WO2001053839A1 - Systeme de transfert et de traitement de receptacles - Google Patents
Systeme de transfert et de traitement de receptacles Download PDFInfo
- Publication number
- WO2001053839A1 WO2001053839A1 PCT/JP2001/000224 JP0100224W WO0153839A1 WO 2001053839 A1 WO2001053839 A1 WO 2001053839A1 JP 0100224 W JP0100224 W JP 0100224W WO 0153839 A1 WO0153839 A1 WO 0153839A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- container
- liquid
- transport
- containers
- reagent
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L9/00—Supporting devices; Holding devices
- B01L9/54—Supports specially adapted for pipettes and burettes
- B01L9/543—Supports specially adapted for pipettes and burettes for disposable pipette tips, e.g. racks or cassettes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0401—Sample carriers, cuvettes or reaction vessels
- G01N2035/0418—Plate elements with several rows of samples
- G01N2035/0425—Stacks, magazines or elevators for plates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0439—Rotary sample carriers, i.e. carousels
- G01N2035/0441—Rotary sample carriers, i.e. carousels for samples
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0439—Rotary sample carriers, i.e. carousels
- G01N2035/0444—Rotary sample carriers, i.e. carousels for cuvettes or reaction vessels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/028—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations having reaction cells in the form of microtitration plates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1065—Multiple transfer devices
- G01N35/1074—Multiple transfer devices arranged in a two-dimensional array
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T436/00—Chemistry: analytical and immunological testing
- Y10T436/11—Automated chemical analysis
- Y10T436/113332—Automated chemical analysis with conveyance of sample along a test line in a container or rack
Definitions
- the present invention relates to a container transport processing system.
- the present invention relates to fields requiring various chemical reaction treatments, for example, engineering fields, agriculture fields such as food, agricultural and fishery processing, pharmaceutical fields, hygiene, health, immunity, disease, genetics, etc. It relates to all fields such as fields of science such as chemistry or biology.
- the present invention provides a high processing capacity by placing and transporting a plate-like container having a predetermined number of storage units in order to efficiently and rapidly perform processes such as DNA, immunological and chemical reactions.
- the present invention relates to a container transport processing system having high throughput. Background art
- the apparatus 200 has a line-shaped mounting portion 201 on which the plate-shaped container 11 is mounted, and is movable along the mounting portion 201.
- the container 11 placed on the mounting portion 201 is gripped, and is held in the mounting portion 201 along the longitudinal direction of the mounting portion 201 and orthogonal to the longitudinal direction.
- a robot 202 capable of transporting the container 11 out of the storage portion 201; and a plurality of robots 220 arranged along the longitudinal direction of the storage portion 201 and performing various operations on the container. It has various working devices 203, 204, 205, 206, 207, 208, and 209.
- the robot 202 includes a moving unit 211 that moves on a rail 210 laid along the longitudinal direction of the mounting unit 201, a polar coordinate type arm 211, and an arm thereof. 2 13 connected to the grip 2.
- Reference numeral 204 denotes a plate-stat force for accumulating plate-like containers
- reference numerals 205 and 206 denote dispensers
- reference numeral 205 denotes a thermal cycler
- reference numeral 207 denotes a thermal cycler
- Reference numeral 208 denotes a dispenser
- reference numeral 209 denotes a plate reader.
- one robot can only individually transfer one container at a time. For this reason, while the robot is transferring a container to a certain working device, it cannot transfer other containers.
- the processing capacity or processing speed as a whole was restricted by the transfer capacity of the robot, and there was a problem that the work could not be performed at high speed or efficiently as a whole.
- containers that are conveyed all at once by means of line-shaped conveyance means without using a robot and where various working devices are arranged along the conveyance means the containers are conveyed in only one direction. Since it is a structure that does not return once it passes through various working devices, it is necessary to adopt a configuration that does not proceed until the transition process to various working devices is completed. was there.
- both devices have a problem that the work time is not constant and varies depending on the processing conditions, so that it is not possible to determine the processing plan time and it is difficult to control the automation.
- both devices have a total processing time at each processing position. However, the processing time was added, and the processing capacity was degraded at an accelerated rate as the processing amount increased.
- the present invention has been made to solve the above technical problems, and the first object of the present invention is to provide uniform, uniform or regular transport along a large and fixed route, The successful combination of individual, voluntary or irregular transport with the free choice of work inside or outside the route simplifies overall structure and control, and reduces labor and cost for manufacturing and use.
- An object of the present invention is to provide a container transport processing system that is easy to use, efficient and can be operated efficiently.
- Secondary objectives are uniform, uniform or regular transport along large and defined routes, individual, voluntary or irregular transport, and freedom of work within or outside the route. By providing a good combination of appropriate selections and operations, each work is less affected by the amount and work time of other work, and is predictable and controllable in time. It is to be.
- the third objective is uniform, uniform or regular transport along large and defined routes, individual, voluntary or irregular transport, and freedom of work inside or outside the route. In the event of an accident such as a breakdown, the effect of the accident can be minimized, and the accident can be dealt with immediately.
- the purpose of the present invention is to provide a highly reliable container transport processing system that can perform such operations.
- the fourth objective is uniform, uniform or regular transport along large and defined routes, individual, voluntary or irregular transport, and freedom of work inside or outside the route.
- Flexible and scalable versatile container handling process that can be easily changed by increasing the number of processing units without making basic structural changes Is to provide a system.
- the fifth objective is to have a uniform, uniform or regular A good combination of transport, individual, voluntary or irregular transport, and the free choice of work inside or outside the route, allows the object to be treated in various ways. It is an object of the present invention to provide a diversified container transport processing system capable of performing various processes.
- the sixth objective is uniform, uniform or regular transport along a large and defined route, individual, voluntary or irregular transport, and freedom of work inside or outside the route. It is an object of the present invention to provide a container transport processing system capable of performing a large amount of processing at high speed and easily by properly combining the above-mentioned methods and selection. Disclosure of the invention
- a first invention is to mount a predetermined number of plate-shaped containers having a predetermined number of storage portions or chip racks storing a predetermined number of pipe chips, and A uniform transport means capable of simultaneously transporting along a route, a container working device for performing various operations on the container or its contents in the route, or the container or its contents outside the route, An individual transporting unit capable of individually transporting the container or the chip rack between an arbitrary position in a region including a place of the container of the container working device and the path of the uniform transporting unit;
- a container transport processing system comprising: a control unit configured to control transport of both transport means and operation of the container working device.
