Robot control method and robot

Abstract

To provide a robot control method and a robot that can effectively suppress the decrease in the second reagent. [Solution] The robot control method includes: a first reagent aspiration step of inserting a pipette into the first reagent in the first container and aspirating the first reagent with the pipette; a liquid level detection step of detecting the position of the liquid level of the second reagent in the second container; a pipette insertion step of inserting the pipette into the second reagent so that the tip of the pipette is at a predetermined depth relative to the liquid level; and a first reagent discharge step of moving the pipette horizontally to agitate the second reagent and discharging the first reagent from the pipette into the second reagent while agitating. In the first reagent discharge step, the pipette is moved vertically upward in response to the rise in the liquid level caused by the discharge of the first reagent from the pipette into the second reagent, thereby maintaining the tip of the pipette at a predetermined depth while agitating.

Description

Technical Field

[0001] The present invention relates to a method for controlling a robot and a robot.

Background Art

[0002] Patent Document 1 describes a method of sucking and discharging a sample using a pipette at different positions within one sample container. Specifically, there are described methods of performing one of the sucking and discharging of the sample at the lower part of the sample container and the other at the upper part of the sample container, and methods of performing one or both of the sucking and discharging of the sample while moving the pipette up and down within the sample container.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, if the pipette is inserted to the bottom of the sample container, when the pipette is withdrawn from the sample container, a large amount of the sample will adhere to the surface of the pipette. Therefore, there is a risk that the sample of the adhered portion will be lost from within the sample container and accurate dispensing cannot be performed.

Means for Solving the Problems

[0005] The method for controlling a robot according to the present invention is a method for controlling a robot having a pipette and a robot arm that holds the pipette, and includes a first test liquid suction step of driving the robot arm to insert the pipette into a first test liquid contained in a first container and sucking the first test liquid with the pipette, a liquid level detection step of detecting the position of the liquid level of a second test liquid contained in a second container, A pipette insertion step involves driving the robot arm to insert the pipette into the second reagent so that the tip of the pipette is at a predetermined depth relative to the liquid surface, The process includes a first reagent discharge step in which the robot arm is driven to move the pipette horizontally, thereby agitating the second reagent, and during the agitation, the first reagent in the pipette is discharged into the second reagent. In the first reagent discharge step, the pipette is moved vertically upward in response to the rise in the liquid level caused by the discharge of the first reagent from the pipette into the second reagent, thereby maintaining the tip of the pipette at the predetermined depth while stirring is performed.

[0006] The robot of the present invention uses a pipette and A robotic arm that holds the aforementioned pipette, The system includes a control device that controls the driving of the robot arm and the pipette, The aforementioned control device, The first reagent aspiration step involves driving the robot arm to insert the pipette into the first reagent contained in the first container and aspirating the first reagent with the pipette, A liquid level detection step for detecting the liquid level position of the second reagent contained in the second container, A pipette insertion step involves driving the robot arm to insert the pipette into the second reagent so that the tip of the pipette is at a predetermined depth relative to the liquid surface, A first reagent discharge step is performed, in which the robot arm is driven to move the pipette horizontally, thereby agitating the second reagent, and during the agitation, the first reagent in the pipette is discharged into the second reagent. In the first reagent discharge step, the pipette is moved vertically upward in response to the rise in the liquid level caused by the discharge of the first reagent from the pipette into the second reagent, thereby maintaining the tip of the pipette at the predetermined depth while stirring is performed. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 is an overall diagram of a robot according to a preferred embodiment. [Figure 2] Figure 2 is a flowchart showing the discharge process for the first test solution. [Figure 3] Figure 3 shows the pipette inserted into the second reagent. [Figure 4] Figure 4 shows how the liquid level of the second reagent rises when the first reagent is discharged from the pipette. [Figure 5] Figure 5 shows the horizontal movement of the pipette during stirring. [Figure 6] Figure 6 shows the vertical movement of the pipette during stirring. [Figure 7] Figure 7 shows the trajectory of the pipette during stirring. [Figure 8] Figure 8 is a graph showing the liquid level of the second reagent and the displacement of the pipette during the first reagent discharge process. [Figure 9] Figure 9 is a graph showing the liquid level of the second reagent and the displacement of the pipette during the first reagent discharge process. [Figure 10] Figure 10 shows a modified example of the stirring method for the second reagent. [Figure 11] Figure 11 is a graph showing the liquid level of the second reagent and the displacement of the pipette during the second reagent aspiration process. [Figure 12] Figure 12 is a graph showing the liquid level of the second reagent and the displacement of the pipette during the second reagent stirring process. [Modes for carrying out the invention]

[0008] The robot control method and robot of the present invention will be described in detail below based on the embodiments shown in the attached drawings. For convenience of explanation, all figures except Figure 2 show the X, Y, and Z axes, which are three mutually orthogonal axes. The Z axis is aligned vertically, while the X and Y axes are aligned horizontally. Hereafter, the direction aligned with the X axis will also be referred to as the X-axis direction, the direction aligned with the Y axis as the Y-axis direction, and the direction aligned with the Z axis as the Z-axis direction. Furthermore, the term "vertical direction" in this application includes not only directions that coincide with the vertical, but also directions that are inclined with respect to the vertical to an extent that can be considered equivalent to the vertical in common technical terms, for example, directions inclined within 10° of the vertical. Similarly, the term "horizontal direction" in this application includes not only directions that coincide with the horizontal, but also directions that are inclined with respect to the horizontal to an extent that can be considered equivalent to the horizontal in common technical terms, for example, directions inclined within 10° of the horizontal.

[0009] Figure 1 is an overall configuration diagram of a robot according to a preferred embodiment. Figure 2 is a flowchart showing the discharge of the first reagent. Figure 3 shows the pipette inserted into the second reagent. Figure 4 shows the rise in the liquid level of the second reagent as the first reagent is discharged from the pipette. Figure 5 shows the horizontal movement of the pipette during stirring. Figure 6 shows the vertical movement of the pipette during stirring. Figure 7 shows the trajectory of the pipette during stirring. Figures 8 and 9 are graphs showing the liquid level of the second reagent and the displacement of the pipette during the first reagent discharge process, respectively. Figure 10 shows a modified example of the stirring method for the second reagent. Figure 11 is a graph showing the liquid level of the second reagent and the displacement of the pipette during the second reagent aspiration process. Figure 12 is a graph showing the liquid level of the second reagent and the displacement of the pipette during the second reagent stirring process.

