HANDLING DEVICE AND METHOD FOR DISPENSING OBJECTS

Description

[0001] The invention relates to a handling device for handling objects, comprising a rotatable perforated disc in whose perforations the objects can be transported. The invention further relates to a method for dispensing objects into a microtiter plate, in which objects are moved by a handling device according to the invention and dispensed into the microtiter plate.

[0002] Macroscopic organisms, such as organoids, spheroids, fish eggs, or frog eggs, play an essential role in many biological processes. However, sample preparation of these organisms is complex: they must be microscopically classified by a specialist and then placed in a microtiter plate. A trained laboratory technician needs approximately twelve minutes to fill a microtiter plate with 96 vials. The error rate is high due to the monotonous nature of the task. To automate this process, the organisms to be examined must first be analyzed and classified using imaging techniques. Since the morphology can vary considerably, an algorithm-based sorting decision must be made as to whether the detected organism can be used for further processing.

[0003] For biological tests, however, mere classification is insufficient. It is often necessary for the organisms to be present in individual form. In the laboratory setting, the microtiter plate (MTP) has become the absolute standard for storing and processing individual samples. This is a plastic plate, for example approximately 12 x 8 cm, into which a variable number of wells are formed, in which the organisms are stored.

[0004] The problem with the automated isolation of these organisms is their extremely delicate morphology. External influences such as high shear forces should therefore be avoided, as these can lead to damage and consequently to the rejection of the sample. Furthermore, transport in a tubing-based system presents a significant challenge, since higher throughputs and a correspondingly larger accumulation of organisms in a channel or tubing system can lead to plugging and subsequent clogging of the system.

[0005] Another important aspect is the cleanability of such systems. Since sterile conditions often prevail in laboratory environments, the components must be easily cleanable. Furthermore, different organisms may need to be classified and isolated using the same concept, which is why it is also important that all product-contacting components are easily accessible and removable.

[0006] There are already numerous sorting devices for macroscopic organisms. Most of them are designed exclusively for sorting and not for singulation.

[0007] In US8940541 and US2021072142, fish eggs are separated by a rotating element and then guided into a channel / tube. The end of the tube is moved over a microtiter plate by a two-dimensional movement, separating the fish eggs into the individual wells. Due to the coupling of organisms into the channels / tubes, plug formation can occur at high concentrations, causing the tubes to become clogged and the process to be aborted. Furthermore, the channel and tube systems are only partially cleanable, which may necessitate the replacement of the entire system.

[0008] In US3613884 and US3746166, for example, fish eggs are classified as fertilized or unfertilized using a rotating perforated disc and transferred to two separate containers by means of a compressed air pulse. However, the process requires a fairly high density of fish eggs to reliably fill the holes of the perforated disc. Otherwise, the process becomes very slow.

[0009] The object of the present invention is to provide a handling device and a method for dispensing objects, with which objects can also be handled, examined and dispensed that are present in low concentration in a liquid.

[0010] The problem is solved by the handling device according to claim 1 and the dispensing method according to claim 14. The respective dependent claims specify advantageous embodiments of the handling device according to claim 1 and of the method according to claim 14.

[0011] The invention relates to a handling device for handling objects. The objects are suspended in a liquid. A mixture of objects and liquid is referred to here as a suspension. The objects can be, for example, solid and / or gelatinous. In particular, the objects can optionally be fish eggs.

[0012] The handling device according to the invention has a trough for receiving the suspension containing the objects. A trough is preferably understood to be a device that has a cavity or depression in which a liquid or suspension can rest. The trough can advantageously be open at the top. In the following, "bottom" shall be defined as the direction in which the cavity or depression of the trough extends. When the handling device is used as intended, "bottom" is the direction in which the force of gravity acts.

[0013] The handling device according to the invention has a perforated disc which is rotatable about an axis, which shall here be referred to as the perforated disc rotation axis. Advantageously, the perforated disc is circular.

