Dispensation device

Abstract

To provide a dispensation device capable of dispensing a sample onto a microplate from a centrifugal settling tube by simultaneously changing pitches of an X-direction of each nozzle and a Y-direction crossing with the X-direction with a simple operation.SOLUTION: A dispensation device includes: a plurality of nozzles Nd respectively arranged in an X-direction and a Y-direction on an arrangement surface PL and extending in a Z-direction; a plurality of first connection members 11 extending in the Y-direction and movably connecting the nozzles Nd in the X-direction; a plurality of second connection members 12 extending in the X-direction and movably connecting the nozzles Nd in the Y-direction; a plurality of belts 15 respectively connected with at least one of the first connection member 11 or one of the second connection member 12 so as to be movable along the periphery of the arrangement surface PL; first and second gear boxes 21, 22 for respectively and individually moving the respective belts 15; and a control section 60 for controlling the first and second gear boxes 21, 22 so as to allow pitches of the nozzles Nd in the X-direction and the Y-direction to be one of the pitches between the first pitch and the second pitch.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a dispensing device that dispenses samples by attaching tips to a plurality of nozzles. [Background technology]

[0002] Dispensing devices that simultaneously aspirate and dispense multiple samples are in practical use (see, for example, Patent Document 1). Dispensing devices that can change the pitch of the nozzles that aspirate the samples are also used to simultaneously aspirate samples filled in multiple centrifuge tubes and drop them onto microplates with different vertical and horizontal pitches. A microplate refers to a plate on which multiple recesses that hold small amounts of sample are formed.

[0003] For example, if samples are to be simultaneously aspirated from multiple centrifuge tubes arranged at a vertical and horizontal pitch of 38 mm, and the samples are to be dropped into each of the recesses of a microplate arranged at a vertical and horizontal pitch of 9 mm, the nozzle pitch must be changed from 38 mm to 9 mm.

[0004] Conventionally, after each tip attached to a plurality of nozzles arranged in an orderly manner with a pitch of 38 mm in the vertical and horizontal directions aspirates a sample from a centrifuge tube, the pitch in the first direction (e.g., the vertical direction) is changed from 38 mm to 9 mm. The sample is then transferred to a container, and the pitch in the second direction (e.g., the horizontal direction) is changed from 38 mm to 9 mm. Furthermore, the sample is aspirated from the container whose vertical and horizontal pitches have both been changed to 9 mm, and dropped into the recesses of a microplate. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2013-250191 A Summary of the Invention [Problem to be solved by the invention]

[0006] As described above, conventional dispensing devices require a two-step operation of first changing the pitch of the nozzle equipped with a tip vertically and then changing it horizontally again, which results in time-consuming operations and complicated control.

[0007] The present disclosure has been made to solve such conventional problems, and has an object to provide a dispensing device that can dispense samples from centrifuge tubes to a microplate by simultaneously changing the pitch of each nozzle in the X direction and the Y direction intersecting the X direction with a simple operation. [Means for solving the problem]

[0008] In order to achieve the above object, a dispensing device according to the present disclosure includes: a plurality of nozzles arranged in an X direction on an arrangement surface and in a Y direction intersecting the X direction, the nozzles extending in a normal direction to the arrangement surface; a plurality of first connecting members extending in the Y direction and connecting the plurality of nozzles movably in the X direction; a plurality of second connecting members extending in the X direction and connecting the plurality of nozzles movably in the Y direction; a plurality of belts connected to at least one of a first connecting member and a second connecting member and movable along a periphery of the arrangement surface; a moving mechanism that moves each of the belts individually; and a control unit that controls the moving mechanism so that the pitch of each nozzle in the X direction and the Y direction is any pitch between a first pitch and a second pitch smaller than the first pitch. Effect of the Invention

[0009] According to the present disclosure, it is possible to dispense a sample from a centrifuge tube to a microplate by simultaneously changing the pitch of each nozzle in the X direction and the Y direction intersecting the X direction with a simple operation. [Brief description of the drawings]

[0010] [Figure 1]FIG. 1 is an external view of a dispensing device according to an embodiment, showing a state in which the nozzles are arranged at a pitch of 9 mm. [Diagram 2] FIG. 2 is an external view of the dispensing device according to the embodiment, showing the state in which the nozzles are arranged at a pitch of 38 mm. [Diagram 3] FIG. 3 is a perspective view of a centrifuge tube rack housing (12×8) centrifuge tubes. [Figure 4] FIG. 4 is a perspective view of a microplate. [Diagram 5] FIG. 5 is an explanatory diagram that shows a schematic arrangement of the (12×8) nozzles, the first connecting members, and the second connecting members. [Figure 6] FIG. 6 is a perspective view of the first gear box 21 as viewed from the rear side. [Figure 7] FIG. 7 is a perspective view of the first gear box 21 as viewed from the front side. [Figure 8] FIG. 8 is a perspective view of the second gear box 22 as viewed from the rear side. [Figure 9] FIG. 9 is a perspective view showing the arrangement of the nozzles when the nozzles are arranged at a pitch of 9 mm. [Figure 10] FIG. 10 is an explanatory diagram showing the arrangement of the nozzles when the nozzles are arranged at a pitch of 9 mm, where (a) is a zenith view and (b) is a front view. [Figure 11] FIG. 11 is an explanatory diagram showing the arrangement of the nozzles when the nozzles are arranged at a pitch of 9 mm, and shows the state in which the tips have been removed. [Figure 12] FIG. 12 is a perspective view showing the configuration of a drive unit of the tip detachment mechanism. [Figure 13] FIG. 13 is an explanatory diagram showing the detailed configuration of the tip detachment mechanism, and shows the state before the tip is detached. [Figure 14] FIG. 14 is an explanatory diagram showing the detailed configuration of the tip detachment mechanism, and shows the state after the tip has been detached. [Figure 15] FIG. 15 is an explanatory diagram showing the rocking plate in detail in FIG. [Figure 16] FIG. 16 is an explanatory diagram showing the positional relationship between the lift plate, the nozzle, and the sleeve. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment will be described with reference to the drawings. Fig. 1 and Fig. 2 are external views showing the configuration of a dispensing device 100 according to an embodiment, in which Fig. 1 shows a case where the pitch of the nozzles Nd is 9 mm (second pitch), and Fig. 2 shows a case where the pitch of the nozzles Nd is 38 mm (first pitch). Fig. 3 is a perspective view showing a schematic configuration of a centrifuge tube rack 91 in which a plurality of centrifuge tubes 92 are accommodated at a pitch of 38 mm. Fig. 4 is a perspective view showing a schematic configuration of a microplate 95 in which recesses 96 are formed at a pitch of 9 mm. Fig. 5 is an explanatory view showing a schematic arrangement of each nozzle Nd, each first connecting member 11, and each second connecting member 12 (details will be described later) mounted on the dispensing device 100.

