inconvenient when the suction device needs to be replaced. Moreover, setting the pipeline will affect the accuracy of the liquid suction volume, resulting in inaccurate liquid proportioning, because the pipeline itself also has a certain capacity.

Utility model content

The technical problem to be solved by the utility model is to provide a liquid accurate proportioning device, which can realize the automatic accurate proportioning of the liquid.

In order to solve the above-mentioned technical problems, the technical scheme adopted by the present utility model is: a liquid accurate proportioning device, comprising a suction loading and unloading track spanning each station, and a slidable suction loading and unloading track is arranged on the suction loading and unloading track. The mechanical arm is provided with an upper suction slider and a lower suction slider independently driven by the driving device on the suction robot arm seat, and a suction rod for clamping the suction device is arranged on the upper suction slider. The upper suction positioning block of the end is provided with a lower suction positioning block for clamping the suction sleeve of the suction device on the lower suction slider.

In a preferred solution, the suction manipulator base is arranged vertically;

The upper suction slider and the lower suction slider also slide along the vertical direction;

A grasping mechanical claw for grasping the test tube is also provided below the lower suction slider, and the projection of the inner space of the grasping mechanical claw at least partially overlaps with the inner projection of the upper suction positioning block and the lower suction positioning block.

In a preferred solution, the upper suction positioning block is divided into two parts, including a limiting piece against the top of the enlarged head of the suction rod, and an open annular positioning block clamped on the suction rod. It is located below the enlarged head of the suction rod, and the opening is slightly smaller than the outer diameter of the suction rod;

The lower suction positioning block is divided into two parts, including open annular positioning blocks located above and below the enlarged part of the suction sleeve, wherein the opening of the lower open annular positioning block is slightly smaller than the outer diameter of the suction sleeve.

In a preferred solution, a suction device supply device is also provided at a station of the suction loading and unloading track, and a suction device pushing cylinder is arranged in the suction device supply device for installing the suction device on the suction loading and unloading mechanical arm. .

In a preferred solution, the structure of the suction device supply device is that it includes a suction device guide rail, a plurality of suction devices are arranged in the suction device guide rail, and the suction device guide rail faces one of the suction loading and unloading mechanical arms. There is a suction device pushing notch on one side, a flexible baffle is arranged at the position where the suction device pushes the notch, and a suction device pushing cylinder is arranged on the other side, which is used to push a suction device out of the suction device pushing notch and make it. The end of the suction rod and the suction sleeve are respectively clamped on the upper suction positioning block and the lower suction positioning block of the suction loading and unloading mechanical arm.

In a preferred solution, the position at the entrance of the guide rail of the suction device is bent upwards, so that the suction device in the suction device is concentrated to the position of the notch under the action of gravity.

In a preferred solution, a suction device friction wheel for driving the suction device is further provided on one side of the suction device guide rail, and the suction device friction wheel is used for closely arranging the suction devices.

In a preferred solution, the driving devices of the upper suction slider and the lower suction slider are two sets of independent screw and nut mechanisms;

The upper suction nut slider and the lower suction nut slider rise and fall at the same time to realize the lifting action of the suction device, and the distance between the upper suction nut slider and the lower suction nut slider changes to realize the suction action of the suction device .

In a preferred solution, the driving device of the upper suction slider and the lower suction slider is a screw nut mechanism, and a first suction screw and a second suction screw parallel to each other are arranged on the suction arm base. Suction screw, the first suction motor is connected with the first suction screw, the second suction motor is connected with the second suction screw, the upper suction nut slider is threadedly connected with the second suction screw, the lower suction The suction nut slider is threadedly connected with the first suction screw;

The upper suction nut slider and the lower suction nut slider rise and fall at the same time to realize the lifting action of the suction device, and the distance between the upper suction nut slider and the lower suction nut slider changes to realize the suction action of the suction device .

In a preferred solution, a suction device wedge is also provided, and the height is located between the upper suction slider and the lower suction slider, so that the suction device can be separated from the suction loading and unloading mechanical arm by taking the suction device wedge. ;

Or a push mechanism is provided on at least one of the upper suction slider and the lower suction slider, so as to separate the suction device from the suction loading and unloading mechanical arm by pushing.

