Rack for dispensing and dispensing system
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.
1. A rack for dispensing, comprising:
a stage;
a container holder that is fixed to the stage and holds a container that contains a liquid to be dispensed;
a camera fixed to the stage in a position where the camera captures an image of the container held by the container holder; and
a stage holder that holds the stage such that the stage is tiltable around a first axis along a direction in which the container holder and the camera are aligned with each other, wherein
the stage holder comprises a support plate, and a hinge configured to link the stage with the support plate such that the stage and the support plate are rotatable with respect to each other around one side of the support plate along the first axis.
2. The rack for dispensing according to claim 1 , 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.
3. 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.
4. The rack for dispensing according to claim 1 , 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 1 , further comprising:
a first handle that is positioned on one end side of the stage in a direction in which the first axis extends and transmits torque to the stage; and
a second handle that is positioned on another end side of the stage in the direction in which the first axis extends and transmits torque to the stage.
6. The rack for dispensing according to claim 5 , 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.
7. The rack for dispensing according to claim 5 , 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.
8. The rack for dispensing according to claim 1 , further comprising a light fixed to the stage and positioned to radiate light toward the container held by the container holder.
9. The rack for dispensing according to claim 8 , wherein the container holder is positioned between the camera and the light.
10. The rack for dispensing according to claim 1 , wherein the container holder includes a first part and a second part formed to sandwich a central axis of the camera such that the first part and the second part 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.
11. The rack for dispensing according to claim 10 , further comprising a linkage that causes the first part and the second part to synchronously move such 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.
12. The rack for dispensing according to claim 1 , further comprising 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.
13. The rack for dispensing according to claim 1 , wherein the camera is fixed to the stage in a posture in which the camera captures the image such that the image includes a surface of the liquid in the container to be linear when the container is tilted.
14. A dispensing system, comprising:
a rack for dispensing a liquid, including a container holder that is fixed to a stage and holds a container that contains the liquid, a camera fixed to the stage in a position where the camera captures an image of the container held by the container holder, and a stage holder that holds the stage such that the stage is tiltable around a first axis along a direction in which the container holder and the camera are aligned with each other, the stage holder comprising a support plate, and a hinge configured to link the stage with the support plate such that the stage and the support plate are rotatable with respect to each other around one side of the support plate along the first axis;
a robot configured to transport the container, tilt the rack and descent a dispenser; and
a controller comprising circuitry configured to control the robot 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 to tilt the rack around the first axis, and control the robot to cause the dispenser to descend based on the information on the position of the liquid surface when the liquid is sucked into the dispenser.
15. The dispensing system according to claim 14 , 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.
16. The dispensing system according to claim 14 , wherein the circuitry of the controller is further configured to calibrate a position of a front end section of the dispenser with respect to the robot based on the image captured with the camera.
17. The dispensing system according to claim 14 , wherein the circuitry is further configured to the acquire information on a position of a liquid surface of the liquid by performing image processing on the image captured with the camera.
18. A rack for dispensing, comprising:
a stage;
a container holder that is fixed to the stage and holds a container that contains a liquid to be dispensed; and
a camera fixed to the stage in a position where the camera captures an image of the container held by the container holder,
wherein the container holder includes a first part and a second part formed to sandwich a central axis of the camera such that the first part and the second part 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.
19. The rack for dispensing according to claim 18 , further comprising a linkage that causes the first part and the second part to synchronously move such 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.
20. A rack for dispensing, comprising:
a stage;
a container holder that is fixed to the stage and holds a container that contains a liquid to be dispensed;
a camera fixed to the stage in a position where the camera captures an image of the container held by the container holder; and
a stage holder that holds the stage such that the stage is tiltable around a first axis along a direction in which the container holder and the camera are aligned with each other, 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.