METHOD FOR HANDLING BIOLOGICAL CELL CULTURES

Description

field of technology

[0001] The invention relates to a method for handling carriers carrying biological cell cultures or aids for treating biological cell cultures, with a handling device having an end effector, for example a gripper, wherein a plurality of carriers each rest with their edges on support elements which, in pairs, protrude from the opposite side walls of a storage device at a standardized vertical distance, and the carriers, due to their type or the aids they carry, require different storage heights, some of which are greater than one or more times the standardized vertical distance, wherein the carriers have an information carrier whose information can be read by a reading device assigned to the handling device and evaluated by a computing device. State of the art

[0002] WO 2020 / 098958 A1 describes a system for storing and handling biological cell cultures. The biological cell cultures are stored on microplates. The microplates, in turn, are stored in storage modules. The cell cultures are treated using aids, such as liquids, pipette tips, and other items stored on carriers. The microplates serve as carriers for the biological cell cultures. The carriers for the aids have the same footprint (base area) as the carriers for the cell cultures. Information carriers are provided for identifying the carriers, which can have a barcode, text, or RFIDs. A reading device is provided for reading the information.

[0003] The aids can require different storage heights. The storage height depends essentially on the type of aid. Supports that carry different aids can be arranged in a uniformly designed module with several, particularly shelf-like, storage units. Each storage unit has two facing vertical side walls, the distance between which is slightly greater than a width or length dimension of the support. Support elements protrude from the side walls, onto which the edge of the support can be placed. Support elements are provided, arranged in pairs one above the other at a standardized distance, onto which the edge of a support, a frame of the support, or a base section of the support can be placed. The supports can require different storage heights from one another.The storage height depends primarily on the type of device the carrier is carrying. Bottles, for example, may require a higher storage height than shallow trays. Pipette tip holders, in turn, may require a higher storage height than microplates. Carriers with a high storage height require a multitude of compartments, each defined by the distance between two stacked support elements. A microplate may require a single compartment.

[0004] US 8,267,310 B2 describes a method for handling a storage device for medications. Summary of the invention

[0005] The invention is based on the object of specifying measures by which the compartments of the storage device can be used optimally.

[0006] The problem is solved by the invention specified in the claims, wherein the subclaims represent both advantageous developments of the invention specified in the independent claims and independent solutions to the problem.

