WO2008123594A2

WO2008123594A2 - Workpiece processing system

Info

Publication number: WO2008123594A2
Application number: PCT/JP2008/056726
Authority: WO
Inventors: Hideyoshi Kitahara; Akira Higuchi
Original assignee: Panasonic Corporation
Priority date: 2007-03-28
Filing date: 2008-03-28
Publication date: 2008-10-16
Also published as: JP2008241512A; WO2008123594A3

Abstract

By employing an operating configuration in which delivery modules CV1, CV2 and CV3 for delivering a microplate 2 are coupled to constitute a delivery line and a plurality of working modules A to F for carrying out a work by using the microplate 2 as a target is disposed adjacently to the delivery modules, and furthermore, the modules are connected to a control module 4 through a communication network, a workpiece delivery command to be given to each of the working modules is transmitted to each of the delivery modules through the control module 4, and a delivery enable/disable ascertainment processing is carried out through the communication network without the control module 4 between the respective modules, it is possible to implement both a high throughput obtained by improving a delivery processing efficiency of the microplate and an enhancement in a flexibility of a system structure.

Description

DESCRIPTION

WORKPIECE PROCESSING SYSTEM

Technical Field

The present invention relates to a workpiece processing system for carrying out a set of serial work processings, as a target, a microplate to be used in a field in which biochemical tests and studies are carried out.

Background Art

In the field of innovative drug development screening or medical research, tests such as a biochemical reaction of a substance are systematically carried out by using a large number of specimens as a target. The tests are carried out by sequentially transporting a microplate accommodating a sample to be the specimen to a plurality of testing apparatuses such as a dispensing apparatus and an incubator and executing a predetermined testing work using the microplate as a target in each of the testing apparatuses. As a system for automatically carrying out the testing work, there have conventionally been proposed testing apparatuses and processing systems which have various configurations (for example, see Patent Documents 1 and 2).

The Patent Document 1 has disclosed an example of an integral type dispensing apparatus in which a plurality of working portions for carrying out individual testing works is incorporated in the same device together with a microplate delivering system, and a stage for executing various works such as a stage for mounting a microplate on a base or a stage for attaching a dispensing dip is provided and a microplate is transported through a robot hand provided above the stages. By employing the integral type structure, there is an advantage that it is possible to implement a reduction in a size of the apparatus.

Moreover, the Patent Document 2 has disclosed an example of a dispensing system of a line type which has a structure in which working portions such as a dropper and a dispensing portion are disposed along a lane portion including belt conveyors of a plurality of lanes. By the structure, it is possible to produce an advantage that a plurality of plates can be transported at the same time and a dispensation can be efficiently carried out in a short time.

[Patent Document 1] JP-A-2002-333450 Publication

[Patent Document 2] JP-A-2004-85521 Publication

Disclosure of the Invention Technical Problem

In the field of the innovative drug development screening, it has been demanded to carry out various biochemical tests more rapidly by setting a huge number of samples as a target. For a processing system to be used in the testing work, a delivery processing efficiency of a microplate to implement a high throughput and an improvement in a flexibility which can freely set and change the structure to fulfill the purpose of the test have been demanded more greatly.

In the prior art describing the examples of the Patent Documents, however, it is hard to implement the enhancement in the delivery processing efficiency and the improvement in the flexibility in the system structure. More specifically, in the integral type described in the Patent Document 1, also in the case in which a module having a new working function is to be added to fulfill the purpose of the test, a size and a shape of a base serving as a platform of the apparatus are previously restricted and an extensibility has a drawback. Also in the case in which a new module is to be added, the module cannot be always disposed additionally in such an arrangement that a procedure for delivering the microplate is optimized and the enhancement in the delivery processing efficiency cannot be always guaranteed. Also in the line type described in the Patent Document 2, moreover, a structure of the lane portion is previously fixed. For this reason, the new module cannot be added freely so that a flexible structure is hard to implement.

In a processing system for carrying out a serial work processing for various biochemical tests using the sample accommodated in the microplate as a target, thus, it is hard to implement both the high throughput and the enhancement in the flexibility in the system structure. Furthermore, the problem is common to a workpiece processing system for executing a serial work through a plurality of working modules while sequentially delivering a workpiece to the working modules in addition to the field of the biochemical test.

Therefore, it is an object of the invention to provide a workpiece processing system capable of implementing a high throughput and an enhancement in a flexibility in a system structure.

Technical Solution

A workpiece processing system according to the invention has a plurality of working modules for carrying out a predetermined work by using a workpiece as a target, a plurality of delivery modules provided separately from the working modules and serving to deliver the workpiece, and a control module for controlling the working modules and the delivery modules, couples the delivery modules to each other and disposes the working modules in adjacent positions to the delivery modules, and transports the workpiece through the delivery modules to the working modules in predetermined order, thereby carrying out a serial work through the working modules by using the workpiece as a target, the working module includes a working portion for executing the predetermined work and a workpiece transfer portion for transferring the workpiece in a predetermined position together with the delivery modules disposed in the adjacent positions, the delivery module includes a conveyor type delivering mechanism for delivering the workpiece mounted on a conveyor on a plane basis and a pick and place type delivering mechanism for transporting the workpiece between the conveyor and the workpiece transfer portion, the conveyor type delivering mechanisms of the deliver modules are coupled to each other to constitute a delivery line for delivering the workpiece, the control module and the working modules and delivery modules are connected to each other through a communication network, the control module transmits a workpiece delivery command for giving a command for executing a workpiece delivering operation together with the other delivery modules coupled to the respective delivery modules or the working modules disposed adjacently to the respective delivery modules through the communication network, and the delivery module executes a delivery enable/disable ascertainment processing of ascertaining whether or not the workpiece delivering operation related to the delivery module can be executed through the communication network together with the other coupled delivery modules or the working modules disposed adjacently and executes a workpiece delivering operation based on the transmitted workpiece delivery command in accordance with a processing result of the delivery enable/disable ascertainment processing.

