Liquid sample dispensing system and method for dispensing liquid sample

Abstract

To provide a liquid sample dispensing system and a method for dispensing a liquid sample capable of suppressing evaporation and moisture absorption of a liquid sample during dispensing operation, thereby enabling dispensing with high accuracy.SOLUTION: The liquid sample dispensing system includes: a robot for discharging a liquid sample from a dispenser into a sample container; and a sample container closing device for closing the sample container, a second position of the sample container when the robot discharges the liquid sample from the dispenser into the sample container being located below a first position of the sample container when the sample container closing device closes the sample container.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] Patent Document 1 describes a dispensing system in which a robot holds a dispenser and dispenses a predetermined amount of liquid sample into a sample container. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-212077 Summary of the Invention [Problem to be solved by the invention]

[0004] However, depending on the liquid sample being dispensed, there is a risk that the weight may change over time due to evaporation, moisture absorption, etc. The dispensing system of Patent Document 1 does not take any measures to deal with such weight changes, and there is a risk that accurate dispensing may not be possible. [Means for solving the problem]

[0005] The liquid sample dispensing system of the present invention comprises: a robot that dispenses a liquid sample from a dispenser into a sample container; a sample container closing device for closing the sample container, A second position of the sample container when the robot ejects the liquid sample from the dispenser into the sample container is located below a first position of the sample container when the sample container closing device closes the lid of the sample container.

[0006] The liquid sample dispensing method of the present invention includes: a robot that dispenses a liquid sample from a dispenser into a sample container; a sample container closing device that closes the sample container, A second position of the sample container when the robot dispenses the liquid sample from the dispenser into the sample container is positioned below a first position of the sample container when the sample container lid closing device closes the lid of the sample container. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a top view showing the entire liquid sample dispensing system according to a first embodiment. [Figure 2] FIG. 2 is a side view showing a specimen container and a sample container. [Figure 3] FIG. 2 is a side view showing the first cover opening and closing device. [Figure 4] FIG. 4 is a side view showing the second cover opening and closing device. [Figure 5] FIG. 10 is a side view showing the positional relationship between a sample container at the aspirating position and a sample container at the discharging position. [Figure 6] FIG. 2 is a side view showing the robot. [Figure 7] 1 is a flowchart showing the steps of a compounding operation. [Figure 8] FIG. 10 is a side view illustrating the compounding operation. [Figure 9] FIG. 10 is a side view illustrating the compounding operation. [Figure 10] FIG. 10 is a side view illustrating the compounding operation. [Figure 11] FIG. 10 is a side view illustrating the compounding operation. [Figure 12] FIG. 10 is a side view illustrating the compounding operation. [Figure 13] FIG. 10 is a side view illustrating the compounding operation. [Figure 14] FIG. 10 is a top view showing the entire liquid sample dispensing system according to the second embodiment. [Figure 15] FIG. 10 is a top view showing the relationship between the transport robot and the dispensing operation position. [Figure 16] FIG. 10 is a side view showing a modified example of the liquid sample dispensing system. [Figure 17] FIG. 10 is a side view showing a modified example of the liquid sample dispensing system. DETAILED DESCRIPTION OF THE INVENTION

[0008] The liquid sample dispensing system and liquid sample dispensing method of the present invention will be described in detail below based on the embodiments shown in the accompanying drawings. For ease of explanation, each figure except for Fig. 7 illustrates three mutually orthogonal axes: the X-axis, the Y-axis, and the Z-axis. The Z-axis extends vertically, and the X-axis and the Y-axis extend horizontally. Hereinafter, the direction along the X-axis will also be referred to as the X-axis direction, the direction along the Y-axis as the Y-axis direction, and the direction along the Z-axis as the Z-axis direction.

[0009] First Embodiment FIG. 1 is a top view showing the entire liquid sample dispensing system according to the first embodiment. FIG. 2 is a side view showing a sample container and a sample container. FIG. 3 is a side view showing a first lid opening and closing device. FIG. 4 is a side view showing a second lid opening and closing device. FIG. 5 is a side view showing the positional relationship between a sample container in the suction position and a sample container in the discharge position. FIG. 6 is a side view showing a robot. FIG. 7 is a flowchart showing the steps of the preparation work. FIGS. 8 to 13 are side views for explaining the preparation work.

[0010] 1 is a system that automatically performs the operation of dispensing a liquid sample. In particular, the liquid sample dispensing system 1 of this embodiment is a system that automatically dispenses multiple types of liquid samples to prepare samples, and a dispensing robot 4 mainly automatically performs the operations of using a pipette 8 to aspirate a predetermined amount of liquid sample stored in a sample container 91 and to dispense the aspirated liquid sample into a sample container 92.

[0011] As shown in Figure 1, such a liquid sample dispensing system 1 comprises a mounting table 73 on which sample containers 91 and 92 are placed, a pipette stand 71 on which pipettes 8 are placed, a tip stand 72 on which tips 81 attached to the tips of pipettes 8 are placed, a transport robot 2 that transports the sample containers 91 and 92, a first lid opening / closing device 51 as a sample container lid closing device that opens and closes the lid 912 of the sample container 91, a second lid opening / closing device 52 as a sample container lid closing device that opens and closes the lid 922 of the sample container 92, an electronic balance 6 that measures the weight of an empty sample container 92, the actual weight of the liquid sample dispensed into the sample container 92, etc., a dispensing robot 4 as a robot that dispenses liquid samples using pipettes 8, and a control device 3 that controls the operation of each part, all of which are arranged in predetermined locations on a base 10.

[0012] However, the configuration of the liquid sample dispensing system 1 is not particularly limited.

[0013] The sample container 91 is a container for storing a liquid sample aspirated by the pipette 8. As shown in FIG. 2, the sample container 91 is cylindrical with a bottom, and is held by the hand 23 of the transport robot 2 by pinching the outer surface from both sides. A lid 912 is screwed onto the upper end of the sample container 91, thereby closing the opening of the sample container 91 and sealing it. By configuring the lid 912 to be screwed onto the sample container 91 in this way, the lid 912 is less likely to come off the sample container 91.

