JP4899981B2 - Microplate transport device - Google Patents

Description

  The present invention relates to a microplate transport device for transporting a microplate used in the field of biochemical test research.

  In fields such as drug discovery screening and medical research, tests such as biochemical reactions of substances are systematically performed on a large number of specimens. These tests are performed by sequentially transporting a microplate containing a specimen sample to a plurality of test devices such as a dispensing device and an incubator, and performing a predetermined test operation on the microplate in each test device. . Conventionally, various types of test apparatuses and processing systems have been proposed as systems for automatically performing such test work (see, for example, Patent Documents 1 and 2).

  Patent Document 1 shows an example of an integrated dispensing device in which a plurality of working units for performing individual test operations are incorporated in the same apparatus together with a microplate transport system. A stage for performing various operations such as a stage for placing a plate and a stage for mounting a dispensing tip is provided, and a micro-plate is conveyed by a robot hand provided above these stages. . By adopting such an integrated configuration, there is an advantage that the apparatus can be made compact.

Patent Document 2 shows an example of a line-type dispensing system, and has a configuration in which working parts such as a dropper and a dispensing part are arranged along a lane part provided with a belt conveyor having a plurality of lanes. ing. With such a configuration, there is an advantage that a plurality of plates can be transported in parallel and can be dispensed efficiently in a short time.
JP 2002-333450 A JP 2004-85521 A

  In the field of drug discovery screening, it is required to process various biochemical tests more quickly for a large number of samples, and the processing systems used for such testing work have high throughput. In order to realize the above, there has been an increasing demand for flexibility in which the configuration can be freely set and changed according to the purpose of the test as well as the improvement of the conveyance processing efficiency in the conveyance of the microplate.

  However, in the prior art shown in the above-mentioned patent document examples, it has been difficult to achieve both the above-described improvement in the conveyance processing efficiency and the improvement in the flexibility of the system configuration. That is, in the integrated type as shown in Patent Document 1, even when it is desired to add a module having a new work function depending on the test purpose, the size and shape of the base serving as the platform of the apparatus are restricted in advance, and the expansion There are difficulties in sex. Even when a module is newly added, it is not always possible to additionally arrange the modules in an arrangement in which the microplate conveyance procedure is in an optimal form, and improvement in the conveyance processing efficiency is not necessarily ensured. Also in the line type as shown in Patent Document 2, since the configuration of the lane portion is fixed in advance, a new module cannot be added freely, and it is difficult to realize a flexible configuration. In a test processing system that performs a series of work processes for various biochemical tests on samples stored in microplates in this way, it is difficult to achieve both high throughput and improved system configuration flexibility. Met.

  Accordingly, an object of the present invention is to provide a microplate transport apparatus capable of realizing both high throughput and improved flexibility in system configuration in a test processing system that performs a series of work processes for biochemical tests. And

  The microplate transport apparatus of the present invention includes a plurality of work modules that perform a predetermined work for biochemical tests on a microplate, and a test that performs a series of work on the microplate using these work modules. In the processing system, a microplate transport device that transports the microplate to the work module, wherein the microplate is placed on a conveyor and a plurality of conveyor-type transport mechanisms that transport the microplate in a first direction are arranged in parallel. A pick-and-place type transport mechanism for transporting the microplate between the conveyor and the plate delivery section provided in the work module by picking up and moving the microplate, and the plate transport section, Pick and place conveyor Provided on the upper surface, and both end surfaces in the first direction and both end surfaces in the second direction orthogonal to the first direction in the base portion, and the base portions are connected in the first direction. A first direction connecting portion for connecting to a base portion of another microplate transport device and a second direction for connecting the base portion to the base portion of the work module arranged adjacent to the second direction. And a direction connecting portion.

  According to the present invention, in a microplate transport apparatus that is used in a test processing system that performs a series of operations on a microplate, and that transports the microplate to a work module, the microplate is placed on the conveyor in the first direction. A plate transport unit in which a plurality of conveyor-type transport mechanisms for transporting the plate are arranged in parallel, a pick-and-place type transport mechanism for transporting the microplate between the conveyor and the work module, and a base portion of the transport device located in front, rear, left and right By adopting a configuration including a first direction connecting portion and a second direction connecting portion for connecting to the apparatus, the transport processing efficiency of the microplate can be improved in a test processing system that performs a series of work processes for biochemical tests. To improve the high throughput and flexibility of the system configuration. It can be realized as well.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view showing a configuration of a test processing system according to an embodiment of the present invention, FIG. 2 is a perspective view of a transfer module used in the test processing system according to an embodiment of the present invention, and FIG. The perspective view of the robot arm with which the conveyance module in one embodiment was equipped, FIG. 4 is explanatory drawing of the delivery form of the microplate between the conveyance module and the work module in the test processing system of one embodiment of this invention. FIG. 5 is a block diagram showing the configuration of the communication network of the test processing system according to the embodiment of the present invention. FIG. 6 is a block diagram showing the configuration of the control system of the control module in the test processing system according to the embodiment of the present invention. FIG. 7 is a block diagram showing the configuration of the control system of the transfer module in the test processing system of one embodiment of the present invention, and FIG. 8 is one embodiment of the present invention. FIG. 9 is a block diagram showing the configuration of the control system of the work module in the test processing system of FIG. 9, FIG. 9 is a diagram showing the command arrangement of the microplate transport processing in the test processing system of one embodiment of the present invention, and FIG. The Gantt chart which shows the procedure of the conveyance process of the microplate in the test processing system of one embodiment in time series, FIG. 11 is an explanatory diagram of the procedure of the conveyance process of the microplate in the test processing system of one embodiment of the present invention, FIG. 12 is an explanatory diagram of the transportability confirmation process executed in the test processing system according to the embodiment of this invention.