[0007] First and foremost, it is proposed that the information carrier contain information about the storage height, which can be determined directly by the reading device. The information about the storage height can be plain text that can be read using OCR recognition. However, the information can also be encoded in a barcode. It can also be the information content of an RFID. It is essential that the information can be determined from within without the use of external tables. The storage height can be the height of the carrier. However, it can also be the total height of the carrier including the aid worn by the wearer. In particular, it is provided that the handling device is controlled by a local control or computing device. This local control or computing device is preferably capable of reading a storage height directly from the information on the information carrier.The retention level is thus determined autonomously, without the use of external or internal tables or other stored data, but simply by reading the information carried by the information carrier. The method according to the invention initially involves assigning information carriers to a respective carrier. The information carrier can carry various information, for example a date, details about the type of carrier, details about the type of aid worn by the carrier, or details about the type of biological cell culture worn by the carrier. The information can also carry a unique identification value or indicate an orientation. Furthermore, a checksum can be stored on the information carrier, with which the information can be verified.A carrier can carry multiple information carriers. For example, two different, particularly opposite, sides can each carry an information carrier. Such information carriers also carry information about the respective side, for example, "front" or "back." However, it is essential that the information carrier contains information about the storage height. Storage height can be understood as a height specification that indicates the total height of the carrier, including the aid carried by it, for example, in centimeters. Storage height can also be information about the number of compartments in the storage device used to store the carrier and the aid carried by it. The information carrier can be printed with the information. This can be a sticker that is attached to the carrier.Each carrier can have an individualized information carrier. The information carrier can also be a uniform material component of the carrier; for example, the information carrier can be located on the surface area of ​​the carrier that is provided with information. For example, the information can be embossed or engraved on a surface area of ​​the carrier itself. In addition to information about the storage height, the information carrier can also contain information about the type of item carried by the carrier. The carrier can have a base section or a frame. The frame or the base section can form support shoulders with which the carrier rests on the support elements. The support elements can be support strips that protrude slightly from the two opposite side walls.However, the support rails extend far enough into the space between the side walls to allow the carrier to rest securely on them. Between two vertical supports running at the same height, each of which is assigned to one of two facing side walls of a storage unit, there extends a horizontal open space whose cross-section is large enough for items carried by the carrier to protrude through it. Between support rails arranged vertically one above the other there is a distance of, for example, 30 mm, which represents a standardized distance that defines the height of a compartment. The horizontal distance between two support rails lying on the same level is dimensioned such that the aids can extend over several compartment heights.The information carrier can be arranged at a defined location; for example, a specific surface section of a base section or a frame of the carrier can carry the information carrier. One or more modules are preferably provided, wherein the modules are devices in which at least two carriers can be accommodated. A handling device or a gripper or a handling device with a gripper can be assigned to at least one of the modules. Each module can have one or more storage devices. The storage device preferably has a removal side. The carrier can be removed from the storage device at this removal side. This is preferably done with an end effector of the handling device. The end effector can be formed by a shovel-like plate or a paddle that can be moved under the carrier in order to grip underneath and lift the carrier.However, it is also possible for the end effector to be a gripper with fingers that can be moved towards each other like pincers. The carrier can be gripped with the fingers. The storage device can have a removal side facing an end effector. The storage devices can be arranged around a free space of a storage module. The storage devices can be shelf-like with several compartments arranged one above the other. Several similar storage devices can be arranged around the free space. The removal side in each case faces the free space. The handling device can be arranged within the free space and can be displaced in the vertical direction. The handling device can have a gripper that can be displaced in the horizontal direction in order to remove a carrier from the storage device or to insert a carrier into the storage device.According to a preferred embodiment of the invention, the gripper has a reading device with which the information on the information carrier can be read. For example, the reading device can be a barcode scanner. However, the reading device can also be an image-imaging system, for example a camera, for reading plain text information. However, the reading device can also be an antenna for reading an RFID. In another embodiment, it can be provided that the gripper transports the carrier to a reading device which is arranged elsewhere and which can read the information carrier. It can be provided that the reading device is separate from the gripper, wherein the term gripper is understood to mean any device with which a carrier can be moved.

[0008] According to a further development of the invention, a proximity sensor is provided. The proximity sensor can be assigned to the gripper. It can be arranged adjacent to the reading device. The proximity sensor can detect whether a compartment is occupied by a carrier, for example, by a frame of a carrier or a base section of the carrier. However, the proximity sensor can also detect whether a compartment arranged above a base section is occupied by an aid or the like. The proximity sensor can be an optical sensor, an ultrasonic sensor, or even a capacitive or inductive proximity sensor. The proximity sensor can also be a laser proximity sensor, a camera, in particular another camera. However, it is also provided that the reading device is designed such that it can perform the function of a proximity sensor.The proximity sensor and the reading device can be arranged on the gripper.

