WO2023162824A1

WO2023162824A1 - Dispensing system

Info

Publication number: WO2023162824A1
Application number: PCT/JP2023/005284
Authority: WO
Inventors: 友希男岩▲崎▼
Original assignee: 川崎重工業株式会社
Priority date: 2022-02-24
Filing date: 2023-02-15
Publication date: 2023-08-31
Also published as: JP2023122876A

Abstract

In an examination system (200) of the present invention, until a detection unit (64) detects that a chip (230) has been attached, a control unit (140) controls a robot arm (41) so that the robot arm causes a chip attachment part (61) to be pressed onto the chip (230) which has been placed on a chip placement part (100).

Description

dispensing system

The present disclosure relates to a dispensing system.

Conventionally, a dispensing system is known. For example, Japanese Patent No. 3549263 discloses a dispensing device having a pipette tip attached to the tip. In Patent No. 3549263 the dispensing device is attached to a robot. The robot moves the pipetting device to a tip rack holding pipette tips. The robot then moves the pipetting device so that the tip of the pipetting device can be attached to the pipette tip.

Patent No. 3549263

As in the pipetting device described in Japanese Patent No. 3549263, when the pipette tip is attached to the pipetting device by a robot, it is caused by insufficient pushing amount of the portion of the pipetting device where the tip is attached to the pipette tip. Therefore, there is a problem that the pipette tip may not be properly attached to the pipetting device.

The present disclosure provides a dispensing system that can prevent the tip from being properly attached due to an insufficient amount of pushing of the tip attachment portion into the tip.

A dispensing system according to one aspect of the present disclosure includes a robot arm, a dispensing hand attached to the robot arm and including a tip attachment section to which a tip is attached, and a tip attachment section that determines whether or not a tip is attached. A detection unit for detecting and a control unit are provided, and the control unit controls the robot arm to place the chip placed on the chip placement unit until the detection unit detects that the chip is attached. Push in the tip mounting part.

In the dispensing system according to one aspect of the present disclosure, as described above, the control unit controls the robot arm to place the chip on the chip placement unit until the detection unit detects that the chip is attached. Push the tip mounting part into the tip that has been pressed. As a result, the chip attachment portion is pushed into the chip until the detection portion detects that the chip is attached, so it is possible to prevent the chip attachment portion from being pushed into the chip by an insufficient amount. As a result, it is possible to prevent the chip from being properly mounted due to insufficient pushing amount of the chip mounting portion with respect to the chip.

According to the technology of the present disclosure, it is possible to prevent the chip from being properly mounted due to insufficient pushing amount of the chip mounting portion into the chip.

1 is a plan view showing the configuration of an inspection system according to one embodiment; FIG. FIG. 4 is a plan view showing the configuration of the uncapped dispensing unit according to one embodiment. FIG. 3 is a perspective view showing the configuration of a sample supply section according to one embodiment; Figure 400 is a cross-sectional view along line 400-400 of Figure 3; FIG. 4 is a perspective view showing the configuration of a first hand according to one embodiment; FIG. 4 is a conceptual diagram showing the configuration of a first hand and sensors according to one embodiment; FIG. 5 is a perspective view showing the configuration of a second hand according to one embodiment; FIG. 12 illustrates a dispensing body of an inspection system according to one embodiment; 4 is a perspective view showing the configuration of a reagent supply unit according to one embodiment; FIG. FIG. 10 is a diagram showing a state in which the swab and the chip are in contact with each other in the specimen container and the swab is broken. FIG. 3 shows a swab; FIG. 4 is a flow diagram illustrating the first half of the inspection procedure of the inspection system according to one embodiment; FIG. 4 is a flow diagram illustrating the second half of the inspection procedure of the inspection system according to one embodiment; FIG. 4 is a flow diagram illustrating a procedure for attaching a chip of an inspection system according to one embodiment; FIG. 4 is a flow diagram showing procedures for sample aspiration and dispensing in the inspection system according to one embodiment. FIG. 10 is a diagram showing a state in which the chip enters the sample container; FIG. 10 is a diagram showing a state in which the tip is in contact with the swab; FIG. 11 shows a state in which the tip has moved horizontally after contacting the swab. FIG. 10 is a diagram showing a state in which the tip is lowered to pick up a sample;

The configuration of an inspection system 200 according to this embodiment will be described with reference to FIGS. 1 to 19. FIG. In the specification of the present application, the vertical direction is defined as the Z direction. The upper side is the Z1 side, and the lower side is the Z2 side. The direction orthogonal to the Z direction is defined as the X direction. One side in the X direction is the X1 side, and the other side is the X2 side. A direction perpendicular to the Z direction and the X direction is defined as the Y direction. One side in the Y direction is the Y1 side, and the other side is the Y2 side. Inspection system 200 is an example of a dispensing system.