[0014] On the other hand, the sample container 92 is a container into which a liquid sample is dispensed from the pipette 8. Like the sample container 91, the sample container 92 is cylindrical with a bottom, and is held by the hand 23 of the transport robot 2 by pinching the outer surface from both sides. A lid 922 is screwed onto the upper end of the sample container 92, thereby closing and sealing the opening of the sample container 92. By configuring the lid 922 to be screwed onto the sample container 92 in this way, the lid 922 is less likely to come off the sample container 92.

[0015] However, the configurations of the sample container 91 and the sample container 92 are not particularly limited. For example, the sample container 91 and the sample container 92 may be rectangular tubular. Alternatively, for example, the sample container 91 and the sample container 92 may be configured so that the lid 912 fits into the sample container 91, like a stopper. Alternatively, the sample container 91 and the lid 912 may be connected by a hinge or the like. The same applies to the sample container 92. Also, for convenience of explanation, the sample container 91 and the sample container 92 are shown to have the same shape in FIG. 2, but this is not limited thereto, and the sample container 91 and the sample container 92 may have different shapes. Alternatively, the shape of each sample container 91 may be different, and the shape of each sample container 92 may be different.

[0016] In this embodiment, different types of liquid samples are stored in the multiple sample containers 91. Therefore, the liquid sample dispensing system 1 dispenses predetermined amounts of each of the multiple liquid samples into one sample container 92, thereby mixing the multiple liquid samples in the sample container 92 and preparing the desired sample.

[0017] Next, the configuration of each part of the liquid sample dispensing system 1 will be explained in order.

[0018] ≪First lid opening / closing device 51≫ The first lid opening / closing device 51 is a device for opening and closing the lid 912 of the sample container 91, and as shown in Figure 3, has a container gripping unit 510 that grips the sample container 91 transported by the transport robot 2, a lid gripping unit 511 that grips the lid 912 of the sample container 91 gripped by the container gripping unit 510, a rotation unit 512 that rotates the lid gripping unit 511 gripping the lid 912 about a vertical axis to remove the lid 912 from the sample container 91 or attach the lid 912 to the sample container 91, and a movement mechanism 513 that moves the container gripping unit 510. Note that the lid 912 removed from the sample container 91 is held by the lid gripping unit 511 until it is time to attach it to the sample container 91 again. This allows the lid 912 to be attached and detached to and from the sample container 91 smoothly, thereby shortening the time required for preparation work.

[0019] The moving mechanism 513 also has a Y-stage 513y connected to the base 10 so as to be movable in the Y-axis direction, an X-stage 513x connected to the Y-stage 513y so as to be movable in the X-axis direction, and a Z-stage 513z connected to the X-stage 513x so as to be movable in the Z-axis direction, with the container gripping part 510 disposed on the Z-stage 513z. The moving mechanism 513 moves the Y-stage 513y, the X-stage 513x, and the Z-stage 513z independently or in conjunction with each other to transport the sample container 91 gripped by the container gripping part 510 to a delivery position Q11 where the sample container 91 is delivered to and from the transport robot 2, an opening / closing position Q12 as a third position where the lid 912 is opened and closed, and an aspirating position Q13 as a fourth position where the liquid sample is aspirated from the open sample container 91 with the pipette 8.

[0020] In this embodiment, the delivery position Q11 is located below the opening / closing position Q12. This positional relationship can shorten the movement distance of the sample container 91 between the delivery position Q11 and the opening / closing position Q12. Similarly, in this embodiment, the suction position Q13 is located below the opening / closing position Q12. This positional relationship can shorten the movement distance of the sample container 91 between the suction position Q13 and the opening / closing position Q12. This can shorten the time required for the preparation work. Note that in this embodiment, the delivery position Q11 and the suction position Q13 are the same, but this is not limiting and they may be different from each other.

[0021] The above has described the first lid opening and closing device 51. However, the configuration of the first lid opening and closing device 51 is not particularly limited as long as it can attach and detach the lid 912 to and from the sample container 91.

[0022] ≪Second lid opening / closing device 52≫ The second lid opening / closing device 52 is disposed adjacent to the first lid opening / closing device 51 in the X-axis direction. The second lid opening / closing device 52 is a device that opens and closes the lid 922 of the sample container 92, and has the same configuration as the first lid opening / closing device 51 described above.

[0023] 4, the second lid opening / closing device 52 includes a container gripping unit 520 that grips a sample container 92 transported to a predetermined position by the transport robot 2, a lid gripping unit 521 that grips a lid 922 of the sample container 92 gripped by the container gripping unit 520, a rotation unit 522 that rotates the lid gripping unit 521 that grips the lid 922 about a vertical axis to remove the lid 922 from the sample container 92 or attach the lid 922 to the sample container 92, and a movement mechanism 523 that moves the container gripping unit 520. Note that the lid 922 removed from the sample container 92 is held by the lid gripping unit 521 until it is time to attach it to the sample container 92 again. This allows the preparation work to be performed smoothly and the time required for the preparation work to be shortened.

[0024] The moving mechanism 523 has a Y-stage 523y connected to the base 10 so as to be movable in the Y-axis direction, an X-stage 523x connected to the Y-stage 523y so as to be movable in the X-axis direction, and a Z-stage 523z connected to the X-stage 523x so as to be movable in the Z-axis direction, and the container gripping unit 520 is disposed on the Z-stage 523z. The moving mechanism 513 moves the Y-stage 523y, the X-stage 523x, and the Z-stage 523z independently or in conjunction with each other to transport the sample container 92 held by the container gripping unit 520 to a delivery position Q21 where the sample container 92 is delivered to and from the transport robot 2, an opening / closing position Q22 as a first position where the lid 922 is opened or closed, and a discharging position Q23 as a second position where the liquid sample is discharged into the opened sample container 92.

[0025] In this embodiment, the delivery position Q21 is located below the opening / closing position Q22. This positional relationship shortens the distance the sample container 92 travels between the delivery position Q21 and the opening / closing position Q22. Similarly, in this embodiment, the discharge position Q23 is located below the opening / closing position Q22. This positional relationship shortens the distance the sample container 92 travels between the discharge position Q23 and the opening / closing position Q22. This reduces the time required for the preparation operation. Note that, although the delivery position Q21 and the discharge position Q23 are the same in this embodiment, this is not limiting and they may be different positions.

