JP2008197037A - Dispensing device, controller thereof, and dispensing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a dispensing device realizing fine delivery in a dispensing device, such as a biochemical automatic analysis apparatus that delivers through a syringe, a flexible tube, and a nozzle. <P>SOLUTION: In the dispensing device having a syringe 1 with an internal space, a piston 2 that undergoes reciprocating motion, while contacting the syringe internal surface, a branch unit 3 having a passage 4 communicated with the internal space of the piston that branches a passage from the piston into two directions, a nozzle 5 communicated with one of branched passages via a tube, a pump 7 communicating with another passage of the branched passages, a solenoid valve 6 arranged on the pathway in which the piston undergoes reciprocating motion by a motor 13, having a shaft 9 connected with the piston and thereby sucking and delivering liquid from the top end of the nozzle, the operating direction of the shaft, the operating direction of the piston, the flow direction of the branched passage in the branch unit, the flow direction of the tube, and the orientation of the nozzle are arranged on the same straight line. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to, for example, a dispensing device that dispenses a required amount of a liquid sample into a reaction container with high accuracy.

  The dispensing apparatus and the analysis apparatus including the same according to Conventional Example 1 control a pump mechanism unit that can move a piston relative to a syringe, a motor that applies a driving force to move the piston, and the motor. And control means for calculating a control amount for a motor necessary for sucking and discharging a target amount of liquid according to a relative position of the piston with respect to the syringe when discharging the target amount of liquid; (See, for example, Patent Document 1).

  FIG. 10 is a cross-sectional view showing an example of a dispensing apparatus according to an embodiment of Conventional Example 1. The dispensing apparatus 105 shown in FIG. 10 is for sucking a sample such as blood and spotting the sample on the reagent pads 120A and 121A of the test pieces 120 and 121. The dispensing device 105 has a configuration in which a pump unit 152 is connected to a nozzle 150 via a flexible tube 151.

  The pump unit 152 is for applying a suction force or a discharge force to the nozzle 150. The pump unit 152 has a configuration in which the pump mechanism 154 and the pulse motor 155 are fixed to the support plate 153 as shown in FIGS. 11, 12 (a), and 12 (b). The pump mechanism 154 and the pulse motor 155 are connected by a guide block 156.

  The support plate 153 has an upright wall 153A for fixing the pump mechanism 154 and a horizontal wall 153B for fixing the pulse motor 155, and is fixed to the side wall 139 of the housing 103 at the upright wall 153A. ing. The support plate 153 is provided with a slit 153C that continues from the horizontal wall 153B to the standing wall 153A. The slit 153C allows the linear motion shaft 155B of the pulse motor 155 to be inserted in a portion provided in the horizontal wall 153B, and allows a later-described guide block 156 to move in a portion provided in the standing wall 153A.

  The pump mechanism unit 154 is for causing a pressure fluctuation in the nozzle 150, and has a configuration in which a piston 154B is inserted into the syringe 154A so as to be movable relative to the syringe 154A. The syringe 154A is fixed to the upright wall 153A of the support plate 153. The piston 154B is connected to a linear motion shaft 155B of a pulse motor 155 described later via a guide block 156. The guide block 156 has a lower end portion of the linear motion shaft 155B of the pulse motor 155 and an upper end portion of the piston 154B fixed thereto, and is engaged with a portion provided on the standing wall 153A of the slit 153C. .

  The pulse motor 155 is for generating power for moving the piston 153 up and down, and has a motor drive unit 155A and a linear motion shaft 155B screwed at the center of the motor drive unit 155A. The pulse motor 155 is configured such that the linear motion shaft 155B moves up and down by applying a rotational force to the linear motion shaft 155B by the motor driving unit 155A. The linear motion shaft 155B is connected to the piston 154B via the guide block 156 as described above. Therefore, when the linear motion shaft 155B is moved up and down, the piston 154B moves up and down in conjunction with the movement of the linear motion shaft 155B. Thereby, the pump mechanism part 154 can produce a pressure fluctuation inside the nozzle 150 (refer FIG. 10).