[0012] First, referring to Fig. 3 and Fig. 4, the change in the pitch of the nozzle Nd will be described. A "nozzle" refers to a tube with a tip Ch attached to its tip for aspirating and discharging a sample. As shown in Fig. 3, a total of 96 centrifuge tubes 92 are stored in the centrifuge tube rack 91, 12 in the X direction and 8 in the Y direction. The Y direction is perpendicular to the X direction. In other words, the X direction and the Y direction intersect. The centrifuge tubes 92 are tubes into which, for example, 50 mL of sample (e.g., test solution) can be injected, and are stored in the centrifuge tube rack 91 at a pitch of 38 mm in both the X direction and the Y direction.

[0013] As shown in Fig. 4, a microplate 95 has 12 recesses 96 in the X direction and 8 recesses 96 in the Y direction, totaling 96 recesses. The recesses 96 are recessed and can accommodate a small amount of sample. The recesses 96 are arranged at a pitch of 9 mm in both the X direction and the Y direction. In this embodiment, an example in which the pitch is switched to either a 38 mm pitch (first pitch) or a 9 mm pitch (second pitch) will be described, but it is also possible to switch to any pitch between the first pitch and the second pitch.

[0014] The dispensing device 100 according to this embodiment has a tip Ch (see FIGS. 1 and 2) attached to the tip of each of a total of 96 nozzles Nd, 12 in the X direction and 8 in the Y direction, and aspirates a sample filled in a centrifuge tube 92 (see FIG. 3) using each tip Ch. Furthermore, the sample aspirated by each tip Ch is dripped little by little into recesses 96 (see FIG. 4) of a plurality of microplates 95. The number of nozzles Nd is not limited to (12×8) and can be any number.

[0015] The 96 nozzles Nd mounted on the dispensing device 100 are arranged at a pitch of 9 mm, and a tip Ch is attached to the tip of each nozzle Nd. Thereafter, the nozzles Nd are arranged at a pitch of 38 mm in both the X and Y directions, and samples are aspirated from each centrifuge tube 92. Thereafter, the 96 nozzles Nd are changed to a pitch of 9 mm in both the X and Y directions, and a nozzle head (not shown) that fixes each nozzle Nd is moved above the microplate 95, and the sample aspirated by each tip Ch is dropped into each recess 96 formed in the microplate 95. Note that the movement of the nozzle head is a well-known technique, so a description thereof will be omitted.

[0016] The dispensing device 100 according to this embodiment changes the pitch in the X and Y directions in a single operation, instead of in two steps as in the conventional method, and thereby quickly and easily performs an operation of aspirating the sample filled in each centrifuge tube 92 (38 mm pitch) and dropping it into each recess 96 (9 mm pitch) of the microplate 95. Alternatively, an operation of aspirating the sample filled in each recess 96 and dropping it into each centrifuge tube 92 is performed. This will be described in detail below.

[0017] 1 and 2, the dispensing device 100 according to this embodiment includes four sidewall members 10A, 10B, 10C, and 10D, and two gear boxes (moving mechanisms) 21 and 22 arranged at both ends of the sidewall member 10A. A tip removal mechanism 50 is installed below the sidewall member 10B. Also, the dispensing device 100 includes a control unit 60 that controls the driving of the gear boxes 21 and 22.

[0018] The control unit 60 controls the driving of motors 23A, 23B (described later) mounted on the first and second gear boxes 21, 22. The control unit 60 controls the driving of a motor 51 (described later) mounted on the tip removal mechanism 50.

[0019] The sidewall members 10A and 10C are arranged in parallel, and the sidewall members 10B and 10D are arranged in parallel. The portion surrounded by the sidewall members 10A to 10D (the XY plane shown in Figs. 1 and 2) is the arrangement surface PL on which the nozzles Nd are arranged. That is, the nozzles Nd that dispense the sample extend in a direction perpendicular to the arrangement surface PL (normal direction; Z direction shown in Figs. 1 and 2). That is, the nozzles Nd are arranged in a plurality of directions on the arrangement surface PL in the X direction and in the Y direction intersecting the X direction, and extend in the normal direction of the arrangement surface PL.

[0020] Twelve first connecting members 11-01 to 11-12 are arranged so as to span between the sidewall members 10A and 10C (see FIG. 5). Each of the first connecting members 11-01 to 11-12 is slidable along the sidewall members 10A, 10C. That is, each of the first connecting members 11-01 to 11-12 extending in the Y direction is movable in the X direction. That is, the first connecting members 11-01 to 11-12 extend in the Y direction and connect the multiple nozzles Nd to be movable in the X direction.

[0021] Eight second connecting members 12-01 to 12-08 are disposed between the side wall members 10B and 10D. Each of the second connecting members 12-01 to 12-08 is slidable along the side wall members 10B, 10D. That is, each of the second connecting members 12-01 to 12-08 extending in the X direction is movable in the Y direction. That is, the second connecting members 12-01 to 12-08 extend in the X direction and connect the multiple nozzles Nd to be movable in the Y direction.