[0010] The robot 1 shown in Fig. 1 is applied to a reagent dispensing system that automatically performs the reagent dispensing operation. As shown in Fig. 1, such a robot 1 includes a first mounting table 21 on which a sample container C1 as a first container is placed, a second mounting table 22 on which a sample container C2 as a second container is placed, a dispensing robot 5 that dispenses a first reagent solution L1 in the sample container C1 using a pipette 4, a liquid level detection sensor 6 that detects the height of the liquid level F of the second reagent solution L2 in the sample container C2, and a control device 7 that controls the driving of these respective parts. Note that the second mounting table 22 is movable in the Y-axis direction and can be switched between a dispensing operation position shown by a solid line and a liquid level detection position shown by a chain line for the sample container C2. Thereby, it becomes difficult for the liquid level detection sensor 6 to interfere with the dispensing operation.

[0011] As shown in Fig. 1, a first reagent solution L1 is accommodated in the sample container C1. Then, the first reagent solution L1 is sucked by the pipette 4. On the other hand, the first reagent solution L1 is discharged from the pipette 4 into the sample container C2. In Fig. 1, a predetermined amount of a second reagent solution L2 is already accommodated in the sample container C2, and the state where the first reagent solution L1 is discharged into the second reagent solution L2 and they are mixed is illustrated.

[0012] The pipette 4 is an electric micropipette and has a pipette body 40 and a tip 41 attached to the tip of the pipette body 40. Such a pipette 4 sucks a predetermined amount of the first reagent solution L1 from the sample container C1 through the tip 41 and discharges the sucked first reagent solution L1 into the second reagent solution L2 of the sample container C2. Thereby, the first reagent solution L1 is mixed with the second reagent solution L2. Although not shown, the pipette body 40 has a cylinder, a plunger that slides inside the cylinder, a motor that drives the plunger, and a motor control device that controls the driving of the motor. Then, by driving the motor, the plunger can be slid inside the cylinder to suck and discharge the first reagent solution L1.

[0013] As described above, the pipette 4 has been explained. However, the configuration of the pipette 4 is not particularly limited as long as it can suck and discharge a predetermined amount of the first reagent solution L1.

[0014] The dispensing robot 5 performs the dispensing operation by holding the pipette 4 and transporting the held pipette 4 from the sample container C1 to the sample container C2. The dispensing robot 5 is a 6-axis vertical articulated robot having 6 drive axes, and comprises a base 51 fixed to the floor or the like, a robot arm 52 rotatably connected to the base 51, and a hand 53 attached to the tip of the robot arm 52 to hold the pipette 4.

[0015] The robot arm 52 is configured with six arms 521, 522, 523, 524, 525, and 526 rotatably connected from the base 51 in that order, and has six joints J1, J2, J3, J4, J5, and J6 between the arms. Specifically, arm 521 is rotatably connected to the base 51 via joint J1. Of the joints J1 to J6, joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsion joints. Although not shown in the figure, each joint J1, J2, J3, J4, J5, and J6 is equipped with a drive mechanism that includes a motor, a reduction gear that reduces the rotation of the motor to increase torque output, and an encoder that detects the amount of rotation of the joint. By controlling each joint J1, J2, J3, J4, J5, and J6 independently through the control device 7, the pipette 4 can be moved along a set trajectory.

[0016] The dispensing robot 5 has been described above, but its configuration is not particularly limited. For example, the number of arms in the robot arm 52 is not limited to six. The dispensing robot 5 may also be a three-axis linear stage that can move the pipette 4 in the X-axis, Y-axis, and Z-axis directions. In this case, the robot arm is composed of a Z-stage that moves in the Z-axis direction relative to the first and second mounting stages 21 and 22, an X-stage that moves in the X-axis direction relative to the Z-stage, and a Y-stage that moves in the Y-axis direction relative to the X-stage.

[0017] The liquid level detection sensor 6 detects the height of the liquid level F of the second reagent L2 contained in the sample container C2. The liquid level detection sensor 6 is not particularly limited as long as it can detect the height of the liquid level F of the second reagent L2, but in this embodiment, an ultrasonic level meter is used. The ultrasonic level meter receives the echo (received pulse) that is reflected back from the surface of the second reagent L2 after an ultrasonic pulse (transmitted pulse) is transmitted from the transmitter, measures the distance between the ultrasonic level meter and the liquid surface based on the time difference between the transmitted pulse and the received pulse, and detects the liquid level F of the second reagent L2 based on the measured distance. With such a liquid level detection sensor 6, the height of the liquid level F of the second reagent L2 can be detected without contact with the second reagent L2.

[0018] The control device 7 is electrically connected to each device of the robot 1 and controls the operation of each of these devices. Specifically, it controls the operation of the second mounting platform 22 to switch the sample container C2 between the dispensing position and the liquid level detection position, controls the operation of the liquid level detection sensor 6 to detect the liquid level F of the second reagent L2, and controls the operation of the pipette 4 and dispensing robot 5 to dispense the first reagent L1. Such a control device 7 is composed of, for example, a computer and has a processor (CPU) that processes information, a memory that is communicatively connected to the processor, and an external interface that connects to external devices. Various programs that can be executed by the processor are stored in the memory, and the processor can read and execute the programs stored in the memory.

[0019] The configuration of each part of robot 1 has been described above. Next, the control method of robot 1, that is, the dispensing operation by robot 1, will be explained using the dispensing operation of dispensing the first reagent L1 from pipette 4 into the second reagent L2 in sample container C2 as an example. In this embodiment, the first reagent L1 and the second reagent L2 are different reagents, but this is not limited to this, and the first reagent L1 and the second reagent L2 may be the same reagent.