[0009] The method according to the invention allows the use of the compartments of a storage facility to be optimized. A local control or computing device of a module equipped with multiple storage facilities of the type described above and having a gripper can control the gripper such that it removes individual carriers from the storage facility and reinserts them elsewhere in the same storage facility or in another storage facility. The gripper can use its reading device and proximity sensor to determine previously free compartments. By continually removing individual carriers and reinserting them at another location in the module, the carriers having different storage heights can be arranged such that the total number of free compartments arranged directly above one another is increased.For example, a single free compartment can be filled by using the gripper to search for a carrier with a storage height of one height unit. This carrier can fill the single free compartment. Alternatively, a carrier with a storage height of several height units, which is arranged directly below or directly above the free compartment, can be raised or lowered in order to fill the single free compartment. In a similar way, several free compartments arranged one above the other can be filled by first using the proximity sensor to determine the height of the free space formed by the free compartments. To do this, the gripper moves to the positions where an information carrier can usually be found. If no information carrier can be found and the proximity sensor does not emit a signal, it can be assumed that the compartment is unoccupied.In this way, a number of stacked free compartments can be determined. The reading device can then be used to search for a carrier in the storage facilities that has a storage height that corresponds to the height of the stacked free compartments. This is achieved by reading the information carrier. According to the invention, this information carrier contains the information about the storage height. The found carrier can then be inserted into the free compartments using the gripper.

[0010] According to the invention, it can also be provided that the storage devices of a module are designed identically to one another. The storage devices can, for example, be arranged in the manner of a carousel and rotated by a rotary drive. A side wall of the module, which can form a uniform housing, can have a loading opening with which the module is adjacent to a process module or to another storage module. Carriers can be brought from one module to an adjacent module through the loading opening. The loading opening can be closed in a suitable manner. Each of two adjacent modules can have loading openings. The loading openings of two adjacent modules are aligned with one another, so that carriers can be brought from one module to another module through the two open loading openings.The loading opening can, in particular, be closable in such a way that gas exchange between an inside of the module or an outside of the module is reduced. The loading opening can also be closable in such a way that heat flow between outside the module and inside the module is reduced. The module can, for example, be an incubator, a freezer, or a refrigerator. In a preferred embodiment, a number of four, five, six, seven, eight, nine, ten, eleven, or twelve storage devices are arranged around a central free space in the module in such a way that each storage device is directly adjacent to an adjacent storage device, so that a transfer of a carrier from one module to an adjacent module must take place through a storage device.In order to transport a carrier from within the module through the loading opening out of the module, an area of ​​a storage device, such as a storage shelf, located in front of the loading opening must form a free space through which the carrier is transported by means of the gripper. This free space must have at least the vertical height that corresponds to the storage height of the carrier. With the gripper designed according to the invention, it can be determined, using the reading device and / or the proximity sensor, whether a free space with a sufficient vertical height is available.In the event that such free space is not available, it is proposed that the gripper removes carriers from an area of ​​a storage device located in front of the loading opening until a free space with sufficient vertical height is available, wherein the vertical height corresponds at least to the height of the carrier to be transported through the loading opening. It can be provided that all storage devices of a module are generally suitable for providing free space and the control device is configured such that, to form the free space, the storage device is selected in which a minimum number of carriers must be moved in order to form a sufficiently large free space through which a selected carrier with the detected storage height can be brought. Short description of the drawings

[0011] Embodiments of the invention are explained below with reference to the accompanying drawings. They show: Fig. 1 shows, in perspective, eight different carriers for the use of biological cell cultures, Fig. 2 shows schematically a device for the treatment of biological cell cultures, Fig. 3 shows the section through a storage module as it is in the Figure 2 with the reference numbers 12, 13 and 14, Fig. 4 schematically shows a storage shelf 19 and a handling device 22 with a gripper (end effector) 23 which has a reading device 24 and a proximity sensor 25, Fig. 5 schematically shows an area of ​​two modules 12, 14 in the area of ​​a loading opening 26 connecting the two modules 12, 14 to one another, Fig. 6 enlarged section of two storage devices 19 arranged next to one another. Description of the embodiments

[0012] The Figure 2shows, schematically in the form of a view, three storage modules 12, 13, 14 for holding standardized carriers that can hold cell cultures or aids for their treatment. A storage module 12 serves to hold aids for the treatment of cell cultures. In principle, however, this storage module 12 can also hold microplates that carry cell cultures. Between the storage module 12 and the storage module 13, which is an incubator for holding cell cultures, there is a process module 15. In this process module 15, the cell cultures can be treated using pipettes or the like. The storage module 14 is a refrigerator in which treatment liquids can be stored with which the cell cultures can be treated. The modules 12-14 and the process module 15 each have a local control device that is formed by a control or computing device 16.The local control devices 16 can be in a data exchange connection with a central control device 17.

