Automatic analysis device
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- HITACHI HIGH TECH CORP
- Filing Date
- 2023-12-08
- Publication Date
- 2026-08-05
Smart Images
Figure 0007901186000002 
Figure 0007901186000003 
Figure 0007901186000004
Abstract
Description
Technical Field
[0001] The present invention relates to an automatic analyzer having a dispensing mechanism.
Background Art
[0002] Patent Document 1 discloses an automatic analyzer that can automatically correct a positional deviation based on a variation in the relative position between a dispensing mechanism and a first mechanism. Here, the first mechanism is a mechanism that is arranged on the same mechanism base as the dispensing mechanism and has a stop position where the dispensing nozzle stops, and the relative position varies due to distortion of the mechanism base. The automatic analyzer provides a member indicating a predetermined first position and a member indicating a second position of the first mechanism on the first mechanism. Since the member is provided on the first mechanism, the positional relationship between the member and the stop position does not vary due to distortion of the mechanism base. Therefore, based on the positional deviation between the first position and the second position indicating the deviation in the relative position between the dispensing mechanism and the first mechanism, which is obtained by detecting the member with the dispensing nozzle and detecting the first position and the second position, a correction value for correcting the deviation of the stop position is calculated.
[0003] Furthermore, Patent Document 1 exemplifies a cylindrical member and discloses that the dispensing nozzle is brought into contact with the inner wall surface of the cylinder to specify the first position or the second position.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] The first mechanism in Patent Document 1 is, for example, a mechanism such as a reagent disk, a reaction disk, and a washing tank. As the number of dispensing mechanisms and their stopping positions increases, the number of members indicating the first and second positions (hereinafter referred to as reference position blocks) also increases. Since measurement by an automated analyzer cannot be performed during the correction value calculation process, which calculates a correction value to compensate for the deviation of the stopping position, it is necessary to complete the correction value calculation process as quickly as possible.
[0006] However, if the arm is moved at high speed to bring the dispensing nozzle into contact with the reference position block, the control delay between the dispensing mechanism detecting contact with the reference position block and stopping the arm results in the dispensing nozzle making contact with the reference position block in a bent state. In this case, the error in the position of the identified reference position block becomes large, and the correction accuracy decreases. On the other hand, if the dispensing nozzle is moved at a low speed or manually so that no bending occurs when it contacts the reference position block, the correction accuracy improves, but the time required for calculating the correction value increases. [Means for solving the problem]
[0007] An automated analyzer according to one embodiment of the present invention includes a dispensing mechanism to which a dispensing nozzle is attached, a horizontal drive mechanism for moving the dispensing nozzle horizontally, a contact detector for detecting when the tip of the dispensing nozzle comes into contact with a conductor, a reference position block which is a conductor, and a control unit for controlling the dispensing mechanism. The control unit moves the dispensing nozzle horizontally at a constant speed toward the side of the reference position block and obtains a first coordinate which is the coordinate of the attachment point of the dispensing nozzle to the horizontal drive mechanism when the contact detector detects that the tip of the dispensing nozzle has come into contact with the reference position block and stops the horizontal drive mechanism, and a second coordinate which is the coordinate of the attachment point of the dispensing nozzle to the horizontal drive mechanism when the dispensing nozzle moves horizontally at a constant speed away from the side of the reference position block from the stopping position of the horizontal drive mechanism and the contact detector detects that the tip of the dispensing nozzle has come away from the reference position block and stops the horizontal drive mechanism. Based on the first and second coordinates, the control unit calculates the coordinate of the contact point where the tip of the dispensing nozzle came into contact with the reference position block. [Effects of the Invention]
[0008] This invention provides an automated analyzer capable of quickly and accurately calculating a reference position. Other challenges and novel features will become apparent from the description and accompanying drawings herein. [Brief explanation of the drawing]
[0009] [Figure 1] This is an example of the overall configuration of an automated analyzer. [Figure 2] This is an example of a dispensing mechanism configuration having two horizontal drive shafts. [Figure 3] This is a front view showing the dispensing nozzle in contact with the reference position block. [Figure 4] This is a top view showing the dispensing nozzle in contact with the reference position block. [Figure 5] This is a front view showing the dispensing nozzle stopped after moving away from the reference position block. [Figure 6] This is a top view showing the dispensing nozzle stopped after moving away from the reference position block. [Figure 7]This flowchart outlines the method for correcting the stopping position of the dispensing nozzle. [Figure 8] This diagram shows the positional relationship between coordinate 1, coordinate 2, and the contact point coordinate. [Figure 9] This is an image of the operating trajectory of a dispensing nozzle for obtaining the coordinates of multiple contact points. [Figure 10] This diagram illustrates how to convert a 2D coordinate system into a control value for the rotation amount of an arm. [Figure 11] This diagram illustrates how to convert a 2D coordinate system into a control value for the rotation amount of an arm. [Modes for carrying out the invention]
[0010] Embodiments of the present invention will be described in detail with reference to the drawings. In the following embodiments, the components (including element steps, etc.) are not necessarily essential unless specifically indicated or considered to be clearly essential in principle.