[0026] Furthermore, the discharge position Q23 and the aspirating position Q13 are adjacent to each other in the X-axis direction. This positional relationship shortens the distance the pipette 8 travels from the aspirating position Q13 to the discharge position Q23. This reduces the time required for preparation. Note that "adjacent" means that there are no obstacles between the discharge position Q23 and the aspirating position Q13. In particular, in this embodiment, as shown in FIG. 5, the upper end of the sample container 91 at the aspirating position Q13 and the upper end of the sample container 92 at the discharge position Q23 are at the same height. This configuration further shortens the distance the pipette 8 travels from the aspirating position Q13 to the discharge position Q23, making the above-described effects more pronounced. However, the positional relationship between the discharge position Q23 and the aspirating position Q13 is not particularly limited.

[0027] The above has been a description of the second lid opening and closing device 52. However, the configuration of the second lid opening and closing device 52 is not particularly limited as long as it can attach and detach the lid 922 to and from the sample container 92.

[0028] <Pipette 8> The pipette 8 is, for example, an electric micropipette, and is used with a tip 81 attached to its distal end, as shown in Fig. 5. Such a pipette 8 aspirates a liquid sample from a sample container 91 through the tip 81 and dispenses the aspirated liquid sample into a sample container 92. Although not shown, the pipette 8 has a cylinder, a plunger that slides within the cylinder, a motor that drives the plunger, and a motor control device that controls the driving of the motor, and aspirates and dispenses the liquid sample by driving the motor to slide the plunger within the cylinder.

[0029] The above is a description of the pipette 8. However, the configuration of the pipette 8 is not particularly limited as long as it can aspirate and discharge a predetermined amount of liquid sample.

[0030] <Dispensing Robot 4> The dispensing robot 4 performs dispensing work using a pipette 8. As shown in Figure 1, the dispensing robot 4 is a linear motion robot. By using the dispensing robot 4 as a linear motion robot, the pipette 8 can be moved linearly, allowing for smooth dispensing work.

[0031] The dispensing robot 4 has a Y linear stage 41y connected to the base 10 for linear movement in the Y axis direction, an X linear stage 41x connected to the Y linear stage 41y for linear movement in the X axis direction, a Z linear stage 41z connected to the X linear stage 41x for linear movement in the Z axis direction, and a pipette holder 42 disposed on the Z linear stage 41z and holding a pipette 8. In the dispensing robot 4 configured as described above, the Y linear stage 41y, the X linear stage 41x, and the Z linear stage 41z can be moved independently or in conjunction with each other to transport the pipette 8 held by the pipette holder 42 to a target position.

[0032] The dispensing robot 4 has been described above. However, the configuration of the dispensing robot 4 is not particularly limited as long as it can perform the dispensing operation described below. For example, any one or two of the X linear stage 41x, Y linear stage 41y, and Z linear stage 41z may be omitted. Furthermore, in addition to the X linear stage 41x, Y linear stage 41y, and Z linear stage 41z, the dispensing robot 44 may further include an X rotation stage that rotates the pipette holder 42 about the X axis, a Y rotation stage that rotates the pipette holder 42 about the Y axis, a Z rotation stage that rotates the pipette holder 42 about the Z axis, etc.

[0033] <Transport Robot 2> The transport robot 2 transports specimen containers 91 and sample containers 92. As shown in Fig. 6, the transport robot 2 is a vertical articulated robot having six drive shafts, and has a base 21 fixed to a base 10, a robot arm 22 rotatably connected to the base 21, and a hand 23 attached to the tip of the robot arm 22.

[0034] The robot arm 22 has six arms 221, 222, 223, 224, 225, and 226 rotatably connected in this order from the base 21 side, and includes six joints J1, J2, J3, J4, J5, and J6. Specifically, the arm 221 is rotatably connected to the base 21 via the joint J1. The arm 222 is rotatably connected to the arm 221 via the joint J2. The arm 223 is rotatably connected to the arm 222 via the joint J3. The arm 224 is rotatably connected to the arm 223 via the joint J4. The arm 225 is rotatably connected to the arm 224 via the joint J5. The arm 226 is rotatably connected to the arm 225 via the joint J6.

[0035] Among the joints J1 to J6, joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsion joints. In particular, the rotation axis of joint J1 is aligned vertically, and the rotation axes of joints J2 and J3 are aligned horizontally. Although not shown, each joint J1 to J6 is equipped with a drive mechanism including a motor, a reducer that slows down the rotation of the motor to increase and output a rotational force (torque), and an encoder that detects the amount of rotation of the joint. By independently moving each joint J1 to J6, the specimen container 91 or sample container 92 held by the hand 23 can be transported to a target position at a desired posture and speed.

[0036] The above describes the transport robot 2. However, the configuration of the transport robot 2 is not particularly limited. For example, the number of arms provided in the robot arm 22 is not limited to six. Furthermore, the transport robot 2 may be a double-arm robot, a horizontal articulated robot (SCARA robot), or the like.

[0037] <Control device 3> The control device 3 is electrically connected to each device of the liquid sample dispensing system 1 and controls the operation of each device. Specifically, it controls the operation of the transport robot 2 to transport the sample container 91 and the sample container 92, controls the operation of the first lid opening / closing device 51 to attach / detach the lid 912 to / from the sample container 91, controls the operation of the second lid opening / closing device 52 to attach / detach the lid 922 to / from the sample container 92, and controls the operation of the dispensing robot 4 to dispense the liquid sample.

[0038] Such a control device 3 is, for example, configured as a computer, and has a processor (CPU) for processing information, a memory communicatively connected to the processor, and an external interface for connecting to external devices. Various programs executable by the processor are stored in the memory, and the processor can read and execute the programs stored in the memory.

[0039] The above describes the configuration of each part of the liquid sample dispensing system 1. Next, the dispensing operation using the liquid sample dispensing system 1 will be described using as an example a preparation operation in which two different types of liquid samples are mixed to prepare a sample.