Advantageous Effects

According to the invention, there is employed an operating configuration for coupling the delivery modules for delivering the workpiece to constitute the workpiece delivery line and disposing the working modules for carrying out the work by using the workpiece as a target adjacently to the delivery module, and furthermore, connecting the modules to the control module through the communication network to transmit, to each of the delivery modules, the workpiece delivery command to be given to each of the working modules by the delivery module through the control module and to execute the delivery enable/disable ascertainment processing through the communication network between the respective modules. Consequently, it is possible to implement a high throughput obtained by an enhancement in a workpiece delivery processing efficiency and an improvement in a flexibility in a system structure.

Brief Description of Drawings

Fig. 1 is a plan view showing a structure of a testing system according to an embodiment of the invention,

Fig. 2 is a perspective view showing a delivery module to be used in the testing system according to the embodiment of the invention,

Fig. 3 is a perspective view showing a robot arm provided in the delivery module according to the embodiment of the invention, Fig. 4 is an explanatory view showing a configuration for transferring a microplate between the delivery module and a working module in the testing system according to the embodiment of the invention,

Fig. 5 is a block diagram showing a structure of a communication network in the testing system according to the embodiment of the invention, Fig. 6 is a block diagram showing a structure of a control system of a control module in the testing system according to the embodiment of the invention,

Fig. 7 is a block diagram showing a structure of a control system of the delivery module in the testing system according to the embodiment of the invention,

Fig. 8 is a block diagram showing a structure of a control system of the working module in the testing system according to the embodiment of the invention,

Fig. 9 is a diagram showing a command array of a microplate delivery processing in the testing system according to the embodiment of the invention,

Fig. 10 is a Gantt chart showing, in time series, a procedure for the microplate delivery processing in the testing system according to the embodiment of the invention,

Fig. 11 is an explanatory view showing the procedure for the microplate delivery processing in the testing system according to the embodiment of the invention, and Figs. 12 (a) and 12 (b) are an explanatory diagram showing a delivery enable/disable ascertainment processing to be executed in the testing system according to the embodiment of the invention.

Best Mode for Carrying Out the Invention Next, an embodiment according to the invention will be described with reference to the drawings. With reference to Fig. 1, first of all, description will be given to a structure of a testing system 1. The testing system 1 is used for executing a biochemical test using, as a target, a sample stored in a microplate 2 in the field of innovative drug development screening or medical research. The microplate 2 to be a workpiece is a rectangular box-shaped component formed by a resin in which a well 2a for accommodating a liquid sample is provided in a grid array (see Fig. 3), and is accommodated in stockers 3 A and 3B provided on both ends of the testing system 1.

The microplate 2 taken out of either of the stockers 3 A and 3B is delivered in an X direction (a first direction) through a delivery line formed by coupling a plurality of delivery modules CVl, CV2 and CV3 in series. In the delivering process, the microplate 2 is transferred to working modules which will be described below, and a predetermined testing work is executed by using each of the microplates 2 as a target through the working modules. Then, the microplate 2 subjected to the work is collected into either of the stockers 3 A and 3B.

Working modules A and D are disposed adjacently to each other at both sides in a Y direction (a second direction) of the delivery module CVl, working modules B and E are disposed adjacently to each other at both sides of the delivery module CV2, and furthermore, working modules C and F are disposed adjacently to each other at both sides of the delivery module CV3. The working modules have the function of carrying out a predetermined work for a biochemical test using the microplate 2 as a target and have such a structure that working portions for executing respective works are disposed on a working table provided on a common base portion taking a dimension and a shape which are standardized. In the embodiment, a direction is defined in order to specify a positional relationship between the respective modules. More specifically, front and rear parts in the Y direction are defined with right and left sides in Fig. 1 set to be front and rear sides and a transverse direction is defined with upper and lower sides in Fig. 1 set to be left and right sides.

The working module A (a dispensing module) has the function of discharging liquid such as chemicals or a specimen in a predetermined amount every well 2a of the microplate 2 into the well 2a and sucking the liquid from the well 2a. The working module B (a plate stock module) has the function of stocking and holding the microplate 2 in a testing process. The working module C (a dropper module) has the function of supplying the same kind of liquid in a specified amount to each of the wells 2a of the microplate 2 through a dispenser.