As shown in FIG. 1, the inspection system 200 includes an uncapped pipetting unit 1, a nucleic acid extraction unit 2, a reagent adjustment unit 3, a PCR measurement unit 4, and an overall control panel 5. In the uncapped dispensing unit 1, pretreatment for measurement is performed on the sample. In the nucleic acid extraction unit 2, nucleic acid is extracted from the specimen as pretreatment of the specimen. The reagent adjustment unit 3 adjusts the reagent. In the PCR measurement unit 4, a process of measuring whether or not the sample contains an infectious virus is performed by RT-PCR test. A control panel and a distribution panel are arranged in the general control panel 5 .

(Opening dispensing unit)
A specific configuration of the uncapped dispensing unit 1 will be described. As shown in FIG. 2 , the uncapped dispensing unit 1 includes a specimen supply section 10 , a DWP supply section 20 and a tip supply section 30 . DWP means deep well plate. The uncapped dispensing unit 1 also includes a robot 40 , a first hand 50 , a sensor 51 , a second hand 60 and a detector 64 . The uncapped dispensing unit 1 also includes a sample capper section 70 , a barcode reader 71 , a dispensing work table 80 , a reagent supply section 90 , a chip table 100 , a PC/NC table 110 , and a chip disposal section 120 . PC and NC denote positive and negative controls, respectively. The uncapped dispensing unit 1 also includes a delivery table 130 . The uncapped dispensing unit 1 also includes a control section 140 . The second hand 60 is an example of a dispensing hand. The chip mount 100 is an example of a chip mount.

As shown in FIG. 3 , the specimen supply section 10 includes a tray 11 and a transport section 15 . A sample container 210 is placed on the tray 11 by the user. The tray 11 is placed on the transport section 15 by the user. The tray 11 is detachable from the transport section 15 . For example, two trays 11 and two conveying units 15 are arranged.

As shown in FIG. 4, the tray 11 includes a first plate portion 12 and a second plate portion 13. The first plate portion 12 is provided with a plurality of first holes 12a into which the plurality of sample containers 210 are respectively inserted. The second plate portion 13 is arranged vertically separated from the first plate portion 12 . The second plate portion 13 is provided with a plurality of second holes 13a into which the plurality of sample containers 210 are respectively inserted. The specimen container 210 is inserted into the first hole 12a and the second hole 13a. The first hole portion 12a has a circular shape when viewed from the Z direction. The first holes 12a are arranged in a houndstooth pattern. The first hole portion 12a is a through hole. The second hole 13a has a circular shape when viewed from the Z direction. The second holes 13a are arranged in a houndstooth pattern. The second hole portion 13a has a concave shape. The first hole portion 12a is arranged directly above the second hole portion 13a. The first plate portion 12 and the second plate portion 13 are connected by a column portion 14 .

The edge 12b of the upper opening of the first hole 12a and the edge 13b of the upper opening of the second hole 13a are chamfered. That is, the radii of the first hole portion 12a and the second hole portion 13a gradually increase toward the Z1 direction side.

As shown in FIG. 3, the tray 11 includes a grip portion 12c. The grip portion 12c is gripped by the user. The gripping portions 12c are arranged at both ends of the first plate portion 12 in the X direction. The grip portion 12c is an elongated through hole.

As shown in FIG. 2, the transport unit 15 reciprocates the tray 11 between the robot 40 and the position P1 where the user places the tray 11 on which the plurality of sample containers 210 are arranged on the transport unit 15 . The position P1 is located at the end of the uncapped dispensing unit 1 on the X2 direction side. As shown in FIG. 3, the transport section 15 includes a linear actuator 15a for linearly moving the tray 11, and a sensor 15b. The tray 11 is placed on the linear actuator 15a. Linear actuator 15 a linearly moves tray 11 between position P1 and robot 40 . The transport unit 15 detects the position of the tray 11 on the linear actuator 15a. The sensor 15b detects whether or not the tray 11 is present. For example, two trays 11 and two conveying units 15 are arranged.

As shown in FIG. 2 , the DWP supply section 20 includes a transport section 21 . The transport unit 21 reciprocates the DWP 220 between the robot 40 and the position P2 where the user places the DWP 220 on the transport unit 21 . The position P2 is located at the end of the uncapped dispensing unit 1 on the X2 direction side. Conveying unit 21 includes linear actuator 22 and sensor 23 . The linear motion actuator 22 linearly moves the DWP 220 placed on the tray 24 . The transport section 21 detects the position of the DWP 220 on the transport section 21 . Sensor 23 detects the presence or absence of DWP 220 and the height of DWP 220 . For example, two trays 24 and two conveying units 21 are arranged.

The chip supply section 30 includes a transport section 31 . The transport unit 31 reciprocates the chip 230 between a position P3 where the user places the chip 230 on the transport unit 31 and the robot 40 . The position P3 is located at the end of the uncapped dispensing unit 1 on the X1 direction side. The transport section 31 includes a direct acting actuator 32 and a sensor 33 . The linear motion actuator 32 linearly moves the plurality of chips 230 placed on the tray 34 . The transport section 31 detects the position of the chip 230 on the transport section 31 . A sensor 33 detects the presence or absence of the chip 230 . For example, two trays 34 and two conveying units 31 are arranged.

As shown in FIG. 2 , the robot 40 is arranged inside the uncapped dispensing unit 1 . Robot 40 includes a robot arm 41 . The robot arm 41 is, for example, a vertical articulated robot arm.