[0040] As shown in FIG. 7 , the preparation work includes a first sample container lid opening step S1 in which the first lid opening device 51 opens a first type of sample container 91; a first suction step S2 in which the dispensing robot 4 uses the pipette 8 to aspirate a predetermined amount of liquid sample from the sample container 91 opened in the first sample container lid opening step S1; a first sample container lid opening step S3 in which the second lid opening device 52 opens the sample container 92; a first discharge step S4 in which the dispensing robot 4 discharges the liquid sample aspirated by the pipette 8 in the first suction step S2 into the sample container 92 opened in the first sample container lid opening step S3; a first sample container lid closing step S5 in which the first lid opening device 51 closes the sample container 91; and a first sample container lid closing step S6 in which the second lid opening device 52 closes the sample container 92. a second sample container lid opening process S7 in which the first lid opening device 51 opens a second type of sample container 91; a second suction process S8 in which the dispensing robot 4 aspirates a predetermined amount of liquid sample with the pipette 8 from the sample container 91 opened in the second sample container lid opening process S7; a second sample container lid opening process S9 in which the second lid opening device 52 opens the sample container 92; a second discharge process S10 in which the dispensing robot 4 discharges the liquid sample in the pipette 8 into the sample container 92 opened in the second sample container lid opening process S9; a second sample container lid closing process S11 in which the first lid opening device 51 closes the sample container 91; and a second sample container lid closing process S12 in which the second lid opening device 52 closes the sample container 92.

[0041] These steps S1 to S12 mainly include a transport robot step performed by the transport robot 2, a first lid opening and closing device step performed by the first lid opening and closing device 51, a second lid opening and closing device step performed by the second lid opening and closing device 52, and a dispensing robot step performed by the dispensing robot 4. The transport robot step, first lid opening and closing device step, second lid opening and closing device step, and dispensing robot step can be performed in parallel with one another. Specifically, while one of the transport robot step, first lid opening and closing device step, second lid opening and closing device step, and dispensing robot step is being performed, one or more of the remaining three steps can be performed simultaneously.

[0042] Each of steps S1 to S12 will be explained below in order.

[0043] ≪First sample container opening step S1≫ In the first sample container lid opening step S1, the transport robot 2 first grasps the first type of sample container 91 on the mounting table 73 and transports it to the delivery position Q11 in Step 11. Next, as shown in Fig. 8, the first lid opening and closing device 51 grasps the sample container 91 transported to the delivery position Q11 in Step 12. Note that in this embodiment, the sample container 91 is directly delivered from the hand 23 to the container gripper 510, but this is not limiting. For example, the transport robot 2 may temporarily place the sample container 91 on a delivery table (not shown), and the first lid opening and closing device 51 may receive the sample container 91 placed on the delivery table.

[0044] Next, in Step 13, the first lid opening and closing device 51 moves the sample container 91 to the opening and closing position Q12 and removes the lid 912 from the sample container 91. Next, as shown in Figure 9, in Step 14, the first lid opening and closing device 51 moves the sample container 91 to the suction position Q13 and waits at that position until Step 24 (suction of liquid sample) of the first suction step S2 is completed. This completes the first sample container lid opening step S1.

[0045] As described above, the delivery position Q11 and the suction position Q13 are located below the opening / closing position Q12. This shortens the travel distance of the sample container 91 from the delivery position Q11 to the suction position Q13 via the opening / closing position Q12. This also shortens the time required for the first sample container lid-opening step S1. In particular, in this embodiment, the delivery position Q11 and the suction position Q13 are located directly below the opening / closing position Q12. In other words, the delivery position Q11 and the suction position Q13 overlap with the opening / closing position Q12 in a vertical plan view. This further enhances the above-described effect. Here, the phrase "the delivery position Q11 overlaps with the opening / closing position Q12 in a vertical plan view" means that the sample container 91 at the delivery position Q11 overlaps with the sample container 91 at the opening / closing position Q12 at least partially, and preferably completely, overlaps with the sample container 91 at the delivery position Q11 in a vertical plan view. The same applies to the above statement that "in a plan view from the vertical direction, the suction position Q13 overlaps with the opening / closing position Q12."

[0046] ≪First suction step S2≫ In the first suction step S2, the dispensing robot 4 first moves the pipette holder 42 to the pipette stand 71 and holds a predetermined pipette 8 in the pipette holder 42 (Step 21). Next, in Step 22, the dispensing robot 4 moves the held pipette 8 to the tip stand 72 and attaches an unused tip 81 placed on the tip stand 72 to the tip of the pipette 8. Next, in Step 23, the dispensing robot 4 moves the held pipette 8 toward suction position Q13 and inserts it into the open sample container 91 that was waiting at suction position Q13 in the first sample container lid-opening step S1. Next, as shown in FIG. 10, in Step 24, the dispensing robot 4 aspirates a predetermined amount of liquid sample with the pipette 8. Next, in Step 25, the dispensing robot 4 removes the pipette 8 from the sample container 91 and transports it toward discharge position Q23. This completes the first suction step S2.

[0047] In such a first aspiration step S2, it is preferable to complete steps up to Step 22 before Step 14 of the first sample container lid-opening step S1 (the step of transporting the opened sample container 91 to the aspiration position Q13) is completed so that Step 23 can be started immediately after Step 14. With this configuration, it is possible to shorten the time from opening the sample container 91 lid to completing the aspiration of the liquid sample in the sample container 91.

[0048] <First sample container lid opening process S3> In the first sample container lid opening step S3, the transfer robot 2 first grasps an empty sample container 92 on the mounting table 73 and transports it to the delivery position Q21 in Step 31. Next, as shown in Fig. 11, the second lid opening and closing device 52 grasps the sample container 92 transported to the delivery position Q21 in Step 32. Note that in this embodiment, the sample container 92 is directly delivered from the hand 23 to the container gripper 520, but this is not limiting. For example, the transfer robot 2 may temporarily place the sample container 92 on a delivery table (not shown), and the second lid opening and closing device 52 may then receive the sample container 92 placed on the delivery table.

[0049] Next, in Step 33, the second lid opening and closing device 52 moves the sample container 92 to the opening / closing position Q22 and removes the lid 922 from the sample container 92. Next, as shown in FIG. 12, in Step 34, the second lid opening and closing device 52 moves the sample container 92 to the dispensing position Q23 and waits at that position until the first dispensing step S4 is completed. This completes the first sample container lid opening step S3. Note that the second lid opening and closing device 52 may transport the sample container 92 to the electronic balance 6 and measure the weight of the empty sample container 92 prior to Step 34.

