JP2007333648A - Microplate feeding device and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a microplate feeding device simplified in its structure and capable of simply and efficiently performing the attachment and detachment of a lid with respect to a microplate and the takeout of the microplate, and a microplate feeding method. <P>SOLUTION: The microplate feed device includes a supply cassette 11 for housing a lidded microplate and a recovery cassette 19, a plate grasping device 9 for grasping the microplate in a state that a lid is detached from the lidded microplate, a loader tray 39 on which the microplate and the lid are placed and drive mechanisms 40 and 41 for moving the loader tray 39 in a horizontal direction and an up-and down direction. A pair of openable and closable pawl parts, which place the lidded microplate and separate the microplate of the lidded microplate from the lid to take out the same, are provided to the supply cassette 11 and a pair of openable and closeable pawl parts for placing the lidded microplate are provided to the recovery cassette 19. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a microplate transport apparatus and method for transporting a microplate with a lid.

  As a conventional microplate conveyance device, for example, a device described in Patent Document 1 is known. The microplate conveying apparatus described in Patent Document 1 includes a lid removing mechanism for removing a lid of a microplate with a lid supplied from a plate supply stocker, a microplate of the microplate with a lid, and a conveyor type microplate for conveying the lid. A transport mechanism and a lid mounting mechanism for mounting a lid on the microplate collected in the plate collection stocker are provided. The lid removing mechanism and the lid mounting mechanism are composed of a lid holding head that holds the lid by suction and a lift actuator that raises and lowers the lid holding head.

Further, Patent Document 2 discloses an apparatus for taking out and supplying lidded microplates stored in a stacked state in a plate supply stocker one by one.
JP-A-2005-300201 JP 2005-249648 A

  However, since the apparatus of Patent Document 1 includes two mechanisms, ie, a lid removing mechanism and a lid mounting mechanism, in order to detach the lid from the microplate, the structure of the apparatus itself is complicated. Also, after removing the lid of the microplate with the lid by the lid removal mechanism, the lid is transported by the microplate transport mechanism, and the lid is picked up and held by the lid mounting mechanism, and then the microplate transport mechanism. Since the lid held by the lid mounting mechanism is mounted on the microplate when the microplate is transported, the operation of transporting the microplate with the lid becomes complicated as a whole.

  In the apparatus of Patent Document 2, the uppermost lidded microplate among the plurality of lidded microplates housed in the plate supply stocker is gripped by the gripping member, and the next lidded microplate is fixed to the fixing member. In this state, the microplate with lid is separated by raising the gripping member, but the structure for realizing it is extremely complicated.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a microplate transport apparatus and method capable of simplifying the apparatus structure and easily and efficiently removing / attaching a lid to / from the microplate and taking out the microplate.

  The present invention supplies a microplate with a lid removed from a microplate with a lid to a predetermined position, and also supplies the microplate to a predetermined position in a microplate transport device that collects the microplate with the lid attached. Supply cassette for storing a microplate with a lid including a microplate in a stacked state, collection cassette for storing a microplate with a lid including a microplate recovered from a predetermined position, and a plate for holding the microplate A gripper, a supply cassette, a recovery cassette, and a support member that is placed below the plate gripper and on which the microplate and the lid are placed, a first drive unit that moves the support member in the height direction, and a support member Second driving means for moving in a direction perpendicular to the height direction, for supply The set is provided with a pair of left and right first claw portions that can be opened and closed to support the microplate or the lid and separate and remove the microplate of the microplate with the lid from the lid. A pair of left and right second claws that support the plate or lid are provided.

  In such a microplate transport apparatus, when supplying the microplate to a predetermined position, the support member is first moved by the second drive means to a position directly below the supply cassette, and then the support member is moved by the first drive means. Open each first claw while raising. Then, the microplate and the lid are separated from each other by closing the first claw portion into the gap portion between the microplate and the lid in the microplate with the lid stored in the supply cassette. The support member is lowered while the plate and another lid positioned below the plate are placed on the support member. Subsequently, with the support member moved to a position directly below the plate gripper, the support member is raised, and the microplate placed on the support member is temporarily gripped by the plate gripper. Subsequently, the lid placed on the support member is stored in the collection cassette by opening and closing each second claw portion while raising the support member while the support member is moved to a position directly below the collection cassette. To do. Subsequently, in a state where the support member is again moved to a position just below the plate gripper, the support member is raised, and the microplate held by the plate gripper is placed on the support member. Then, the support member is moved to a predetermined position, and a predetermined process is performed on the microplate mounted on the support member. Thereafter, when the microplate is collected, the second claw portion is opened and closed while the support member is moved up in a state where the support member is moved to a position just below the collection cassette, and is placed on the support member. Place the microplate in the collection cassette.

  Thus, by opening and closing each 1st nail | claw part, the microplate and lid | cover in a microplate with a lid | cover are isolate | separated, The said microplate is taken out from lower side, and it is made to mount on a supporting member. That is, at the same time as the lid is removed from the microplate by each first claw portion, the microplate is taken out from the supply cassette. Therefore, a special mechanism for removing the lid from the microplate and a special mechanism for removing the microplate from the supply cassette are not required.

  In addition, the microplate taken out from the supply cassette is temporarily held by a plate gripper, and the microplate is collected by first storing the lid taken out together with the microplate in the collection cassette. In this case, the lid attached to the microplate already exists in the collection cassette. Furthermore, by opening and closing each second claw portion, the lid and the microplate placed on the support member are stored in the collection cassette from below. For this reason, a lid | cover will be mounted | worn with a microplate simultaneously with collection | recovery in a collection cassette. Therefore, a special mechanism for mounting the lid on the microplate and a special mechanism for collecting the microplate in the collection cassette are not required.