The working module D (an incubator module) has the function of holding the microplate 2 having the liquid dispensed therein under a predetermined environment condition, thereby progressing a biochemical reaction. The working module E (a washer module) has the function of injecting, stirring and removing a cleaning fluid in the well 2a in the testing process, thereby removing an unnecessary substance. The working module F (a measuring module) carries out a measurement processing using various analyzing techniques such as an observation of a sample through a camera or a spectral analysis by setting, as a target, an inside of the well 2a after the biochemical reaction. In Fig. 1, the working portion for executing the functions in the respective working modules is not shown. The testing system 1 includes a control module 4 for controlling an operation of each of the modules, and the control module 4 is connected to each of the modules through a communication network (see Fig. 5). The control module 4 includes a keyboard 6 for inputting various data and instructions and a display panel 5 for displaying a guide screen in the input, and a person in charge of the test can automatically carry out programming for delivering the microplate 2 to each of the working modules in proper order to execute a biochemical test, thereby performing a test processing efficiently through the control module 4.

More specifically, the testing system 1 includes a plurality of working modules for carrying out a predetermined work by setting, as a target, the microplate 2 to be a workpiece, a delivery module provided separately from the working module and serving to deliver the microplate 2, and a control module for controlling the working modules and the delivery modules, and has such a configuration as to couple the delivery modules and to dispose the working modules in adjacent positions to the delivery modules, and to transport the microplate 2 to the respective working modules in predetermined order through the delivery modules, thereby carrying out a serial work through the working modules by using the microplate 2 as a target.

With reference to Fig. 2, next, description will be given to the structures of the delivery modules CVl, CV2 and CV3. All of the delivery modules are standard modules having the same structure. In the following description, a suffix is added like the delivery modules CVl, CV2 and CV3 if it is necessary to distinguish them from each other, and the suffix is not added like the delivery module CV if it is not necessary to distinguish them from each other. In the testing system for carrying out the serial work using the microplate 2 as a target through the working module, the delivery module CV serves as a microplate delivering device for delivering the microplate 2 to each of the working modules.

In Fig. 2, conveyor type delivering mechanisms 14A and 14B are arranged in two lines over an upper surface of a base portion 10 supported on a floor surface with an adjust bolt 11. The conveyor type delivering mechanisms 14 A and 14B include a delivery rail 15 provided in the X direction (the first direction), and a conveyor such as a belt conveyor is reciprocated in the X direction to reciprocate the microplate 2 mounted on the conveyor in the X direction and to deliver the microplate 2 on a plane basis. More specifically, the conveyor type delivering mechanisms 14A and 14B arranged in two lines constitute a plate delivering portion 14 in which a plurality of conveyor type delivering mechanisms for mounting the microplate 2 on the conveyor and delivering the microplate 2 in the X direction (the first direction) is arranged. The delivery line for delivering the microplate 2 is constituted by coupling the conveyor type delivering mechanism 14 A and 14B of the delivery modules CV to each other in the X direction. The delivering directions of the microplate 2 in the delivery lines may be fixed to either of forward and backward directions or forward/backward switching may be carried out if necessary.

While the example in which the conveyor type delivering mechanisms are arranged in two lines has been described as the structure of the plate delivering portion 14, the conveyor type delivering mechanisms may be provided in at least three lines in each of the delivery modules CV to dispose the delivery lines in at least three lines in parallel with each other. Consequently, the microplate to be a delivery target can be distributed into each of the delivery lines depending on a characteristic such as a type or a delivery path and the delivery processing can be carried out more efficiently.

A moving table 16 is provided in the X direction between the conveyor type delivering mechanisms 14 A and 14B, and a robot arm 17 is attached to the moving table 16 movably in the X direction. When the moving table 16 is driven, the robot arm 17 is moved over an almost whole length of the upper surface of the base portion 10. Consequently, the microplate 2 can be picked up and transported between the conveyors of the conveyor type delivering mechanisms 14 A and 14B and workpiece transfer portions set to the working module (see workpiece transfer ports 9Bl, 9B2 and 9E shown in Fig. 4). In other words, the robot arm 17 disposed movably in the X direction between the conveyor type delivering mechanisms 14 A and 14B in two lines serves as a pick and place type delivering mechanism for transporting the microplate 2 between the conveyor and the workpiece transfer portion provided in the working module by picking up and moving the microplate 2. In the base portion 10, a plate-shaped coupling plate 12 is disposed horizontally in two vertical positions on a longitudinal end face 1Ox in the X direction respectively and is provided with a positioning and fitting portion 12a. In the base portion 10, similarly, a plate-shaped coupling plate 13 is disposed horizontally in two vertical positions on a transverse end face 1Oy in the Y direction respectively and is provided with a positioning and fitting portion 13a. The positioning and fitting portions 12a and 13a may have a structure in which a positioning hole and a positioning pin are combined with each other or any structure in which positioning can be carried out through mutual fitting or engagement, for example, a combination of an engaging groove and an engaging member.

The coupling plate 12 is provided to couple the base portion 10 to the base portion 10 of the other delivery module CV in the X direction in series. When two delivery modules CV are coupled to each other in the X direction, two coupling plates 12 placed in opposed positions to each other are matched with each other in the base portions 10 of the respective delivery modules CV and two positioning and fitting portions 12a in the opposed positions to each other are fitted or engaged. Consequently, the two delivery modules CV are coupled in a state in which they are aligned in a mutually correct positional relationship with respect to the X direction.

