Dispensation system and dispensation method

Abstract

To provide a dispensation method that can prevent mixing of a reagent to perform accurate dispensation.SOLUTION: A dispensation method is a method for dispensing liquid into a container by using a nozzle, and includes: a first discharge step of discharging first liquid in the nozzle into the container; a first contact step of bringing a leading end of the nozzle into contact with a first position of an inner wall of the container; a step of sucking second liquid into the nozzle; a second discharge step of discharging the second liquid in the nozzle into the container; and a second contact step of bringing the leading end of the nozzle into contact with a second position different from the first position of the inner wall of the container.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a dispensing system and a dispensing method. [Background technology]

[0002] Dispensing systems that dispense predetermined amounts of multiple test solutions using a dispensing nozzle such as a pipette are known. Such dispensing systems must dispense minute amounts of test solutions with high precision, and the amount of droplets that adhere to the tip of the dispensing nozzle after the test solutions are injected cannot be ignored.

[0003] In view of this, for example, Patent Document 1 discloses a technique in which the angle of the dispensing nozzle is changed so that the tip of the dispensing nozzle comes into contact with the inner wall of a reaction vessel, thereby removing droplets of test solution from the tip. This action is called touch-off. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-145143 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the technology of Patent Document 1, when dispensing multiple test liquids into the same container, there was a risk of the test liquids being mixed together. Specifically, when dispensing a first test liquid and then dispensing and touching off a second test liquid, droplets of the first test liquid may adhere to the tip of the dispensing nozzle, and the droplets of the first test liquid may be mixed with the second test liquid in the container of the second test liquid. In other words, there is a need for a dispensing method that can prevent contamination of the reagent solution and enable accurate dispensing. [Means for solving the problem]

[0006] A dispensing system according to one aspect of the present application is a dispensing system that dispenses a liquid into a container using a nozzle, and includes a stage that holds the container and a robot that grasps the nozzle, wherein the robot aspirates a first liquid through the nozzle, dispenses it into the container, and then contacts the tip of the nozzle at a first position on the inner wall of the container, the stage changes the posture of the container, and the robot aspirates a second liquid different from the first liquid into the nozzle, dispenses the second liquid into the container, and then contacts the tip of the nozzle at a second position different from the first position on the inner wall of the container. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic configuration diagram of a dispensing system according to a first embodiment. [Figure 2] FIG. 1 is a perspective view of a robot mounted on the dispensing system. [Figure 3] FIG. 10 is a flowchart showing the flow of a method for dispensing a test solution. [Figure 4] FIG. 10 is a diagram showing one embodiment of a dispensing method. [Figure 5] FIG. 10 is a diagram showing one embodiment of a dispensing method. [Figure 6] FIG. 10 is a diagram showing one embodiment of a dispensing method. [Figure 7] FIG. 10 is a diagram showing one embodiment of a dispensing method. [Figure 8] FIG. [Figure 9] FIG. 10 is a diagram showing one aspect of a dispensing method according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Embodiment 1 ***Dispensing system configuration*** Fig. 1 is a schematic configuration diagram of a dispensing system according to embodiment 1. Fig. 2 is a perspective view of a robot mounted on the dispensing system. The configuration of a dispensing system 200 according to this embodiment will be described with reference to FIGS. 1 and 2. Each figure illustrates three mutually orthogonal axes: an X axis, a Y axis, and a Z axis. In this embodiment, the Z axis is defined as the vertical direction, but this is not limiting. The direction along the X axis is referred to as the "X direction," the direction along the Y axis as the "Y direction," and the direction along the Z axis as the "Z direction." The tip of the arrow in each axis direction is also referred to as the "plus side," and the base of the arrow is also referred to as the "minus side." For example, the Y direction refers to both the positive and negative Y directions. The positive Z direction is also referred to as "up," and the negative Z direction is also referred to as "down." In the following figures, dimensions and scales may differ from those of the actual ones in order to facilitate understanding.

[0009] 1 is an example of lab automation technology that automates experimental operations related to, for example, ink development, and is composed of a dispensing device 100, a control device 80, etc. The application of the dispensing system 200 is not limited to ink development, and it can be applied to any application that requires highly accurate dispensing, and can also be suitably applied to applications in the life science field, such as medicine and biotechnology.

