JP2015085490A - ロボットシステム、検査方法および被検査物の生産方法 - Google Patents
ロボットシステム、検査方法および被検査物の生産方法 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/02—Burettes; Pipettes
- B01L3/0289—Apparatus for withdrawing or distributing predetermined quantities of fluid
- B01L3/0293—Apparatus for withdrawing or distributing predetermined quantities of fluid for liquids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
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- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
- G01F23/2921—Light, e.g. infrared or ultraviolet for discrete levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
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- B01L9/54—Supports specially adapted for pipettes and burettes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
- G01N2035/1025—Fluid level sensing
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B2219/39109—Dual arm, multiarm manipulation, object handled in cooperation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/09—Closed loop, sensor feedback controls arm movement
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10S901/30—End effector
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10S901/46—Sensing device
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Mechanical Engineering (AREA)
- Immunology (AREA)
- General Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- Pathology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Electromagnetism (AREA)
- Thermal Sciences (AREA)
- Fluid Mechanics (AREA)
- Clinical Laboratory Science (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Manipulator (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
Description
2 安全キャビネット
10 ロボット
11 基台部
12 胴部
13 アーム
13L 左アーム
13R 右アーム
14 ハンド
14L 左ハンド
14R 右ハンド
141 把持部
141a 第1凹部
141b 第2凹部
141c 第3凹部
141d 突起部
142 基部
143 カメラ部
20 作業台
21 検知部
21a 治具
21aa 当接部
21b 検知センサ
21ba、21ba−1、21ba−2 発光部
21bb、21bb−1、21bb−2 受光部
22 インキュベータ
23 加熱・冷却器
24 撹拌機
25 遠心機
26 試験管立て
27 ピペット立て
28 シャーレ台
30 制御装置
31 制御部
31a 指示部
31b 液面情報取得部
32 記憶部
32a 教示情報
32b 液面情報
AS バキューム吸引器
AS−C チップ
B 軸
E 軸
L 軸
MP ピペット
MP−B 胴部
MP−C チップ
MP−H ホルダ
MP−T 尾部
MT マイクロチューブ
MT−C 蓋部
R 軸
S 軸
SA センシング領域
SC シャーレ
SW 軸
T 軸
U 軸
axo、axo1、axo2 光軸
lq1 上澄み
lq2 沈殿物
lq3 中間層
Claims (7)
- 液体の界面を検知する検知センサと、
前記液体が入れられた容器を保持する保持機構を含むアームと、
前記容器を保持したまま該容器が前記検知センサのセンシング領域にかかるように前記アームを動作させて前記界面を検知させる指示部と
を備えることを特徴とするロボットシステム。 - 前記アームである第1アームと、
前記液体を吸引する吸引器を保持する保持機構を含む第2アームと
を備え、
前記指示部は、
前記検知センサの検知結果に基づいて前記界面の高さ位置を略一定に保つように前記第1アームおよび前記第2アームの少なくともいずれか一方の動作を調整しつつ、前記容器から前記吸引器に前記液体を吸引させること
を特徴とする請求項1に記載のロボットシステム。 - 前記吸引器は、吸引口と、吸引された前記液体を保持する胴部と、押圧されることで前記胴部内に前記液体を吸引するための陰圧を形成する尾部とを有するピペットであり、
前記容器は、マイクロチューブであること
を特徴とする請求項2に記載のロボットシステム。 - 前記尾部を押し付け可能に設けられた治具
をさらに備え、
前記指示部は、
前記尾部を前記治具に押し付けて前記陰圧を形成した状態で前記ピペットを前記マイクロチューブへ挿し込み、徐々に前記尾部の押し付けを解くことによって前記液体が吸引されるように前記第2アームを動作させるとともに、該第2アームの動作に応じて前記界面の高さ位置が略一定に保たれるように前記第1アームの動作を調整すること
を特徴とする請求項3に記載のロボットシステム。 - 前記検知センサが検知する前記界面は、
前記液体が2層以上に分離されて形成された分離界面を含むこと
を特徴とする請求項1〜4のいずれか一つに記載のロボットシステム。 - 液体の界面を検知する検知工程と、
前記液体が入れられた容器を保持する保持機構を含むアームを、前記容器を保持したまま該容器が前記検知工程のセンシング領域にかかるように動作させて前記界面を検知させる指示工程と
