DE10058237A1 - Apparatus for monitoring laboratory robots in microbiology comprises control unit for recognizing and correcting position of robot arm, and control unit for recognizing and correcting plate transfer - Google Patents

Abstract

Apparatus for monitoring laboratory robots having a robot arm and a tool for transporting microtitration plates comprises a control unit (18) for recognizing and correcting the position of the robot arm; and a control unit (4) for recognizing and correcting the plate transfer. An Independent claim is also included for an apparatus for monitoring laboratory robots having a robot arm and a tool for opening and closing lids of reaction vessel comprising a control unit (18) for recognizing and correcting the position of the robot arm; and a control unit (5) for recognizing and correcting the lid gripping tool.

Description

The subject of the present application is the description of devices for Monitoring laboratory robots.

In the years 1980-1983, laboratory robots were developed that used automatic pipetting automatically carry liquids from a source vessel to a target vessel could. More and more so-called microtitration plates are set up as reaction vessels by how they are described e.g. B. in US 4 154 795. As the next stage of development Tools for the transfer of reaction vessels, preferably microtitration plates developed and integrated into the robot. With this tool, other device units could such as photo or fluorimeter for detection, washing stations, magnetic separators and Similar things are kept on the working platform of a pipetting robot and automatically to be served.

So-called disposable tips (DiTi's) were used for contamination-free pipetting Interchangeable tips made of plastic that are exchanged for any liquid pipetting could become. These can also consist of conductive plastic and are then in the Able to detect the liquid level in the vessels z. B. via a measurement of To ensure conductivity against the metal and earthed worktop.

These laboratory robots are today used by TECAN, Qiagen Instruments (formerly Rosys), Beckmann, Hamilton, Canberra Packard u. a. manufactured and distributed.

New developments especially for use in molecular biology also make it possible the use of devices that open and close reaction vessel lids can, as described in EP 0 676 643 and EP 0 734 769. In addition, a Further development of a laboratory robot with multi-purpose gripper described in the German Registration Act .: 100 17 802.2.

For all of these laboratory robot devices, there is a need for automatic Control processes and, if errors occur, processes automatically if necessary Modify program sequences to effect a correction.

Surprisingly, it has been observed in practice that the following control units are required for a laboratory robot that does the pipetting of liquids, a plate transfer and the opening and closing of lids:

• a) Control unit for detecting and correcting the positioning of the robot arms
• b) Control unit for the detection and correction of the plate transfer
• c) Control unit for the detection and correction of the lid gripping tool.  
• d) control unit for detecting and correcting the positioning of the worktop at the Assembly

The present application describes devices for monitoring laboratory robots. The commercially available laboratory robots have an electronic switching unit that is primarily designed to control the stepper motors for moving the robot arms. In addition, digital switches are also kept in this unit. This can be done through the Control software can be read out. In addition to these digital switches, there is also the Possibility of a microcontroller from a higher-level via a defined interface Control software from. This interface is generally RS 232 or RS 485 Are defined. Such electronic units can be used in the present application Monitor laboratory robots.

description

FIG. 1a describes the overview of a laboratory robot according to the invention (52) having two arms (50). The left arm is responsible for liquid pipetting and is therefore equipped with an interchangeable tip ( 53 ) for single use. The right arm holds a universal gripping tool ( 46 ) that can open and close the lid of the reaction vessels and move microtitration plates on the work surface ( 2 ).

Fig. 1b describes this work surface ( 2 ) with the following elements stations ( 3 ) for receiving microtitration plates, which can be moved by the universal tool ( 46 ). In the immediate vicinity of these stations ( 3 ) there are control elements ( 4 ) according to the invention which ensure that the microtitration plate on the station ( 3 ) is correctly positioned before and after a transfer. In practice, such a control device has proven to be indispensable in order to carry out automatic laboratory processes safely and reliably.

In addition, stations ( 6 ) are provided on the work surface ( 2 ) for receiving microtitration plates, which remain stationary during the entire process and therefore do not require any corresponding control units.

For the control of the universal gripping tool ( 44 ) in its function as a lid gripper, the control unit ( 5 ) is provided, which is positioned spatially at the far right end of the worktop ( 2 ) between the control elements ( 4 ). This is able to recognize whether the lid gripper has correctly carried out the process of opening and closing a lid from a reaction vessel.