- the “plate-shaped container having a predetermined number of storage portions” is, for example, a container having storage portions (wells) of 48, 96, 384, or the like.
- the one in which the storage units are arranged in a matrix is called a microplate.
- the "tip rack for storing a predetermined number of pipette tips” is for storing pipe tips to be used by being attached to or detached from the container working device. It depends on the number and arrangement of nozzles in the container working device.
- the transport of the tip rack is required when a dispensing device using a detachable pipette tip or a magnetic particle processing integrated device is included as the container working device. Required if the integration device is a nozzle cleaning and reuse type Without.
- “Mounting a predetermined number” is arbitrarily determined according to the size of the container or the chip rack, the length of the path, the number that can be processed, the transport speed, and the like.
- the “working equipment for containers” is appropriately selected according to the contents of the processing performed by the container transport processing system.
- dispenser dispenser
- reagent tank constant temperature device
- luminescence measuring device plate reader for chemiluminescence, light absorption, fluorescence, etc.
- a large amount of containers and pipette tips are required for DNA function analysis, etc.
- storage devices such as reaction plates and chip racks, units that automatically supply large amounts of containers and dispensing tips, and PCR thermal It requires a circuit device, a PCR product purification device, and a sequence product generation device.
- a magnetic particle processing and accumulating apparatus can be added to collectively stir, wash, separate, and transfer the magnetic particles in the plate-shaped container.
- the “magnetic particle processing integrated device” has nozzles that suck and discharge liquid and chips that are detachably attached to the nozzles, which are arranged in a matrix, similarly to the container of the container.
- the chip has a magnetic portion capable of applying and removing a magnetic field in the chip.
- the control of the “transport” of the uniform transport means and the individual transport means by the control unit includes stop, transport speed, transport and stop time, transport cycle, transport and stop timing, transport and stop position, and the like. Also includes instructions and controls.
- the simultaneous conveyance means which can convey many plate-shaped containers all at once, and the individual conveyance means which can convey a container individually between arbitrary positions in which a container can be mounted are used. It was what was. Therefore, a large number of containers are simultaneously transferred between various container handling devices using a uniform transfer means that is suitable for large-scale, uniform, and periodic transfer processing, but cannot perform individual and diverse transfer processing. Not only is it possible to carry out large-scale transportation, but it is not suitable for large-volume transportation, but it is possible to use individual transportation means that can carry out individual, diverse or irregular and small-scale transportation. State of work Containers can be individually transported to any position, depending on the situation.
- the time-consuming work such as incubation is not performed on the transport route by the uniform transport means, but is performed outside the transport route, and the container at an arbitrary position in the route and the work are performed.
- the transport of the container to and from the installation position of the container working device is performed by the individual transport means.
- other work is not restricted by the work such as the incubation and the like, so that work efficiency can be improved.
- containers that delay work due to an accident are transported out of the route, and other containers are transported all at once by the uniform transport means, so that other operations are given priority and performed in small numbers. Due to the delay in container operation, it is possible to prevent the operation of most containers from being hindered and to perform efficient processing.
- the individual transport means enables transport between arbitrary positions over the entire area including the path of the uniform transport means, so that only the transport between fixed positions is performed. Since there is no need to provide a large number of special transport means, it is possible to contribute to simplification of the structure and reduction of the work space.
- each of the drawbacks can be filled, and a large amount, variety, and fine grain processing can be performed efficiently and at high speed.
- the containers can be placed in an arbitrary order without being bound by the position or the order along the transport path of the uniform transport means of the container working apparatus. Since the work can be performed for each device, the work can be performed sequentially from the device capable of performing the work according to the situation of the work, so that the efficiency and the processing speed can be increased.
- the path of the uniform transport means is closed, and the transport direction is possible in both forward and reverse directions along the path
- the individual transport means includes: A robot provided in an inner area surrounded by a path and capable of gripping the container or the tip rack, and an arm capable of moving the gripping part in the area; .
- the “closed path” is, for example, an annular or donut-shaped path.
- the uniform transport means having a circular path is particularly called a turntable.
- the arm of the robot is, for example, a polar coordinate type or a multi-joint type having one or more joints.
- the grip portion is configured to have, for example, a plate-like member attached in a substantially horizontal direction, and a holding element provided below the plate-like member and holding the container from both sides. Is done.
- the path of the uniform transport means is closed. Therefore, the processed container can be automatically returned to the original position. Therefore, it is not necessary for the individual transport means or the person to return the container to the original position, so that the processing procedure is simplified. Further, according to the present invention, a commercially available robot can be used as the individual transport means, so that it can be manufactured at low cost.
- the apparatus for working with a container comprises: accumulating the container or the tip rack; dispensing to the container; supplying a reagent for dispensing to the container; mixing in a container. Alternatively, it performs various operations such as stirring, dividing the contents of the container, keeping the container warm, cleaning the container, measuring the contents of the container, or cleaning the liquid passage inserted into the container.
- the container working device is for accumulating containers and the like. According to this, various processes can be performed on the container.
- one of the working devices for containers is a dispensing device
- the other working device for containers is a magnetic particle processing integrated device, a measuring device, a cooling device or a cooling device. It has one or more devices selected from a constant temperature device for heating, a storage device for the container or chip rack, a reagent supply device, a separation device, a precipitation device, or a container or a liquid passage cleaning device. Things.
- the robot has a rotation axis and a vertical movement axis along a direction perpendicular to a transport surface of the transport means within an area inside the uniform transport means. is there.
- the robot is supported so as to have a rotation axis along a direction perpendicular to the transfer surface of the transfer means, so that the entire transfer path is easily transferred by the rotation of the robot. can do.
- the path of the uniform transfer means is formed in an annular shape, and a rotation axis of the robot is provided concentrically with a rotation center of the uniform transfer means. is there.
- the path of the uniform transfer means is formed in an annular shape, and the rotation axis of the robot is aligned with the rotation center of the uniform transfer means, manufacturing is easy and positioning is easy. Control is easy because it depends only on the rotation angle.
- the robot is movable within a region inside the uniform transport means along a path direction of the uniform transport means. It is provided. '
- the present invention is suitable for the case where the path of the uniform transport means is longer and the number of containers to be handled is large.
- the robot is provided so as to be movable along a path direction of the carrying means within an area inside the uniform carrying means. Therefore, even if the transport route of the uniform transport means is large, a single robot can handle it. This contributes to the simplification of the structure and the reduction of manufacturing costs.