[0014] The perforated disk has a plurality of through holes along its circumference, extending through the disk. Preferably, all holes are equidistant from the disk's axis of rotation. One direction of passage of the holes is preferably perpendicular to the mutually parallel disk surfaces of the disk. Advantageously, the holes are cylindrical, with the cylinder axes of the holes perpendicular to the mutually parallel disk surfaces of the disk. The holes extend through the disk, i.e., they each have an opening in both disk surfaces of the disk.

[0015] According to the invention, the perforated disc is arranged such that it partially projects into the trough, so that part of the through-holes are located within the trough. The perforated disc thus advantageously intersects an upper opening formed by the edge of the cavity or recess. When the trough is filled with the suspension as intended, part of the perforated disc is advantageously located within the suspension and another part outside of it.

[0016] The handling device according to the invention also includes a barrier arranged behind at least those of the through-holes located in the tray. The barrier is designed to prevent objects from exiting the through-holes towards the barrier, but to allow the liquid to pass through at least some of the through-holes in the tray towards the barrier. For example, the barrier can be designed as a disc arranged parallel to the perforated disc and having an elongated slot extending through this disc. The elongated slot can run along the through-holes. Advantageously, the elongated slot can run parallel to the edge of the perforated disc and be located at a distance from the perforated disc's axis of rotation that differs from the distance between the through-holes and the perforated disc's axis of rotation.Advantageously, the barrier is located at a distance from the perforated disk that is smaller than the diameter of the through-holes. In particular, the distance between the barrier and the perforated disk is advantageously smaller than the distance of the objects in the suspension. However, to allow the liquid to pass through, the distance between the barrier and the perforated disk should be greater than zero.

[0017] The barrier disc and the perforated disc can advantageously be interchanged to handle objects of different sizes. For larger objects, the diameter and / or depth of the through-holes, i.e., the thickness of the perforated disc, can be adjusted. Preferably, the thickness of the barrier disc is reduced by the same amount by which the thickness of the perforated disc is increased, as this eliminates the need to enlarge the grooves in which the barrier disc and the perforated disc run.

[0018] The handling device according to the invention also includes a liquid transport device configured to actively convey the liquid through the through-holes located in the trough, through which the barrier allows the liquid to pass. Active liquid transport is preferably understood to be a process in which, for example by an actuator, a pressure difference is actively generated, to equalize which the liquid moves. The active conveying of the liquid can optionally also be referred to as pumping. The liquid transport device can therefore also be a pump.

[0019] By actively moving the liquid through the through-holes, it is ensured, largely independent of the concentration of objects in the liquid, that as many of the through-holes as possible that are currently in the suspension are filled with objects. This significantly accelerates the filling process, even at low concentrations of objects in the suspension.

[0020] In an advantageous embodiment of the invention, the handling device can have a drain area located on the side of the perforated disc and the barrier facing away from the trough. The drain area and the trough can be considered as sub-areas of the cavity or recess. The liquid transport device can advantageously be configured to transport the liquid from the trough through the through-holes into the drain area.

[0021] In an advantageous embodiment, the drainage area can be a channel that runs along the elongated hole of the barrier disc and opens into the elongated hole, preferably having the same length as the elongated hole and the channel. The elongated hole in the barrier disc can thus extend the drainage area towards the barrier disc.

[0022] In a particularly advantageous embodiment, the liquid transport device can have a liquid channel connected to the drain area in such a way that the liquid can be drawn out of the drain area through the liquid channel. For example, the liquid channel can open into the drain area through an opening. The liquid channel can also be connected to the trough in such a way that the liquid can be moved into the trough through the liquid channel. For this purpose, the liquid channel can advantageously open into the trough through an opening. However, it is also possible for the liquid channel to terminate above the cavity or depression, so that liquid exiting the liquid channel flows into the cavity or depression. The liquid channel can be a hose or be a tube, which is particularly advantageous.

[0023] In an advantageous embodiment of the invention, the liquid transport device can have a rotatable compression disc having compression elements along its circumference. The compression disc can be arranged such that, as the compression disc rotates, the compression elements move past the liquid channel and compress it. It is particularly advantageous if the liquid channel has a compressible tube, at least in the region where the compression elements move past it. Preferably, the liquid channel is compressed by the compression elements until it is completely closed.