[0022] In the following description, when each first connecting member is specified, it will be indicated with a suffix, such as "first connecting member 11-01," and when the first connecting members are not specified or are referred to collectively, they will be indicated without a suffix, such as "first connecting member 11." The same applies to the suffixes of the reference symbols indicating the second connecting member 12 and each member described later.

[0023] As shown in Fig. 5, nozzles Nd are provided at each of the positions where the first connecting member 11 and the second connecting member 12 intersect. Fig. 5 shows how the nozzles Nd are arranged at a pitch (second pitch) of 9 mm. A total of 96 nozzles Nd are provided, with 12 rows in the X direction and 8 rows in the Y direction.

[0024] In the following, the nozzle Nd installed at the position where the first connecting member 11-x and the second connecting member 12-y shown in Fig. 5 intersect will be indicated as "Ndx-y." Specifically, the nozzle Nd01-01 is installed at the position where the first connecting member 11-01 and the second connecting member 12-01 intersect, and the nozzle Nd12-08 is installed at the position where the first connecting member 11-12 and the second connecting member 12-08 intersect.

[0025] Therefore, the pitch of the nozzles Nd in the X direction can be changed by sliding each of the first connecting members 11 in the X direction. The pitch of the nozzles Nd in the Y direction can be changed by sliding each of the second connecting members 12 in the Y direction.

[0026] As shown in FIGS. 1 and 2, four belt guides 14A to 14D are provided at the corners where the side wall members 10A to 10D are connected.

[0027] Twelve belts 15 (15-01 to 15-12) are stretched across the belt guides 14A to 14D.

[0028] Six of the twelve belts 15, namely, belts 15-01, 15-03, 15-05, 15-07, 15-09, and 15-11, are connected to one ends of first connecting members 11-01, 11-02, 11-03, 11-04, 11-05, and 11-06 in the sidewall member 10C, respectively. In addition, four of the six belts, namely, belts 15-05, 15-07, 15-09, and 15-11, are connected to one ends of second connecting members 12-01, 12-02, 12-03, and 12-04 in the sidewall member 10B, respectively.

[0029] Furthermore, the other six belts 15-12, 15-10, 15-08, 15-06, 15-04, and 15-02 are connected to the other ends of the first connecting members 11-01, 11-02, 11-03, 11-04, 11-05, and 11-06 in the sidewall member 10A. Also, four of the other six belts, 15-12, 15-10, 15-08, and 15-06, are connected to the other ends of the second connecting members 12-01, 12-02, 12-03, and 12-04 in the sidewall member 10D.

[0030] The remaining six belts 15-02, 15-04, 15-06, 15-08, 15-10, and 15-12 of the twelve belts 15 are connected to one ends of the first connecting members 11-07, 11-08, 11-09, 11-10, 11-11, and 11-12 in the sidewall member 10C. Furthermore, the remaining four belts 15-02, 15-04, 15-06, and 15-08 are connected to one ends of the second connecting members 12-05, 12-06, 12-07, and 12-08 in the sidewall member 10B.

[0031] The six belts 15-11, 15-09, 15-07, 15-05, 15-03, and 15-01 are connected to the other ends of the first connecting members 11-07, 11-08, 11-09, 11-10, 11-11, and 11-12, respectively, in the sidewall member 10A. The four belts 15-05, 15-07, 15-09, and 15-11 of the six belts are connected to the other ends of the second connecting members 12-05, 12-06, 12-07, and 12-08, respectively, in the sidewall member 10D.

[0032] That is, the belt 15 is connected to at least one of the first connecting member 11 and the second connecting member 12, and is movable along the periphery of the placement surface PL.

[0033] With the above configuration, when the six belts 15-01, 15-03, 15-05, 15-07, 15-09, and 15-11 are slid in the direction of the arrow a1 (clockwise in plan view) shown in Fig. 1, and the other six belts 15-02, 15-04, 15-06, 15-08, 15-10, and 15-12 are slid in the direction of the arrow a2 (counterclockwise in plan view) shown in Fig. 1, the six first connecting members 11-01 to 11-06 (see Fig. 5) move in the "-X" direction in Fig. 1 and Fig. 5. Also, the four second connecting members 12-01 to 12-04 move in the "-Y" direction.

[0034] Moreover, the other six first connecting members 11-07 to 11-12 (see Fig. 5) move in the "X" direction in Fig. 1 and Fig. 5. Moreover, the other four second connecting members 12-05 to 12-08 move in the "Y" direction.

[0035] Furthermore, by adjusting the amount of movement of the six belts 15-01, 15-03, 15-05, 15-07, 15-09, and 15-11, the amount of movement of each of the first connecting members 11-01 to 11-06 in the "-X" direction and the amount of movement of each of the second connecting members 12-01 to 12-04 in the "-Y" direction can be adjusted, and the pitch can be expanded at equal intervals.

[0036] Similarly, by adjusting the amount of movement of the other six belts 15-02, 15-04, 15-06, 15-08, 15-10, and 15-12, the amount of movement of each of the first connecting members 11-07 to 11-12 in the "X" direction and the amount of movement of each of the second connecting members 12-05 to 12-08 in the "Y" direction can be adjusted, and the pitch can be expanded at equal intervals. That is, the pitch of each nozzle Nd in the X direction and the Y direction can be expanded at equal intervals. This will be described in detail below.

[0037] Of the six belts 15 (15-01, 15-03, 15-05, 15-07, 15-09, 15-11), belt 15-01 is moved by "11*d" (where d is the unit distance) in the direction of arrow a1 shown in Figure 1, belt 15-03 is moved by "9*d", belt 15-05 is moved by "7*d", belt 15-07 is moved by "5*d", belt 15-09 is moved by "3*d", and belt 15-11 is moved by "d" in the direction of arrow a1.

[0038] Furthermore, of the other six belts 15 (15-02, 15-04, 15-06, 15-08, 15-10, 15-12), belt 15-02 is moved by "d" in the direction of arrow a2 shown in FIG. 1, belt 15-04 is moved by "3*d", belt 15-06 is moved by "5*d", belt 15-08 is moved by "7*d", belt 15-10 is moved by "9*d", and belt 15-12 is moved by "11*d" in the direction of arrow a2.