  The guide block 156 is for connecting the piston 154B of the pump mechanism 154 and the linear motion shaft 155B of the pulse motor 155, and for restricting the vertical movement of the linear motion shaft 155B. The guide block 156 has an engaging portion 156A and a protruding portion 156B. The engaging portion 156A is for engaging with the portion of the upright wall 153A in the slit 153C of the support plate 153. In other words, the guide block 156 is configured such that the moving direction thereof is restricted when the engaging portion 156A is engaged with the slit 153C. The protruding portion 156B is to be detected by a sensor 157 provided on the standing wall 153A of the support plate 153. The sensor 157 is used to prevent the piston 154B from being moved downward more than necessary. That is, the control unit 172 (see FIG. 13) stops the input of the driving pulse to the motor driving unit 155A and stops the downward movement of the piston 154B when it is confirmed that the protruding portion 156B is detected by the sensor 157. Let

  The nozzle 150 shown in FIG. 10 is used with a tip 158 attached to the tip, and is movable in the horizontal direction and the vertical direction. The nozzle 150 can select a state where air can be sucked by power from the pump unit 152 and a state where air can be discharged. That is, the nozzle 150 performs an operation capable of sucking air in a state where the chip 158 is mounted, thereby sucking the sample and holding the sample inside the chip 158, while performing an operation capable of discharging air. By doing so, the sample held on the chip 158 can be discharged.

  Here, the suction amount and the discharge amount of the sample in the nozzle 150 are syringes as expected from the magnitude of the power applied from the pump unit 152, that is, FIG. 11, FIG. 12 (a) and FIG. 12 (b). Depends on the relative travel distance of piston 154B relative to 154A. The moving distance of the piston 154B depends on the moving distance of the linear motion shaft 155B of the pulse motor 155, that is, the number of driving pulses input to the motor driving unit 155A. The number of drive pulses input to the motor drive unit 155A is controlled by the control unit 172.

  If the motor driving unit 155A is driven by the control unit 172 in accordance with the number of driving pulses calculated by the calculating unit 171, the amount of the sample discharged from the nozzle 150 can be made close to the target amount in all the reagent pads 120A and 121A. it can.

  As described above, the dispensing device of Conventional Example 1 and the dispensing device having the dispensing device vary the dispensing amount by driving the motor driving unit by the control unit in accordance with the number of driving pulses calculated in the calculating unit. Can be reduced.

  The linear motor drive type dispensing mechanism of Conventional Example 2 connects the piston of the cylinder to the mover of the linear motor, and is miniaturized and simplified, and the lead error of the ball screw can be ignored, so that the piston can be positioned more accurately. (See, for example, Patent Document 2).

  FIG. 14 is a cross-sectional configuration diagram illustrating a linear motor drive type dispensing mechanism according to an embodiment of Conventional Example 2. In FIG. 14, a reference numeral 201 denotes a casing whose overall shape is a box shape. A cylinder 203 having a nozzle 202 is attached to an end of the casing 201.

  A longitudinal rod-shaped piston 204 provided in the cylinder 203 protrudes from the cylinder 203 to the outside, and the piston 204 is slidably provided through a through hole 221 of a guide 220 provided in the cylinder 203. ing. Inside the casing 201 is provided a linear motor 222 as an actuator having a well-known longitudinal shape, and a mover 223 of the actuator 222 is provided so as to be reciprocally movable along the direction of arrow A. The linear motor 222 and the piston 204 are arranged in parallel to each other.

  The piston 204 is connected to the mover 223 and fixed to a predetermined length by a screw 224. Therefore, in the above-described configuration, the actuator 222 is operated to selectively reciprocate the mover 223 along the direction of the arrow A, whereby the piston 204 reciprocates in the cylinder 203, and the nozzle 202 and the cylinder 203 Inhalation of the chemical liquid or the like into the liquid or injection of the chemical liquid or the like from the nozzle 202 and the cylinder 203 to the outside can be performed.