First, the configuration of the test processing system 1 will be described with reference to FIG. The test processing system 1 is used for performing a biochemical test on a sample stored in a microplate 2 in drug discovery screening or medical research fields. The microplate 2 which is a work is a rectangular box-shaped part made of resin in which wells 2a for storing a liquid sample are formed in a lattice arrangement (see FIG. 3), and are provided at both ends of the test processing system 1. Are stored in the stockers 3A and 3B.

  The microplate 2 taken out from any of the stockers 3A and 3B is transported in the X direction (first direction) by a transport line formed by connecting a plurality of transport modules CV1, CV2 and CV3 in series. In this conveyance process, the microplate 2 is delivered to work modules described below, and a predetermined test work is executed on each microplate 2 by these work modules. Then, the microplate 2 after completion of the work is collected in one of the stockers 3A and 3B.

  Work module A and work module D are disposed adjacent to both sides of the transport module CV1 in the Y direction (second direction), respectively, and work module B and work module E are disposed on both sides of the transport module CV2. Further, work modules C and F are arranged adjacent to each other on both sides of the transfer module CV3. These work modules have a function of performing a predetermined work for a biochemical test on the microplate 2, and each work table is provided on a common table having a standardized size and shape. It is the structure which has arrange | positioned the operation | work part which performs this operation | work. In this embodiment, the direction is defined in order to specify the positional relationship between these modules. That is, the front and rear in the Y direction are defined with the right side in FIG. 1 as the front side and the left side as the rear side, and the left and right directions are defined with the upper side in FIG. 1 as the left side and the lower side as the right side.

  The work module A (dispensing module) has a function of discharging a predetermined amount of liquid such as a chemical solution or a sample into the well 2a of the microplate 2 and aspirating the liquid from the well 2a. The work module B (plate stock module) has a function of stocking and holding the microplate 2 in the course of the test. The work module C (dropper module) has a function of supplying a predetermined amount of the same type of liquid to each well 2a of the microplate 2 by a dispenser.

  The work module D (incubator module) has a function of advancing a biochemical reaction by holding the microplate 2 after the liquid has been dispensed under predetermined environmental conditions. The work module E (washer module) has a function of removing unnecessary substances by injecting, stirring, and removing the cleaning liquid into the well 2a in the course of the test. Then, the work module F (measurement module) performs measurement processing using various analysis techniques such as observation of a sample by a camera and spectroscopic analysis for the inside of the well 2a after the biochemical reaction. In FIG. 1, illustration of a working unit that executes these functions in each work module is omitted.

  The test processing system 1 includes a control module 4 that controls the operation of each of these modules, and the control module 4 is connected to the above-described modules via a communication network (see FIG. 5). The control module 4 is provided with a keyboard 6 for inputting various data and instructions and a display panel 5 for displaying a guidance screen at the time of input. It is possible to automatically perform programming for carrying out the test process efficiently by transporting 2 to each work module in an appropriate order.

That is, the test processing system 1 includes a plurality of work modules that perform a predetermined work on the microplate 2 that is a work, a transport module that is provided separately from the work modules and transports the microplate 2, and a plurality of work And a control module for controlling the plurality of transfer modules. The plurality of transfer modules are connected and work modules are arranged at positions adjacent to the transfer modules, and the microplate 2 is transferred to each work module by the transfer module. By transferring in a predetermined order, a series of operations by a plurality of operation modules is performed on the microplate 2.

  Next, the structure of the transfer modules CV1, CV2, and CV3 will be described with reference to FIG. These transport modules are all standard modules having the same configuration. In the following description, when it is necessary to distinguish between them, subscripts such as transport modules CV1, CV2, and CV3 are added. When there is no need to distinguish between them, they are simply described as a transfer module CV. The transport module CV is a microplate transport device that transports the microplate 2 to each work module in a test processing system that performs a series of work on the microplate 2 using the work modules described above.