[0039] As the twelve belts 15 move, the six first connecting members 11-01 to 11-06 move in the -X direction in Figs. 1 and 5 at a ratio of 11:9:7:5:3:1, respectively. The other six first connecting members 11-07 to 11-12 move in the X direction in Figs. 1 and 5 at a ratio of 1:3:5:7:9:11, respectively. The four second connecting members 12-01 to 12-04 move in the -Y direction at a ratio of 7:5:3:1, respectively, and the other four second connecting members 12-05 to 12-08 move in the Y direction at a ratio of 1:3:5:7, respectively.

[0040] 5, the pitch of each of the 96 nozzles Nd (12×8=96) in the X and Y directions increases with the movement of the first connecting member 11 and the second connecting member 12. That is, it is possible to change the pitch of each of the nozzles Nd arranged in the X and Y directions from the second pitch (e.g., 9 mm) to the first pitch (e.g., 38 mm). Also, by performing the opposite operation to the above, it is possible to change the pitch of each of the nozzles Nd from the first pitch (e.g., 38 mm) to the second pitch (e.g., 9 mm).

[0041] [Explanation of the gearbox (movement mechanism)] Next, the first gear box 21 and the second gear box 22 will be described. The first gear box 21 controls the driving of the above-mentioned six belts 15 (15-01, 15-03, 15-05, 15-07, 15-09, 15-11). The second gear box 22 controls the driving of the other six belts 15 (15-02, 15-04, 15-06, 15-08, 15-10, 15-12).

[0042] FIG. 6 is a perspective view of the first gear box 21 seen from the rear side, FIG. 7 is a perspective view of the first gear box 21 seen from the front side, and FIG. 8 is a perspective view of the second gear box 22 seen from the rear side.

[0043] As shown in Figures 6 and 7, the first gear box 21 has a motor 23A (e.g., a stepping motor), a first axis K1A, a second axis K2A, a first drive shaft J1, a third drive shaft J3, a fifth drive shaft J5, a seventh drive shaft J7, a ninth drive shaft J9, and an eleventh drive shaft J11.

[0044] The first drive shaft J1 supports a first pulley P1. Similarly, the third drive shaft J3 supports a third pulley P3, the fifth drive shaft J5 supports a fifth pulley P5, the seventh drive shaft J7 supports a seventh pulley P7, the ninth drive shaft J9 supports a ninth pulley P9, and the eleventh drive shaft J11 supports an eleventh pulley P11.

[0045] The first pulley P1, the third pulley P3, the fifth pulley P5, the seventh pulley P7, the ninth pulley P9, and the eleventh pulley P11 are engaged with the belts 15-01, 15-03, 15-05, 15-07, 15-09, and 15-11 shown in Figures 1 and 2, respectively. Therefore, by rotating the drive shafts J1, J3, J5, J7, J9, and J11, the six belts 15 can be moved along the periphery of the arrangement plane PL shown in Figures 1 and 2. That is, they can be moved in the direction of the arrow a1 or a2 shown in Figure 1.

[0046] The output shaft of the motor 23A is connected to the fifth drive shaft J5 by a pulley and a belt. The fifth drive shaft J5 is connected to the first shaft K1A and the second shaft K2A by pulleys and belts, respectively. The first shaft K1A is connected to the first drive shaft J1 by a pulley and a belt. The second shaft K2A is connected to the third drive shaft J3, the seventh drive shaft J7, the ninth drive shaft J9, and the eleventh drive shaft J11 by pulleys and belts, respectively.

[0047] Therefore, although detailed description is omitted, it is possible to set the rotation angles of the drive shafts J1, J3, J5, J7, J9, and J11 relative to the rotation angle of the motor 23A by setting the gear ratio of the pulleys connecting the first shaft K1A, the second shaft K2A, and the drive shafts J1, J3, J5, J7, J9, and J11. For example, if the ratio of the rotation angles of the drive shafts J1, J3, J5, J7, J9, and J11 relative to the rotation angle of the motor 23A is set to 11:9:7:5:3:1, the six belts 15 engaged with the pulleys P1, P3, P5, P7, P9, and P11 can be moved at this ratio.

[0048] That is, the first gear box 21 (moving mechanism) includes a motor 23A, a plurality of drive shafts that rotate by different angles according to the gear ratio with respect to the rotation angle of the motor 23A, and a pulley provided on each drive shaft and engaged with the belt 15.

[0049] As shown in FIG. 8, the second gear box 22 includes a motor 23B (e.g., a stepping motor), a first shaft K1B, a second shaft K2B, a second drive shaft J2, a fourth drive shaft J4, a sixth drive shaft J6, an eighth drive shaft J8, a tenth drive shaft J10, and a twelfth drive shaft J12.

[0050] The second pulley P2 is journaled on the second drive shaft J2. Similarly, the fourth pulley P4 is journaled on the fourth drive shaft J4, the sixth pulley P6 is journaled on the sixth drive shaft J6, the eighth pulley P8 is journaled on the eighth drive shaft J8, the tenth pulley P10 is journaled on the tenth drive shaft J10, and the twelfth pulley P12 is journaled on the twelfth drive shaft J12. The second pulley P2, the fourth pulley P4, the sixth pulley P6, the eighth pulley P8, the tenth pulley P10, and the twelfth pulley P12 are engaged with the belts 15-02, 15-04, 15-06, 15-08, 15-10, and 15-12 shown in Figures 1 and 2, respectively. Therefore, by rotating each of the drive shafts J2, J4, J6, J8, J10, and J12, the six belts 15 can be moved along the periphery of the arrangement plane PL shown in Figures 1 and 2. That is, they can be moved in the direction of the arrow a1 or a2 shown in Figure 1.