As shown in FIG. 5, the first hand 50 is attached to the tip of the robot arm 41. As shown in FIG. 6, in this embodiment, the specimen container 210 has a cylindrical shape. The sample container 210 includes a body portion 211 and a lid portion 212 in which the sample is stored. The first hand 50 grips the body portion 211 of the sample container 210 arranged on the tray 11 . Specifically, the first hand 50 includes a chuck 52 . The body portion 211 of the sample container 210 is gripped by the chuck 52 .

The sensor 51 is arranged on the first hand 50 . The sensor 51 detects whether or not the sample container 210 is placed on the tray 11 . The sensor 51 detects the presence or absence of the sample container 210 from the Z1 direction side. The robot 40 grips the sample container 210 placed on the tray 11 with the first hand 50 based on the detection that the sample container 210 is placed on the tray 11 of the sample supply unit 10 . Then, the sample container 210 is transported to the sample capper section 70 . Also, the robot 40 grips the sample container 210 after the dispensing process with the first hand 50 . Further, the presence or absence of foreign matter on the tray 11 is confirmed by the sensor 51 . After the sensor 51 confirms that there is no foreign matter on the tray 11 , the robot 40 returns the sample container 210 after the dispensing process to the tray 11 .

As shown in FIG. 7, the second hand 60 is attached to the tip of the robot arm 41 in this embodiment. The second hand 60 holds at least one of a tip 230 that aspirates and ejects the sample in the sample container 210 and a DWP 220 that ejects the sample from the tip 230 . Specifically, the second hand 60 holds both the chip 230 and the DWP 220 .

In this embodiment, as shown in FIG. 7, the second hand 60 is provided with a plurality of chip mounting portions 61 . An air cylinder is arranged in the tip attachment portion 61, and the tip 230 is attached to the tip attachment portion 61 by the suction force of the air cylinder. Also, the second hand 60 includes a chuck 62 that grips the DWP 220 .

As shown in FIG. 8, the second hand 60 includes a dispensing body portion 65 and a movement mechanism portion 66. The tip attachment portion 61 is attached to the dispensing main body portion 65 . The moving mechanism 66 linearly moves the dispensing main body 65 along the Z direction and holds the dispensing main body 65 . The moving mechanism part 66 is, for example, an air cylinder 66a. The dispensing main body 65 is positioned at the lower end of the moving mechanism 66 by gravity. The second hand 60 is provided with a plurality of sets of a chip attachment portion 61 , a dispensing main body portion 65 and a movement mechanism portion 66 . In the second hand 60, for example, four sets of the chip attachment portion 61, the dispensing main body portion 65, and the moving mechanism portion 66 are arranged. That is, four chips 230 are attached to one second hand 60 . The dispensing main body portion 65 is an example of a main body portion. The moving mechanism part 66 is an example of a holding part.

In this embodiment, the detection unit 64 is arranged on the second hand 60 . The detector 64 detects whether the tip 230 is properly attached to the tip attachment portion 61 . The detection unit 64 also detects that the tip 230 has come into contact with the swab 213 inside the sample container 210 . Detection unit 64 is, for example, an auto switch. An auto switch is a sensor that detects a position by detecting magnetism. The movement mechanism section 66 includes an air cylinder 66a having a piston 66b. The auto switch detects that the piston 66b of the air cylinder 66a of the moving mechanism 66 has moved to a predetermined position P. Swab 213 is an example of a foreign object.

In this embodiment, the detection section 64 detects that the dispensing main body section 65 has moved to the predetermined position P with respect to the movement mechanism section 66 . Specifically, the detection unit 64 detects that the dispensing main body 65 has moved to a predetermined position P when the tip mounting portion 61 is pushed into the tip 230 placed on the tip table 100 . For example, a magnet is attached to the dispensing main body 65 . The second hand 60 is lowered by the robot arm 41 . As a result, the dispensing main body part 65 descends, and the tip mounting part 61 is pushed into the tip 230 placed on the tip mounting base 100 . As a result, the chip attachment portion 61 contacts the chip 230 . Therefore, while the dispensing main unit 65 stops descending, the moving mechanism 66 continues to descend together with the second hand 60 . As a result, the dispensing main body 65 moves in the Z1 direction relative to the moving mechanism 66 . Then, when the dispensing main body 65 moves to a predetermined position P with respect to the moving mechanism 66 , the magnetism of the magnet of the dispensing main body 65 is detected by the detector 64 . The predetermined position P is a position where the magnetism of the magnet of the dispensing main body 65 can be detected by the detector 64 .

In this embodiment, the detection unit 64 moves the dispensing main unit 65 when the tip 230 enters the sample container 210 to aspirate the sample and the tip 230 contacts the swab 213 in the sample container 210 . It detects that it has moved to a predetermined position P with respect to the mechanism section 66 . For example, the second hand 60 is lowered by the robot arm 41 . As a result, the dispensing main body 65 descends and the tip 230 comes into contact with the swab 213 arranged inside the specimen container 210 . Therefore, while the dispensing main unit 65 stops descending, the moving mechanism 66 continues to descend together with the second hand 60 . As a result, the dispensing main body 65 moves in the Z1 direction relative to the moving mechanism 66 . Then, when the magnetism of the magnet of the pipetting main unit 65 is detected by the detection unit 64 , the detection unit 64 detects that the tip 230 has come into contact with the swab 213 inside the sample container 210 .