Furthermore, a station ( 10 ) for the disposal of interchangeable tips is provided on the extreme left work area on the worktop. This consists of a frame ( 11 ) with a bore ( 12 ) which serves as a multiple functional element for the cover gripper. This hole ( 12 ) can be used to remove the lid from the lid gripper and to switch the functional state of the lid gripper. As stated in the application file number 100 17 802.2 and EP 0676643 and EP 0734769, the universal gripper ( 44 ) can assume two functional states.

• 1. The condition that enables him to grab a lid and from Remove the reaction vessel
• 2. The condition of having gripped a lid and holding it.

The functional state is identified with the control element ( 5 ), as described later.

In the central area of the worktop ( 2 ) there is also a positioning station ( 18 ) which enables the position detection and correction of the two robot arms ( 50 ).

In order to precisely position the aforementioned recordings of microtitration plates ( 3 , 6 ) on the worktop ( 2 ) on the one hand and to keep them exchangeable on the other hand, fastening pins ( 19 ) are kept on the worktop. Surprisingly, it was found that these fastening pins ( 19 ) can be used as positioning pins in such a way that their position on the worktop ( 2 ) can be automatically measured exactly with the aid of the robot arms. This facilitates the necessary entry of reference coordinates for the robot arms, which previously had to be determined and entered manually. In practice, the use of this method has proven itself especially when assembling a laboratory robot for the exact positioning of the worktop ( 2 ). Furthermore, stations ( 9 ) for holding exchangeable tips are provided on the worktop ( 2 ) as well as a liquid disposal station ( 15 ). The worktop ( 2 ) is fastened to the laboratory robot ( 52 ) using appropriate fastening elements ( 1 ).

In the embodiment according to the invention, the aforementioned control elements ( 4 , 5 ) give digital signals which can be integrated in the existing control environments of the commercially available laboratory robots ( 52 ) in two ways. Digital inputs ( 8 ) are provided in the control board ( 16 ) (e.g. from Tecan / Cavro), which can receive these signals from the digital signal transmitter ( 7 ), as shown in FIG. 2a. In addition, there are other inputs ( 13 ) z. B. for stepper motor control. All signals are bundled forwarded to a control computer ( 17 ) and can be processed from there by control software. The integration of the control elements shown in FIG. 2a represents a particularly simple solution because no further electronic element is required.

However, if more complex data processing is required for control elements, the solution shown in Fig. 2b must be used. Here, an additional board ( 22 ) is used, which holds a microcontroller ( 21 ). With such a unit, more complex digital signals from the corresponding signal transmitters ( 7 ) can be processed and bundled via the input ( 20 ) into the control board ( 16 ) mentioned above and thus made accessible to the control software in the control computer ( 17 ).

Fig. 3a shows the control unit (18) for position detection and position correction of the robot arms in plan view. It involves a metallic base body, preferably made of aluminum, which is connected to fastening elements (1) to the worktop (2). It has three characteristic surfaces ( 24 , 25 , 26 ). The planes ( 25 , 26 ) are inclined at a certain angle to the horizontal, the plane ( 24 ) corresponds to the horizontal. In addition, the inclined planes ( 25 , 26 ) are at right angles to each other.

This control unit ( 18 ) is shown in section in FIG. 3b. The method according to the invention for position detection of a robot arm now takes place as follows. The robot arm is guided in separate steps over the three levels and slowly lowered in the Z direction. The conductivity measurement is activated, which is usually used in pipetting robots to detect the liquid level in reaction vessels. Surprisingly, it was found that after touching the tip of a robot arm with the surfaces of the control element ( 18 ), a corresponding signal can be detected and the associated spatial coordinates can be stored in the control computer ( 17 ) for further processing. After a first touch of a surface, the robot arm then travels along the inclines of the inclined planes ( 25 , 26 ) and in this way takes up a set of spatial coordinates. The control computer can then compress this data and carry out an exact positioning of the control unit ( 18 ), which is then used as a reference point for the internal calibration of all robot movements. It has proven extremely useful to provide an optical position marker ( 23 ) on this positioning station ( 18 ) for optical control of this process. This can e.g. B. engraved in the form of a crosshair in the block and shows the operator the correctness of the previously described process for calibration of the robot arms. It has been found that it is advantageous for robot arms with exchangeable tip holders to grip such an exchangeable tip for the calibration process, while direct contact on the corresponding surfaces is sufficient for the universal gripping tool.