The utility model provides a liquid accurate proportioning device, which can realize the automatic proportioning of the liquid and the automatic loading and unloading of the test tube through the set suction loading and unloading system, thereby greatly improving the efficiency.

Description of drawings

Below in conjunction with accompanying drawing and embodiment, the utility model is further described:

FIG. 1 is a schematic structural diagram of the suction loading and unloading mechanical arm of the present invention.

FIG. 2 is a schematic top view of the overall structure of the present invention.

FIG. 3 is a schematic structural diagram of the suction device in the present invention.

FIG. 4 is a schematic diagram of the drive structure of the suction loading and unloading mechanical arm of the present invention.

FIG. 5 is a schematic structural diagram of the suction device supply device of the present invention.

6 is a schematic side view of the structure of the suction loading and unloading mechanical arm of the present invention.

7 is a schematic three-dimensional structure diagram of the suction loading and unloading mechanical arm of the present invention.

8 is a schematic side view of the structure of the precise liquid supply device of the present invention.

In the figure: centrifugal device 1, precise liquid supply device 2, syringe 201, liquid supply tube 202, base 203, tube positioning block 204, piston positioning nut slider 205, liquid supply screw 206, liquid supply motor 207, suction loading and unloading Track 3, synchronous belt 31, travel drive device 32, suction loading and unloading arm 4, suction arm seat 41, first suction motor 42, second suction motor 43, first suction screw 44, second suction Suction screw 45, upper suction nut slider 46, upper suction positioning block 461, lower suction nut slider 47, lower suction positioning block 471, grasping mechanical claw 48, suction pipe supply device 5, suction pipe 51, Pipette guide 52, pipette friction wheel 53, suction track 6, suction pipe device 7, suction pipe gripper 71, suction robot arm 8, capping device 9, pipe unloading belt 10, disinfection device 11, suction pipe guide 12, waste Liquid container 13, unloaded test tube 14, take suction device wedge 15, chute 16, load test tube code reading device 17, load test tube belt 18, load pipette guide 19, test tube to be loaded 20, semen bottle code reading Device 21, semen bottle guide rail 22, semen bottle 23, bottle dial 24, suction device supply device 25, suction device push cylinder 251, suction device friction wheel 252, suction device guide rail 253, suction device push notch 254 , suction device 26 , suction rod expansion head 261 , suction sleeve expansion part 262 , suction rod 263 , suction sleeve 264 , suction piston head 265 , housing 27 .

Detailed ways

Example 1:

As shown in Figures 1 and 2, a liquid accurate proportioning device includes a suction loading and unloading track 3 spanning each station, and a slidable suction loading and unloading mechanical arm 4 is arranged on the suction loading and unloading track 3. The preferred solution As shown in FIG. 4, a traveling drive device 32 is provided between the suction loading and unloading mechanical arm 4 and the suction loading and unloading track 3, so that the suction loading and unloading mechanical arm 4 travels along the suction loading and unloading track 3; The traveling drive device 32 preferably adopts a synchronous belt drive structure, both ends of the synchronous belt are fixedly installed on the suction loading and unloading track 3, driven wheels are provided on both sides of the driving wheel, the synchronous belt bypasses the driven wheel and the driving wheel, and the driving wheel is connected with the motor. , the driven wheel and the driving wheel are both installed on the suction loading and unloading mechanical arm 4, and the suction loading and unloading mechanical arm 4 is realized by driving the rotation of the driving wheel. An alternative solution adopts a rack and pinion drive structure, wherein the rack is fixedly mounted on the suction loading and unloading track 3, the gear is mounted on the suction loading and unloading mechanical arm 4, and the gear is connected with the motor. Alternatively, a belt drive structure is adopted, the belt mechanism is installed on the suction loading and unloading track 3 , the belt mechanism is connected with the motor, and the belt is fixedly connected with the suction loading and unloading mechanical arm 4 .

The suction arm base 41 is provided with an upper suction slider and a lower suction slider that are independently driven by the driving device, and a suction rod 263 for clamping the suction device 26 is arranged on the upper suction slider. The upper suction positioning block 461 of the end is provided with a lower suction positioning block 471 for clamping the suction sleeve 264 of the suction device 26 on the lower suction slider. With this structure, the lifting action and the suction action of the suction device 26 are realized by driving control of the upper suction slider and the lower suction slider.