The first hand 50 and the second hand 60 are detachable from the robot arm 41. As shown in FIG. 5, the first hand 50 is provided with an automatic tool changer 53 . As shown in FIG. 7, the second hand 60 is provided with an automatic tool changer 63 . The automatic tool changer 53 automatically attaches the first hand 50 to the robot arm 41 . The automatic tool changer 63 automatically attaches the second hand 60 to the robot arm 41 . The robot arm 41 is arranged in common with the first hand 50 and the second hand 60 .

As shown in FIG. 2 , the specimen capper section 70 opens and closes the lid section 212 of the specimen container 210 transported by the robot 40 . The barcode reader 71 reads the barcode attached to the sample container 210 transported by the robot 40 . A sensor 70 a for detecting the presence or absence of the sample container 210 is arranged in the sample capper section 70 .

The dispensing workbench 80 measures the amount of dispensing to the DWP220. A barcode reader 81 for reading a barcode attached to the DWP 220 is arranged on the dispensing workbench 80 . A sensor 82 for detecting the presence or absence of the DWP 220 is arranged on the dispensing workbench 80 .

As shown in FIG. 9, the reagent supply section 90 includes a solubilizing liquid supply section 91, a magnetic particle supply section 92, and a ProK supply section 93. A user supplies a reservoir containing a solubilizing solution to the solubilizing solution supply unit 91 . The user supplies DWP 220 containing magnetic particles to the magnetic particle supply unit 92 . The user supplies the DWP 220 containing ProK to the ProK supply unit 93 . A sensor 91a for detecting the presence or absence of a reservoir is arranged in the solubilizing liquid supply unit 91 . A sensor 92 a for detecting the presence or absence of the DWP 220 containing magnetic particles is arranged in the magnetic particle supply unit 92 . The ProK supply unit 93 is provided with a sensor 93a for detecting the presence or absence of the DWP 220 containing ProK.

As shown in FIG. 9 , a chip 230 transported by the chip supply section 30 is placed on the chip table 100 by the robot 40 . Note that the chips 230 are transported in a state in which a plurality of chips 230 are mounted on the adapter. A sensor 101 for detecting the presence or absence of a chip 230 is arranged on the chip table 100 .

As shown in FIG. 9, the PC/NC table 110 is provided with a plurality of containers 112 each containing a positive control and a negative control for checking accuracy of inspection. A sensor 111 for detecting the presence or absence of a container 112 is arranged on the PC/NC table 110 .

As shown in FIG. 2, the chip discarding unit 120 discards used chips 230 . A sensor 121 for detecting whether or not the used chips 230 are full is arranged in the chip disposal section 120 .

The control unit 140 controls the devices arranged in the uncapped dispensing unit 1 .

As shown in FIG. 10, the sample container 210 contains a swab 213 for collecting the sample from the subject. The swab 213 is a cotton swab impregnated with a specimen such as saliva. As shown in FIG. 11, swab 213 is provided with preformed breakpoints 213a for easy cutting. The operator inserts the swab 213 into the specimen container 210 in a state where the swab 213 is cut at the breakpoint 213a. However, as shown in FIG. 10, when the operator cuts the swab 213 at a location other than the breakpoint 213a, the swab 213 with the breakpoint 213a remaining may be inserted into the specimen container 210. FIG. In this case, after the tip of the tip 230 entering the sample container 210 comes into contact with the swab 213, if the tip 230 continues to enter the sample container 210 without changing the position of the tip 230, the swab 213 will The swab 213 may break at the cutting point and the broken swab 213 may scatter. As a result, the specimen in the specimen container 210 will jump out.

(Inspection procedure of inspection system)
An inspection procedure of the inspection system 200 will be described. In this embodiment, the control unit 140 causes the robot arm 41 to perform preprocessing, which is processing before measurement is performed on the collected sample. Note that the following step S1 is a procedure performed by the user. Other steps are controlled by the control unit 140 .

As shown in FIG. 12, in step S1, the user places the sample container 210 in the sample supply section 10. As shown in FIG. The user places DWP 220 in DWP supply 20 . The user places the chip 230 on the chip supply section 30 . The user supplies the reagent supply unit 90 with the lysate, magnetic particles and ProK.

In step S2, the robot 40 mounts the second hand 60.

In step S3 , the sample supply unit 10 transports the sample container 210 to the vicinity of the robot 40 . The DWP supply section 20 conveys the DWP 220 to the vicinity of the robot 40 . The tip supply section 30 conveys the tip 230 to the vicinity of the robot 40 .

In step S4 , in this embodiment, the robot 40 grips the DWP 220 with the second hand 60 and transports the gripped DWP 220 to the dispensing workbench 80 . Sensor 82 detects the presence or absence of DWP 220 . A barcode reader 81 reads the barcode attached to the DWP 220 .