[0024] The compression disc has compression elements along its circumference. This means that the radius of the compression disc varies in a plane perpendicular to an axis of rotation of the compression disc, and in which the fluid channel also runs in the area where it is compressed by the compression elements. In the simplest case, the compression elements can be areas of the compression disc where the compression disc has a larger radial extent compared to adjacent areas.

[0025] In an advantageous embodiment, the compression disk can be formed by two circular disks parallel to each other, between which the compression elements are arranged along the edges of the parallel disks. Preferably, the edges of the parallel disks are parallel to each other. The compression elements can, for example, be cylindrical elements whose cylinder axes are perpendicular to the parallel disks and which are arranged along the edges of the parallel disks, preferably equidistantly. The compression elements can be offset behind the edges of the parallel disks. In this case, the radius of the compression disk varies only in planes intersected by the compression elements. However, the compression disk also has planes, namely those in which the parallel disks are located, in which the radius does not vary.

[0026] Advantageously, the compression disc is driven by a drive, for example an electric motor, to rotate around its axis of rotation.

[0027] In an advantageous embodiment of the invention, the handling device can comprise two modules. A first module can contain the tray, the perforated disc, the drainage area, and the liquid channel, and a second module can contain the compression disc. The modules are advantageously connectable and separable as a whole. This means that in a single step, all components of the two modules are simultaneously brought into the intended position relative to each other. Optionally, further steps can then follow to fix the modules together. The modular design allows the tray and the perforated disc to be easily separated, enabling them to be cleaned and / or autoclaved without significant effort.

[0028] Advantageously, the fluid channel can be part of the same module as the pan, while the compression disc is part of a separate module. This allows the desired contact between the fluid channel and the compression disc to be established automatically when the pan is inserted. This eliminates the often cumbersome process of inserting a hose. Furthermore, the fluid channel, for example if it is a hose, can be easily replaced.

[0029] Advantageously, the perforated disc can be inclined relative to the liquid level of the liquid or suspension in the trough at an angle greater than 90°, preferably greater than or equal to 120°, and / or less than 180°, preferably less than or equal to 150°, when the handling device is used as intended. The angle is measured above the liquid level. Thus, the liquid level and the perforated disc preferably form an obtuse angle outside the liquid. Optionally, the angle can also be measured relative to the upper opening of the cavity or recess instead of the liquid level. This can be particularly useful if the cavity or recess increases monotonically in the direction of this opening, at least in a region adjacent to the opening.

[0030] According to the invention, the handling device includes a detection device. This device is arranged at the edge of the perforated disc such that at least one property of objects present in the through-holes of the perforated disc can be detected with it. In this case, the detection device can also be referred to as an examination device.

[0031] Advantageously, the detection device encompasses the edge of the perforated disc and incorporates optics that allow at least one property of the objects present in the holes to be detected from one or both sides of the disc. This enables the objects to be examined from either side. Measurement results from the detection device can be fed to an evaluation unit, which uses an algorithm to determine whether the detected object possesses the desired property, i.e., whether it is suitable for further testing. Unsuitable objects can be pre-sorted and placed in a reject container. Objects that, according to the evaluation, possess one or more desired properties can be transferred to a final container, such as a microtiter plate, a Petri dish, or similar.The target container can be held by a carrier, allowing it to be moved parallel to the perforated disc for executions.

[0032] In an advantageous embodiment, the optics can include a first and a second mirror arranged opposite each other with respect to the through-holes. The first and second mirrors can be intersected by a through-axis of the through-holes. The first mirror can be inclined at +45° relative to the perforated disk, and the second mirror can be inclined at -45° relative to the perforated disk. Advantageously, the optics can also include a third mirror intersected by a plane in which the perforated disk extends. The third mirror can advantageously be inclined at ±45° relative to this plane, again measured between said plane and the reflecting surface of the third mirror. The third mirror is then positioned in the path of light rays passing through the through-holes in the direction of their longitudinal axis and being reflected by the first or second mirror.

