Dispensing device and pretreatment equipment

Abstract

To appropriately control load which is applied to a chip when the chip is fitted to a nozzle, according to the number of chips held by a chip holder.SOLUTION: A dispensing device comprises: a movement mechanism for fitting a chip to the nozzle of a dispensing body by moving the dispensing body to a chip holder; and a control device. The movement mechanism includes a motor. The control device identifies the load of the motor (step S8) and adjusts the value of a drive current in accordance with the identified load in such a manner that the drive current does not exceed upper-limit value (step S10). The control device sets the upper-limit value of the drive current on the basis of the number of chips held by the chip holder (step S3).SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a dispensing device and a pretreatment device. [Background technology]

[0002] Conventionally, a dispensing device and a pretreatment device including a dispensing device are known. The pretreatment device dispenses a sample using the dispensing device, and then performs pretreatment on cells contained in the sample. The pretreatment includes various processes such as centrifugation, liquid removal, reagent supply, stirring, and extraction.

[0003] The dispensing device includes a dispensing body having a plurality of nozzles arranged thereon. The dispensing device moves the dispensing body to a tip holder having a plurality of areas for holding tips, and attaches a tip held at a position corresponding to one of the plurality of nozzles to the corresponding nozzle.

[0004] JP 2022-067296 A (Patent Document 1) discloses a dispensing device that cuts off the transmission of the motor's driving force when multiple tips held in a tip holder are attached and the overload on the motor exceeds an upper limit.

[0005] If the load applied to the tip when mounting the tip on the nozzle is too large, there is a risk of the tip becoming embedded in the tip holder, etc. Therefore, it is important to limit the load applied to the tip when mounting the tip on the nozzle to an appropriate level. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2022-067296 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, the number of tips mounted on the tip holder may vary depending on the target of pretreatment, etc. In the dispensing device described in JP 2022-067296 A, there was a problem that the load could not be appropriately controlled according to the number of tips held in the tip holder.

[0008] The present disclosure has been made to solve the above-mentioned problems, and its purpose is to appropriately control the load applied to a tip when attaching the tip to a nozzle, depending on the number of tips held in the tip holder. [Means for solving the problem]

[0009] The dispensing device according to the present disclosure is a dispensing device that aspirates and dispenses liquid through a tip, and includes a dispensing body in which multiple nozzles are arranged, a table in which a tip holder having multiple areas for holding tips is arranged, a moving mechanism that moves the dispensing body to the tip holder arranged on the table, thereby attaching a tip held at a position corresponding to one of the multiple nozzles to the corresponding nozzle, and a control device that controls the moving mechanism, the moving mechanism including a motor and a sensor that detects the driving status of the motor, the control device identifying the load on the motor based on the detection value of the sensor and adjusting the value of the motor's driving current in accordance with the identified load, and the control device setting an upper limit value of the driving current based on the number of tips held in the tip holder, and adjusting the value of the driving current so as not to exceed the upper limit value. Effect of the Invention

[0010] According to the present disclosure, the load applied to the tip when mounting the tip on the nozzle can be appropriately controlled according to the number of tips held in the tip holder. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of a dispensing device. [Diagram 2] FIG. 2 is a block diagram showing the configuration of the dispensing device. [Diagram 3] 10 is a flowchart for explaining a processing procedure of a control device included in the dispensing device. [Figure 4] FIG. 2 is a perspective view showing a schematic configuration of a pretreatment device; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference characters and their description will not be repeated.

[0013] <Schematic configuration of dispensing device 1> 1 is a front view showing a schematic configuration of a dispensing device 1. In this embodiment, three mutually orthogonal axes, X, Y, and Z, are defined as shown in the figure. The XY plane formed by the X-axis and Y-axis is a plane parallel to the installation surface of the dispensing device 1.

[0014] The dispensing device 1 includes a housing 2, a moving mechanism 5, a dispensing body 6, and a table 8. The table 8 is provided at the bottom of the housing 2. A tip holder 7 is disposed on the table 8. The tip holder 7 has a plurality of areas formed in a matrix pattern for holding tips 71. A user loads the number of tips 71 onto the tip holder 7 according to the purpose of pretreatment or the like.