In step S5a, the robot 40 attaches the chip 230 placed on the chip table 100 to the second hand 60. In this embodiment, the control unit 140 controls the robot arm 41 to attach the chip 230 mounted on the chip table 100 to the chip mounting unit 61 until the detection unit 64 detects that the chip 230 is mounted. push in. Specifically, in step S31 shown in FIG. 14 , the controller 140 causes the robot arm 41 to lower the second hand 60 . As a result, the dispensing main body part 65 descends, and the tip mounting part 61 is pushed into the tip 230 placed on the tip mounting base 100 . While the tip mounting portion 61 contacts the tip 230 and the dispensing body portion 65 stops descending, the moving mechanism portion 66 continues to descend together with the second hand 60 . Then, in step S32, the control section 140 determines whether or not the detection section 64 has detected that the dispensing main body section 65 has moved to the predetermined position P. Steps S31 and S32 are repeated until the detection unit 64 detects that the dispensing main unit 65 has moved to the predetermined position P in step S32. That is, the controller 140 determines that the tip 230 is attached to the tip attachment part 61 when the detection part 64 detects that the dispensing main body 65 has moved to the predetermined position P. FIG. That is, it is determined that the tip 230 is properly attached to the tip attachment portion 61 based on the detection by the detection portion 64 that the dispensing main body portion 65 has moved to the predetermined position P. Also, the fact that the tip 230 is properly attached to the tip attachment portion 61 means that the amount of pushing the tip attachment portion 61 into the tip 230 is sufficient.

Further, in this embodiment, the control unit 140 controls the robot arm 41 until the detection unit 64 detects that the dispensing main unit 65 has moved to the predetermined position P, regardless of the posture of the robot arm 41. Then, the chip mounting portion 61 is pushed into the chip 230 mounted on the chip mounting table 100 . Here, the force of the robot arm 41 for pushing the tip mounting portion 61 into the tip 230 differs depending on the attitude of the robot arm 41 . For example, when the joint opening angle of the robot arm 41 is large and the attitude of the robot arm 41 is nearly straight, the force of the robot arm 41 for pushing the tip mounting portion 61 into the tip 230 becomes weak. Therefore, the pushing amount of the tip attachment portion 61 against the tip 230 may be insufficient. Therefore, regardless of the posture of the robot arm 41, the tip mounting portion 61 is pushed into the tip 230 until the detection portion 64 detects that the dispensing main body portion 65 has moved to the predetermined position P. On the other hand, the pushing amount of the chip mounting portion 61 becomes sufficient.

In this embodiment, the control unit 140 controls the robot arm 41 to place the chip 230 on the chip table 100 until each of the plurality of detection units 64 detects that the chip 230 is properly attached. A plurality of chip attachment portions 61 are pushed into each of the plurality of chips 230 . In other words, the control unit 140 controls the robot arm 41 to continuously attach a plurality of chips to each of the plurality of chips 230 until all of the plurality of detection units 64 detect that the chips 230 are properly attached. The part 61 is pushed.

As shown in FIG. 12, in step S5b, the robot 40 sucks the solubilizing liquid placed in the solubilizing liquid supply section 91 with the chip 230, and places the sucked solubilizing liquid on the dispensing workbench 80. Dispense into the DWP220. After dispensing, the robot 40 discards the tip 230 in the tip discarding unit 120 .

In step S6a, the robot 40 attaches the chip 230 placed on the chip table 100 to the second hand 60. Note that the operation of step S6a includes the operations of steps S31 and S32.

In step S6b, the robot 40 uses the tip 230 to attract the magnetic particles placed in the magnetic particle supply unit 92, and dispenses the attracted magnetic particles to the DWP 220 placed on the dispensing workbench 80. After dispensing, the robot 40 discards the tip 230 in the tip discarding unit 120 .

In step S7a, the robot 40 attaches the chip 230 placed on the chip table 100 to the second hand 60. Note that the operation of step S7a includes the operations of steps S31 and S32.

In step S7b, the robot 40 aspirates the ProK placed in the ProK supply unit 93 with the tip 230 and dispenses the aspirated ProK to the DWP 220 placed on the dispensing workbench 80. After dispensing, the robot 40 discards the tip 230 in the tip discarding unit 120 .

In step S8, the robot 40 attaches the first hand 50 after removing the second hand 60.

In step S9 , the sensor 51 arranged on the first hand 50 detects whether or not the sample container 210 is arranged on the tray 11 of the sample supply section 10 .

When the sensor 51 detects the sample container 210, the robot 40 grips the sample container 210 with the first hand 50 and transports the sample container 210 to the sample capper section 70 in step S10. The barcode reader 71 of the sample capper section 70 reads the barcode attached to the sample container 210 . The specimen capper section 70 opens the lid section 212 of the specimen container 210 .

As shown in FIG. 13 , in step S11, the robot 40 detaches the first hand 50 and then attaches the second hand 60 .

In step S12 a , the robot 40 attaches the chip 230 placed on the chip table 100 to the second hand 60 . Note that the operation of step S12a is the operation of steps S31 and S32.