[0020] As shown in Figure 2, the discharge operation includes a first reagent aspiration step S1 in which the first reagent L1 in the sample container C1 is aspirated with pipette 4, a liquid level detection step S2 in which the position of the liquid level F of the second reagent L2 in the sample container C2 is detected, a pipette insertion step S3 in which pipette 4 is inserted into the second reagent L2, and a first reagent discharge step S4 in which the first reagent L1 in pipette 4 is discharged into the second reagent L2 while stirring the second reagent L2. Furthermore, the discharge operation may include, if necessary, a second reagent aspiration step S5 performed between the pipette insertion step S3 and the first reagent discharge step S4 in which the second reagent L2 is aspirated with pipette 4, and a second reagent stirring step S6 performed after the first reagent discharge step S4 in which the second reagent L2 is stirred. Each of these steps S1 to S6 will be described in detail below.

[0021] [First reagent aspiration process S1] The first reagent aspiration step S1 is a step in which a pipette 4 is inserted into the first reagent L1 in the sample container C1 and a predetermined amount of the first reagent L1 is aspirated with the pipette 4. Specifically, first, the control device 7 drives the robot arm 52 to insert the tip 41 of the pipette 4 held by the dispensing robot 5 into the sample container C1 on the first mounting stage 21. Next, the control device 7 drives the pipette 4 to aspirate a predetermined amount of the first reagent L1 with the pipette 4. Next, the control device 7 drives the robot arm 52 to withdraw the pipette 4 from the sample container C1 and then transport it toward the sample container C2 on the second mounting stage 22.

[0022] [Liquid level detection process S2] The liquid level detection step S2 is a step in which the liquid level F of the second reagent L2 in the sample container C2 is detected. Specifically, first, the control device 7 controls the drive of the second mounting stage 22 to move the sample container C2 to the liquid level detection position. Next, the control device 7 uses the liquid level detection sensor 6 to detect the height of the liquid level F of the second reagent L2 in the sample container C2. Note that the liquid level detection step S2 may be performed before starting the pipette insertion step S3, and may be performed, for example, prior to the first reagent aspiration step S1, or in parallel with the first reagent aspiration step S1.

[0023] [Pipette insertion process S3] The pipette insertion step S3 is the step of inserting the pipette 4 into the second reagent L2. Specifically, as shown in Figure 3, the control device 7 drives the robot arm 52 to insert the pipette 4 into the second reagent L2 so that the tip of the pipette 4 is at a predetermined depth D relative to the liquid surface F. Here, the height of the liquid surface F of the second reagent L2 is known from the liquid surface detection step S2 performed earlier. The position of the tip of the pipette 4 can also be detected from the amount of rotation of each joint J1 to J6 of the robot arm 52. Therefore, the control device 7 can set the tip of the pipette 4 to a predetermined depth D relative to the liquid surface F based on the height of the liquid surface F and the position of the tip of the pipette 4.

[0024] The predetermined depth D is not particularly limited, but is preferably 2 mm or more and 10 mm or less, and more preferably 4 mm or more and 6 mm or less. With such a lower limit, even considering the driving accuracy (position deviation) of the dispensing robot 5, the tip of the pipette 4 can be inserted into the second reagent L2 more reliably. Furthermore, with such an upper limit, the range in which the pipette 4 comes into contact with the second reagent L2 can be sufficiently reduced. Therefore, the amount of the second reagent L2 adhering to the pipette 4 when the pipette 4 is withdrawn from the second reagent L2 can be reduced. Thus, the decrease in the second reagent L2 can be effectively suppressed.

[0025] Furthermore, the predetermined depth D is preferably 2% to 10% of the total length of the tip 41, and more preferably 4% to 6%. With such a lower limit, even considering the driving accuracy (position deviation) of the dispensing robot 5, the tip of the pipette 4 can be inserted into the second reagent L2 more reliably. Moreover, with such an upper limit, the range in which the pipette 4 comes into contact with the second reagent L2 can be sufficiently reduced. As a result, when the pipette 4 is withdrawn from the second reagent L2, the amount of second reagent L2 adhering to the pipette 4 is reduced. Therefore, the reduction of the second reagent L2 can be effectively suppressed.

[0026] Here, in the first reagent aspiration step S1, a pipette 4 may be inserted into the first reagent L1 in the same manner as in the liquid level detection step S2 and the pipette insertion step S3, and a predetermined amount of the first reagent L1 may be aspirated with the pipette 4. More specifically, first, the position of the liquid level of the first reagent L1 in the sample container C1 is detected. Next, the robot arm 52 is driven to insert the pipette 4 into the first reagent L1 so that the tip of the pipette 4 is at a predetermined depth D relative to the liquid level of the first reagent L1, and a predetermined amount of the first reagent L1 may be aspirated with the pipette 4.

[0027] [First test liquid discharge step S4] The first reagent discharge step S4 is a step in which the pipette 4 is moved to agitate the second reagent L2, and while agitating, the first reagent L1 in the pipette 4 is discharged into the second reagent L2.

[0028] As shown in Figure 4, when the first reagent L1 is discharged from pipette 4, the volume of the second reagent L2 increases by the amount of the first reagent L1, and consequently, the liquid level F of the second reagent L2 rises. If the position of pipette 4 is left unchanged when the liquid level F rises, the insertion depth of pipette 4 into the second reagent L2 will be greater than the predetermined depth D, and when pipette 4 is withdrawn from the second reagent L2, a large amount of the second reagent L2 will adhere to pipette 4. Therefore, in order to maintain the insertion depth of pipette 4 into the second reagent L2 at the predetermined depth D, it is necessary to displace pipette 4 vertically upward in conjunction with the rise in liquid level F due to the discharge of the first reagent L1.

[0029] Furthermore, the control device 7 has recorded the shape data of the sample container C2, and based on the recorded shape data, the height of the liquid level F detected in the liquid level detection step S2, and the amount of the first reagent L1 discharged from the pipette 4, the control device 7 can detect the displacement of the liquid level F of the second reagent L2.