[0015] The dispensing body 6 includes a plurality of nozzles 62 and a nozzle holder 61 that holds the plurality of nozzles 62. The nozzle holder 61 has the plurality of nozzles 62 arranged in a matrix. A nozzle head 621 to which a tip is attached is formed at the tip of the nozzle 62. The nozzle head 621 has an uneven portion formed thereon for attaching a tip 71.

[0016] Nozzle 62 includes a piston (not shown) for sucking and discharging liquid. When tip 71 is attached to nozzle 62, the piston moves in the negative direction of the Z axis, whereby liquid is sucked into and held in tip 71. Thereafter, the piston moves in the positive direction of the Z axis, whereby the liquid held in tip 71 is discharged.

[0017] The moving mechanism 5 includes a motor 51, pulleys 53a and 53b, a belt 54, a support shaft 55, and a plate 56. The motor 51, the pulleys 53a and 53b, and the support shaft 55 are attached to the plate 56. The belt 54 is stretched between the pulleys 53a and 53b. The support shaft 55 is connected to the pulley 53b. A helical screw thread 551 is formed on the support shaft 55.

[0018] The plate 56 has a connecting portion 561. The dispensing body 6 is connected to the plate 56 at the connecting portion 561. The connecting portion 561 supports the dispensing body 6 so that the dispensing body 6 is movable in the Z-axis direction. A portion of the support shaft 55 on which the threads 551 are formed is inserted into the dispensing body 6. Therefore, when the support shaft 55 rotates, the dispensing body 6 moves in the Z-axis direction.

[0019] The motor 51 is, for example, a stepping motor. The motor 51 may be configured by other types of motors such as a servo motor. The motor 51 transmits a driving force to a pulley 53a via a motor shaft 52. The pulley 53a rotates by the driving force of the motor 51. The pulley 53b is connected to the pulley 53a by a belt 54. Therefore, the pulley 53b rotates in conjunction with the pulley 53a. The support shaft 55 rotates in conjunction with the rotation of the pulley 53b. The dispensing body 6 moves in the Z-axis direction in accordance with the rotation of the support shaft 55.

[0020] When the motor shaft 52 rotates in a predetermined positive direction, the support shaft 55 rotates in the positive direction, and the dispenser 6 moves in the positive direction of the Z axis. This causes the nozzle holder 61 to approach the table 8. The tip holder 7 is arranged on the table 8 such that each of the multiple areas formed on the tip holder 7 corresponds to each of the multiple nozzles 62 arranged on the nozzle holder 61.

[0021] As the movement of the dispensing body 6 continues, the nozzle head 621 of the corresponding nozzle 62 eventually comes into contact with the uneven portion of the tip 71. Thereafter, an appropriate load is applied between the uneven portion of the tip 71 and the nozzle head 621 of the corresponding nozzle 62, so that the tip 71 is attached to the nozzle head 621 of the corresponding nozzle 62.

[0022] When the motor shaft 52 rotates in the negative direction opposite to the positive direction, the support shaft 55 rotates in the negative direction, and the dispensing body 6 moves in the negative direction of the Z axis. At this time, the nozzle head 621 moves away from the tip holder .

[0023] <Schematic configuration of dispensing device 1> Fig. 2 is a block diagram showing the configuration of the dispensing device 1. As shown in Fig. 2, the dispensing device 1 further includes a control device 10 in addition to the moving mechanism 5 and the dispensing body 6 already described.

[0024] The control device 10 includes a processor 11, a memory 12, and a communication interface 13. The control device 10 is communicatively connected to a personal computer 40. The personal computer 40 includes a display, a keyboard, a mouse, and the like. A user inputs data to the dispensing device 1 using the personal computer 40. The communication interface 13 receives the data input by the user by communicating with the personal computer 40. The data input by the user includes the number of tips held in the tip holder 7. The control device 10 identifies the number of tips 71 held in the tip holder 7 based on the data received by the communication interface 13.