Fig. 4a to h represent inventive embodiments of the control unit ( 4 ) for the detection and correction of the plate transfer. Fig. 4 shows the section of a special embodiment with the control element consisting of a recording block ( 36 ) with an optical signal source ( 35 ) and one Signal receiver ( 37 ) in which optical signals can exit and re-enter through the window ( 27 ). The electrical leads ( 38 ) required for this are led down through the worktop ( 2 ). A microtitration plate ( 39 ) with the corresponding reaction vessels ( 40 ) and a positioning extension ( 54 ) is positioned next to it. The exact positioning is indicated by the reflection of the optical signal. This embodiment proves to be particularly favorable because contact-free detection takes place here, which is an inventive advantage particularly with regard to contamination when used in molecular biology.

FIGS. 4a-f illustrate a preferred embodiment of the inventive control member (4) in a two-part embodiment. FIGS. 4a-c, the lower part illustrate, while Fig. 4d-f depict the associated upper part. Fig. 4a shows in cross section the lower part with the two attachment surfaces ( 30 ) for the upper part. Fig. 4b shows the longitudinal section with the fastening element ( 1 ), the hole for the implementation of the wiring and the fastening element ( 28 ) for the upper part. Fig. 4c shows the top view. Fig. 4d shows the side view with the window ( 27 ) for the signals. Fig. 4e shows the top view and Fig. 4f the corresponding section with the fastening element ( 1 ) and the window ( 27 ).

Fig. 4g shows the embodiment with a microswitch ( 41 ) which is integrated in a receiving block ( 36 ) and connected to electrical leads ( 38 ).

Fig. 4g shows the switch in an open position since no microtitration plate ( 39 ) is positioned. Fig. 4h shows the micro-switch in the closed state (42), since the positioning projection (54) is positioned a Microtitrationsplatte (39) accordingly.

The Fig. 5 to 5h illustrate the control element (5) for the lid catcher filters. In FIG. 5, this inventive device is shown in section. It consists of a U-shaped block ( 36 ). The optical signal source ( 35 ) is integrated in one leg and the optical signal receiver ( 37 ) is integrated in the other leg. In between, the lid gripper ( 44 ) with a gripped lid ( 45 ) can be positioned with the robot arm. Since the cover protrudes from the cover gripper, the optical signal is interrupted and the exact grip of the cover is recognized in this way. In Fig. 4 for comparison, a lid catcher (46) is shown without a lid. Here, too, a two-part embodiment has proven to be particularly suitable. In FIGS. 5a-d, the left part is shown specifically in Fig. 5a in the bottom plan view, in longitudinal section 5b, 5c and 5d in cross-section in plan view from above. Corresponding fastening elements ( 1 ) are provided in the receiving block ( 36 ) as well as the bore for the passage of the wiring ( 29 ) and the optical signal source ( 35 ). In addition, a measuring tip ( 43 ) is incorporated in the upper part of the leg, which functions to test the functional state of the lid dealer.

It was found that the gripping pliers of the lid gripping tool protrude further from the housing when the universal gripper is in state (1), that is to say it can grip the lid. This can be detected with the measuring tip shown in FIG. 5b as follows: the gripping tool is moved with the robot arm over the measuring tip ( 43 ) and slowly lowered downwards, the aforementioned conductivity measurement being activated. If the gripper of the cover gripping tool touches the measuring tip ( 43 ) there is a signal, and from the Z-height it can be seen how far the gripping pliers protrude from the housing and the functional state of the cover gripping tool. For correction, the lid gripping tool is then moved to the station ( 10 ) for the disposal of the exchangeable tips and transferred to another functional state by lowering it over the multi-functional element ( 12 ). The gripper protrudes through the hole. In Fig. 5d the receiving nose ( 49 ) is also shown, which fits into the corresponding receiving groove ( 48 ) in Fig. 5e with a precise shape.