- the dispensing apparatus further comprises: a plurality of liquid passages through which a fluid passes, a magnetic force portion for applying a magnetic field to the liquid passage from the outside and removing the liquid passage, and the liquid passage.
- Dispenser having a pressure control unit for controlling the internal pressure to perform suction and discharge of fluid, and movement for relatively moving the dispenser or the liquid passage and the container. Part.
- a dispensing device capable of exerting a magnetic force in the liquid passage is provided in one of the container working devices. Therefore, a process using magnetic particles can be performed, so that various processes can be performed efficiently.
- the magnetic particle processing and accumulating apparatus further comprises a plurality of liquid passages arranged in a matrix so that a fluid passes through the inside, and applying and removing a magnetic field from outside to the liquid passages. And a pressure control unit that controls the pressure in the liquid passage to suction and discharge the fluid.
- a magnetic particle processing accumulator is provided in one of the container working devices. Therefore, high-speed and efficient processing can be performed on the magnetic particle suspension stored in each storage section of the plate-shaped container, so that various, high-speed and efficient processing can be performed on the magnetic particles. it can.
- the magnetic force portion can apply a magnetic force to each of the nozzles while remaining stationary near the outside of each of the liquid passages and remove the magnetic force.
- a magnetic force in the magnetic particle processing and accumulating apparatus, can be applied to and removed from each of the nozzles while remaining stationary near the outside of each of the liquid passages.
- a compact magnetic particle processing integrated device can be manufactured.
- the magnetic force portion is configured to magnetize and demagnetize a liquid passage outer member provided in contact with or in close proximity to the outer surface of each liquid passage. The magnetic force can be applied to the inside of each of the liquid passages and removed in a stationary state near the outside of the liquid passages.
- the magnetic force portion has a magnetic member formed of a magnetic material provided with a plurality of communicating portions through which the respective liquid passages communicate.
- the outer member is a wall of the communication part.
- the liquid passage outer member includes divided portions, and the divided portions are separated by magnetism so as to have opposite polarities. It is.
- a fourteenth invention is based on the fourth invention, wherein in the dispensing device or the magnetic particle processing accumulator, a region below a lower end of a whole liquid passage of the dispensing device or the magnetic particle processing accumulator is A receiving plate for receiving the liquid leaking from all the liquid passages is provided detachably.
- the receiving plate for preventing liquid leakage is provided below the lower end of the liquid passage, reliable processing without cross-contamination can be performed.
- the device for storing the containers or the chip racks stores the containers or the chip racks stacked vertically, and a plurality of axially symmetrically arranged housings.
- a rotation axis provided at the position of the axis of symmetry, a rotation mechanism for rotating about the rotation axis, and a vertical movement of the accommodation part based on the number of containers or chip racks accommodated in the accommodation part.
- a moving mechanism that moves to
- containers or chip racks can be stacked and accumulated compactly, the working space can be reduced and the working efficiency can be increased.
- the apparatus for cleaning the container comprises: a plurality of liquid passages that can be inserted into each of the housing portions of the container; a lifting mechanism that moves the liquid passage up and down; And a suction / discharge mechanism for discharging, the liquid passage includes an inner liquid passage and an outer liquid passage, the outer passage penetrates the inner passage, and the lower passage passes through the inner passage.
- the road is also provided with a slight protrusion, and the suction The discharge mechanism is controlled so as to discharge or suck the cleaning liquid from the inner passage, and to suction or discharge the cleaning liquid from the outer liquid passage.
- the mounted container can be cleaned reliably, efficiently and at high speed.
- the constant temperature device is provided with a mounting portion formed of a heat conductive material for mounting the container, provided below the mounting portion, and provided in a predetermined direction. It has a Peltier element driven by an electric current, a fin provided below the Peltier element, and a fan provided below the fin, and the mounting part, the Peltier element, and the fin are insulated.
- the fan is housed in a housing part having openings at the upper and lower ends, and the fan is attached to the opening at the lower end of the housing part.
- the container can be heated or cooled just by placing the container, it can be easily performed without increasing the scale of the device.
- the reagent supply device comprises: a plurality of reagent tanks formed of a translucent or semi-translucent material for containing the reagent; and supplying the reagent to the reagent tank.
- Pipes that communicate with the reagent source and whose tips are detachably inserted into the reagent tank, floats provided in the reagent tank, and pipes that are provided outside the reagent tank and directed toward the reagent tank It has a light emitting section for irradiating light, and a light receiving section provided outside the reagent tank and capable of receiving light from the reagent tank.
- the reagent supply device always detects the liquid level, and always supplies the reagent when the reagent contained in the reagent tank runs short. It is possible to store the reagent in a fixed amount.
- a pipe for supplying the reagent to the reagent tank is provided detachably. Therefore, the reagent tank can be easily attached and detached, and the reagent tank can be easily cleaned and replaced.
- a nineteenth invention is a dispensing device in which a receiving plate for receiving a liquid leaking from all the liquid passages is insertably inserted into and removed from a region below the entire liquid passage of the dispensing device. According to the nineteenth aspect, the same effects as those of the fourteenth aspect can be obtained.
- a twentieth invention is a magnetic particle processing and accumulating apparatus in which a receiving plate for receiving a liquid leaking from all of the liquid paths is provided so as to be able to be inserted into and removed from a region below the entire liquid path of the magnetic particle processing and accumulating apparatus.
- the apparatus for accumulating the containers or the chip racks is configured to store the containers or the chip racks stacked vertically and a plurality of housing portions arranged in an axially symmetric manner, and an axis of symmetry thereof.
- a rotating shaft provided at a position, a rotating mechanism for rotating about the rotating shaft, and a moving mechanism for vertically moving the housing based on the number of containers or chip racks housed in the housing. It is a container storage device having the following.
- the twenty-second invention has a plurality of liquid passages that can be inserted into each storage section of the container, an elevating mechanism that moves up and down the liquid passages, and a suction-discharge mechanism that suctions and discharges the liquid.
- the liquid passage has an inner liquid passage and an outer liquid passage, the outer passage penetrates the inner passage, and is provided at a lower end thereof so as to protrude slightly from the outer passage.
- the mechanism is a container cleaning device that is controlled so that the cleaning liquid is discharged from the inner passage and the cleaning liquid is sucked from the outer liquid passage. According to the twenty-second invention, the same effects as in the sixteenth invention can be obtained.