[0010] The dispensing device 100 is composed of a robot 40, a sample liquid storage area 71, a container storage area 73, a sample liquid table 72, a lid opening / closing unit 76, a container table 75, a lid opening / closing unit 74, a pipette storage area 77, a tip storage area 78, an electronic balance 79, and the like.

[0011] As shown in FIG. 2, in a preferred embodiment, the robot 40 is a vertically articulated robot having six drive axes and capable of complex movements like a human arm. The robot 40 includes a base 210 fixed to the floor, a robot arm 220 connected to the base 210, and hands 5a and 5b attached to an arm 226 at the tip.

[0012] The robot arm 220 is a robotic arm in which multiple arms 221, 222, 223, 224, 225, and 226 are rotatably connected, and is equipped with six joints J1 to J6. Of these, joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsion joints. Furthermore, each of the joints J1, J2, J3, J4, J5, and J6 is equipped with a motor M as a drive source and an encoder E that detects the amount of rotation of the motor M (the rotation angle of the arm).

[0013] A pair of hands 5a, 5b capable of grasping a cylindrical object are attached to the arm 226 at the tip. A C-shaped recess for grasping a cylindrical object is provided at the tip of the hand 5a. A recess that pairs with the recess of the hand 5a is provided at the tip of the hand 5b. The hands 5a, 5b are provided so that the gap between them can be adjusted to match the diameter of the cylindrical object. For example, in the example of FIG. 2, the hands 5a, 5b grasp a cylindrical pipette 7. A tip 8 is attached to the tip of the pipette 7. The pipette 7 with the tip 8 attached is called a nozzle 10. In other words, the nozzle 10 is grasped by the vertically articulated robot 40. The object that can be grasped by the hands 5a and 5b is not limited to the pipette 7, but can be any cylindrical object, such as a test solution bottle 1 or a container 3. The hands 5a and 5b are collectively referred to as hands 5.

[0014] Return to Figure 1. 1, the dispensing device 100 has a substantially square shape in plan view, and when the square is divided into four, the robot 40 is placed in one section in the positive X direction and the negative Y direction. The hand 5 of the robot 40 is provided so as to be able to reach all of the remaining three sections. The test liquid storage area 71 is arranged in one section in the minus X and minus Y directions and is a test liquid storage area where multiple test liquid bottles 1 are stocked. For example, in the example of FIG. 1, eight types of test liquids, namely test liquid bottles 1a to 1h, are stocked. Each bottle contains a different test liquid with a different component. The test liquid contained in test liquid bottle 1a is designated as the first test liquid, the test liquid contained in test liquid bottle 1b is designated as the second test liquid, and so on in the order of the branch numbers of the test liquid bottles, namely the third to eighth test liquids. Note that the number of test liquid bottles 1 is not limited to eight, but may be any multiple number, for example, 20 or more. Note that test liquids are also referred to as liquids. In a preferred example, the test liquid bottles 1 are made of glass. Note that the material is not limited to glass, and they may also be made of plastic or ceramic.

[0015] The container storage area 73 is located on the minus X side of the test solution storage area 71, and is a container storage area where multiple containers 3 are stocked. For example, in the example of FIG. 1, four empty containers 3 are placed. The number of containers 3 is not limited to four, but may be any multiple, for example, ten or more. In a preferred example, the containers 3 are made of glass. However, they are not limited to being made of glass, and may be made of plastic or ceramic. The test liquid table 72 is arranged in one section in the minus X direction and the plus Y direction, and is a stage on which a test liquid bottle 1 containing the test liquid to be dispensed is placed. The target test liquid bottle 1 is picked up from the test liquid storage area 71 by the robot 40 and set on the test liquid table 72. The test liquid bottle 1 set on the test liquid table 72 is transported in the plus Y direction by the lid opening / closing unit 76, and after the lid is removed, it is placed again on the test liquid table 72. After dispensing is completed, the lid is tightened by the lid opening / closing unit 76 and the robot 40 returns the bottle to the test liquid storage area 71.