[0033] In an advantageous embodiment, the detection device can include an illumination device with which light of one or more wavelengths can be generated and directed onto objects located in the through-holes. In particular, the illumination device can advantageously generate one or more excitation wavelengths, thus enabling fluorescence-based image detection. The excitation wavelengths can be adapted to the fluorescent material of the objects. The illumination device can advantageously be arranged at the position of one of the described mirrors. In this way, the object in the corresponding through-hole can be observed from one side by the detection device, while it can be illuminated from the opposite side. This enables transmitted light-based (image) detection.

[0034] The optical system can also include a camera with a viewing direction directed towards the third mirror. The camera can then be positioned in the path of light emanating from the through-holes, reflected by the first or second mirror, and then reflected by the third mirror, thus being reflected back into the camera. Advantageously, the camera's viewing direction can be perpendicular to the plane of the perforated disk. The described arrangement of mirrors and camera creates a superposition of views of the object from opposite sides within the camera. In this way, the object in the through-hole can be observed simultaneously from both sides using a single camera.

[0035] In an advantageous embodiment, the camera can have a filter system that allows precisely those wavelengths to pass through which are generated in the fluorescence when, as described above, objects are excited to fluoresce.

[0036] Advantageously, the handling device can have a wiper lip that rests on the perforated disc at a distance from the disc's axis of rotation, in which the through-holes are arranged, with the wiper lip positioned in front of the detection device in the direction of rotation of the perforated disc. Advantageously, a wiper lip can rest on each side of the perforated disc. The respective wiper lip can advantageously be positioned at an angle greater than zero relative to the radial direction of the perforated disc's axis of rotation, so that liquid on the perforated disc is directed to the edge of the disc as it rotates. These wiper lips prevent any liquid from entering the detection device. Advantageously, the wiper lips can be made of rubber.

[0037] According to the invention, the handling device has, at least in the area of ​​the detection device, a transparent plate, e.g., a glass plate or an acrylic glass plate, on one or both sides of the perforated disc, which covers the through-holes in this area and rests directly against the perforated disc, thus closing the through-holes. Advantageously, such a plate is arranged on both sides of the perforated disc, so that the two plates are opposite each other with respect to the perforated disc. Advantageously, the one or the two plates are arranged such that the detection of the objects takes place through the plates. The detection device can therefore be directed precisely at the one or the two plates. The one or the two plates are fixed relative to the detection device, so that the perforated disc moves between the plates.These types of plates create a defined liquid film between the plates or between the plate and the object in the through-holes. This prevents the liquid film from causing distortion in the detection, for example due to meniscus formation.

[0038] In an advantageous embodiment of the invention, the handling device can also have a compressed air nozzle directed at the perforated disc at the same distance from the axis of the perforated disc as the through-holes are arranged, and preferably on the side of the perforated disc facing away from the barrier. The fact that the compressed air nozzle is directed at the perforated disc means that an air jet emerging from the compressed air nozzle strikes the perforated disc. Advantageously, an opening of the nozzle can be parallel to the opening of the corresponding through-hole facing the nozzle and / or to the surface of the perforated disc. An exit direction of the nozzle can advantageously be perpendicular to the surface of the corresponding through-hole and / or the perforated disc facing the nozzle and / or coaxial with the passage direction of the corresponding hole if the corresponding hole is located directly in front of the nozzle opening.

[0039] In an advantageous embodiment of the invention, the handling device can have a carrier for a microtiter plate, which is arranged opposite the perforated disc of the compressed air nozzle, such that the compressed air nozzle is directed towards the microtiter plate. The perforated disc is thus arranged between the compressed air nozzle and the microtiter plate. Microtiter plates generally have a plurality of cavities that open in a surface of the microtiter plate. In this arrangement, compressed air from the compressed air nozzle can move objects from the perforated disc into a cavity of the microtiter plate that is located directly between the compressed air nozzle and the corresponding cavity. Preferably, the diameter of the perforated discs is less than or equal to the diameter of the cavities of the microtiter plate (normally, all cavities have the same diameter).Naturally, the diameter of the through holes is advantageously larger than the diameter of the objects.

