Shuttle type conveying device, microplate feeding and collecting device, pickup device for microplate, cassette for microplate, and shelf for containing microplate

A shuttle-type conveying system to convey an article. The system includes a feeding and collecting device capable of setting a cassette in which articles to be conveyed are stacked as they are on a rotating and feeding table, a pickup device taking out the article and placing it on a receiving/delivery table, and a conveying device feeding the article on the receiving/delivery table to another receiving/delivery table by a shuttle conveying portion traveling on conveying paths below the receiving/delivery table. After the article is lifted up by the shuttle conveying portion and moved to outside the receiving/delivery table, the article is lowered below the receiving/delivery table and made to travel under the receiving/delivery table to another receiving/delivery table.

TECHNICAL FIELD

The present invention relates to a shuttle-type conveying device for conveying articles such as microplates used in a processing device for carrying out predetermined chemical reaction inspection, analysis and the like using a microplate, a microplate feeding and collecting device, a microplate pickup device, a cassette for microplate, and a shelf for containing microplate. In this description, the “shuttle-type conveying device” refers to a conveying device provided with a transfer portion (shuttle conveying portion) for conveying articles by reciprocating or circulating a single conveying path, or a closed conveying path (shuttle-type conveying path) such as an annular conveying path for example. The conveying device provided with a plurality of shuttle-type conveying paths are also included in a range of the shuttle-type conveying device of the present invention.

BACKGROUND ART

In the drug-discovery screening field, biotechnology field and the like, various tests such as biochemical reaction test of a substance are conducted. In these tests, as a container for containing a chemical or a sample for culture and biochemical reaction, a microplate provided with a plurality of hole-shaped wells in a single plate is used. Also, since these tests are conducted systematically with a large number of specimens as a target, a large number of microplates are usually used for processing such as dispensing operation and componential analysis. The present invention relates to a handling device of various microplates for efficiently containing, taking out, and conveying to a targeted position the microplate in a processing device using the microplate for these tests such as an assay processing device and the like, for example.

The “assay processing” here refers to detection and quantification of those generated or consumed by mixing compositions required for a chemical reaction in a test tube and the like and having them reacted under a certain condition. Such assay processing was manually conducted for each sample at the initial stage but in order to process a large number of samples at a high speed, a high-speed processing device which automates the processing has been developed in recent years.

As a prior art of such a device handling microplates, a microplate processing device in which the microplates are individually contained in a storage shelf on which a plurality of microplates can be placed, taken out one by one by a ceiling-traveling robot-type plate conveying mechanism as necessary and transferred to a dispensing stage and the microplates after the dispensing operation are returned to the storage shelf is proposed (See Patent Document 1).

Also, since the art disclosed in Patent Document 1 has a problem that a lid of a microplate can not be efficiently attached/detached, another conveying art is proposed in order to solve the problem (See Patent Document 2). With the art in Patent Document 2, a conveyer type microplate conveying mechanism is used, and the microplate is placed on the conveyer for conveying. On an upstream side of the conveyer, a device for removing a lid is provided at a position higher than the conveyer, thereby the lid is removed. The microplate whose lid has been removed is fed to a predetermined dispensing position, the dispensing processing is carried out on the conveyer, after the dispensing processing is finished, the microplate is fed to further downstream and the lid having been fed previously is placed. After that, the microplate with lid is collected by a collecting portion.

Moreover, a feeding device for taking out the microplates with lid one by one from a containing portion for stacking a large number of microplates with lid for storage and conveying them is proposed (Patent Document 3). Patent Document 3 discloses a prior art in which after the microplates with lid are stacked and contained in a first stock portion, all the stacked and contained microplates are moved to a second stock portion provided below the first stock portion and after that, the stacked microplates are taken out one by one in order from the top.

DISCLOSURE OF THE INVENTION

Problems to be Solved by the Invention

In such a device handling a microplate, in addition to the dispensing processing, various processing such as incubation processing, analysis processing and the like are conducted, and a large number of microplates are used in these processing. According to requests of the various processing, rapid and accurate conveying of the microplates are demanded. In order to respond to these requests, the above-mentioned prior arts have various problems.

For example, the art in Patent Document 1 has a problem, as being pointed out in Patent Document 2, that a mechanism for removing the lid becomes complicated. In addition, since a dispensing stage (dispensing table) is located in the middle of a conveying path, there is a fear that the microplates during the dispensing processing are contaminated by a ceiling-traveling robot. More specifically, if a microplate is to be fed to a processing device on a downstream side from the dispensing table, since the ceiling-traveling robot is moved over the microplate placed on the dispensing table with its lid removed, there is a fear that trash such as dusts and the like drops onto the microplate placed on the dispensing table with its lid open and mixes into a sample.

Also, with the art described in Patent Document 2, the microplate is placed on a conveyer for conveying and the microplate in the middle of conveying is stopped on the conveyer for the dispensing processing. Therefore, it is not possible to feed the microplate prior to the microplate previously placed on the conveyer by skipping it. Thus, another microplate can not be fed ahead of the dispensing table till the dispensing processing and the like is finished, and conveying of another microplate is influenced by a dispensing processing speed and a conveying throughput is extremely lowered.

Moreover, even in Patent Document 3, which is a device for stacking and containing the microplates for supply or collect microplates one by one to or from the conveying device, there are various problems. In this way, if the microplates can be stacked and contained and sequentially supplied one by one according to a request, there is an advantage of efficient storage as compared with a case of containing the microplates in a containing shelf. However, in the art disclosed in Patent Document 3, when the microplate is contained in the first stock portion for the first time, the microplate should be inserted from top of an opening at a high position, and a labor load of a containing work is large. Also, it is so configured that after the stacked microplates are moved from the first stock portion to the second stock portion, the microplates having been moved to the second stock portion are taken out in order from the top, and at least two stock portions of the first and second stock portions are required, which increases the size and complexity of the entire device.

Moreover, with the art described in Patent Document 3, when the microplate constituted by two units separated into a lid portion and a main body portion is lifted to be taken out, the microplate is simply sandwiched by two arms on its side faces to be lifted up, and there is a fear that the main body portion and the lid are removed and dropped at the lifting-up.

Moreover, in the prior arts, the microplate placed on the shelf needs to be taken out by being gripped from the side, and control to take out the microplate on the shelf by a robot is complicated.

The present invention was made in view of the above problems of the prior arts and has an object to provide a shuttle-type conveying device whose conveying throughput per conveying path is improved with a simple structure.

Another object of the present invention is to provide a microplate pickup device that can lift up and take out the microplate without separating the lid portion and the main body portion.

Still another object of the present invention is to provide a microplate feeding and collecting device that can contain and take out stacked microplates efficiently.

Still another object of the present invention is to provide a cassette for microplate that can stack and contain microplates and can be easily attached to the microplate feeding and collecting device.

Still another object of the present invention is to provide a microplate containing shelf that can be assembled with accuracy and take out microplates placed on the shelf by a robot more easily.