[0050] In the first sample container lid-opening step S3, the start time of Step 34 (the step of opening the lid of the sample container 92) is delayed as much as possible so that Step 34 ends immediately before Step 25 (the step of transporting the pipette 8 to the discharge position Q23) of the first suction step S2 ends. This shortens the time from opening the lid of the sample container 92 to completing the discharge of the liquid sample into the sample container 92 (Step 42, described later).

[0051] As described above, the delivery position Q21 and the discharge position Q23 are located below the opening / closing position Q22, so the travel distance of the sample container 92 from the delivery position Q21 to the discharge position Q23 via the opening / closing position Q22 can be shortened, and the time required for the first sample container opening step S3 can be further shortened.

[0052] In particular, in this embodiment, the delivery position Q21 and the discharge position Q23 are located directly below the opening / closing position Q22, and in a vertical plan view, the delivery position Q21 and the discharge position Q23 overlap with the opening / closing position Q22, making the above-mentioned effect even more pronounced. Here, the phrase "in a vertical plan view, the delivery position Q21 overlaps with the opening / closing position Q22" means that, in a vertical plan view, at least a portion of the sample container 92 at the delivery position Q21 overlaps with the sample container 92 at the opening / closing position Q22, and preferably, the entire sample container 92 overlaps with the sample container 92 at the delivery position Q21. The same applies to the phrase "in a vertical plan view, the discharge position Q23 overlaps with the opening / closing position Q22."

[0053] ≪First discharge process S4≫ 13, in the first dispensing step S4, first, in Step 41, after completing Step 25 (the step of transporting the pipette 8 to the dispensing position Q23), the dispensing robot 4 inserts the pipette 8 into the open sample container 92 that was placed on standby at the dispensing position Q23 in Step 34 of the first sample container lid-opening step S3, and dispenses the liquid sample from the pipette 8. Next, in Step 42, the dispensing robot 4 removes the pipette 8 from the sample container 92, replaces the tip 81 if necessary, and then transports the pipette 8 toward the aspirating position Q13. This completes the first dispensing step S4.

[0054] As described above, in this embodiment, the aspiration position Q13 when aspirating a liquid sample from the sample container 91 and the discharge position Q23 when discharging the aspirated liquid sample are adjacent to each other in the X-axis direction. This shortens the movement distance of the pipette 8 from the aspiration position Q13 to the discharge position Q23. This shortens the time from aspirating the liquid sample from the sample container 91 in Step 24 of the first aspiration process S2 to discharging the liquid sample into the sample container 92 in Step 41, i.e., the time the liquid sample remains in the tip 81. As a result, weight changes and deterioration of the liquid sample due to evaporation, moisture absorption, etc. in the tip 81 can be effectively suppressed, thereby improving dispensing accuracy.

[0055] <First sample container lid closing step S5> In the first sample container lid closing step S5, the first lid opening and closing device 51 first moves the sample container 91 to the opening and closing position Q12 in Step 51 and attaches the lid 912 to the sample container 91. As described above, the first lid opening and closing device 51 holds the lid 912 that was removed in the first sample container lid opening step S1, so Step 51 can be performed in a shorter time. Next, in Step 52, the first lid opening and closing device 51 moves the container gripper 510 to move the sample container 91 to the delivery position Q11. Next, in Step 53, the transfer robot 2 receives the sample container 91 at the delivery position Q11 from the first lid opening and closing device 51, transports it to the mounting table 73, and returns it to its original position. This completes the first sample container lid closing step S5.

[0056] This first sample container lid closing step S5 is started immediately after the pipette 8 is removed from the sample container 91 in Step 25 of the first suction step S2. This configuration shortens the time from when the suction of the liquid sample from the sample container 91 is completed until the sample container 91 is closed.

[0057] As described above, since the suction position Q13 is located below the opening / closing position Q12, the movement distance of the sample container 91 between the suction position Q13 and the opening / closing position Q12 can be shortened. Therefore, the time from when the sample container 91 is opened in Step 14 of the first sample container lid opening process S1 until the sample container 91 is closed in Step 51, i.e., the time the sample container 91 is open for dispensing, can be shortened. As a result, evaporation, moisture absorption, and contamination of foreign matter in the liquid sample in the sample container 91 can be effectively suppressed, and deterioration and degradation of the liquid sample can be suppressed. In particular, in this embodiment, the suction position Q13 overlaps with the opening / closing position Q12 in a vertical plan view, making the above-mentioned effect more pronounced. Furthermore, the first suction process S2 is performed while the first lid opening / closing device 51 still holds the sample container 91, making the above-mentioned effect more pronounced.

[0058] <First sample container lid closing step S6> In the first sample container lid closing step S6, the second lid opening / closing device 52 first moves the sample container 92 to the opening / closing position Q22 and attaches the lid 922 to the sample container 92 in Step 61. As described above, the second lid opening / closing device 52 retains the lid 922 that was removed in the first sample container lid opening step S3, so Step 61 can be performed in a shorter time. This completes the first sample container lid closing step S6. The second lid opening / closing device 52 remains in this state and waits until the second sample container lid opening step S9 begins. Note that the second lid opening / closing device 52 may transport the sample container 92 to the electronic balance 6 and weigh it between the end of Step 61 and the start of the second sample container lid opening step S9 to detect the actual amount of liquid sample dispensed in the first dispensing step S4.

[0059] The first sample container lid closing step S6 is started immediately after the pipette 8 is removed from the sample container 92 in Step 42 of the first dispensing step S4. This configuration shortens the time from when the liquid sample is completely dispensed into the sample container 92 until the sample container 92 is closed.

[0060] As described above, because the discharge position Q23 is located below the open-close position Q22, the movement distance of the sample container 92 between the discharge position Q23 and the open-close position Q22 can be shortened. Therefore, the time from when the sample container 92 is opened in Step 34 of the first sample container open-lid process S3 until the sample container 92 is closed in Step 61, i.e., the time the sample container 92 is open for dispensing, can be shortened. As a result, weight changes due to evaporation or moisture absorption of the liquid sample in the sample container 92 and the introduction of foreign matter can be effectively suppressed, thereby improving dispensing accuracy. In particular, in this embodiment, the discharge position Q23 overlaps with the open-close position Q22 in a vertical plan view, making the above effect even more pronounced.

[0061] This completes the first dispensing step of dispensing the first type of liquid sample. After this, the second dispensing step begins, in which the second type of liquid sample is dispensed in the same manner as the first type. Note that the second dispensing step involves repeating substantially the same steps as the first dispensing step described above, and therefore detailed explanations will be omitted below.

