CN100593722C - Automatic dispenser - Google Patents
Automatic dispenser Download PDFInfo
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- CN100593722C CN100593722C CN200510068525A CN200510068525A CN100593722C CN 100593722 C CN100593722 C CN 100593722C CN 200510068525 A CN200510068525 A CN 200510068525A CN 200510068525 A CN200510068525 A CN 200510068525A CN 100593722 C CN100593722 C CN 100593722C
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Abstract
An automatic dispenser includes a dispensing head, a transporter, a controller, sensors, and an adjustor. The dispensing head accommodates a plurality of dispensing tips and draws liquid into and ejects liquid from the dispensing tips. The transporter moves the dispensing head within an XYZ space. The controller controls drawing and ejecting of liquid by the dispensing head and movement of the dispensing head by the transporter. The sensors detect whether dispensing tips are mounted in the dispensing head. The adjustor aligns the reference positions of the dispensing head and the sensors in the XY plane.
Description
Technical field
The application relates to automatic distributor, relates in particular to have the automatic distributor that can adjust dispensing head and can determine the shape and the installment state of the distribution tip in the dispensing head.
Background technology
Distribute small amount of liquid sample, reagent to wait until in the sample container to be the operation of often carrying out during in biochemical field, testing and analyzing.Carry out batch operation by liquid being drawn onto in the distribution tip that is installed in the dispensing head and liquid being sprayed from distribution tip.Spray tip is normally at each disposable distribution tip that uses the available new distribution tip in back to replace.
Recently, at biochemical test with in analyzing, the quantity of these batch operations sharply increases.Yet when manually carrying out, operation is inefficient, and for example can cause the user to forget installing or install irrelevantly and distribute first-class problem.As a result, we see the transformation of operating automatic distribution from manual allocation now.
Traditional automatic distributor comprises: most advanced and sophisticated frame wherein is provided with a plurality of distribution tips; Dispensing head is used to hold distribution tip and allocation packet liquid with which; And sensor, be used for determining the existence of most advanced and sophisticated frame distribution tip.By monitoring the existence of distribution tip in the most advanced and sophisticated frame, sensor can determine whether distribution tip is installed in the distributing nozzle.For example, sensor determines to take place setup error in the time should being installed in distribution tip in the distributing nozzle and still staying in the most advanced and sophisticated frame.Therefore, for example as described in the Japanese Unexamined Patent Application publication No.HEI-11-295313, the detectable setup error that distribution tip is installed in dispensing head of automatic distributor.
Yet if most advanced and sophisticated frame or sensor depart from its precalculated position in the automatic distributor described in the Japanese Unexamined Patent Application publication No.HEI-11-295313, sensor can not be carried out in right position and survey.For example, if sensor departs from its precalculated position, make gap between the sensor monitor allocation tip, then sensor is determined not to remain distribution tip, that is to say that all tips all are mounted.
And whether the automatic distributor of Japanese Unexamined Patent Application publication No.HEI-11-295313 can only detect distribution tip and all correctly be installed in the dispensing head.Therefore, this automatic distributor can correctly be installed in when being transported in the head or detect abnormality when the distribution tip of installing has difformity at distribution tip.Therefore, for example, if being placed on the different types of assignment head, distributes in the frame on user error ground, then the amount of reagent that can not obtain wanting.
Summary of the invention
In view of above-mentioned, an object of the present invention is to provide a kind of automatic distributor that can adjust the position of dispensing head and can determine the shape and the installment state of distribution tip.
Described and other purpose can obtain by such automatic distributor, and described divider comprises dispensing head, forwarder, controller, sensor and adjuster.Dispensing head is removable in the XYZ space of the X-axis of extending and having the reference position by being perpendicular to one another, Y-axis and the definition of Z axle.A plurality of distribution tips can be installed on the dispensing head.Liquid sucks at least one and is installed in the distribution tip on the dispensing head, and from described distribution tip ejection.Forwarder is by specifying coordinate figure mobile dispensing head in XYZ space of X-axis, Y-axis and Z axle.Controller control injector head suction and atomizing of liquids and forwarder movable spray head.Sensor is arranged in the position in the XYZ space, surveys the installment state that is installed in the one or more distribution tips on the dispensing head at dispensing head during by detecting location, and the installment state signal of the installment state of the one or more distribution tips of output expression.Wherein said installment state comprises whether whether described tip be correct type by the tip of suitably installing or being installed.Adjuster adjust based on the installment state signal reference position X-axis coordinate figure, Y-axis coordinate figure and Z axial coordinate value one of at least.
The reference position is the initial point of XYZ space for instance, wherein when one of at least being adjusted device and adjusting of X-axis, Y-axis and the Z axial coordinate value of reference position, changes the target location that dispensing head moves to.
Utilize this structure, when the reference position of aiming at dispensing head and sensor is adjusted to carrying out on time in the reference position in XYZ space.Therefore, may detect the distribution tip that is installed in the dispensing head and have correct position.
Controller can comprise waveform oscilloscope, and described waveform oscilloscope is used to show the installment state signal output waveform from sensor.Utilize this structure, the waveform of the position of expression distribution tip can be presented on the waveform oscilloscope.
Controller can further comprise sensor adjustment display, and described sensor is adjusted display and is used to impel the user according to the position of adjusting sensor from the installment state signal output of sensor.Utilize this structure, controller can be adjusted the message that does not have aligning when demonstration expression sensor is out of position on the display at sensor.
According to a further aspect in the invention, provide a kind of automatic distributor that comprises dispensing head, forwarder, controller and sensor.A plurality of distribution tips can be installed on the dispensing head, and liquid suck the distribution tip be installed on the dispensing head one of at least in and from wherein ejection.By specifying the coordinate figure of X-axis, Y-axis and Z axle, forwarder is mobile dispensing head in the XYZ space of the X-axis, Y-axis and the Z axis limit that extend by being perpendicular to one another.Suction of controller Control Allocation head and ejection liquid and forwarder move dispensing head.Sensor is surveyed the distribution tip that moves along with dispensing head, and produces the detectable signal that expression detects distribution tip.Controller comprises the storage unit of stored models waveform, and by detectable signal and model waveform are compared shape and the installment state of determining distribution tip.