[0016] The container table 75 is located on the X-positive side of the test liquid table 72, and is a stage on which an empty container 3 is placed. The target container 3 is picked up from the container storage area 73 by the robot 40 and set on the container table 75. The container 3 set on the container table 75 is transported in the Y-positive direction by the lid opening / closing unit 74, and after the lid is removed, it is placed on the container table 75 again.

[0017] The pipette holder 77 is located on the minus X side of the sample liquid table 72, and is a pipette holder where a plurality of pipettes 7 are placed. A plurality of types of pipettes 7 with different suction capacities are prepared. The tip storage area 78 is located next to the pipette storage area 77 and is a tip storage area where multiple tips 8 are stored. Although not shown, a disposal area for tips 8 is provided near the tip storage area 78. After grasping the optimal pipette 7 according to the amount of dispensing, the robot 40 attaches the tip 8 to the tip of the pipette 7 as shown in FIG. 2 and then performs the dispensing operation.

[0018] The electronic balance 79 is arranged in one section in the X-positive direction and the Y-positive direction, and is an electronic balance that measures with high precision the mass of the container 3. In a preferred example, by weighing the container 3 before and after dispensing, it is possible to confirm whether the intended mass has been dispensed.

[0019] ***Controller Overview*** As shown in FIG. 1, the control device 80 includes a computer 30, a robot controller 50, and the like. In a preferred embodiment, the computer 30 is a notebook computer equipped with a display unit 31 consisting of a liquid crystal panel and an operation unit 32 consisting of a keyboard. The operation unit 32 may be a touch panel provided on the display unit 31 or a mouse. A dispensing recipe file is stored in the computer 30. The dispensing recipe file is a recipe file that specifies a list of test liquids to be dispensed and the amount (g) to be dispensed for each test liquid. Since the nozzle 10 manages the liquids by volume, the specific gravity of each test liquid is also stored in the dispensing recipe file, and the volume corresponding to the specific gravity is aspirated during dispensing.

[0020] The robot controller 50 is a device that performs overall control of the robot 40, the lid opening / closing unit 76, the lid opening / closing unit 74, the container table 75, the electronic balance 79, etc. The robot controller 50 is a control circuit configured with one or more processors, and performs overall control of the operation of each part of the dispensing device 100 by operating in accordance with a control program stored in a memory circuit (not shown). The robot controller 50 is connected to the computer 30, and controls each part including the robot 40 according to the dispensing recipe file of the computer 30, causing the dispensing device 100 to perform dispensing work. Note that the computer 30 controls peripheral devices such as the pipette 7 and electronic balance 79 in response to re-requests from the robot controller 50. The dispensing results are recorded in the computer 30.

[0021] ***Dispensing method*** Fig. 3 is a flow chart showing the flow of a method for dispensing a reagent solution.Figs. 4 to 7 are diagrams showing one embodiment of the dispensing method. Here, the method for dispensing test liquids will be explained mainly with reference to Figure 3, with other figures used as appropriate. Each of the following steps is executed by the robot controller 50 controlling the dispensing device 100 in accordance with the dispensing recipe file in the computer 30. Dispensing refers to collecting the amount of test liquid specified for each test liquid in the dispensing recipe file from multiple test liquid bottles 1 into one container 3.

[0022] In step S10, the dispensing recipe file is read by the computer 30. In this embodiment, the dispensing recipe file will be described as a dispensing recipe for collecting predetermined amounts of two test liquids, a first test liquid in test liquid bottle 1a and a second test liquid in test liquid bottle 1b, into container 3.

[0023] In step S11, preparation for dispensing the first test liquid is performed. More specifically, the robot 40 places the container 3 on the electronic balance 79, measures the mass of the container 3 in its initial state, and then sets the container 3 on the container table 75. The lid of the container 3 is removed by the lid opening / closing unit 74, and the container 3 is placed on the container table 75 again. Next, the robot 40 sets the test liquid bottle 1a on the test liquid table 72. The lid of the test liquid bottle 1a is removed by the lid opening / closing unit 76, and the bottle is placed on the test liquid table 72. The robot 40 then grasps the pipette 7 and attaches a tip 8 to the tip.