  As described above, the structure of the microplate transport device is simplified, the microplate stored in the supply cassette is removed, the lid is removed from the microplate, the lid is attached to the microplate, and the collection cassette is loaded. The operation of collecting the microplate can be performed easily and efficiently.

  Preferably, the supply cassette, the recovery cassette and the plate gripper are arranged in a line. In this case, the second drive unit may be configured to move the support member only along the arrangement direction of the supply cassette, the recovery cassette, and the plate gripper. This simplifies the structure of the second drive means, thereby further simplifying the structure of the microplate transport device.

  Moreover, it is preferable to further include claw drive means for driving the first claw parts so as to open each other. In this case, when the support member is moved up and down with respect to the supply cassette, the first claw portions are held open by the claw portion driving means, and the microplate and the lid in the microplate with a lid When the gap portion reaches the position of each first claw portion, the support member is stopped and each first claw portion is closed. In this way, even when the gap between the microplate and the lid of the microplate with a lid is narrow, the first claw portions are put into the gap and the microplate and the lid are surely secured. Can be separated.

  Further preferably, the plate removal control means for controlling the first drive means and the second drive means so that the lid and the microplate laminated on the lid are taken out from the supply cassette and placed on the support member. And a plate gripping control means for controlling the plate gripper, the first drive means and the second drive means so that the microplate placed on the support member is gripped by the plate gripper, and a lid placed on the support member. The lid recovery control means for controlling the first drive means and the second drive means and the microplate gripped by the plate gripper are again placed on the support member and moved to a predetermined position so as to be stored in the recovery cassette. A plate gripper, a plate supply control means for controlling the first drive means and the second drive means, and a microplate mounted on the support member. To accommodate the Tsu Miyako, further comprising a plate recovery control means for controlling the first driving means and second driving means. By providing such plate removal control means, plate gripping control means, lid recovery control means, plate supply control means, and plate recovery control means, the microplate supply operation and recovery operation can be performed automatically.

  Further, the present invention provides a microplate transport method for supplying a microplate with a lid removed from a microplate with a lid to a predetermined position and collecting the microplate with the lid attached thereto. Prepare the transport device and prepare the storage step for storing the microplates with lids in the supply cassette, and take out the lids and the microplates stacked on the lids from the supply cassettes to the support member. The plate removing process for placing the plate, the plate holding process for holding the microplate mounted on the support member by the plate gripper, and the lid recovery for storing the cover mounted on the support member in the recovery cassette after performing the plate holding process. Microplate that was gripped by the plate gripper after performing the process and the lid recovery process A plate supply step of placing the support member again on the support member and moving the plate to a predetermined position; and a plate recovery step of storing the microplate mounted on the support member in a recovery cassette after the plate supply step is performed. Is.

  As described above, by supplying and collecting the microplate using the above-described microplate transport device, the microplate stored in the supply cassette is taken out, the lid is removed from the microplate, and the microplate is transferred to the microplate. The operations of attaching the lid and collecting the microplate to the collection cassette can be performed easily and efficiently.

  Preferably, in the preparation step, a dummy lid is stored in advance under the microplate located on the lowermost side of the supply cassette, and the microplate located on the lowermost side of the supply cassette is supplied to a predetermined position. In this case, in the plate extraction step, the microplate is taken out together with the dummy lid and placed on the support member, and in this state, the plate gripping step, the lid recovery step, and the plate supply step are sequentially performed. In this case, before the microplate located at the lowermost side of the supply cassette is stored in the recovery cassette, the dummy cover is stored in the recovery cassette by the cover recovery process. For this reason, when collecting the microplate located at the bottom of the supply cassette, a dummy lid is attached to the microplate, so that the microplate is prevented from being in a state without a lid. it can.

  In the preparation step, a dummy lid is previously stored in the collection cassette, and when the microplate located on the lowermost side of the supply cassette is supplied to a predetermined position, the microplate is removed in the plate removal step. The plate supply step may be carried out by taking out alone and placing it on the support member, and omitting the plate gripping step and the lid collecting step in that state. In this case, when the microplate located at the bottom of the supply cassette is collected, a dummy lid stored in advance in the collection cassette is attached to the microplate. It is possible to prevent the plate from being in a state without a lid.

  According to the present invention, the structure of the microplate transport device can be simplified, and the attachment / detachment of the lid to / from the microplate and the removal of the microplate can be performed easily and efficiently. Thereby, it is possible to reduce the cost for the microplate conveying apparatus.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of a microplate conveying apparatus and method according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic view showing an optical measuring device provided with an embodiment of a microplate conveying apparatus according to the present invention. In the figure, an optical measuring device 1 is a device for automatically measuring light (emission or fluorescence) emitted from a sample such as a cell.

  In the measurement of the sample by the optical measuring device 1, as shown in FIG. 2, a microplate 2 for inserting a sample such as a cell is used. A plurality of (for example, 96) wells 3 are formed in a matrix on the microplate 2 and the wells 3 are filled with a sample. A transparent lid 4 is attached to the microplate 2 to prevent the liquid injected into the well 3 from evaporating and foreign matter from entering the well 3. In a state where the lid 4 is attached to the microplate 2, the thickness dimension of the microplate 2 and the lid 4 is set so that a predetermined amount of gap S is formed between the flange 2 a of the microplate 2 and the lid 4. ing. The microplate 2 with the lid 4 attached is referred to as a lidded microplate 2A.

  Returning to FIG. 1, the optical measurement device 1 includes a device body 6 having a rectangular parallelepiped housing 5. On the housing 5, a supply stocker 7, a recovery stocker 8, a plate gripper 9, and an optical measuring device 10 are arranged in a line from one end side to the other end side of the housing 5.