As shown in FIG. 3 , the suction device 26 includes a suction rod 263 and a suction sleeve 264 . The suction rod 263 is slidably and sealedly installed in the suction sleeve 264 , and the suction rod 263 is located in the suction sleeve 264 The inner end is provided with a suction piston head 265 . In this example, preferably, the suction piston head 265 and the suction rod 263 are made of the same material, and the other end of the suction rod 263 is further provided with an enlarged suction rod head 261 for clamping. At the upper end of the suction sleeve 264, a suction sleeve enlarged portion 262 for clamping is provided.

The straight-through suction sleeve 264 structure is adopted, which simplifies the structure of the suction device compared with the traditional syringe, especially reduces the sharp change of the liquid flow speed during the suction process, and reduces the decrease of sperm motility caused by the instrument. Moreover, the further optimized structure also facilitates processing and production, and reduces the cost of the device.

In a preferred solution, as shown in Figures 1, 6, and 7, the suction robot arm seat 41 is arranged vertically;

The upper suction slider and the lower suction slider also slide along the vertical direction;

As shown in FIG. 7 , there is also a grasping mechanical claw 48 for grasping the test tube under the lower suction slider. The projection of the inner space of the grasping mechanical claw 48 is in line with the inner space of the upper suction positioning block 461 and the lower suction positioning block 471. Empty projections overlap at least partially. The grasping mechanical claw 48 adopts an electromagnet drive structure, which is the prior art.

In a preferred solution, the upper suction positioning block 461 is divided into two parts, including a limiting piece against the top of the enlarged head 261 of the suction rod, and an open annular positioning block clamped on the suction rod 263. The annular positioning block is located below the enlarged head 261 of the suction rod, and the opening is slightly smaller than the outer diameter of the suction rod 263;

The lower suction positioning block 471 is divided into two parts, including an open annular positioning block located above and below the enlarged portion 262 of the suction sleeve, wherein the opening of the lower open annular positioning block is slightly smaller than that of the suction sleeve 264. outer diameter.

In a preferred solution, as shown in Figures 1 and 5, a suction device supply device 25 is also provided at a station of the suction loading and unloading track 3. The suction device supply device 25 is provided with a suction device pushing cylinder 251 for continuous continuous operation. The suction device 26 is attached to the suction handling arm 4 . With this structure, the structure of the suction-removal robot arm 4 can be simplified, that is, the Y-axis movement direction is no longer required, the cost is reduced, and the control accuracy is improved. Furthermore, there is no need to provide a gripper and suction device 26 exclusively for movable grippers.

A preferred solution is shown in FIG. 5 , the structure of the suction device supply device 25 is that it includes a suction device guide rail 253 , and a plurality of suction devices 26 are arranged in the suction device guide rail 253 , and in the suction device guide rail 253 There is a suction device pushing notch 254 on one side facing the suction loading and unloading mechanical arm 4, a flexible blocking plate is provided at the position where the suction device pushes the notch 254, and a suction device pushing cylinder 251 is arranged on the other side for pushing a The suction device 26 is pushed out from the suction device push notch 254, and the end of the suction rod 263 and the suction sleeve 264 are respectively stuck on the upper suction positioning block 461 and the lower suction positioning block 471 of the suction loading and unloading mechanical arm 4. .

In a preferred solution, as shown in FIG. 5 , the position at the entrance of the suction device guide rail 253 is bent upwards, so that the suction device 26 in the suction device 26 is concentrated to the position of the notch 254 under the action of gravity.

In a preferred solution, as shown in FIG. 5 , a suction device friction wheel 252 for driving the suction device 26 is further provided on one side of the suction device guide rail 253 , and the suction device friction wheel 252 is used for closely arranging the suction devices 26 . Due to the action of the friction wheel 252 of the suction device, there must be a suction device 26 at the position where the suction device pushes the notch 254, thereby ensuring the reliability of automatic control.

The preferred solution is as shown in Figure 1, the drive devices of the upper suction slider and the lower suction slider include two sets of independently arranged screw nut mechanisms, rack and pinion mechanisms, belt drive mechanisms or linear motor mechanisms; The rack and pinion mechanism, belt drive mechanism or linear motor mechanism are not shown in the figures.