Similarly, the coupling plate 13 is provided for coupling the delivery module CV to each of the working modules in an adjacent position in the Y direction and disposing them. More specifically, the same coupling plates as the coupling plate 13 provided on the base portion 10 of the delivery module CV are disposed in corresponding positions to each other in the standardized base portion of the respective working modules. When the delivery module CV and any of the working modules are to be disposed adjacently in the Y direction, two coupling plates 13 placed in mutual opposed positions in a combination of each of the working modules and the delivery module CV are matched with each other and two positioning and fitting portions 13a in corresponding positions to each other are fitted or engaged. Consequently, each of the working modules and the delivery module CV are disposed in an aligning state in a mutually correct positional relationship. More specifically, the coupling plate 12 and the coupling plate 13 are provided on both end faces 1Ox in the X direction and both end faces 1Oy in the Y direction in the base portion 10 respectively, and serve as a first direction coupling portion for coupling the base portion 10 to the base portion 10 of the other delivery module CV coupled in the X direction and a second direction coupling portion for coupling the base portion 10 to the base portion of the working module disposed adjacently in the Y direction. The positioning and fitting portions 12a and 13a are provided in the first direction coupling portion and the second direction coupling portion and serve as aligning portions for aligning the delivery module CV with the other delivery module CV and working module.

Referring to Fig. 3, description will be given to the robot arm 17. The robot arm 17 is an articulated robot, and is attached to the moving table 16 through a turning and driving mechanism 20 and is movable in the X direction. The robot arm 17 has such a structure that three joint portions 21, 23 and 25 and three driving arms 22, 24 and 26 are coupled in series to a turning shaft 20a extended upward from the turning and driving mechanism 20. By driving the turning and driving mechanism 20 and the joint portions 21, 23 and 25, it is possible to cause the driving arm 26 in a tip part to carry out a three-dimensional operation within a predetermined operation range. A chuck mechanism 27 including two chuck clicks 27a is attached to the driving arm 26 and is moved within a three-dimensional range through the robot arm 17.

By the movement of the chuck mechanism 27, the robot arm 17 can interpose and hold the microplate 2 mounted on the conveyors of the conveyor type delivery mechanisms 14 A and 14B at both sides by means of the two chuck clicks 27a in each of the delivery modules CV and can transfer the microplate 2 to the working module disposed adjacently. The microplate 2 has the wells 2a for accommodating liquid provided in a grid array. In each of the working modules, the well 2a is used as a target to execute various testing works such as a dispensation of the liquid, an incubation to be carried out through an incubator, and an observation and measurement of a result of the incubation.

With reference to Fig. 4, next, description will be given to a manner for transferring the microplate 2 between the delivery module CV and each of the working modules. Fig. 4 shows an example in which the microplate 2 is transferred between the delivery module CV2 and the working modules B and E. Each of the respective working modules such as the working module B or E has a working table 8 having a working portion disposed thereon, and the microplate 2 is transferred through the working table 8 between each of the working modules and the delivery module CV.

A transport working point 17a for transporting the microplate 2 through the robot arm 17 is set to the conveyor type delivering mechanisms 14 A and 14B, and stopper mechanisms (not shown) for stopping the microplate 2 to be delivered through the conveyor are provided on the respective transport working points 17a set onto the conveyor type delivering mechanisms 14A and 14B. The robot arm 17 holds, with the chuck mechanism 27, the microplate 2 which is stopped by the stopper mechanism. The stopper mechanisms can be operated individually. In a state in which any of the microplates 2 mounted on the conveyor of the same conveyor type delivering mechanism is caused to stay on a specific one of the transport working points 17a, the other microplates 2 can be delivered.

The robot arm 17 can be moved to an optional position in the X direction through the moving table 16 and has an original function capable of transferring the microplate 2 by setting, as a target, an optional position within a delivery reach in the working table 8. In the embodiment, however, the same transport working point 17a is set to be a fixed standard position in an adjacent position which corresponds to the transport working points 17a in the conveyor type delivering mechanisms 14A and 14B. Consequently, it is possible to standardize a control pattern of the working operation of the robot arm 17 in the work for transporting the microplate 2, thereby reducing a programming load.

Any of the transport working points 17a in the working table 8 which is decided to be optimum for transferring the microplate 2 through the robot arm 17 in a relationship with the working portion disposed on the working module is selected as the transfer port 9 for transferring the microplate 2 in the working module, and all of the operations for transporting the microplate 2 through the robot arm 17 are carried out via the transfer port 9. In the example shown in Fig. 2, four transport working points 17a are set in the working module B, and two of them are set to be the transfer ports 9Bl and 9B2.

Moreover, one of the transport working points 17a is set in the working module E and is set to be the transfer port 9E. The transfer ports 9 serve as workpiece transfer portions for transferring the microplate 2 in a specific one of the transport working points 17a which is placed in a predetermined position together with the delivery module CV disposed in an adjacent position. More specifically, the working module has such a configuration as to include the transfer port 9 for transferring the microplate 2 on the transport working point 17a placed in the predetermined position together with the delivery module disposed in the adjacent position.

Although the transfer port 9 set to be the transport working point for the microplate 2 on the working table 8 serves as the workpiece transfer portion in the example according to the embodiment, various manners can be assumed for the workpiece transfer portion. For example, in the case in which an inherent handling configuration is required for the working portion provided in the working module to execute a work, a transfer terminal of a plate handling mechanism provided in the working portion acts as the workpiece transfer portion.