[0030] In step S4, the stirring of the second reagent L2 is performed by moving pipette 4 vertically while simultaneously moving pipette 4 horizontally, in accordance with the rise in liquid level F caused by the discharge of the first reagent L1 from pipette 4. In other words, the stirring of the second reagent L2 in step S4 is performed by a combination of vertical movement of pipette 4 and horizontal movement of pipette 4.

[0031] In horizontal movement, the control device 7 drives the robot arm 52 to move the pipette 4 horizontally. At this time, as shown in Figure 5, the control device 7 moves the pipette 4 two-dimensionally in the X-axis direction, which is a first horizontal direction included in the horizontal plane, and in the Y-axis direction, which is a second horizontal direction included in the horizontal plane and perpendicular to the first horizontal direction. This allows the pipette 4 to be moved over a wide range, and the second reagent L2 can be efficiently stirred.

[0032] In particular, in this embodiment, as shown in Figure 5, the control device 7 sets an annular curve Q that passes through a plurality of points P1, P2, P3, and P4 defined at different positions on the horizontal plane in the order of point P1 → point P2 → point P3 → point P4 → point P1, and moves the pipette 4 along the curve Q. By moving the pipette 4 along the curve Q in this way, the movement of the pipette 4 becomes smoother, and convection is more easily generated in the second reagent L2. Therefore, the second reagent L2 can be stirred efficiently. Furthermore, in a plan view from the vertical direction, points P1, P2, P3, and P4 are at equal distances from the central axis O of the sample container C2 and are arranged at equal intervals, i.e., 90° intervals, around the central axis O. The curve Q passing through points P1, P2, P3, and P4 is a circle. In this way, by making the curve Q a circle and moving the pipette 4 around the circle, the second reagent L2 can be stirred even more efficiently.

[0033] The multiple points P1, P2, P3, and P4 may be defined by the control device 7 based on, for example, the shape data of the sample container C2, or they may be set by the user. The curve Q may be determined by the control device 7 or set by the user. The number of points is not limited to four. Also, the curve Q does not have to be circular.

[0034] In vertical movement, as shown in Figure 6, the control device 7 detects the height of the liquid level F of the second reagent L2 based on the amount of the first reagent L1 discharged from the pipette 4, and drives the robot arm 52 based on the result to raise the pipette 4 so that the insertion depth of the pipette 4 into the second reagent L2 is maintained at a predetermined depth D. In other words, the pipette 4 is raised by the same amount as the rise in the liquid level F of the second reagent L2. As a result, even if the liquid level F of the second reagent L2 rises, the insertion depth of the pipette 4 is maintained at a predetermined depth D.

[0035] When the horizontal and vertical movements described above are combined, pipette 4 completes one rotation while rising in a spiral motion, as shown in Figure 7.

[0036] As described above, in the first reagent dispensing step S4, the first reagent L1 is dispensed and the second reagent L2 is stirred while maintaining the insertion depth of the pipette 4 at a predetermined depth D. With this method, since the insertion depth of the pipette 4 can be maintained at a predetermined depth D, the amount of the second reagent L2 adhering to the pipette 4 when the pipette 4 is withdrawn from the second reagent L2 after the completion of step S4 is reduced. As a result, the reduction of the second reagent L2 can be effectively suppressed.

[0037] In the first reagent discharge step S4, the first reagent L1 may be discharged from pipette 4 at any timing as long as the second reagent L2 is being stirred by pipette 4. In this embodiment, as shown in Figure 8, the control device 7 starts discharging the first reagent L1 from pipette 4 at the same time that stirring of the second reagent L2 begins, that is, at the same time that pipette 4 starts moving from point P1, and controls the drive of pipette 4 so that all of the first reagent L1 in pipette 4 is discharged at the same time that stirring ends, that is, at the same time that pipette 4 returns to point P1. In other words, the start time of stirring of the second reagent L2 coincides with the start time of discharge of the first reagent L1, and the end time of stirring of the second reagent L2 coincides with the completion time of discharge of the first reagent L1. With this method, the first reagent L1 can be dispersed and discharged into the second reagent L2. Therefore, the first reagent L1 can be easily mixed with the second reagent L2.

[0038] Furthermore, the control device 7 discharges the first reagent L1 at a constant discharge rate V1 (ml / s) from the start time of discharge to the completion time of discharge. This method allows the first reagent L1 to be uniformly dispersed and discharged into the second reagent L2. As a result, the first reagent L1 mixes more easily with the second reagent L2. The discharge rate V1 of the first reagent L1 is not particularly limited, but a higher rate is preferable. The higher the discharge rate V1 of the first reagent L1, the more vigorously the first reagent L1 is discharged, which makes it easier for convection to occur in the second reagent L2, and thus easier for the first reagent L1 to mix with the second reagent L2. For this reason, in this embodiment, the discharge rate V1 of the first reagent L1 is set to the maximum discharge rate Vmax of the pipette 4. As a result, convection is more easily generated in the second reagent L2, and the first reagent L1 mixes more easily with the second reagent L2. Note that the maximum dispensing rate Vmax refers to the highest dispensing rate V1 that can be set with pipette 4. However, the dispensing rate V1 is not particularly limited.

[0039] The first reagent discharge step S4 has been described above, but the first reagent discharge step S4 is not limited to the method described above. For example, as described above, in this embodiment, all of the first reagent L1 aspirated in the first reagent aspiration step S1 is discharged, but this is not limited to this, and only a portion of the first reagent L1 aspirated in the first reagent aspiration step S1 may be discharged. In other words, at the end of the first reagent discharge step S4, some of the first reagent L1 may remain in the pipette 4. Also, in this embodiment, horizontal movement is performed by moving the pipette 4 two-dimensionally, but this is not limited to this, and for example, one-dimensional horizontal movement such as moving back and forth along a predetermined line segment may be used. Also, in this embodiment, the start time of stirring the second reagent L2 coincides with the start time of discharge of the first reagent L1, and the end time of stirring the second reagent L2 coincides with the completion time of discharge of the first reagent L1, but this is not limited to this, and at least one of them does not have to coincide. In other words, the start time of discharge of the first reagent L1 may be earlier or later than the start time of stirring of the second reagent L2, and the completion time of discharge of the first reagent L1 may be earlier or later than the end time of stirring of the second reagent L2. Furthermore, although the discharge rate V1 of the first reagent L1 is constant in this embodiment, it is not limited to this, and the discharge rate V1 may fluctuate.