- a twenty-third invention is directed to a mounting portion formed of a thermally conductive material on which a container is mounted, a Peltier element provided below the mounting portion and driven by a current in a predetermined direction, and It has a fin provided below the Peltier element, and a fan provided below the fin, and the mounting part, the Peltier element, and the fin are formed of a heat insulating material, and the upper end and the lower end
- the fan is housed in a housing portion having an opening, and the fan is a constant temperature device attached to an opening at a lower end of the housing portion.
- the twenty-fourth invention contains a reagent formed of a translucent or semi-translucent member.
- a plurality of reagent tanks, a group of pipes communicating with a reagent source for supplying a reagent to the reagent tank, and having a tip removably inserted into the reagent tank, a float provided in the reagent tank, and the reagent A light-emitting unit provided outside the tank and irradiating light toward the reagent tank; and a light-receiving unit facing the light-emitting unit via the reagent tank and provided outside the reagent tank. It is a reagent supply device.
- the twenty-fifth aspect of the present invention is to dispose a predetermined number of plate-like containers having a predetermined number of storage portions arranged in a matrix or chip racks for storing a predetermined number of pipe chips along an annular path.
- a turntable that can be simultaneously conveyed in both forward and reverse directions, and the container or its container placed on the turntable, arranged along the path direction in an area outside the path of the turntable, or
- a gripper capable of gripping a chip rack, and a connection with the gripper, and placement of the container of the turntable and the container working apparatus are examples of the container of the turntable and the container working apparatus.
- a robot having an arm capable of moving a gripping portion thereof between arbitrary positions in a region including a portion, and individually transporting containers, transporting the turntable, working with the container working device, and the robot And a control unit that performs control of: a plurality of the anti-vessel working devices, a dispensing device, a magnetic particle processing integrated device, a cooling or heating constant temperature device, the container or the chip rack, A storage device, a reagent supply device, a container cleaning device, a nozzle / chip cleaning device, and a device for measuring the contents in the container.
- chip black refers to a matrix in which chips are arranged in a matrix corresponding to the magnetic particle processing integrated device, or a number of chips corresponding to the number of nozzles corresponding to the dispensing device. Some are arranged.
- the “container in the container” includes, for example, genetic materials such as DNA, biological macromolecules such as proteins, microorganisms such as cells and bacteria, and biological tissues of living organisms.
- FIG. 1 is a principle diagram of a container transport processing system according to an embodiment of the present invention.
- FIG. 2 is a detailed view of the container transport processing system according to the embodiment of the present invention.
- FIG. 3 is a front view and a plan view of the magnetic particle processing and accumulating apparatus according to the embodiment of the present invention.
- FIG. 4 is a front view and a plan view showing the dispensing device according to the embodiment of the present invention.
- FIG. 5 is a plan view showing a reagent supply device according to the embodiment of the present invention.
- FIG. 6 is a diagram showing a thermostat according to an embodiment of the present invention.
- FIG. 7 is a diagram showing a container cleaning device according to an embodiment of the present invention.
- FIG. 8 is a processing flowchart of the container transport processing system according to the embodiment of the present invention.
- FIG. 9 is another processing flow chart of the container transport processing system according to the embodiment of the present invention.
- FIG. 10 is a diagram showing a container transport processing system using another robot according to the embodiment of the present invention.
- FIG. 11 is a view showing a container transport processing system according to another embodiment of the present invention.
- FIG. 12 is a diagram showing a container transport processing apparatus according to a conventional example. BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 1 shows the principle of a container transport processing system 10 according to the present embodiment.
- the container transport processing system 10 is a plate-like container 11 having, for example, 96 (8 ⁇ 12) accommodation units arranged in a matrix or arranged in a similar manner.
- a turntable 12 is provided as a simultaneous transport means for simultaneously transporting the wafers.
- the inner bottom of the housing portion of the container 11 is formed to have a round bottom so that when a chip is inserted, suction or discharge can be performed while the chip is in contact with the bottom. Formed.
- a base table 13 is provided in an area outside the path of the turntable 12, and a rotation table provided concentrically with the rotation center of the turntable 12 is provided in an area inside the turntable 12. It has a shaft, is provided rotatably at least ⁇ 360 °, and has a robot 14 for individually transporting the containers 11 or the chip racks one by one.
- the container transport processing system 10 includes a keyboard, a mouse, a touch panel, a floppy disk drive, an input unit such as a communication device, etc., for inputting or instructing processing or work contents by a user, and a CRT, a liquid crystal display.
- Operating device including an output unit including a display unit such as a printing unit or a communication unit, a floppy disk driver, etc .; And the like (not shown).
- the chip rack 37 can be transported.
- the mouth bot 14 is connected to the hand part 16 which is a holding part capable of holding the container 11 or the chip rack, and the hand part 16, and the turn table 12 and the paired container Working device 15 ⁇ ⁇ 15 8 of said container 11 or chip And an arm 24 that enables the hand 16 to move within an area including the position where the rack is placed.
- the arm portion 24 is rotatably connected to the hand portion 16 via a connecting portion 17 so as to be rotatable through the first arm 18 and the first arm 18 and the joint portion 20.
- the present invention is an articulated robot having a second arm 19 connected to the robot and a base 21 rotatably connected to the second arm 19 via a joint 22.
- the base 21 of the robot 14 has a rotation axis 23 concentric with the rotation center of the turntable 12.
- the arm portion 2 4 wherein it is assumed that the collision with each pair container working devices 1 5 i ⁇ 1 5 8 is controlled so as not to cause.
- FIG. 2 (a) shows the whole of the container transfer system 1 0 further detail, the pair container working devices 1 5 t to 1 5 8, for example, pre-Symbol
- a storage device 15 for storing the container 11 chip black 37 outside the transfer route; a thermostatic device 15 2 to 15 5 for heating or cooling the container 11 outside the transfer route; the transfer route container washing device 1 5 6 for cleaning the respective accommodating portions of the vessel 1 1 outside, for suspensions containing magnetic particles stored in the container 1 1 in the conveying path performs various processing also tip rack 3 7
- a magnetic particle processing and accumulating apparatus 15 for attaching or detaching a chip from a plurality of dispensing apparatuses 15 8 for dispensing the container 11 outside the transport path, and a transport path
- a reagent supply device for supplying various reagents to the container 11 outside.
- Each of the containers 11 to be processed by the container transport processing system 10 is provided with four fasteners 11a for each container 11 at each corner of the container 11 so that the turntable 1 2 It is fixed so that the position does not shift.