Fig. 5e shows the top view of the right part of the control element ( 5 ) from below, Fig. 5f the cross section and Fig. 5g the longitudinal section of the part. The arrangement of the signal receiver ( 37 ) is shown in FIG. 5f. Fig. 5h shows the corresponding supervision.

Fig. 5i shows again in an enlargement the station for the disposal of changing tips ( 10 ) with the corresponding frame ( 11 ) and the multiple functional element ( 12 ) for the lid gripper. In addition to the function of switching the functional states of the lid gripping tool ( 44 ), this functional element ( 12 ) is also used to dispose of gripped lids by inserting them into the bore ( 12 ) with the gripping tool and after releasing the lid latching into the disposal station ( 10 ) fall.

When using the universal gripping tool it turned out that the exact positioning is an important prerequisite for a faultless function. In addition, it has been shown that the exact measurement of the positioning pin ( 19 ) and a plane-parallel adjustment of the worktop ( 2 ) relative to the robot arm ( 50 ) is necessary. It has now proven to be advantageous to adjust the worktop ( 2 ) during assembly as follows ( FIGS. 6 to 6b). A measuring tip ( 32 ) is mounted on the Z-bar ( 51 ) of the robot arm ( 50 ) and the fastening pins ( 19 ) are screwed onto the worktop ( 2 ). The position of all the fastening pins ( 19 ) can now be determined with the aid of the conductivity measurement, as described above, using a special control program and a corresponding position profile of the worktop ( 2 ) can be calculated. This is repeated until the profile obeys the specified dimensional deviation.

pictures

Fig. 1a perspective view of a laboratory robot

Fig. 1b supervision of the working platform of a laboratory robot

Fig. 2a Structure of data transmission using digital inputs

Fig. 2b structure of data transmission using its own microcontroller and interface

Fig. 3a control unit ( 18 ) for position detection and correction of the robot arms; cut

Fig. 3b control unit ( 18 ) for position detection and correction of the robot arms; At sight

Fig. 4 control unit ( 4 ) for detection and correction of the plate transfer in the embodiment with optical detection

Fig. 4a control unit ( 4 ) for detection and correction of the plate transfer; Detailed drawing of an embodiment of the lower part in cross section

Fig. 4b control unit ( 4 ) for detection and correction of the plate transfer; Detailed drawing of an embodiment of the lower part in longitudinal section

Fig. 4c control unit ( 4 ) for detection and correction of the plate transfer; Detailed drawing of an embodiment of the lower part in the supervision

Fig. 4d control unit ( 4 ) for the detection and correction of the plate transfer; Detailed drawing of an embodiment of the upper part in cross section

Fig. 4e control unit ( 4 ) for the detection and correction of the plate transfer; Detailed drawing of an embodiment of the lower part in the supervision

Fig. 4f control unit ( 4 ) for detection and correction of the plate transfer; Detailed drawing of an embodiment of the lower part in the plan in longitudinal section

Fig. 4g control unit (4) for the detection and correction of the plate transfers in the embodiment with micro switch (normally open)

Fig. 4h control unit ( 4 ) for detection and correction of the plate transfer in the embodiment with microswitch (position closed) and microtitration plate ( 39 ) . Fig. 5 control unit ( 5 ) for detection and correction of the lid gripping tool

Fig. 5a control unit ( 5 ) for detection and correction of the lid gripping tool; Detailed drawing of an embodiment in the supervision of the part (A) from the floor

Fig. 5b control unit ( 5 ) for detection and correction of the lid gripping tool; Detailed drawing of an embodiment in a longitudinal section of part (A)

Fig. 5c control unit ( 5 ) for detection and correction of the lid gripping tool; Detailed drawing of an embodiment in a cross section of part (A)

Fig. 5d control unit ( 5 ) for detection and correction of the lid gripping tool; Detailed drawing of an embodiment in the top view of part (A)

Fig. 5e control unit ( 5 ) for detection and correction of the lid gripping tool; Detailed drawing of an embodiment in the supervision of the part (B) from the floor

Fig. 5f control unit ( 5 ) for detection and correction of the lid gripping tool; Detailed drawing of an embodiment in a cross section of part (B)

Fig. 5g control unit ( 5 ) for detection and correction of the lid gripping tool; Detailed drawing of an embodiment in a longitudinal section of part (B)