[0051] The output shaft of the motor 23B is connected to the sixth drive shaft J6 by a pulley and a belt. The sixth drive shaft J6 is connected to the first shaft K1B and the second shaft K2B by pulleys and belts. The first shaft K1B is connected to the second drive shaft J2 by ​​a pulley and a belt. The second shaft K2B is connected to the fourth drive shaft J4, the eighth drive shaft J8, the tenth drive shaft J10, and the twelfth drive shaft J12 by pulleys and belts.

[0052] Therefore, although detailed description is omitted, it is possible to set the rotation angles of the drive shafts J2, J4, J6, J8, J10, and J12 relative to the rotation angle of the motor 23B by setting the gear ratios of the pulleys connecting the first shaft K1B, the second shaft K2B, and the drive shafts J2, J4, J6, J8, J10, and J12. For example, if the ratio of the rotation angles of the drive shafts J2, J4, J6, J8, J10, and J12 relative to the rotation angle of the motor 23B is set to 1:3:5:7:9:11, the six belts 15 engaged with the pulleys P2, P4, P6, P8, P10, and P12 can be moved at this ratio.

[0053] That is, the second gear box 22 (moving mechanism) includes a motor 23B, a plurality of drive shafts that rotate by different angles according to the gear ratio with respect to the rotation angle of the motor 23B, and a pulley provided on each drive shaft and engaged with the belt 15. That is, the first and second gear boxes 21, 22 function as moving mechanisms for moving each of the belts 15 individually.

[0054] Therefore, by controlling the control unit 60 to control the drive of the motors 23A, 23B mounted on the first gear box 21 and the second gear box, each of the twelve belts 15 can be slid along the periphery of the placement surface PL, and the pitch of each nozzle Nd can be changed between a first pitch (e.g., 38 mm) and a second pitch (e.g., 9 mm).

[0055] That is, the control unit 60 controls the movement mechanism (the first and second gear boxes 21, 22) so that the pitch of each nozzle Nd in the X and Y directions becomes the first pitch or a second pitch smaller than the first pitch. Also, the control unit 60 changes the pitch of each nozzle Nd in the X and Y directions to the first pitch or the second pitch by controlling the rotation angles of the motors 23A and 23B.

[0056] Next, the arrangement of the nozzles Nd when the pitch is 9 mm will be described. Fig. 9 is a perspective view showing the arrangement of the nozzles Nd when the pitch is 9 mm, Fig. 10(a) is a zenith view (only one row in the Y-axis direction is shown), and Fig. 10(b) is a front view. Fig. 11 is a front view showing the state in which the tip Ch is removed from the nozzle Nd.

[0057] As shown in Figures 9 to 11, a support portion 31 (31-1 to 31-8) that supports each nozzle Nd is connected above each nozzle Nd. Specifically, a support portion 31-1 is connected to each of the nozzles Nd01-01 to Nd12-01 (see Figure 5) arranged in the X direction, and a support portion 31-2 is connected to each of the nozzles Nd01-02 to Nd12-02. A support portion 31-3 is connected to each of the nozzles Nd01-03 to Nd12-03, and a support portion 31-4 is connected to each of the nozzles Nd01-04 to Nd12-04.

[0058] A support portion 31-5 is connected to each of the nozzles Nd01-05 to Nd12-05, and a support portion 31-6 is connected to each of the nozzles Nd01-06 to Nd12-06. A support portion 31-7 is connected to each of the nozzles Nd01-07 to Nd12-07, and a support portion 31-8 is connected to each of the nozzles Nd01-08 to Nd12-08. The supports 31 arranged in the X direction shown in FIG. 8 have the same shape.

[0059] As shown in Fig. 9, each support portion 31-1 is slidably connected to the second connecting member 12-01. Similarly, each support portion 31-2 is slidably connected to the second connecting member 12-02, each support portion 31-3 is slidably connected to the second connecting member 12-03, and each support portion 31-4 is slidably connected to the second connecting member 12-04. Each support portion 31-5 is slidably connected to the second connecting member 12-05, each support portion 31-6 is slidably connected to the second connecting member 12-06, each support portion 31-7 is slidably connected to the second connecting member 12-07, and each support portion 31-8 is slidably connected to the second connecting member 12-08.

[0060] A sleeve SL is mounted on the connection between each nozzle Nd and the tip Ch. The sleeve SL has a cylindrical shape. The sleeve SL is mounted on the tip of each nozzle Nd to cover each nozzle Nd and to abut against the tip Ch attached to each nozzle Nd.

[0061] Also, the lengths of the sleeves SL are slightly different. That is, in terms of the length in the Z direction, "sleeves SL1, SL8" are the longest, followed by "SL2, SL7", "SL3, SL6", and "SL4, SL5". That is, at least one of the sleeves SL mounted on each nozzle Nd has a different length in the normal direction compared to the other sleeves SL. By making the lengths of the sleeves SL different, it is possible to disperse the stress acting when removing the tip Ch attached to each nozzle Nd. Details will be described later.

[0062] The support parts 31-4 and 31-5 extend in a direction (for example, vertical direction) that is substantially the same as the longitudinal direction of the nozzle Nd. Therefore, the inner surface of the support part 31-4 (right side in the figure) and the inner surface of the support part 31-5 (left side in the figure) are in contact with each other on a substantially flat surface. The outer surface of the support part 31-4 (left side in the figure) and the outer surface of the support part 31-5 (right side in the figure) are provided with protrusion parts 31-4a and 31-5a that protrude outward, and each of the protrusion parts 31-4a and 31-5a is provided with a bearing 33a (locking member) having a roller. Each of the bearings 33a contacts the bottom surface of the second connecting members 12-04 and 12-05, respectively.

[0063] When the tip Ch is attached to the nozzle Nd, the lower end of the nozzle Nd needs to be pressed against the upper end of the tip Ch, so that an upward stress acts on each of the supports 31-1 to 31-8. A moment is generated in the counterclockwise direction in the front view of the support 31-4, and a moment is generated in the clockwise direction in the front view (X direction view) of the support 31-5. However, since one side surface (right side in the figure) of the support 31-4 and one side surface (left side in the figure) of the support 31-5 are in contact with each other, the two moments are offset. Furthermore, since each bearing 33a is in contact with the bottom surface of the second connecting members 12-04 and 12-05, the load acting on the support 31-4 and 31-5 is reduced. That is, when the tip Ch is attached, the moment and the load acting on each of the supports 31-4 and 31-5 can be reduced.