Thus, since the piston in the cylinder is directly connected to the mover of the actuator such as the linear motor provided in the case, the linear motor drive type dispensing mechanism of the prior art example 2 has a conventional coupling and ball screw. In addition, it is not necessary to use a linear guide, a moving body, etc., and the shape of the entire mechanism can be reduced in size, the configuration can be simplified, and high accuracy can be achieved. In addition, a large analyzer that uses a large number of dispensing mechanisms can be greatly reduced in size.
JP 2006-119067 A (14th and 15th pages, FIGS. 2, 3, 4 and 5) JP 2002-364526 A (page 3, FIG. 1)

  Conventionally, such a dispensing mechanism is mounted on a biochemical analyzer or the like, and has been used for an operation of dispensing a sample made of serum taken from blood. In biochemical analyzers, analytical reagents and serum are mixed and used, but there is a need to reduce the amount of reagents because the reagents are expensive. On the other hand, there is a need to reduce the amount of blood collected from a person because the burden on the person is reduced if a small amount of blood is collected. Furthermore, since the analysis solution used also from the environmental viewpoint is treated as a waste solution, if it can be reduced, there is a need to reduce the amount of the analysis solution because it can be processed without consuming unnecessary energy.

  However, in preparing the analysis solution, if the amount of serum and the amount of reagent vary, the reliability of the analysis results decreases. Serum has individual differences such as viscosity because it is collected from humans, and these are errors in the amount of serum dispensed, which has been a problem when it is reduced in volume. In addition, when a liquid is dispensed in a minute amount, the surface tension, viscosity, and the like have a greater influence on the liquid ejection operation than the mass of the liquid. For this reason, there was no device for dispensing a small amount of serum, and this was required. In such a device that handles a small amount of liquid, the flow path design from the pump to the nozzle that discharges the liquid is also important.If the distance from the pump unit to the nozzle is too long, the resistance when the liquid moves, the tube Since pressure is not transmitted accurately due to expansion or the like, there has been a problem that the liquid amount accuracy of a minute amount of liquid is deteriorated. For this reason, it has been required that the pump itself can be reduced in size and disposed in the vicinity of the apparatus so as to shorten the flow path from the pump to the nozzle.

  In view of these points, the conventional technology uses a pulse motor to drive the pump, and the nozzle discharges with a tip attached to the tip. However, it is difficult to drive at high speed and high acceleration / deceleration with a pulse motor, the liquid running out during discharge is poor, and the tip of the nozzle tip contains a large amount of air. However, the problem that the dispensing accuracy deteriorated occurred.

  In addition, since the linear guide and the mover of the linear motor are arranged in parallel, there is a problem of increasing the size because a space is required on the side although it is said to be downsized.

  The present invention has been made in view of such problems, and the operation direction of the shaft, the operation direction of the piston, the flow direction of the diversion flow path in the branching means, the flow direction of the tube, and the direction of the nozzle are identical. Dispensing device that arranges on the line and saves space on the side, and adjusts the speed and acceleration according to the desired discharge amount with the control means, and dispenses accurately at the desired discharge amount including trace amounts The purpose is to provide. Moreover, it aims at providing the dispensing apparatus which implement | achieves a trace amount discharge in the dispensing apparatus discharged through a syringe, a flexible tube, and a nozzle like a biochemical automatic analyzer.

  In order to solve the above problem, the present invention is configured as follows.

  According to the first aspect of the present invention, a syringe 1 having an internal space, a piston 2 that reciprocates while contacting the inner surface of the syringe, and the piston internal space communicate with each other, and a flow path that divides the flow path from the piston in two directions. 4, the branching means 3, the nozzle 5 communicated with one of the diversion channels through a tube, the other of the diversion channels is in communication with a pump 7, and an electromagnetic valve 6 is arranged on the path, In a dispensing apparatus for reciprocating a piston by a motor 13 having a shaft 9 connected to the piston to suck and discharge liquid from the nozzle tip, the operating direction of the shaft, the operating direction of the piston, The flow direction of the branch flow path in the branching unit, the flow direction in the tube, and the direction of the nozzle are arranged on the same straight line.

  According to a second aspect of the present invention, the inner diameter of the syringe, the inner diameter of the diversion channel in the branching unit, the inner diameter of the tube, and the inner diameter of the nozzle are combined with the same inner diameter or a tapered surface.