[0011] Figure 1 shows an example of the overall configuration of the automated analyzer. The automated analyzer is generally configured to include a sample transport mechanism 19, a reagent disk 11, a reaction disk 1, sample dispensing mechanisms 13, 14, reagent dispensing mechanisms 7, 8, 9, 10, stirring mechanisms 5, 6, a spectrophotometer 4, a washing mechanism 3, washing tanks 15, 16, 30, 31, 32, 33, a reagent pump 20, a sample pump 21, a washing pump 22, a control unit 41 that controls each part of the automated analyzer, a data storage unit 42 that stores various data, an input unit 43 that inputs necessary data from the outside into the data storage unit 42, a measurement unit 44 that calculates absorbance from the amount of light obtained by the spectrophotometer 4, an analysis unit 45 that determines the amount of components from the absorbance, and an output unit 46 that displays and outputs data to the outside. In addition, a reference position block 61 for correcting the stopping position of the dispensing nozzle is located within the movable range of the dispensing mechanism and is positioned on the mechanism where the stopping position of the dispensing nozzle is provided. Figure 1 shows an example in which the reference position block 61 is positioned on the reaction disk 1 and the reagent disk 11.
[0012] The sample transport mechanism 19 transports a rack (transport member) 18 that carries one or more sample containers 17 containing the sample to be analyzed. The reagent disk 11 has multiple reagent bottles 12 containing reagents used for sample analysis arranged in a circumferential direction. The reaction disk 1 has multiple reaction vessels 2 for mixing and reacting the sample and reagents arranged in a circumferential direction. The sample dispensing mechanisms 13 and 14 dispense the sample from the sample containers 17 transported to the sample dispensing position by the sample transport mechanism 19 into the reaction vessels 2. The reagent dispensing mechanisms 7, 8, 9, and 10 dispense reagents from the reagent bottles 12 into the reaction vessels 2. The stirring mechanisms 5 and 6 stir the mixture of sample and reagent (reaction solution) dispensed into the reaction vessels 2. The spectrophotometer 4 receives transmitted or scattered light obtained by irradiating the reaction solution in the reaction vessels 2 with light from a light source (not shown). The washing mechanism 3 washes the used reaction vessels 2. The sample nozzle washing tanks 15 and 16 are located within the movable range of the sample dispensing mechanisms 13 and 14, respectively, and wash the sample nozzles 13a and 14a with washing water. The reagent nozzle washing tanks 30, 31, 32, and 33 are located within the movable range of the reagent dispensing mechanisms 7, 8, 9, and 10, respectively, and wash the reagent nozzles 7a, 8a, 9a, and 10a with washing water.
[0013] The analysis of the component amounts of the sample is performed according to the following procedure. First, the sample in the sample container 17 placed on the rack 18 transported near the reaction disk 1 by the sample transport mechanism 19 is dispensed into the reaction container 2 on the reaction disk 1 by the sample nozzle 13a (or 14a) of the sample dispensing mechanism 13 (or 14). Next, the reagent used for the analysis is dispensed from the reagent bottle 12 on the reagent disk 11 into the reaction container 2 where the sample has been previously dispensed by the reagent nozzle 7a (or 8a, 9a, 10a) of the reagent dispensing mechanism 7 (or 8, 9, 10). Subsequently, the stirrer mechanism 5 (or 6) stirs the mixture of the sample and the reagent in the reaction container 2. Then, the light generated from the light source is transmitted through the reaction container 2 containing the stirred mixture, and the photometric intensity of the transmitted light or scattered light is measured by the spectrophotometer 4 and the measurement unit 44. The measured data is accumulated as absorbance data in the data storage unit 42. The accumulated absorbance data is analyzed in the analysis unit 45 based on the calibration curve data and Lambert-Beer's law. Through this analysis, the component amounts contained in the sample can be analyzed. The data necessary for the control and analysis of each part is input from the input unit 43 into the data storage unit 42. Various data and analysis results are displayed and / or output by the output unit 46.
