WO2023157834A1 - Système d'examen - Google Patents

Système d'examen Download PDF

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Publication number
WO2023157834A1
WO2023157834A1 PCT/JP2023/004982 JP2023004982W WO2023157834A1 WO 2023157834 A1 WO2023157834 A1 WO 2023157834A1 JP 2023004982 W JP2023004982 W JP 2023004982W WO 2023157834 A1 WO2023157834 A1 WO 2023157834A1
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WO
WIPO (PCT)
Prior art keywords
tray
robot
hole
inspection system
hand
Prior art date
Application number
PCT/JP2023/004982
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English (en)
Japanese (ja)
Inventor
友希男 岩▲崎▼
尚吾 久保田
佳祐 宮下
昴大 塩谷
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Publication of WO2023157834A1 publication Critical patent/WO2023157834A1/fr

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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

Definitions

  • This disclosure relates to an inspection system.
  • Japanese Unexamined Patent Application Publication No. 2022-13759 discloses a PCR test pretreatment automation apparatus that includes a robot and a conveyor for transporting specimen collection containers.
  • the sample collection container contains a sample collected from a subject.
  • a specimen collection container containing a specimen is placed on a conveyor.
  • the conveyor conveys the specimen collection container to the vicinity of the robot.
  • a syringe is attached to the robot, and the sample is aspirated from the sample collection container by the syringe. After that, the sample sucked into the syringe is discharged into the test container.
  • a plurality of specimen recovery containers are placed on the conveyor.
  • a plurality of specimen collection containers are placed on the conveyor in a random state.
  • the present disclosure provides an inspection system that allows a robot to appropriately collect specimens from specimen containers.
  • An inspection system includes a robot arranged in an inspection unit, a tray arranged in the inspection unit on which a plurality of sample containers are arranged, and a tray on which a plurality of sample containers are arranged. and a conveying device including a conveying unit that conveys to.
  • an inspection system includes a transport device that includes a tray on which a plurality of sample containers are arranged and a transport unit that transports the tray on which the plurality of sample containers are arranged to a robot.
  • a transport device that includes a tray on which a plurality of sample containers are arranged and a transport unit that transports the tray on which the plurality of sample containers are arranged to a robot.
  • a sample can be appropriately collected from a sample container by a robot.
  • FIG. 1 is a plan view showing the configuration of an inspection system according to one embodiment
  • FIG. FIG. 4 is a plan view showing the configuration of the uncapped dispensing unit according to one embodiment.
  • FIG. 3 is a perspective view showing the configuration of a sample supply section according to one embodiment
  • Figure 400 is a cross-sectional view along line 400-400 of Figure 3
  • FIG. 4 is a perspective view showing the configuration of a first hand according to one embodiment
  • FIG. 4 is a conceptual diagram showing the configuration of a first hand and sensors according to one embodiment
  • FIG. 5 is a perspective view showing the configuration of a second hand according to one embodiment
  • 4 is a perspective view showing the configuration of a reagent supply unit according to one embodiment
  • FIG. FIG. 4 is a flow diagram illustrating an inspection procedure of an inspection system according to one embodiment
  • FIG. 11 is a cross-sectional view of a tray according to a modification;
  • the vertical direction is defined as the Z direction.
  • the upper side is the Z1 side
  • the lower side is the Z2 side.
  • the direction orthogonal to the Z direction is defined as the X direction.
  • One side in the X direction is the X1 side
  • the other side is the X2 side.
  • a direction perpendicular to the Z direction and the X direction is defined as the Y direction.
  • One side in the Y direction is the Y1 side, and the other side is the Y2 side.
  • the inspection system 200 includes an uncapped pipetting unit 1, a nucleic acid extraction unit 2, a reagent adjustment unit 3, a PCR measurement unit 4, and an overall control panel 5.
  • the uncapped dispensing unit 1 pretreatment for measurement is performed on the sample.
  • nucleic acid extraction unit 2 nucleic acid is extracted from the specimen as pretreatment of the specimen.
  • the reagent adjustment unit 3 adjusts the reagent.