[0025] The processor 11 is typically a CPU (Central Processing Unit) or an MPU (Multi-Processing Unit). The processor 11 realizes various processes of the dispensing device 1 by reading and executing programs stored in the memory 12. The memory 12 includes a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, a hard disk, and the like. The memory 12 stores various data such as the programs executed by the processor 11, pre-processing settings, and position information (x coordinate, y coordinate, z coordinate) of the table 8 on which the tip holder 7 is placed.

[0026] The movement mechanism 5 includes a sensor 58 and a driver 59 in addition to the motor 51 already described. The sensor 58 detects the driving status of the motor 51. The driver 59 is provided with a motor circuit 591 that drives the motor 51 in response to a command from the control device 10, and a signal processing circuit 592 that processes a signal received from the sensor 58. The processor 11 and the driver 59 perform data communication via the communication interface 13.

[0027] The sensor 58 is, for example, an encoder, and is disposed on the motor 51. The sensor 58 transmits a detection value to the control device 10 via a driver 59. The control device 10 identifies the load of the motor 51 based on the detection value received from the sensor 58 and the drive pulse of the motor 51.

[0028] The control device 10 monitors the load on the motor 51. The control device 10 controls the drive current value of the motor 51 based on the load on the motor 51. In this manner, in the present embodiment, a closed-loop stepping system is adopted for the drive control of the motor 51.

[0029] When a reaction force is generated by contact between the nozzle head 621 and the tip 71 held by the tip holder 7, the control device 10 increases the torque of the motor 51 by increasing the drive current value. This generates a mounting force for mounting the tip holder 7 on the nozzle head 621 against the reaction force.

[0030] In this manner, when the nozzle head 621 and the tip 71 come into contact with each other, the control device 10 applies a load to the tip 71, thereby attaching the tip 71 to the nozzle head 621. Therefore, the load on the motor 51 becomes large when the tip 71 is attached to the nozzle head 621.

[0031] If too much load is applied to the tip 71 when mounting the tip 71 on the nozzle head 621, the tip 71 may sink into the tip holder 7 or a large force may be required to remove the tip 71. Therefore, when mounting the tip 71 on the nozzle head 621, it is important to limit the load to an appropriate level and to keep the mounting force generated between one tip 71 and the corresponding nozzle head 621 within a certain range.

[0032] The number of tips mounted on the tip holder 7 varies depending on the contents of the pretreatment, etc. For example, when multiple specimens are processed using a 96-plate, the user may mount a large number of tips 71 on the tip holder 7 to reduce time. In this case, the dispenser 6 moves to the tip holder 7, and each of the large number of tips 71 held in each area of ​​the tip holder 7 is attached to the corresponding nozzle head 621. Alternatively, the number of tips 71 mounted on the tip holder 7 may be small depending on the contents of the pretreatment, etc.

[0033] Hereinafter, the number of chips 71 mounted (held) on the chip holder 7 will be referred to as the "number of mounted chips."

[0034] When the number of mounted chips is large, the reaction force that the dispensing body 6 receives from the chip holder 7 is larger than when the number of mounted chips is small. Therefore, in order to keep the mounting force generated between one chip 71 and the corresponding nozzle head 621 constant regardless of the number of mounted chips, it is necessary to make the upper limit value of the drive current flowing through the motor 51 different between when the number of mounted chips is large and when the number of mounted chips is small.

[0035] Therefore, in this embodiment, the control device 10 is configured to change the upper limit of the drive current flowing to the motor 51 based on the number of mounted chips. When a reaction force is generated by contact between the nozzle head 621 and the chip 71, the control device 10 controls the driver 59 so that a drive current that does not exceed the upper limit set according to the number of mounted chips flows to the motor 51. According to this embodiment, when a reaction force is generated by contact between the nozzle head 621 and the chip 71 held by the chip holder 7, the mounting force is limited by the upper limit. As a result, the mounting force generated between one chip 71 and the corresponding nozzle head 621 can be kept within a certain range regardless of the number of mounted chips.