Controller can comprise further that distribution tip adjusts display, and described distribution tip is adjusted display, and to impel the user be not that reservation shape or distribution tip are not to reinstall distribution tip when correctly installing in the shape of distribution tip.
Sensor can comprise a plurality of sensor elements that are used at a plurality of position sensing distribution tips.In this case, controller is determined the shape and the installment state of distribution tip according to a plurality of signals that are used for distribution tip that detected by a plurality of sensor elements.
The removable dispensing head of forwarder makes that sensor can be at a plurality of position sensing distribution tips.In this case, controller is determined the shape and the installment state of distribution tip according to the signal that is used for a plurality of positions on the distribution tip that is detected by sensor.
Forwarder can comprise a change in orientation device, and described change in orientation device changes the orientation of dispensing head, makes sensor can survey a plurality of different surfaces on the distribution tip.In this case, controller is determined the shape and the installment state of distribution tip according to the signal on a plurality of surfaces of being detected by sensor that are used for distribution tip.
Controller can further comprise the detection waveform oscilloscope, and described detection waveform oscilloscope produces waveform according to the detectable signal of supplying with from sensor, and display waveform.
The model waveform represents that the ideal of being scheduled to surveys the phase, and its middle controller will compare with detection phase and the desirable detection phase that waveform is represented, and the shape of definite distribution tip and installment state.
Description of drawings
According to the description of carrying out below in conjunction with accompanying drawing, particular characteristics of the present invention and advantage and other purpose will become apparent, wherein in the accompanying drawings:
Fig. 1 is the skeleton view that illustrates according to the automatic distributor of preferred embodiment;
Fig. 2 illustrates the skeleton view that is provided with according to the disposal container (disposal vessel) of the sensor tip end sensor of preferred embodiment;
Fig. 3 is the indicative icon that illustrates according to the adjustment/detection window of preferred embodiment;
Fig. 4 (a) is the indicative icon of the detection starting position when being illustrated in the dispensing head portrait orientation;
Fig. 4 (b) is the indicative icon of the detection end position when being illustrated in the dispensing head portrait orientation;
Fig. 5 (a) is the indicative icon of the detection starting position when being illustrated in the dispensing head portrait orientation;
Fig. 5 (b) is the indicative icon of the detection end position when being illustrated in the dispensing head portrait orientation;
Fig. 6 (a) is the indicative icon that the example that is presented at the signal waveform in the waveform window is shown;
Fig. 6 (b) is the indicative icon that another example that is presented at the signal waveform in the waveform window is shown;
Fig. 6 (c) is the indicative icon that another example that is presented at the signal waveform in the waveform window is shown;
Fig. 6 (d) is the indicative icon that another example that is presented at the signal waveform in the waveform window is shown;
Fig. 7 (a) is the indicative icon that the example that is presented at the signal waveform in the waveform window is shown;
Fig. 7 (b) is the indicative icon that another example that is presented at the signal waveform in the waveform window is shown;
Fig. 7 (c) is the indicative icon that another example that is presented at the signal waveform in the waveform window is shown;
Fig. 8 (a) is the indicative icon of example that the waveform window of shows signal waveform is shown;
Fig. 8 (b) is the indicative icon of another example that the waveform window of shows signal waveform is shown;
Fig. 8 (c) is the indicative icon of another example that the waveform window of shows signal waveform is shown;
Fig. 8 (d) is the indicative icon of another example that the waveform window of shows signal waveform is shown;
Fig. 8 (e) is the indicative icon of another example that the waveform window of shows signal waveform is shown;
Fig. 9 is the process flow diagram that the step of the automatic distribution technology that comprises exploration operation is shown;
Figure 10 is the indicative icon that the example of automatic distributor is shown, and described automatic distributor makes distribution tip move through detecting location along the Z axle, and utilizes the most advanced and sophisticated sensor of a set of dispense to survey distribution tip in a plurality of positions;
Figure 11 is the indicative icon that illustrates from the example of the automatic distributor of a plurality of orientation detection distribution tips;
Figure 12 is the indicative icon of example that the automatic distributor of the length of surveying distribution tip is shown;
Figure 13 is that explanation is used to show the process flow diagram from the waveform display operation of the output of distribution tip sensor;
Figure 14 be illustrated in dispensing head on longitudinal when directed along the process flow diagram of the reference position adjustment operation of Y-axis; And
Figure 15 be illustrated in dispensing head on the latitude direction when directed along the process flow diagram of the reference position adjustment operation of Y-axis.
Embodiment
To according to a preferred embodiment of the invention automatic distributor be described referring to accompanying drawing.Fig. 1 is the skeleton view that illustrates according to the automatic distributor 1 of preferred embodiment.Automatic distributor 1 comprises shell 2, controller 3 and telecommunication cable 4.
Shell 2 holds forwarder 5, dispensing head 6, circuit part 7, distribution tip container 8 and 9, reagent container 10 and 11, microplate 12 and disposal container 13.Distribution tip container 8, reagent container 10 and microplate 12 be arranged in parallel in shell 2 and by another row that distribution tip container 9, reagent container 11 and disposal container 13 form and embark on journey.Gap between disposal container 13 and the microplate 12 is than the relief width between disposal container 13 and the reagent container 11.In this preferred embodiment, the direction that wherein distribution tip container 8, reagent container 10 and microplate 12 are set gradually is called the forward along X-axis.12 the direction with the X-axis quadrature is called the forward along Y-axis from disposal container 13 to microplate.For moving of dispensing head 6, the direction that dispensing head 6 is moved up is called negative sense, the direction that dispensing head 6 is moved down be called along with X-axis and Y-axis forward of the Z axle of quadrature all.