  The invention according to claim 3 is a flow path 4 that communicates with a syringe 1 having an internal space, a piston 2 that reciprocates while contacting the inner surface of the syringe, and the internal space of the piston, and that divides the flow path from the piston in two directions. The branching means 3 having one of the branch flow passages, the nozzle 5 communicated with the tube via the tube, the other of the branch flow passages communicates with the pump 7, and the electromagnetic valve 6 is disposed on the path, In a dispenser controller in which the piston is reciprocated by a motor 13 having a shaft 9 connected to the piston to suck and discharge liquid from the tip of the nozzle, the dispenser controller receives a work command from a host controller. A motion controller and a servo drive that receives a movement command from the motion controller and controls the motor A.

  According to a fourth aspect of the present invention, the motion controller includes a table in which discharge conditions are written.

  According to a fifth aspect of the present invention, feedforward control is incorporated in the servo drive, and the feedforward value is adjusted according to the set discharge amount.

  According to a sixth aspect of the present invention, a disturbance observer is incorporated in the servo drive to control the operation of the motor.

  According to a seventh aspect of the present invention, the servo drive is configured to adjust at least one of speed and acceleration in accordance with a desired discharge amount.

  The invention according to claim 8 is configured such that the servo drive adjusts the speed and acceleration / deceleration according to the viscosity of the liquid to be ejected.

  According to the ninth aspect of the present invention, the syringe 1 having the internal space, the piston 2 that reciprocates while contacting the inner surface of the syringe, and the piston internal space communicate with the flow path 4 that divides the flow path from the piston in two directions. The branching means 3 having one of the branch flow passages, the nozzle 5 communicated with the tube via the tube, the other of the branch flow passages communicates with the pump 7, and the electromagnetic valve 6 is disposed on the path, In the dispensing method of the dispensing device in which the piston is reciprocated by the motor 13 having the shaft 9 connected to the piston to suck and discharge the liquid from the tip of the nozzle, the speed is increased as the discharge amount of the liquid decreases. At least one of the accelerations is set to be high.

In a tenth aspect of the present invention, when the liquid discharge amount is 1 μL or less, the piston is driven at an acceleration of 50 m / s ² and a speed of 50 mm / s or more, and the liquid is discharged from the nozzle.

  According to invention of Claim 1 and Claim 2, the transmission loss of extrusion water can be reduced and dispensing liquid can be discharged accurately.

  According to the third and fourth aspects of the present invention, by controlling the motor in accordance with the desired discharge amount, the liquid runs out during dispensing, and the dispensing liquid can be discharged accurately.

  According to the invention described in claim 5, the speed or acceleration of the motor in a desired discharge amount can be adjusted, and the dispensing liquid can be discharged with high accuracy.

  According to the sixth aspect of the present invention, the motor can be operated as desired regardless of individual differences of syringes and changes in sliding condition due to long-term use, and dispensed liquid can be discharged accurately.

  According to the seventh aspect of the present invention, by adjusting at least one of the speed and acceleration of the motor according to the desired discharge amount, the liquid runs out during the dispensing, and the dispensing liquid is discharged accurately. it can.

  According to the invention described in claim 8, by adjusting the speed or acceleration / deceleration of the motor in accordance with the viscosity of the liquid to be discharged, the liquid breakage at the time of dispensing is improved, and the surface due to the viscosity of the dispensing liquid at the nozzle tip Dispensing liquid can be discharged accurately regardless of tension.

  According to the invention described in claim 9 and claim 10, by driving the piston at a high speed and a high acceleration / deceleration, a small amount of discharge is realized and the liquid breakage is improved as compared with the prior art. Can be discharged accurately.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows a configuration diagram of a dispensing apparatus according to the present invention. 1 is a syringe, 2 is a piston, 3 is a branching means, 4 is a branch channel, 5 is a nozzle, 6 is a solenoid valve, 7 is a pump, 15 is a tube, 16 is a water storage tank 9 is a motor shaft, and 10A and 10B are linear Bush, 8 is a mover, 11A is a detector, 11B is a linear scale, 12 is a stator, 13 is a motor, and 14 is a dispenser controller.