  In FIG. 2, two rows of conveyor-type transport mechanisms 14 </ b> A and 14 </ b> B are juxtaposed on the upper surface of the base portion 10 supported on the floor surface by the adjusting bolt 11. Each of the conveyor-type transport mechanisms 14A and 14B includes a transport rail 15 disposed in the X direction (first direction), and is placed on the conveyor by reciprocating a conveyor such as a belt conveyor in the X direction. The placed microplate 2 is reciprocated in the X direction and transported in a plane. That is, the conveyor-type transport mechanisms 14A and 14B arranged in two rows include the plate transport unit 14 in which a plurality of transport-type transport mechanisms that place the microplate 2 on the conveyor and transport it in the X direction (first direction). Constitute. And the conveyance line which conveys the above-mentioned microplate 2 is comprised by connecting the conveyor-type conveyance mechanisms 14A and 14B of several conveyance module CV to a X direction, respectively. The transport direction of the microplate 2 in the plurality of transport lines may be fixed in either the forward or reverse direction, or may be switched between forward and reverse as necessary.

  In addition, as an example of the configuration of the plate transport unit 14, an example in which two rows of conveyor-type transport mechanisms are arranged side by side is shown, but by providing three or more rows of conveyor-type transport mechanisms in each transport module CV, three rows of transport lines are provided. You may make it arrange | position in parallel above. As a result, the microplates to be transported can be distributed to each transport line according to the characteristics such as the type and the transport path, and the transport process can be performed more efficiently.

  Between the conveyor type transport mechanisms 14A and 14B, a moving table 16 is disposed in the X direction, and a robot arm 17 is mounted on the moving table 16 so as to be movable in the X direction. By driving the moving table 16, the robot arm 17 moves over substantially the entire length of the upper surface of the platform 10, and thereby the workpiece delivery unit (set in the conveyors and work modules of the conveyor type transport mechanisms 14 </ b> A and 14 </ b> B). The microplate 2 can be picked up and transferred between the workpiece delivery ports 9B1, 9B2 and 9E shown in FIG. In other words, the robot arm 17 that is movably disposed in the X direction between the two rows of the conveyor-type transport mechanisms 14A and 14B is provided on the conveyor and the work module by picking up and moving the microplate 2. It is a pick-and-place type transport mechanism that transports the microplate 2 to and from the workpiece delivery unit.

  In the pedestal 10, the front and rear end faces 10 x in the X direction are provided with flat plate-like connection plates 12 in two horizontal positions at upper and lower positions, and each connection plate 12 is provided with a positioning fitting portion 12 a. It has been. Similarly, on the left and right end surfaces 10y in the Y direction of the base portion 10, flat connection plates 13 are provided horizontally in two positions, upper and lower, respectively, and each connection plate 13 has a positioning fitting portion 13a. Is provided. As positioning fitting part 12a, 13a, if it can position by fitting or engaging mutually, such as the structure which combined the positioning hole and the positioning pin, and the combination of an engaging groove and an engaging member, etc. Any structure may be used.

  The connecting plate 12 is provided to connect the base 10 in series with the base 10 of the other transport module CV in the X direction. When connecting the two transport modules CV in the X direction, In the base part 10 of the transport module CV, the two connecting plates 12 at positions facing each other are brought into contact with each other, and the two positioning fitting parts 12a at the corresponding positions are fitted or engaged. As a result, the two transport modules CV are connected in a state in which they are aligned with each other in the correct positional relationship in the X direction.

  Similarly, the connection plate 13 is provided to connect and arrange the transport module CV at a position adjacent to each of the aforementioned work modules in the Y direction. That is, the standardized base part of each work module is provided with a connection plate similar to the connection plate 13 provided on the base part 10 of the transport module CV at a corresponding position. When the work modules are arranged adjacent to each other in the Y direction, the two connection plates 13 at the positions facing each other in the combination of each work module and the transport module CV are abutted to each other, and the two positioning fittings at corresponding positions The joint portion 13a is fitted or engaged. Thereby, each work module and the conveyance module CV are arrange | positioned in the state aligned with the correct positional relationship mutually.

  That is, the connecting plate 12 and the connecting plate 13 are provided on the both end faces 10x in the X direction and the both end faces 10y in the Y direction in the pedestal 10, respectively. A first direction connecting part for connecting with the base part 10 and a second direction connecting part for connecting the base part 10 with the base part of the work module arranged adjacent to the Y direction are provided. The positioning fitting portions 12a and 13a are provided in the first direction connecting portion and the second direction connecting portion, and serve as alignment portions for aligning the transfer module CV with other transfer modules CV and work modules. ing.