The upper suction nut slider 46 and the lower suction nut slider 47 move up and down at the same time to realize the lifting action of the suction device 26, and the distance between the upper suction nut slider 46 and the lower suction nut slider 47 changes to realize the suction The suction action of the device 26 .

The preferred solution is shown in Figures 1, 6, and 7. The driving device of the upper suction slider and the lower suction slider is a screw nut mechanism, and the suction arm seat 41 is provided with a first parallel to each other. The suction screw 44 and the second suction screw 45, the first suction motor 42 is connected with the first suction screw 44, the second suction motor 43 is connected with the second suction screw 45, and the upper suction nut is The slider 46 is threadedly connected with the second suction screw 45, and the lower suction nut slider 47 is screwed with the first suction screw 44;

The upper suction nut slider 46 and the lower suction nut slider 47 move up and down at the same time to realize the lifting action of the suction device 26, and the distance between the upper suction nut slider 46 and the lower suction nut slider 47 changes to realize the suction The suction action of the device 26 .

The preferred solution is as shown in Fig. 2. There is also a suction device wedge 15, the height is located between the upper suction slider and the lower suction slider. The suction device wedge 15 is preferably located between the supply device for test tubes to be loaded and the Between the removed test tube conveying devices, the structure is similar to a hook, so that the suction device 26 can be separated from the suction loading and unloading mechanical arm 4 by taking the suction device wedge 15 . The suction device 26 that has been used by taking the suction device wedge 15 is removed and dropped onto the chute 16 below, collected and disposed of in a unified manner.

Alternatively, a push mechanism is provided on at least one of the upper suction slider and the lower suction slider, so as to separate the suction device 26 from the suction loading and unloading mechanical arm 4 by pushing. The pushing mechanism preferably uses an electromagnet to push the suction device 26 out of the open annular positioning block.

Example 2:

The following uses density gradient centrifugation + upstream method washing optimized semen as an example to illustrate the use method of the present invention.

As shown in Figures 1 to 8, the three syringes 201 of the precise liquid supply device 2 are respectively filled with density gradient centrifugation fluid, centrifuge fluid and upstream fluid, and the density gradient centrifuge fluid and upstream fluid are commonly used in semen washing optimization in the prior art of liquid. The precise liquid supply device 2 is located at a station of the centrifugal device 1, the suction robotic arm 8 is located at a station of the centrifugal device 1, and the suction loading and unloading mechanical arm 4 is located at a station of the centrifugal device 1, occupying a total of Three workstations. The station here refers to the position of the test tube when the centrifugal device 1 stops rotating. Set the position of the test tube when the centrifugal device 1 stops. As shown in Figure 1, the centrifugal device 1 can centrifuge 4 test tubes at the same time, then it can provide 4 test tubes when it stops. Work stations, there are also 5~16 test tubes, in principle, more work stations can be provided. In order to process multiple semen at the same time.

Put the sterilized suction device 26 into the suction device guide rail 253 of the suction device supply device 25, load the test tube 20 to be loaded into the suction tube loading guide rail 19, and load the suction tube 51 into the suction tube supply device 5. , after checking, put multiple semen bottles 23 into the guide rail 22 of the semen bottles. After checking again, start the device.