With reference to Fig. 5, next, description will be given to a structure of a communication network of the testing system 1. As shown in Fig. 5, the testing system 1 has such a structure as to mutually connect the control module 4 to the delivery modules CV (the delivery modules CVl, CV2 and CV3) and the working modules (the working modules A, B, C, D, E and F) through a communication network 7. Consequently, it is possible to transmit a plate delivery command or a working command for a working execution from the control module 4 to the delivery modules CVl, CV2 and CV3 and the working modules A, B, C, D, E and F, and to carry out a communication between the modules without the control module 4.

Next, description will be given to the structure and function of a control system for each of the modules constituting the testing system 1. First of all, a control system for the control module 4 will be described with reference to Fig. 6. The control module 4 is constituted by a processing and calculating portion 30, a storing portion 31, a communication interface 32, a display portion 33, and an operating and inputting portion 34. The processing and calculating portion 30 is a CPU and includes a scheduler 30a and a command string output portion 30b as a function for automatically carrying out programming for a operation for delivering the microplate 2 through each of the deliver modules in addition to a functional element for carrying out a necessary calculation processing for controlling the processing operations of the modules constituting the testing system 1.

The scheduler 30a serves to carry out a processing of creating an operation schedule for causing the individual delivery modules and working modules to execute a serial work set to fulfill the specific purpose of the test by setting the microplate 2 as a target. The operation schedule is created by subdividing the serial work into individual works and generating commands for executing the individual works, and furthermore, generating a command string having the commands arranged in time series order. The processing of generating the command string is carried out based on system structure information indicative of a system structure of the testing system 1 and working procedure information (process information) indicative of a working procedure for executing a serial work.

The system structure information includes identification information for individually identifying the individual working modules and delivery modules which constitute the testing system 1 and module arrangement information for recognizing a positional relationship between the respective modules. Referring to the identification information, CVl, CV2 and CV3 are identification information for individually identifying the delivery modules CVl, CV2 and CV3 and A to F are identification information for individually identifying the working modules A to F. In Fig. 1, the arrangement information indicative of the positional relationship between the respective modules serves as the module arrangement information.

The working procedure information specifies a processing process for executing the test processing, that is, a working module and working execution order for executing the testing work by using the microplate 2 as a target. In the generation of the command string through the scheduler 30a, reference is made to the working procedure information. In the testing system having such a structure that the working modules are coupled to each other through the delivery module as described in the embodiment, however, only the working procedure information is insufficient for carrying out scheduling for a work for the test processing, that is, a whole work obtained by adding the work for delivering the microplate 2 to the testing work through each of the working modules.

In the embodiment, therefore, the system structure information is added to the working procedure information to automatically specify a delivery path for delivering the microplate 2 to the working modules to be the work executing targets in accordance with the designated work executing order through a processing function of the scheduler 30a. The scheduler 30a generates a command indicative of a work to be executed by the related delivery module based on the delivery path thus specified and adds commands indicative of the delivery works to the commands indicative of testing works through the respective working modules, thereby generating the command string. Accordingly, the scheduler 30a serves as a command string generating portion for generating the working procedure of the individual working modules and delivery modules to execute the serial work in a configuration of a command string in which the commands corresponding to the individual works are arranged in time series order based on the system structure information and the working procedure information.

By providing the scheduler 30a for generating the command string based on the working procedure information and the system structure information, thus, it is possible to flexibly carry out a correspondence through a change in the system structure. More specifically, also in the case in which the arrangement of the working modules is changed to fulfill the purpose of the test, it is possible to automatically generate a command string corresponding to the system structure through the scheduler 30a if a physical positional relationship between the respective working modules and the system structure information stored in a system structure information storing portion 3 Ib which will be described below are always caused to be coincident with each other. Thus, it is not necessary to carry out a complicated scheduling work every change in the working module. The command string output portion 30b outputs a command string generated by the scheduler 30a and stored in a Gantt chart storing portion 31c which will be described below to each of the modules through the communication network 7. The command string to be output includes a workpiece delivery command for giving a command to execute a workpiece delivering operation together with another delivery module coupled to each of the delivery modules or the working module disposed adjacently. More specifically, the control module 4 including the command string output portion 30b transmits the workpiece delivery command to each of the delivery modules CV through the communication network 7.

The storing portion 31 includes a process storing portion 31a, the system structure information storing portion 31b and the Gantt chart storing portion 31c. The process storing portion 31a stores the working procedure information to be a processing process for executing the test processing. More specifically, the process storing portion 31a serves as a working procedure storing portion which stores the working procedure information about the procedure for the serial work. The system structure information storing portion 31b stores the system structure information including the identification information and the module arrangement information. The working procedure information and the system structure information are input through the inputting keyboard 6, and the information are read from the storing portion 31 and are thus referred to in the scheduling processing carried out through the scheduler 30a.

The Gantt chart storing portion 31c stores a Gantt chart in which the command strings generated by the scheduler 30a are arranged in time series order on a time base (see Fig. 11). The communication interface 32 carries out a communication processing together with the delivery module or the working module which is connected through the communication network 7. The display portion 33 carries out a processing of displaying, on the display panel 5, a guide screen in a data input which is necessary for the scheduling to be carried out by the scheduler 30a or a Gantt chart stored in the Gantt chart storing portion 31c. The operating and inputting portion 34 carries out a processing of inputting, to the processing and calculating portion 30 or the storing portion 31, data or commands input through the inputting keyboard 6.