Means for Solving the Problems

A first mode of the shuttle-type conveying device according to the present invention comprises at least one conveying path, a shuttle conveying portion provided with a conveying table portion that can be elevated up and down for reciprocating or circulating on the conveying path with an article to be conveyed on the conveying table portion, a receiving/delivery table arranged above the conveying path and provided with a bottom-face opening portion larger than the conveying table portion and smaller than the article to be conveyed, and a control portion for controlling the shuttle conveying portion so that the article to be conveyed which is placed on the receiving/delivery table is taken out, conveyed and placed on the receiving/delivery table at a conveying destination by movement on the conveying path of the shuttle conveying portion and an elevating operation of the conveying table portion.

In this mode, the article to be conveyed such as a microplate and the like placed on any of the receiving/delivery tables provided in plural at the end or in the middle of the conveying path is conveyed by taking it out of one receiving/delivery table by the shuttle conveying portion and conveying it to another receiving/delivery table, for example. The shuttle conveying portion reciprocates on a single conveying path. It may circulate or reciprocate on a ring-state closed conveying path. The conveying path may be a single straight line, a curved shape or a branch line extending from a single main line. Such conveying paths may be also provided in plural. The shuttle conveying portion is provided at least one at each conveying path. The receiving/delivery table is preferably located immediately above the conveying path and capable of traveling between the conveying path and the receiving/delivery table in a state where the shuttle conveying portion has the article to be conveyed placed.

Another mode of the shuttle-type conveying device according to the present invention is characterized in that the control portion comprises a take-out control portion that moves the shuttle conveying portion to below the receiving/delivery table with the conveying table portion lowered and raises the conveying table portion from below the receiving/delivery table and has it passed through the bottom-face opening portion, thereby to lift up the article to be conveyed placed on the receiving/delivery table, a conveying control portion for moving the conveying table portion with the article to be conveyed to the receiving/delivery table to be a conveying destination, and a receiving/delivery control portion that moves the shuttle conveying portion with the article to be conveyed to above the bottom-face opening portion of the receiving/delivery table to be the conveying destination and then, lowers the conveying table portion so that the article to be conveyed is placed on the receiving/delivery table of the conveying destination.

In this mode, in order to receive the article to be conveyed, the shuttle conveying portion is moved to immediately below the receiving/delivery table and the article to be conveyed is taken out of the receiving/delivery table by raising the conveying table portion and lifting up the article to be conveyed from immediately below, and after the article to be conveyed is moved to immediately above the delivery table in a lifted-up state, the conveying table portion is lowered so that the article to be conveyed is taken out and delivered by the shuttle conveying portion at the receiving/delivery table.

Another mode of the shuttle-type conveying device according to the present invention is characterized in that after the article to be conveyed is lifted up by the receiving/delivery control portion, the conveying control portion moves the shuttle conveying portion to outside the receiving/delivery table and then, lowers the conveying table portion to a position lower than the receiving/delivery table, has the shuttle conveying portion with the article to be conveyed passed and moved below the receiving and delivery table and raises the receiving/delivery table in front of the receiving/delivery table to be a conveying destination.

In this mode, the shuttle conveying portion lifts up the article to be conveyed and takes it out of the receiving/delivery table and then, lowers the conveying table portion so that the shuttle conveying portion travels below the receiving/delivery table. As a result, even if the receiving/delivery table is located in the middle of the conveying path, the article to be conveyed can be conveyed to the receiving/delivery table ahead.

Another mode of the shuttle-type conveying device according to the present invention is characterized in that a work table is provided on the conveying path so as to bridge over the conveying path, and when the shuttle conveying portion passes and moves below the work table, the article to be conveyed is conveyed to the receiving/delivery tables provided on upstream and downstream sides of the conveying path with the work table between them.

In this mode, even if the work table for dispensing processing and the like is provided in the middle of the conveying path, the article to be conveyed can be conveyed over the work table.

A first mode of the pickup device for microcassette according to the present invention is a pickup device provided with a main body portion and a lid portion and for sandwiching and taking up a rectangular microplate whose main body portion and lid portion can be sandwiched, respectively, from the side faces, comprising a pair of sandwiching arms for bringing one sandwiching arm into contact with the main body portion and the other sandwiching arm with the lid portion so as to sandwich the microplate from right and left when the side face of the microplate is sandwiched and held, an opening/closing driving portion for opening/closing driving the pair of sandwiching arms, an elevation driving portion for elevating the pair of sandwiching arms vertically, and a pickup control portion for controlling operations of the opening/closing driving portion and the elevation driving portion.

In this mode, by individually sandwiching the lid portion and the main body portion of the microplate from right and left so as to press each other by the pair of sandwiching arms, the lid portion and the main body portion are not separated when the microplate is lifted up.

Another mode of the pickup device for microcassette according to the present invention is characterized in that the pair of sandwiching arms diagonally sandwich the main body portion and the lid portion at heights different between right and left.

In this mode, in order that each of the sandwiching arms surely grips the lid portion and the main body portion, the heights of microplate contact portions of the respective sandwiching arms are made different. Thereby, the lid portion and the main body portion are pressed to each other diagonally so that the microplate is sandwiched and lifted up.

Another mode of the pickup device for microcassette according to the present invention is further provided with a detection sensor for detecting a height position of the microplate to be sandwiched.

Another mode of the pickup device for microcassette according to the present invention is further provided with a pair of holding members for holding the bottom face of the microplate from side faces perpendicular to the pair of sandwiching members.

Another mode of the pickup device for microcassette according to the present invention is characterized in that the pickup control portion controls so that after the microplate is slightly lifted up by the pair of sandwiching portion, the bottom face of the microplate is held by the pair of holding members.

A first mode of the microplate feeding and collecting device according to the present invention comprises a single elevation portion provided with a lift member for lifting the stacked microplates from the bottom portion and a cassette containing table provided with an opening portion at a bottom face through which the lift member can pass and an opening portion at an upper face through which the microplate can pass and capable of attaching a cassette for stacking and containing the microplates.

Another mode of the microplate feeding and collecting device according to the present invention is characterized in that the cassette containing table can have a plurality of the cassettes placed.

Another mode of the microplate feeding and collecting device according to the present invention is characterized in that the elevation portion is configured to be arranged at a position inscribing the inside of the cassette containing table and by rotation of the cassette containing table, each of the attached cassettes is brought into contact with a front face of the elevation portion.

Another mode of the microplate feeding and collecting device according to the present invention is characterized in that the elevation member is provided at the center part of the cassette containing table.

A first mode of the cassette for microplate according to the present invention comprises a side-face support frame for supporting the side faces of the microplate from three directions, a bottom-face support frame portion provided with an opening portion smaller than the microplate, an upper-face support frame portion provided with an opening portion larger than the microplate, and a short door portion for supporting the microplate from the opened remaining one direction of the side-face support frame.

Another mode of the cassette for microplate according to the present invention is characterized in that the bottom-face support frame portion is provided with a door lock pin that is lowered by the gravity and is projected from the lower side when being lifted up for locking the door portion in a closed state and that releases the door lock by being lifted upward and an elastic member for urging the door in a closing direction.

Another mode of the cassette for microplate according to the present invention is characterized in that the side-face support frame is made of a plurality of support rods connecting the upper-face support frame portion and the bottom-face support frame portion.