[0036] <Processing of the control device 10> 3 is a flowchart for explaining the processing procedure of the control device 10 included in the dispensing device 1. The contents of the processing of the control device 10 will be explained below according to the flowchart.

[0037] First, the control device 10 accepts the number of mounted chips input by the user (step S1). For example, the user inputs the number of chips 71 mounted on the chip holder 7 using the personal computer 40. The control device 10 communicates with the personal computer 40 via the communication interface 13 and acquires the number of mounted chips input by the user.

[0038] The control device 10 may obtain the number of mounted chips without relying on user input. For example, a camera for photographing the chip holder 7 arranged on the table 8 may be provided in the dispensing body 6. In this case, the control device 10 may obtain the number of mounted chips based on an image captured by the camera.

[0039] Alternatively, a weight sensor may be provided on the table 8. In this case, the control device 10 may obtain the number of mounted chips based on the detection value of the weight sensor. For example, the control device 10 may store in the memory 12 the weight of a chip holder 7 that does not hold a chip 71 and the weight of one chip 71, and calculate the number of mounted chips based on the detection value of the weight sensor and the value stored in the memory 12.

[0040] Next, the control device 10 judges whether the number of mounted chips is equal to or greater than a reference number (step S2). If the number of mounted chips is equal to or greater than the reference number, the control device 10 sets an upper limit value of the drive current of the motor 51 based on the number of mounted chips (step S3). More specifically, the control device 10 calculates the upper limit value according to the number of mounted chips using the equation "upper limit value=Imax×(number of mounted chips / maximum number of mounted chips)".

[0041] Here, "Imax" is the upper limit of the drive current of the motor 51 corresponding to the "maximum number of chips mounted" on the chip holder 7. For example, when a chip holder 7 compatible with 96 plates is used, the maximum number of chips 71 mounted on the chip holder 7 is 96. In this case, "Imax" is the optimum upper limit when 96 chips 71 are mounted on the chip holder 7.

[0042] The designer determines "Imax" through testing or the like. The determined "Imax" is stored in memory 12 of control device 10. In the equation, "number of mounted chips" is the number of mounted chips accepted in step S1, i.e., the number of chips 71 actually mounted on chip holder 7. Using "Imax" stored in memory 12, control device 10 sets an upper limit value according to the ratio of "number of mounted chips" to "maximum number of mounted chips."

[0043] In this way, the control device 10 calculates the upper limit of the drive current corresponding to the number of mounted chips using the maximum number of mounted chips, the actual number of mounted chips, and "Imax." The designer may store the upper limit value for each number of mounted chips in the memory 12. In this case, the control device 10 may determine the upper limit value by retrieving the upper limit value corresponding to the number of mounted chips from the memory 12. However, the amount of data stored in the memory 12 can be reduced by adopting a method of calculating the upper limit value corresponding to the number of mounted chips based on "Imax" compared to adopting a method of retrieving the upper limit value corresponding to the number of mounted chips from the memory 12.

[0044] If the number of mounted chips is not equal to or greater than the reference number, the control device 10 sets the upper limit of the drive current of the motor 51 to the minimum reference value (step S4). As described above, the control device 10 sets the upper limit of the drive current of the motor 51 according to the ratio of the number of mounted chips to the maximum number of mounted chips. However, if the number of mounted chips is extremely small, setting the upper limit according to the ratio of the number of mounted chips to the maximum number of mounted chips may not ensure the minimum torque required to drive the motor 51. Therefore, if the number of mounted chips is not equal to or greater than the reference number, the control device 10 sets the upper limit to the minimum reference value. For example, if a chip holder 7 compatible with 96 plates is adopted, the reference number may be set to 9. The designer determines the minimum reference value through testing or the like.

[0045] After setting the upper limit of the drive current of the motor 51 in step S3 or step S4, the control device 10 receives an instruction for the mounting process (step S5). The control device 10 may receive an instruction for the mounting process from a user, for example, via the personal computer 40. Next, the control device 10 drives the motor 51 with a drive current that does not exceed the upper limit set in step S3 or step S4 (step S6). This causes the dispensing body 6 to move toward the tip holder 7.