[0014] The above is a configuration example when the automatic analyzer performs biochemical analysis, and the measurement mechanism varies depending on the analysis content executed by the automatic analyzer. As measurement methods used in the automatic analyzer, there are known an analysis method (colorimetric analysis) using a reagent that changes the color of the reaction solution by reacting with the component to be analyzed in the sample, and an analysis method (immunoassay) using a reagent with a label added to a substance that specifically binds directly or indirectly to the component to be analyzed in the sample and counting the label. All of them include the step of dispensing the sample contained in the sample container or the reagent contained in the reagent bottle into the reaction container by the dispensing mechanism and mixing them. In an automatic analyzer capable of performing an analysis including the dispensing step, the dispensing mechanism of the present embodiment described below is applicable.
[0015] Fig. 2 shows a configuration example of the dispensing mechanism of this embodiment. In this embodiment, one end of the θ1 arm 52 is attached to the upper end position of the shaft 51 that can be driven vertically so as to be rotatable within the XY plane. Further, one end of the θ2 arm 53 is attached to the tip position, which is the free end of the θ1 arm 52, so as to be rotatable within the XY plane. Further, at the tip position, which is the free end of the θ2 arm 53, a dispensing nozzle 54 is attached so as to extend downward in the Z-axis direction (vertical direction). The dispensing nozzle 54 and the syringe 55 are connected via a tube 56. The tube 56 is connected from the pedestal of the shaft 51 through the shaft 51, the θ1 arm 52, and the θ2 arm 53 to one end side of the dispensing nozzle 54. A plunger 57 for changing the internal volume thereof is movably attached to the syringe 55. Depending on the movement position of the plunger 57, suction or discharge of a sample or a reagent is performed from the tip of the dispensing nozzle 54. Further, a capacitance-type contact detector 58 is connected to the dispensing nozzle 54, and it is possible to detect that the dispensing nozzle 54 has contacted a conductor such as a sample or a reagent. Note that the θ1 arm 52 and the θ2 arm 53 are collectively referred to as a horizontal drive mechanism because they horizontally move the dispensing nozzle 54.
[0016] The main cause of the change in the relative position between the dispensing mechanism and the reaction disk 1, the reagent disk 11 or the washing tank where the stop position of the dispensing nozzle is provided is that the load balance of the entire automatic analyzer changes due to transportation or changes over time, etc., and the mechanism base 35 (see Fig. 1) is distorted. Due to the distortion of the mechanism base 35, a deviation occurs in the relative position between the dispensing mechanism and the mechanism where the stop position of the dispensing nozzle is provided. By correcting the stop position of the dispensing nozzle by the amount of deviation of this relative position, it is possible to appropriately perform dispensing by the dispensing mechanism and washing of the dispensing nozzle.
[0017] The following example shows a reference position block 61 that is cylindrical with a circular recess at its center. The shape of the reference position block 61 is not limited to the example shown. As will be described later, in this embodiment, the tip 54b of the dispensing nozzle 54 is brought into contact with the side surface 61a of the circular recess, and the position of the reference position block 61 is determined by fitting the coordinates of multiple contact points to the contour shape of the side surface 61a of the circular recess. Therefore, the shape of the circular recess can be any shape, such as a rectangle, as long as its contour shape is a known shape that can be defined in a way that allows for fitting. Furthermore, it is not limited to a recess, but may also be a hole that penetrates the cylinder. However, in any case, it is preferable that the contour shape allows for high-precision fitting even with a small number of contact points. The material of the reference position block 61 is a conductive material that can be detected by the contact detector 58, such as metal.