[0064] The support parts 31-3 and 31-6 have crank parts 31-3a and 31-6a that are bent outward. The upper surface of the crank part 31-3a is in contact with the lower surface of the protrusion part 31-4a formed on the support part 31-4. In addition, bearings 33b (locking members) having rollers are provided on the outer surface (left side in the figure) of the support part 31-3 and the outer surface (right side in the figure) of the support part 31-6. Each bearing 33b is in contact with the bottom surface of the second connecting members 12-03 and 12-06, respectively.

[0065] That is, at least one support part (e.g., support parts 31-4, 31-3) has a side surface facing the normal direction (Z direction) that is provided with a locking member (e.g., bearings 33a, 33b) that contacts the bottom surface of the second connecting member 12 and supports the stress in the normal direction.

[0066] When the tip Ch is attached to the nozzle Nd, an upward stress acts on the support parts 31-3 and 31-6. This stress is suppressed by the protrusions 31-4a and 31-5a, and further, each bearing 33b contacts the bottom surface of the second connecting members 12-03 and 12-06. Therefore, the moment and load acting on each support part 31-3 and 31-6 can be reduced.

[0067] The support parts 31-2 and 31-7 have crank parts 31-2a and 31-7a that are bent outward. The upper surface of the crank part 31-2a is in contact with the lower surface of the crank part 31-3a formed on the support part 31-3. The upper surface of the crank part 31-7a is in contact with the lower surface of the crank part 31-6a formed on the support part 31-6.

[0068] When the tip Ch is attached to the nozzle Nd, an upward stress acts on the supports 31-2 and 31-7. This stress is suppressed by the lower surfaces of the crank portions 31-3a and 31-6a of the supports 31-3 and 31-6. Therefore, the moment and load acting on the supports 31-2 and 31-7 can be reduced.

[0069] The support parts 31-1 and 31-8 have crank parts 31-1a and 31-8a that are bent outward. The upper surface of the crank part 31-1a is in contact with the lower surface of the crank part 31-2a formed on the support part 31-2. The upper surface of the crank part 31-8a is in contact with the lower surface of the crank part 31-7a formed on the support part 31-7.

[0070] When the tip Ch is attached to the nozzle Nd, an upward stress acts on the supports 31-1 and 31-8. This stress is suppressed by the lower surfaces of the crank portions 31-2a and 31-7a of the supports 31-2 and 31-7. Therefore, the moment and load acting on the supports 31-1 and 31-8 can be reduced.

[0071] That is, each nozzle Nd is connected to a support portion 31 that supports the nozzle Nd, and at least one of the support portions 31 has a crank portion that is bent in a crank shape. Also, when each nozzle Nd has the second pitch (a pitch of 9 mm), the upper surface of the crank portion of at least one support portion (e.g., support portion 31-2) is in contact with the lower surface of the crank portion of the support portion (e.g., support portion 31-3) of another nozzle Nd adjacent in the Y direction.

[0072] As described above, when each nozzle Nd is lowered to mount the (12×8) tips Ch stored in a tip rack (not shown) on each nozzle Nd, a vertical stress acts on each nozzle Nd during mounting, but the moment caused by this stress can be suppressed. Therefore, the load applied to the nozzle head (not shown) that holds each nozzle Nd can be distributed.

[0073] For example, if the load when attaching a tip Ch to one nozzle Nd is 20 [N], a load of 1920 [N] is applied to the nozzle head. If a moment due to the load is applied in addition to this, a larger stress is applied to the nozzle head. In this embodiment, the load acting on the nozzle head is reduced by suppressing the moment acting on each support portion 31, and it becomes possible to attach more tips Ch to each nozzle Nd in one operation.

[0074] [Description of tip removal mechanism 50] Next, the tip removal mechanism 50 (see Figs. 1 and 2) for removing the tips Ch attached to each nozzle Nd will be described. As described above, when tips Ch are attached to 96 nozzles Nd at the same time, a stress of about 1920 [N] acts upward on the nozzle head. Therefore, even when 96 tips Ch are simultaneously removed from the nozzles Nd, a stress of about 1920 [N] acts.

[0075] The tip removal mechanism 50 of this embodiment distributes the pulling load when removing the tip Ch downward from each nozzle Nd by sliding each sleeve SL of different lengths downward (Z direction), thereby preventing excessive stress from being applied to the nozzle head.

[0076] That is, in order to perform the removal operation of the tip Ch, which was originally performed by pulling it downward, for a nozzle head having a structure that is very weak against a force pulling it downward, the direction of the stress is changed between the wide portion 61 (see Figs. 13 and 14 described later) and each sleeve SL, and the force that originally pulls down the support portion 31 is changed to a force that pushes up the support portion 31, so that the stress acting on the nozzle Nd in the removal operation of the tip Ch and the tip attachment operation are approximately the same. A detailed description will be given below with reference to Figs. 1, 2, and 12 to 16.

[0077] Fig. 12 is a perspective view showing details of the drive unit of the tip removal mechanism 50. As shown in Fig. 1, Fig. 2 and Fig. 12, the tip removal mechanism 50 includes a motor 51, a worm gear 71 connected to the output shaft of the motor 51, a gear 72 which rotates in conjunction with the worm gear 71, spur gears 52a and 52b which are connected to the gear 72 and rotate in opposite directions, and rotating shafts 54a and 54b which are connected to the spur gears 52a and 52b via chains 53a and 53b.

[0078] Figures 13 and 14 are explanatory diagrams showing the detailed configuration of the tip detachment mechanism 50, with Figure 13 showing the state before the tip is detached and Figure 14 showing the state after the tip is detached. Figure 15 is an explanatory diagram of the swing plates 59a and 59b (details will be described later) in Figure 14. Figure 16 is an explanatory diagram showing the positional relationship between the lift plate 58, the nozzle Nd, and the sleeve SL.