Be provided with the stepper motor (not shown) that is used for driving forwarder 5 along X-axis, Y-axis and Z axle.Dispensing head 6 is arranged on the bottom of forwarder 5, and comprises 12 thrower 1a-12a (for example, referring to Fig. 4 (a)) that setting is embarked on journey.Each thrower can both hold a distribution tip 14, and the gap between the adjacent injectors is 9mm simultaneously.And, because dispensing head 6 can rotate 90 degree between X-axis and Y-axis, so can carry out batch operation along directions X or Y direction.Circuit part 7 is provided with driving circuit, described driving circuit be used for according to via controller 3, be used in the future that the signal of autobiography sensor outputs to the output circuit of controller 3 and the condition of microprocessor (CPU) input drives forwarder 5 to directions X, Y direction and Z direction.
Fig. 2 illustrates the skeleton view that is provided with according to the disposal container 13 of the distribution tip sensor 19a of preferred embodiment and 19b.Disposal container 13 is used to abandon used distribution tip 14.Disposal container 13 is provided with distribution tip sensor 19a and 19b. Distribution tip sensor 19a and 19b can survey the existence and the installment state of the distribution tip 14 of 6 kinds of dispensing heads.Disposal container 13 is the rectangular parallel piped that are made of the wall that is parallel to X-axis, Y-axis and Z axle. Distribution tip sensor 19a and 19b are arranged on the top of disposal container 13.Particularly, distribution tip sensor 19a and 19b are installed in respectively on the supporting member 15a and 15b that is fixed to substrate 16, and substrate 16 is fixed on the shell 2.
In the input space 31, be provided for beginning to survey the detection starting position of distribution tip 14.Longitudinal selector button 32a is provided with the orientation of dispensing head 6 on longitudinal, and this equals the Y coordinate.Latitude direction selector button 32b is provided with the orientation of dispensing head 6 on the latitude direction, and this equals the X coordinate.Select to survey start button 33a to begin mobile dispensing head 6, select to survey stop button 33b simultaneously to stop moving of dispensing head 6.The result of detection of distribution tip sensor 19 is presented in the waveform window 34 with waveform.
The starting point that is used for moving and the X of terminal point, Y and Z coordinate can be stored in controller 3 in advance, move dispensing head 6 to the ideal position by the terminal point appointment with control forwarder 5.Therefore, the input space 31 can be imported the user to be used to the detection starting position of each directed distribution tip 14 of surveying dispensing head 6.Value in the input space 31 is presented on each of X, Y and Z axle as the absolute coordinates that begins from initial point, and described value is set at the increment of 0.1mm.For example, the X that is written as the longitudinal among Fig. 3 sits target value " 2980 " expression and surveys the initial point 298.0mm of starting position on the X-axis.Because according to the size of forwarder 5, dispensing head 6, distribution tip sensor 19 etc., the theoretical value of waiting to import the input space 31 is known, is arranged in the controller 3 so these theoretical values can be used as initial value.
Then, use description to survey the operation of the shape and the installment state of distribution tip 14.In the time of in the syringe that distribution tip 14 is installed in dispensing head 6, the user selects the orientation of dispensing head 6 in adjustment/detection window 30.Then, being stored in X, the Y of the detection starting position in the controller 3 and the theoretical value of Z coordinate in advance is presented in the input space 31.Fig. 4 (a) illustrates and surveys the starting position, Fig. 4 (b) illustrate dispensing head 6 be orientated longitudinal the time dispensing head 6 the detection end position.In this example, the distribution tip 14 that is installed among the syringe 1a of dispensing head 6 stops that the position of the optical path 19c of distribution tip sensor 19 is the detection starting position 40 of the dispensing head 6 of longitudinal orientation.Therefore, being stored in X, the Y of the detection starting position 40 in the controller 3 and the theoretical value of Z coordinate in advance is presented in the input space 31.
Fig. 5 (a) illustrates and surveys the starting position, Fig. 5 (b) illustrate dispensing head 6 be orientated the latitude direction time dispensing head 6 the detection end position.In this example, the distribution tip 14 that is installed among the syringe 1a of dispensing head 6 stops that the position of the optical path 19c of distribution tip sensor 19 is the detection starting position 50 of the dispensing head 6 of latitude direction orientation.Therefore, being stored in X, the Y of the detection starting position 50 in the controller and the theoretical value of Z coordinate in advance is presented in the input space 31.In addition, be used for each X, the Y that surveys the starting position and the theoretical value of Z coordinate and can import the input space 31 by hand.
Then, the user selects to survey start button 33a to begin detection.If the user wishes at any time to withdraw from during detection process, then the user can be by surveying stop button 33b.After select surveying start button 33a, forwarder 5 beginnings to input in the input space 31 be used for longitudinal or latitudinal coordinate position moves dispensing head 6.That is to say that forwarder 5 moves the detection starting position 40 of the longitudinal orientation shown in the dispensing head 6 to Fig. 4 (a) or the detection starting position 50 of the latitude direction orientation shown in Fig. 5 (a).
Simultaneously, the distribution tip 14 that is installed in the dispensing head 6 moves with dispensing head 6.Use utilizes the detection example of light emission/receiving element 191a and reflecting plate 191b, if distribution tip 14 is positioned on the optical path 19c that connects light emission/receiving element 191a and reflecting plate 191b, then the light from light emission/receiving element 191a emission can not arrive at reflecting plate 191b, stops because light is assigned with most advanced and sophisticated 14.Therefore, be not reflected plate 191b reflection of light, and light emission/receiving element 191a does not receive reflected light.Yet if dispensing head 6 is arranged so that the gap between the adjacent distribution tip 14 is positioned on the optical path 19c, the light of launching from light emission/receiving element 191a arrives at reflecting plate 191b and leaves reflecting plate 191b reflection.Therefore, light emission/receiving element 191a can receive reflected light.Described detection process is to also being applicable to light emission/receiving element 192a and reflecting plate 192b, and light emission/receiving element 193a and reflecting plate 193b.