Next, in step S12b, the robot 40 aspirates the specimen contained in the specimen container 210 with the chip 230, and dispenses the aspirated specimen to the DWP 220 placed on the dispensing workbench 80. Specifically, in step S21 of FIG. 15, in this embodiment, as shown in FIG. 16, the controller 140 causes the robot arm 41 to move the tip 230 into the sample container 210 to aspirate the sample. to control. The control unit 140 controls the robot arm 41 so that the chip 230 attached to the second hand 60 enters the sample container 210 .

In addition, the control unit 140 controls the robot arm 41 to lower the tip 230 into the sample container 210 for sample aspiration. Specifically, the controller 140 controls the robot arm 41 to lower the second hand 60 . The control unit 140 controls the robot arm 41 so that the tip 230 is lowered to the center of the main body 211 of the cylindrical sample container 210 when viewed from the Z1 direction.

In step S22 , the control unit 140 determines whether the tip 230 has come into contact with the swab 213 inside the sample container 210 . The control unit 140 determines whether the tip 230 has come into contact with the swab 213 inside the sample container 210 based on the detection result of the detection unit 64 .

As shown in FIG. 17, when the tip 230 contacts the swab 213 inside the specimen container 210, the process proceeds to step S23. In step S23, as shown in FIG. 18, the controller 140 controls the robot arm 41 to move the tip 230 in a direction intersecting with the direction in which the tip 230 enters. Specifically, when tip 230 contacts swab 213 in sample container 210 , controller 140 raises tip 230 and moves robot arm 41 horizontally to avoid swab 213 . Control. The tip 230 may be raised outside the sample container 210 or may be raised so as not to come out of the sample container 210 . When the tip 230 comes into contact with the swab 213 inside the sample container 210 , the controller 140 raises the tip 230 and moves the tip 230 horizontally by a distance smaller than the radius r of the cylindrical sample container 210 so as to avoid the swab 213 . move in the direction The radius r of the sample container 210 is the inner diameter of the cylindrical sample container 210 . The control unit 140 controls the robot arm 41 to change the position of the second hand 60 when at least one of the plurality of chips 230 contacts the swab 213 inside the specimen container 210 . Then, the process proceeds to step S24.

Then, in step S24, in this embodiment, as shown in FIG. 19, the control unit 140 causes the robot arm 41 and the second robot arm 41 to cause the chip 230 to enter again and aspirate the sample in the sample container 210 with the chip 230. Control the hand 60. Specifically, the controller 140 controls the robot arm 41 and the second hand 60 so that the tip 230 is lowered again and the sample in the sample container 210 is aspirated.

Note that when the tip 230 is lowered again in step S24 and the tip 230 contacts the swab 213 in the sample container 210 again, steps S22 and S23 are performed until the tip 230 does not contact the swab 213 again. is repeated.

As shown in FIG. 9, in step S12c, the sample capper section 70 closes the lid section 212 of the sample container 210 after the dispensing. After dispensing, the robot 40 discards the tip 230 in the tip discarding unit 120 .

As shown in FIG. 13, the robot 40 attaches the first hand 50 after removing the second hand 60 in step S13.

In step S14, the sensor 51 arranged on the first hand 50 detects whether the sample container 210 is arranged on the sample capper section 70 or not. Further, the presence or absence of foreign matter on the tray 11 is confirmed by the sensor 51 .

When the sample container 210 is detected by the sensor 51 and it is confirmed that there is no foreign matter on the tray 11, in step S15, the robot 40 grips the sample container 210 with the first hand 50, and moves the sample supply unit. The specimen container 210 is transported to the ten trays 11 . Operations from steps S9 to S15 are performed for a plurality of sample containers 210 .

In step S16 , the robot 40 attaches the second hand 60 after removing the first hand 50 .

In step S17 , the robot 40 transports the DWP 220 dispensed with the sample by the second hand 60 to the delivery table 130 for delivery to the nucleic acid extraction unit 2 .

[Effect of this embodiment]
The control unit 140 controls the robot arm 41 to push the chip mounting part 61 into the chip 230 mounted on the chip mounting table 100 until the detection unit 64 detects that the chip 230 is mounted. As a result, the tip attachment portion 61 is pushed into the tip 230 until the detection portion 64 detects that the tip 230 is attached. can be suppressed. As a result, it is possible to prevent the chip 230 from being improperly mounted due to insufficient pushing amount of the chip mounting portion 61 into the chip 230 .

The detection unit 64 detects that the dispensing main unit 65 has moved to the predetermined position P with respect to the moving mechanism unit 66, and the control unit 140 causes the detection unit 64 to move the dispensing main unit 65 to the predetermined position P. By detecting the movement, it is determined that the chip 2230 is attached to the chip attachment portion 61 . As a result, the tip attachment portion 61 is pushed into the tip 230 placed on the tip mounting table 100 until the detection portion 64 detects that the dispensing main body portion 65 has moved to the predetermined position P. The detection unit 64 can easily prevent the pushing amount of the chip 230 from becoming insufficient.