[0024] In step S12, the first reagent liquid is aspirated by the nozzle 10. More specifically, the robot 40 inserts the nozzle 10 into the reagent bottle 1a and aspirates the first reagent liquid. The aspirated first reagent liquid is stored in the tip 8 of the nozzle 10.

[0025] In step S13, the first reagent liquid in the nozzle 10 is dispensed into the container 3 on the container table 75. More specifically, the robot 40 inserts the tip of the nozzle 10 into the container 3 through the opening 3d of the container 3, and dispenses the first reagent liquid. At this time, the nozzle 10 is held vertically so as not to come into contact with the neck 3b of the container 3, and is inserted while aiming at the center of the opening 3d. Figure 4 shows one state of the nozzle 10 and the container 3 just before they are inserted into the container 3. Note that step S13 corresponds to the first dispensing step. In other words, in the first dispensing step, the first reagent liquid as the first liquid in the nozzle 10 is dispensed into the container 3.

[0026] In step S14, the first reagent liquid is touched off. Specifically, after the first reagent liquid is dispensed, a droplet 9 of the first reagent liquid adheres to the tip of the nozzle 10, as shown in FIG. 5. The robot 40 first aligns the tip of the nozzle 10 with the height of the neck 3b of the container 3. Next, as shown in FIG. 6, the nozzle 10 is tilted and then moved in the negative X direction as indicated by the arrow. Once the droplet 9 is positioned to adhere to the inner wall 3c of the container 3, the nozzle 10 is moved in the positive Y direction as indicated by the arrow and removed from the container 3. This causes the droplet 9 to adhere to the inner wall 3c. This operation of removing the droplet 9 from the tip of the nozzle 10 is called touch off. The droplet 9b adhering to the inner wall 3c is part of the first reagent liquid in the container 3 and, for example, falls due to gravity and becomes one with the reagent liquid in the container 3. The position where the droplet 9b adheres is called the touch off position. Note that step S14 corresponds to the first contact step. In other words, in the first contact step, the tip of the nozzle 10 is brought into contact with the inner wall 3c of the container 3 at a first position.

[0027] In this embodiment, after removing the nozzle 10 from the container 3, the robot 40 moves the nozzle 10 to the sample bottle 1a and returns the first sample solution remaining in the tip 8 to the sample bottle 1a. This is because, in order to dispense an accurate amount during dispensing in step S13, it is necessary to aspirate a larger amount than the predetermined amount, and this amount is returned. After returning the sample solution, the robot 40 discards the tip 8 and returns the pipette 7 to the pipette storage area 77. A lid is attached to the sample bottle 1a by the lid opening / closing unit 76, and the sample bottle 1a is placed on the sample table 72. If the dispensed amount is large and multiple discharges are required, steps S12 to S14 are repeated. In this case, the same pipette 7 and tip 8 are used, and touch-off is performed at the same position.

[0028] In step S15, the container 3 is rotated. More specifically, as shown in FIG. 7, the container 3 is rotated by a predetermined angle θ around the center point 60 of the container 3 in an upright position. In a preferred embodiment, the predetermined angle θ is 30°. In FIG. 7, the touch-off position after rotation is indicated by an arrow. As shown in FIG. 7, it can be seen that the droplet 9b of the first reagent liquid has moved from the position indicated by the arrow due to the rotation. When the position of the droplet 9b is set to a first position, the next touch-off position becomes a second position different from the first position. This allows the robot 40 to operate in a single trajectory during the touch-off. Note that step S15 corresponds to a change step. In other words, in the change step, the container 3 is rotated by a predetermined angle θ in an upright position. Note that the change step is not limited to rotating the container 3, but may involve changing the position or posture of the container 3.

[0029] Figure 8 is a schematic diagram of a container rotation mechanism. As shown in Figure 8, the container 3 is placed in an upright position on a container table 75. Four guide pins 81 are provided on the container table 75, and the container 3 is supported in an upright position by the four guide pins 81. A rotation unit 85 is provided below the container table 75. The rotation unit 85 is equipped with a motor, a speed reduction mechanism, etc., and rotates the container table 75 according to instructions from a rotation control unit 51 of the robot controller 50. The container table 75 is a stage, and the rotation control unit 51 corresponds to a stage control device. In other words, the rotation control unit 51 is a control device for a stage that holds the container 3 in the dispensing system 200 that dispenses liquid into the container 3 using the nozzle 10.After the nozzle 10 aspirates a first reagent liquid as a first liquid and dispenses it into the container 3, the rotation control unit 51 brings the tip of the nozzle 10 into contact with a first position on the inner wall 3c of the container 3, and then rotates the container table 75 by a predetermined angle θ to change the posture of the container 3.