  The supply stocker 7 includes a supply cassette 11 for storing the lidded microplate 2A containing the sample before measurement in a stacked state. As shown in FIG. 3, a pair of left and right claw portions 12 are rotatably provided (openable and closable) at the lower portion of the supply cassette 11. These claw portions 12 are for placing the laminated microplate 2 </ b> A in a laminated state and separating the microplate 2 of the lidded microplate 2 </ b> A from the lid 4 of the lidded microplate 5. Each claw portion 12 includes a support surface 12a on which the microplate 2 or the lid 4 is placed, and a tapered surface 12b formed so that the distance between the claw portions 12 increases toward the lower side of the supply cassette 11. have. A spring 13 that urges the claw portion 12 toward the inside of the supply cassette 11 is disposed below the supply cassette 11.

  Further, as shown in FIG. 4, the supply stocker 7 has a drive mechanism 14 that drives each claw portion 12 to forcibly open to the outside of the supply cassette 11. The drive mechanism 14 has two lever receiving portions 16 fixed to each claw portion 12 via a connecting rod 15. One end of a rotating lever 17 is engaged with each lever receiving portion 16, and a plunger 18 a of a solenoid 18 is connected to the other end of the rotating lever 17. When the solenoid 18 is turned on (energized), the plunger 18 a moves backward so that the lever receiving portion 16 is pushed into the rotating lever 17 and rotates. Accordingly, each claw portion 12 biases the spring 13. Against the outside of the supply cassette 11.

  The collection stocker 8 has a collection cassette 19 for storing the lidded microplate 2A containing the sample after measurement in a stacked state. As shown in FIG. 5, a pair of left and right claw portions 20 on which the stacked microplate 2 </ b> A with a lid is placed is rotatably provided (openable and closable) below the collection cassette 19. Each nail | claw part 20 has the support surface 20a and the taper surface 20b which have the same function as the support surface 12a and the taper surface 12b of said claw part 12, respectively. A spring 21 that urges the claw portion 20 toward the inside of the recovery cassette 19 is disposed below the recovery cassette 19.

  As shown in FIG. 6, the plate gripper 9 has a pair of gripping portions 22 that grip the microplate 2 in a state where the lid 4 is not attached. These gripping portions 22 are respectively connected to a pair of movable portions 24 slidably attached to both end portions of two guide rods 23 extending in parallel with each other via a substantially L-shaped support plate 25. Yes. The gripping portion 22 is provided with a buffer material 26 (for example, a rubber material) for preventing the microplate 2 from being damaged.

  Each movable portion 24 is connected to a sliding body 28 slidable with respect to a linear guide 27 extending in parallel to the guide rod 23 via a substantially L-shaped support plate 29. These sliding bodies 28 are fixed to a transmission belt 31 that is stretched around two pulleys 30. One sliding body 28 is fixed to a connecting plate 32A attached to one side (collection stocker 8 side) portion of the transmission belt 31, and the other sliding body 28 is fixed to the other side (optical measuring instrument 10). It is being fixed to the connection board 32B attached to the side) part. The pulley 30 is rotationally driven by a drive motor 33.

  In addition, the plate gripper 9 detects the position of each grip portion 22 by detecting the position of the connecting plate 32A, and the height position of the microplate 2 to be gripped by the plate gripper 9. And a position sensor 36 for detecting. These position sensors 34 to 36 are configured by photo sensors, for example. The position sensor 35 is disposed inside the position sensor 34. The position when the connecting plate 32A is detected by the position sensor 34 is the initial position, and the position when the connecting plate 32A is detected by the position sensor 35 is the gripping position.

  When the connecting plate 32A is in the initial position, when the drive motor 33 is rotated clockwise, the rotation is transmitted to the transmission belt 31 via the pulley 30, and the connecting plates 32A and 32B attached to the transmission belt 31 are connected. Move inward (arrow direction in the figure). For this reason, each sliding body 28 moves along the linear guide 27 in a direction approaching each other, and accordingly, each gripping portion 22 moves in a direction approaching each other. Then, when the connecting plate 32A reaches the gripping position, the rotation of the drive motor 33 is stopped. As a result, the microplate 2 can be sandwiched and gripped by the gripping portions 22.

  On the other hand, when the drive motor 33 is rotated counterclockwise, the connecting plates 32A and 32B attached to the transmission belt 31 move outward. For this reason, each sliding body 28 moves in a direction away from each other along the linear guide 27, and accordingly, each gripping portion 22 moves in a direction away from each other, so that the gripping portion 22 grips the microplate 2. Is released.

  Note that the gripping force of the microplate 2 by each gripping portion 22 is determined by the biasing force of the spring 37 provided in the movable portion 24. Further, even if the microplate 2 is slightly inclined with respect to the gripping portion 22, one gripping portion 22 is a bearing for performing a neck-down function so that the microplate 2 is securely gripped by each gripping portion 22. It is supported by the support plate 25 through 38.

  Returning to FIG. 1, the optical measuring instrument 10 is not particularly shown, but a taper FOP (fiber optic plate) that guides the light emitted from the sample and an image input that amplifies the light emitted from the taper FOP. It has a tensiifier and a CCD camera that images the light emitted from the image intensifier. The optical measuring instrument 10 has a light shielding structure for shielding extraneous light, light from a photo sensor, and the like.

  Inside the housing 5 is a loader tray 39 on which the microplate 2 and the lid 4 are placed, and this loader tray 39 is arranged in the direction of arrangement of the supply stocker 7, the recovery stocker 8, the plate gripper 9 and the optical measuring instrument 10 (X And a drive mechanism 41 that moves the loader tray 39 in the vertical direction (Z-axis direction). Claw receiving recesses 39a (see FIGS. 13 and 16) for receiving the claw portions 20 of the collection stocker 8 are formed on both the left and right sides of the edge portion of the loader tray 39.