[0079] 1 and 12, the worm gear 71 rotates, and the spur gears 52a and 52b rotate in the opposite directions to each other. Therefore, the rotary shafts 54a and 54b connected via the chains 53a and 53b rotate in the directions of the arrows a3 and a4 shown in FIGS. 1 and 13, respectively.

[0080] 13, cams 55a and 55b are connected to the rotary shafts 54a and 54b, respectively. Pressing plates 56a and 56b extending in the X direction are provided on the sides of the cams 55a and 55b so as to be displaceable in the Y direction.

[0081] A fixed plate 57 and a lifting plate 58 each having a long, flat shape are provided between the pressing plates 56a and 56b. The fixed plate 57 and the lifting plate 58 extend in the Y direction, and a plurality of them are provided along the X direction.

[0082] The fixed plate 57 is prevented from moving in the vertical direction (Z direction) and engages the wide portion 61 formed on each nozzle Nd. That is, the fixed plate 57 restricts the movement of each nozzle Nd in the normal direction (Z direction).

[0083] Two ends of the fixed plate 57 are in contact with one end 59a1, 59b1 of the swing plates 59a, 59b which are shaped like a letter V in side view (see FIG. 15).

[0084] As shown in Fig. 16, the lifting plates 58 are arranged so as to overlap with the cylindrical portion of the sleeve SL arranged around the nozzle Nd in the Z direction. That is, the lifting plates 58 are arranged on both sides of one nozzle Nd in the X direction. When 12 nozzles Nd are arranged in the X direction as shown in Fig. 1, a total of 13 lifting plates 58 are installed.

[0085] 15, the two ends of the lift plate 58 are connected to the centers 59a2, 59b2 of the swing plates 59a, 59b. The other ends 59a3, 59b3 of the swing plates 59a, 59b contact the side surfaces of the pressure plates 56a, 56b.

[0086] In the tip removal mechanism 50 configured as described above, when the motor 51 shown in Figures 1 and 12 is rotated by operating the control unit 60, the rotating shafts 54a and 54b rotate in the directions a3 and a4 shown in Figures 1 and 13, respectively, via the spur gears 52a and 52b and the chains 53a and 53b.

[0087] When the rotary shafts 54a, 54b rotate, the cams 55a, 55b connected to the rotary shafts 54a, 54b rotate and press the pressure plates 56a, 56b inward, as shown in FIG.

[0088] The rocking plates 59a and 59b shown in Fig. 15 are in contact with the pressing plates 56a and 56b. When the pressing plates 56a and 56b shown in Fig. 13 are pressed inward, the other ends 59a3 and 59b3 of the rocking plates 59a and 59b are pressed inward. As a result, the rocking plates 59a and 59b rotate around the central portions 59a2 and 59b2 as shown in Fig. 14.

[0089] As described above, the fixed plate 57 is prevented from moving in the Z direction, and therefore when the swing plates 59a, 59b rotate, the lift plate 58 moves downward relatively. That is, from the state shown in FIG. 13, the cams 55a, 55b rotate, and the lift plate 58 is displaced downward as shown in FIG. 14. That is, the tip removal mechanism 50 displaces the lift plate 58 in the normal direction. At this time, the wide portion 61 formed on each nozzle Nd is engaged with the fixed plate 57 as shown in FIG. 13 and FIG. 14, so that almost no stress is generated to pull the nozzle head (not shown) installed at the upper end of each nozzle Nd downward.

[0090] 16, the lift plate 58 is in contact with the cylindrical portion of the sleeve SL mounted on each nozzle Nd, and therefore can push the sleeve SL downward, thereby removing the tip Ch attached to the nozzle Nd. That is, the control unit 60 controls the tip removal mechanism 50 when removing the tip Ch, displacing the lift plate 58 to displace the sleeve SL in the normal direction, and removes the tip Ch in contact with the sleeve SL from the nozzle Nd.

[0091] 8 to 10, the lengths of the sleeves SL are slightly different. That is, in terms of the length in the Z direction, "sleeves SL1 and SL8" are the longest, followed by "SL2 and SL7," "SL3 and SL6," and "SL4 and SL5." For this reason, the load applied to the lift plate 58 is dispersed from the pre-pressed state shown in FIG. 11 to the pressed-down state shown in FIG. 12.

[0092] That is, while the downward movement of each nozzle Nd is prevented by the fixed plate 57, each sleeve SL is pushed down to detach each tip Ch, so that each tip Ch can be detached without applying excessive downward stress to the nozzle head holding each nozzle Nd.

[0093] In this manner, the dispensing device 100 according to this embodiment can achieve the following effects.

[0094] (1) The nozzle can be quickly and easily switched between a first pitch (e.g., 38 mm) and a second pitch (e.g., 9 mm). Therefore, samples filled in centrifuge tubes 92 arranged at a pitch of 38 mm can be easily aspirated and dispensed into recesses 96 of a microplate arranged at a pitch of 9 mm.

[0095] (2) The gearboxes 21 and 22 are provided with the first drive shaft J1 to the twelfth drive shaft J12, each of which has a different displacement angle according to the rotation angle of the motors 23A and 23B. The first to twelfth drive shafts J1 to J12 are connected to the belts 15, respectively, to move the first connecting member 11 and the second connecting member 12 in the X and Y directions. This makes it possible to change the pitch of each nozzle in the X and Y directions with high precision.

[0096] (3) As shown in Fig. 9 to Fig. 11, the support parts 31-1 to 31-3, 31-6 to 31-8 are formed with crank parts 31-1a to 31-3a, 31-6a to 31-8a, respectively. The upper surface of the crank part 31-1a is in contact with the lower surface of the crank part 31-2a, the upper surface of the crank part 31-2a is in contact with the lower surface of the crank part 31-3a, and the upper surface of the crank part 31-3a is in contact with the lower surface of the protrusion part 31-4a. Similarly, the upper surface of the crank part 31-8a is in contact with the lower surface of the crank part 31-7a, the upper surface of the crank part 31-7a is in contact with the lower surface of the crank part 31-6a, and the upper surface of the crank part 31-6a is in contact with the lower surface of the protrusion part 31-5a.