The detection unit 64 includes an auto switch that detects that the piston 66b of the air cylinder 66a has moved to a predetermined position P. Here, the air cylinder 66a may be provided with an auto switch in advance to detect the position of the piston 66b. By detecting that the dispensing main body 65 has moved to the predetermined position P using an auto switch provided in advance, there is no need to separately provide the detection unit 64 for properly attaching the tip 230, so that inspection can be performed. It is possible to prevent the configuration of the system 200 from becoming complicated.

Regardless of the posture of the robot arm 41, the control unit 140 controls the robot arm 41 to place it on the chip holder 100 until the detection unit 64 detects that the dispensing main unit 65 has moved to the predetermined position P. The chip attachment portion 61 is pushed into the placed chip 230 . Here, the force of the robot arm 41 for pushing the tip mounting portion 61 into the tip 230 may change depending on the posture of the robot arm 41 . Therefore, regardless of the posture of the robot arm 41, the tip mounting portion 61 is pushed into the tip 230 until the detection portion 64 detects that the dispensing main body portion 65 has moved to the predetermined position P. 41, the chip 230 can be properly attached.

The detection unit 64 detects that the dispensing main unit 65 has moved to a predetermined position P when the tip mounting unit 61 is pushed into the tip 230 placed on the tip pedestal 100, and also detects that the sample is aspirated. When the tip 230 enters the sample container 210 and contacts the swab 213 in the sample container 210, the dispensing body 65 moves to the predetermined position P with respect to the moving mechanism 66. to detect. As a result, the detection unit 64 for attaching the chip 230 to the chip attachment unit 61 and the detection unit 64 for detecting contact of the chip 230 with the swab 213 are also used, so the configuration of the inspection system 200 becomes complicated. can be suppressed.

The controller 140 controls the robot arm 41 to move each of the plurality of chips 230 placed on the chip table 100 until each of the plurality of detectors 64 detects that the chip 230 is properly attached. to push the plurality of chip mounting portions 61 into. As a result, the plurality of tip attachment portions 61 are pushed in until each of the plurality of detection portions 64 detects that the tip 230 is properly attached. Even if the positions vary, the chip 230 can be appropriately attached to each of the plurality of chip attachment portions 61 .

The chip 230 attached to the second hand 60 aspirates the specimen in the specimen container 210 and discharges the aspirated specimen. As a result, the tip 230 that aspirates and discharges the specimen in the specimen container 210 can be appropriately attached to the tip attachment portion 61 .

The control unit 140 causes the robot arm 41 to perform preprocessing, which is processing before measurement is performed on the collected sample. Thereby, the chip 230 for performing pretreatment on the sample can be appropriately attached to the chip attachment portion 61 .

[Modification]
The embodiments disclosed this time should be considered illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the scope of claims rather than the above description of the embodiments, and further includes all changes (modifications) within the scope and meaning equivalent to the scope of the claims.

In the above-described embodiment, when the detection unit 64 detects that the dispensing main unit 65 has moved to the predetermined position P with respect to the moving mechanism unit 66, it is determined that the tip 230 is properly attached. Although examples have been provided, the disclosure is not limited thereto. For example, a camera or the like may detect whether chip 230 is properly attached.

Although the moving mechanism 66 includes the air cylinder 66a in the above embodiment, the present disclosure is not limited to this. For example, the moving mechanism section 66 may be a slider or the like.

In the above embodiment, an example in which the robot arm 41 includes a vertical articulated robot arm is shown, but the present disclosure is not limited to this. For example, the present disclosure may be applied to an orthogonal robot that moves in the X, Y and Z axes.

In the above embodiment, the detection unit 64 that detects whether the chip 230 is properly attached also serves as the detection unit 64 that detects that the chip 230 comes into contact with the swab 213 in the sample container 210. Although shown, the disclosure is not so limited. For example, a detector that detects whether the tip 230 is properly attached and a detector that detects that the tip 230 comes into contact with the swab 213 in the sample container 210 may be separately arranged.

In the above embodiment, an example was shown in which the detection unit 64 detects that the tip 230 has come into contact with the swab 213 inside the sample container 210, but the present disclosure is not limited to this. For example, the detection unit 64 may detect that the tip 230 has come into contact with foreign matter other than the swab 213 inside the sample container 210 .

In the above-described embodiment, an example is shown in which a plurality of sets of the tip mounting portion 61, the dispensing main body portion 65, and the moving mechanism portion 66 are arranged on the second hand 60, but the present disclosure is directed to this. Not limited. For example, the second hand 60 may be provided with one set of the chip attachment portion 61 , the dispensing main body portion 65 and the moving mechanism portion 66 .

In the above embodiment, an example in which the detection unit 64 is an auto switch is shown, but the present disclosure is not limited to this. For example, the detection unit 64 may be an optical sensor or a contact sensor.

In the above embodiment, the robot 40 performs preprocessing, which is processing before measurement is performed on the sampled sample, but the present disclosure is not limited to this. For example, the robot 40 may perform processing other than preprocessing.