  As shown in FIGS. 1 and 7, the drive mechanism 40 includes an X-axis stage 43 having a ball screw 42 extending in the X-axis direction, a slider 44 screwed into the ball screw 42, and a drive motor 45 that rotates the ball screw 42. Have.

  As shown in FIGS. 1 and 7, the drive mechanism 41 includes a Z-axis stage 47 having a ball screw 46 attached to the slider 44 and extending in the Z-axis direction, an elevating body 48 screwed into the ball screw 46, and two pulleys 49. And a drive motor 51 for rotating the ball screw 46 via the transmission belt 50. The loader tray 39 is attached to the elevating body 48 via two connecting members 52. Each pulley 49, the transmission belt 50, and the drive motor 51 are attached to an attachment member 53 provided on the top of the Z-axis stage 47.

  When the ball screw 42 is rotationally driven by the drive motor 45, the slider 44 moves in the X-axis direction, and accordingly, the loader tray 39 connected to the slider 44 moves in the X-axis direction. When the drive motor 51 is driven to rotate, the rotation is transmitted to the ball screw 46 via the pulley 49 and the transmission belt 50, so that the elevating body 48 moves in the Z-axis direction. Move in the direction.

  A plate presence sensor 54 that detects whether the microplate 2 is placed on the loader tray 39 is provided on the attachment member 53. The plate presence / absence sensor 54 is composed of, for example, a photo sensor.

  When the loader tray 39 is raised by the drive mechanism 41, the loader tray 39 can enter the supply stocker 7, the recovery stocker 8, the plate gripper 9, and the optical measuring instrument 10. An opening is formed in the upper plate portion 5a of the housing 5.

  Returning to FIG. 1, the optical measurement device 1 includes a personal computer (PC) 55 for performing data input and calculation processing related to optical measurement, and a transport control unit that controls each part of the apparatus body 6 in accordance with instructions from the PC 55. 56.

  A processing procedure executed by the PC 55 is shown in FIG. In the figure, information on the microplate 2 is first input (procedure 101). Information on the microplate 2 (hereinafter simply referred to as microplate information) includes the type and dimensions of the microplate 2, the dimensions of the lid 4, the number of microplates 2, whether or not the lid 4 is attached to the microplate 2, There is information such as whether or not the dummy lid 4 is housed in the supply stocker 7 or the collection stocker 8. The dimensions of the microplate 2 and the lid 4 are the thickness (height) of the entire microplate 2, the thickness of the flange portion 2a, the height of the lid 4, and the like.

  Subsequently, based on the dimensions of the microplate 2 and the lid 4, etc., a position (plate extraction position) for extracting the microplate 2 stored in the supply stocker 7 is calculated (procedure 102). Here, the claw portion 12 of the supply stocker 7 is inserted into the gap S between the flange 2a of the microplate 2 and the lid 4 in the microplate 2A with lid, and the microplate 2 is separated from the lid 4 and taken out (described later). . For this reason, the height position where the claw portion 12 is inserted is calculated as the plate extraction position. Further, in the supply cassette 11 of the supply stocker 7, the plate extraction position with respect to the lower end of the supply cassette 11 is different between the case where the lid 4 is present below the microplate 2 to be taken out and the case where the lid 4 is not. The plate extraction position for is calculated.

  Subsequently, loader Z-axis drive data for raising the loader tray 39 by the drive mechanism 41 is obtained based on the plate extraction position obtained in the procedure 102 (procedure 103). Then, the loader Z-axis drive data, the microplate information input in the procedure 101, and the process command are transferred to the transport control unit 56 (procedure 104).

  As illustrated in FIG. 9, the transport control unit 56 includes a first plate supply control unit 57, a second plate supply control unit 58, and a plate carry-out control unit 59.

  When the dummy lid 4 is stored in advance at the bottom of the supply cassette 11 of the supply stocker 7, the first plate supply control unit 57 starts from the supply cassette 11 in response to a process command from the PC 55. The solenoid 18 and the drive motors 33, 45, 51 are controlled so that the microplates 2 are taken out one by one and supplied to the optical measuring instrument 10.

  When the dummy lid 4 is stored in the collection cassette 19 of the collection stocker 8 in advance, the second plate supply control unit 58 responds to a process command from the PC 55 and supplies the cassette 11 for the supply stocker 7. The solenoid 18 and the drive motors 33, 45, 51 are controlled so that the microplates 2 are taken out one by one and supplied to the optical measuring instrument 10.

  The plate carry-out control unit 59 controls the drive motors 45 and 51 so as to collect, that is, carry out, the microplates 2 one by one to the collection cassette 19 of the collection stocker 8 according to a process command from the PC 55.

  10 and 11 are flowcharts showing details of the processing procedure executed by the first plate supply control unit 57. Hereinafter, the operation of taking out the microplates 2 one by one from the supply cassette 11 of the supply stocker 7 and supplying them to the optical measuring instrument 10 will be described using this flowchart.

  Here, a predetermined number of microplates 2 </ b> A with lids are stacked in the supply cassette 11. Then, at the bottom of the supply cassette 11, exactly the same one as the lid 4 is stored as a dummy (dummy lid 4 </ b> A) (see FIGS. 3 and 13). Further, none of the microplate 2 and the lid 4 is accommodated in the recovery cassette 19 of the recovery stocker 8 (see FIG. 16).

  As shown in FIG. 1, the loader tray 39 stands by at a position directly below the plate gripper 9 in a state where nothing is placed. In this state, when a process start command is given from the PC 55, the drive motor 45 is first controlled to move the loader tray 39 to a position directly below the supply stocker 7, as shown in FIGS. (Procedure 111).