を含むことを特徴とする検査方法。 - 液体の界面を検知する検知工程と、
前記液体が入れられた容器を保持する保持機構を含むアームを、前記容器を保持したまま該容器が前記検知工程のセンシング領域にかかるように動作させて前記界面を検知させる指示工程と
を含むことを特徴とする被検査物の生産方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013228585A JP5928435B2 (ja) | 2013-11-01 | 2013-11-01 | ロボットシステム、検査方法および被検査物の生産方法 |
US14/526,530 US9409291B2 (en) | 2013-11-01 | 2014-10-29 | Robot system, method for inspection, and method for producing inspection object |
EP14190775.8A EP2875912B1 (en) | 2013-11-01 | 2014-10-29 | Robot system, method for inspection, and method for producing inspection object |
CN201410594296.4A CN104614540A (zh) | 2013-11-01 | 2014-10-29 | 机器人系统、检查方法以及被检查物的生产方法 |
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JP2013228585A JP5928435B2 (ja) | 2013-11-01 | 2013-11-01 | ロボットシステム、検査方法および被検査物の生産方法 |
Publications (2)
Publication Number | Publication Date |
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JP2015085490A true JP2015085490A (ja) | 2015-05-07 |
JP5928435B2 JP5928435B2 (ja) | 2016-06-01 |
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US (1) | US9409291B2 (ja) |
EP (1) | EP2875912B1 (ja) |
JP (1) | JP5928435B2 (ja) |
CN (1) | CN104614540A (ja) |
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WO2016178351A1 (ja) * | 2015-05-07 | 2016-11-10 | ヤマト科学株式会社 | 検体処理システム |
JP2016212077A (ja) * | 2015-05-11 | 2016-12-15 | 株式会社安川電機 | 分注用のラック及び分注システム |
JP2017023024A (ja) * | 2015-07-17 | 2017-02-02 | 株式会社安川電機 | 処理方法、動作指令生成装置、コンピュータプログラム及び処理システム |
JP2017030095A (ja) * | 2015-07-31 | 2017-02-09 | 株式会社安川電機 | 検体処理方法及び検体処理システム |
EP3147669A1 (en) | 2015-09-25 | 2017-03-29 | Kabushiki Kaisha Yaskawa Denki | Method for controlling pipetting robot and pipetting robot system |
JP2018128420A (ja) * | 2017-02-10 | 2018-08-16 | 株式会社東芝 | 検査装置及び検査方法 |
JP2019514003A (ja) * | 2016-04-15 | 2019-05-30 | アンドリュー・アライアンス・ソシエテ・アノニムAndrew Alliance S.A. | 液体ハンドリングのための消耗品操作 |
JP2019117075A (ja) * | 2017-12-26 | 2019-07-18 | 川崎重工業株式会社 | 分注ロボット、分注ロボットの制御方法及び分注方法 |
WO2021095743A1 (ja) * | 2019-11-13 | 2021-05-20 | Arithmer株式会社 | ロボットハンド、ロボット、及び制御方法 |
WO2021241710A1 (ja) * | 2020-05-29 | 2021-12-02 | 川崎重工業株式会社 | 分注システム、ロボットおよび分注方法 |
JP2023025288A (ja) * | 2017-02-06 | 2023-02-21 | 日清食品ホールディングス株式会社 | 検査試料の自動前処理装置 |
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US10837977B2 (en) * | 2015-05-11 | 2020-11-17 | Kabushiki Kaisha Yaskawa Denki | Rack for dispensing and dispensing system |
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EP3226004B1 (de) * | 2016-03-30 | 2019-10-02 | CTC Analytics AG | Verfahren zum betreiben einer dosiervorrichtung |
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US10864515B2 (en) * | 2016-11-11 | 2020-12-15 | Walid Habbal | Automated pipette manipulation system |
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US20150127157A1 (en) | 2015-05-07 |
JP5928435B2 (ja) | 2016-06-01 |
CN104614540A (zh) | 2015-05-13 |
US9409291B2 (en) | 2016-08-09 |
EP2875912A1 (en) | 2015-05-27 |
EP2875912B1 (en) | 2020-05-27 |
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