  The robot arm 17 will be described with reference to FIG. The robot arm 17 is an articulated robot, is attached to the moving table 16 via the turning drive mechanism 20, and is movable in the X direction. The robot arm 17 has a configuration in which three joint portions 21, 23, 25 and three drive arms 22, 24, 26 are connected in series to a turning shaft 20 a provided to extend upward from the turning drive mechanism 20. ing. By driving the turning drive mechanism 20 and the joints 21, 23, 25, the driving arm 26 at the tip can be operated in a three-dimensional manner within a predetermined operating range. A chuck mechanism 27 having two chuck claws 27 a is attached to the drive arm 26, and the chuck mechanism 27 moves within a three-dimensional range by the robot arm 17.

  By the movement of the chuck mechanism 27, the robot arm 17 grips the microplate 2 placed on the conveyor of the conveyor type transport mechanisms 14A and 14B from both sides by the two chuck claws 27a in each transport module CV. It can be transferred to a work module located adjacent to the work module. The microplate 2 is provided with a plurality of wells 2a for storing liquids in a grid arrangement, and in each work module, liquids are dispensed to the wells 2a, culture by an incubator, observation / measurement of culture results, etc. Various test operations are performed.

  Next, with reference to FIG. 4, the mode of delivery of the microplate 2 between the conveyance module CV and each work module will be described. FIG. 4 shows an example of delivery of the microplate 2 between the transfer module CV2, the work module B, and the work module E. Each work module such as the work module B and the work module E is provided with a work table 8 on which a work unit is arranged, and delivery of the microplate 2 between each work module and the transfer module CV is performed via the work table 8. Done.

  A transfer work point 17a for transferring the microplate 2 by the robot arm 17 is set in the conveyor type transport mechanisms 14A and 14B, and each transfer work point set on the conveyor type transport mechanisms 14A and 14B is set. The stopper mechanism (illustration omitted) for stopping the microplate 2 conveyed by the conveyor is provided in 17a. Then, the robot arm 17 holds the microplate 2 stopped by these stopper mechanisms by the chuck mechanism 27. These stopper mechanisms can be individually operated. Among the plurality of microplates 2 placed on the conveyor of the same conveyor-type transport mechanism, the microplate is placed at a specific transfer work point 17a. The other microplate 2 can be transported while 2 is stopped.

  The robot arm 17 can be moved to an arbitrary position in the X direction by the moving table 16, and the original function is that the microplate 2 can be transferred to an arbitrary position in the transport reach on the work table 8. In this embodiment, the similar transfer work point 17a is set as a fixed standard position at an adjacent position corresponding to the transfer work point 17a in the conveyor type transport mechanisms 14A and 14B. Thereby, it is possible to standardize the control pattern of the work operation of the robot arm 17 in the transfer work of the microplate 2 and reduce the programming load.

  Here, among the transfer work points 17a in the work table 8, the transfer work points determined to be most suitable for the delivery of the microplate 2 by the robot arm 17 in relation to the work unit arranged in the work module. 17 a is selected as a delivery port 9 for delivery of the microplate 2 in the work module, and the transfer of the microplate 2 by the robot arm 17 is performed via the delivery port 9. In the example shown in FIG. 2, four transfer work points 17a are set in the work module B, and two of these are set as delivery ports 9B1 and 9B2.

  In the work module E, one transfer work point 17a is set, and this transfer work point 17a is set as the delivery port 9E. These delivery ports 9 serve as a workpiece delivery unit that delivers the microplate 2 to and from the transfer module CV arranged at an adjacent position at a specific transfer work point 17a at a predetermined position. In other words, the work module is provided with a delivery port 9 for delivering the microplate 2 to / from the transfer module arranged at an adjacent position at the transfer work point 17a at a predetermined position.

  In the example shown in the present embodiment, the delivery port 9 that is simply set as the transfer work point of the microplate 2 on the work table 8 is the workpiece delivery unit. However, the workpiece delivery unit may have various modes. Can be assumed. For example, when the work unit provided in the work module requires a unique handling form for performing the work, the delivery terminal of the plate handling mechanism provided in the work unit becomes the work delivery unit.

  Next, the configuration of the communication network of the test processing system 1 will be described with reference to FIG. As shown in FIG. 5, the test processing system 1 includes a control module 4, a plurality of transport modules CV (transport modules CV1, CV2, CV3) and a plurality of work modules (work modules A, B, C, D, E, F). ) Are connected to each other via a communication network 7. As a result, it is possible to transmit a work command such as a plate transport command or work execution from the control module 4 to the transport modules CV1, CV2, CV3 and the work modules A, B, C, D, E, F, and the control module. It is possible to perform communication between these modules without going through 4.

  Next, the configuration and function of the control system of each module constituting the test processing system 1 will be described. First, the control system of the control module 4 will be described with reference to FIG. The control module 4 includes a processing / calculating unit 30, a storage unit 31, a communication interface 32, a display unit 33, and an operation / input unit 34. The processing / arithmetic unit 30 is a CPU. In addition to the functional elements that perform arithmetic processing necessary to control the processing operations of a plurality of modules constituting the test processing system 1, the processing / arithmetic unit 30 performs the transport operation of the microplate 2 by each transport module. A scheduler 30a and a command string output unit 30b are provided as functions for automatically performing programming.