Since light emission/receiving element 191a and reflecting plate 191b, light emission/receiving element 192a and reflecting plate 192b and light emission/receiving element 193a and reflecting plate 193b be arranged on disposal container 13 relative turning near, so these elements between the optical path 19c that extends form an angle with dispensing head 6, and be longitudinal orientation or latitude direction orientation regardless of dispensing head 6.In a preferred embodiment, with this angle initialization be 45 degree.Therefore,, can make that each distribution tip 14 is simultaneously all crossing in proper order with optical path 19c by mobile dispensing head 6, and no matter the orientation of dispensing head 6 how.Move to the detection starting position 40 of latitude direction orientation at dispensing head 6 after, distribution tip sensor 19 is at first surveyed the distribution tip 14 that is installed among the syringe 1a, and transmits the data that are used for by the light of light emission/receiving element 191a, light emission/receiving element 192a, light emission/receiving element 193a transmission and arrive controller 3.After the data of the distribution tip 14 that is used for being installed in syringe 1a were sent to controller 3, dispensing head 6 moved to and makes distribution tip sensor 19 can survey the position of the distribution tip 14 that is installed among the syringe 2a.Like this, mobile repeatedly dispensing head 6 certain intervals of forwarder 5, the distribution tip 14 in being installed in syringe 12a stops optical path 19c, more precisely, has moved to detection end position 41 on the longitudinal up to dispensing head 6.
Described process is also similar to the dispensing head 6 of latitude direction orientation.That is to say that when dispensing head 6 moved to detection end position 51 from surveying starting position 50, order was surveyed each dispensing head 14.Yet as mentioned above, the gap between disposal container 13 and the reagent container 11 is narrower than the gap between disposal container 13 and the microplate 12.Therefore, if dispensing head 6 is linear mobile when dispensing head 6 latitude directions are directed, the distribution tip 14 that then is installed in the dispensing head 6 will collide with reagent container 11.For this reason, dispensing head 6 moves on directions X and Y direction when the latitude direction is directed.Particularly, dispensing head 6 moves 49.5mm with respect to X and Y coordinates.Yet, if with respect to not hindering in the moving direction shell 2, also may be on the latitude direction linear mobile dispensing head 6.
The signal that sends controller 3 to becomes waveform by the waveform transformation cell translation.Particularly, the waveform transformation unit conversion of signals that will send controller 3 to becomes width to equal the waveform of ON signal time slot.Waveform window 34 shows described signal waveform.In Fig. 3, numeral 1 to 12 is illustrated in position in the waveform window 34 corresponding to center detecting location 67 (referring to Fig. 6), should show the distribution tip 14 of correct installation in described position.More specifically, be installed in distribution tip 14 among the syringe 1a among Fig. 4 (a), be installed in distribution tip 14 among the syringe 12a among Fig. 4 (b) simultaneously corresponding to the numeral in the waveform window 34 12 corresponding to the numeral in the waveform window 34 1.The signal that is presented in the waveform window 34 is ON when distribution tip 14 stops optical path 19c, is OFF when optical path 19c is not blocked.
To operate referring to the flow chart description waveform transformation shown in Figure 13.
When by longitudinal selector button 32a or latitude direction selector button 32b and detection start button 33a, dispensing head 6 begins to move to predetermined starting position 40 or the 50 (step 1) surveyed.When dispensing head 6 arrived at detection starting position 40 (or 50), dispensing head 6 beginnings were surveyed end position 41 (or 51) at the uniform velocity to move to.Simultaneously, probe timer begins to measure the time (step 2) of disappearance.When dispensing head in step 26 begins to move to when surveying end position 41 (or 51), controller 3 begins monitoring and surveys stop button 33b whether by by (step 3).When controller 3 determines in step 3 to survey stop button 33b not by by (step 3:NO) time, whether controller 3 monitor allocation 6 have arrived at is surveyed end position 41 (or 51) (step 4).When controller 3 determined that dispensing head 6 does not arrive at detection end position 41 (or 51) (step 4:NO) yet, cell stores had been detected the elapsed time of timer measurement and the ON/OFF state (step 5) of distribution tip sensor 19.Subsequently, controller 3 returns step 3, and repeats the operation carried out to the step 5 in step 3.When controller 3 determined that dispensing head 6 has arrived at detection end position 51 (step 4:YES), dispensing head 6 stopped to move (step 6).The waveform transformation unit of controller 3 produces transverse axis and represents that elapsed time, Z-axis represent the waveform of the ON/OFF state of distribution tip sensor 19, and in waveform window 34 display waveform (step 7).When controller 3 determines in step 3 that when surveying stop button 33b (step 3:YES), dispensing head 6 stops to move (step 8).
If dispensing head 6 departs from the distribution tip sensor reference position of 19 this moment on the XY plane in the reference position on the XY plane, then the scale unit of controller 3 automatically performs and adjusts the reference position that dispensing head 6 is adjusted in operation by the coordinate of input setting in the input space 31.
Fig. 6 (a)-6 (d) illustrates the example that is presented at the signal waveform in the waveform window 34.Succinct for what describe, these figure only represent to be surveyed by the most advanced and sophisticated sensor 19 of a set of dispense, for example light emission/receiving element 191a and reflecting plate 191b.
Suppose dispensing head 6 longitudinal location, then state 60 signalings shown in Fig. 6 (a) are surveyed the negative offset of starting position 40 towards Y-axis, and wherein in described state, the offset of 12 ON signals 66 is to the right of central detecting location 67.Therefore, surveying starting position 40 must move towards the forward of Y-axis.Because the gap between the central detecting location 67 is 9mm, so can easily calculate the amount of ON signal 66 from central detecting location 67 skews.Then, by described side-play amount being added to the Y coordinate in the input space 31, controller 3 is finished the adjustment of distribution tip detecting location.
On the contrary, the position that Fig. 6 (b) illustrates 12 ON signals 66 wherein shows and surveys starting position 40 towards the Y-axis forward migration towards the state 61 with respect to the left side skew of central detecting location 67.In this case, deduct described side-play amount by the Y coordinate from the input space 31, controller 3 is adjusted the distribution tip detecting location.Here, the side-play amount between distribution tip 14 and the central detecting location 67 can be according to the precision of making distribution tip 14 and difference.In this case, controller 3 can use the skew mean value between each distribution tip 14 and the corresponding central detecting location 67 to carry out adjustment.