[0030] In step S16, preparations for dispensing the second test liquid are made. More specifically, test liquid bottle 1a, whose lid has been fastened by lid opening / closing unit 76, is returned to test liquid storage area 71 by robot 40, and then test liquid bottle 1b is grasped and set on test liquid table 72. The lid of test liquid bottle 1b is removed by lid opening / closing unit 76 and placed on test liquid table 72. Then, after grasping pipette 7, robot 40 attaches tip 8 to the end. If the first test liquid and the second test liquid have different components, the tip 8 attached here is an unused one, not the one used to dispense the first test liquid. This prevents the test liquids from being mixed with each other by tip 8.

[0031] In step S17, the second reagent liquid is aspirated by the nozzle 10. More specifically, the robot 40 inserts the nozzle 10 into the reagent liquid bottle 1b and aspirates the second reagent liquid. The aspirated second reagent liquid is stored in the tip 8 of the nozzle 10. Note that step S17 corresponds to a step of aspirating the second reagent liquid as the second liquid into the nozzle 10.

[0032] In step S18, the second reagent liquid in the nozzle 10 is dispensed into the container 3 on the container table 75. More specifically, the robot 40 inserts the tip of the nozzle 10 into the container 3 through the opening 3d of the container 3 and dispenses the second reagent liquid. At this time, the nozzle 10 is inserted while aiming at the center of the opening 3d so as not to come into contact with the neck 3b of the container 3. Note that step S18 corresponds to the second dispensing step. In other words, in the second dispensing step, the second reagent liquid in the nozzle 10 is dispensed into the container 3.

[0033] In step S19, the second reagent liquid is touched off. More specifically, similar to the first reagent liquid, a droplet 9 of the second reagent liquid is touched off into the container 3 by the robot 40. At this time, since the container 3 is rotating as shown in FIG. 7, the touch-off position of the second reagent liquid is a second position where a droplet 9c of the first reagent liquid is attached, which is rotated 30° from the first position where a droplet 9b of the first reagent liquid is attached. Note that step S19 corresponds to a second contact step. In other words, in the second contact step, the tip of the nozzle 10 is brought into contact with a second position on the inner wall 3c of the container 3 that is different from the first position. In addition, between the first contact step and the second contact step, there is a change step for changing the position or posture of the container 3.

[0034] If the dispensed amount is large and multiple discharges are required, steps S17 to S19 are repeated. In this case, the same pipette 7 and tip 8 are used, and the touch-off position is also the same. Note that if the reagents are the same, i.e., if the first and second reagent solutions have the same components, the touch-off position is not limited to being the same; even if the reagents are the same, the touch-off position may be changed each time. If the touch-off position is the same, there is no risk of reagent contamination, but there is a risk of droplets from the previous touch-off being carried back, resulting in an error in the dispensed amount. However, by changing the touch-off position each time, highly accurate dispensing can be performed. Furthermore, for example, touch-off is not necessary for reagents with low viscosity, such as water, which is less likely to produce droplets after dispensing. In this case, the reagent may be registered in the dispensing recipe file as one that does not require touch-off.

[0035] In step S20, it is determined whether the test liquid list has been completed. Specifically, it is confirmed whether the test liquid list of the dispensing recipe file has been completed. If the test liquid list has been completed, the dispensing operation is completed. If the test liquid list has not been completed, the process returns to step S15. In this embodiment, since there are two test liquids in the list, the dispensing operation is completed. As with the completion of dispensing the first test liquid, the second test liquid remaining in the nozzle 10 is returned to the test liquid bottle 1b, the tip 8 is discarded, and the pipette 7 is returned to the pipette storage area 77. The test liquid bottle 1b is closed with its lid and returned to the test liquid storage area 71. After the lid is closed, the container 3 is placed on the electronic balance 79, and the mass of the container 3 after dispensing is measured.

