Rack for dispensing and dispensing system

Patent metadata

Field	Value
Publication number	US-2016334429-A1
Application number	US-201615146291-A
Country	US
Kind code	A1
Filing date	May 4, 2016
Priority date	May 11, 2015
Publication date	Nov 17, 2016
Grant date	—

Abstract

A rack includes a container holder that is fixed to a stage and holds a container that contains a liquid to be dispensed and a camera that is fixed to the stage and located in a position where the camera is capable of capturing an image of the container.

First claim

What is claimed is:

1 . A rack for dispensing comprising:
a container holder that is fixed to a stage and holds a container that contains a liquid to be dispensed; and a camera that is fixed to the stage and located in a position where the camera is capable of capturing an image of the container held by the container holder.

2 . The rack for dispensing according to claim 1 , thither comprising a stage holder that holds the stage in such a way that the stage is rotatable around a first axis along a direction in which the container holder and the camera are aligned with each other.

3 . The rack for dispensing according to claim 2 , wherein the first axis is parallel to a central axis of the camera and positioned between the central axis of the camera and the stage.

4 . The rack for dispensing according to claim 2 , further comprising an angle keeper that allows rotation of the stage when torque resulting from external force acts on the stage and restricts rotation of the stage when no torque resulting from external force acts on the stage.

5 . The rack for dispensing according to claim 2 , further comprising:
a first handle that is provided on one end side of the stage in a direction in which the first axis extends and is capable of transmitting torque to the stage; and a second handle that is provided on another end side of the stage in the direction in which the first axis extends and is capable of transmitting torque to the stage.

6 . The rack for dispensing according to claim 1 , further comprising a light that is fixed to the stage and located in a position where the light is capable of radiating light toward the container held by the container holder.

7 . The rack for dispensing according to claim 6 , wherein the container holder is located between the camera and the light.

8 . The rack for dispensing according to claim 1 ,
wherein the container holder further includes a first part and a second part that are located in such a way as to sandwich the central axis of the camera and configured in such a way as to approach each other to sandwich the container; and at least one elastic member that produces repulsive force that causes the first part and the second part to approach each other.

9 . The rack for dispensing according to claim 8 , further comprising a linkage that causes the first part and the second part to synchronously move in such a way that amounts of movement of the first part and the second part are equal to each other when the first part and the second part approach or move away from each other.

10 . A rack for dispensing comprising:
a container holder that is fixed to a stage and holds a container that contains a liquid to be dispensed; a camera that is fixed to the stage and located in a position where the camera is capable of capturing an image of the container held by the container holder; a stage holder that holds the stage in such a way that the stage is rotatable around a first axis that extends along a direction in which the container holder and the camera are aligned with each other, is parallel to a central axis of the camera, and is positioned between the central axis of the camera and the stage; and an angle keeper that allows rotation of the stage when torque resulting from external force acts on the stage and restricts rotation of the stage when no torque resulting from external force acts on the stage.

11 . A rack for dispensing comprising:
a container holder that is fixed to a stage and holds a container that contains a liquid to be dispensed; a camera that is fixed to the stage and located in a position where the camera is capable of capturing an image of the container held by the container holder; a stage holder that holds the stage in such a way that the stage is rotatable around a first axis that extends along a direction in which the container holder and the camera are aligned with each other, is parallel to a central axis of the camera, and is positioned between the central axis of the camera and the stage; and means for allowing rotation of the stage when torque resulting from external force acts on the stage and restricting rotation of the stage when no torque resulting from external force acts on the stage.

12 . A dispensing system comprising:
a rack for dispensing including a container holder that is fixed to a stage and holds a container that contains a liquid to be dispensed, and a camera that is fixed to the stage and located in a position where the camera is capable of capturing an image of the container held by the container holder; a robot; and a controller configured to control the robot so as to transport the container and cause the container holder to hold the container, acquire information on a position of a liquid surface of the liquid based on the image captured with the camera, control the robot so as to tilt the rack, and control the robot so as to cause a dispenser to descend based on the information on the position of the liquid surface when the liquid is sucked into the dispenser.

13 . The dispensing system according to claim 12 ,
wherein the rack further includes a stage holder that holds the stage in such a way that the stage is rotatable around a first axis extending along a direction in which the container holder and the camera are aligned with each other, and the controller controls the robot so as to tilt the rack around the first axis.

14 . The dispensing system according to claim 12 ,
wherein the controller is configured to further calibrate a position of a front end section of the dispenser with respect to the robot based on an image captured with the camera.

Assignees

• Yaskawa Electric Corp

Inventors

• Abe Noriko
• Hashiguchi Yukio
• Umeno Makoto
• Kumagai Hiroshi
• Sawada Yukiko
• Kamei Motohisa

Classifications

• G01N35/0099 Primary

  comprising robots or similar manipulators (robots per se B25J) · CPC title

• G01N35/00584

  Control arrangements for automatic analysers · CPC title

• G05B2219/39217

  Keep constant orientation of handled object while moving manipulator · CPC title

• G01N35/1002

  Reagent dispensers · CPC title

• G05B2219/39024

  Calibration of manipulator · CPC title