- the grip 16 of the robot 14 includes an L-shaped member 16 a and a holding portion 16 b provided below the L-shaped member 16 a. And a motor 16c for driving the holding portion 16b are connected to the arm portion 18 via a connecting portion 17.
- the turntable 12 is driven by a motor 25 through a timing belt 26. And is driven to rotate.
- a bearing 27 is provided between the turntable 12 and the base table 13.
- the storage room 30 is provided with a door 31 that can be opened and closed.
- the storage chamber 30 is provided with a display device 32 for displaying the processing result of the container transfer processing system 10, the state of the processing, the setting of the processing, and the like. Further, the storage chamber 30 may be provided with an exhaust hole (not shown) with a filter for exhausting the gas accumulated in the storage chamber 30.
- FIG. 2 (b) below the turntable 1 2 and the base tables 1 3, to reservoir reagent you supplied to the reagent supplying device portion 3 3 where the dispensing device 1 5 8 accommodating the reagent dispensing a reagent bottle 3 4, a bottle 35 that savings reservoir of cleaning fluid supplied to the cleaning device 1 5 6 supplies air blower one (blower) 3 6 is provided in the cleaning device 1 5 6 and the like.
- the container storage device 15i has storage portions 38, 39 for storing the plate-shaped container 11 and the chip rack 37, and arranging them in an axially symmetric manner.
- the rotational axis 40, the motor 41 for rotating each of the housing sections 60 around the rotary axis 40, and the housing sections 38, 39 are arranged in the symmetric axis position in the vertical direction. Motor to move
- Reference numeral 43 denotes a bearing.
- casters 43 and 45 and legs 44 and 46 may be provided in the outer container accumulating device 15 1 and the accommodation chamber 30 so as to be movable.
- This magnetic particle processing integrated device 1 5 7 8 rows are arranged in a matrix X 1 two rows of pipette tip 5 0 (only 1 two columns), inserted removably its tip 5 0 Nozzle 5 1 (8 rows x 1 2 columns, but only one is shown for simplicity) and cylinder 5 2 (8 rows x 1 2 columns, which communicates with the nozzle 51) Only one cylinder is shown in the figure), and matrix-shaped bistons 5 3 (8 rows x 1 2 columns are contained in each cylinder 52 so as to be able to move up and down, but for simplicity (Only one is shown).
- the piston 53 is attached to the moving body 54 above the piston 53.
- the moving body 54 is provided slidably with respect to the syringe board 57 along a rail 56 laid in the vertical direction via a guide section 55.
- the moving body 54 is rotatably connected to a lower end of a ball screw 58, and the ball screw 58 is screwed with a nut 59.
- the nut portion 59 is driven to rotate by a motor 60 via a timing belt 61.
- the motor 60, the cylinder 52, the nozzle 51, and the pit tip 50 are fixed to the syringe board 57.
- the syringe substrate 57 and the nozzles / 51, cylinders 52, and pipette tips 50 fixed thereto are vertically moved by the vertical movement mechanism 62.
- the vertical movement mechanism section 62 includes a rail 64 for guiding a guide section 63 fixedly provided on the syringe board 57, and a nut section 65 connected to the guide section 63 of the syringe board 57.
- a ball screw 66 screwed with the nut 65, and a motor 68 for rotating the ball screw 66 via a coupling 67 to move the nut 65 up and down. ing.
- the lower end of the ball screw 66 is rotatably supported by a bearing 64.
- the vertical movement mechanism 62 is supported movably in the radial direction by a rail base 70 provided along the radial direction of the turntable 12, and the rail base 70 is supported by It is fixed to the base table 13 by a table 71.
- a receiving plate 72 for receiving the liquid leaking from the pipe tip 50 can be pulled out of a region below the tip 50 in the figure below the vertical movement mechanism 62. It is provided in.
- Reference numeral 73 denotes a motor that is moved to insert and remove the receiving plate 72.
- the receiving plate-72 is formed of a flexible material, and in the retracted position, as shown in FIG. 3 (b). Bend along curved surface 74.
- a magnetic force portion 75 is provided at the lower end of the vertically moving mechanism portion 62 and below the receiving plate 72.
- the position of the magnetic force part 75 can be adjusted to the lower end of the vertical movement mechanism part 62 in the left and right direction in the figure via a guide part 76 and a rail 77 guiding the guide part 76.
- a magnetic body 79 having a large number of communicating portions through which the chips 50 arranged in a matrix can be passed, while being magnetically connected to the magnetic field source 78 and the magnetic field source 78. have.
- reference numeral 80 denotes a chip or nozzle cleaning device
- reference numeral 81 denotes an opening for detaching and disposing of the chip
- Reference numeral 82 denotes a motor for moving the portion including the vertical movement mechanism 62 in the radial direction of the turntable 12
- reference numeral 83 denotes a portion including the vertical movement mechanism 62. This is a support portion for slidably supporting the rail base 70.
- Its dispensing device 1 5 8 comprises a plurality communication, for example, the nozzle of the eight consecutive.
- the piston 87, nut portion 88, ball screw 89 and motor 90 constitute a suction / discharge mechanism 91.
- the whole of the suction / discharge mechanism 91, the pipe tip 85, and the cylinder 86 with the nozzle are fixed to a support member 92, and these pipette tips 85, etc. are connected via the support member 92. It is vertically movably supported by a vertical movement mechanism 93.
- the vertical movement mechanism 93 has a ball screw 94 screwed with a nut (not shown) provided on the support member 92, and the ball screw 94 is connected via a timing belt 96. It is rotationally driven by a motor 95.
- a receiving plate 97 provided at the lower end of the vertical movement mechanism 93 so as to be able to be inserted into and removed from a region below the chip 85 in order to receive liquid leakage from the tip of the chip 85.
- a motor 98 for pulling out the receiving plate 97 is provided.
- the vertical movement mechanism 93, the suction / discharge mechanism 91, the pit tip 85, and the like are provided with a motor 101 and a belt 10 in the front-rear direction along a Lenore 100 provided on the arm 99. It is movably provided by 1a.
- the entire mechanism including the arm 99 is fixed on a base table 13 supported by a base 102.
- the plate 1 1 a number of yield capacity portion is provided, the reagent supply section 3 3 for supplying reagent, the Nozzle A chip rack 103 for holding a chip to be attached to the attached cylinder 86 or a detached chip is provided.
- the tip rack 103 may be transported by the turntable 12 described above. Note that the tip racks 37 and 103 are placed under the tip rack 103 to prevent cross contamination between adjacent chips when loading used chips for reuse.