Therefore, by aiming at the reference position of dispensing head 6 and distribution tip sensor 19, accurately locate dispensing head 6.Therefore, automatic distributor 1 can accurately be surveyed distribution tip 14.The waveform of the position of expression distribution tip 14 is presented in the waveform oscilloscope 34.Therefore, the user can see easily how many dispensing heads 6 is offset from the precalculated position, and therefore, can easily proofread and correct described skew.Compare by waveform and the model waveform that will detect, controller 3 is determined the shape and the installment state of distribution tips 14, thereby easier and prevent to install mistake in the distribution tip 14 reliably.And, because controller 3 is adjusted the reference position of the dispensing head 6 on the XY plane automatically with respect to the reference position of the distribution tip sensor 19 on the XY plane, thus with manually compare, need seldom the time and make great efforts to adjust dispensing head 6.By the waveform input value in the input space 31 according to the position that shows distribution tip 14 that shows in waveform window 34, people also can adjust the reference position of dispensing head 6.
Will be referring to the flow chart description reference position adjustment operation shown in Figure 14.In the following description, suppose dispensing head 6 longitudinal orientations.(after the step 1), controller 3 calculates the waveform center of each distribution tip and the skew (step 2) between the central detecting location 67 carrying out above-mentioned waveform transformation operation.Controller 3 calculates the average (step 3) of the skew of calculating in step 2.Then controller 3 determine skew on average with respect to central detecting location 67 be just (that is, and dispensing head 6 Y-axis forward or the side shifting of syringe 12a), still negative (that is, dispensing head 6 on the Y-axis negative sense or the side shifting of syringe 1a) (step 4).Just when (+), scale unit deducts skew from predetermined Y coordinate to the average out to of determining skew when controller 3 in step 4, and end value is stored in (step 5) in the storage unit.When controller 3 was determined the average out to negative (-) of skew in step 4, scale unit was added skew to predetermined Y coordinate, and end value is stored in (step 6) in the storage unit.
Yet, as seeing from Fig. 5 (a) and 5 (b), when detection is used for the distribution tip 14 of dispensing head 6 of latitude direction orientation, distribution tip 14 stops that the position of optical path 19c is not maintained fixed, but when farther from light emission/receiving element 191a when surveying starting position 50 and move to detection end position 51.The angle that optical path 19c and X-axis form is appointed as 45 degree.Therefore, if the angle that optical path 19c and X-axis form is not accurately to be 45 degree, then from the numeral 1 to digital 12 o'clock, ON signal 66 is moved further on the right in the state shown in Fig. 6 (c) gradually with respect to the position of central detecting location 67, or the left side of the state 63 shown in (d) that arrives Fig. 6 gradually.
Utilize the state 62 shown in Fig. 6 (c), by the mobile light emission/receiving element of the counter clockwise direction 191a at Fig. 5 (a) and 5 (b), the skew that recoverable moves to right gradually.Utilize the state 63 shown in Fig. 6 (d), move light emission/receiving element 191a, the skew that recoverable moves to left gradually by clockwise direction at Fig. 5 (a) and 5 (b).
Will be referring to the flow chart description reference position adjustment operation shown in Figure 15.In the following description, suppose dispensing head 6 latitude direction orientations.(after the step 1), controller 3 calculates the waveform center of each distribution tip and the skew (step 2) between the central detecting location 67 carrying out above-mentioned waveform transformation operation.Controller 3 calculates the average (step 3) of the skew of calculating in step 2.Then controller 3 determine skew on average with respect to central detecting location 67 be just (that is, and dispensing head 6 X-axis forward or the side shifting of syringe 12a), still negative (that is, dispensing head 6 on the Y-axis negative sense or the side shifting of syringe 1a) (step 4).Just when (+), scale unit deducts from the skew of predetermined X coordinate figure the average out to of determining skew when controller 3 in step 4
(root 2) doubly and is stored in (step 5) in the storage unit with end value.When controller 3 was determined the average out to negative (-) of skew in step 4, scale unit proceeded to step S6, and wherein scale unit will be offset
Extraordinarily arrive predetermined Y coordinate, and end value is stored in the storage unit.
And when substrate 16 accurately was not fixed on the shell 2, distribution tip sensor 19 was offset from the precalculated position.In this case, the distribution tip sensor is adjusted display unit and is shown and show not in position message of distribution tip sensor 19, and impels the user to adjust distribution tip sensor 19.Note, because the distribution tip sensor is fixing on the support that is fixed in the substrate 16, so the angle between light emission/receiving element 191a, 192a, 193a and reflecting plate 191b, 192b, the 193b is not offset.Therefore, by carrying out and adjust according to adjusting description in the display unit, the user can prevent the detection problem that self in position do not caused by distribution tip sensor 19.And,, can adjust the position of dispensing head 6 more accurately by distribution tip sensor 19 is arranged on the tram.Note, when distribution tip sensor 19 is offset from the precalculated position, preferably, after adjusting distribution tip sensor 19, carry out reference position adjustment operation once more.Therefore, automatic distributor 1 is carried out the reference position adjustment operation that is used for dispensing head 6 according to above-mentioned steps.
By making controller 3 have the assigning process input block, the user can import desirable step in described input block, guides automatic distributor 1 to automatically perform a series of batch operations according to the details in the input controller 3.A series of batch operations comprise installation distribution tip 14, reagent are sucked distribution tips 14, are ejected into reagent the microplate 12 and abandon distribution tip 14 in disposal container 13 from reagent container 10 and 11.If determine these position out of true, by being operated, above-mentioned adjustment is included in described a series of batch operation, and controller 3 can be carried out in the batch operation process and adjust operation, automatically the coordinate of correcting detection starting position 40 and detection starting position 50.
Utilization is according to the automatic distributor 1 of present embodiment, is used to survey the detection starting position of distribution tip 14 by aligning, and promptly dispensing head 6 is accurately located in the reference position of dispensing head 6, thereby accurately surveys distribution tip 14.