  • PCR measurement unit 4 a process of measuring whether or not the sample contains an infectious virus is performed by RT-PCR test.
  • a control panel and a distribution panel are arranged in the general control panel 5 .
  • the uncapped dispensing unit 1 is an example of an inspection unit.
  • the uncapped dispensing unit 1 includes a specimen supply section 10 , a DWP supply section 20 and a tip supply section 30 .
  • DWP means deep well plate.
  • the uncapped dispensing unit 1 also includes a robot 40 , a first hand 50 , a second hand 60 , and a sensor 51 .
  • the uncapped dispensing unit 1 also includes a sample capper section 70 , a barcode reader 71 , a dispensing work table 80 , a reagent supply section 90 , a chip table 100 , a PC/NC table 110 , and a chip disposal section 120 .
  • PC and NC denote positive and negative controls, respectively.
  • the uncapped dispensing unit 1 also includes a delivery table 130 .
  • the uncapped dispensing unit 1 also includes a control section 140 .
  • the sample supply unit 10 is an example of a transport device.
  • the sample supply section 10 includes a tray 11 and a transport section 15, as shown in FIG.
  • a sample container 210 is placed on the tray 11 by the user.
  • the tray 11 is placed on the transport section 15 by the user.
  • the tray 11 is detachable from the transport section 15 .
  • two trays 11 and two conveying units 15 are arranged.
  • the tray 11 includes a first plate portion 12 and a second plate portion 13, as shown in FIG.
  • the first plate portion 12 is provided with a plurality of first holes 12a into which the plurality of sample containers 210 are respectively inserted.
  • the second plate portion 13 is arranged vertically separated from the first plate portion 12 .
  • the second plate portion 13 is provided with a plurality of second holes 13a into which the plurality of sample containers 210 are respectively inserted.
  • the specimen container 210 is inserted into the first hole 12a and the second hole 13a.
  • the first hole portion 12a has a circular shape when viewed from the Z direction.
  • the first holes 12a are arranged in a houndstooth pattern.
  • the first hole portion 12a is a through hole.
  • the second hole 13a has a circular shape when viewed from the Z direction.
  • the second holes 13a are arranged in a houndstooth pattern.
  • the second hole portion 13a has a concave shape.
  • the first hole portion 12a is arranged directly above the second hole portion 13a.
  • the first plate portion 12 and the second plate portion 13 are connected by a column portion 14 .
  • the edge 12b of the upper opening of the first hole 12a and the edge 13b of the upper opening of the second hole 13a are chamfered. That is, the radii of the first hole portion 12a and the second hole portion 13a gradually increase toward the Z1 direction side.
  • the tray 11 includes a grip portion 12c.
  • the grip portion 12c is gripped by the user.
  • the gripping portions 12c are arranged at both ends of the first plate portion 12 in the X direction.
  • the grip portion 12c is an elongated through hole.
  • the transport unit 15 has a position P1 where the user places the tray 11 having a plurality of sample containers 210 on the transport unit 15 and the robot 40 . move back and forth.
  • the position P1 is located at the end of the uncapped dispensing unit 1 on the X2 direction side.
  • the transport section 15 includes a linear actuator 15a for linearly moving the tray 11, and a sensor 15b.
  • the tray 11 is placed on the linear actuator 15a.
  • Linear actuator 15 a linearly moves tray 11 between position P ⁇ b>1 and robot 40 .
  • the transport unit 15 detects the position of the tray 11 on the linear actuator 15a.
  • the sensor 15b detects whether or not the tray 11 is present. For example, two trays 11 and two conveying units 15 are arranged.
  • the DWP supply section 20 includes a transport section 21 .
  • the transport unit 21 reciprocates the DWP 220 between the robot 40 and the position P ⁇ b>2 where the user places the DWP 220 on the transport unit 21 .
  • the position P2 is located at the end of the uncapped dispensing unit 1 on the X2 direction side.
  • Conveying unit 21 includes linear actuator 22 and sensor 23 .
  • the linear motion actuator 22 linearly moves the DWP 220 placed on the tray 24 .