[0013] The storage modules 12, 13, 14 are designed identically to one another and differ essentially only in the climate created within them. A high temperature can prevail in the incubator 13. A low temperature can prevail in the refrigerator 14. The storage modules 12, 13, 14 are connected to one another by loading openings 26. The storage modules each have at least one or two loading openings 26. The loading opening 26 of a storage module 12 can be directly adjacent to the loading opening 26 of an adjacent storage module 14, so that when the loading openings 26 are open, carriers 1-9 are transported from one storage module 12 to the other, adjacent storage module 14. In particular, it is provided that loading openings 26 of directly adjacent storage modules are directly connected to one another. It is also provided that loading openings 26 of a storage module 12 are directly adjacent to a process module.The loading openings 26 can be closed.

[0014] The Figure 3 shows a cross-section through one of the storage modules 12, 13, 14. Several storage devices 19 are arranged around a center in the manner of a carousel. The storage devices 19 can be rotated around the center so that the storage device 19 can be brought into alignment with a loading opening 26.

[0015] The Figure 4shows a rough schematic of the structure of a storage device 19. The storage device 19 forms a storage shelf in which carriers 1-9 can be stored, arranged in several levels one above the other. The storage device 19 has two side walls that run parallel to each other. Support elements 21, in particular in the form of support strips, are attached to the side walls facing each other. The horizontal spacing of the support strips 21 can be 5 cm to 15 cm or 20 cm to 35 cm. The horizontal spacing of the support strips 21 is preferably adapted to the length or width of a standard microplate (85.48 mm x 127.76 mm). The vertical spacing of the support strips 21, which are arranged opposite each other in pairs, can be slightly greater than the height of the carrier 1, 2, which has the smallest vertical height.

[0016] The Figure 1shows, by way of example, various carriers 1-9 that serve to hold cell cultures or aids for their treatment. The carriers 1, 2 are flat, rectangular bodies with recesses in which biological cell cultures can be arranged. Such carriers can have a height of 21 mm. The carrier 1 has a base section 10, which can be a base body with a flat shape whose height is less than the distance between two support strips 21. This carrier 3 carries a bottle containing a treatment liquid, which can be stored, for example, in the refrigerator 14.

[0017] The support 4 carries a plurality of containers for holding liquids or equipment, etc. The vertical height of the support 4 is greater than the vertical distance between two support rails 21 arranged directly above one another.

[0018] The support 5 is a flat tray and has a height that is less than the vertical distance between two immediately adjacent support strips 21. The support 5 is in particular a single container in which biological cell cultures can grow or in which a liquid can be stored.

[0019] Carrier 6 is similar to carrier 3. He carries a bottle that can hold a larger volume than the bottle carried by carrier 3.

[0020] The support 7 carries a plurality of pipette tips or elongated containers for holding liquids. The height of the support 7 is greater than the vertical distance between two immediately adjacent support bars.

[0021] The support 8 carries a plurality of pipette tips or other elongated containers for holding liquids. The height of the support 8 is greater than the vertical distance between two immediately adjacent support bars 21.

[0022] The Figure 6 1 additionally shows a support 9, which is designed similarly to support 5, but has an edge surrounding a central recess, the height of which is greater than the vertical distance between two adjacent support strips. It can have a height of 30 mm to 40 mm.