[0040] Furthermore, in this embodiment, a curve Q is set by defining four points P1, P2, P3, and P4, and the pipette 4 is moved in a spiral shape. However, the embodiment is not limited to this, and for example, the rate of rise of the liquid level F may be detected based on the shape data of the sample container C2 and the discharge rate V1, a spiral trajectory may be set such that the detected rate of rise matches the rate of rise of the pipette 4, and the pipette 4 may be moved based on each coordinate on the set spiral trajectory.

[0041] Furthermore, in this embodiment, the first reagent L1 is discharged while the pipette 4 is moved horizontally, but this is not limited to this, and the horizontal movement of the pipette 4 may be temporarily stopped when discharging the first reagent L1. Specifically, for example, as shown in Figure 9, first, with the horizontal movement of the pipette 4 stopped at point P1, 1 / 5 of the total amount of the first reagent L1 is discharged from the pipette 4, and the pipette 4 is moved vertically upward accordingly. Next, after the discharge of the first reagent L1 is completed, the pipette 4 is moved horizontally to point P2, and with the horizontal movement of the pipette 4 stopped at point P2, 1 / 5 of the total amount of the first reagent L1 is discharged from the pipette 4, and the pipette 4 is moved vertically upward accordingly. Next, after the dispensing of the first reagent L1 is complete, pipette 4 is moved horizontally to point P3, and with the horizontal movement of pipette 4 stopped at point P3, 1 / 5 of the total amount of the first reagent L1 is dispensed from pipette 4, and at the same time, pipette 4 is moved vertically upward. Next, after the dispensing of the first reagent L1 is complete, pipette 4 is moved horizontally to point P4, and with the horizontal movement of pipette 4 stopped at point P4, 1 / 5 of the total amount of the first reagent L1 is dispensed from pipette 4, and at the same time, pipette 4 is moved vertically upward. Next, after the dispensing of the first reagent L1 is complete, pipette 4 is moved horizontally to point P1, and with the horizontal movement of pipette 4 stopped at point P1, 1 / 5 of the total amount of the first reagent L1 is dispensed from pipette 4, and at the same time, pipette 4 is moved vertically upward. In this manner, the dispensing of the first reagent L1 and the horizontal movement of pipette 4 may be performed alternately. The amount of liquid dispensed at each point P1, P2, P3, and P4 is not particularly limited and may be equal or different at each point.

[0042] Furthermore, in this embodiment, the pipette 4 is moved horizontally in a position aligned with the vertical direction, but the position of the pipette 4 during stirring is not particularly limited. For example, as shown in Figure 10, the pipette 4 may be moved horizontally in a position tilted with respect to the vertical direction so that the tip of the pipette 4 faces the inner surface of the sample container C2. With this method, the first reagent L1 discharged from the pipette 4 collides with the inner surface of the sample container C2, making it easier for convection and turbulence to occur in the second reagent L2. Therefore, the second reagent L2 can be stirred efficiently. The tilt angle θ of the pipette 4 with respect to the vertical direction is not particularly limited, but for example, it is preferably 3° or more and 15° or less, and more preferably 5° or more and 10° or less. This results in an appropriate tilt of the pipette 4, allowing the first reagent L1 discharged from the pipette 4 to efficiently collide with the inner surface of the sample container C2. Therefore, the second reagent L2 can be stirred even more efficiently.

[0043] [Second reagent aspiration process S5] As described above, in this embodiment, in the first reagent discharge step S4, the discharge of the first reagent L1 from the pipette 4 begins simultaneously with the start of stirring of the second reagent L2, and all of the first reagent L1 in the pipette 4 is discharged simultaneously with the end of stirring. Therefore, once the discharge rate V1 of the first reagent L1 is set, the control device 7 calculates the time T required to discharge all of the first reagent L1 in the pipette 4 by calculating (amount of first reagent L1 aspirated by the pipette 4 in the first reagent aspiration step S1) × (discharge rate V1), and further determines the movement speed Vp of the pipette 4 so that the horizontal movement of the pipette 4 is completed at the calculated time T. Then, the control device 7 moves the pipette 4 based on the determined movement speed Vp.

[0044] However, if the amount of the first reagent L1 discharged in the first reagent discharge step S4 is small, the time T may become excessively short depending on the discharge rate V1. In this case, if the horizontal movement of pipette 4 is to be completed within time T, the movement speed Vp of pipette 4 may become too fast, causing the second reagent L2 to spill from the sample container C2, or, depending on the configuration of the robot arm 52, it may not be possible to achieve the movement speed Vp.

[0045] Therefore, as shown in Figure 2, if the amount of the first reagent L1 discharged in the first reagent discharge step S4 is less than a predetermined value, the second reagent aspiration step S5 is performed after the pipette insertion step S3 and prior to the first reagent discharge step S4.

[0046] In the second reagent aspiration step S5, the second reagent L2 is aspirated using pipette 4, bringing the total amount of reagent in pipette 4 to a predetermined value or higher. This allows the time T required to discharge the reagent from pipette 4 in the first reagent dispensing step S4 to be sufficiently long, and the movement speed Vp of pipette 4 can be set to an appropriate speed. As a result, the reduction in the amount of the second reagent L2 due to spillage from the sample container C2 can be effectively suppressed. Furthermore, since the first reagent L1 and the second reagent L2 can be mixed in pipette 4 in advance of the first reagent dispensing step S4, the first reagent L1 and the second reagent L2 can be mixed more uniformly in the first reagent dispensing step S4.

[0047] In the second reagent aspiration step S5, the liquid level F of the second reagent L2 decreases as the second reagent L2 is aspirated with the pipette 4. As shown in Figure 11, the control device 7 lowers the pipette 4 along with the decrease in liquid level F so that the insertion depth of the pipette 4 is maintained at a predetermined depth D. This effectively prevents, for example, the pipette 4 from coming out of the second reagent L2 during aspiration, and allows the second reagent aspiration step S5 to be completed appropriately.