Next, the structure of the control system of the delivery module CV will be described with reference to Fig. 7. The control system of the delivery module CV is constituted by a processing and calculating portion 35, a storing portion 36, a conveyor control portion 37, a robot arm control portion 38 and a communication interface 39. The processing and calculating portion 35 is a CPU and includes a delivery enable/disable ascertaining portion 35a in addition to a calculating function for executing a necessary processing or calculation for the operation for delivering the microplate 2 through the delivery module. The delivery enable/disable ascertaining portion 35a carries out a delivery enable/disable ascertainment processing of ascertaining whether the operation for delivering the microplate 2 related to the delivery module can be executed or not.

The storing portion 36 includes a command string temporary storing portion 36a and a coupling information storing portion 36b. The command string temporary storing portion 36a temporarily stores a command string transmitted through the communication network 7 from the command string output portion 30b of the control module 4. The coupling information storing portion 36b stores coupling information, that is, identification information of the other delivery modules which are coupled and identification information of the adjacent working modules. For instance, as shown in Fig. 12(b), there are stored, as the coupling information, data indicating that the working module B and the working module E are disposed adjacently to SideL (left side) and Side R (right side) respectively and the delivery module CV3 and the delivery module CVl are coupled to Fwd (forward side) and Back (backward side) respectively in an example of the delivery module CV2. In an example of the delivery module CV3, similarly, there are stored, as the coupling information, data indicating that the working module C and the working module F are disposed adjacently to SideL (left side) and SideR (right side) respectively and the delivery module CV2 is coupled to Back (backward side).

The conveyor control portion 37 and the robot arm control portion 38 control the operations of the conveyor type delivering mechanisms 14 A and 14B and the robot arm 17 which are provided in the delivery module CV, respectively. The operation control is executed in accordance with the command string stored in the command string temporary storing portion 36a. The communication interface 39 carries out a communication processing between the control module 4 and the other delivery modules or working modules which are connected through the communication network 7.

The structures of the working modules A to F will be described with reference to Fig. 8. The working modules A to F are constituted by a processing and calculating portion 40, a storing portion 41, a control portion 42 and a communication interface 43. The processing and calculating portion 40 is a CPU and includes a delivery enable/disable ascertaining portion 40a in addition to a calculating function for executing a necessary processing or calculation for a working operation using the microplate 2 as a target through the working module. The delivery enable/disable ascertaining portion 40a carries out a delivery enable/disable ascertainment processing of ascertaining whether the workpiece delivering operation to be executed by the delivery module using the working module as a target can be executed or not.

The storing portion 41 includes a command string temporary storing portion 41a and a coupling information storing portion 41b. The command string temporary storing portion 41a temporarily stores a command string transmitted from the command string output portion 30b of the control module 4. The coupling information storing portion 41b stores coupling information, that is, identification information of the delivery module disposed adjacently. For example, as shown in Fig. 12(b), there are stored, as the coupling information, data indicating that the delivery modules CVl, CV2 and CV3 are disposed adjacently to each other in an example of the working modules A, B and C.

The control portion 42 serves to control a processing operation carried out by a working portion provided in the working module. In the case in which a plurality of working portions is provided in the same module, the control portion 42 is disposed in each of the working portions. The communication interface 43 carries out a communication processing between the control module 4 and the other delivery modules or working modules which are connected through the communication network 7. Next, description will be given to an example of scheduling in the biochemical test processing to be carried out by the testing system 1. There will be described an example in which a serial work is executed in a working procedure of C - D - A- D - F by using the testing system 1 having such a structure that the working module is disposed in the module arrangement shown in Fig. 1. Working procedure information indicative of the working procedure is previously input through the inputting keyboard 6 of the control module 4 and is prestored in the process storing portion 31a.

In the testing process, first of all, the microplate 2 is delivered to the working module D and a cell solution is dispensed into each of the wells 2a of the microplate 2 by means of a dispenser. Subsequently, the microplate 2 subjected to the dispensation is delivered to the working module D and an incubation is carried out for a predetermined time in a predetermined environment atmosphere therein, and the microplate 2 subjected to the incubation is then fed to the working module A and chemicals are dispensed into the cell incubated in the well 2a through a dispensing device. Next, the microplate 2 is fed to the working module D again and the incubation is carried out for a predetermined time therein, and the microplate 2 is thereafter fed to the working module F and an observation and a measurement for a predetermined item are executed.

Figs. 9, 10 and 11 show, in detail, scheduling for a range of C - D in the processing procedure for the test processing. The scheduling is carried out by the scheduler 30a. More specifically, the scheduler 30a specifies the working modules C and D to be scheduling targets based on the working procedure information, and furthermore, recognizes a positional relationship between the working modules C and D with reference to the system structure information stored in the system structure information storing portion 3 Ib. Based on a result of the recognition, a delivery path for delivering the microplate 2 from the working module C to the working module D is specified. In the example, the scheduler 30a specifies that the delivery path from the working module C to the working module D is CV3 - CV2 - CVl based on the arrangement information shown in Fig. 1. Based on the delivery path thus specified, then, a command string for delivering the microplate 2 is generated. Fig. 9 shows a command string in which commands indicative of unit works to be executed by the respective modules are arranged in executing order when the serial work is to be executed through each of the modules in the testing system 1. A command corresponding to a delivering operation to be executed by the delivery module CV is indicated as [Act] and a work processing to be executed by the working module is indicated as [Op].