A first mode of the shelf for containing microplate according to the present invention is a shelf provided with a top board and a bottom board for containing microplate with a given interval between the top board and the bottom board and is characterized in that a shelf stage is formed in which support columns having at least one projection at an intermediate portion and for connecting the top board and the bottom board are arranged with a predetermined interval so that the microplate is supported by the projection.

Another mode of the shelf for containing microplate according to the present invention is characterized in that the top board and the bottom board are in a fan shape made of an arc with a small radius inside and an arc with a large radius outside.

Another mode of the shelf for containing microplate according to the present invention is characterized in that a section of the support column and the projection both have a circular section.

Another mode of the shelf for containing microplate according to the present invention is characterized in that the top board and the bottom board are supported by the support column with a small diameter on the small arc side on the inside and by the support column with a large diameter on the large arc side on the outside.

Another mode of the shelf for containing microplate according to the present invention is characterized in that the projection portion has its radius of the sectional shape gradually enlarged as it goes downward.

EFFECT OF THE INVENTION

According to the shuttle-type conveying device of the present invention, by the shuttle conveying portion in which the receiving/delivery table on which the article to be conveyed is placed is arranged on the conveying path and provided with the conveying table portion capable of being elevated up and down, with a simple operation of elevating the conveying table portion up and down, the article to be conveyed placed on the receiving/delivery table can be lifted up and taken out and the article to be conveyed can be placed on the receiving/delivery table. Also, by controlling the shuttle conveying portion so that it passes below the receiving/delivery table, even if the article to be conveyed stays on the receiving/delivery table in the middle of the conveying path, the article to be conveyed can be conveyed to the receiving/delivery table ahead and the conveying throughput in the shuttle-type conveying path can be drastically improved.

By the micro cassette feeding and collecting device according to the present invention, a cassette that can stack and contain the microplates can be set as it is in the cassette containing portion. Also, in the cassette containing portion, a plurality of cassettes can be set, and since the cassette containing portion can be constructed so as to be rotatable, many microplates can be contained in a relatively small space efficiently. Also, since the cassette containing portion is located at a low position, even a heavy cassette can be easily set in the cassette containing portion, and a work load for the cassette can be drastically reduced.

In the pickup device according to the present invention, when the side faces of the microplate constituted by the lid portion and the main body portion is sandwiched and lifted up, the microplate is sandwiched so that one of the right and left two sandwiching arms is brought into contact with the lid portion and the other is in contact with the main body portion, and the microplate is lifted up in a state where the lid portion and the main body portion are pressed to each other. As a result, when the microplate is lifted up, separation between the lid portion and the main body portion can be prevented.

In the microcassette device of the present invention, the microplates are stacked and contained by the support frames in three directions and a small door on the entire face, an opening through which a lift piece can pass is provided on the bottom face and the entire face, and by providing the opening through which the entire microplate can pass on the upper face, the cassette can be directly set in the microcassette feeding and collecting device of the present invention. In this cassette, the entire face door can be opened so that the microplate can be easily stacked and contained. By using this cassette, containing and transportation work burdens of the microcassette can be drastically reduced.

EXPLANATION OF REFERENCE NUMERALS

BEST MODE FOR CARRYING OUT THE INVENTION

FIG. 1is a perspective view illustrating an example of an analysis processing system for carrying out processing such as drug-discovery screening field and the like using a shuttle-type conveying device and a microplate feeding device according to an embodiment of the present invention, andFIG. 2is a perspective view illustrating an internal structure of a microplate feeding and collecting portion40of the system shown inFIG. 1by partially cutting away its cover.FIG. 3is a plan view of an analysis processing system1shown inFIGS. 1 and 2, andFIGS. 4are side view and plan view illustrating an example of the microplate used in these devices.

[Structure of the Microplate]

First, usingFIG. 4, a microplate95handled in the present invention will be described. The structure and size and the like of the microplate95are standardized to a certain size and shape. The analysis processing system1is, as mentioned above, a device for dripping and mixing processing of a test reagent in a sample for monitor, and the microplate used for this is provided with a large number of small well-state holes (wells) into which the sample can be injected so that the large number of samples can be inspected and analyzed at the same time.FIG. 4shows an example of such a microplate and shows a box-shaped microplate of 85.5×127.8 mm made of plastic in which small hole-shaped containers arranged in 12 pieces laterally×8 pieces vertically, totaling in 96 pieces (hereinafter referred to as a “well99”) are provided.FIG. 4Ais a side view of the microplate,FIG. 4Bis a plan view of a state where the lid is removed, and as shown inFIG. 4A, the microplate95is constituted by a microplate main body portion96and a lid portion98. The microplate main body portion96has a bottom face portion97with substantially the same width of the lid portion98, whose peripheral edge slightly protrudes from the main body. A thickness “t” of the microplate95is different depending on the type of the microplate.

In the drug-discovery research field relating to development of synthetic drugs and biochemical drugs, several hundreds of thousands or several millions of samples are given High Throughput Screening. Therefore, other than the microplate95provided with 96 pieces of wells93as shown inFIG. 4, in order to handle much more samples, a microplate with the same outer dimensional size as that ofFIG. 4with 384 well or 1534 well provided are developed. In the analysis processing system, since these microplates are used in a large number at the same time, it is demanded that the microplates95are taken out of a containing device40one by one and conveyed to a target position at a high speed. After dispensing of samples or reagents into the well99by a dispensing processing device70, these microplates95are either left on a shelf120for a given time or given incubation processing by a humidity retaining machine140and the like as necessary and then, analysis processing is applied by various analyzers130including a visible-ray absorption spectrum analyzer, fluorometric analyzer, chemical light emission analyzer, radioisotope scintillation counter and the like. Thus, in the analysis processing device, the microplate95is required to be delivered to a predetermined location such as the feeding and collecting device40, the dispensing processing device70, the shelf120, various analyzers130, the humidity retaining machine140and the like at a high speed.

[Entire Configuration of Analysis Processing System1]

The analysis processing system1is provided with the feeding and collecting portion40for feeding the unused microplate95or the microplate95into which a sample has been dispensed and for collecting and containing the used microplate95, a first pickup portion50for taking up the microplate95one by one and for moving it from the feeding and collecting portion40to a receiving/delivery table R1of a conveying portion10or from the receiving/delivery table R1to the feeding and containing portion40, a conveying system10for conveying the microplate95placed on the receiving/delivery tables R1to R4to another receiving/delivery table one by one, the dispensing processing portion70for picking up the microplate95placed on the receiving/delivery table and placing it on a dispensing table and for dispensing a drug solution to the well99, the shelf120on which the microplate is placed, the analyzer130, the humidity retaining machine140, and a horizontally rotating-type conveying robot110for taking up the microplate and transferring it among the receiving/delivery table R4, the shelf120, and various devices130,140.

In the analysis processing system1, how to convey the microplate95can be freely set according to the processing purpose. In the analysis processing system1, for example, it is possible to take out the unused microplate95or the microplate95into which the sample has been dispensed from the feeding and collecting portion40, for example, to convey it to a dispensing stage (dispensing table)75for dispensing processing and then, to carry out analysis processing after incubation processing and the like or to return it to the collecting and processing device soon after the dispensing processing. By programming a procedure to convey the microplate in the control portion in advance according to a processing mode, the microplate can be conveyed in a predetermined order according to the processing.