  Subsequently, the drive motor 51 is controlled to raise the loader tray 39 (procedure 112). Then, when the loader tray 39 rises to a predetermined height position, the solenoid 18 is controlled to be energized, and each claw portion 12 of the supply stocker 7 is opened outward (procedure 113). As a result, as shown in FIG. 13B, the stacked microplates 2A with the lids are slightly lifted by the loader tray 39 through the dummy lids 4A.

  Subsequently, the drive motor 51 is controlled to lower the loader tray 39 to the plate extraction position (previously described) obtained in advance by the PC 55 (procedure 114). Here, the loader tray 39 is lowered to the plate extraction position when the lid 4 is under the microplate 2 to be extracted. Then, after the loader tray 39 stops at the plate take-out position, the energization of the solenoid 18 is stopped and each claw portion 12 is closed (procedure 115). As a result, as shown in FIG. 13 (c), the tip of each claw portion 12 enters the gap S between the microplate 2 and the lid 4 in the first microplate 2A with the lid, as shown in FIG. The portion 12 is caught on the flange portion 2 a of the microplate 2.

  When the loader tray 39 is slightly lowered, the microplate 2 and the lid 4 in the first microplate 2A with a lid are separated, and the loader tray 39 is placed on the dummy lid 4A below the microplate 2 It will be transferred to the tray 39. The lid 4 attached to the first microplate 2 is placed on each claw portion 12 (see FIG. 13D).

  Subsequently, based on the detection signal of the plate presence sensor 54, it is determined whether or not the microplate 2 is placed on the loader tray 39 (procedure 116). At this time, when the microplate 2 is not present in the loader tray 39, an error notification is sent to the PC 55 (procedure 117), and when the microplate 2 is present in the loader tray 39, the drive motor 51 is controlled. As shown in FIG. 13D, the loader tray 39 is lowered to the lowest position (procedure 118).

  Subsequently, by controlling the drive motor 45, the loader tray 39 is moved to a position just below the plate gripper 9 as shown in FIG. 14A (procedure 119). Subsequently, the drive motor 51 is controlled to raise the loader tray 39 to the plate determination position (procedure 120).

  Then, the type of the microplate 2 placed on the loader tray 39 is determined based on the detection signal of the position sensor 36 (procedure 121). Specifically, the detection signal of the position sensor 36 is compared with the loader Z-axis drive data obtained by the PC 55 for determination. If it is determined that the type of the microplate 2 is different, an error notification is sent to the PC 55 (procedure 122). If it is determined that the type of the microplate 2 is correct, the drive motor 51 is controlled. Then, the loader tray 39 is raised to the plate gripping height position (procedure 123). Subsequently, by controlling the drive motor 33, as shown in FIG. 14B, the microplate 2 placed on the loader tray 39 is gripped by the pair of gripping portions 22 (procedure 124).

  Subsequently, based on the detection signal of the plate presence sensor 54, it is determined whether or not the microplate 2 is placed on the loader tray 39 (procedure 125). At this time, if the microplate 2 is present in the loader tray 39, an error is notified to the PC 55 (procedure 126), and if the microplate 2 is not present in the loader tray 39, the drive motor 51 is controlled to As shown in FIG. 14C, the loader tray 39 on which only the dummy lid 4A is placed is lowered to the lowest position (procedure 127).

  Subsequently, by controlling the drive motor 45, as shown in FIGS. 15 and 16A, the loader tray 39 is moved to a position directly below the collection stocker 8 (procedure 128). Subsequently, the drive motor 51 is controlled to raise the loader tray 39 to the delivery position of the collection stocker 8 (procedure 129).

  When the loader tray 39 is raised, when the dummy lid 4A placed on the loader tray 39 comes into contact with the tapered surface 20b of the pair of left and right claws 20, each claw part 20 resists the urging force of the spring 21 to the outside. To open. Then, as shown in FIG. 16B, when the dummy lid 4 </ b> A passes through each claw portion 20, each claw portion 20 is closed inward by the biasing force of the spring 21. As a result, the tip of each claw portion 20 enters the claw receiving recess 39 a of the loader tray 39.

  Subsequently, based on the detection signal of the plate presence sensor 54, it is determined whether or not the microplate 2 is placed on the loader tray 39 (procedure 130). At this time, if there is a microplate 2 in the loader tray 39, an error is notified to the PC 55 (procedure 131), and if there is no microplate 2 in the loader tray 39, the drive motor 51 is controlled to As shown in FIG. 16C, the loader tray 39 on which nothing is placed is lowered to the lowest position (procedure 132). The dummy lid 4 </ b> A delivered to the collection stocker 8 is placed on each claw portion 20.

  Subsequently, by controlling the drive motor 45, as shown in FIG. 17A, the loader tray 39 is again moved to a position directly below the plate gripper 9 (procedure 133). Subsequently, the drive motor 51 is controlled to raise the loader tray 39 to the plate grip release height position (procedure 134). Subsequently, by controlling the drive motor 33, as shown in FIG. 17B, the gripping of the microplate 2 by the pair of gripping portions 22 is released (procedure 135). As a result, the microplate 2 is transferred to the loader tray 39.

  Subsequently, based on the detection signal of the plate presence sensor 54, it is determined whether or not the microplate 2 is placed on the loader tray 39 (procedure 136). At this time, if there is no microplate 2 in the loader tray 39, an error notification is sent to the PC 55 (procedure 137), and if the microplate 2 is in the loader tray 39, the drive motor 51 is controlled to As shown in FIG. 17C, the loader tray 39 on which the microplate 2 is placed is lowered to the lowest position (procedure 138).