[0062] ≪Second sample container opening step S7≫ In the second sample container lid opening process S7, the transport robot 2 first grasps the second type of sample container 91 on the mounting table 73 and transports it to the delivery position Q11 in Step 71. Next, as in FIG. 8, the first lid opening and closing device 51 grasps the sample container 91 transported to the delivery position Q11 in Step 72. Next, the first lid opening and closing device 51 moves the sample container 91 to the opening and closing position Q12 in Step 73. Next, the first lid opening and closing device 51 removes the lid 912 from the sample container 91 in Step 74. Next, as in FIG. 9, the first lid opening and closing device 51 moves the sample container 91 to the suction position Q13 in Step 75 and waits at that position until Step 84 (suction of the liquid sample) of the second suction process S8 is completed. This completes the second sample container lid opening process S7.

[0063] ≪Second suction step S8≫ In the second suction step S8, first, in Step 81, the dispensing robot 4, after completing Step 42 (the step of transporting the pipette 8 to the suction position Q13), promptly inserts the pipette 8 into the open sample container 91 that was waiting at the suction position Q13 in Step 75 of the second sample container lid-opening step S7. Next, as in FIG. 10, in Step 82, the dispensing robot 4 aspirates a predetermined amount of liquid sample with the pipette 8. Next, in Step 83, the dispensing robot 4 removes the pipette 8 from the sample container 91 and transports it toward the discharge position Q23. This completes the second suction step S8.

[0064] <<Second sample container lid opening process S9>> In the second sample container lid opening process S9, the second lid opening / closing device 52 first removes the lid 922 from the sample container 92 in Step 91. Next, as in Fig. 12, the second lid opening / closing device 52 moves the sample container 92 to the discharge position Q23 in Step 92, and waits at that position until the second discharge process S10 is completed. This completes the second sample container lid opening process S9.

[0065] ≪Second discharge process S10≫ 13, in the second dispensing step S10, first, in Step 101, the dispensing robot 4, after completing Step 83 (the step of transporting the pipette 8 to the dispensing position Q23), promptly inserts the pipette 8 into the open sample container 92 that was kept waiting at the dispensing position Q23 in Step 92 of the second sample container open-lid step S9, and dispenses the liquid sample from the pipette 8. Next, in Step 102, the dispensing robot 4 removes the pipette 8 from the sample container 92. This completes the second dispensing step S10.

[0066] <Second sample container lid closing step S11> In the second sample container lid closing step S11, the first lid opening and closing device 51 first moves the sample container 91 to the opening and closing position Q12 in Step 111 and attaches the lid 912 to the sample container 91. Next, the first lid opening and closing device 51 moves the sample container 91 to the delivery position Q11 in Step 112. Next, the transfer robot 2 receives the sample container 91 from the first lid opening and closing device 51 at the delivery position Q11 in Step 113, transports it to the mounting table 73, and returns it to its original position. This completes the second sample container lid closing step S11.

[0067] <Second sample container lid closing step S12> In the second sample container lid closing step S12, the second lid opening and closing device 52 first moves the sample container 92 to the opening and closing position Q22 and attaches the lid 922 to the sample container 92 in Step 121. Next, the second lid opening and closing device 52 moves the sample container 92 to the delivery position Q21 in Step 122. Next, the transfer robot 2 receives the sample container 92 from the second lid opening and closing device 52 at the delivery position Q21 in Step 123, transports it to the mounting table 73, and returns it to its original position. This completes the second sample container lid closing step S12.

[0068] This completes the second dispensing step of dispensing the second type of liquid sample, and a sample of predetermined components is prepared in the sample container 92.

[0069] The liquid sample dispensing system 1 has been described above. As described above, the liquid sample dispensing system 1 includes the dispensing robot 4, which is a robot that dispenses a liquid sample from a pipette 8, which is a dispenser, into a sample container 92, and the second lid opening / closing device 52, which is a sample container closing device that closes the lid of the sample container 92. The second position of the sample container 92, the dispensing position Q23, where the dispensing robot 4 dispenses the liquid sample from the pipette 8 into the sample container 92, is located below the opening / closing position Q22, which is the first position of the sample container 92 when the second lid opening / closing device 52 closes the lid of the sample container 92. This configuration shortens the distance the sample container 92 moves from the dispensing position Q23 to the opening / closing position Q22. This shortens the time from when the liquid sample is dispensed into the sample container 92 until the lid of the sample container 92 is closed, i.e., the time the lid of the sample container 92 is open for dispensing. As a result, weight changes due to evaporation and moisture absorption of the liquid sample in the sample container 92, as well as contamination with foreign matter, can be effectively suppressed, and dispensing accuracy is improved.

[0070] As described above, the dispensing robot 4 is a linear motion robot. With this configuration, the pipette 8 can be moved linearly, allowing for smooth dispensing operations.

[0071] As described above, the dispensing robot 4 has the open / close position Q22 and the discharge position Q23 overlapping in the Z-axis direction, i.e., in a plan view from the vertical direction. This configuration further shortens the movement distance of the sample container 92 from the discharge position Q23 to the open / close position Q22. This further shortens the time that the lid of the sample container 92 is open for dispensing, thereby improving dispensing accuracy.

[0072] As described above, the liquid sample dispensing system 1 includes the first lid opening / closing device 51, which is a sample container closing device that closes the sample container 91 containing the liquid sample to be aspirated by the pipette 8. The fourth position of the sample container 91, the aspirating position Q13, when the dispensing robot 4 aspirates the liquid sample from the sample container 91 with the pipette 8, is located below the opening / closing position Q12, which is the third position of the sample container 91 when the first lid opening / closing device 51 closes the sample container 91. This configuration shortens the travel distance of the sample container 91 between the aspirating position Q13 and the opening / closing position Q12. This shortens the time the sample container 91 is kept open for dispensing. This effectively prevents evaporation, moisture absorption, and contamination of the liquid sample in the sample container 91, thereby preventing deterioration and degradation of the liquid sample.