  The scheduler 30a performs a process of creating an operation schedule for causing the individual transport modules and the work modules to execute a series of work set according to a specific test purpose for the microplate 2. This operation schedule is created by subdividing the above series of tasks into individual tasks, generating commands for executing these individual tasks, and generating a command sequence in which these commands are arranged in chronological order. Is done by doing. The process for generating the command sequence is performed based on system configuration information indicating the system configuration of the test processing system 1 and work procedure information (process information) indicating a work procedure for executing a series of operations.

  Here, the system configuration information includes identification information for individually identifying individual work modules and transfer modules constituting the test processing system 1, and module arrangement information for recognizing the positional relationship between these modules. The identification information is identification information for each of the transport modules CV1, CV2, and CV3, and CV1, CV2, and CV3 individually identify these modules. For work modules A to F, A to F individually identify these modules. This is identification information for identification. In FIG. 1, the arrangement information indicating the positional relationship between the modules is module arrangement information.

  The work procedure information is information for specifying a process for executing a test process, that is, a work module for performing a test work on the microplate 2 and a work execution order. In the command sequence generation by the scheduler 30a, the work procedure information is referred to. However, in the test processing system having a configuration in which a plurality of work modules are connected via the transport module as shown in the present embodiment, The work procedure information alone is insufficient as information for scheduling the work for the test process, that is, the overall work in which the transport work of the microplate 2 is added to the test work by each work module.

  Therefore, in the present embodiment, transport for transporting the microplate 2 in accordance with the work execution order specified for the plurality of work modules to be performed by adding the system configuration information to the above-described work procedure information. The route is automatically specified by the processing function of the scheduler 30a. The scheduler 30a generates a command indicating the work to be executed by the related transfer module based on the transfer path specified in this manner, and indicates the transfer work in the command indicating the test work by each work module. The above command sequence is generated by adding the commands. Therefore, the scheduler 30a, based on the system configuration information and the work procedure information, performs the work procedures of the individual work modules and the transfer module for executing the above-described series of work, and commands corresponding to the individual work in time series order. It is a command sequence generation unit that generates in the form of an array of command sequences.

As described above, by including the scheduler 30a that generates the command sequence based on the work procedure information and the system configuration information, it is possible to flexibly cope with the change in the system configuration. That is, even when the arrangement of work modules is changed according to the test purpose, the physical positional relationship between the work modules and the system configuration information storage unit 31b described below.
If the system configuration information stored in the system is always matched, a command sequence corresponding to the system configuration can be automatically generated by the scheduler 30a, and it is necessary to perform complicated scheduling work each time the work module is changed. There is no.

  The command sequence output unit 30b outputs a command sequence generated by the scheduler 30a and stored in a Gantt chart storage unit 31c described later to each module via the communication network 7. In the command sequence to be output, a workpiece transfer commanding execution of a workpiece transfer operation with another transfer module connected to the transfer module in each of a plurality of transfer modules or a work module disposed adjacent to the transfer module. Directives are included. That is, the control module 4 provided with the command string output unit 30b transmits this work transfer command to each transfer module CV via the communication network 7.

  The storage unit 31 includes a process storage unit 31a, a system configuration information storage unit 31b, and a Gantt chart storage unit 31c. The process storage unit 31a stores the above-described work procedure information that is a processing process for executing the test process. That is, the process storage unit 31a is a work procedure storage unit that stores work procedure information related to the above-described series of work procedures. The system configuration information storage unit 31b stores system configuration information including the above-described identification information and module arrangement information. These work procedure information and system configuration information are input by the input keyboard 6, and in the scheduling process by the scheduler 30a, these information are read from the storage unit 31 and referred to.

  The Gantt chart storage unit 31c stores a Gantt chart (see FIG. 11) in which the command sequence generated by the scheduler 30a is arranged in time series on the time axis. The communication interface 32 performs communication processing with a transfer module and work module connected via the communication network 7. The display unit 33 performs a process of displaying on the display panel 5 a guidance screen at the time of data input necessary for scheduling by the scheduler 30a and a Gantt chart stored in the Gantt chart storage unit 31c. The operation / input unit 34 performs processing for inputting data and command commands input by the input keyboard 6 to the processing / calculation unit 30 and the storage unit 31.

  Next, the configuration of the control system of the transfer module CV will be described with reference to FIG. The control system of the transport module CV includes a processing / calculation unit 35, a storage unit 36, a conveyor control unit 37, a robot arm control unit 38, and a communication interface 39. The processing / calculation unit 35 is a CPU, and includes a transportability confirmation processing unit 35a in addition to a calculation function for performing processing and calculations necessary for the transport operation of the microplate 2 by the transport module. The transportability confirmation processing unit 35a performs a transportability confirmation process for confirming whether the transport operation of the microplate 2 related to the transport module can be executed.