  • the transport section 21 detects the position of the DWP 220 on the transport section 21 .
  • Sensor 23 detects the presence or absence of DWP 220 and the height of DWP 220 . For example, two trays 24 and two conveying units 21 are arranged.
  • the chip supply section 30 includes a transport section 31 .
  • the transport unit 31 reciprocates the chip 230 between a position P3 where the user places the chip 230 on the transport unit 31 and the robot 40 .
  • the position P3 is located at the end of the uncapped dispensing unit 1 on the X1 direction side.
  • the transport section 31 includes a direct acting actuator 32 and a sensor 33 .
  • the linear motion actuator 32 linearly moves the plurality of chips 230 placed on the tray 34 .
  • the transport section 31 detects the position of the chip 230 on the transport section 31 .
  • a sensor 33 detects the presence or absence of the chip 230 . For example, two trays 34 and two conveying units 31 are arranged.
  • the robot 40 is arranged inside the uncapped dispensing unit 1, as shown in FIG.
  • Robot 40 includes a robot arm 41 .
  • the robot arm 41 is, for example, a vertical articulated robot arm.
  • the first hand 50 is attached to the tip of the robot arm 41, as shown in FIG.
  • the sample container 210 includes a body portion 211 and a lid portion 212 in which the sample is stored.
  • the first hand 50 grips the body portion 211 of the sample container 210 arranged on the tray 11 .
  • the first hand 50 includes a chuck 52 .
  • the body portion 211 of the sample container 210 is gripped by the chuck 52 .
  • the sensor 51 is arranged on the first hand 50 .
  • the sensor 51 detects whether or not the sample container 210 is placed on the tray 11 .
  • the sensor 51 detects the presence or absence of the sample container 210 from the Z1 direction side.
  • the robot 40 grips the sample container 210 placed on the tray 11 with the first hand 50 based on the detection that the sample container 210 is placed on the tray 11 of the sample supply unit 10 .
  • the sample container 210 is transported to the sample capper section 70 .
  • the robot 40 grips the sample container 210 after the dispensing process with the first hand 50 .
  • the presence or absence of foreign matter on the tray 11 is confirmed by the sensor 51 .
  • the robot 40 returns the sample container 210 after the dispensing process to the tray 11 .
  • the second hand 60 is attached to the tip of the robot arm 41, as shown in FIG.
  • the second hand 60 holds at least one of a tip 230 that sucks liquid and a DWP 220 that ejects the liquid from the tip 230 .
  • the second hand 60 holds both the chip 230 and the DWP 220 .
  • the second hand 60 includes a plurality of tip attachment portions 61 to which tips 230 are attached.
  • An air cylinder is arranged in the tip attachment portion 61, and the tip 230 is attached to the tip attachment portion 61 by the suction force of the air cylinder.
  • the second hand 60 includes a chuck 62 that grips the DWP 220 .
  • the first hand 50 and the second hand 60 are detachable from the robot arm 41.
  • the first hand 50 is provided with an automatic tool changer 53 .
  • the second hand 60 is provided with an automatic tool changer 63 .
  • the automatic tool changer 53 automatically attaches the first hand 50 to the robot arm 41 .
  • the automatic tool changer 63 automatically attaches the second hand 60 to the robot arm 41 .
  • the robot arm 41 is arranged in common with the first hand 50 and the second hand 60 .
  • the specimen capper section 70 opens and closes the lid section 212 of the specimen container 210 transported by the robot 40 .
  • the barcode reader 71 reads the barcode attached to the sample container 210 transported by the robot 40 .
  • a sensor 70 a for detecting the presence or absence of the sample container 210 is arranged in the sample capper section 70 .
  • the dispensing workbench 80 measures the amount of dispensing to the DWP220.
  • a barcode reader 81 for reading a barcode attached to the DWP 220 is arranged on the dispensing workbench 80 .
  • a sensor 82 for detecting the presence or absence of the DWP 220 is arranged on the dispensing workbench 80 .