In order to execute the test processing, first of all, it is necessary to deliver the microplate 2 to the working module C. Therefore, there is generated a command [CV3 : Actl] for delivering the microplate 2 from the delivery module CV3 which is adjacent to the working module C to a transfer port 9Cl of the working module C through the robot arm 17. Subsequently, two commands [C : Op(Cl)] and [C : Op(C2)] for dispensing a cell sample in two stages are generated in the working module C. Next, there is generated a command [C V3 : Act2] for transporting the microplate 2 over which the work has completely been carried out in the working module C from a transfer port 9C2 to the delivery module CV3 through the robot arm 17.

Subsequently, a command for delivering the microplate 2 to the working module D is generated. More specifically, a command [C V3 : Act3] for transferring the microplate 2 to the delivery module CV2 is first generated and a command [CV2 : Act4] for delivering the microplate 2 transferred from the delivery module CV2 to the delivery module CVl is then generated. In the delivery module CVl to which the microplate 2 is transferred, next, a command [CVl : Act5] for delivering the microplate 2 to the transport working point 17a in a close position of a transfer port 9D in the working module D is generated and a command [CVl : Act6] for transporting the microplate 2 to the transfer port 9D of the working module D through the robot arm 17 is then generated.

In the working module D, thereafter, there is generated a command [D : Op(D)] for carrying out a work for delivering the microplate 2 into the incubator and holding the microplate 2 for a predetermined time to incubate a cell. Next, there is generated a command [CVl : Act7] for transporting the microplate 2 subjected to the incubation for the predetermined time in the working module D from the transfer port 9D to the delivery module CVl through the robot arm 17. For a serial work of D -A- D - F which is not shown in Fig. 9, subsequently, commands are generated in the same manner and there is generated a command string in which the commands are arranged in time series order in accordance with a working procedure.

Fig. 10 is a Gantt chart showing the commands corresponding to a system time indicative of a time passed from a time that the workpiece processing is started. When executing the scheduling for the testing work through the control module 4, a person in charge of a test carries out an operation for arranging the respective commands in accordance with working point order over a scheduling screen displayed on the inputting keyboard 6 and allocating a working start timing in each of the commands onto a time base of the system time. Consequently, it is possible to execute the scheduling efficiently and accurately while visually confirming a serial working procedure and an execution timing in a biochemical test.

Then, the command string thus subjected to the scheduling is transmitted from the command string output portion 30b to each of the modules through the communication network 7 so that the processing operation of the microplate 2 shown in Fig. 11 is executed. More specifically, the command [C V3 : Actl] is executed by the delivery module CV3 so that the microplate 2 is delivered from the conveyor type delivering mechanism 14A of the delivery module CV3 into the transfer port 9Cl of the working module C through the robot arm 17, and thereafter, the working module C sequentially executes the commands [C : Op(Cl)] and [C : Op(C2)] so that the work for dispensing the cell sample in the working module C is executed in two stages and the microplate 2 subjected to the execution of the work is transported from the transfer port 9C2 to the conveyor type delivering mechanism 14B of the delivery module CV3 through the robot arm 17.

Subsequently, the commands [C V3 : Act3] and [C V2 : Act4] are executed so that the microplate 2 is transferred to the delivery module CVl via the conveyor type delivering mechanism 14B of the delivery module CV2, and furthermore, the command [CVl : Act5] is executed so that the microplate 2 is delivered to the transport working point 17a in the close position to the transfer port 9D in the working module D (see Fig. 4). Then, the command [CVl : Act6] is executed so that the microplate 2 is transported to the transfer port 9D through the robot arm 17. Thereafter, the command [D : Op(D)] is executed so that the microplate 2 is delivered into the incubator through the working module D and the work for incubating a cell is carried out, and furthermore, the command [CVl : Act7] is executed so that the microplate 2 subjected to the incubation for a predetermined time is transported from the transfer port 9D to the conveyor type delivering mechanism 14B of the delivery module CVl through the robot arm 17.

With reference to Figs. 12(a) and 12(b), next, description will be given to the delivery enable/disable ascertainment processing to be executed in the delivery of the microplate 2 in the test processing. The delivery enable/disable ascertainment processing is executed through the communication network 7 between the mutual delivery modules or between the delivery module and the working module. As shown in Fig. 12(a), first of all, a partner side state ascertainment is executed in the delivery module (STl). More specifically, a signal for promoting the state ascertainment is transmitted to the working module to be a delivery target with reference to the coupling information stored in the coupling information storing portion 36b.

The working module receiving the signal executes the state ascertainment (STl 1).

The state ascertainment is carried out by ascertaining whether an operating state of the working module is normal or not or whether the transfer port 9 of the working module is occupied by the other microplates 2 or not, for example. Then, the working module returns a result of the ascertainment to the partner delivery module (ST 12) and the delivery module receiving the reply decides whether the delivery is enabled or disabled in accordance with a result of the reply (ST2). If it is decided that the delivery is disabled, the processing returns to the (STl) and stands by while repeating the partner side state ascertainment. If it is decided that the delivery is enabled at the (ST2), the workpiece delivering operation based on a workpiece delivery command is executed (ST3).

More specifically, the delivery module executes the delivery enable/disable ascertainment processing of ascertaining whether or not the workpiece delivering operation related to the delivery module can be executed through the communication network 7 together with the other delivery module which is coupled or the working module disposed adjacently, and executes the workpiece delivering operation based on the workpiece delivery command transmitted from the control module 4 in accordance with the result of the delivery enable/disable ascertainment processing.