[0036] As described above, the dispensing system 200, dispensing method, robot 40 of the dispensing system 200, stage of the dispensing system 200, and controller for the stage of this embodiment can provide the following effects. The dispensing method is a method of dispensing a liquid into a container 3 using a nozzle 10, and includes a first dispensing step of discharging a first reagent liquid as a first liquid in the nozzle 10 into the container 3, a first contacting step of contacting the tip of the nozzle 10 with a first position on the inner wall 3c of the container 3, a step of aspirating a second reagent liquid as a second liquid into the nozzle 10, a second dispensing step of discharging the second reagent liquid in the nozzle 10 into the container 3, and a second contacting step of contacting the tip of the nozzle 10 with a second position different from the first position on the inner wall 3c of the container 3.

[0037] According to this method, in the second contacting step, after the second reagent liquid is discharged into the container 3, the tip of the nozzle 10 is brought into contact with a second position on the inner wall 3c of the container 3, which is different from the first position. This prevents droplets of the first reagent liquid from adhering to the tip of the nozzle 10 when the second reagent liquid is dispensed and touched off. This prevents the first reagent liquid from mixing with the second reagent liquid inside the reagent liquid bottle 1b. Therefore, it is possible to provide a dispensing method that prevents contamination of the reagent solution and enables accurate dispensing.

[0038] The nozzle 10 is held by a vertical articulated robot 40, and each step is performed by the robot 40. This allows the dispensing work to be carried out efficiently.

[0039] Furthermore, the first reagent solution and the second reagent solution have different components. This allows reagent solutions of different components to be dispensed without being mixed together.

[0040] In addition, between the first contact step and the second contact step, there is a change step for changing the position or posture of the container 3. This allows reagent solutions of different components to be dispensed without being mixed together.

[0041] In the changing step, the container 3 is rotated by a predetermined angle in an upright state. This allows the touch-off position to be changed between the first contact step and the second contact step.

[0042] The dispensing system 200 is a dispensing system that dispenses liquid into a container 3 using a nozzle 10, and is equipped with a container table 75 as a stage for holding the container 3, and a robot 40 that grasps the nozzle 10. The robot 40 aspirates a first reagent liquid using the nozzle 10, dispenses it into the container 3, and then contacts the tip of the nozzle 10 with a first position on the inner wall 3c of the container 3. The container table 75 changes the posture of the container 3, and the robot 40 aspirates a second reagent liquid different from the first reagent liquid into the nozzle 10, dispenses the second reagent liquid into the container 3, and then contacts the tip of the nozzle 10 with a second position different from the first position on the inner wall 3c of the container 3.

[0043] According to this, after the first reagent liquid is dispensed and touched off at the first position, the container table 75 changes the attitude of the container 3. As a result, when the second reagent liquid is dispensed and touched off, the tip of the nozzle 10 can be brought into contact with the second position on the inner wall 3c of the container 3, which is different from the first position. This prevents the first reagent liquid from mixing with the second reagent liquid in the reagent bottle 1b. Therefore, it is possible to provide a dispensing system 200 that can prevent contamination of the test liquid and perform dispensing with high accuracy.

[0044] The robot 40 is a robot that holds the nozzle 10 in the dispensing system 200 that dispenses a liquid into a container 3 using the nozzle 10. The robot 40 aspirates a first reagent liquid through the nozzle 10, dispenses it into the container 3, and then contacts the tip of the nozzle 10 to a first position on the inner wall 3c of the container 3. The robot 40 aspirates a second reagent liquid different from the first reagent liquid into the nozzle 10, dispenses the second reagent liquid into the container 3, and then contacts the tip of the nozzle 10 to a second position different from the first position on the inner wall 3c of the container 3.

[0045] According to this, when dispensing and touching off the second reagent liquid, the robot 40 brings the tip of the nozzle 10 into contact with the inner wall 3c of the container 3 at a second position that is different from the first position. This prevents the first reagent liquid from mixing with the second reagent liquid in the reagent bottle 1b. Therefore, it is possible to provide the robot 40 of the dispensing system 200 that can prevent contamination of the test liquid and perform dispensing with high accuracy.