[0097] Therefore, when the tip Ch is attached to each nozzle Nd, the moment acting on each crank portion can be suppressed, and the occurrence of problems such as damage to the support portion 31 due to the load during attachment can be avoided.

[0098] (4) 9 to 11, bearings 33a (locking members) are provided on the outside of supports 31-4 and 31-5, and bearings 33b (locking members) are provided on the outside of supports 31-3 and 31-6. Bearings 33a and 33b contact the bottom surface of second connecting member 12 to support stress acting in the Z-axis direction. Therefore, when chip Ch is attached, the moment acting on supports 31-2, 31-3, 31-6, and 31-7 can be suppressed by each of bearings 33a and 33b.

[0099] (5) As shown in Figs. 13 to 16, when the tip Ch attached to each nozzle Nd is to be removed, the displacement of each nozzle Nd in the Z direction (normal direction) is restricted by a fixed plate 57, and the lift plate 58 that abuts against the periphery of the sleeve SL on a surface perpendicular to the Z direction is lowered to displace the sleeve SL in the Z direction. For example, the sleeve SL is lowered. Therefore, downward stress on the nozzle head (not shown) supporting each nozzle Nd can be suppressed. Furthermore, the tip Ch attached to each nozzle Nd can be removed with a simple operation.

[0100] (6) As shown in Fig. 9 to Fig. 11, a sleeve SL is provided at the lower end of each nozzle Nd, and each sleeve SL is set to have a different length in the Z direction. Specifically, the length in the Z direction is set to be longer in the order of "sleeve SL1, SL8", "sleeve SL2, SL7", "sleeve SL3, SL6", and "sleeve SL4, SL5". Therefore, when removing the tip Ch attached to the nozzle Nd, the load applied to the lift plate 58 can be distributed, and each tip Ch can be removed without applying an excessive load to the lift plate 58.

[0101] Although the embodiment of the present invention has been described above, the description and drawings forming a part of this disclosure should not be understood as limiting the present invention. Various alternative embodiments, examples and operating techniques will become apparent to those skilled in the art from this disclosure. [Explanation of symbols]

[0102] 10A~10D Side wall members 11 (11-01 to 11-12) First connecting member 12(12-01~12-08) Second connecting member 14A~14D Belt guide 15 Belt 21 First gear box (movement mechanism) 22 Second gear box (movement mechanism) 23A, 23B motor 31(31-1~31-8) Support part 31-1a, 31-2a, 31-3a, 31-6a, 31-7a, 31-8a Crank section 31-4a, 31-5a protrusion 33a, 33b Bearings (locking members) 50 Tip removal mechanism 51 Motor 52a, 52b Spur gear 53a, 53b Chain 54a, 54b Rotation shaft 55a, 55b Cam 56a, 56b Pressure plate 57 Fixed plate 58 Lifting Plate 59a, 59b Swing plate 60 Control section 61 Wide section 71 Worm Gear 91 Centrifuge tube rack 92 Centrifuge tube 95 Microplates 96 Recess 100 Dispensing device Ch Chip J1~J12 1st to 12th drive shafts (drive shafts) K1A, K1B 1st axis K2A, K2B 2nd axis Nd nozzle P1~P12 1st to 12th pulleys (pulleys) PL placement surface SL(SL1~SL8) Sleeve

Claims

1. a plurality of nozzles arranged in an X direction on an arrangement surface and in a Y direction intersecting the X direction, the nozzles extending in a normal direction to the arrangement surface; a plurality of first connecting members extending in the Y direction and connecting the plurality of nozzles movably in the X direction; a plurality of second connecting members extending in the X direction and connecting the plurality of nozzles movably in the Y direction; A plurality of belts connected to at least one of the first connecting member and the second connecting member and movable along the periphery of the placement surface; A moving mechanism for moving each belt individually; a control unit that controls the movement mechanism so that the pitch of each nozzle in the X direction and the Y direction is any pitch between a first pitch and a second pitch smaller than the first pitch; A dispensing device comprising:

2. The moving mechanism includes: At least one motor; and a plurality of drive shafts each rotating at a different angle relative to the rotation angle of the motor; a pulley provided on each of the drive shafts and engaging with the belt; Equipped with The control unit changes the pitch of each of the nozzles in the X direction and the Y direction to any pitch between the first pitch and the second pitch by controlling a rotation angle of the motor. The dispensing device according to claim 1 .

3. Each nozzle is connected to a support portion that supports each nozzle, and at least one of the support portions includes a crank portion that is bent in a crank shape; When the nozzle is at the second pitch, an upper surface of a crank portion of at least one support portion is in contact with a lower surface of a crank portion of a support portion of another nozzle adjacent to the nozzle in the X direction. The dispensing device according to claim 1 .

4. At least one of the support portions has a side surface facing the normal direction, and a locking member is provided on the side surface facing the normal direction, the locking member being in contact with a bottom surface of the second connecting member to support a stress in the normal direction. The dispensing device according to claim 3.

5. a cylindrical sleeve mounted on a tip of each nozzle to cover the nozzle and to abut against a tip attached to each nozzle; a fixed plate that restricts movement of each nozzle in the normal direction; a lift plate that is displaceable in the normal direction and abuts against the circumference of the sleeve at a surface perpendicular to the normal direction; a tip removal mechanism that displaces the lift plate in the normal direction; Equipped with The control unit controls the tip removal mechanism when the tip is removed, displacing the lift plate to displace the sleeve in the normal direction, and removes the tip in contact with the sleeve from the nozzle. The dispensing device according to claim 1 .

6. At least one of the sleeves mounted on each nozzle has a length in the normal direction different from that of the other sleeves. The dispensing device according to claim 5.

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