Fig. 5h control unit ( 5 ) for detection and correction of the lid gripping tool; Detailed drawing of an embodiment in the top view of part (B)

Fig. 5i multi-functional element (12) for correcting the lid gripping tool (44)

Fig. 6a control unit for detecting and correcting the positioning of the worktop ( 2 ) during assembly

Fig. 6b reference point as an optical position marker (23) and positioning pin (34) for attachments on the worktop (2)

Fig. 6c Einmeßspitze (33)

LIST OF REFERENCE NUMBERS

1

Worktop fasteners

2

Worktop of the laboratory robot

3

Station for the reception of microtitration plates with transfer

4

Control element for the microtitration plate

5

Control element for the lid gripper

6

Station for receiving microtitration plates without transfer

7

Digital signal generator

8th

Digital signal input

9

Station for receiving exchangeable tips

10

Removal tip disposal station

11

Framework for the disposal of interchangeable tips

12

Multi-function element for the lid gripper

13

Other inputs e.g. B. for stepper motor control

14

open

15

Liquid disposal station

16

control Board

17

Control computer

18

Positioning station as a control unit for position detection and correction of the robot arms

19

Fastening pin for positioning, calibration and for recording stations

20

Microcontroller board input

21

microcontrollers

22

Board for microcontrollers

23

Optical positioning mark

24

Flat area A

25

Inclined plane B

26

Inclined plane C

27

Window for signaling devices

28

Fastening element for the upper part

29

Bore for wiring

30

Top surface for top part

31

Holder for the Z-bar of the pipetting robot

32

Body of the measuring tip

33

Einmeßspitze

34

open

35

Optical signal source

36

receiving block

37

signal receiver

38

Electrical leads

39

Microtitrationsplatte

40

Reaction vessel in the microtitration plate

41

Microswitch open contact

42

Microswitch closed contact

43

Probe Tip

44

Universal gripper here also functions as a lid gripper with a gripped lid

45

cover

46

Universal gripper here as a lid gripper without a gripped lid

47

open

48

receiving groove

49

recording nose

50

robot arm

51

Z-bar of the robot arm

52

laboratory robot

53

Wechselspitze

54

Positioning extension as part of the microtitration plate frame

Claims (10)

1. Device for monitoring laboratory robots with at least one robot arm ( 50 ) and a tool ( 44 ) for transporting microtitration plates, characterized in that at least one of the control units mentioned below is kept on the work platform:

• - Control unit ( 18 ) for detecting and correcting the positioning of the robot arms
• - Control unit ( 4 ) for the detection and correction of the plate transfer.

2. Device for monitoring laboratory robots with at least one robot arm ( 50 ) and a tool ( 44 ) for opening and closing lids on reaction vessels, characterized in that at least one of the control units mentioned below is kept on the work platform:

• - Control unit ( 18 ) for detecting and correcting the positioning of the robot arms
• - Control unit ( 5 ) for the detection and correction of the lid gripping tool.

3. Control unit ( 18 ) for detecting and correcting the positioning of the robot arms ( 50 ), characterized in that it consists of three surfaces, two of which are inclined against the horizontal and are at right angles to one another. 4. The device according to claim 3, characterized in that an optical position for manual monitoring is installed on the control unit. 5. Control unit ( 4 ) for the detection and correction of the lid gripping tool, characterized in that it has a U-shaped structure, the detection of a lid on the lid gripping tool ( 44 ) makes contactless and thus contamination-free. 6. Control unit ( 4 ) for detecting and correcting the lid gripping tool, characterized in that a measuring tip ( 43 ) detects the functional state of the lid gripping tool ( 44 ). 7. Control unit ( 4 ) for the detection and correction of the lid gripping tool, characterized in that the measuring tip and lid detection are kept in one device. 8. A device for changing the functional state of the lid gripping tool ( 44 ), characterized in that it can simultaneously be used for the disposal of lids. 9. The device according to claim 3, characterized in that the device is part of the Station for the disposal of interchangeable tips. 10. Devices for controlling functions on the work surface of a laboratory robot, characterized in that digital signals on the control board ( 16 ) of the stepper motors reach the central control computer and are processed there.