[0018] Figures 3 and 4 show the dispensing nozzle 54 stopped in contact with the side of the circular recess of the reference position block 61. Figures 5 and 6 show the dispensing nozzle 54 stopped away from the circular recess of the reference position block 61. Here, Figures 3 and 5 are horizontal views of the reference position block 61, and Figures 4 and 6 are vertical views of the reference position block 61. Figures 3 and 4 show the state in which the θ2 arm 53 is stopped by a contact detection signal from the contact detector 58, but the dispensing nozzle 54 is deflected due to a control delay between receiving the contact detection signal and stopping the θ2 arm 53. This deflection of the dispensing nozzle 54 caused by such a control delay reduces the accuracy of position identification of the reference position block 61 and reduces the accuracy of correction of the stopping position of the dispensing nozzle.
[0019] The following describes the method for detecting the position of the reference position block and the method for correcting the stopping position of the dispensing nozzle in this embodiment. Figure 7 is a flowchart illustrating the overview of the dispensing nozzle stopping position correction method in this embodiment. This operation is performed automatically when the user performs maintenance from the input unit 43 at any time, or after a reset operation is performed during the analysis preparation operation. This prevents the analysis from continuing with a misalignment in the stopping position of the dispensing nozzle.
[0020] The control unit 41 reads the position information data (position adjustment value) of the reference position block 61 stored in the data storage unit 42, moves the dispensing nozzle 54 horizontally to the center of the reference position block 61, and then drives the shaft 51 so that the height of the tip 54b of the dispensing nozzle 54 is lower than the upper surface of the reference position block 61 (step S01). The position adjustment value refers to the position information data obtained on the actual machine to absorb errors during manufacturing and assembly when the automatic analyzer is installed, for each stopping position of the dispensing nozzle 54, and is stored in the data storage unit 42. The reference position block 61 is also included as a stopping position for the dispensing nozzle 54.
[0021] Subsequently, the dispensing mechanism drives the θ2 arm 53 at a constant speed so that the dispensing nozzle 54 contacts the side surface 61a of the circular recess of the reference position block 61. The contact detector 58 detects that the dispensing nozzle 54 has contacted the side surface 61a of the circular recess and outputs a contact detection signal. The dispensing mechanism receives the contact detection signal from the contact detector 58 and stops driving the θ2 arm 53. By setting the driving speed of the θ2 arm 53 to a high speed, the time required to correct the stopping position of the dispensing nozzle can be shortened. It is also desirable to set a maximum movement amount of the θ2 arm 53 in case the driving of the θ2 arm 53 does not stop due to the contact detection signal for some reason. The maximum movement amount in this case should be such that the dispensing nozzle 54 does not undergo plastic deformation due to the driving of the θ2 arm 53 after the tip 54b of the dispensing nozzle 54 has contacted the side surface 61a of the circular recess. Here, the position coordinates (coordinate 1) of the base (mounting part) 54a of the dispensing nozzle 54 when the θ2 arm 53 stops due to the contact detection signal are obtained and stored in the data storage unit 42 (S02). Figures 3 and 4 show the state of the dispensing nozzle in step S02, where the dispensing nozzle 54 is elastically deformed and the position coordinates of the base 54a and the tip 54b of the dispensing nozzle 54 are different.
[0022] Next, the dispensing mechanism drives the θ2 arm 53 in the opposite direction to step S02, at the same constant speed as in step S02, so that the dispensing nozzle 54 moves away from the side surface 61a of the circular recess of the reference position block 61. The contact detector 58 detects that the dispensing nozzle 54 has moved away from the side surface 61a of the circular recess and outputs a detachment detection signal. The dispensing mechanism receives the detachment detection signal from the contact detector 58 and stops driving the θ2 arm 53. Alternatively, contact / detachment of the dispensing nozzle 54 from the side surface 61a of the circular recess may be determined by turning the contact detection signal ON / OFF. Furthermore, it is desirable to set a maximum movement amount for the θ2 arm 53 in case the driving of the θ2 arm 53 does not stop for any reason due to the OFF state of the detachment detection signal or the contact detection signal. The maximum movement amount in this case can be larger than the maximum movement amount in step S01, since the dispensing nozzle 54 moves away from the side surface 61a of the circular recess. Here, the position coordinates (coordinate 2) of the base 54a of the dispensing nozzle 54 at the time the θ2 arm 53 stops due to the detachment detection signal (or the OFF of the contact detection signal) are obtained and stored in the data storage unit 42 (S03).