The suction loading and unloading mechanical arm 4 moves to the rightmost end of the suction loading and unloading track 3, so that the heights of the upper suction nut slider 46 and the lower suction nut slider 47 are located at the preset positions, and the suction device pushes the cylinder 251 to move, A suction device 26 is pushed onto the suction loading and unloading mechanical arm 4 and is securely fixed on the upper suction positioning block 461 and the lower suction positioning block 471 . At the same time, the semen bottle code reading device 21 scans the current semen bottle 23, reads the encoded information, and loads the test tube code reading device 17 to scan the current test tube 20 to be loaded, reads the encoded information, and associates the two encoded information. The suction loading and unloading robotic arm 4 moves to the top of the current semen bottle 23, and the upper suction nut slider 46 and the lower suction nut slider 47 are lowered simultaneously until the bottom of the suction sleeve 264 is close to the bottom of the sperm bottle 23, and the upper suction nut slider 46 and the lower suction nut slider 47 are lowered simultaneously. The suction nut slider 46 moves up a preset distance to extract 3ml of semen. The upper suction nut slider 46 and the lower suction nut slider 47 are raised at the same time, and the suction device 26 is separated from the semen bottle 23 . The suction loading and unloading robotic arm 4 moves above the test tube 20 currently to be loaded, the upper suction nut slider 46 runs downward, and the semen is injected into the current test tube 20 to be loaded. The suction loading and unloading mechanical arm 4 moves to the position where the wedge 15 of the suction device is taken out, or the pushing device acts to disengage the suction device 26 from the suction loading and unloading mechanical arm 4, and the suction device 26 falls into the chute 16. unified processing. The suction loading and unloading robotic arm 4 moves again above the test tube 20 currently to be loaded, the lower suction nut slider 47 moves downward, the grasping mechanical claw 48 grabs the current loading and unloading test tube 20, and the suction loading and unloading robotic arm 4 moves to the centrifuge. Above the station of the device 1 , the test tube 20 to be loaded is put into the centrifuge device 1 , and the centrifuge device 1 is rotated at an angle so that the other station is located under the suction loading and unloading mechanical arm 4 . The above steps are repeated to fill all the test tubes 20 to be filled in the centrifuge device 1 . During the process of loading the test tube 20 to be loaded, when the existing test tube 20 to be loaded passes under the precise liquid supply device 2, the liquid supply motor 207 operates. Preferably, the liquid supply motor 207 is a stepper motor. , and 9 ml of the density gradient centrifugation solution was put into the test tube 20 to be loaded. After the test tube 20 to be loaded is loaded, the turret of the centrifuge device 1 is swayed back and forth at a small angle to mix the liquid in the test tube 20 to be loaded evenly. Centrifuge at 1000 rpm for 20 min. The speed and centrifugation time are optional. The pipette robot arm 8 runs to the top of the pipette supply device 5, and connects a pipette downward. The pipette robot arm 8 runs to the top of the centrifuge device 1, and the supernatant liquid is sucked by the pipette and discharged to the waste liquid container 13 through the pipeline. Inside. After aspirating a test tube. The suction manipulator 8 moves to the top of the suction pipe device 7, the suction manipulator 8 descends to a certain height, the suction pipe 51 is clamped by the claw action of the suction pipe device 7, the suction manipulator 8 rises to a certain height, and the suction pipe 51 is disengaged. The mechanical claws of the suction tube device 7 are opened, and the suction tube 51 is dropped and processed centrally. The pipetting robotic arm 8 runs again to the top of the pipette supply device 5 to take a pipette 51 and suck the supernatant in the next test tube. And so on, until the supernatant aspiration of all tubes is completed. In the process of changing stations, the precise liquid supply device 2 adds 9 ml of centrifugation fluid to the sucked test tube again, and centrifuges at 1000 rpm for 10 min. The supernatant was sucked again, and the turret of the centrifuge device 1 was swung back and forth at a high speed and at a small angle to oscillate for precipitation. Precise Liquid Supply 2 adds upstream liquid to each test tube. The suction loading and unloading mechanical arm 4 moves to the top of the centrifugal device 1, the suction loading and unloading mechanical arm 4 is lowered, and the grasping mechanical claw 48 grasps the test tube to the unloaded test tube conveying device. The tube unloading belt 10 is turned at an angle to make a new empty space until all the tubes are caught on the unloaded tube transporter. When the unloaded test tube 14 passes under the capping device 9 , information is collected by a photoelectric sensor arranged on one side of the pipette guide 12 . The capping device 9 presses the test tube cap onto the removed test tube 14 . After all washing optimization is completed, the alarm reminds the operator to continue processing. After all the samples are taken out, the sterilizing device 11 is activated to sterilize the space in the housing 27 .

The above-mentioned embodiments are only the preferred technical solutions of the present invention, and should not be regarded as limitations of the present invention. The embodiments and features in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present utility model shall take the technical solutions described in the claims, including the equivalent alternatives of the technical features in the technical solutions described in the claims, as the protection scope. That is, equivalent replacements and improvements within this scope are also within the protection scope of the present invention.