The shuttle-type conveying device10for conveying the microplate95from one receiving/delivery table to another receiving/delivery table will be described. The shuttle-type conveying device10is, as shown inFIGS. 1 to 3, provided with a shuttle conveying portion11that moves on conveying paths La to Lb and conveying paths L1to L3and receiving/delivery tables R1to R4. In addition, three reciprocating shuttle-type conveying devices are shown inFIGS. 1 to 3.

A perspective view enlarging the receiving/delivery table R1of the shuttle-type conveying device10and the shuttle conveying portion11shown inFIG. 1is shown inFIG. 5. The receiving/delivery table R1is provided on the conveying path, and the shuttle conveying portion11can pass and move under the receiving/delivery table R1. The shuttle conveying portion11is provided with a conveying table portion12capable of vertical elevation, and at a raised position, the conveying table portion12can be lifted up so that the conveying table portion12is higher than the receiving/delivery table R1. On the receiving/delivery table R1in this embodiment, three microplates95in total can be placed for each conveying path L1.

The receiving/delivery table R1is constituted by a small support plate21for supporting four corners of the microplate95. The four support plates21support a single microplate95. At the support plate21, a plurality of elongated conical positioning pins22are provided for accurately positioning the microplate95at a predetermined position. Since the positioning pin22is formed in a conical shape, the microplate95is lowered along a diagonal peripheral wall of the positioning pin when the microplate95is placed and accurately positioned and held.

The support plate21is supported by a support column portion20so that it slightly protrudes to the conveying paths La to Lc side. In this way, since the receiving/delivery table R2is constituted by the small support plates21supporting the four corners, an opening23is formed on an upper part of each of the conveying paths La to Lc of the receiving/delivery table R2, and the conveying table portion12of the shuttle conveying portion11can extend through the opening23from immediately below the receiving/delivery table R2to over the receiving/delivery table R2. Therefore, when the microplate95is placed as in the conveying path Lb, by raising the conveying table portion12of the shuttle conveying portion from immediately below Lb, the microplate95can be lifted up over the receiving/delivery table R2. The shuttle conveying portion11can move along the conveying path with the microplate95lifted up in this way and lifts up and takes the microplate95out of the receiving/delivery table R2.

When the microplate95is to be placed on the receiving/delivery table, the shuttle conveying portion11is moved to the center part of the receiving/delivery table in a state where the conveying table portion12with the microplate95is extended upward and then, the conveying table portion12is lowered to a lower side of the receiving/delivery table. Thereby, the conveying table portion12is lowered to below the receiving/delivery table through the bottom-face opening portion23, but since the microplate is supported by the support plates21at the four corners, the microplate can be placed on the receiving/delivery table. This point will be described later.

Moreover, the support column portions20provided at both sides of the conveying paths La to Lb are arranged with an interval so that the shuttle conveying portion11can pass between the support column portions20with the microplate95supported. Therefore, the shuttle conveying portion11can pass and move under the receiving/delivery tables R1to R4with the microplate95placed on the conveying table portion.

As a result, on whichever of the receiving/delivery tables R1to R4the microplate95is placed, the shuttle conveying portion11can freely convey the microplate95by moving under the receiving/delivery tables R1to R4.

FIG. 6shows a processing procedure that the microplate95placed on the receiving/delivery table R4is lifted up and taken out and lowered to a position below the receiving/delivery tables R4to R1. First, as shown inFIG. 6A, the shuttle conveying portion11is moved to below the receiving/delivery table R4. Then, an air cylinder17is driven so as to raise the conveying table portion12and to lift up the microplate12(FIG. 6B). In that state, the portion is moved to between the deliver tables R4and R3(FIG. 6C), and the conveying table portion12is lowered so as to hold the microplate95at a position lower than the receiving/delivery tables R3, R4. As a result, since it can freely move under the receiving/delivery tables R1to R4and the dispensing table75for conveying, the microplate95can be conveyed to any position on the conveying path La.

UsingFIGS. 7 and 8, a conveying processing procedure to take the microplate95out of the receiving/delivery table and conveying it will be described.FIG. 7is a partially omitted side view of the shuttle-type conveying device10.FIG. 8is a view of the shuttle-type conveying device10seen from A-A′ line inFIG. 7. As for the conveying paths La to Lc, a linear guide rail26is laid on a base table25, on which a linear guide13of the shuttle conveying portion11is slidably mounted. The linear guide13is provided with a shuttle motor15(SeeFIG. 8) on which a gear14is mounted, two rollers16, and the air cylinder17provided upward. The air cylinder17vertically drives an elevation rod18. At an upper end of the elevation rod18, the conveying table portion12is fixed, and the conveying table portion12is elevated according to a vertical movement of the elevation rod18.

Between the gear14and the two rollers16, a straight timing belt27is fitted, and both ends of the timing belt27are fixed to a belt fixing portion29provided at both ends of the base table25. The timing belt27has a smooth surface and has a waveform formed on a back face, and since it is meshed with the gear14, when the shuttle motor15is rotated, the shuttle conveying portion11travels along the conveying paths La to Lc according to the rotation of the gear14. As the shuttle motor15for self-traveling, a stepping motor is preferably used, and its rotation is preferably controlled accurately by a pulse signal. By controlling the rotation of the shuttle motor15, the shuttle conveying portion11can freely move to and stop at a target position.

A procedure to take the microplate95out of the receiving/delivery table R1and to open the lid portion98and to convey it by the shuttle conveying portion11will be described. When the microplate95on the receiving/delivery table R1is taken out by the shuttle conveying portion11, as shown inFIG. 8, the shuttle conveying portion11moves to immediately below the receiving/delivery table R1. In this state, as shown by a waved line inFIG. 8, the conveying table portion12is located below the receiving/delivery table R1. After that, as shown by a solid line inFIG. 8, the conveying table portion12is lifted up by driving the air cylinder17. As a result, the microplate95is lifted up to a position higher than the positioning pin22of the receiving/delivery table R1. In this state, the shuttle conveying portion11is slightly moved to the left direction inFIG. 7so as to take the microplate95out of the receiving/delivery table R1and stops below a lid suction machine28. In order to ease understanding of the structure of the shuttle-type conveying device10, the lid suction machine28is not described inFIGS. 1 to 3.

The lid suction machine28is provided with a plurality of suction pads31and confirmation sensors32provided at a rodless cylinder30for elevation mounted. When the suction pad31is lowered by the rodless cylinder30for elevation and the lid portion98of the microplate is suctioned, a degree of pressure reduction is changed and suctioning is detected. By raising the suction pad31in this state, the lid portion98is lifted up and the lid is opened. The confirmation sensor32detects if the lid has been accurately closed or not from the position of the lid portion. Mounting of the confirmation sensor32is arbitrary.