After finishing the adjustment operation, described step is returned exploration operation.Here, as shown in Fig. 7 (a)-(c), the waveform shown in Fig. 6 (a)-6 (d) accurately is presented in the waveform window 34 with the waveform combination form of being surveyed by three distribution tip sensor 191a-193a and 191b-193b.Fig. 7 (a) illustrates the signal waveform 700 that is used for suitably installing the state 70 of correct distribution tip 14.Signal waveform 700 comprises that these signal waveforms show simultaneously by the signal waveform 700a of light emission/receiving element 191a detection, by the signal waveform 700b of light emission/receiving element 192a detection and the signal waveform 700c that is surveyed by light emission/receiving element 191c.Signal waveform 700 is stored in the storage unit of controller 3 in advance.When distribution tip 14 did not have a mind to be installed in the syringe, the waveform that expression distribution tip 14 does not have to install also was stored in the storage unit.If one or more different with the waveform signal that is stored in storage unit through three signal waveforms of the distribution tip relatively finding to be used for installing then are presented at error message in the distribution tip adjustment display unit of controller 3.Shown error message comprises syringe that the unusual distribution tip of expression is installed and the information that is used for most advanced and sophisticated waveform.
Fig. 7 (b) illustrates the signal waveform 710 that is used for state 71, in described state 71, the distribution tip 140 with abnormal shape is installed.Signal waveform 710 comprises that these signal waveforms show simultaneously by the signal waveform 710a of light emission/receiving element 191a detection, by the signal waveform 710b of light emission/receiving element 192a detection and the signal waveform 710c that is surveyed by light emission/receiving element 193a.
When signal waveform 710 and signal waveform 700 are compared, find to be used near the width of the signal waveform 710c of the part of the distribution tip end width of signal waveform 700c no better than.Therefore, only according to described difficult to determine differences in shape.Yet the width of the signal waveform 710a the substrate near is obviously different with the width of signal waveform 700a.In this case, the distribution tip 14 that controller 3 is determined to be installed in the dispensing head 6 has difformity, and shows the error message of the described difference of expression.
Fig. 7 (c) illustrates the signal waveform 720 that is used for state 72, and in described state, the distribution tip 14 of installation has correct shape, but (distribution tip does not insert in the dispensing head 6 securely) is installed inadequately.When signal waveform 720 and signal waveform 700 were compared, near the width of 720 near the 720b near the signal waveform 720a the substrate, the centre, the distribution tip end was than big at corresponding signal waveform 700a, 700b and the 700c of each position.In this case, controller 3 determines that distribution tip 14 does not insert in the dispensing head 6 securely, and shows the error message of the described problem of expression.
Preferably, exploration operation is not only carried out after distribution tip is installed in the dispensing head 6, and is carrying out after 13 kinds of disposal container abandon distribution tip immediately following batch operation.By carrying out second operation, may determine that distribution tip is discarded in the disposal container 13 reliably, be convenient to carry out the transition to reposefully next batch operation.
Although only described a signal waveform that is used for a distribution tip in Fig. 7 (a)-7 (c), all waveforms that are used for all distribution tips can be presented at waveform window 34.
Fig. 8 (a)-8 (d) is the indicative icon of example that the waveform window 34 of shows signal waveform is shown.
Fig. 8 (a) illustrates the example that is stored in normal (normal) waveform in the storage unit in advance.1-12 is respectively corresponding to syringe 1a-12a for numeral.In the following description, suppose that distribution tip 14 only is installed among the syringe 2a-7a as shown in Fig. 8 (a).Be present on the central detecting location 67 for distribution tip, and for the shape of the upper, middle and lower of distribution tip, controller 3 with actual detection to signal waveform and the normal signal waveform shown in Fig. 8 (a) compare.
In Fig. 8 (b), what does not all have demonstration on numeral 7.In this case, controller 3 shows that the expression distribution tip is not installed in the message among the syringe 7a.In Fig. 8 (c), signal waveform is not presented on the central detecting location 67 of syringe 7a in the bottom that is presented at syringe 7a the time.In this case, controller 3 shows that expression and normal allocation most advanced and sophisticated 14 different tips are installed on the syringe 7a or distribution tip does not have the message of normal mounting on syringe 7a.In Fig. 8 (d), signal waveform is not presented in the bottom of syringe 7a.In this case, controller 3 shows that also expression and normal allocation most advanced and sophisticated 14 different tips are installed on the syringe 7a or distribution tip does not have the message of normal mounting on syringe 7a.In Fig. 8 (e), the middle part of the waveform of middle part and bottom and Fig. 8 (a) is different with the waveform of bottom, and waveform is presented at respectively on each part of syringe 7a simultaneously.In this case, controller 3 shows that also expression and normal allocation most advanced and sophisticated 14 different tips are installed on the syringe 7a or distribution tip does not have the message of normal mounting on syringe 7a.
Compare by signal waveform that will detect and the waveform that is stored in the correct distribution tip in the controller 3, automatic distributor 1 can be determined the shape and the installment state of distribution tip.Therefore, automatic distributor 1 can be surveyed the mistake in the installment state of the distribution tip 14 in the dispensing head 6 easily and reliably, and prevents to drive the automatic distributor 1 of the inappropriate installation of distribution tip.When setup error took place, controller 3 showed the error message of expression setup error, makes the user to avoid installing improperly distribution tip only by reinstalling distribution tip according to error message ground content.Waveform window 34 display waveforms, thus visually determine the shape and the installment state of distribution tip.Therefore, automatic distributor 1 can prevent to install the mistake in the distribution tip 14 reliably.And, by at a plurality of position sensing distribution tips, determine the shape and the installment state of distribution tip according to the signal that is used for a plurality of positions, realize the more reliable detection of setup error.
By described exploration operation being included in a series of batch operations in the input assigning process input block, controller 3 is carried out exploration operation in the batch operation process, and shows error message when distribution tip is not installed admirably or when the distribution tip of installing has difformity.
Then, will comprise the process of being transported to automatically of adjustment/exploration operation referring to the flow chart description of Fig. 9.In step 1, distribution tip is installed in the dispensing head 6.In step 2, automatic distributor 1 begins to survey the operation of distribution tip.The data transmission that detects in step 2 arrives controller 3, and becomes signal waveform by the waveform transformation cell translation.In step 3, controller 3 determines whether dispensing head 6 is offset from the reference position of distribution tip sensor 19 on the XY plane in the reference position on the XY plane.