  The storage unit 36 includes a command string temporary storage unit 36a and a connection information storage unit 36b. The command string temporary storage unit 36 a temporarily stores a command string transmitted from the command string output unit 30 b of the control module 4 via the communication network 7. The connection information storage unit 36b stores connection information, that is, identification information of other connected transport modules and identification information of adjacent work modules. For example, as shown in FIG. 12B, in the example of the transport module CV2, work module B and work module E are arranged adjacent to Side L (left side) and Side R (right side) as connection information, Data indicating that the transport module CV3 and the transport module CV1 are connected to Fwd (front side) and Back (back side) is stored. Similarly, in the example of the transfer module CV3, as connection information, the work module C and the work module F are arranged adjacent to SideL (left side) and SideR (right side), respectively, and the transfer module CV2 is set to Back (rear side). Data indicating connection is stored.

  The conveyor control unit 37 and the robot arm control unit 38 respectively control the operations of the conveyor type transport mechanisms 14A and 14B and the robot arm 17 provided in the transport module CV. This operation control is executed according to the command sequence stored in the command sequence temporary storage unit 36a. The communication interface 39 performs communication processing between the control module 4 connected via the communication network 7, other transport modules, and work modules.

  The configuration of the work modules A to F will be described with reference to FIG. The work modules A to F include a processing / arithmetic unit 40, a storage unit 41, a control unit 42, and a communication interface 43. The processing / arithmetic unit 40 is a CPU, and includes a transportability confirmation processing unit 40a in addition to a calculation function for executing processing and calculation necessary for work operations on the microplate 2 by the work module. The transportability confirmation processing unit 40a performs a transportability confirmation process for confirming whether or not the work transport operation executed by the transport module can be performed on the work module.

  The storage unit 41 includes a command string temporary storage unit 41a and a connection information storage unit 41b. The command string temporary storage unit 41 a temporarily stores the command string transmitted from the command string output unit 31 b of the control module 4. The connection information storage unit 41b stores connection information, that is, identification information of transport modules arranged adjacent to each other. For example, as shown in FIG. 12B, in the example of the work module A, the work module B, and the work module C, as the connection information, the transport module CV1, the transport module CV2, and the transport module CV3 are arranged adjacent to each other. Is stored.

  The control unit 42 controls the processing operation performed by the work unit provided in the work module. Here, when a plurality of working units are provided in the same module, the control unit 42 is provided in each working unit. The communication interface 43 performs communication processing between the control module 4 connected via the communication network 7, other transport modules, and work modules.

  Next, an example of scheduling in the biochemical test process by the test processing system 1 will be described. Here, an example is shown in which a series of operations are performed in the CD-A-DF operation procedure using the test processing system 1 having a configuration in which operation modules are arranged in the module arrangement shown in FIG. The work procedure information indicating the work procedure is input in advance from the input keyboard 6 of the control module 4 and stored in the process storage unit 31a.

  In this test process, first, the microplate 2 is conveyed to the work module D, and the cell solution is dispensed into each well 2a of the microplate 2 by a dispenser. Next, the dispensed microplate 2 is transported to the work module D, where it is cultured for a predetermined time in a predetermined environmental atmosphere. Thereafter, the microplate 2 after the culture is sent to the work module A, and in each well 2a. A chemical solution is dispensed to the cells cultured in (1) by a dispensing device. Next, the microplate 2 is again sent to the work module D, where the culture is again performed for a predetermined time, and then the microplate 2 is sent to the work module F to perform observation and measurement on a predetermined item. .

9, 10 and 11 detail the scheduling for the range of CD in the processing procedure of the above-described test processing. This scheduling is performed by the scheduler 30a. That is, the scheduler 30a identifies the work modules C and D to be scheduled based on the work procedure information, and further stores the positional relationship between the work modules C and D in the system configuration information storage unit 31b. To recognize. And the conveyance path | route for conveying the microplate 2 from the work module C to the work module D is specified from the recognition result. In the example shown here, the scheduler 30a specifies that the transport path from the work module C to the work module D is CV3-CV2-CV1 from the arrangement information shown in FIG. Based on the transport path specified in this way, a command sequence for transporting the microplate 2 is generated.

  Here, FIG. 9 shows a command sequence in which commands indicating unit operations to be executed by each module are arranged in order of execution when the series of operations are executed by each module of the test processing system 1. Here, the command corresponding to the transport operation executed by the transport module CV is indicated by [Act], and the work process executed by the work module is indicated by [Op].