[0046] The container table 75 is a stage that holds the container 3 in a dispensing system 200 that dispenses liquid into the container 3 using the nozzle 10. After the nozzle 10 aspirates a first reagent liquid and dispenses it into the container 3, the tip of the nozzle 10 is brought into contact with a first position on the inner wall 3c of the container 3. The container table 75 changes the posture of the container 3, aspirates a second reagent liquid different from the first reagent liquid into the nozzle 10, and dispenses the second reagent liquid into the container 3, and then brings the tip of the nozzle 10 into contact with a second position different from the first position on the inner wall 3c of the container 3.

[0047] According to this, after the first reagent liquid is dispensed and touched off at the first position, the container table 75 changes the attitude of the container 3. As a result, when the second reagent liquid is dispensed and touched off, the tip of the nozzle 10 can be brought into contact with the second position on the inner wall 3c of the container 3, which is different from the first position. This prevents the first reagent liquid from mixing with the second reagent liquid in the reagent bottle 1b. Therefore, it is possible to provide the container table 75 as a stage for the dispensing system 200, which prevents contamination of the test liquid and enables accurate dispensing.

[0048] The rotation control unit 51 of the container table 75 is a control device for a stage that holds the container 3 in a dispensing system 200 that dispenses liquid into the container 3 using the nozzle 10. After aspirating a first reagent liquid using the nozzle 10 and dispensing it into the container 3, the rotation control unit 51 contacts the tip of the nozzle 10 to a first position on the inner wall 3c of the container 3, rotates the container table 75 by a predetermined angle to change the attitude of the container 3, aspirates a second reagent liquid different from the first reagent liquid into the nozzle 10, and dispensing the second reagent liquid into the container 3, and then contacts the tip of the nozzle 10 to a second position different from the first position on the inner wall 3c of the container 3.

[0049] According to this, after dispensing the first reagent liquid and touching it off at the first position, the rotation control unit 51 rotates the container table 75 by a predetermined angle to change the attitude of the container 3. As a result, when dispensing and touching off the second reagent liquid, the tip of the nozzle 10 can be brought into contact with the inner wall 3c of the container 3 at a second position different from the first position. This prevents the first reagent liquid from mixing with the second reagent liquid in the reagent bottle 1b. Therefore, it is possible to provide the rotation control unit 51 as a control device that controls the container table 75 as a stage in the dispensing system 200 that can prevent contamination of the reagent liquid and perform dispensing with high accuracy.

[0050] Embodiment 2 ***Different aspects of dispensing methods*** FIG. 9 is a diagram showing one aspect of the dispensing method according to the second embodiment, and corresponds to FIG. In the above embodiment, the touch-off position is changed by rotating the container 3, but this is not limiting, and for example, the touch-off position may be changed by the trajectory of the robot 40. Hereinafter, the same parts as in the above embodiment are assigned the same numbers, and duplicated explanations will be omitted.

[0051] 6, the droplet 9b of the first reagent liquid shown in Fig. 9 is deposited on the inner wall 3c of the neck 3b of the container 3 by the robot 40 moving the nozzle 10. The trajectory of the nozzle 10 by the robot 40 at this time is referred to as the first trajectory. A droplet 9d of the second reagent liquid shown in Fig. 9 was touched off and deposited by the robot 40 along a second trajectory different from the first trajectory, and its position is above the droplet 9b at the first position on the inner wall 3c of the neck 3b. The second position of the droplet 9d is not limited to being above the first position, but may be any position different from the first position, for example, it may be a different position in the circumferential direction of the inner wall 3c as shown in Fig. 7. In this way, the same effects as those of the above embodiment can be obtained even with a method of changing the touch-off position depending on the trajectory of the robot 40.

[0052] In other words, when the trajectory of the nozzle 10 by the robot 40 in the first contact step is a first trajectory, in the second contact step the robot 40 brings the nozzle 10 into contact with the second position of the container 3 along a second trajectory different from the first trajectory. This makes it possible to select the touch-off position in the height direction of the neck 3b of the container 3 as shown by the arrow in Figure 9, making it possible to utilize the entire area of the inner wall 3c and accommodate the dispensing of a larger amount of test solution.