[0048] [Second test liquid stirring step S6] As described above, in this embodiment, the first reagent discharge step S4 involves discharging the first reagent L1 into the second reagent L2 and stirring the second reagent L2. However, if the first reagent L1 is a reagent that does not mix well with the second reagent L2, the stirring of the second reagent L2 may be insufficient with only the first reagent discharge step S4. Therefore, as shown in Figure 2, if the first reagent L1 is a material that does not mix well with the second reagent L2, a second reagent stirring step S6 is performed after the first reagent discharge step S4 to further stir the second reagent L2. This ensures that the second reagent L2 is sufficiently stirred.

[0049] Furthermore, the user can determine whether the first reagent L1 mixes easily or difficultly with the second reagent L2, that is, whether the second reagent stirring step S6 is necessary. For example, the viscosity (mPa·s) of the first reagent L1 and the density (kg / m³) of the first reagent L1 can be set by the user. 3 ), can be set based on the specific gravity of the first reagent L1 relative to the second reagent L2, the amount of discharged first reagent L1 (volume ratio with the second reagent L2), etc.

[0050] In the second reagent stirring step S6, the pipette 4 is moved to stir the second reagent L2, while the pipette 4 is used to aspirate and discharge the second reagent L2. With this method, the second reagent L2 can be efficiently stirred by the convection generated by stirring and the convection generated by the aspiration and discharge of the second reagent L2.

[0051] When pipette 4 is used to aspirate the second reagent L2, the liquid level F of the second reagent L2 decreases accordingly. If pipette 4 is left in the same position when the liquid level F decreases, depending on the amount of second reagent L2 aspirated, pipette 4 may come out of the second reagent L2 midway through aspiration, preventing further aspiration. Conversely, when second reagent L2 is discharged from pipette 4, the liquid level F of the second reagent L2 increases accordingly. If pipette 4 is left in the same position when the liquid level F increases, the insertion depth of pipette 4 becomes deeper than the predetermined depth D, and consequently, a larger amount of second reagent L2 adheres to pipette 4 when it is withdrawn from the second reagent L2, resulting in an excessive decrease in the amount of second reagent L2. Therefore, in the second reagent stirring step S6, the pipette 4 is moved vertically up and down in accordance with the aspiration and dispensing of the second reagent L2 by the pipette 4, so that the insertion depth of the pipette 4 is maintained at a predetermined depth D.

[0052] The stirring of the second reagent L2 in step S6 consists of a first stirring that is performed simultaneously with the aspiration of the second reagent L2 with pipette 4, and a second stirring that is performed simultaneously with the discharge of the second reagent L2 from pipette 4.

[0053] The first stirring is performed by moving pipette 4 vertically downward while simultaneously moving it horizontally, in accordance with the decrease in liquid level F caused by the aspiration of the second reagent L2 with pipette 4. This first stirring is performed by combining a vertical movement of pipette 4 moving vertically downward in accordance with the decrease in liquid level F, and a horizontal movement of pipette 4 moving horizontally to stir the second reagent L2. The horizontal movement is the same as that of the first reagent discharge step S4 described above, and pipette 4 is moved along the curve Q. Therefore, in the first stirring, pipette 4 completes one rotation while descending in a spiral motion. However, the first stirring is not particularly limited.

[0054] The second stirring is performed by moving pipette 4 vertically upward while simultaneously moving it horizontally, in accordance with the rise in liquid level F caused by the discharge of the second reagent L2 from pipette 4. In other words, the second stirring is performed by a combination of a vertical movement, where pipette 4 is moved vertically upward in accordance with the rise in liquid level F, and a horizontal movement, where pipette 4 is moved horizontally to stir the second reagent L2. The horizontal movement is the same as that of the first reagent discharge step S4 described above, where pipette 4 is moved along the curve Q. Therefore, the second stirring is performed by pipette 4 rising in a spiral motion as it completes one rotation. However, the second stirring is not particularly limited.

[0055] Here, similar to the first reagent discharge step S4 described above, during the first stirring, the aspiration of the second reagent L2 with pipette 4 may be performed at any timing as long as the second reagent L2 is being stirred by pipette 4. In this embodiment, as shown in Figure 12, the control device 7 controls the drive of pipette 4 so that aspiration of the second reagent L2 with pipette 4 starts at the same time as stirring of the second reagent L2 starts, and stops when stirring ends. In addition, the control device 7 aspirates the second reagent L2 at a constant aspiration rate V2 (ml / s) from the time aspiration of the second reagent L2 starts until the time aspiration ends. With this method, the first reagent L1 and the second reagent L2 become easier to mix. The same applies to the second stirring.

[0056] The second reagent stirring step S6 has been described above, but the second reagent stirring step S6 is not particularly limited, and for example, methods other than those described in the first reagent discharge step S4 of this embodiment can be used as appropriate.

[0057] Here, the number of times the second reagent stirring step S6 is performed may be changed depending on how easily the first reagent L1 mixes with the second reagent L2. Specifically, the number of times the second reagent stirring step S6 is performed may be increased when the first reagent L1 is difficult to mix with the second reagent L2 compared to when the first reagent L1 mixes with the second reagent L2 easily. For example, a "mixability" indicating how easily the first reagent L1 mixes with the second reagent L2 can be set based on the viscosity of the first reagent L1, the density of the first reagent L1, the specific gravity of the first reagent L1 relative to the second reagent L2, the discharge amount of the first reagent L1 (volume ratio with the second reagent L2), etc. If this mixability is less than the first threshold, the second reagent stirring step S6 is not performed. If the mixability is greater than or equal to the first threshold but less than the second threshold (first threshold < second threshold), the second reagent stirring step S6 is performed twice consecutively. If the mixability is greater than or equal to the second threshold but less than the third threshold (second threshold < third threshold), the second reagent stirring step S6 may be performed four times consecutively. By such a method, the second reagent L2 can be effectively stirred. However, the method for determining the number of times to perform the step is not particularly limited.