[0046] Next, the control device 10 acquires a detection value from the sensor 58 attached to the motor 51 (step S7). Next, the control device 10 calculates the load on the motor 51 using the detection value acquired from the sensor 58 (step S8). Next, the control device 10 determines whether the load on the motor 51 exceeds a reference value (step S9). Here, the reference value is assumed to be a large load that may cause an abnormality in the driving of the motor 51. The reference value is stored in the memory 12 of the control device 10.

[0047] When the load on the motor 51 exceeds the reference value, the control device 10 stops driving the motor 51 (step S12). This makes it possible to prevent equipment including the motor 51 from breaking down due to an unexpected load. When the load on the motor 51 does not exceed the reference value, the control device 10 adjusts the drive current value of the motor 51 according to the load so as not to exceed the upper limit value set in step S3 or step S4 (step S10).

[0048] Next, the control device 10 judges whether or not a condition for terminating the mounting process is satisfied (step S11). The control device 10 judges that the condition for terminating the mounting process is satisfied when the tip 71 is attached to the nozzle head 621. The control device 10 may judge that the condition for terminating the mounting process is satisfied, for example, when the dispensing body 6 moves in the Z-axis direction to a position where the tip 71 is attached to the nozzle head 621.

[0049] If the condition for ending the mounting process is not met, the control device 10 returns the process to step S6. Thereafter, the control device 10 repeats the processes of steps S6 to S11. Eventually, when the nozzle head 621 comes into contact with the tip 71 held by the tip holder 7, the load on the motor increases. At this time, the control device 10 increases the drive current value of the motor in step S10.

[0050] However, the control device 10 adjusts the drive current value so as not to exceed the upper limit value set in step S3 or step S4. As a result, regardless of the number of chips mounted, the chips 71 are mounted on the nozzle head 621 with an appropriate mounting force. Thereafter, in step S11, the control device 10 determines that the condition for ending the mounting process is met, and ends the process based on this flowchart.

[0051] <Outline of the pretreatment device 100 including the dispensing device 1> The pretreatment device may include a device configuration equivalent to that of the dispensing device 1 described above. An example of a pretreatment device including a device configuration equivalent to that of the dispensing device 1 will be described with reference to Fig. 4. Fig. 4 is a perspective view showing a schematic configuration of a pretreatment device 100.

[0052] The pretreatment device 100 includes pretreatment mechanisms such as a centrifugation mechanism, a liquid removal mechanism, a reagent supply mechanism, a stirring mechanism, and an extraction mechanism. The pretreatment device 100 operates these mechanisms to perform pretreatment on the liquid sample contained in the sample container. As shown in FIG. 4, a plurality of modules 80 are arranged in a matrix on the bottom surface of the pretreatment device 100. Each of the plurality of modules 80 includes a pretreatment mechanism. At least one of the plurality of modules 80 functions as the table 8 shown in FIG. 1. FIG. 4 shows an example in which the tip holder 7 shown in FIG. 1 is arranged in one of the plurality of modules 80.

[0053] A transport mechanism 130 is provided above the module 80. The transport mechanism 130 includes an X-axis guide rail 131 extending in the X-axis direction, a Y-axis guide rail 132 extending in the Y-axis direction, and a Z-axis guide rail 133 extending in the Z-axis direction.

[0054] The X-axis guide rail 131 is attached to the upper part of the pretreatment device 100. The Y-axis guide rail 132 is attached to the X-axis guide rail 131 so as to be movable in the X-axis direction along the X-axis guide rail 131. The Z-axis guide rail 133 is attached to the Y-axis guide rail 132 so as to be movable in the Y-axis direction along the Y-axis guide rail 132. The dispenser 6a is attached to the Z-axis guide rail 133 so as to be movable in the Z-axis direction.

[0055] 1, the dispensing body 6a includes a nozzle holder 61 and a plurality of nozzles 62. The dispensing body 6a further includes arms 63a and 63b.