  The motor 13 is composed of a linear motor that moves linearly by a magnetic action between the mover 8 and the stator 12 via a gap. The mover 8 is formed by fitting a motor shaft 9 and is supported by linear bushes 10 </ b> A and 10 </ b> B so as to be linearly movable. One end of the motor shaft 9 is connected to the piston 2, and the linear motion generated by the motor 13. Is transmitted to the piston 2 via the motor shaft 9. The other end is provided with a linear scale 11B, and the amount of movement of the mover 8 is detected by the detector 11A, and the positional information is transmitted to the controller 14 and controlled.

  The piston 2 slides so as to reciprocate inside the syringe 1 via a sealing material (not shown). At the tip of the syringe 1 is provided with a branching means 3 consisting of a three-way flow path, and by switching the solenoid valve 6, the branch flow path 4 from the syringe 1 to the nozzle 5 and the flow path from the pump 7 are switched. . Each flow path is connected by a tube made of silicon or the like. As shown in this embodiment, the operation direction of the motor shaft 9, the operation direction of the piston 2, the direction of the branch flow path 4 in the branching means, the direction of the tube 15 and the direction of the nozzle 5 are arranged on the same straight line. Yes. Also, as shown in FIG. 2, the syringe inner diameter is φA, the opening diameter of the input part of the branching means is φB, the inner diameter of the tube is φC, the opening diameter of the nozzle input part is φD, and all are set to the same value. Alternatively, when the diameters are different from each other, the connection is made with a taper so that a fluid resistance is not generated due to a step of the inner diameter of the connecting portion.

  Next, the configuration of the dispensing device controller will be described. As shown in FIG. 3, the dispensing device controller 14 communicates with the host controller 17, performs I / O signal processing, a motion controller 18 that issues a command to the servo drive 19, and receives a command from the motion controller 18, The servo drive 19 is configured to control the above. The dispensing device controller 14 receives a work command from the host controller 17 and sends a command including a movement amount, speed and acceleration suitable for the dispensing work to the servo drive 19 from the table 20 in which the discharge conditions as shown in FIG. In the servo drive 19, a current is supplied to the motor 13 by position speed control. The amount of movement of the motor 13 is fed back from the detector 11A.

  The internal configuration of the servo drive is shown in FIGS. FIG. 5 shows an example in which speed feedforward is incorporated in the speed command, and a speed feedforward value set in advance is added to the speed command from the encoder. By constructing such a control system, it is possible to move to the target position with little delay with respect to the command.

  FIG. 6 shows an example in which a disturbance observer is incorporated in the torque command. The value obtained by modeling the disturbance such as the sliding resistance of the piston in the feedback from the encoder is subtracted from the torque command, so that the movement of the piston is modeled and the optimum operation of the motor is performed.

  Next, the dispensing operation will be described with reference to FIG. In the initial state, the inside of the syringe 1, the inside of the branching means 4, the tube 15, and the nozzle 5 are filled with extruded water. In order to fill the extruded water up to the tip of the nozzle 5, the electromagnetic valve 6 is opened and the pump 7 is driven to feed the extruded water from the water storage tank 16 to the nozzle 5. After the extruded water is filled up to the tip of the nozzle 5, the electromagnetic valve 6 is closed. Subsequently, the motor 13 is driven to operate the motor shaft 9 toward the upper side of the drawing. By this operation, the extruded water at the tip of the nozzle 5 is sucked into the nozzle 5 and an air layer is formed at the tip of the nozzle 5. In this state, when the tip of the nozzle 5 is inserted into the liquid sample using a moving means (not shown), the motor 13 is further driven, and the motor shaft 9 is operated toward the upper side of the drawing, the liquid sample is sucked from the tip of the nozzle 5. As shown in FIG. 7, the inside of the nozzle 5 is arranged in the nozzle 5 in the order of the liquid sample, the air layer, and the extruded water. At the time of discharge, the drive stroke of the motor 13 is calculated from the dispensing device controller 14 according to the set discharge amount, and when the motor shaft 9 is operated downward in the drawing, the air layer is formed from the extruded water at the tip of the nozzle 5. A liquid sample is extruded through The air layer functions as a separation layer so that the concentration of the liquid sample is not diluted when the liquid sample comes into contact with the extruded water and becomes an error in the analysis.