[0053] As described above, the dispensing system 200, dispensing method, robot 40 of the dispensing system 200, stage of the dispensing system 200, and control device for the stage of this embodiment can obtain the following effects in addition to the effects of the above embodiment. In the dispensing method of this embodiment, when the trajectory of the nozzle 10 by the robot 40 in the first contact step is defined as a first trajectory, in the second contact step the robot 40 brings the nozzle 10 into contact with a second position of the container 3 along a second trajectory different from the first trajectory.

[0054] According to this, in the second contact step, after the second reagent liquid is discharged into the container 3, the tip of the nozzle 10 is brought into contact with a second position on the inner wall 3c of the container 3, which is different from the first position. This prevents droplets of the first reagent liquid from adhering to the tip of the nozzle 10 when the second reagent liquid is dispensed and touched off. This prevents the first reagent liquid from mixing with the second reagent liquid inside the reagent liquid bottle 1b. Therefore, it is possible to provide a dispensing method and dispensing system 200 that can prevent contamination of the test liquid and enable accurate dispensing.

[0055] When touching off at the second position by the second trajectory of the robot 40, the change step of rotating the container 3 may or may not be performed. It is sufficient that the second position where touching off is performed in the second contact step is a position different from the first position. Furthermore, although the robot 40 has been described as a vertically articulated robot, it is not limited to this and any robot capable of performing the above-described touch-off operation may be used, for example, an orthogonal robot. When an orthogonal robot is used, it is preferable to combine multiple orthogonal robots and provide a hand with an angle changing function. [Explanation of symbols]

[0056] 1...Test solution bottle, 1a to 1h...Test solution bottle, 3...Container, 3b...Neck, 3c...Inner wall, 3d...Opening, 5...Hand, 5a...Hand, 5b...Hand, 7...Pipette, 8...Tip, 9...Drop, 9b...Drop, 9c...Drop, 9d...Drop, 10...Nozzle, 30...Computer, 31...Display unit, 32...Operation unit, 40...Robot, 50...Robot controller, 51...Rotation control unit, 60...Center point (center line), 71...Test solution placement place, 72...reagent table, 73...container storage area, 74...lid opening / closing unit, 75...container table, 76...lid opening / closing unit, 77...pipette storage area, 78...tip storage area, 79...electronic balance, 80...control device, 81...guide pin, 85...rotating part, 100...dispensing device, 200...dispensing system, 210...base, 220...robot arm, 221, 222, 223, 224, 225, 226...arm, J1 to J6...joint.

Claims

1. 1. A method for dispensing a liquid into a container using a nozzle, comprising: a first discharging step of discharging the first liquid in the nozzle into the container; a first contact step of contacting a tip of the nozzle with a first position on an inner wall of the container; Aspirating a second liquid into the nozzle; a second discharging step of discharging the second liquid in the nozzle into the container; a second contact step of contacting the tip of the nozzle with a second position on the inner wall of the container that is different from the first position, Dispensing method.

2. The nozzle is held by a vertical articulated robot, Each of the steps is performed by the robot. The dispensing method according to claim 1 .

3. The first liquid and the second liquid have different components. The dispensing method according to claim 1 .

4. Between the first contacting step and the second contacting step, A changing step of changing the position or attitude of the container. The dispensing method according to claim 1 .

5. In the changing step, the container is rotated by a predetermined angle in an upright state. The dispensing method according to claim 4.

6. When a trajectory of the nozzle by the robot in the first contact step is a first trajectory, In the second contact step, the robot brings the nozzle into contact with the second position of the container along a second trajectory different from the first trajectory. The dispensing method according to claim 2.

7. 1. A dispensing system for dispensing a liquid into a container using a nozzle, comprising: a stage for holding the container; a robot that holds the nozzle, the robot aspirates a first liquid through the nozzle and dispenses it into the container, and then brings a tip of the nozzle into contact with a first position on an inner wall of the container; The stage changes the attitude of the container, the robot aspirates a second liquid different from the first liquid into the nozzle, discharges the second liquid into the container, and then brings a tip of the nozzle into contact with a second position on an inner wall of the container different from the first position; Dispensing system.

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