- a cover may be provided on the side for partitioning each chip. This force par is, for example, one in which a hole through which a chip can be inserted is provided in polystyrene foam.
- FIG. 5 shows the reagent supply section 33 in detail.
- a spherical float 111 that floats on the liquid surface of the contained reagent is provided at one end 112 of the reagent tank 110 so as to be vertically movable.
- each reagent tank 110 The tip of a thin metal pipe 113 for supplying a reagent is inserted into each reagent tank 110 so that it can be inserted and withdrawn from above the opening of each reagent tank 110.
- Each of the pipes 113 is attached to a holding part 116 provided in such a manner as to be openably and closably connected to a frame 114 of the reagent supply part 33 and a hinge 115.
- the pipe 113 is connected to a flexible pipe 117 communicating with a tank for storing a reagent. ing.
- the flexible tube 1 17 is attached to a flexible tube mounting portion 1 19 of the pipe retaining portion 1 18.
- the pipe retaining section 118 is for opening the retaining section 116 to retain the pipe 113 when the pipe 113 is pulled out of the reagent tank 110.
- Reference numeral 120 denotes a cutout for inserting and holding the pipe 113.
- the reagent supply section 33 includes a light-emitting element (light-receiving element) 121 and a light-receiving element (light-emitting element) 122 each having the optical axis formed of a translucent or translucent material. It is provided so as to pass through a predetermined position range of the reagent tank 110. When a predetermined amount of the reagent is accommodated in the reagent tank 110, the float 111 is in the predetermined position range, and the float 111 causes the light emitting element 112 (112). The light of 2) is blocked, and the amount of light received by the light receiving element 122 (or 121) becomes less than a certain value.
- the float 1 11 becomes equal to or less than the predetermined position range, and the light receiving element 1 2 2 (1 2 1) becomes the light emitting element 1 2 1 (1 2 2).
- the light receiving element 1 2 2 (1 2 1) becomes the light emitting element 1 2 1 (1 2 2).
- Reference numeral 123 denotes an aluminum block for cooling the reagent.
- FIG. 6 shows the constant temperature device 15 2 to 15 5 for heating or cooling.
- the constant temperature device 15 2 to 15 5 is a heat conductive member 1 on which the container 11 is placed. 30 and a Peltier element 13 1 serving as a heat source or a cooling source depending on the direction of the flowing current.
- heat is generated on the upper surface of the Peltier element 13 1 and current is passed so that the lower surface is cooled.
- the upper surface is cooled and the lower surface is heated. The current so that
- FIG. 7 shows a plate-shaped container washing apparatus 1 5 6.
- the plate-shaped container washing apparatus 1 5 6 is a device for cleaning the placed a plate-like container 1 1, arranged in Matoritasu shape to be inserted into each of the accommodating portions of the plate-shaped container 1 1 It has a double pipe 140.
- the double pipe 140 comprises an outer pipe 141 and an inner pipe 142 penetrating through the outer pipe 141. .
- the inner pipe 14 2 is for injecting or discharging the cleaning liquid to each storage section, and communicates with the cleaning liquid bottle 35 via a cleaning liquid storage section 144 for temporarily storing the cleaning liquid before discharging.
- the outer pipe 14 1 is for sucking the cleaning liquid jetted or discharged into each of the storage sections.
- the outer pipe 14 1 communicates with the cleaning liquid discharge section 144, and suction is performed using the blower 36. Discharge is performed.
- the cleaning liquid includes, for example, distilled water.
- the double pipe 140, the cleaning liquid storage section 144, and the cleaning liquid discharge section 144 are attached and fixed to the mounting section 144.
- the mounting part 144 is connected to the nut part 144, and the nut part 144 is screwed with the ball screw 144, and by rotating the ball screw 144, the nut part 144 is formed.
- the mounting part 144, and therefore the double pipe 140 moves up and down.
- the ball screw 147 is driven to rotate by a motor 149 via a timing belt 148.
- the mounting portion 144 is provided with a guide portion 152.
- the guide portion 152 is guided by a rail 153 and moves up and down, so that the mounting portion 144 is stable. Move up and down.
- the suction / discharge operation can be performed at various positions in the vertical direction in the storage section by moving the double pipe 140 up and down, so that the washing can be reliably performed.
- the injection amount of the cleaning liquid can be set variably, so that the apparatus can be adapted to containers having various capacities.
- the control unit recognizes the processing content. Then, as shown in Figure 8, In S1, the robot 14 takes out the container 11 in each of which the sample such as the sample is stored from the storage device 15, transports the container, and places it on the turntable 12. Place.
- the magnetic particles are coated with a capture substance necessary to capture the target substance.
- step S3 the robot 14 takes out the chip rack 37 in which the chips 50 are arranged from the container storage device 15, transports the chip rack 37, and places it on the turntable 12 . Its tip rack 3 7, the turntable 1 2 by the connexion, the conveyed near the magnetic particle processing integrated device 1 5 7, in step S 8, in the path of its, the magnetic particle processing integrated device 1 5 7 is lowered onto the chip black 37 so as to be mounted collectively on the nozzle 51.
- step S7 the dispensed container 1 1 the conveyed by being placed on the turntable 1 2, in step S 9, by the turntable 1 2, Ru is transported to the vicinity of the magnetic particle processing integrated device 1 5 7.
- Step S 1 the magnetic particle processing integrated device 1 5 7 the piperidines Ttochippu 5 0 mounted to the nozzle 5 1 is inserted into the container 1 1, the process of pairs is performed to the magnetic particles.
- the processing includes suction, discharge, stirring, separation, dissociation of the target substance, resuspension, and the like.
- step S11 the dissociated target substance is stored in the container 11 together with necessary reagents, placed on the turntable 12, and transported.
- step S13 the container 11 is moved by the robot 14 (the turntable 12 may be used). It is conveyed to the Jo container washing device 1 5 6, washing processing in step S 1 4 Is performed.
- the washed container 11 is conveyed by a robot in step S15, and is placed on the turntable 1.2. Further, the magnetic particle processing integrated device 1 5 7 piperidines Ttochippu 5 0 used is attached to, if necessary in the treatment of the magnetic grains terminal of the step S 1 0, washed shown in FIG. 3 (b) Cleaning is performed with the device 80 attached to the nozzle.
- the used chip 50 that is no longer needed in step S12 is detached, accommodated in the chip rack 37, transported to the vicinity of the storage device 15 on the turntable 12 and then moved by the robot 14 Alternatively, it may be accommodated in the storage device 15.