  • the reagent supply section 90 includes a solubilizing liquid supply section 91, a magnetic particle supply section 92, and a ProK supply section 93.
  • a user supplies a reservoir containing a solubilizing solution to the solubilizing solution supply unit 91 .
  • the user supplies DWP 220 containing magnetic particles to the magnetic particle supply unit 92 .
  • the user supplies the DWP 220 containing ProK to the ProK supply unit 93 .
  • a sensor 91a for detecting the presence or absence of a reservoir is arranged in the solubilizing liquid supply unit 91 .
  • a sensor 92 a for detecting the presence or absence of the DWP 220 containing magnetic particles is arranged in the magnetic particle supply unit 92 .
  • the ProK supply unit 93 is provided with a sensor 93a for detecting the presence or absence of the DWP 220 containing ProK.
  • a chip 230 transported by the chip supply section 30 is placed on the chip table 100 by the robot 40 .
  • the chips 230 are transported in a state in which a plurality of chips 230 are mounted on the adapter.
  • a sensor 101 for detecting the presence or absence of a chip 230 is arranged on the chip table 100 .
  • the PC/NC table 110 is provided with a plurality of containers 112 each containing a positive control and a negative control for checking the accuracy of inspection.
  • a sensor 111 for detecting the presence or absence of a container 112 is arranged on the PC/NC table 110 .
  • the chip discarding unit 120 discards used chips 230 .
  • a sensor 121 for detecting whether or not the used chips 230 are full is arranged in the chip disposal section 120 .
  • the control unit 140 controls the devices arranged in the uncapped dispensing unit 1 .
  • An inspection procedure of the inspection system 200 will be described with reference to FIG.
  • the robot 40 performs preprocessing, which is processing before measurement, on the collected sample.
  • step S ⁇ b>1 the user places the sample container 210 in the sample supply section 10 .
  • the user places DWP 220 in DWP supply 20 .
  • the user places the chip 230 on the chip supply section 30 .
  • the user supplies the reagent supply unit 90 with the lysate, magnetic particles and ProK.
  • step S2 the robot 40 mounts the second hand 60.
  • step S ⁇ b>3 the sample supply unit 10 transports the sample container 210 to the vicinity of the robot 40 .
  • the DWP supply section 20 conveys the DWP 220 to the vicinity of the robot 40 .
  • the tip supply section 30 conveys the tip 230 to the vicinity of the robot 40 .
  • step S ⁇ b>4 the robot 40 grips the DWP 220 with the second hand 60 and transports the gripped DWP 220 to the dispensing workbench 80 .
  • Sensor 82 detects the presence or absence of DWP 220 .
  • a barcode reader 81 reads the barcode attached to the DWP 220 .
  • step S ⁇ b>5 the robot 40 attaches the chip 230 placed on the chip table 100 to the second hand 60 .
  • the robot 40 sucks the solubilized liquid placed in the solubilized liquid supply unit 91 with the tip 230 and dispenses the sucked solubilized liquid to the DWP 220 placed on the dispensing workbench 80 .
  • the robot 40 discards the tip 230 in the tip discarding unit 120 .
  • step S ⁇ b>6 the robot 40 attaches the chip 230 placed on the chip table 100 to the second hand 60 .
  • the robot 40 attracts the magnetic particles arranged in the magnetic particle supply unit 92 with the tip 230 and dispenses the attracted magnetic particles to the DWP 220 placed on the dispensing workbench 80 .
  • the robot 40 discards the tip 230 in the tip discarding unit 120 .
  • step S7 the robot 40 attaches the chip 230 placed on the chip table 100 to the second hand 60.
  • the robot 40 aspirates the ProK placed in the ProK supply section 93 with the chip 230 and dispenses the aspirated ProK to the DWP 220 placed on the dispensing workbench 80 .
  • the robot 40 discards the tip 230 in the tip discarding unit 120 .
  • step S8 the robot 40 attaches the first hand 50 after removing the second hand 60.
  • step S ⁇ b>9 the sensor 51 arranged on the first hand 50 detects whether or not the sample container 210 is arranged on the tray 11 of the sample supply section 10 .