  Subsequently, by controlling the drive motor 45, the loader tray 39 is moved to a position directly below the optical measuring instrument 10 as shown in FIG. 18 (procedure 139). Subsequently, the drive motor 51 is controlled to raise the loader tray 39 to the measurement position (procedure 140). Thereafter, the optical measuring instrument 10 performs optical measurement of the sample filled in each well 3 of the microplate 2.

  FIG. 19 is a flowchart showing details of a processing procedure executed by the plate carry-out control unit 59. Subsequently, the operation of carrying out the microplate 2 will be described using this flowchart.

  When the optical measurement of the sample by the optical measuring instrument 10 is completed and a process start command is given from the PC 55, it is first determined whether or not the microplate 2 is placed on the loader tray 39 based on the detection signal of the plate presence sensor 54. (Procedure 151). At this time, when the microplate 2 is not present in the loader tray 39, an error notification is sent to the PC 55 (step 152). When the microplate 2 is present in the loader tray 39, the drive motor 51 is controlled to control the microplate. 2 is lowered to the lowest position (procedure 153).

  Subsequently, by controlling the drive motor 45, as shown in FIG. 20A, the loader tray 39 is moved to a position directly below the collection stocker 8 (procedure 154). Subsequently, the drive motor 51 is controlled to raise the loader tray 39 to the delivery position (procedure 155).

  When the microplate 2 placed on the loader tray 39 comes into contact with the tapered surfaces 20b of the pair of left and right claws 20 when the loader tray 39 is raised, the respective claws 20 are moved outward against the urging force of the springs 21. To open. The lid 4 (dummy lid 4A) housed in the collection cassette 19 of the collection stocker 8 is mounted on the microplate 2 while being lifted. Then, as shown in FIG. 20B, when the microplate 2 passes through each claw portion 20, each claw portion 20 is closed inward by the urging force of the spring 21. Thereby, the tip of each claw portion 20 enters the claw receiving recess 39 a of the loader tray 39.

  At this time, the dummy lid 4A has already been collected in the collection cassette 19. For this reason, when the first microplate 2 is collected in the collection cassette 19, the lid 4 is necessarily attached to the microplate 2 as described above. Therefore, evaporation of the liquid injected into the well 3 of the collected microplate 2 can be prevented.

  Subsequently, based on the detection signal of the plate presence sensor 54, it is determined whether or not the microplate 2 is placed on the loader tray 39 (procedure 156). At this time, if the microplate 2 is present in the loader tray 39, an error notification is sent to the PC 55 (procedure 157). If the microplate 2 is not present in the loader tray 39, the drive motor 51 is controlled to As shown in 20 (c), the loader tray 39 on which nothing is placed is lowered to the lowest position (procedure 158). The microplate 2 delivered to the collection cassette 19 is placed on each claw portion 20 with the lid 4 attached. Thereafter, the drive motor 45 is controlled to move the loader tray 39 to a position just below the plate gripper 9 (standby position) (procedure 159).

  Thus, the operation of supplying the first microplate 2 from the supply stocker 7 to the optical measuring instrument 10 and the operation of carrying out the microplate 2 from the optical measuring instrument 10 to the recovery stocker 8 are completed.

  When the second and subsequent microplates 2 are supplied from the supply stocker 7 to the optical measuring instrument 10 and the microplate 2 is carried out to the collection stocker 8 after the optical measurement is completed, the above operations are sequentially repeated. At this time, when the microplate 2 is taken out from the supply stocker 7, it is transferred to the loader tray 39 together with the lid 4 attached to the microplate 2 taken out last time.

  21 and 22 are flowcharts showing details of the processing procedure executed by the second plate supply control unit 58. This flowchart is different from the flowcharts shown in FIGS. 10 and 11 in that the procedure 160 is added between the procedure 118 and the procedure 119.

  In step 160, it is determined whether the microplate 2 placed on the loader tray 39 is the first microplate 2 stored in the bottom of the supply cassette 11 of the supply stocker 7. If it is the second microplate 2, the process proceeds to step 139, and if it is the second or subsequent microplate 2, the process proceeds to step 119.

  Hereinafter, the operation of taking out the microplates 2 one by one from the supply cassette 11 of the supply stocker 7 and supplying them to the optical measuring instrument 10 will be described using the flowcharts shown in FIGS. 21 and 22.

  In this case, as shown in FIG. 23A, a predetermined number of microplates 2A with lids are stacked in the supply cassette 11. However, the dummy lid 4 </ b> A is not stored at the bottom of the supply cassette 11. Instead, the dummy lid 4A is stored in advance in the collection cassette 19 of the collection stocker 8 (see FIG. 20A).

  First, the first microplate 2 is taken out from the supply cassette 11 of the supply stocker 7 by controlling the drive motors 45 and 51 and the solenoid 18 so as to execute the steps 111 to 118. At this time, since the dummy lid 4A is not housed at the bottom of the supply cassette 11, the first micro-sheet is selected based on the plate removal position when the lid 4 is not under the microplate 2 to be taken out. The plate 2 is taken out. Accordingly, as shown in FIGS. 23B to 23D, the microplate 2 and the lid 4 in the microplate 2A with the first lid are separated by the opening and closing operation of the pair of left and right claws 12; Only the microplate 2 is transferred to the loader tray 39.

  Subsequently, by controlling the drive motors 45 and 51 so as to execute the procedures 139 and 140, the loader tray 39 on which the first microplate 2 is placed is raised to the measurement position.

  Then, when the first microplate 2 is carried out to the collection stocker 8 after the measurement of the sample is completed, the procedures 151 to 159 of the flowchart shown in FIG. At this time, since the dummy lid 4A is stored in advance in the collection cassette 19 of the collection stocker 8, when the first microplate 2 is collected, the lid 4 is necessarily attached to the microplate 2. Will be installed. Therefore, evaporation of the liquid injected into the well 3 of the collected microplate 2 can be prevented.