[0056] The transport mechanism 130 further includes a plurality of drive mechanisms (not shown). The plurality of drive mechanisms move the Y-axis guide rail 132 in the X-axis direction, move the Z-axis guide rail 133 in the Y-axis direction, and move the dispenser 6a in the Z-axis direction. This causes the dispenser 6a, to which the arms 63a and 63b are attached, to move in the three axial directions of the X-axis, Y-axis, and Z-axis within the pretreatment device 100.

[0057] The pretreatment device 100 has the same circuit configuration as the moving mechanism 5 and the control device 10 shown in Fig. 2. In Fig. 4, the illustration of the configuration corresponding to these circuit configurations is omitted.

[0058] The Z-axis guide rail 133 functions as a part of the moving mechanism 5 shown in Fig. 1. The dispenser 6a moves in the positive direction of the Z-axis by being driven by the motor, and attaches the tip 71 held by the tip holder 7 to the tip (nozzle header) of the corresponding nozzle 62. A control device mounted on the pretreatment device 100 controls the motor according to a processing procedure similar to that shown in the flowchart of Fig. 3.

[0059] The dispenser 6a equipped with the tip 71 aspirates the liquid sample to be pre-treated and dispenses it into a sample container arranged in one of the multiple modules 80. The dispenser 6a then grips the sample container with the arms 63a, 63b and transports the sample container to a position in the module 80 according to the purpose of the pre-treatment. In the destination module 80, the sample in the sample container 80 is pre-treated.

[0060] As described above, the pretreatment device 100 includes the same device configuration as the dispensing device 1. In other words, the pretreatment device 100 is configured to include a dispensing device that performs the same functions as the dispensing device 1.

[0061] According to the dispensing device 1 and pretreatment device 100 of this embodiment, an upper limit of the driving current of the motor for moving the dispenser 6 (6a) is set based on the number of tips 71 held in the tip holder 7. Therefore, the load applied to the tips 71 when attaching the tips 71 to the nozzle head 621 can be appropriately controlled according to the number of tips 71 held in the tip holder 7.

[0062] For example, a user may mount a small number of tips 71 on the tip holder 7 in order to process a small amount of sample. Even in such a case, the tips 71 are mounted on the nozzle head 621 with the same mounting force as when a large number of tips 71 are mounted on the tip holder 7. This makes it possible to prevent defects such as the tip 71 becoming embedded in the tip holder 7. Therefore, according to this embodiment, the tip 71 can be reliably mounted on the nozzle head 621, and as a result, damage to the device body and consumables (the tips 71 and the tip holder 7) can be prevented.

[0063] Furthermore, according to the dispensing device 1 and pretreatment device 100 of this embodiment, the degree to which tips 71 are attached to the nozzle head 621 can be made uniform regardless of the number of tips mounted. Therefore, according to this embodiment, the amount of liquid dispensed when dispensing with tips 71 attached to the nozzle head 621 can be made uniform.

[0064] Furthermore, in this embodiment, the control device 10 sets an upper limit value of the drive current, and then drives the motor 51 to move the dispensing body 6 toward the tip holder 7. Therefore, even if the dispensing body 6 comes into contact with an obstacle such as a user or a component while moving the dispensing body 6 toward the tip holder 7, the maximum torque of the motor 51 can prevent the dispensing body 6 from colliding with the obstacle. As a result, the user and the component that erroneously come into contact with the dispensing body 6 can be protected.

[0065] [Aspects] It will be understood by those skilled in the art that the above-described embodiment and its modified examples are specific examples of the following aspects.

[0066] (Item 1) A dispensing device according to one embodiment is a dispensing device that aspirates and dispenses liquid via a tip, and includes a dispensing body in which multiple nozzles are arranged, a table in which a tip holder with multiple areas for holding tips is arranged, a moving mechanism that moves the dispensing body to the tip holder arranged on the table, thereby attaching a tip held at a position corresponding to one of the multiple nozzles to the corresponding nozzle, and a control device that controls the moving mechanism, wherein the moving mechanism includes a motor and a sensor that detects the driving status of the motor, and the control device identifies the load on the motor based on the detection value of the sensor and adjusts the value of the motor's driving current in accordance with the identified load, and the control device sets an upper limit value of the driving current based on the number of tips held in the tip holder, and adjusts the value of the driving current so as not to exceed the upper limit value.