If there is any skew (step 3:NG) between the reference position, then in step 7, controller 3 is adjusted the reference position of dispensing head 6 on the XY plane automatically, and returns step 3, checks the deviation between the reference position.If there is not any skew (step 3:OK) between the reference position, then in step 4, controller 3 determines according to the signal waveform that transmits whether distribution tip is installed in the dispensing head 6.
If controller 3 determines that distribution tip is installed in (step 4:OK) in the dispensing head 6, then in step 5, controller 3 is determined the shape whether shape of distribution tip mates correct distribution tip 14.If controller 3 is determined the correct shape (step 5:OK) of form fit of distribution tips, then in step 6, automatic distributor 1 begins to be used to suck and sprays the batch operation of reagent etc.
Yet, if controller 3 is determined in step 4, distribution tip is not installed in (step 4:NG) in the dispensing head 6, if or controller 3 is determined in step 5, the shape of the distribution tip correct shape (step 5:NG) that do not match, then in step 8, controller 3 shows the waveform that detects in waveform window 34.In step 9, controller 3 is adjusted the error message that shows the expression error reason in the display unit at distribution tip.In step 10, the user reinstalls distribution tip 14 according to the error message that is presented in the distribution tip adjustment display unit.Subsequently, in step 2, be recycled and reused for the operation of surveying distribution tip.
By described exploration operation is included in the assigning process input block, the user can survey setup error easily and reliably, is interrupted the automatic distributor of installing incorrectly thereby avoid driving distributing.
Although describe the present invention in detail referring to specific embodiments of the invention, but to one skilled in the art clearly, can make a lot of modifications and change to it, and not depart from spirit of the present invention, scope of the present invention is limited by appended claims.For example, by increasing the quantity of distribution tip sensor 19, can further improve detection accuracy.Alternatively, as shown in Figure 10, move through detecting location on the z axle, may only use the most advanced and sophisticated sensor of a set of dispense that comprises light emission/receiving element 191a and reflecting plate 191b in a plurality of positions, to survey distribution tip by making distribution tip.In this structure, the user can survey setup error easily and reliably, thereby avoids driving the automatic distributor of the inappropriate installation of distribution tip.Here, distribution tip can be by the detecting location on the X-Y direction.Therefore, the user can be easier and be surveyed setup error reliably, thereby avoids driving the automatic distributor of the inappropriate installation of distribution tip.
Also may when distribution tip longitudinal orientation and latitude direction orientation, survey distribution tip.Figure 11 is the indicative icon with respect to the distribution tip of dispensing head 6 inclination installations.In the state shown in Figure 11 100, as shown in signal waveform 101, if only arrive the tip at an orientation detection, then distribution tip can be the correct suitable distribution tip of installing 14.Yet, as shown in signal waveform 102, survey by carrying out from other direction, may detect difference., can obtain the 3D shape of distribution tip, and can appear the setup error that can not detect from a plurality of angle detection distribution tips by in this way from a direction.Therefore, the user can be easier to survey setup error reliably, thereby avoids driving the automatic distributor that distribution tip is installed incorrectly.
In addition, distribution tip sensor 19 may detect the length of distribution tip on the z direction, that is, distribution tip 14 is positioned at the period on the optical path 19c, rather than surveys the specific period of distribution tip.Like this, be set at the position 110 shown in Figure 12 with surveying the starting position, wherein when distribution tip was installed in the dispensing head 6, near the part of the distribution tip the substrate stopped optical path 19c.Then, not to change the position of dispensing head 6 on the XY plane, dispensing head 6 moves to the detection end position along the negative sense of Z axle.With survey end setup be the end of distribution tip 14 towards Z axle negative sense than optical path 19c towards the farther position 111 of Z axle negative sense.Here, the preset coordinates of position 110 and 111 can be imported the input space 31 in advance.In this case, a plurality of distribution sensors 19 can be installed, for example, quantity equals to be installed in a plurality of distribution tip sensors 19 of the quantity of the distribution tip 14 on the dispensing head 6.Like this, automatic distributor 1 can reduce surveys the needed period of distribution tip, and can survey distribution tip effectively.In addition, but the length of surveying distribution tip not only carry out on the Z direction, and can on directions X or Y direction, carry out.
And the distribution tip sensor can be configured to make one to launch light, and another receives light.In adjusting operation, the distribution tip sensor can be configured to utilize ultrasound wave to survey.Also can use area sensor in exploration operation, to survey.In this case, described result of detection can be shown after carries out image processing.Distribution tip not only also can not be arranged near the relative turning of disposal container.The distribution tip sensor does not need to be arranged on the disposal container top, but can be arranged on yet and can install Anywhere.Can occur unusually to notify the user by making the luminous error message that shows of LED lamp.In detection, also can be with single distribution tip but not a plurality of distribution tip be installed on the dispensing head.
Claims (11)
1. an automatic distributor (1) comprising:
Dispensing head (6), it can move in the XYZ space of the X-axis of extending by being perpendicular to one another, Y-axis and the definition of Z axle, described XYZ space has the reference position, a plurality of distribution tips (14) can be installed on the dispensing head (6), liquid be inhaled into the distribution tip (14) that is installed on the dispensing head (6) at least in the lump from wherein ejection;
Forwarder (5), it is by specifying coordinate figure mobile dispensing head (6) in XYZ space of X-axis, Y-axis and Z axle;
Controller (3), it is used for control by suction and injection and injector head (6) the moving by forwarder (5) of dispensing head (6) to liquid;
Sensor (19), it is arranged in the interior position of XYZ space, survey the installment state that is installed in the one or more distribution tips (14) on the dispensing head (6) during by detecting location at dispensing head (6), and the installment state signal of the installment state of the output one or more distribution tips of expression (14);
Adjuster, its adjust based on the installment state signal reference position X-axis coordinate figure, Y-axis coordinate figure and Z axial coordinate value one of at least;
Wherein said installment state comprises whether whether described tip be correct type by the tip of suitably installing or being installed.