  • the robot 40 grips the sample container 210 with the first hand 50 and transports the sample container 210 to the sample capper section 70 in step S10.
  • the barcode reader 71 of the sample capper section 70 reads the barcode attached to the sample container 210 .
  • the specimen capper section 70 opens the lid section 212 of the specimen container 210 .
  • step S11 the robot 40 attaches the second hand 60 after removing the first hand 50.
  • step S ⁇ b>12 the robot 40 attaches the chip 230 placed on the chip table 100 to the second hand 60 .
  • the robot 40 aspirates the specimen contained in the specimen container 210 with the chip 230 and dispenses the aspirated specimen to the DWP 220 placed on the dispensing workbench 80 .
  • the specimen capper section 70 closes the lid section 212 of the specimen container 210 .
  • the robot 40 discards the tip 230 in the tip disposal section 120 .
  • step S ⁇ b>13 the robot 40 attaches the first hand 50 after removing the second hand 60 .
  • step S14 the sensor 51 arranged on the first hand 50 detects whether the sample container 210 is arranged on the sample capper section 70 or not. Further, the presence or absence of foreign matter on the tray 11 is confirmed by the sensor 51 .
  • step S15 the robot 40 grips the sample container 210 with the first hand 50, and moves the sample supply unit.
  • the specimen container 210 is transported to the ten trays 11 . Operations from steps S9 to S15 are performed for a plurality of sample containers 210 .
  • step S ⁇ b>16 the robot 40 attaches the second hand 60 after removing the first hand 50 .
  • step S ⁇ b>17 the robot 40 transports the DWP 220 dispensed with the sample by the second hand 60 to the delivery table 130 for delivery to the nucleic acid extraction unit 2 .
  • a sample supply unit including a tray 11 in which a plurality of sample containers 210 are arranged, and a transport unit 15 that transports the tray 11 in which a plurality of sample containers 210 are placed to the robot 40. 10 are placed.
  • the positions of the sample containers 210 with respect to the robot 40 are fixed. Therefore, when the robot 40 collects a sample from the sample container 210 , positional deviation between the robot 40 and the sample container 210 is suppressed. As a result, the sample can be appropriately collected from the sample container 210 by the robot 40 .
  • a plurality of sample containers 210 can be collected and transported to the robot 40 by the tray 11, it is possible to prevent the sample containers 210 from colliding with each other during transport. As a result, a plurality of sample containers 210 can be transported to the robot 40 in a stable state. Further, when arranging a plurality of sample containers 210 in the uncapped dispensing unit 1 , the user can collectively place the plurality of sample containers 210 arranged on the tray 11 on the transport section 15 . Therefore, unlike the case of arranging a plurality of sample containers 210 on the transport unit 15 one by one, the work efficiency of arranging the sample containers 210 on the transport unit 15 can be improved.
  • the transport unit 15 reciprocates the tray 11 between the robot 40 and the position P ⁇ b>1 where the user places the tray 11 in which the plurality of sample containers 210 are arranged on the transport unit 15 .
  • the tray 11 is reciprocally moved between itself and the robot 40 , so that the plurality of sample containers 210 before inspection can be carried into the vicinity of the robot 40 and the plurality of sample containers 210 after inspection can be moved into the vicinity of the robot 40 . can be carried out easily.
  • the robot 40 performs preprocessing, which is processing before measurement, on the collected specimen.
  • preprocessing which is processing before measurement
  • the plurality of sample containers 210 can be transported to the robot 40 in a stable state in the unplugging and dispensing unit 1 that performs pretreatment.
  • the tray 11 is arranged vertically apart from the first plate portion 12 in which the plurality of first holes 12a into which the plurality of sample containers 210 are inserted are arranged, and a second plate portion 13 in which a plurality of second holes 13a into which the plurality of sample containers 210 are inserted are arranged. is inserted into As a result, the sample container 210 is positioned by the first hole portion 12a and the second hole portion 13a, so that movement of the sample container 210 when the robot 40 grips the sample container 210 can be suppressed. Thereby, the sample container 210 can be easily gripped by the robot 40 .