- step S 1 wherein the target substance and the container 1 1 reagent is accommodated necessary, be conveyed to the vicinity of one of the thermostat 1 5 2 to 1 5 5.
- Step S 1 6 by the robot 1 4, it is placed on either the thermostat 1 5 2 to 1 5 5, the incubation is performed in step S 1 7.
- step S 1 8 the robot 1 4, raised Ri taken the vessel 1 1 from any of the thermostat 1 5 2-1 5 5, the turntable The container 11 is transported and placed up to 12
- step In S21 the magnetic particles are processed.
- a suspension of magnetic particles is newly mixed in the container 11, the processed target substance is captured by the magnetic particles, the residual liquid is removed, the target substance is dissociated, and a new container is prepared.
- the vessel 1 1 having expropriated the treated target substance in step S 2 2 conveyed by the turntable 1 2, the robot 1 4, accommodated in the storage device 1 5 x.
- step S 2 4 robot 1 4 (even if turn table 12 is also used It conveyed to the plate-shaped container washing apparatus 1 5 6 by good), washed with Step S 2 5, and conveyed to the turntable 1 2 again again robot 1 4 in Step S 2 6, eventually the robot 1
- the transfer by the robot 14 is performed by the turntable 12 when the container 11 approaches each of the container working devices. And increase overall processing speed and efficiency.
- step S17 for simplicity of explanation, an example of the processing flow in the case where attention was paid only to processing using one target substance was shown, but other processing was performed continuously or as shown in FIG.
- step S21 By performing the processing in parallel between the processing of step S17, step S10, and step S21, the processing can be performed efficiently and quickly.
- Step S 101 the robot 14 takes out the plate-like container 11 having five 96-units, the storage device 15 i, and the turntable 1. 2 to sequentially transport and place.
- Step S 1 0 2 to transport the container 1 1 to the vicinity of the dispensing device 1 5 8, in Step S 1 0 4, by the robot 1 4, in the work area of the dispensing machine 1 5 8 Nima Convey sequentially.
- Step S 1 0 5 in the dispenser 1 5 8 sequentially, the first container dispensed sample minutes, the second container dispensed suspension of magnetic particles minute, the third The binding buffer solution is dispensed into the container, the 70% ethanol solution is dispensed into the fourth container, and the loading buffer solution is dispensed into the fifth container.
- the magnetic particles are coated with the necessary capture material.
- the robot 14 takes out the chip rack 37 in which 96 chips 50 are arranged in a matrix from the storage device 15, in step S 103. , And is placed on the turntable 12. Its tip rack 3 7, the pre-Symbol turntable 1 2 is conveyed to the magnetic particle processing integrated device 1 5 7. In Step S 1 0 8, on its path, its magnetic '
- step S107 the five containers 11 dispensed in step S107 are sequentially conveyed by the robot 14 and placed on the turntable 12, and in step S109, the by the turntable 1 2 is conveyed to the magnetic particle processing integrated device 1 5 7.
- step S 1 1 wherein each of the magnetic particle processing integrated device 1 5 7 the piperidines Ttochippu 5 0 which are arranged in the nozzle 5 1 mounted the 9 six matrix is the first in the first container The sample is inserted into the container and aspirated.
- the pipet 50 that has sucked the sample rises and rises, and when the second container is conveyed directly below the pipet 50, it is inserted into each of the receiving portions of the second container to magnetize the sample. '1 ⁇ Discharge into the suspension of raw particles and aspirate the mixture.
- the pipe tip 50 that has sucked the mixture rises again, and when the third container is conveyed directly below the pipe tip 50, the mixture is discharged into a binding buffer solution. I do.
- Step S 1 1 the third container is conveyed to the vicinity of one of the said supplies temperature of the turn table 1 2 1 5 ° C thermostatic device 1 5 2-1 5 5, stearyl in-up S 1 1 2, by the robot 1 4, is placed the third container to one of the thermostat 1 5 2-1 5 5, in step S 1 1 3, for example, 5 minutes static Place.
- Step S 1 1 After a lapse of 5 minutes, the robot 14 again puts it on the turntable 12 in step S114.
- Step S 1 1 5 and conveyed to the third container comes to the working area of the magnetic particles slave processing integrated device 1 5 7, in step S 1 1 6, the piperidines Ttochippu 5 0
- the third After being inserted into each container of the container, with the magnetic field applied to the pipe tip 50, the mixed liquid is sucked, and the magnetic particles are adsorbed on the inner wall of the pipe tip 50 and separated. To raise. Then, the third container is transported to and removed from the storage device 15 by the turntable 12 and the mouth bot 14 while retaining the remaining liquid.
- the magnetic particles piperidines Ttochi-up 5 0 adsorbed on the inner wall of each housing And resuspended by repeating suction and discharge in a 70% ethanol solution (50 ⁇ l) with the magnetic field removed.
- Step S 1 1 7 the fourth container, by the turntable 1 2 and comes close to any of the thermostat 1 5 2-1 5 5, in step S 1 1 8, the robot 1 According to 4, it is conveyed to any of the thermostats 15 2 to 15 5 at 80 ° C. to 90 ° C. and left for 2 minutes.
- step S119 after 2 minutes have passed, in step S120, the robot 14 places the fourth container on the turntable 12, and in step S122, When the fourth vessel is fed transportable to a 'working area of the magnetic particle processing integrated device 1 5 7, in step S 1 2 2, inserting the pipette tip 5 0 each yield capacity of the fourth container
- the magnetic particles are attracted to the inner wall by applying a magnetic field, and the magnetic particles are lifted in a separated state by being adsorbed on the inner wall.
- the fourth container is transported and removed with the residual ethanol remaining therein.
- said piperidines Ttochippu 5 0 the magnetic particles were adsorbed on the inner wall is inserted into KakuOsamu volume portion, wherein Resuspend by repeating suction and discharge in a loading buffer solution 2-5 ⁇ l with the magnetic field removed. Thereafter, the suspension is sucked in a state where the magnetic field is applied, and the magnetic particles are adsorbed on the inner wall of the pipette tip 50 to be separated and removed, whereby the cleanup product is contained in the fifth container. Will be generated.
- Step S 1 2 3 the fifth container, when the turntable 1 2 is conveyed to the vicinity of the accumulated apparatus 1 5 sigma, in Step S 1 2 4, by the robot 1 4, storage device It will be stored in 15i and used for the next process.