  In order to execute the above-described test processing, it is necessary to first transport the microplate 2 to the work module C. Therefore, the microarm 2 is transferred from the transport module CV3 adjacent to the work module C by the robot arm 17 to the work module C. A command [CV3: Act1] for carrying in port 9C1 is generated. Next, in the work module C, two commands [C: Op (C1)] and [C: Op (C2)] for dispensing the cell sample in two stages are generated. Next, a command [CV3: Act2] for transferring the microplate 2 completed in the work module C from the delivery port 9C2 to the transfer module CV3 by the robot arm 17 is generated.

  Thereafter, a command for transporting the microplate 2 to the work module D is generated. That is, a command [CV3: Act3] for transferring the microplate 2 to the transfer module CV2 is generated first, and then a command [CV2: Act4] for transferring the microplate 2 transferred to the transfer module CV2 to the transfer module CV1 is generated. Is done. Next, in the transfer module CV1 to which the microplate 2 has been delivered, a command [CV1: Act5] is generated for transporting the microplate 2 to the transfer work point 17a at the closest position of the delivery port 9D in the work module D. Then, a command [CV1: Act6] for transferring the microplate 2 by the robot arm 17 to the delivery port 9D of the work module D is generated.

  Then, in the work module D, a command [D: Op (D)] is generated for carrying out the work of bringing the microplate 2 into the incubator and holding it for a predetermined time to culture the cells. Next, a command [CV1: Act7] for transferring the microplate 2 that has been cultured for a predetermined time in the work module D from the delivery port 9D to the transfer module CV1 by the robot arm 17 is generated. Thereafter, commands are similarly generated for a series of D-A-D-F operations that are omitted in FIG. 9, and a command sequence in which these commands are arranged in chronological order according to the operation procedure is generated. .

  FIG. 10 shows a Gantt chart in which these commands are displayed according to the system time indicating the elapsed time from the time when the work process started. When a tester performs scheduling of test processing work by the control module 4, the commands are arranged in the order of the work points on the scheduling screen displayed on the input keyboard 6, and the work start timing in each command is set. Perform the operation to assign on the time axis of the system time. This makes it possible to execute scheduling efficiently and accurately while visually confirming the sequence and execution timing of a series of operations in a biochemical test.

The command sequence thus scheduled is transmitted from the command sequence output unit 30b to each module via the communication network 7, whereby the processing operation of the microplate 2 shown in FIG. 11 is executed. That is, when the command [CV3: Act1] is executed by the transfer module CV3, the microplate 2 is transferred from the conveyor-type transfer mechanism 14A of the transfer module CV3 to the delivery port 9C1 of the work module C by the robot arm 17, and then the command [CV3: Act1] The operation module C sequentially executes C: Op (C1)] and [C: Op (C2)], whereby the operation of dispensing the cell sample in the operation module C is performed in two stages. The microplate 2 is transferred by the robot arm 17 from the delivery port 9C2 to the conveyor type transfer mechanism 14B of the transfer module CV3.

  Thereafter, by executing the commands [CV3: Act3] and [CV2: Act4], the microplate 2 is transferred to the transport module CV1 via the conveyor-type transport mechanism 14B of the transport module CV2, and further the command [CV1 : Act 5], the microplate 2 is transported to the transfer work point 17a (see FIG. 4) at the closest position of the delivery port 9D in the work module D.

  Next, by executing the command [CV1: Act6], the microplate 2 is transferred by the robot arm 17 to the delivery port 9D. Thereafter, by executing the command [D: Op (D)], the work module D carries the microplate 2 into the incubator and cultures the cells, and further executes the command [CV1: Act7]. By executing, the microplate 2 that has been cultured for a predetermined time is transferred by the robot arm 17 from the delivery port 9D to the conveyor-type transfer mechanism 14B of the transfer module CV1.

  Next, with reference to FIG. 12, a description will be given of the transportability confirmation process executed in the transport of the microplate 2 in the test process. The transfer availability confirmation process is a process executed via the communication network 7 between the transfer modules or between the transfer module and the work module. First, as shown in FIG. 12A, in the transport module, a counterpart state check is executed (ST1). That is, with reference to the connection information memorize | stored in the connection information storage part 36b, the signal which urges | urges a state confirmation is transmitted to the work module used as the object of conveyance.

  The work module that has received this signal executes state confirmation (ST11). This state confirmation is performed by, for example, confirming whether or not the operation state of the work module is normal and whether or not the delivery port 9 of the work module is occupied by another microplate 2. Is done by. Then, the work module returns the confirmation result to the other transport module (ST12), and the transport module that has received the reply determines whether or not transport is possible according to the reply result (ST2). If it is determined that the conveyance is impossible, the process returns to (ST1) and waits while repeating the counterpart state check. If it is determined that the conveyance is possible in (ST2), the work based on the workpiece conveyance command is performed. A carrying operation is executed (ST3).