  When the second and subsequent microplates 2 are supplied from the supply stocker 7 to the optical measuring instrument 10, the procedures 111 to 118 shown in FIG. 21 and the procedures 119 to 140 shown in FIG. 22 are performed. At this time, the microplate 2 is extracted based on the plate extraction position when the lid 4 is under the microplate 2 to be extracted. As a result, the microplate 2 is transferred to the loader tray 39 together with the lid 4 below.

  In the above, the procedures 111 to 118 of the first plate supply control unit 57 and the second plate supply control unit 58 take out the lid 4 and the microplate 2 stacked on the lid 4 from the supply cassette 11 together. The plate drive control means for controlling the first drive means 41 and the second drive means 40 is configured to be placed on the support member 39. In the procedures 119 to 127, the plate gripping control for controlling the plate gripper 10, the first driving means 41 and the second driving means 40 so that the microplate 2 placed on the support member 39 is gripped by the plate gripper 10. Configure the means. The procedures 128 to 132 constitute lid collection control means for controlling the first drive means 41 and the second drive means 40 so that the lid 4 placed on the support member 39 is accommodated in the collection cassette 19. In the same procedures 133 to 140, the plate gripper 10, the first drive means 41, and the second drive means 40 are arranged so that the microplate 2 gripped by the plate gripper 10 is again placed on the support member 39 and moved to a predetermined position. Plate supply control means for controlling The plate carry-out control unit 59 constitutes a plate collection control unit that controls the first drive unit 41 and the second drive unit 40 so that the microplate 2 placed on the support member 39 is stored in the collection cassette 19.

  As described above, in the present embodiment, the supply stocker 7, the recovery stocker 8, and the plate gripper 9 are provided, and can be moved in the two-axis directions (X-axis direction and Z-axis direction) below these positions. A loader tray 39 is provided. Also, a pair of left and right claws 12 on which the microplate 2A with a lid is placed is provided in the supply stocker 7, and the claw portions 12 are opened and closed while the loader tray 39 is moved up and down to thereby open the microplate in the microplate 2A with a lid. 2 and the lid 4 are separated. Thereby, the microplate 2 can be taken out one by one from the lower side of the supply stocker 7 while removing the lid 4 from the microplate 2 to be supplied. Accordingly, it is not necessary to install a means (mechanism) for removing the lid 4 from the microplate 2 and taking out the microplate 2 from the supply stocker 7 separately from the supply stocker 7 and the loader tray 39.

  Further, a pair of left and right claws 20 on which the microplate 2A with lid is placed is provided in the collection stocker 8, and each claw 20 is opened and closed by raising the loader tray 39 so that the microplate 2 to be collected is placed on each claw. Place on part 20. At this time, the micro plate 2 taken out from the supply stocker 7 is temporarily held by the plate gripper 9, and the lid 4 taken out together with the micro plate 2 from the supply stocker 7 is first collected. Therefore, when the microplate 2 is carried out to the collection stocker 8, the lid 4 is present on the collection stocker 8. Thus, the lid 4 can be attached to the microplate 2 while collecting the microplate 2 to be collected from the lower side of the collection stocker 8. Accordingly, it is not necessary to install means (mechanism) for collecting the microplate 2 in the collection stocker 8 or attaching the lid 4 to the microplate 2 separately from the collection stocker 8 and the loader tray 39.

  As described above, the microplate 2 can be attached to and removed from the microplate 2, the microplate 2 can be taken out from the supply stocker 7, and the collection stocker 8 can be prevented while preventing the complication and enlargement of the configuration of the microplate transport apparatus. This makes it possible to simplify the operation of collecting the microplate 2 and effectively carry the microplate 2. Moreover, since the microplate conveying apparatus itself can be simplified, it is advantageous in terms of cost.

  Further, the loader tray 39 is moved up and down while the claw portions 12 of the supply stocker 7 are forcibly opened by the drive mechanism 14, and the loader tray 39 is stopped when the loader tray 39 reaches the plate removal position. By closing each claw portion 12, even when the gap S between the microplate 2 and the lid 4 in the microplate 2 </ b> A with a lid is narrow, the claw portions 12 are surely inserted into the gap S, and the microplate 2 is It can be separated from the lid 4 and taken out.

  The present invention is not limited to the above embodiment. For example, in the above embodiment, the loader tray 39 on which the microplate 2 and the lid 4 are placed is moved in the biaxial direction. However, the microplate conveying apparatus of the present invention is configured to move the loader tray 39 in the triaxial direction. Is also applicable.

  Moreover, although the said embodiment is applied to the optical measuring device 1 provided with the optical measuring device 10, the microplate conveyance apparatus of this invention supplies the microplate 2 from which the cover 4 was removed to a predetermined position. In addition, as long as the microplate 2 is collected with the lid 4 attached, the present invention can be applied to other devices (for example, a dispensing device).