If the microplate main body96with the lid portion98removed is to be placed on the receiving/delivery table R2, the shuttle conveying portion11is moved to the center of the receiving/delivery table R2as it is, and by lowering the conveying table portion12, the microplate main body96is placed on the receiving/delivery table R2. When the microplate main body96is to be conveyed to another receiving/delivery table R3or R4, after the lid portion98is suctioned by the lid suction machine28as shown inFIG. 7, the shuttle table portion12with the microplate main body96placed is lowered to below the receiving/delivery tables R1to R4and the dispensing table75. After that, the shuttle conveying portion11is passed and conveyed under the receiving/delivery table and the like, conveying is made to a target position.

In the case of conveying from the receiving/delivery table R1to the receiving/delivery table R4without the dispensing processing, since there is no need to remove the lid portion98, the conveying table portion12is lowered at the position of the lid suction device28without removing the lid portion98, and the shuttle conveying portion11is passed under the receiving/delivery tables R2, R3and the dispensing table75and moved to the front of the receiving/delivery table R4. After that, the conveying table portion12is raised to the height above the receiving/delivery table R4, and after it is moved to the center of the receiving/delivery table R4, the conveying table portion12is lowered, and the microplate95is placed on the receiving/delivery table R4. The microplate95placed on the receiving/delivery table R4is scooped up by a distal end portion112of an arm111in the conveying robot110and transferred to the shelf120or the other processing devices130,140. The microplate95having been processed is supported by the distal end portion112of the arm111in the conveying robot110, lowered from above to below the receiving/delivery table R4and placed on the receiving/delivery table R4.

When the microplate main body96for which the dispensing processing has been finished is returned to the receiving/delivery table R2, the shuttle conveying portion lifts up the microplate main body96from immediately below the receiving/delivery table and moves to below the lid suction machine28. In this state, the suction pad31holding the lid portion98is lowered, and the lid portion98is placed over the microplate main body96.

Since the dispensing processing is conducted with the lid portion98removed, the lid suction machine28is provided in front of the receiving/delivery table R2for the dispensing processing. The receiving/delivery table R4is a receiving/delivery table of the microplate having been conveyed for the incubation processing and other processing and also a receiving/delivery table on which the microplate95to be applied with a predetermined processing and the microplate for which the predetermined processing has been finished is placed. The dispensing processing might be conducted after the predetermined processing such as incubation. In the embodiment described in this description, in order to reduce the conveying distance and to improve a buffer function to absorb delay in the dispensing processing as much as possible in such a case, the receiving/delivery table R3is further provided. InFIG. 7, in order to reinforce a function to remove the lid portion98, the lid suction machine28is also provided in the vicinity of the receiving/delivery table R3.

As is obvious from the above description, according to the present invention, only by the elevation operation of the shuttle conveying portion11and the moving operation of the conveying path, the microplate95can be taken out of the receiving/delivery tables R1to R4and conveyed and placed on the other receiving/delivery tables R1to R4. Therefore, even if the dispensing processing is slowed and the microplate95is left on the receiving/delivery table R2or R3, for example, the microplate95can be conveyed between the receiving/delivery table R1and the receiving/delivery table R4.

That is, according to the conveying method of the present invention, by means of a simple conveying mechanism provided with the shuttle conveying portion provided with the conveying table portion capable of vertical elevation operation and the receiving/delivery table on an upper part of the conveying path, a delay in the processing by one processing device making a bottleneck and also delaying conveying of the microplate95to another processing device on the same conveying path can be prevented. In this way, by providing a plurality of receiving/delivery tables according to the present invention, even if the receiving/delivery table in the middle of the conveying path is full, the microplate can be conveyed to the receiving/delivery table ahead. Therefore, the throughput of the shuttle-type conveying processing can be drastically improved. Also, since the receiving/delivery table serves a function of a conveying buffer, by providing a plurality of the receiving/delivery tables according to the present invention, the conveying throughput of one conveying path can be further improved. Particularly in the present invention, a remarkable effect of drastic improvement of the conveying throughput can be obtained only with a simple structure in which the conveying table portion elevating vertically at the shuttle conveying portion is provided and only by providing the receiving/delivery table having a bottom-face opening portion above the conveying path.

In the above description, the structure in which the support plates21of the receiving/delivery tables R1to R4are supported by the support column portions20is shown, but as shown inFIG. 9, the support plate20may be fixedly provided on a support frame35laid at both ends of the conveying path at a predetermined height. At that time, by providing a plurality of screw holes by which the support plate21is mounted on the support frame35with a predetermined interval so that the support plate21can be mounted at an arbitrary position, installation positions and the number of installation of the receiving/delivery tables can be made easily changeable. Also, instead of the laid frame35, a wall may be provided at a predetermined height so that the support plate21at its upper end is fixed.

Also, in the above-described embodiment, the example provided with three conveying paths La to Lc is shown, but the number of the conveying paths may be one or three or more.

[Microplate Feeding and Collecting Device]

Next, the microplate feeding and collecting device40will be described.FIG. 2shows a part of an internal structure of the microplate feeding and collecting device40. InFIG. 2, an example in which a microplate cassette80is set on a rotating and containing table (cassette containing portion)43is shown. The cassette80inFIG. 2is shown such that most of the microplates95have been already supplied and the cassette80is almost empty.FIG. 10is a partially cut-away perspective view showing a state in which only one cassette80in which a large number of microplates95are stacked and contained is set on the rotating and containing table43. InFIG. 10, a state is shown that the microplate95on the uppermost stage is lifted up to a take-out position of the microplate95by a pickup device50a.

On the rotating and containing table43, 6 similar cassettes80can be set. But,FIGS. 3 and 10show the state in which only one cassette is set.FIG. 11shows a perspective view of a state where the cassette80is removed and the rotating and containing table43is cut away, andFIG. 12shows a schematic plan view of a state in which 6 cassettes80are set on the rotating and containing portion43. The rotating and containing table43is held on a base table portion42fixed to a frame41of the feeding and collecting portion40so that it can be rotated and driven by a rotary motor, not shown. At the center of the base table portion42, a plate elevation portion45for lifting up the entire microplate stacked in the cassette80from below is fixed. The plate elevation portion45is provided with a lift piece46that can raise the entire microplate placed on it. The lift piece46is vertically driven by a ball screw47rotated and driven by a motor49for plate elevation portion (SeeFIG. 12).

As can be known fromFIG. 10, the rotating and containing table43is provided with four positioning and fixing pins43aat positions where the cassette80is set. In the rotating and containing table shown inFIG. 10, 6 cassettes can be set. The rotating and containing table43is provided with an opening (opening for lift piece)44at a position corresponding to the bottom face portion of the cassette80, and when the rotating and containing table43is rotated, the lift piece46retreats through the opening44to below the rotating and containing table43. After the rotating and containing table43is rotated and the cassette80in which the microplates to be taken out are stacked is stopped in front of the plate elevation portion45, the lift piece46is raised through the opening44and pushes up the entire microplates stacked in the cassette80from the bottom face of the cassette80, and the microplate95stacked on the uppermost stage is lifted up to a pickup position by the pickup device50aas shown inFIG. 10.