[0023] The above statements serve to explain the inventions covered by the application as a whole, which each independently develop the state of the art by at least the following combinations of features, whereby two, several or all of these combinations of features can also be combined, namely:

[0024] All carriers 1-9 have a lower section 10, which is a base section and which carries an information carrier 11 at a standardized location. The information carrier 11 is arranged on the outer wall of the carrier 1-9. The information carrier 11 is arranged such that it is visible from a central cavity surrounded by several storage devices 19. It can be provided that each carrier 1-9 has a single information carrier 11. However, it can also be provided that each or individual carriers 1-9 have several information carriers 11.

[0025] In further embodiments of the invention, it can be provided that sides of the carrier 1-9 facing away from one another each have an information carrier 11. In other embodiments of the invention, it can be provided that each side of a carrier 1-9 has an information carrier 11. In embodiments in which the carriers 1-9 have a plurality of information carriers 11 on different sides from one another, it can be provided that each information carrier 11 also has information about the respective side of the carrier 1-9, i.e. information about whether it is, for example, a short side, a long side and / or a front or back side of the carrier. Preferably, it is only necessary to be able to distinguish between the front and back. The information carrier can be a surface section of a plastic surface of a plastic body forming the carrier.

[0026] The Figure 6shows several supports 2, 5, 6, 8, and 9 that have different heights. Only supports 2 and 5 have a storage height H 1 that is less than the vertical distance between two support rails 21.

[0027] The distance between two directly superimposed support rails 21 defines a standard distance A. The support 9 has a storage height H 2 that is less than twice a standard distance A. The support 8 has a storage height H 4 that is greater than three times a standard distance but less than four times a standard distance A, so that the support 8 has a storage height H 4 that occupies four compartments 20, each compartment 20 being defined by the space surrounded by two superimposed support rails 21. The support 6, which carries a bottle, has a storage height H 7 and occupies seven superimposed compartments 20.

[0028] The one in the Figure 4The schematically illustrated gripper 23 is capable of gripping a carrier 1-9, for example with a plate gripping underneath a carrier 1-9 or with gripping arms, in order to pull it out of the storage device 19 and either bring it into another position in the storage device 19 or bring the carrier 1-9 through the loading opening 26 into an adjacent storage device 19 of another module 12-14.

[0029] The gripper 23 or the handling device 22 can have a reading device 24. With this reading device 24, the information on the information carrier 11 can be read. According to a preferred embodiment, the information is applied as a barcode on the information carrier 21. The reading device 24 can be a barcode reader with which the information in the barcode can be read. The barcode can be arranged at a distance of within 10 mm, 20 mm, or 30 mm from the lower edge of the base section 10 of the carrier 1-9. It is readable when the carrier 1-9 is located in the storage device. The base section 10 rests directly on the support strips 21. Since all carriers 1-9 have the same floor plan, namely preferably that of a microplate, carriers 1-9 with different storage heights can be arranged in all storage devices 19.

[0030] In embodiments not shown, the reading device 24 can be arranged at a different location within the storage module 14. In order to be able to release the information carrier 11 with such a reading device 24 that is not arranged on the gripper 23 or the handling device 22, the carrier 1-9 carrying the information carrier 11 is transported to the reading device 24.

[0031] The information on the information carrier 11 contains information directly about the storage height H 1 to H 7 . This can be an absolute height specification, specified in centimeters. However, it can also be a height specification that simply specifies a multiple of a standard distance A or height units. It is essential that the height specification can be derived directly from the information on the information carrier 11 without the aid of further tables or the like. As a result, a local control or computing device 16, which is assigned to each of the modules 12-14, can receive information about the height of a carrier 1-9 from the information obtained from the reading device 24. The information carried by the information carrier 11 can also be a date, the type of aid (labware). The additional information can also be a serial number, a unique identifier, an orientation, or a checksum.From the type identification, the computing device 16 can, for example, determine a bottle size or the size of a pipette tip.