[0023] Subsequently, the control unit 41 calculates the coordinates of the contact point 73 based on coordinates 1 and 2 (S04). Figure 8 shows the positional relationship between the position 71 of coordinate 1, the position 72 of coordinate 2, and the coordinates of the contact point 73. Position 71 of coordinate 1 is located outside the side surface 61a of the circular recess by the amount that the contact detector 58 moved from the time it detected the dispensing nozzle 54 contacting the side surface 61a of the circular recess at the contact point 73 until the θ2 arm 53 stopped due to the control delay. Position 72 of coordinate 2 is located inside the side surface 61a of the circular recess by the amount that the contact detector 58 moved from the time it detected the dispensing nozzle 54 moving away from the side surface 61a of the circular recess at the contact point 73 until the θ2 arm 53 stopped due to the control delay. Here, since the θ2 arm 53 is moved at the same constant speed in steps S02 and S03, the coordinates of the contact point can be calculated as the midpoint of the line segment connecting coordinate 1 and coordinate 2. The control unit 41 stores the calculated contact point coordinates in the data storage unit 42.
[0024] In order to determine the position of the reference position block 61 by determining the contour of the side surface 61a of the circular recess, it is necessary to obtain the coordinates of multiple contact points. Therefore, if the coordinates of contact points sufficient for fitting have not been obtained (No in S05), the control unit 41 continues to obtain the coordinates of the contact points.
[0025] Figure 9 shows an image of the operating trajectory of the dispensing nozzle 54 for obtaining the contact point coordinates. Here, the contact point coordinates (x1, y1) ~ (x 12 , y 12 This shows an example of a motion trajectory that continuously acquires the coordinates of the contact points. Here, in order to calculate the coordinates of a contact point different from the contact points whose coordinates have already been acquired, the θ1 arm 52 is moved slightly (step S06), and the process of steps S02 to S04 is executed again. As a result, a large number of contact point coordinates are acquired. Once the predetermined contact point coordinates (for example, the coordinates of 12 contact points in the example of Figure 9) have been acquired (Yes in S05), the position coordinates of the reference position block 61 are calculated from the acquired contact point coordinates (S07). If the position of the reference position block 61 is defined as its center position, in this example the center of the reference position block 61 is the center of the circular recess, so the circle that best fits the acquired 12 contact point coordinates can be calculated, and the coordinates of the center of the calculated circle can be used as the position coordinates of the reference position block 61.
[0026] In this way, by making the side surface of the reference position block 61 to which the dispensing nozzle 54 makes contact the side surface of a recess or hole, it becomes possible to acquire the coordinates of a large number of contact points at a faster speed. That is, although an example was shown in step S03 to acquire the position coordinate when the θ2 arm 53 stops, the θ2 arm 53 is not stopped by a detachment detection signal (or the OFF of the contact detection signal), but continues to move at a constant speed until the contact detector 58 detects that the dispensing nozzle 54 has made contact with the side surface of the recess or hole at the next contact point. In this case, for coordinate 2, by acquiring the position coordinate of the base 54a of the dispensing nozzle 54 at the timing when the θ2 arm 53 can be stopped by receiving a detachment detection signal or the OFF of the contact detection signal, it becomes unnecessary to actually stop the θ2 arm 53, which leads to a reduction in processing time.
[0027] If the position coordinates of the reference position block 61 required for correction have not been acquired (No in S08), the control unit 41 continues to acquire the position coordinates of the other reference position blocks 61. If the position coordinates of the reference position block 61 required for correction have been acquired (Yes in S08), the stopping position of the dispensing nozzle is corrected (S09). Alternatively, the process may proceed to step S09 only after the acquisition of the position coordinates of all reference position blocks 61 placed in the automatic analyzer has been completed.
[0028] In step S09, the control unit 41 first checks whether there is a shift in the position coordinates of the reference position block 61 used for correction at each stopping position of the dispensing nozzle 54. If the shift in the position coordinates of the reference position block 61 is within the acceptable range, the process ends without correction. If the shift in the position coordinates of the reference position block 61 exceeds the acceptable range, a correction value is calculated. Since the positional relationship between the position of the first reference position block, the position of the second reference position block, and the stopping position of the dispensing nozzle 54 on the same mechanism does not change, the amount of correction for the stopping position of the dispensing nozzle 54 can be calculated from the positional shift of the first reference position block and the positional shift of the second reference position block. The control unit 41 stores the calculated correction amount in the data storage unit 42. By stopping the dispensing nozzle at a position obtained by adding the correction amount to the position adjustment value, the dispensing mechanism can stop the dispensing nozzle at an appropriate position regardless of the state of the mechanism base 35.