  • the tray 11 serves both as a member for collectively transporting the plurality of sample containers 210 and as a member for positioning the plurality of sample containers 210, the member for transporting and the member for positioning are separately used. Unlike the arrangement, the configuration of the inspection system 200 can be simplified.
  • the edge 12b of the upper opening of the first hole 12a and the edge 13b of the upper opening of the second hole 13a are chamfered. As a result, since the corners of the upper opening of the first hole 12a and the corners of the upper opening of the second hole 13a are removed, the specimen container 210 can be smoothly moved to the first hole 12a and the second hole. It can be inserted into the portion 13a.
  • the tray 11 includes a grip portion 12c gripped by the user. Thereby, the user can easily hold the tray 11 and place the plurality of sample containers 210 placed on the tray 11 on the transport section 15 .
  • the transport unit 15 includes a direct-acting actuator 15a that linearly moves the tray 11 between the robot 40 and the position P1 where the user places the tray 11 in which the plurality of sample containers 210 are arranged on the transport unit 15. Thereby, the tray 11 can be easily reciprocated between the position P ⁇ b>1 where the user places the tray 11 on the transport section 15 and the robot 40 .
  • the first hand 50 grips the body portion 211 of the sample container 210 arranged on the tray 11 . Accordingly, unlike the case where the first hand 50 grips the lid portion 212, the main body portion 211 can be gripped in a stable state.
  • the first hand 50 and the second hand 60 are detachable from the robot arm 41. Since one robot arm 41 can be used for both the first hand 50 and the second hand 60, the configuration of the inspection system 200 can be simplified.
  • the second hand 60 holds both the chip 230 and the DWP 220.
  • the configuration of the inspection system 200 can be simplified, unlike the case where hands are arranged separately for the chip 230 and the DWP 220. can be
  • the first hand 50 is provided with a sensor 51 that detects whether or not the sample container 210 is placed on the tray 11 . Accordingly, by moving the first hand 50, the presence or absence of a plurality of sample containers 210 can be detected with a single sensor 51. Therefore, unlike the case where the sensor 51 is arranged for each of the plurality of sample containers 210, the inspection system 200 configuration can be simplified.
  • the present disclosure is not limited to this.
  • the present disclosure may be applied to robots and transport devices arranged in inspection units other than the uncapped dispensing unit 1 .
  • the transport unit 15 reciprocates the tray 11 between the robot 40 and the position P1 where the user places the tray 11 in which the plurality of sample containers 210 are arranged on the transport unit 15.
  • the present disclosure is not limited to this.
  • the transport unit 15 may reciprocate the tray 11 between the robot 40 and a location other than the position P ⁇ b>1 where the user places the tray 11 on the transport unit 15 .
  • the robot 40 performs preprocessing, which is processing before performing measurement on the sampled sample, but the present disclosure is not limited to this.
  • the robot 40 may perform processing other than preprocessing.
  • the tray 11 includes the first plate portion 12 and the second plate portion 13 in the above embodiment, the present disclosure is not limited thereto.
  • the tray 11 may be a rectangular parallelepiped block having holes into which the sample containers 210 are inserted.
  • the tray 311 is arranged at least between the first hole 12a and the second hole 13a, and the first hole 312a of the first plate 312 and the second hole 312a are arranged.
  • a guide portion 314 that guides the specimen container 210 to be inserted into the second hole portion 313 a of the plate portion 313 may be included.
  • the guide portion 314 is a cylindrical member inserted into the first hole portion 312a and the second hole portion 313a so as to span the first hole portion 312a and the second hole portion 313a, and into which the specimen container 210 is inserted. including.
  • the edge 314a of the opening at the top of the cylindrical member is chamfered.
  • the guide portion 314 made of a cylindrical member has a cylindrical shape.
  • the guide portion 314 is open on the Z1 side and not open on the Z2 side. As described above, the sample container 210 is guided from the first hole 12 a to the second hole 13 a by the guide portion 314 , so that the sample container 210 can be smoothly arranged on the tray 311 .