The feeding and collecting portion40has the similar rotating and containing table43also provided on the side of a pickup device5b, and 12 cassettes80in total can be contained. By setting the cassette80in which the microcassettes95are stacked, the microcassette95can be fed to the receiving/delivery table R1, and by setting the empty cassette80in the rotating and containing table43, the microplate95having been collected from the receiving/delivery table R1can be stacked and contained in the empty cassette80in the order of collecting. The plate elevation portion45is controlled to push up by one increment each time the microplate95is taken out in order from the above and is also controlled to lower by a portion of one microplate each time the microplate95is returned to the cassette80. In this way, by moving the lift piece46vertically, the height of the microplate95on the uppermost stage in the cassette80is adjusted to the take-out position or return position by the pickup portion50all the time.

As can be known from the above description, in the microcassette feeding and colleting device of the present invention, the microplate can be set to the cassette containing portion as a cassette that can stack and contain the microplates. Also, since the plurality of cassettes can be set in the cassette containing portion and the cassette containing portion can be constructed so as to be rotatable, many microplates can be efficiently contained in a relatively small space. Also, since the cassette containing portion is located at a low position, even heavy cassettes can be easily set in the cassette containing portion, which can drastically reduce a work load of the cassette.

Next, the micro pickup device for taking up the microplate95from the feeding and collecting portion40and placing it on the receiving/delivery table R1or for taking up the microplate95from the receiving/delivery table R1and containing it in the cassette80of the feeding and collecting portion40will be described. An entire appearance of such a pickup device is shown as the first pickup device50inFIG. 1, and its internal mechanism is shown inFIG. 2. UsingFIGS. 13 and 14, the internal structure and its function of the first pickup device50will be described in detail.FIG. 13is a partially cut-away perspective view illustrating the internal structure of the first pickup device50andFIG. 14is a side view schematically showing a sandwiched state of the microplate95by the first pickup device50.

In this embodiment, two microplate pickup devices50a,50bfor taking out the microplate95from the two rotating and containing tables43, respectively, are provided. Since the microplate pickup devices50aand50bare identical, only the microplate50awill be described below.

At both ends of the microplate pickup device50, a cylinder support portion52mounted to a frame51is provided. On the cylinder support portion52, a horizontal rodless air cylinder53is supported, to which an air cylinder movable portion54is mounted so as to be movable in the horizontal direction. At the air cylinder movable portion54, an elevation rodless air cylinder55is mounted, to which a plate gripping portion56is mounted. Thereby, the plate gripping portion56can be elevated vertically and moved horizontally between the take-out position of the microplate95in the feeding and collecting device shown inFIG. 1to the receiving/delivery table R1.

The plate gripping portion56is provided with a pair of sandwiching members constituted by a bifurcated round bar59and a plate-state plate60for sandwiching the both side faces of the microplate95and a pair of holding arms63for holding the microplate95by supporting its bottom face from the both side faces opposite to the pair of sandwiching members.

The plate-state plate60constituting the pair of sandwiching members is provided with a projection portion61at its bottom portion, in contact with the side face of the bottom-face projection portion97of the microplate main body portion. The projection portion61extends by a predetermined length in the side-face direction of the microplate95. The plate-state plate60and the bifurcated round bar59can be moved by an actuator57for sandwiching, capable of being opened and closed, by which the microplate95is sandwiched by the projection portion61of the plate-state plate60and the distal end of the bifurcated round bar59.

UsingFIG. 14, the sandwiched state will be described. As mentioned above, the straight projection portion61is brought into contact with the bottom-face projection portion97of the microplate main body96. On the other hand, the bifurcated round bar59has its distal-end position slightly higher so that its distal end is brought into contact with the side face of the lid portion98of the microplate95. Thus, as shown inFIG. 14, when the microplate95is to be sandwiched by the distal end portion of the bifurcated round bar59and projection portion61, since the lid portion98of the microplate and the microplate main body portion96are sandwiched so as to be diagonally pressed to each other, there is no separation between the lid portion98and the main body portion96when they are sandwiched and lifted up. In this way, in order to accurately sandwich the bottom face portion97of the microplate main body and the lid portion98diagonally, height adjustment of the plate gripping portion56is important, and thus, a height sensor65is provided so that the height of the plate gripping portion56is accurately adjusted by a plate detection signal from the height sensor.

When being slightly lifted up by being sandwiched by the pair of sandwiching members, then, the bottom face of the microplate95is held by the pair of holding arms63. The pair of holding arms63can be moved capable of being opened/closed by the holding actuator62. The pair of holding arms63are provided with claws64extending horizontally, respectively. The holding arms63are provided to be at a height where the claws64support the bottom face portion of the microplate when the microplate93is accurately sandwiched, and after the microplate95is slightly lifted up by the pair of sandwiching members, by closing the pair of holding members63, the bottom face of the microplate95is surely held by the claws64.

By the pair of sandwiching members and the pair of holding members63, the plate gripping portion56gripping the microplate95is lifted up by the elevation rodless air cylinder55. After that, it is moved by the horizontal rodless air cylinder53from the feeding and containing portion40to the receiving/delivery table R1or from the receiving/delivery table R1to the feeding and containing portion40horizontally. When it is moved to a predetermined position, the plate gripping portion56is lowered by the elevation rodless air cylinder55to a predetermined height and then, the pair of holding arms63and the pair of sandwiching members are released, and the microplate95is placed on the receiving/delivery table R1or the uppermost stage of the cassette40in the feeding and containing portion40.

An example of the cassette for microplate used in the microplate feeding and collecting device of the present invention will be shown inFIG. 15.FIG. 15Ashows a state where the microplate95is not contained, whileFIG. 15Bshows a state where the microplate95is contained. The cassette80for microplate according to the present invention can stack and contain the microplates95.

The cassette80fixes a cassette upper frame81and a cassette lower frame82made of only three sides of a substantial square by six metal pipes83arranged though them so as to connect the three sides of the upper frame81and the lower frame82, and a handle85is provided on the upper frame81. Moreover, at the both sides of the opened one side, a small double door84is provided.

A door claw87is provided at a distal end of a hinge87at a lower part of the door. Moreover, a hole is drilled in an outer portion where the hinge87at the lower part of the door is closed in the cassette lower frame82, and a door lock pin89in which a stopper90is provided at an upper end and a lower end is fitted in the hole so as to be lowered freely by its own weight.

FIGS. 16A and 16Bare partially enlarged side views showing a relation between the door lock pin89and the stopper90. When the cassette80is placed on a flat-plate state table, as shown inFIG. 16A, the door lock pin89is pushed up, and the stopper90with an outer diameter larger than a shaft of the door lock pin89protrudes above the door claw88. Since the shaft of the door lock pin89is thin, the door claw88is not engaged with the shaft but the door84can be freely opened/closed.

On the other hand, if the cassette80is lifted up, as shown inFIG. 16B, the pin89drops down. As a result, at the opening/closing operation, the door claw88of the door lower part87is engaged with the stopper90so as to prevent opening of the door84. Also, a spring90is provided between the door lower part87and the cassette lower frame82so that the door84is urged in a direction of closing.

As a result, when the cassette80is placed on a flat table, the door84can be opened so that the microplate95can be freely inserted from the side face of a release portion94and stacked. When the cassette80is lifted up, the door lock pin89lowers and the door84is closed by the spring92so that the microplate does not fall to the release portion92.