  Next, detailed dispensing conditions for dispensing work in this embodiment will be described with reference to FIG. The required speed and the required acceleration for keeping the CV value index for evaluating the uniformity of the discharge amount in a stable state of 1% to 2% or less are related to the discharge amount. It is expressed as 8 (b). That is, as the discharge amount is reduced, movement at higher speed and higher acceleration is required. Furthermore, as described above, when serum collected from blood is dispensed, the viscosity varies due to individual differences. Even in bio-related applications, there are differences in viscosity and surface tension depending on the reagent dispensed. Generally, when the viscosity increases, the fluid resistance at the time of discharge increases, and as a result, the discharge amount decreases. Therefore, the discharge amount also depends on physical properties such as the viscosity and surface tension of the liquid sample. In order to keep the discharge amount constant regardless of the change in viscosity, in addition to the relationship shown in FIGS. 8A and 8B, it is necessary to correct the speed and acceleration in accordance with the viscosity. As described above, the relationship between the viscosity, the speed correction value, and the acceleration correction value as shown in FIGS. 8C and 8D is stored in the motion controller 18 as a table 20 according to the set discharge amount and the viscosity of the liquid. By calculating the speed correction value and the acceleration correction value in the motion controller 18 and passing a command to the servo drive to move the motor, it is possible to accurately discharge a desired discharge amount regardless of viscosity fluctuations. Similarly, regarding the surface tension, it is possible to accurately discharge a desired discharge amount regardless of the difference in surface tension by using a table of the relationship with the discharge amount.

Next, specific discharge conditions in a small amount of discharge will be described. FIG. 9A and FIG. 9B respectively show the relationship between the CV value, velocity, and acceleration when the discharge amount is 1 μL and the discharge amount is 2.5 μL when the disturbance observer functions. It was found that for both 2.5 μL discharge and 1 μL discharge, the CV value decreases (the discharge amount variation decreases) by increasing the speed and acceleration. In particular, it was found that in the case of 1 μL, that is, in a small amount of region, the CV value becomes extremely worse when the speed and acceleration are reduced. As a result of the experiment verification, when trying to obtain a stable discharge with little variation at a set discharge amount of 1 μL, the motor shaft end is used under the discharge conditions of nozzle diameter, 0.1 mm to 0.5 mm, tube length, and 300 mm to 2000 mm. It became clear that it was necessary to discharge under the conditions of an acceleration of 56 m / s ² , a speed of 53 mm / s.

  As described above, in dispensing work from a very small amount to a relatively large amount of region, parameters such as the viscosity and surface tension obtained from the characteristics of the liquid and the amount of liquid sucked which is the operating condition are stored in the controller shown in FIG. It has a table about the relationship with the set discharge amount, reflects it in the movement command to the motor for an arbitrary discharge amount, and controls to move a predetermined movement amount at an optimum speed and acceleration.

  Since the liquid sample can be discharged with high accuracy regardless of the difference in surface tension due to the viscosity of the liquid sample at the nozzle tip, it can be applied to bio-related and medical-related devices that require suction and discharge.

Configuration diagram of dispensing apparatus of embodiment Diagram showing flow path configuration Controller system configuration diagram Table describing discharge conditions Control block diagram with speed feed forward incorporated in speed command Control block diagram incorporating disturbance observer in torque command The figure which shows the suction state in the nozzle (A) Relationship between speed and discharge amount, (b) Relationship between acceleration and discharge amount, (c) Relationship between viscosity and speed correction value, (d) Relationship between viscosity and acceleration correction value (A) Relationship between speed and CV value, (b) Relationship between acceleration and CV value Sectional drawing which shows the dispensing apparatus of the 1st prior art example Front view of first conventional pump unit (A) The front view which fractured | ruptured the pump unit of the 1st prior art example, (b) Sectional drawing of the Ivb-Ivb line of the pump unit of the 1st prior art example Block diagram of the analyzer of the first conventional example Cross-sectional configuration diagram of the second conventional example