[0058] The above describes the procedure for discharging the first reagent L1. This discharging procedure allows the insertion depth of pipette 4 to be maintained at a predetermined depth D, thus minimizing the amount of the second reagent L2 adhering to pipette 4 when it is withdrawn from the second reagent L2 after the procedure is completed. As a result, the decrease in the second reagent L2 in the sample container C2 can be effectively suppressed.

[0059] The control method for robot 1 and robot 1 have been described above. The control method for robot 1, as described above, is a control method for robot 1 having a robot arm 52 that holds a pipette 4, and includes: a first reagent aspiration step S1 in which the robot arm 52 is driven to insert the pipette 4 into the first reagent L1 contained in the first container, which is the sample container C1, and aspirates the first reagent L1 with the pipette 4; a liquid level detection step S2 in which the position of the liquid level F of the second reagent L2 contained in the second container, which is the sample container C2, is detected; a pipette insertion step S3 in which the robot arm 52 is driven to insert the pipette 4 into the second reagent L2 so that the tip of the pipette 4 is at a predetermined depth D relative to the liquid level F; and a first reagent discharge step S4 in which the robot arm 52 is driven to move the pipette 4 horizontally, thereby stirring the second reagent L2, and while stirring, the first reagent L1 in the pipette 4 is discharged into the second reagent L2. Then, in the first reagent discharge step S4, the pipette 4 is moved vertically upward in response to the rise in liquid level F caused by the discharge of the first reagent L1 in the pipette 4 into the second reagent L2, thereby maintaining the tip of the pipette 4 at a predetermined depth D while stirring is performed. With this control method, the insertion depth of the pipette 4 can be maintained at a predetermined depth D, so that when the pipette 4 is withdrawn from the second reagent L2 after the work is completed, the amount of second reagent L2 adhering to the pipette 4 can be kept to a minimum. As a result, the decrease in the second reagent L2 in the sample container C2 can be effectively suppressed.

[0060] Furthermore, as mentioned above, in the first reagent dispensing step S4, the pipette 4 is tilted relative to the vertical and moved horizontally so that its tip faces the inner surface of the sample container C2. With this method, the first reagent L1 dispensed from the pipette 4 collides with the inner surface of the sample container C2, making it easier for convection and turbulence to occur in the second reagent L2. As a result, the second reagent L2 can be efficiently stirred.

[0061] Furthermore, as mentioned above, the inclination angle θ of pipette 4 with respect to the vertical is between 5° and 10°. This method ensures that the inclination of pipette 4 is appropriate, allowing the first reagent L1 discharged from pipette 4 to efficiently collide with the inner surface of the sample container C2. As a result, the second reagent L2 can be stirred even more efficiently.

[0062] Furthermore, as mentioned above, in the first reagent discharge step S4, stirring is performed by moving the pipette 4 in the X-axis direction, which is the first horizontal direction included in the horizontal plane, and in the Y-axis direction, which is the second horizontal direction included in the horizontal plane and perpendicular to the X-axis direction. With this method, the pipette 4 can be moved over a wide area, and the second reagent L2 can be stirred efficiently.

[0063] Furthermore, as mentioned above, in the first reagent discharge step S4, a curve Q is set that sequentially passes through multiple points P1, P2, P3, and P4 defined at different positions on the horizontal plane, and stirring is performed by moving the pipette 4 along the curve Q. This method allows the pipette 4 to move smoothly, making it easier for convection to occur in the second reagent L2. Therefore, the second reagent L2 can be stirred efficiently.

[0064] Furthermore, as mentioned above, in the first reagent dispensing step S4, the dispensing of the first reagent L1 from the pipette 4 begins as the pipette 4 starts moving along the curve Q, and the drive of the pipette 4 is controlled so that the entire volume of the first reagent L1 in the pipette 4 is dispensed when the pipette 4 finishes moving along the curve Q. With this method, the first reagent L1 can be dispersed and dispensed into the second reagent L2. As a result, the first reagent L1 mixes more easily with the second reagent L2.

[0065] Furthermore, as mentioned above, curve Q is a circle. This method allows pipette 4 to move smoothly, making it easier for convection to occur in the second reagent L2. Therefore, the second reagent L2 can be efficiently stirred.

[0066] Furthermore, as mentioned above, the control method for robot 1 includes a second reagent stirring step S6, which is performed after the first reagent discharge step S4, in which the robot arm 52 is driven to move the pipette 4 horizontally, thereby stirring the second reagent L2, and during stirring, the second reagent L2 is aspirated and discharged by the pipette 4. In the second reagent stirring step S6, the pipette 4 is moved vertically in accordance with the displacement of the liquid level F caused by the aspirating and discharging of the second reagent L2 by the pipette 4, thereby stirring while maintaining the tip of the pipette 4 at a predetermined depth D. By this method, the second reagent L2 can be effectively stirred.

[0067] Furthermore, as mentioned above, in the control method of robot 1, the second reagent stirring step S6 is performed more often when the first reagent L1 is difficult to mix with the second reagent L2 than when the first reagent L1 is easy to mix with the second reagent L2. By this method, the second reagent L2 can be stirred effectively.

[0068] Furthermore, as mentioned above, the predetermined depth D is 4 mm or more and 6 mm or less. This method reduces the amount of the second reagent L2 that adheres to the pipette 4 when it is withdrawn from the second reagent L2. Therefore, the decrease in the second reagent L2 can be effectively suppressed.

[0069] Furthermore, as mentioned above, the pipette 4 comprises a pipette body 40 and a tip 41 attached to the tip of the pipette body 40. The predetermined depth D is 4% or more and 6% or less of the total length of the tip 41. This method reduces the amount of the second reagent L2 that adheres to the pipette 4 when it is withdrawn from the second reagent L2. Therefore, the reduction of the second reagent L2 can be effectively suppressed.