Also, at the rotating and containing table43on which the cassette80is set, a release hole (not shown) in which the door lock pin89is retreated when the cassette is placed is provided so that the door lock pin89is not released. Thereby, the door84will not open while the cassette is contained in the rotating and containing table43, and the micro cassette95is prevented from falling from the side of the release portion94.

On the bottom face of the cassette80, a bottom-face opening93is provided, and a side-face opening92with the same degree as the bottom-face opening93even when the small door84is closed is present. Also, on the upper face of the cassette, an upper-face opening94to such a degree that the microplate95can be taken in and out is provided. As a result, the lift piece46of the plate elevation portion45can be raised upward through the bottom face94and the side-face opening92so that the microplate95can be taken out of the upper-face opening94or contained in the cassette.

The feeding and collecting portion40according to the present invention takes out or collects the microplate from the upper side of the cassette80. Therefore, only by placing the cassette80on the rotating and containing table43provided at a low position lifted up from the floor only slightly, the cassette can be set in the rotating and containing table43. In this way, there is no need to set the microplates95one by one in the feeding and collecting portion40but the microcassettes95can be replenished in the feeding and collecting device40only by setting by the unit of the cassettes80. Also, when setting the cassette, there is no need to lift up a heavy cassette to a high position but it is only necessary that the cassette80is lifted up slightly and placed on the rotating and containing table43, and the microplates can be replenished by an extremely lighter work than before.

The dispensing processing will be described below in brief. The microplate main body portion96with the lid portion98removed and placed on the receiving/delivery table R2is lifted up by a pickup portion (second pickup portion) of the dispensing device70and placed on the dispensing table75. The pickup device (not shown) is provided at a distal end of a dispensing head74movable in X-, Y-, and Z-axis directions, which lifts up the microplate main body on the receiving/delivery table R2and moves to the dispensing table75.

The dispensing head74is mounted at a lower part of a movable member73. The movable member73is provided at two movable frames71movable in the longitudinal direction (X-axis direction) along the conveying path, in the vertical direction (Z-axis direction) and a direction crossing the conveying path (Y-axis direction). Thereby, the dispensing head74is movable in all the X-, Y-, and Z-axis directions.

At the distal end of the dispensing head74, dispensing pipettes (not shown) in the number corresponding to that of the wells99in the microplate are provided so that a drug solution is pumped up from a drug-solution tank77by the pipettes and then, the pumped-up drug solution is dispensed to the wells99in the microplate95. Before the drug solution is pumped up, the pipette distal end of the dispensing head74is inserted into a pipette cassette76, and a disposable pipette tip (not shown) is mounted at the distal end of the pipette. The pipette tip is automatically removed from the pipette distal end after the dispensing processing is finished and disposed of.

The microplate95for which the dispensing processing is finished is lifted up by the pickup device provided at the distal end of the dispensing head75and returned to the receiving/delivery table R2or R3. The microplate95having been returned to the receiving/delivery table R2or R3is, similarly to the above-mentioned description, lifted up by the conveying table portion12of the shuttle conveying portion11and conveyed to the receiving/delivery table R1or R4. The microplate95having been conveyed to the receiving/delivery table R2is returned by the pickup device50to the feeding and collecting device40, while the microplate having been conveyed to the receiving/delivery table R4is conveyed by the horizontally rotating-type conveying robot110to the shelf120, the analyzing device130, and the humidity retaining device140.

[Horizontally Rotating-type Robot and other Peripheral Equipment]

FIG. 17is a plan view illustrating a conveying state of the microplate95by the horizontally rotating robot110. In this embodiment, as the horizontally rotating robot110, a conveying robot RR701by Rorze Corporation is used. The horizontally rotating robot110has two arm bodies made of a first arm111, a second arm112, and fingers113, each rotates in the respective horizontal planes, and the two ringers113make a straight motion horizontally in the same vertical plane overlapping with a height difference, while a trunk115makes a turning motion and a Z-axis elevation motion, and moreover, an X-axis orbit for moving the entire horizontally rotating robot110at a right angle with the shuttle-type conveying lines La to Lc is provided. However, the finger113is in a long rectangular shape in which six plastic bell-shaped projections with a height of 8 mm and a diameter of 6 mm are mounted on the periphery so that the microplate95placed on it does not drop or interfere with the receiving/delivery table R4. The horizontally rotating robot110is placed on the finger113such that the finger113is inserted below the receiving/delivery table R4on which the microplate95is placed and the trunk115is lifted up in the Z-axis direction so as to scrape up the microplate95. When conveying has reached the upper part of the target conveying table portion, the trunk115is lowered in the Z-axis direction, and the microplate95is placed on the target location from the finger113. Here, the target location is any one of the shelf120, an analyzing device sample entrance/exit131, a warmer sample entrance/exit141, and each stage48.

The horizontally rotating robot110places the microplate95with a drug solution having been fed by the shuttle-type conveying device10on one of the fingers113as if to scrape up from below, makes a turn and goes toward the warmer140. The microplate95of a sample having finished with a processing for a predetermined time and come out to the warmer sample entrance/exit141is placed on the other finger113and taken out, and the microplate95of a new sample having been conveyed is inserted instead. The warmer (Cytomat 6000) applies processing at a certain temperature for a predetermined time automatically even if the sample is automatically inputted by the unit of a box and carries out the sample by the unit of a box. Next, the robot makes a turn and goes toward the sample entrance/exit131of the analyzing device (1430 ViewLux I/F), extends the empty finger113so as to take out the analyzed sample microplate95and inserts the processed sample microplate95taken out of the warmer. Since the lid192of the microplate should be removed for analysis, the lid suction machine28is also provided at the analyzing device sample entrance/exit131. The taken-out and analyzed sample microplate95is placed on the receiving/delivery table R4of the shuttle-type conveying paths La to Lc. If the sample microplate95should wait for its turn of the warmer140or timing does not match between carrying-out of the warmer140and carrying-in to the analyzing device130, the microplate95before processing is temporarily stored in the shelf120and analyzed when its turn comes.

FIG. 12Ais a plan view illustrating a structure of the containing shelf120of the present invention.FIG. 12Bis a sectional view at B-B′ inFIG. 12A. Between the bottom board124and the top board123, a plurality of thin inner columns (support columns)121and a plurality of thick outer columns (support columns)122in the same numbers are arranged in a concentric arc state. The shapes of the respective inner and outer columns for the one shelf stage are connected between a cylindrical column portion125, a trapezoidal portion126and a flange portion127from the top, and on the upper face of the flange portion127, an outer-edge corner portion of the bottom of the microplate95is placed. Therefore, a dimension between the circular trapezoidal portions126lower parts of the two inner columns121and a dimension between the circular trapezoidal portions126lower parts of the two outer columns122are the same and slightly longer than a width of the microplate95, and an inter-central dimension between the inner column121and the outer column122is designed slightly shorter than the length of the microplate95, on which one microplate95is placed. On the further outside of the outer column122, a box stopper128for preventing passing through and drop of the microplate95.