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Syringe 2 Piston 3 Branching means 4 Branching flow path 5 Nozzle 6 Electromagnetic valve 7 Pump 8 Movable element 9 Motor shaft 10A, 10B Linear bush 11A Detector 11B Linear scale 12 Stator 13 Motor 14 Dispensing device controller 15 Tube 16 Water storage tank 17 Host controller 18 Motion controller 19 Servo drive 20 Table 103 Housing 105 Dispensing device 120, 121 Test piece 120A, 121A Reagent pad 139 Housing side wall 150 Nozzle 151 Flexible tube 152 Pump unit 153 Support plate 153A Standing wall 153B Horizontal wall 153C Slit 154 Pump mechanism 154A Syringe 154B Piston 155 Pulse motor 155A Motor drive unit 155B Linear motion shaft 156 Guide block 156A Engaging portion 156B projecting portion 157 sensor 158 chip 171 arithmetic unit 172 control unit 201 casing 202 nozzle 203 cylinder 204 piston 220 guide 221 through hole 222 actuator (linear motor)
223 Mover 224 Screw

Claims (10)

One of the branching means and the branching passage having a flow path for diverting the flow path from the piston in two directions, the syringe having the internal space, the piston reciprocating while being in contact with the inner surface of the syringe, and the piston internal space. The nozzle communicated with the tube and the other of the flow-dividing flow paths communicate with the pump, and an electromagnetic valve is disposed on the path, and the piston is reciprocated by a motor having a shaft connected to the piston. In the dispensing device for sucking and discharging liquid from the nozzle tip,
The operation direction of the shaft, the operation direction of the piston, the flow direction of the branch flow path in the branching means, the flow direction in the tube, and the direction of the nozzle are arranged on the same straight line. Dispensing device.   2. The dispensing apparatus according to claim 1, wherein the syringe inner diameter, the inner diameter of the diverting flow path in the branching unit, the tube inner diameter, and the nozzle inner diameter are combined with the same inner diameter or a tapered surface. One of the branching means and the branching passage having a flow path for diverting the flow path from the piston in two directions, the syringe having the internal space, the piston reciprocating while being in contact with the inner surface of the syringe, and the piston internal space. The nozzle communicated with the tube and the other of the flow-dividing flow paths communicate with the pump, and an electromagnetic valve is disposed on the path, and the piston is reciprocated by a motor having a shaft connected to the piston. In the dispensing device controller that sucks and discharges liquid from the nozzle tip,
The dispenser controller comprises a motion controller that receives a work command from a host controller and a servo drive that receives a movement command from the motion controller and controls the motor.   The dispenser controller according to claim 3, wherein the motion controller includes a table in which discharge conditions are written.   The dispenser controller according to claim 3, wherein feedforward control is incorporated in the servo drive, and a feedforward value is adjusted according to a set discharge amount.   The dispensing apparatus according to claim 3, wherein a disturbance observer is incorporated in the servo drive to control the operation of the motor.   The dispenser controller according to claim 3, wherein the servo drive is configured to adjust at least one of speed and acceleration in accordance with a desired discharge amount.   The dispenser controller according to claim 3, wherein the servo drive is configured to adjust speed and acceleration / deceleration according to the viscosity of the liquid to be ejected. One of the branching means and the branching passage having a flow path for diverting the flow path from the piston in two directions, the syringe having the internal space, the piston reciprocating while being in contact with the inner surface of the syringe, and the piston internal space. The nozzle communicated with the tube and the other of the flow-dividing flow paths communicate with the pump, and an electromagnetic valve is disposed on the path, and the piston is reciprocated by a motor having a shaft connected to the piston. In the dispensing method of the dispensing device for sucking and discharging the liquid from the nozzle tip,
A method for discharging a dispensing apparatus, wherein the setting is made such that at least one of speed and acceleration is increased as the discharge amount of the liquid decreases. 10. The dispensing apparatus according to claim 9, wherein when the liquid discharge amount is 1 μL or less, the piston is driven at an acceleration of 50 m / s ² and a speed of 50 mm / s or more to discharge the liquid from the nozzle. Discharge method.

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