The functionality of the elements disclosed herein may be extended to general purpose processors, special purpose processors, integrated circuits, Application Specific Integrated Circuits (ASICs), conventional circuits, and/or those configured or programmed to perform the disclosed functions. can be implemented using a circuit or processing circuit that includes a combination of A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs or is programmed to perform the recited functions. The hardware may be the hardware disclosed herein, or other known hardware programmed or configured to perform the recited functions. A circuit, means or unit is a combination of hardware and software where the hardware is a processor which is considered a type of circuit, the software being used to configure the hardware and/or the processor.

[Aspect]
It will be appreciated by those skilled in the art that the exemplary embodiments described above are specific examples of the following aspects.

(Item 1)
a robot arm;
a dispensing hand that is attached to the robot arm and includes a tip attachment part to which a tip is attached;
a detection unit that detects whether the chip is attached to the chip attachment portion;
a control unit;
The control unit controls the robot arm to push the chip mounting unit into the chip mounted on the chip mounting unit until the detection unit detects that the chip is mounted. dispensing system.

(Item 2)
The dispensing hand
a main body on which the chip mounting portion is arranged;
further comprising a holding portion that linearly moves and holds the main body,
The detection unit detects that the main body has moved to a predetermined position with respect to the holding unit,
The component according to item 1, wherein the control unit determines that the tip is attached to the tip attachment portion when the detection unit detects that the main body has moved to the predetermined position. note system.

(Item 3)
The holding part includes an air cylinder,
Item 3. The dispensing system according to item 2, wherein the detection unit includes an auto switch that detects that the piston of the air cylinder has moved to the predetermined position.

(Item 4)
the robotic arm includes a vertical articulated robotic arm;
The control unit controls the vertical articulated robot arm until the detecting unit detects that the main body has moved to the predetermined position, regardless of the posture of the vertical articulated robot arm. 4. The dispensing system according to

item

2 or 3, wherein the tip attachment portion is pushed into the tip placed on the tip placement portion.

(Item 5)
The detection unit is
In addition to detecting that the main body has moved to the predetermined position when the chip mounting portion is pushed into the chip placed on the chip mounting portion,
When the tip enters into the specimen container for aspirating the specimen and the tip comes into contact with foreign matter in the specimen container, the main body moves to the predetermined position with respect to the holding part. 5. The dispensing system of any one of items 2 through 4, wherein the dispensing system detects.

(Item 6)
A plurality of sets of the chip attachment portion, the body portion, and the holding portion are arranged in the dispensing hand,
The control unit controls the robot arm to keep the plurality of chips placed on the chip placement unit until each of the plurality of detection units detects that the chips are properly attached. 6. The dispensing system according to any one of items 2 to 5, wherein the plurality of tip attachment portions are pushed into each of the .

(Item 7)
7. The dispensing system according to any one of items 1 to 6, wherein the chip attached to the dispensing hand aspirates the specimen in the specimen container and discharges the aspirated specimen.

(Item 8)
8. The dispensing system according to any one of items 1 to 7, wherein the control unit causes the robot arm to perform preprocessing, which is processing before measurement is performed on the collected sample.

Claims

a robot arm;
a dispensing hand that is attached to the robot arm and includes a tip attachment part to which a tip is attached;
a detection unit that detects whether the chip is attached to the chip attachment portion;
a control unit;
The control unit controls the robot arm to push the chip mounting unit into the chip mounted on the chip mounting unit until the detection unit detects that the chip is mounted. dispensing system.
The dispensing hand
a main body on which the chip mounting portion is arranged;
further comprising a holding portion that linearly moves and holds the main body,
The detection unit detects that the main body has moved to a predetermined position with respect to the holding unit,
2. The control unit according to claim 1, wherein the control unit determines that the tip is attached to the tip attachment unit when the detection unit detects that the main body has moved to the predetermined position. dispensing system.
The holding part includes an air cylinder,
3. The dispensing system according to claim 2, wherein said detector includes an auto switch that detects that the piston of said air cylinder has moved to said predetermined position.
the robotic arm includes a vertical articulated robotic arm;
The control unit controls the vertical articulated robot arm until the detecting unit detects that the main body has moved to the predetermined position, regardless of the posture of the vertical articulated robot arm. 3. The dispensing system according to claim 2, wherein the tip mounting portion is pushed into the tip mounted on the tip mounting portion.
The detection unit is
In addition to detecting that the main body has moved to the predetermined position when the chip mounting portion is pushed into the chip placed on the chip mounting portion,
When the tip enters into the specimen container for aspirating the specimen and the tip comes into contact with foreign matter in the specimen container, the main body moves to the predetermined position with respect to the holding part. 3. The dispensing system of claim 2, wherein sensing.
A plurality of sets of the chip attachment portion, the body portion, and the holding portion are arranged in the dispensing hand,
The control unit controls the robot arm to keep the plurality of chips placed on the chip placement unit until each of the plurality of detection units detects that the chips are properly attached. 3. The dispensing system according to claim 2, wherein the plurality of tip attachment portions are pushed into each of the.
　The dispensing system according to claim 1, wherein the chip attached to the dispensing hand aspirates the specimen in the specimen container and discharges the aspirated specimen.
　The dispensing system according to claim 1, wherein the control unit causes the robot arm to perform preprocessing, which is a process prior to performing measurement on the collected sample.