2. automatic distributor according to claim 1 (1), wherein the reference position is the initial point of XYZ space, wherein when the adjusting one of at least of X-axis coordinate figure, Y-axis coordinate figure and the Z axial coordinate value of reference position, change dispensing head (6) and be transmitted the target location that device (5) moves to by adjuster.
3. automatic distributor according to claim 1 (1), its middle controller (3) comprises waveform oscilloscope, described waveform oscilloscope is used for showing the waveform from the installment state signal output of sensor (19).
4. automatic distributor according to claim 1 (1), its middle controller (3) further comprises sensor adjustment display, and described sensor is adjusted display and is used to impel the user according to the position of adjusting sensor (19) from the installment state signal output of sensor (19).
5. an automatic distributor (1) comprising:
Dispensing head (6), a plurality of distribution tips (14) can be mounted thereto, liquid be inhaled into the distribution tip (14) that is installed on the dispensing head (6) at least in the lump from its ejection;
Forwarder (5), it is by the be perpendicular to one another coordinate figure of the X-axis, Y-axis and the Z axle that extend of appointment, mobile dispensing head (6) in by the XYZ space of X-axis, Y-axis and the definition of Z axle;
Controller (3), it is used for control by suction and injection and injector head (6) the moving by forwarder (5) of dispensing head (6) to liquid; And
Sensor (19), it is used for surveying the distribution tip (14) that moves along with dispensing head (6), and produces the detectable signal that expression detects distribution tip (14),
Its middle controller (3) comprises the storage unit of stored models waveform, and by detectable signal and model waveform being compared the shape and the installment state of definite distribution tip (14);
Wherein said installment state comprises whether whether described tip be correct type by the tip of suitably installing or being installed.
6. automatic distributor according to claim 5 (1), its middle controller (3) further comprises distribution tip adjustment display, and described distribution tip is adjusted display and is used for not being reservation shape or impelling the user to reinstall distribution tip (14) when distribution tip (14) is not correctly installed in the shape of distribution tip (14).
7. automatic distributor according to claim 5 (1), wherein sensor (19) comprises a plurality of sensor elements that are used at a plurality of position sensing distribution tips, and its middle controller (3) is determined the shape and the installment state of distribution tip (14) according to a plurality of signals that are used for distribution tip that detected by a plurality of sensor elements.
8. automatic distributor according to claim 5 (1), the mobile dispensing head of forwarder (5) (6) wherein, make that sensor (19) can be at a plurality of position sensing distribution tips (14), its middle controller (3) is determined the shape and the installment state of distribution tip (14) according to the signal that is used for a plurality of positions on the distribution tip (14) that is detected by sensor (19).
9. automatic distributor according to claim 5 (1), wherein forwarder (5) comprises a change in orientation device, described change in orientation device changes the orientation of dispensing head (6), make sensor (19) can survey a plurality of different surfaces on the distribution tip (14), wherein, controller (3) is determined the shape and the installment state of distribution tip (14) according to the signal on a plurality of surfaces of being detected by sensor (19) that are used for distribution tip.
10. automatic distributor according to claim 5 (1), its middle controller (3) further comprises the waveform oscilloscope of detection, the waveform oscilloscope of described detection produces waveform according to the detectable signal of supplying with from sensor (19), and shows described waveform.
11. automatic distributor according to claim 5 (1), wherein the model waveform represents that the ideal of being scheduled to surveys the phase, its middle controller (3) will compare with detection phase and the desirable detection phase that waveform is represented, and the shape and the installment state of definite distribution tip (14).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004259490 | 2004-09-07 | ||
| JP2004259489A JP2006078201A (en) | 2004-09-07 | 2004-09-07 | Automatic dispenser |
| JP2004259489 | 2004-09-07 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1746680A CN1746680A (en) | 2006-03-15 |
| CN100593722C true CN100593722C (en) | 2010-03-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200510068525A Expired - Fee Related CN100593722C (en) | 2004-09-07 | 2005-04-29 | Automatic dispenser |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2006078201A (en) |
| CN (1) | CN100593722C (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9046507B2 (en) * | 2010-07-29 | 2015-06-02 | Gen-Probe Incorporated | Method, system and apparatus for incorporating capacitive proximity sensing in an automated fluid transfer procedure |
| CN102121940A (en) * | 2010-12-03 | 2011-07-13 | 福建泰普生物科学有限公司 | Sampling process monitoring method and detection system |
| CH708562A2 (en) * | 2013-09-13 | 2015-03-13 | Gyger Invest Ag | Dispenser for liquid substances. |
| CN103575925B (en) * | 2013-11-14 | 2015-04-01 | 宋筱亮 | Sample injection needle with automatic detection function |
| CN104316714B (en) * | 2014-11-18 | 2015-10-14 | 南京裕隆生物医学发展有限公司 | A kind of Full-automatic tube-type chemiluminescent analyzer setting-out pin lofting control device |
| CN104535782B (en) * | 2014-12-29 | 2017-01-25 | 基蛋生物科技股份有限公司 | Full-automatic immuno-fluorescence quantitative analysis device and implementation method |
| CN107430058A (en) * | 2015-02-27 | 2017-12-01 | Hycor生物医学有限责任公司 | For the apparatus and method for the content for suspending and washing multiple test glass |
| CN105110281B (en) * | 2015-08-11 | 2017-11-28 | 欧先金 | A kind of liquid apparatus and method that intake and constant temperature store automatically |
| CN108180934B (en) * | 2017-11-30 | 2020-10-16 | 彩虹（合肥）液晶玻璃有限公司 | Detection device and detection method of optical fiber sensing device |
-
2004
- 2004-09-07 JP JP2004259489A patent/JP2006078201A/en not_active Withdrawn
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2005
- 2005-04-29 CN CN200510068525A patent/CN100593722C/en not_active Expired - Fee Related
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| JP2006078201A (en) | 2006-03-23 |
| CN1746680A (en) | 2006-03-15 |
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