[0073] As described above, in the liquid sample dispensing system 1, the discharge position Q23 and the aspirating position Q13 are adjacent to each other. This positional relationship shortens the distance that the pipette 8 has to travel from the aspirating position Q13 to the discharge position Q23. This shortens the time between aspirating the liquid sample from the sample container 91 and dispensing it into the sample container 92, i.e., the time that the liquid sample remains in the tip 81. As a result, weight changes due to evaporation, moisture absorption, etc. of the liquid sample in the tip 81 can be effectively suppressed, improving dispensing accuracy.

[0074] As described above, the liquid sample dispensing method uses the dispensing robot 4, which dispenses a liquid sample from a pipette 8 into a sample container 92, and the second lid opening / closing device 52, which is a sample container closing device that closes the lid of the sample container 92. The second position of the sample container 92, the dispensing position Q23, where the dispensing robot 4 dispenses the liquid sample from the pipette into the sample container 92, is located below the opening / closing position Q22, which is the first position of the sample container 92 when the second lid opening / closing device 52 closes the lid of the sample container 92. This method shortens the distance the sample container 92 travels from the dispensing position Q23 to the opening / closing position Q22. This shortens the time from when the liquid sample is dispensed into the sample container 92 until the lid of the sample container 92 is closed, i.e., the time the lid of the sample container 92 is open for dispensing. This effectively suppresses weight changes due to evaporation or moisture absorption of the liquid sample in the sample container 92, as well as the introduction of foreign matter, thereby improving dispensing accuracy.

[0075] Second Embodiment Fig. 14 is a top view showing the entire liquid sample dispensing system according to the second embodiment, and Fig. 15 is a top view showing the relationship between the transport robot and the dispensing operation position.

[0076] The liquid sample dispensing system 1 of this embodiment is similar to the first embodiment described above, except that the dispensing robot 4 is omitted and the transport robot 2 performs both the transport of the sample container 91 and the sample container 92 and the dispensing operation using the pipette 8. In the following description, differences between this embodiment and the previously described embodiment will be mainly described, and similar points will not be described again. In each drawing of this embodiment, the same reference numerals are used to designate the same components as those in the previously described embodiment.

[0077] 14, in the liquid sample dispensing system 1 of this embodiment, the dispensing robot 4 is omitted from the liquid sample dispensing system 1 of the first embodiment described above. A transport robot 2 performs dispensing using a pipette 8 in addition to transporting sample containers 91 and sample containers 92. With this configuration, the absence of the dispensing robot 4 allows for lower costs and a smaller size of the liquid sample dispensing system 1. Furthermore, the transport robot 2 is a vertical articulated robot that can move the robot arm 22 in a complex manner, which means that there are few restrictions on movement, and the transport of sample containers 91 and sample containers 92 and dispensing using a pipette 8 can both be performed smoothly.

[0078] The procedure for the preparation work is not particularly limited, but for example, after performing a first sample container lid-opening step S1 and a first sample container lid-opening step S3, the pipette 8 is grasped and a first suction step S2 and a first discharge step S4 are performed, the pipette 8 is returned to the pipette stand 71, and a first sample container lid-closing step S5 and a first sample container lid-closing step S6 are performed to complete the first dispensing step. Similarly, after performing a second sample container lid-opening step S7 and a second sample container lid-opening step S9, the pipette 8 is grasped and a second suction step S8 and a second discharge step S10 are performed, the pipette 8 is returned to the pipette stand 71, and a second sample container lid-closing step S11 and a second sample container lid-closing step S12 are performed to complete the second dispensing step. According to these steps, the preparation work can be performed by the transport robot 2 alone.

[0079] 15, in the Z-axis direction, i.e., in a plan view from the vertical direction, the aspirating position Q13 and the discharging position Q23 are both located within an area E of 90° around the rotation axis of the joint J1 of the transport robot 2. That is, the angle between the line segment connecting the central axis of the sample container 91 at the aspirating position Q13 to the rotation axis of the joint J1 and the line segment connecting the central axis of the sample container 92 at the discharging position Q23 to the rotation axis of the joint J1 is within 90°. This configuration shortens the travel distance of the pipette 8 from the aspirating position Q13 to the discharging position Q23. This shortens the time between aspirating the liquid sample from the sample container 91 and discharging the liquid sample into the sample container 92, i.e., the time the liquid sample remains in the tip 81. This effectively suppresses weight changes, such as evaporation and moisture absorption, of the liquid sample in the tip 81, thereby improving dispensing accuracy.

[0080] The central angle of region E is more preferably 60°, and even more preferably 30°, which makes the above-mentioned effects more pronounced.

[0081] In addition, in the Z-axis direction, i.e., in a plan view from the vertical direction, both the sample container 92 at the open / close position Q22 and the sample container 92 at the discharge position Q23 are located within region E. That is, the angle between the line segment connecting the central axis of the sample container 92 at the open / close position Q22 to the rotation axis of the joint J1 and the line segment connecting the central axis of the sample container 92 at the discharge position Q23 to the rotation axis of the joint J1 is within 90°. In particular, in this embodiment, because the open / close position Q22 and the discharge position Q23 overlap in the vertical direction, the angle between the line segment connecting the sample container 92 at the open / close position Q22 to the rotation axis of the joint J1 and the line segment connecting the sample container 92 at the discharge position Q23 to the rotation axis of the joint J1 is 0°.

[0082] This configuration shortens the distance the sample container 92 has to travel between the dispensing position Q23 and the open / close position Q22. This shortens the time between the opening of the sample container 92 in the first sample container lid-opening step S3 and the closing of the sample container 92 in the first sample container lid-closing step S6, i.e., the time the sample container 92 is open for dispensing. This effectively reduces weight changes due to evaporation or moisture absorption of the liquid sample in the sample container 92, as well as the introduction of foreign matter, improving dispensing accuracy.

[0083] The liquid sample dispensing system 1 of this embodiment has been described above. In this liquid sample dispensing system 1, as described above, the transport robot 2 serving as the robot is a vertical articulated robot having a base 21 and a robot arm 22 connected to the base 21 and equipped with a plurality of joints J1 to J6. With this configuration, the robot arm 22 can be moved in a complex manner, which minimizes restrictions on the dispensing operation and enables the dispensing operation to be performed smoothly.