Claims (10)

1. A liquid accurate proportioning device, comprising a suction loading and unloading track (3) spanning each station, and a slidable suction loading and unloading mechanical arm (4) is provided on the suction loading and unloading track (3), which is characterized by: Yes: an upper suction sliding block and a lower suction sliding block that are independently driven by the driving device are provided on the suction mechanical arm seat (41), and the upper suction sliding block is provided with a suction device (26) for clamping ) on the upper suction positioning block (461) at the end of the suction rod (263), and a lower suction positioning block for clamping the suction sleeve (264) of the suction device (26) on the lower suction slider block (471). 2. A liquid precise proportioning device according to claim 1, characterized in that: the suction robot arm seat (41) is arranged vertically; The upper suction slider and the lower suction slider also slide along the vertical direction; A grasping mechanical claw (48) for grasping the test tube is also provided under the lower suction slider. 3. A liquid accurate proportioning device according to claim 1, characterized in that: the upper suction positioning block (461) is divided into two parts, including the top of the swelling head (261) against the suction rod and the open annular positioning block clamped on the suction rod (263), the open annular positioning block is located below the suction rod expansion head (261), and the opening is slightly smaller than the suction rod (263) outer diameter; The lower suction positioning block (471) is divided into two parts, including an open annular positioning block located above and below the enlarged part of the suction sleeve (262), wherein the opening of the lower open annular positioning block is slightly smaller than the suction Outer diameter of sleeve (264). 4. A liquid accurate proportioning device according to claim 1, characterized in that: a suction device supply device (25) is also provided at a station of the suction loading and unloading track (3), and the suction device supply device (25) is provided with a suction device pushing cylinder (251), which is used to install the suction device (26) on the suction loading and unloading mechanical arm (4). 5. A liquid accurate proportioning device according to claim 4, characterized in that: the structure of the suction device supply device (25) is that it comprises a suction device guide rail (253), a plurality of suction device The device (26) is arranged in the suction device guide rail (253), and a suction device pushing notch (254) is provided on the side of the suction device guide rail (253) toward the suction loading and unloading mechanical arm (4), and the suction device pushes A flexible baffle is provided at the position of the notch (254), and a suction device pushing cylinder (251) is provided on the other side, which is used to push a suction device (26) from the suction device push notch (254) to push out the suction device. The end of the suction rod (263) and the suction sleeve (264) are respectively clamped on the upper suction positioning block (461) and the lower suction positioning block (471) of the suction loading and unloading mechanical arm (4). 6. A liquid accurate proportioning device according to claim 5, characterized in that: the position at the entrance of the guide rail (253) of the suction device is bent upwards, so that the suction device (26) in the suction device (26) is under the action of gravity The location of the downward notch (254) is concentrated. 7. A liquid accurate proportioning device according to claim 6, characterized in that: a suction device friction wheel ( 252), the suction device friction wheel (252) is used to make the suction devices (26) closely arranged. 8. A liquid precise proportioning device according to claim 1, characterized in that: the driving devices of the upper suction slider and the lower suction slider are two sets of independent screw and nut mechanisms; The upper suction nut slider (46) and the lower suction nut slider (47) move up and down at the same time to realize the lifting action of the suction device (26). The upper suction nut slider (46) and the lower suction nut slider (47) The distance between ) changes to realize the suction action of the suction device (26). 9. A liquid accurate proportioning device according to claim 1, characterized in that: the driving device of the upper suction slider and the lower suction slider is a screw nut mechanism, and the suction robot arm seat is (41) is provided with a first suction screw (44) and a second suction screw (45) parallel to each other, the first suction motor (42) is connected with the first suction screw (44), The second suction motor (43) is connected with the second suction screw (45), the upper suction nut slider (46) is threadedly connected with the second suction screw (45), and the lower suction nut slider (47) threadedly connected with the first suction screw (44); The upper suction nut slider (46) and the lower suction nut slider (47) move up and down at the same time to realize the lifting action of the suction device (26). The upper suction nut slider (46) and the lower suction nut slider (47) The distance between ) changes to realize the suction action of the suction device (26). 10. A liquid accurate proportioning device according to claim 1, characterized in that: a suction device wedge (15) is further provided, the height is located between the upper suction slider and the lower suction slider, To separate the suction device (26) from the suction loading and unloading mechanical arm (4) by taking the suction device wedge (15); Alternatively, a push mechanism is provided on at least one of the upper suction slider and the lower suction slider, so as to separate the suction device (26) from the suction loading and unloading mechanical arm (4) by pushing.

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