  • the sample container 210 can be reliably guided from the first hole 12a to the second hole 13a.
  • the corners of the upper opening of the cylindrical member are removed, the sample container 210 can be inserted into the cylindrical member more smoothly.
  • the edge of the upper opening of the first hole 312a and the edge of the upper opening of the second hole 313a are not chamfered.
  • the edge of the second hole 313a may be chamfered.
  • the grip portion 12c of the tray 11 is an elongated through-hole formed in the first plate portion 12, but the present disclosure is not limited to this.
  • the grip portion 12 c may be a handle attached to the first plate portion 12 .
  • the transport unit 15 is the linear actuator 15a that linearly moves the tray 11
  • the conveying unit 15 may be an actuator other than the direct acting actuator.
  • first hand 50 and the second hand 60 are detachable from the robot arm 41 in the above embodiment, the present disclosure is not limited to this.
  • two robot arms 41 may be provided and the first hand 50 and the second hand 60 may be attached to each of the two robot arms 41 .
  • the second hand 60 holds both the chip 230 and the DWP 220 in the above embodiment, the present disclosure is not limited to this.
  • the hand holding the chip 230 and the hand holding the DWP 220 may be arranged separately.
  • sensor 51 that detects whether or not the sample container 210 is placed on the tray 11 is placed on the first hand 50, but the present disclosure is not limited to this.
  • sensor 51 may be located on robot arm 41 .
  • (Item 1) a robot arranged in an inspection unit; a transport device that is arranged in the inspection unit and includes a tray on which a plurality of sample containers are arranged; and a transport unit that transports the tray on which the plurality of sample containers are arranged to the robot. system.
  • (Item 2) The inspection system according to item 1, wherein the transport unit reciprocates the tray between a position where a user places the tray on which the plurality of sample containers are arranged in the transport unit and the robot.
  • the tray is a first plate portion in which a plurality of first holes into which the plurality of specimen containers are inserted are arranged; a second plate portion arranged vertically apart from the first plate portion and having a plurality of second holes into which each of the plurality of specimen containers is inserted;
  • the inspection system according to any one of items 1 to 3, wherein the specimen container is inserted into the first hole and the second hole.
  • the tray further includes at least a guide portion arranged between the first hole portion and the second hole portion for guiding the sample container inserted into the first hole portion to the second hole portion. , item 4 or item 5.
  • the guide part is a cylindrical member inserted into the first hole and the second hole so as to extend over the first hole and the second hole, and into which the specimen container is inserted.
  • the inspection system of item 6, comprising:
  • (Item 9) 9. The inspection system of any one of items 1 through 8, wherein the tray includes a gripper to be gripped by a user.
  • (Item 10) Item 1, wherein the transport unit includes a linear actuator that linearly moves the tray between a position where a user places the tray on which the plurality of sample containers are arranged in the transport unit and the robot. 10.
  • the inspection system according to any one of items 1 to 9.
  • the robot includes a robotic arm; further comprising a first hand attached to the tip of the robot arm, 11.

Abstract

Un système d'examen (200) comprend : un robot (40) qui est disposé dans une unité d'examen (1) ; et un dispositif de transport (10) qui est disposé dans l'unité d'examen (1) et qui comprend des plateaux (11) sur lesquels une pluralité de récipients d'échantillon (210) sont disposés, et une unité de transport (15) qui transporte les plateaux (11), sur lesquels la pluralité de récipients d'échantillon (210) sont disposés, vers le robot (40).
PCT/JP2023/004982 2022-02-16 2023-02-14 Système d'examen WO2023157834A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022022225A JP2023119359A (ja) 2022-02-16 2022-02-16 検査システム
JP2022-022225 2022-02-16

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WO2023157834A1 true WO2023157834A1 (fr) 2023-08-24

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JP (1) JP2023119359A (fr)
WO (1) WO2023157834A1 (fr)

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JP2020134381A (ja) * 2019-02-22 2020-08-31 シスメックス株式会社 容器ラック、検体分析装置及び検体分析方法

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