[0084] Furthermore, as described above, of the multiple joints J1-J6, joint J1, which is located closest to the base 21, has a vertical rotation axis, and in a plan view from the vertical direction, the open / close position Q22 and the discharge position Q23 are located within 90° of the rotation axis of joint J1. This configuration shortens the movement distance of the sample container 92 between the discharge position Q23 and the open / close position Q22. This shortens the time that the lid of the sample container 92 is open for dispensing. As a result, weight changes due to evaporation and moisture absorption of the liquid sample in the sample container 92, as well as the introduction of foreign matter, can be effectively suppressed, thereby improving dispensing accuracy.

[0085] As described above, the liquid sample dispensing system 1 includes the first lid opening / closing device 51, which is a sample container closing device that closes the sample container 91 containing the liquid sample aspirated by the pipette 8. The fourth position of the sample container 91, the aspirating position Q13, is located below the opening / closing position Q12, which is the third position of the sample container 91 when the first lid opening / closing device 51 closes the sample container 91. The dispensing robot 4 aspirates the liquid sample from the sample container 91 with the pipette 8. In a vertical plan view, the dispensing position Q23 and the aspirating position Q13 are located within 90° of the rotation axis of the joint J1. This configuration shortens the travel distance of the pipette 8 from the aspirating position Q13 to the dispensing position Q23. This shortens the time between aspirating the liquid sample from the sample container 91 and dispensing it into the sample container 92, i.e., the time the liquid sample remains in the tip 81. As a result, weight changes due to evaporation, moisture absorption, etc. of the liquid sample in the tip 81 can be effectively suppressed, and dispensing accuracy is improved.

[0086] The second embodiment can also achieve the same effects as the first embodiment described above.

[0087] The liquid sample dispensing system and liquid sample dispensing method of the present invention have been described above based on the illustrated embodiments. However, the present invention is not limited to this, and the configuration of each part can be replaced with any configuration or process that has the same function. Furthermore, any other configuration or process may be added to the present invention.

[0088] In the embodiment described above, in the first suction step S2, the pipette 8 aspirates the liquid sample while the first lid opening / closing device 51 holds the sample container 91. However, this is not limiting. For example, as shown in FIG. 16, suction may be performed while the sample container 91 is placed on the suction work table 74 installed below the first lid opening / closing device 51. In this case, this position becomes the suction position Q13. Similarly, in the first discharge step S4, the pipette 8 discharges the liquid sample while the second lid opening / closing device 52 holds the sample container 92. However, this is not limiting. For example, as shown in FIG. 17, suction may be performed while the sample container 92 is placed on the discharge work table 75 installed below the second lid opening / closing device 52. In this case, this position becomes the discharge position Q23. The same applies to the second suction step S8 and the second discharge step S10. [Explanation of symbols]

[0089] 1...liquid sample dispensing system, 10...base, 2...transport robot, 21...base, 22...robot arm, 221...arm, 222...arm, 223...arm, 224...arm, 225...arm, 226...arm, 23...hand, 3...control device, 4...dispensing robot, 41x...X linear motion stage, 41y...Y linear motion stage, 41z...Z linear motion stage, 42...pipette holder, 51...first Lid opening / closing device, 510...container gripping part, 511...lid gripping part, 512...rotating part, 513...moving mechanism, 513x...X stage, 513y...Y stage, 513z...Z stage, 52...second lid opening / closing device, 520...container gripping part, 521...lid gripping part, 522...rotating part, 523...moving mechanism, 523x...X stage, 523y...Y stage, 523z...Z stage, 6...electronic balance, 71...pipette Stand, 72...Tip stand, 73...Placement table, 74...Aspiration work table, 75...Discharge work table, 8...Pipette, 81...Tip, 91...Sample container, 912...Lid, 92...Sample container, 922...Lid, E...Area, J1...Joint, J2...Joint, J3...Joint, J4...Joint, J5...Joint, J6...Joint, Q11...Delivery position, Q12...Open / close position, Q13...Aspiration position, Q21...Delivery position, Q22...Open / close position, Q2 3...discharge position, S1...first sample container opening step, S2...first suction step, S3...first sample container opening step, S4...first discharge step, S5...first sample container closing step, S6...first sample container closing step Step, S7...Second sample container opening step, S8...Second suction step, S9...Second sample container opening step, S10...Second discharge step, S11...Second sample container closing step, S12...Second sample container closing step

Claims

1. a robot that dispenses a liquid sample from a dispenser into a sample container; a sample container closing device for closing the sample container, A liquid sample dispensing system characterized in that a second position of the sample container when the robot ejects the liquid sample from the dispenser into the sample container is located below a first position of the sample container when the sample container closing device closes the lid of the sample container.

2. 2. The liquid sample dispensing system according to claim 1, wherein the robot is a vertical articulated robot having a base and a robot arm connected to the base and having a plurality of joints.

3. Among the plurality of joints, the joint located closest to the base has a rotation axis along a vertical direction, 3. The liquid sample dispensing system according to claim 2, wherein the first position and the second position are disposed within an angle of 90° around the rotation axis in a plan view from the vertical direction.

4. a sample container closing device that closes a sample container in which the liquid sample aspirated by the dispenser is stored, a fourth position of the sample container when the robot aspirates the liquid sample in the sample container with the pipette, below a third position of the sample container when the sample container lid closing device closes the lid of the sample container; 3. The liquid sample dispensing system according to claim 2, wherein the second position and the fourth position are disposed within an angle of 90° around the rotation axis in a plan view from the vertical direction.

5. 2. The liquid sample dispensing system according to claim 1, wherein the robot is a linear motion robot.

6. The liquid sample dispensing system according to claim 1 , wherein the first position and the second position overlap in a plan view from the vertical direction.

7. a sample container closing device that closes a sample container in which the liquid sample aspirated by the dispenser is stored, The liquid sample dispensing system of claim 1, wherein a fourth position of the sample container when the robot aspirates the liquid sample in the sample container with the dispenser is located below a third position of the sample container when the sample container closing device closes the lid of the sample container.

8. The liquid sample dispensing system according to claim 7 , wherein the fourth position and the second position are adjacent to each other.

9. a robot that dispenses a liquid sample from a dispenser into a sample container; a sample container closing device that closes the sample container, A liquid sample dispensing method characterized by positioning a second position of the sample container when the robot ejects the liquid sample from the dispenser into the sample container below a first position of the sample container when the sample container closing device closes the lid of the sample container.

Images