The delivery enable/disable ascertainment processing is executed by referring to the coupling information stored in the coupling information storing portions of the respective modules. For example, in the case in which the microplate 2 is transferred between the delivery module CV3 and the working module C as shown in Fig. 12(b), the processing shown in Fig. 12(a) is executed between the delivery module CV3 and the working module C without the control module 4. At this time, the delivery enable/disable ascertainment processing is executed together with the other working module or delivery module which is specified based on the coupling information stored in the respective coupling information storing portions, that is, identification information indicative of the module coupled or disposed adjacently. By employing the structure, it is possible to reduce a control processing load of the control module 4, thereby enhancing a processing efficiency.

As described above, the testing system according to the embodiment has such a structure that a plurality of delivery modules for delivering the microplate is coupled to constitute the plate delivery line and a plurality of working modules for carrying out the work using the microplate as a target is disposed adjacently to the delivery module, and furthermore, the modules are connected to the control module through the communication network and the workpiece delivery command to the working module through the delivery module is transmitted to the delivery module through the control module, and the delivery enable/disable ascertainment processing is carried out between the respective modules through the communication network.

Consequently, it is possible to enhance the processing efficiency of the whole testing system by efficiently delivering the microplate and to implement a high throughput of the testing system. In the case in which a new working function is required to fulfill the purpose of the test to be a target, moreover, a delivery module is added to extend the plate delivery line and a working module having the necessary working function is disposed adjacently to the delivery module. Consequently, it is possible to extend the system at a high degree of freedom, thereby implementing an enhancement in a flexibility in the system structure.

While the example of the testing system for carrying out the biochemical test using the microplate as a target has been described as an example of the workpiece processing system in the embodiment, the application of the invention is not restricted to the testing system. For example, the invention can also be applied to a structure in which a substrate to be a workpiece is delivered through a delivery module and a work is sequentially carried out through a plurality of working modules by using the substrate as a target in an electronic apparatus manufacturing field.

Industrial Applicability

The workpiece processing apparatus according to the invention has an advantage that both a high throughput and an enhancement in a flexibility in a system structure can be implemented and is useful for a testing system for executing a biochemical test by using a microplate as a target.

Claims

1. A workpiece processing system comprising: a plurality of working modules for carrying out a predetermined work by using a workpiece as a target, a plurality of delivery modules provided separately from the working modules and serving to deliver the workpiece, and a control module for controlling the working modules and the delivery modules, wherein the delivery modules are coupled to each other, and the working modules are disposed in adjacent positions to the delivery modules, and the workpiece is transported through the delivery modules to the working modules in predetermined order, thereby carrying out a serial work through the working modules by using the workpiece as a target, wherein the working module includes a working portion for executing the predetermined work and a workpiece transfer portion for transferring the workpiece in a predetermined position together with the delivery modules disposed in the adjacent positions, the delivery module includes a conveyor type delivering mechanism for delivering the workpiece mounted on a conveyor on a plane basis and a pick and place type delivering mechanism for transporting the workpiece between the conveyor and the workpiece transfer portion, the conveyor type delivering mechanisms of the deliver modules are coupled to each other to constitute a delivery line for delivering the workpiece, the control module and the working modules and delivery modules are connected to each other through a communication network, the control module transmits a workpiece delivery command for giving a command for executing a workpiece delivering operation together with the other delivery modules coupled to the respective delivery modules or the working modules disposed adjacently to the respective delivery modules through the communication network, and the delivery module executes a delivery enable/disable ascertainment processing of ascertaining whether or not the workpiece delivering operation related to the delivery module can be executed through the communication network together with the other coupled delivery modules or the working modules disposed adjacently and executes a workpiece delivering operation based on the transmitted workpiece delivery command in accordance with a processing result of the delivery enable/disable ascertainment processing.

2. The workpiece processing system according to claim 1, wherein the control module includes a system structure information storing portion for storing system structure information having identification information for individually identifying the individual working modules and delivery modules constituting the processing system and module arrangement information for recognizing a positional relationship between the respective modules, a working procedure storing portion for storing working procedure information related to a procedure for the serial work, and a command array generating portion for generating a working procedure for the individual working modules and delivery modules to execute the serial work based on the system structure information and the working procedure information in a configuration in which commands corresponding to the individual works are arranged in time series order.

3. The workpiece processing system according to claim 1, wherein each of the delivery modules includes a coupling information storing portion for storing identification information of the other coupled delivery modules and identification information of the adjacent working module and each of the working modules includes a coupling information storing portion for storing an identification number of the adjacent delivery module, and the delivery module and the working module execute the delivery enable/disable ascertainment processing together with the other working modules or delivery modules which are specified by the identification information stored in the coupling information storing portion.

4. The workpiece processing system according to claim 2, wherein each of the delivery modules includes a coupling information storing portion for storing identification information of the other coupled delivery modules and identification information of the adjacent working module and each of the working modules includes a coupling information storing portion for storing an identification number of the adjacent delivery module, and the delivery module and the working module execute the delivery enable/disable ascertainment processing together with the other working modules or delivery modules which are specified by the identification information stored in the coupling information storing portion.

5. The workpiece processing system according to claim 1, wherein the delivery module has the conveyor type delivering mechanisms disposed in parallel with each other.