[0029] In the above explanation, the horizontal movement of the dispensing nozzle 54 was described using a two-dimensional coordinate system in the X-axis and Y-axis directions. On the other hand, the dispensing mechanism moves the dispensing nozzle to the desired position by the rotational movement of the arm, as shown in Figure 2. The two-dimensional coordinate system (x, y) can be replaced with the amount of rotation of the arm as follows.
[0030] Figure 10 shows the correspondence between the two-dimensional coordinate system and the horizontal drive mechanism in the dispensing mechanism shown in Figure 2. The two-dimensional coordinate system uses the connection point between shaft 51 and θ1 arm 52 as its coordinate origin. The arm length of θ1 arm 52 is l1, and the arm length of θ2 arm 53 is l2.
[0031] The θ1 arm 52 and the θ2 arm 53 are each driven by a stepping motor. In this case, the angle of each arm can be determined from the initial angles of the θ1 arm 52 and the θ2 arm 53 before driving, the number of movement pulses that give the amount of movement (rotation) relative to the initial angle, and the movement angle resolution which indicates the angle by which the arm rotates with one pulse.
[0032] The coordinates (x, y) of the base 54a of the dispensing nozzle 54 in a two-dimensional coordinate system (x, y) p ,y p When this is the case, the dispensing mechanism shown in Figure 10 is represented as Figure 11, and the relationship shown in (Equation 1) holds.
[0033]
number
[0034] This allows the position specified in a two-dimensional coordinate system (x, y) to be converted into a control value for the amount of rotation of the arm. Here, an example of a dispensing mechanism equipped with a horizontal movement mechanism consisting of two rotational drive axes is shown, but the same applies to dispensing mechanisms equipped with a horizontal movement mechanism having one or more rotational drive axes, and a horizontal movement mechanism that uses both a rotational drive axis and a linear drive axis. Here, the rotational drive axis refers to the drive axis that rotates the dispensing nozzle 54, and the linear drive axis refers to the drive axis that moves the dispensing nozzle 54 in a straight line.
[0035] Each of the above-described configurations, functions, and processing units may be implemented, in whole or in part, as, for example, integrated circuits or other hardware. Alternatively, each of the above-described configurations, functions, etc., may be implemented by a processor interpreting and executing programs that realize each function; in other words, they may be implemented as software. Information such as programs, tables, and files that realize each function can be stored in memory, hard disks, SSDs (Solid State Drives), or storage media such as IC cards, SD cards, and DVDs.
[0036] Furthermore, the control lines and information lines shown are those deemed necessary for explanation purposes and do not represent all control lines and information lines required for the product. In reality, it can be assumed that almost all components are interconnected.
[0037] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are included. In this embodiment, an example is shown in which the position of a reference position block is detected in order to correct the stopping position of the dispensing nozzle, but this does not prevent the method disclosed in this embodiment from being applied when detecting the position of a reference position block for a different purpose. The embodiments described above are described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Furthermore, it is possible to replace parts of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add configurations from other embodiments to the configuration of one embodiment. In addition, it is possible to add, delete, or replace parts of the configuration of each embodiment with other configurations. [Explanation of Symbols]
[0038] 1…Reaction disc, 2…Reaction vessel, 3…Washing mechanism, 4…Spectrophotometer, 5, 6…Agitation mechanism, 7, 8, 9, 10…Reagent dispensing mechanism, 7a, 8a, 9a, 10a…Reagent nozzle, 11…Reagent disc, 12…Reagent bottle, 13, 14…Sample dispensing mechanism, 13a, 14a…Sample nozzle, 15, 16…Sample nozzle washing tank, 17…Sample container, 18…Rack (transport member), 19…Sample transport mechanism, 20…Reagent pump, 21…Sample pump, 22…Washing pump, 30, 31, 32, 33... Reagent nozzle washing tank, 35... Mechanism base, 41... Control unit, 42... Data storage unit, 43... Input unit, 44... Measurement unit, 45... Analysis unit, 46... Output unit, 51... Shaft, 52... θ1 arm, 53... θ2 arm, 54... Dispensing nozzle, 54a... Base (mounting part), 54b... Tip, 55... Syringe, 56... Tube, 57... Plunger, 58... Contact detector, 61... Reference position block, 61a... Side of circular recess, 71... Position of coordinate 1, 72... Position of coordinate 2, 73... Contact point.