[0067] According to the dispensing device described in paragraph 1, the load applied to the tip when attaching the tip to the nozzle can be appropriately controlled according to the number of tips held in the tip holder.

[0068] (Item 2) In the dispensing device described in item 1, the control device stops driving the motor when the load on the motor exceeds a reference value.

[0069] According to the dispensing device described in item 2, it is possible to prevent equipment including a motor from breaking down due to an unexpected load.

[0070] (Clause 3) In the dispensing device described in clause 1 or clause 2, the control device has a memory in which data for determining an upper limit value is stored, the data being an upper limit value of the drive current corresponding to the maximum number of tips that can be held in the tip holder, and the control device calculates the upper limit value of the drive current corresponding to the number of tips held in the tip holder using the maximum number, the number of tips held in the tip holder, and the data.

[0071] According to the dispensing device described in item 3, the amount of data stored in the memory can be reduced compared to a case in which an upper limit value according to the number of tips is stored in the memory.

[0072] (4) In the dispensing device described in any one of paragraphs 1 to 3, the control device includes a communication interface that receives user data input by a user, and the control device identifies the number of tips held in the tip holder based on the user data.

[0073] According to the dispensing device described in paragraph 4, a user can use the communication interface to input the number of tips held in the tip holder to the dispensing device.

[0074] (Item 5) A pretreatment device includes the dispensing device according to any one of items 1 to 4. According to the pretreatment device described in item 5, the load applied to the tip when mounting the tip on the nozzle can be appropriately controlled according to the number of tips held in the tip holder.

[0075] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the description of the embodiments described above, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0076] 1 Dispensing device, 2 Housing, 5 Moving mechanism, 6, 6a Dispensing body, 7 Tip holder, 8 Table, 10 Control device, 11 Processor, 12 Memory, 13 Communication interface, 40 Personal computer, 51 Motor, 52 Motor shaft, 53a, 53b Pulley, 54 Belt, 55 Support shaft, 56 Plate, 58 Sensor, 59 Driver, 61 Nozzle holder, 62 Nozzle, 63a, 63b Arm, 71 Tip, 80 Module, 100 Pretreatment device, 130 Conveying mechanism, 131 X-axis guide rail, 132 Y-axis guide rail, 133 Z-axis guide rail, 551 Screw thread, 591 Motor circuit, 561 Connection portion, 592 Signal processing circuit, 621 Nozzle head.

Claims

1. A dispensing device that aspirates and dispenses liquid through a tip, A dispenser body having a plurality of nozzles arranged thereon; a table on which a chip holder having a plurality of areas for holding the chip is placed; a moving mechanism for moving the dispenser to the tip holder arranged on the table, thereby attaching the tip held at a position corresponding to any one of the plurality of nozzles to the corresponding nozzle; A control device for controlling the moving mechanism, The moving mechanism includes: A motor; a sensor for detecting a driving state of the motor; the control device specifies a load of the motor based on the detection value of the sensor, and adjusts a value of a drive current of the motor in accordance with the specified load; The control device sets an upper limit value of the drive current based on the number of the tips held in the tip holder, and adjusts the value of the drive current so that it does not exceed the upper limit value.

2. The dispensing device according to claim 1 , wherein the control device stops driving the motor when a load on the motor exceeds a reference value.

3. The control device has a memory in which data for determining the upper limit value is stored, the data is an upper limit of the drive current corresponding to a maximum number of the tips that can be held by the tip holder, The dispensing device of claim 1 or claim 2, wherein the control device calculates an upper limit value of the drive current corresponding to the number of tips held in the tip holder using the maximum number, the number of tips held in the tip holder, and the data.

4. The control device includes a communication interface for receiving user data input by a user; The dispensing device according to claim 1 , wherein the control device identifies the number of the tips held in the tip holder based on the user data.

5. A pretreatment device comprising the dispensing device according to claim 1 or 2.

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