[0032] The barcode of the information carrier 11 can have the format LLLLLLL CCCCCCC UUUUUU OHC. Where LLLLLLL is a batch number, CCCCCCC a catalog number, UUUUUU a serial number, O an orientation, H the height or the number of standard distances used and C a checksum. Other embodiments are also possible. In an alternative, the barcode can have the format DDDDDDFFFFUUUUUUOHHCC, where DDDDDD is a current date, for example a production date. The current date can have the format YYYYWW, where YYYY is the year and WW the calendar week of production, for example. FFFF can be the type of aid. UUUUUU can be the serial number. O can be the orientation. HH can be the height and CC can be a checksum.

[0033] The gripper 23 of the handling device 22 can carry not only a reading device 24, but also a proximity sensor 25. While the reading device can read the information on the information carrier 11, in particular the barcode, the proximity sensor 25 can determine whether a compartment between two superimposed support strips 21 is occupied.

[0034] The reading device 14 in combination with the proximity sensor 25 can perform a control function. If the proximity sensor 25 detects a base section 10 arranged in a compartment, and the reading device 24 detects a barcode there, the local control device 16 recognizes that this is the lower section of a carrier. From the height information contained in the information on the information carrier 11, the control device 16 recognizes how many compartments above the base section 10 are occupied by the same carrier. The proximity sensor 25 can be used to check whether this is the case and whether the information on the information carrier regarding the storage height H 1 to H 7 is correct. Furthermore, the combination of a reading device 24 and a proximity sensor 25 can be used to determine whether a compartment is free.It is also possible to detect a faulty information carrier 11 if a compartment above the storage height of the carrier is not free and does not have a barcode.

[0035] With the inventive marking of the carriers 1-9 with an information carrier 11, particularly designed as a barcode, which has an explicit indication of a storage height H 1 to H 7, each storage module 12-14 can operate autonomously. No external data connection is required to determine the storage height of a carrier 1-9. It is thus possible to determine whether a transfer opening 27 is available in one of the storage devices 19 through which the carrier 1-9 can be transported for a transfer of a carrier 1-9 through the loading openings 26', 26 between two adjacent modules 12-14. Figure 5shows, for example, on the right a loading opening 26 which has a greater vertical extent than the transfer opening 27 located behind it between a carrier 2 and a carrier 8. The vertical height of the transfer opening 27 is sufficiently large to transport a pipette tip box 8 through. However, the height of the transfer opening 27 is not sufficient to transport, for example, a carrier 9 with a tall bottle. To enable the latter, it is first necessary to increase the effective height of the transfer opening 27 by removing the carrier 2 from the area of ​​the loading opening 26. For this purpose, the carrier 2 is gripped by the gripper 23 and brought to another, suitable position within the module.

[0036] In the in the Figure 5In the situation shown on the left, flat supports 2 arranged below the support 9 must first be removed so that the support 9 with the bottle can be transported through the loading opening 26'.

[0037] The invention thus relates to a method which is characterized in that the vertical height of a transfer opening 27 is determined with the aid of the reading device 24 and / or without the proximity sensor 25, and the vertical height of the transfer opening 27 is increased if necessary by removing carriers 1-9 arranged there and arranging the carriers 1-9 in other storage devices 19 or at other positions in the same storage device 19. In this method, one of the carriers 1-9 arranged in the storage module 12 which is to be removed from the storage module 2 is first identified. The storage height H 1 to H 7 of the carrier 1-9 is then determined using the reading device 24. The required vertical height of the transfer opening 27 is calculated using the storage height H 1 to H 7 determined in this way.The actual vertical height of the transfer opening 27 is then determined using the reading device 24 and, if applicable, the proximity sensor 25. If the actual vertical height of the transfer opening 27 is less than the storage height H 1 to H 7 of the selected carrier 1-9, the vertical height of the transfer opening 27 is increased by removing carriers 1-9 arranged in the area of ​​the loading opening 26.