It is a schematic block diagram which shows the optical measuring device provided with one Embodiment of the microplate conveying apparatus concerning this invention. It is a perspective view of the microplate with a lid | cover conveyed by the microplate conveying apparatus shown in FIG. It is a fragmentary sectional view of the stocker for supply shown in FIG. It is the top view and side view of the stocker for supply shown in FIG. It is a fragmentary sectional view of the collection stocker shown in FIG. It is a front view of the plate gripper shown in FIG. It is a side view of the loader tray and drive mechanism shown in FIG. It is a flowchart which shows the process sequence performed by PC shown in FIG. It is a control system block diagram of the microplate conveying apparatus shown in FIG. It is a flowchart which shows the detail of the process sequence performed by the 1st plate supply control part shown in FIG. It is a flowchart which shows the detail of the process sequence performed by the 1st plate supply control part shown in FIG. It is a schematic block diagram which shows the state which moved the loader tray shown in FIG. 1 to the position just under the stocker for supply. It is sectional drawing which shows a mode that the 1st microplate and dummy lid | cover are taken out together from the stocker for supply shown in FIG. FIG. 14 is a front view (including a partial cross section) showing a state where a microplate placed on the loader tray shown in FIG. 13 is gripped by a plate gripper. It is a schematic block diagram which shows the state which moved the loader tray shown in FIG. 14 to the position right under a collection stocker. It is sectional drawing which shows a mode that the cover mounted on the loader tray shown in FIG. 14 is accommodated in the collection | recovery stocker. FIG. 15 is a front view (including a partial cross-section) illustrating a state in which gripping of the microplate by the plate gripper illustrated in FIG. 14 is released. It is a schematic block diagram which shows the state which moved the loader tray shown in FIG. 17 to the position just under an optical measuring device. It is a flowchart which shows the detail of the process sequence performed by the plate carrying-out control part shown in FIG. It is sectional drawing which shows a mode that the microplate mounted on the loader tray shown in FIG. 17 is accommodated in the collection | recovery stocker. It is a flowchart which shows the detail of the process sequence performed by the 2nd plate supply control part shown in FIG. It is a flowchart which shows the detail of the process sequence performed by the 2nd plate supply control part shown in FIG. It is sectional drawing which shows a mode that the 1st microplate is taken out from the stocker for supply shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Optical measuring device (microplate conveying apparatus), 2 ... Microplate, 2A ... Microplate with lid, 4 ... Lid, 4A ... Dummy lid, 7 ... Supply stocker, 8 ... Collection stocker, 9 ... Plate gripper , 11 ... supply cassette, 12 ... claw part (first claw part), 14 ... drive mechanism (claw part drive means), 19 ... collection cassette, 20 ... claw part (second claw part), 39 ... loader tray (Support member), 40 ... drive mechanism (second drive means), 41 ... drive mechanism (first drive means), 55 ... personal computer (PC), 56 ... transport control unit, 57 ... first plate supply control section (plate Extraction control means, plate gripping control means, lid recovery control means, plate supply control means), 58 ... second plate supply control unit (plate extraction control means, plate gripping control means, lid recovery control means, plate supply control) Means), 59 ... plate carrying out control unit (plate recovery control means).

Claims (7)

In the microplate transport device for supplying the microplate with the lid removed from the microplate with the lid to a predetermined position and collecting the microplate with the lid attached thereto,
A supply cassette for storing the microplate with lid including the microplate supplied to the predetermined position in a stacked state;
A collection cassette for storing the lidded microplate including the microplate collected from the predetermined position in a stacked state;
A plate gripper for gripping the microplate;
A support member that is disposed at a lower position of the supply cassette, the recovery cassette, and the plate gripper, and on which the microplate and the lid are placed;
First driving means for moving the support member in a height direction;
Second driving means for moving the support member in a direction perpendicular to the height direction;
The supply cassette is provided with a pair of left and right first claw portions that support the microplate or the lid and can be opened and closed to separate and remove the microplate of the microplate with lid from the lid,
2. The microplate transport apparatus according to claim 1, wherein the collection cassette is provided with a pair of left and right second claws that can open and close to support the microplate or the lid.   2. The microplate transport apparatus according to claim 1, wherein the supply cassette, the recovery cassette, and the plate gripper are arranged in a line.   The microplate transport apparatus according to claim 1, further comprising a claw drive means for driving the first claw parts so as to open each other. Plate removal control for controlling the first driving means and the second driving means so that the lid and the microplate stacked on the lid are taken out from the supply cassette and placed on the support member. Means,
Plate gripping control means for controlling the plate gripper, the first drive means, and the second drive means so as to grip the microplate mounted on the support member by the plate gripper;
Lid recovery control means for controlling the first drive means and the second drive means so as to accommodate the lid placed on the support member in the recovery cassette;
Plate supply control means for controlling the plate gripper, the first driving means, and the second driving means so that the microplate gripped by the plate gripper is again placed on the support member and moved to the predetermined position. When,
The plate recovery control means for controlling the first drive means and the second drive means so as to accommodate the microplate mounted on the support member in the recovery cassette. The microplate conveying apparatus as described in any one of -3. In the microplate transport method for collecting the microplate in a state where the lid is removed from the microplate with lid to a predetermined position and collecting the microplate in a state where the lid is attached,
A preparation step of preparing the microplate transport device according to any one of claims 1 to 3, and storing the microplate with a lid in the supply cassette in a stacked state;
A plate removal step of taking out the lid and the microplate stacked on the lid from the supply cassette and placing them on the support member;
A plate gripping step of gripping the microplate mounted on the support member by the plate gripper;
After performing the plate gripping step, a lid recovery step of storing the lid placed on the support member in the recovery cassette;
After performing the lid recovery step, a plate supply step of moving the microplate gripped by the plate gripper to the predetermined position again on the support member;
And a plate recovery step of storing the microplate mounted on the support member in the recovery cassette after performing the plate supply step. In the preparation step, a dummy lid is previously stored under the microplate located at the lowest side of the supply cassette,
When supplying the microplate located on the lowermost side of the supply cassette to the predetermined position, in the plate removal step, the microplate is taken out together with the dummy lid and placed on the support member. 6. The microplate transport method according to claim 5, wherein the plate gripping step, the lid recovery step, and the plate supply step are sequentially performed. In the preparation step, a dummy lid is previously stored in the collection cassette,
When supplying the microplate located on the lowermost side of the supply cassette to the predetermined position, in the plate take-out step, the microplate is taken out and placed on the support member, and in that state, the plate holding step The microplate transport method according to claim 5, wherein the plate supply step is performed while omitting the lid recovery step.

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