In this way, a plurality of projections are provided in intermediate portions of the columns121,122in the containing shelf120, and the microplate is supported by the projections between the support columns. Thus, by scraping up the microplate95contained in the containing shelf120by the finger113of the robot, the microplate can be easily taken out. Thus, as compared with taking-out by sandwiching the side face, control is simple and the microplate can be taken out rapidly and accurately.

Also, by providing projections in the middle of the support columns and only by connecting the top board and the bottom board by the support columns, the containing shelf120can be assembled. Thus, the number of parts is small and assembling is easy. Since the projection portions are integrally formed with the support column, a containing shelf with higher accuracy than assembling can be made easily.

The microplate95is inserted to the vicinity of the outer column122between the cylindrical column portions125of the two inner columns121of the containing shelf120inFIG. 12while being mounted on the finger113of the horizontally rotating robot110, and when the finger113is lowered, the four outer-edge corner portions on the bottom of the microplate95are placed on the flange portion127. On the contrary, when the microplate95is to be taken out, the empty finger113is inserted between the two cylindrical column portions125and stopped so that the six plastic bell-shaped projections comes below outside the outer-edge portions of the microplate95and then, it is raised so that the microplate is placed, and the finger is pulled toward the robot110side. Then, the robot110conveys the microplate95to a target location.

[Conveying Control of the Microplate]

Each driving portion of the shuttle-type conveying device10, the feeding and collecting device40and the pickup device50is controlled by a control portion.FIG. 19shows a basic functional block diagram of a control device150. The control device150is a computer provided with a central processing unit (CPU), a control program, a memory portion storing the control program, control data and the like, a logical circuit and the like, and by these control programs, according to a control command from system control of the analysis processing system, various operations are executed sequentially. In various operations, a feedback signal from various sensors (not shown) arranged at the conveying path, the shuttle conveying portion, and other portions are referred to.

The control device150is provided with a control portion151and communicates with the system control portion controlling the operation of the entire analysis processing system through a communication interface (not shown) and controls various operations of the shuttle conveying portion11, the feeding and collecting portion40, and the pickup portion50according to the command of the system control portion. The control device150is provided with a take-out control portion152, a conveying control portion153, a receiving/delivery control portion154, a feeding and collecting control portion155, and a pickup control portion156in addition to the control portion151.

The take-out control portion152controls the shuttle motor15and the motor17for conveying table portion under control of the control portion151and controls the shuttle conveying portion11that lifts up the microplate (article to be conveyed) on the receiving/delivery tables R1to R4and takes it out. The conveying control portion153controls the shuttle motor15and the motor17for conveying table portion under the control of the control portion151and controls the shuttle conveying portion11that conveys the taken-out article to be conveyed to the target receiving/delivery tables R1to R4. The receiving/delivery control portion154controls the shuttle motor15and the motor17for conveying table portion under the control of the control portion151and controls the shuttle conveying portion11so that the article to be conveyed on the conveying table portion is placed on the receiving/delivery tables R1to R4as transfer destinations.

The feeding and collecting control portion155controls driving of a motor43bfor rotation and driving that rotates and drives the rotating and containing table43and controls so that the microplate to be taken out is rotated and moved to the front of the plate elevation portion. Also, when the microplate95has been fed out of the cassette80, the lift piece46is lifted up for one micro cassette, while when the microcassette95has been collected, the lift piece46is lowered by one micro cassette.

The pickup control portion156controls the actuator57for sandwiching of the pickup device56and the actuator62for holding under the control of the control portion151and sandwiches the side faces of the microplate95by the pair of sandwiching arms59,60and holds it by the pair of holding arms63to lift it up.

UsingFIG. 20, an example of a conveying processing procedure of an article to be conveyed will be described.FIG. 20is a flowchart illustrating the conveying control processing procedure of the article to be conveyed by the shuttle-type conveying device of the present invention. In the flowchart, raising completion and lowering completion of the conveying table portion and various conveying positions are confirmed. These confirmations can be made by a driving time of each driving portion and a feedback signal, but it is preferable that various sensors are further provided at each portion of the conveying path and the shuttle conveying portion and the like so that confirmation is made by a sensor signal. The control portion151checks if a conveying command has been received or not, and if the conveying command is received (S101: Yes), it checks if the shuttle conveying portion11is during operation or not (S102). If the shuttle conveying portion11is not in operation (S102: No), the conveying table portion12of the shuttle conveying portion is lowered (S103). When the lowing of the conveying table portion12is completed (S104: Yes), the shuttle conveying portion11is moved to the receiving/delivery tables R1to R4on which the article to be conveyed is placed (S105).

When the shuttle conveying portion11has moved immediately below the target receiving/delivery table (S106: Yes), the conveying table portion12is raised and the article to be conveyed is lifted up by the conveying table portion12from below the receiving/delivery table (S107). When the raising of the conveying table portion12is completed (S108), the shuttle conveying portion11is moved outside the receiving/delivery table with the article to be conveyed lifted up (S109), and when the movement is completed (S110: Yes), the conveying table portion12is lowered with the article to be conveyed on (S111). At this time, it is determined by the control portion151if there is no obstacle up to the transfer destination such that the transfer destination is the adjacent receiving/delivery table and the like, and if there is no obstacles, Steps S111and S112can be skipped.

When lowering of the conveying table portion12is completed (S112: Yes), movement of the shuttle conveying portion11is started (S113). The shuttle conveying portion11is passed through and moved below the receiving/delivery table with the article to be conveyed placed on the conveying table portion12. When the shuttle conveying portion11has moved next to the receiving/delivery table to be the designated conveying destination (S114: Yes), the conveying table portion12is raised (S115). When the raising of the conveying table portion12is completed (S116: Yes), the shuttle conveying portion11is moved immediately above the receiving/delivery table (S117). When the movement is completed (S118: Yes), the operation table portion12is passes through the bottom-face opening portion23and lowered to below the receiving/delivery table (S119). When the lowering of the operation table portion12is completed, the conveying processing is finished, and the next conveying command is awaited.

In the above description, only the example in which the microplate is conveyed as the article to be conveyed by the shuttle-type conveying device has been described, but this is an example of the article that can be conveyed by the shuttle-type conveying device according to the present invention and not limited to the microplate but any article having a given width that can be placed on the receiving/delivery table of the present invention and can be placed on the conveying table portion of the shuttle conveying portion can be conveyed.

When an article other than the micro cassette is to be conveyed, the structure of the conveying table portion12and the structures of the elevating device and the driving device can be changed as appropriate by a known art according to a weight of the article to be conveyed. For example, if the weight is heavy, the article can be lifted up using a hydraulically driven piston. It is only necessary that the elevating device for elevating the conveying table portion can take two positions of a high position and a low position. The high position is a position where the conveying table portion12lifts up the article to be conveyed such as the microplate95and the like over the receiving/delivery tables R1to R4, while the low position is a position where the article to be conveyed is held at a position lower than the receiving/delivery tables R1to R4to be run below the receiving/delivery tables R1to R4.

As driving means for moving the shuttle conveying portion11on the conveying paths La, Lb, Lc, known conventional arts available to those skilled in the art such as a stepping motor, a linear motor, an ultrasonic motor and the like can be used.