[0038] By marking the carriers 1-9 according to the invention with an information carrier 11, particularly designed as a barcode, which has explicit information about a storage height H 1 to H 7, a storage module 12-14 can also organize itself automatically. This can even be done without the use of the proximity sensor 25. Using the reading device 24, which is preferably attached to the gripper 23, but also to a separate carrier that can be moved independently of the gripper 23, the positions of the base sections 10 of all carriers 1-9 arranged in a storage module 12 can be determined. A storage module 12 can have a plurality of storage devices 19 in which carriers 1-9 are located. Using the information about the storage height H 1 to H 7, the local computing device 16 can determine the actually occupied compartments 20 and, in particular, calculate the location of free compartments 20.By removing the supports 1-9 and arranging them at a different location in the same storage module 12, the number of free individual compartments 20 can be reduced. By relocating the supports 1-9 to other positions, the number of free spaces comprising several free compartments for arranging supports 1-9 with a large storage height H 1 to H 7 can be increased.

[0039] The invention thus relates to a method which is characterized in that, with the aid of the reading device 24, the number of free individual compartments 20 is reduced or the number of immediately adjacent free individual compartments 20 is increased by placing carriers 1-9 in other positions.

[0040] The invention further relates to a method and a correspondingly designed device that allows the carriers 1-9 arranged in a storage module to be organized using only a reading device and a gripper as well as the control and computing device 16. The reading device can be used to determine the lowest compartment occupied by a carrier. By determining the storage height, the next compartment above the carrier that is not occupied by goods carried by the carrier can then be determined. The reading device can then be used to determine whether this compartment is free and whether other compartments above it are free. The gripper can then grip the carrier lying below free compartments and move it upwards in such a way that there are no free compartments directly above the carrier.If such a method is started with the topmost beam, all free compartments are filled one after the other. The invention thus also relates to a method in which free compartments are successively determined, either starting at the top or bottom, between two beams arranged directly above one another, and these are filled by relocating the beam below or above it.

[0041] The invention further relates to a method by which, using the reading device 24 and the information about the storage height arranged on the information carrier 11, a storage location is found which has a predetermined minimum number of individual compartments 20 arranged directly one above the other.

[0042] In the above description, the term gripper 23 or handling device is understood to mean any type of means which, alone or in combination with other means, enables a carrier to be moved from a first position to another, second position. The term gripper or handling device is therefore also understood to mean, in particular, an end effector. The term gripper or handling device can also be understood to mean an electrically actuated device which can be controlled by a control device and with which a carrier 1-9 can be removed from a compartment 20 or can be placed into a compartment 20. However, gripper 23 or handling device can also be understood to mean a device with which a carrier 1-9 can be removed from a compartment 20 by the device or a part of the device performing a horizontal movement.The device can also perform a vertical movement to raise or lower the carrier 1-9. The gripper 23 or the handling device can also be configured as a device with which a carrier 1-9 can be moved from a storage module 12 into a storage module 14 through two adjacent loading openings 26, or with which a carrier 1-9 can be transported between a storage module 12, 14 and a process module 15.

[0043] The invention also encompasses embodiments in which a plurality of storage modules 12-14 have at least one handling device 22, wherein the handling device 22 is capable of gripping or transporting at least one carrier 1-9 in each case. The invention thus also relates to a method with one or more modules 12-14, at least one of which has a handling device 22.

Claims

1. A method for handling supports (1-9), which carry biological cell cultures or auxiliary agents for treating biological cell cultures, with one or several modules (12-14), of which at least one has a handling device (22), wherein a plurality of supports (1-9) each rests with its edges on support elements (21), which are allocated to each other in pairs and protrude at a standardized vertical distance (A) from the opposing side walls of a storage device in a horizontal direction, and the supports (1-9), depending on their type or the auxiliary agents they support, require different storage heights (H1-H7), some of which are greater than one or more times the standardized vertical distance A, wherein the supports (1-9) have an information carrier (11), the information of which can be read by a reading device (24), and can be evaluated by a computing device (16), characterized in that the information contains details about the storage height (H1-H7) of the respective support (1-9), and these details are used for handling the supports (1-9).