- this processing is performed for 96 samples and 96 chips
- cross-contamination can be completely prevented.
- the turntable 12 six mounting positions for containers and the like including a chip rack are used. Since the turntable 12 has 12 positions for placing containers and the like, in the present embodiment, the two processes are performed concurrently by adjusting the incubation time. Can be.
- the process uses a pipette tip that can be attached to and detached from the nose ⁇ /, but instead of this process, a process for washing the dispensing tip and washing the container is included, and the turntable is removed. It is possible to reduce the number of use locations on (1) and (2), and further increase the number of processes to be performed simultaneously.
- FIG. 10 shows a container transport processing system according to another embodiment.
- the container transfer processing system uses a polar coordinate type robot 160 instead of the articulated robot 14.
- the robot 160 has a rotation shaft provided in the inner area of the turntable 12 and provided concentrically with the rotation center of the turntable.
- the robot 160 is provided with an arm 161 provided above the turntable 12 from the center of rotation along a radial direction, and an arm 161 provided below the arm 161, and a plate-shaped container as described above.
- the arm 16 has a hand portion 162 that is gripped from the side in a direction perpendicular to the longitudinal direction of the arm 161.
- a nut portion 163 is attached to the arm 161, and the nut portion 163 is screwed into a ball screw 164 provided along the vertical direction.
- the ball screw 164 is driven to rotate by a motor 165 via a timing belt 166 to move the arm 161 in the vertical direction.
- the hand part 16 2 is connected to a nut part screwed into a ball screw 16 4 provided on the arm 16 1, and the hand part 16 2 is turned by the rotation of a motor 16 8. 2 is provided so as to be able to advance and retreat in the radial direction.
- the hand section 162 is provided by an air cylinder 169 so as to be movable in a direction orthogonal to the longitudinal direction of the arm 171, and can grip an object.
- the container transfer processing system using the robot 160 is suitable for a case where the scale is smaller than the case where the above-described articulated robot 14 is used.
- FIG. 11 shows a container transport processing system 180 according to another embodiment.
- the container transport processing system 180 is a device suitable for a case where the number of containers to be transported is much larger than the container transport processing system according to the above-described embodiment.
- the container transfer processing system 180 differs from the container transfer processing system 10 described above in that the turntable 181, which is a uniform transfer means, has containers 11 concentrically arranged in two rows in each row. There are 30 containers per row, for a total of 60 containers. On the turntable 181, a chip rack 182 can be placed in addition to the container 11.
- a robot (not shown) is provided inside the transfer path of the turntable 181 so as to be movable along a closed rail 183 laid circumferentially. Further, in the external region of the turntable 181, various devices as the container working device are arranged along the path.
- the work equipment for containers has a rotary type microphone mouth stocker 184 that accumulates the plate-shaped container 11 and an integrated process that can collectively dispense the 96 containers of the container 11
- Apparatus 1 8 5 Dispenser 1 8 6 with 8 nozzles Plate stacker 1 8 7 that can stack 20 levels of microphone opening plate 1 1 8 in the lamination section 1 8 8 at low temperature
- 1 8 7 Microplate 1 1 plate reader 1 8 9 for reading the displayed information
- the microplate thermostat for maintaining a high temperature state 1 9 0 I 1 9 0 2 1 9 0 3, 1 9 0 4, dispenser 1 9 and a drive control personal computer 19 2.
- Reference numeral 193 denotes a transport line supply unit 193 for supplying the container 11 onto the turntable 181.
- each container working device has eight units, and The processing performed in was only the processing related to the magnetic particle processing integrated device.
- the number of anti-vessel working devices is not limited to this case, and even if the number is less than this, other types of anti-vessel working devices may be added.
- Such devices include, for example, PCR thermal circuits and chemiluminescent (fluorescence, absorbance) plate readers.
- the processing performed in the path is not limited to the case of the magnetic particle processing integrated device, and other processing may be performed in the path.
- a stirrer for shaking the container to stir the contents of the container.
- a work area can be provided on the route not only for the magnetic particle processing and accumulating apparatus, but also for the dispensing apparatus and the cleaning apparatus. You can save time and get faster.
- the container working device may be made movable to the extent necessary to avoid collision or contact with the robot.
- containers having a plurality of types of shapes may be selectively used according to the processing content. For example, in a normal process, a container having a round bottom is used for each container, but in a process including a PCR, a container having a smaller diameter container may be used.
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- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Clinical Laboratory Science (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
- Specific Conveyance Elements (AREA)
- Control Of Conveyors (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE60130320T DE60130320T2 (de) | 2000-01-17 | 2001-01-16 | Behältertransfer und verarbeitungssystem |
EP01900785A EP1256808B1 (en) | 2000-01-17 | 2001-01-16 | Container transfer and processing system |
US10/181,582 US6691748B1 (en) | 2000-01-17 | 2001-01-16 | Container transfer and processing system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000-7279 | 2000-01-17 | ||
JP2000007279A JP4141608B2 (ja) | 2000-01-17 | 2000-01-17 | 容器搬送処理システム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001053839A1 true WO2001053839A1 (fr) | 2001-07-26 |
Family
ID=18535674
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2001/000224 WO2001053839A1 (fr) | 2000-01-17 | 2001-01-16 | Systeme de transfert et de traitement de receptacles |
Country Status (5)
Country | Link |
---|---|
US (1) | US6691748B1 (ja) |
EP (1) | EP1256808B1 (ja) |
JP (1) | JP4141608B2 (ja) |
DE (1) | DE60130320T2 (ja) |
WO (1) | WO2001053839A1 (ja) |
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WO2003070874A1 (fr) * | 2002-02-22 | 2003-08-28 | Sanyo Electric Co., Ltd. | Dispositif de culture et recipient de stockage |
US7947512B2 (en) * | 2003-04-15 | 2011-05-24 | Universal Bio Research Co., Ltd. | Dispensing cylinder, large capacity dispensing device, and method of using large capacity dispensing device |
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Also Published As
Publication number | Publication date |
---|---|
JP4141608B2 (ja) | 2008-08-27 |
JP2001194372A (ja) | 2001-07-19 |
EP1256808A4 (en) | 2003-09-03 |
DE60130320T2 (de) | 2008-05-29 |
EP1256808A1 (en) | 2002-11-13 |
US6691748B1 (en) | 2004-02-17 |
DE60130320D1 (de) | 2007-10-18 |
EP1256808B1 (en) | 2007-09-05 |
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