[0070] As mentioned above, the robot 1 includes a robot arm 52 for holding the pipette 4, and a control device 7 for controlling the driving of the robot arm 52 and the pipette 4. The control device 7 also performs the following steps: a first reagent aspiration step S1 in which the robot arm 52 is driven to insert the pipette 4 into the first reagent L1 contained in the first container, the sample container C1, and aspirates the first reagent L1 with the pipette 4; a liquid level detection step S2 in which the position of the liquid level F of the second reagent L2 contained in the second container, the sample container C2; a pipette insertion step S3 in which the robot arm 52 is driven to insert the pipette 4 into the second reagent L2 so that the tip of the pipette 4 is at a predetermined depth D relative to the liquid level F; and a first reagent discharge step S4 in which the robot arm 52 is driven to move the pipette 4 horizontally, thereby stirring the second reagent L2, and discharging the first reagent L1 from the pipette 4 into the second reagent L2 during stirring. Then, in the first reagent discharge step S4, the pipette 4 is moved vertically upward in response to the rise in liquid level F caused by the discharge of the first reagent L1 in the pipette 4 into the second reagent L2, thereby maintaining the tip of the pipette 4 at a predetermined depth D while stirring is performed. With this configuration, the insertion depth of the pipette 4 can be maintained at a predetermined depth D, so that when the pipette 4 is withdrawn from the second reagent L2 after the work is completed, the amount of second reagent L2 adhering to the pipette 4 can be kept to a minimum. As a result, the decrease in the second reagent L2 in the sample container C2 can be effectively suppressed.

[0071] The robot control method and robot of the present invention have been described above based on the illustrated embodiments. However, the present invention is not limited thereto, and the configuration of each part can be replaced with any configuration or process having a similar function. Furthermore, other arbitrary configurations or processes may be added to the present invention. [Explanation of symbols]

[0072] 1...Robot, 21...First mounting platform, 22...Second mounting platform, 4...Pipette, 40...Pipette body, 41...Tip, 5...Dispensing robot, 51...Base, 52...Robot arm, 521...Arm, 522...Arm, 523...Arm, 524...Arm, 525...Arm, 526...Arm, 53...Hand, 6...Liquid level detection sensor, 7...Control device, C1...Sample container, C2...Sample container, D... Predetermined depth, F...liquid level, J1...joint, J2...joint, J3...joint, J4...joint, J5...joint, J6...joint, L1...first reagent, L2...second reagent, O...central axis, P1...point, P2...point, P3...point, P4...point, Q...curve, S1...first reagent aspiration process, S2...liquid level detection process, S3...pipette insertion process, S4...first reagent discharge process, S5...second reagent aspiration process, S6...second reagent stirring process, θ...inclination angle

Claims

1. A method for controlling a robot having a robotic arm that holds a pipette, The first reagent aspiration step involves driving the robot arm to insert the pipette into the first reagent contained in the first container and aspirating the first reagent with the pipette, A liquid level detection step for detecting the liquid level of the second test solution contained in the second container, A pipette insertion step involves driving the robot arm to insert the pipette into the second reagent so that the tip of the pipette is at a predetermined depth relative to the liquid surface, The process includes a first reagent discharge step in which the robot arm is driven to move the pipette horizontally, thereby agitating the second reagent, and during the agitation, the first reagent in the pipette is discharged into the second reagent. A robot control method characterized in that, in the first reagent discharge step, the pipette is moved vertically upward in response to the rise in the liquid level caused by the discharge of the first reagent in the pipette into the second reagent, thereby maintaining the tip of the pipette at the predetermined depth while performing the stirring.

2. The robot control method according to claim 1, wherein in the first reagent dispensing step, the pipette is moved horizontally while tilted with respect to the vertical direction such that the tip of the pipette faces the inner surface of the second container.

3. The robot control method according to claim 2, wherein the inclination angle of the pipette with respect to the vertical direction is 5° or more and 10° or less.

4. The robot control method according to claim 1, wherein the stirring is performed in the first reagent discharge step by moving the pipette in a first horizontal direction included in the horizontal plane and in a second horizontal direction included in the horizontal plane and perpendicular to the first horizontal direction.

5. The robot control method according to claim 4, wherein in the first reagent discharge step, a curve is set that sequentially passes through a plurality of points defined at different positions on a horizontal plane, and the stirring is performed by moving the pipette along the curve.

6. The robot control method according to claim 5, wherein in the first reagent dispensing step, the pipette starts moving along the curve and dispensing of the first reagent from the pipette starts, and the drive of the pipette is controlled so that the entire amount of the first reagent in the pipette is dispensed when the pipette finishes moving along the curve.

7. The robot control method according to claim 5, wherein the curve is a circle.

8. This is performed after the first test solution discharge step, The process includes a second reagent stirring step in which the second reagent is stirred by driving the robot arm to move the pipette horizontally, and during the stirring, the second reagent is aspirated and discharged by the pipette. The robot control method according to claim 1, wherein in the second reagent stirring step, the pipette is moved vertically in accordance with the displacement of the liquid level caused by the pipette aspirating and discharging the second reagent, thereby maintaining the tip of the pipette at the predetermined depth while stirring.

9. The robot control method according to claim 8, wherein the number of times the second reagent stirring step is performed is greater when the first reagent is difficult to mix with the second reagent than when the first reagent is easy to mix with the second reagent.

10. The robot control method according to claim 1, wherein the predetermined depth is 4 mm or more and 6 mm or less.

11. The pipette comprises a pipette body and a tip that is attached to the tip of the pipette body. The robot control method according to claim 1, wherein the predetermined depth is 4% or more and 6% or less of the total length of the chip.

12. A robotic arm holding a pipette, The system includes a control device that controls the driving of the robot arm and the pipette, The aforementioned control device, The first reagent aspiration step involves driving the robot arm to insert the pipette into the first reagent contained in the first container and aspirating the first reagent with the pipette, A liquid level detection step for detecting the liquid level of the second test solution contained in the second container, A pipette insertion step involves driving the robot arm to insert the pipette into the second reagent so that the tip of the pipette is at a predetermined depth relative to the liquid surface, A first reagent discharge step is performed, in which the robot arm is driven to move the pipette horizontally, thereby agitating the second reagent, and during the agitation, the first reagent in the pipette is discharged into the second reagent. In the first reagent discharge step, the robot is characterized by moving the pipette vertically upward in response to the rise in the liquid level caused by the discharge of the first reagent in the pipette into the second reagent, thereby maintaining the tip of the pipette at the predetermined depth while performing the stirring.

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