2. The method according to claim 1, characterized in that the information carrier (11) is arranged on a base section (10) or frame of the support (1-9) having two support shoulders that can be placed on the support elements (21), such that the information can be read from a removal side of the storage device (19).

3. The method according to one of the preceding claims, characterized in that the handling device (22) has a proximity sensor (25), which is used to determine whether a compartment (20) extending vertically above a pair of support elements (21) and up to the pair of support elements (21) lying thereover is occupied, and / or whether a support (1-9) is resting on a pair of support elements (21).

4. The method according to claim 3, characterized in that the reading device (24) and the proximity sensor (25) are used to recognize compartments (20) occupied by supports (1-9) and free compartments (20), and to find a vertical arrangement of free compartments (20) corresponding to at least the storage height (H1-H7) of the support (1-9) so as to add a support (1-9) in a storage device (19).

5. The method according to claim 4, characterized in that the vertical arrangement of free compartments (20) is found exclusively by using the reading device (24) and the proximity sensor (25).

6. The method according to one of the preceding claims, characterized in that the supports (1-9) arranged in a storage device (19) are removed from the compartments (20) to which they are allocated and allocated to other compartments (20) in such a way as to form new arrangements of compartments (20), in which the number of free compartments (20) arranged one directly above the other is increased.

7. The method according to one of the preceding claims, wherein the storage device (19) is arranged in a housing (12-14) between a loading opening (26) of the housing (12-14) and the handling device (22), characterized in that a vertical area (27) of the storage device (19) is kept free at the height of the loading opening (26), the height of which corresponds to the largest storage height (H1-H7) of a support (1-9) arranged in the housing (12-14).

8. The method according to one of the preceding claims, characterized in that the reading device (24) is allocated to the handling device (22), or is arranged in at least one of the modules (12-14), wherein the modules (12-14) are set up to stock a plurality of supports (1-9).

9. The method for implementing a method according to one of the preceding claims, with at least one storage device (19) with support elements (21) that protrude in pairs at a standardized vertical distance (A) from side walls, with a plurality of biological cell cultures or auxiliary agents for treating supports (1-9) carrying biological cell cultures, and with a handling device (22) for handling the supports (1-9), wherein the supports (1-9) each have an information carrier (11), the information of which can be read by a reading device (24), and can be evaluated by a computing device (16) of the device, characterized in that the information contains details about the storage height (H1-H7) of the respective support (1-9), an in particular programmable control device (16) is provided, which is set up in such a way that the handling of supports (1-9) takes place using these details.

10. The device according to claim 9, characterized in that a gripper (23) is allocated to the handling device (22), and / or that the reading device (24) is allocated to the handling device (22) or gripper (23).

11. A support for implementing the method according to one of claims 1 to 8 or for use in a device according to claim 9 or 10, with a base section (10) for placement on the support elements (21) and an information carrier (11), characterized in that the information of the information carrier (11) contains explicit details about the storage height (H1-H7) of the respective support.

12. The support according to claim 11, characterized in that the information contains a date, details about the type of support (1-9), a unique identification value, an orientation and / or a checksum and / or a "batch number" and / or a value for a height.

13. The device according to claim 9 or 10, the method according to one of claims 1 to 8, or the support according to claim 11, characterized in that the information carrier (11) carries a barcode, and the reading device is a barcode scanner.

14. The device according to 9, 10 or 13, the method according to one of claims 1 to 8 or 13, or the support according to claim 11 or 13, characterized in that a support (1-9) has several information carriers (11), and / or that two adjacent or opposing sides each have an information carrier (11), and / or that the information carriers (11) of supports (1-9) having several information carriers (11) additionally have information about the side to which the respective information carrier (11) is fastened.