Claims
1. A dispensing mechanism comprising a dispensing nozzle to which a dispensing nozzle is attached, a horizontal drive mechanism for moving the dispensing nozzle horizontally, and a contact detector for detecting when the tip of the dispensing nozzle comes into contact with a conductor, A reference position block which is a conductor, It includes a control unit that controls the dispensing mechanism, The control unit acquires a first coordinate, which is the coordinate of the attachment point of the dispensing nozzle to the horizontal drive mechanism, at the time when the control unit moves the dispensing nozzle horizontally at a constant speed toward the side of the reference position block and the contact detector detects that the tip of the dispensing nozzle has come into contact with the reference position block and stops the horizontal drive mechanism; and a second coordinate, which is the coordinate of the attachment point of the dispensing nozzle to the horizontal drive mechanism at the time when the dispensing nozzle moves horizontally at a constant speed away from the side of the reference position block from the stopping position of the horizontal drive mechanism and the contact detector detects that the tip of the dispensing nozzle has moved away from the reference position block and stops the horizontal drive mechanism; and calculates the coordinate of the contact point where the tip of the dispensing nozzle came into contact with the reference position block based on the first and second coordinates.
2. In claim 1, The control unit sets the maximum movement amount of the horizontal drive mechanism when acquiring the first coordinate and the second coordinate, and the maximum movement amount of the horizontal drive mechanism when acquiring the second coordinate is set to be greater than the maximum movement amount of the horizontal drive mechanism when acquiring the first coordinate.
3. In claim 1, The control unit sets the maximum movement amount of the horizontal drive mechanism when acquiring the first coordinates as the amount of movement that does not cause plastic deformation of the dispensing nozzle by the driving of the horizontal drive mechanism after the tip of the dispensing nozzle has come into contact with the reference position block.
4. In claim 1, The control unit is an automated analyzer that obtains the coordinates of multiple contact points by repeatedly bringing the tip of the dispensing nozzle into contact with the side surface of the reference position block at different positions, and calculates the position of the reference position block from the shape obtained by fitting the known shape of the side surface of the reference position block to the obtained coordinates of the multiple contact points.
5. In claim 4, The reference position block has a recess or a hole on its upper surface whose contour is the known shape, The control unit is an automatic analyzer that brings the tip of the dispensing nozzle into contact with the side surface of the recess or hole of the reference position block.
6. In claim 5, The control unit, after acquiring the first coordinates, moves the dispensing nozzle horizontally at a constant speed in a direction away from the side surface of the reference position block from the stop position of the horizontal drive mechanism until the contact detector detects that the tip of the dispensing nozzle has come into contact with the recess or the side surface of the hole, and stops the horizontal drive mechanism.
7. In claim 6, The horizontal drive mechanism comprises a first drive shaft and a second drive shaft to which the dispensing nozzle is attached. The control unit moves the second drive shaft horizontally at a constant speed, and slightly drives the first drive shaft while the tip of the dispensing nozzle contacts the side surface of the recess or hole at one contact point and then contacts it at the next contact point.
8. In claim 7, An automated analyzer wherein the first drive shaft is a linear drive shaft for linearly moving the dispensing nozzle or a rotary drive shaft for rotationally moving the dispensing nozzle, and the second drive shaft is a rotary drive shaft.
9. In claim 1, A first mechanism for setting the stopping position of the dispensing nozzle, The dispensing mechanism and the first mechanism are arranged on a mechanism base. Multiple reference position blocks are arranged on the first mechanism, The control unit is an automated analyzer that obtains the coordinates of multiple contact points by bringing the tip of the dispensing nozzle into contact with the side surface of the reference position block multiple times at different positions, calculates the position of the reference position block from the obtained coordinates of the multiple contact points, and calculates a correction amount to correct the misalignment of the stopping position of the dispensing nozzle based on the misalignment of the multiple reference position blocks.