  That is, the transfer module performs a transfer availability confirmation process for confirming whether or not the workpiece transfer operation related to the transfer module can be performed with another connected transfer module or an adjacent work module. 7, a workpiece transfer operation based on the workpiece transfer command transmitted from the control module 4 is executed according to the processing result of the transfer enable / disable confirmation process.

This transportability confirmation process is executed by referring to the connection information stored in the connection information storage unit of each module. For example, as shown in FIG. 12B, when the microplate 2 is transferred between the transfer module CV3 and the work module C, the transfer module CV3 and the work module C are not connected via the control module 4. Then, the process shown in FIG. At this time, it is possible to check whether or not transfer is possible between the connection information stored in the respective connection information storage units, that is, the other work modules or transfer modules specified by the identification information indicating the modules connected or adjacent to each other. Is executed. By adopting such a configuration, it is possible to reduce the control processing load of the control module 4 and improve the processing efficiency.

  As described above, the test processing system shown in the present embodiment includes a plurality of work modules that perform work on a microplate while forming a plate transport line by connecting a plurality of transport modules that transport microplates. Are arranged adjacent to the transfer module, and these modules are connected to the control module via a communication network, and a work transfer command to each work module by the transfer module is transmitted to each transfer module by the control module. The configuration is such that the transfer availability confirmation process is performed between modules via a communication network.

  Thereby, the microplate can be efficiently transported to improve the processing efficiency of the entire test processing system, and the high throughput of the test processing system can be realized. In addition, when new work functions are required depending on the target test purpose, a transport module is added to extend the plate transport line, and a work module having the required work function is transferred to the transport module. By arranging them adjacent to each other, the system can be expanded with a high degree of freedom, and the flexibility in the system configuration can be improved.

  In this embodiment, an example of a test processing system that performs a biochemical test on a microplate is shown as an example of a workpiece processing system. However, the application of the present invention is limited to such a test processing system. Is not to be done. For example, in the electronic device manufacturing field, the present invention can also be applied to a configuration in which a substrate as a workpiece is transported by a transport module, and the work is sequentially performed by a plurality of work modules for the substrate.

  The workpiece processing apparatus of the present invention has an effect that both high throughput and improved flexibility in system configuration can be realized, and is useful for a test processing system that performs a biochemical test on a microplate. It is.

The top view which shows the structure of the test processing system of one embodiment of this invention The perspective view of the conveyance module used in the test processing system of one embodiment of this invention The perspective view of the robot arm with which the conveyance module in one embodiment of this invention was equipped Explanatory drawing of the delivery form of the microplate between the conveyance module and the work module in the test processing system of one embodiment of this invention The block diagram which shows the structure of the communication network of the test processing system of one embodiment of this invention The block diagram which shows the structure of the control system of the control module in the test processing system of one embodiment of this invention The block diagram which shows the structure of the control system of the conveyance module in the test processing system of one embodiment of this invention The block diagram which shows the structure of the control system of the work module in the test processing system of one embodiment of this invention The figure which shows the command arrangement | sequence of the conveyance process of a microplate in the test processing system of one embodiment of this invention Gantt chart showing the sequence of microplate transport processing in the test processing system of one embodiment of the present invention in time series Explanatory drawing of the procedure of the conveyance process of the microplate in the test processing system of one embodiment of this invention Explanatory drawing of the conveyance availability confirmation process performed in the test processing system of one embodiment of this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Test processing system 2 Microplate 3A, 3B Stocker 4 Control module 7 Communication network 8 Work table 9B1, 9B2, 9C1, 9C2, 9D, 9E Delivery port 10 Base part 12, 13 Connection plate 12a, 13a Positioning fitting part 14 Plate transport unit 14A, 14B Conveyor type transport mechanism 17 Robot arm 17a Transfer work point CV1, CV2, CV3 Transport module A, B, C, D, E, F Work module

Claims (2)

In a test processing system comprising a plurality of work modules for performing a predetermined work for biochemical tests on a microplate, and performing a series of work on the microplate by these work modules, the work module includes the microplate. A microplate transport device for transporting a plate,
A plate transport section in which two rows of conveyor-type transport mechanisms for mounting the microplate on a conveyor and transporting the microplate in a first direction are arranged ;
By picking up and moving the microplate, the microplate is transferred between the conveyor and a plate delivery section provided in the work module, and between the two rows of conveyor-type transport mechanisms A robot arm disposed movably in the first direction;
The plate transport unit and the robot arm provided on the upper surface, and
Other microplate transfer device bases provided on both end faces in the first direction and both end faces in the second direction orthogonal to the first direction in the base section, respectively, and the base sections are connected in the first direction. A first direction connecting part for connecting to a part and a second direction connecting part for connecting the base part to the base part of the work module arranged adjacent to the second direction. Microplate transport device. The first direction connecting portion and the second direction connecting portion are provided with alignment portions for aligning the transfer device for the microplate, the transfer device for the other microplate, and the work module. The microplate transport apparatus according to claim 1 .

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