[0040] Preferably, the microtiter plate is held securely by the carrier in such a way that the surface containing the cavities, i.e., any surface into which the cavities are formed, lies parallel to the perforated disc. Furthermore, the microtiter plate is preferably displaceable by the carrier in directions parallel to the surface of the microtiter plate containing the cavities and / or to the perforated disc. In this way, the microtiter plate can be moved by the carrier so that different cavities are positioned opposite the nozzle opening.

[0041] In an advantageous embodiment of the invention, the handling device can also include a positioning device with which the carrier can be moved from an insertion position to a loading position. In the loading position, the microtiter plate is held with its cavity-bearing surface parallel to the perforated disc. Advantageously, the carrier can be moved back and forth between the insertion and loading positions by the positioning device. The path of this movement can be predetermined by the positioning device. It is advantageously possible for the microtiter plate, which is held in the holder, to rotate along this path during its movement. Thus, the angle between a surface of the microtiter plate, which has the cavities, and the perforated disc or a liquid level can change along this path.

[0042] In the insertion position, the microtiter plate can advantageously be positioned so that the surface with the cavities is horizontally aligned, i.e., parallel to the liquid level in the tray. In the loading position, the microtiter plate is positioned so that the surface with the cavities is aligned parallel to the perforated plate, allowing the samples to be placed from the through-holes into the cavities of the microtiter plate.

[0043] In particularly advantageous embodiments, the microtiter plate with the carrier can also be moved parallel to the perforated disk in the assembly position. Such a movement can, for example, also be possible with the positioning device itself.

[0044] The invention further relates to a method for dispensing objects into a microtiter plate. A handling device is used, configured as described above, and in particular comprising a detection device and a compressed air nozzle opposite the microtiter plate. The objects are removed from the liquid in which they are suspended by the handling device. This is achieved by actively moving the liquid through the perforations located within the liquid. This moves the objects into the perforations. Rotating the perforated disc then moves the objects towards the detection device. The detection device then detects at least one property of the objects.The objects are then moved along the perforated disc to the compressed air nozzle, where, depending on a value of the detected property, they are either moved into the microtiter plate or not. This allows the objects to be sorted based on the detected property.

[0045] Advantageously, the microtiter plate is repositioned after an object has been placed in a cavity so that another, empty, cavity is positioned opposite the nozzle. This allows the cavities to be filled with objects sequentially. The process for a single object is as follows: First, the object is moved by the liquid into one of the through-holes. The object is then moved to the detection device by rotating the perforated disc. The detection device identifies at least one property of the object, which is used to sort it. Further rotation of the perforated disc moves the object from the detection device to the compressed air nozzle. If the object has a predetermined target property, the compressed air nozzle generates a burst of air at the precise moment the object passes through it. This propels the object into a cavity of the microtiter plate.If the object does not possess the required properties, an additional nozzle can be provided that removes the object from the through-hole as soon as it passes through this nozzle. This additional nozzle can also generate a blast of air. Advantageously, the object can be transferred to another container, such as a Falcontube.

[0046] Advantageously, the objects can be macroscopic organisms, such as fish eggs. The perforated disc can preferably be a glass disc or have a glass surface, which improves the illumination of the objects.

[0047] The automated placement of objects, such as macroscopic organisms, into a microtiter plate offers significant advantages over the state of the art: The invention enables the gentle placement of macroscopic organisms into an automatically moving microtiter plate or other sample container. The direct and rapid transfer of organisms from the disc to the microtiter plate makes the system suitable for high-throughput applications. The advantageous 45° incline of the microtiter plate allows, among other things, for pre-filling the cavities with culture medium. The compressed air pulse can be individually adjusted to the organism size. The system contains no narrow channels or tubes in which organisms can become trapped and thus clog the system. Furthermore, the two main components of the system can be easily disassembled and cleaned, which facilitates sterile work and the exchange between different organisms. By using different discs, organisms of varying sizes can be classified and isolated.The optical detection unit allows both the front and back of the organisms to be captured and analyzed in a single image. Clamping and changing the pump hose is very easy, as the cleanable tray also serves as the pump housing.

[0048] The invention will now be explained by way of example with reference to several figures. The features shown in the examples can also be implemented independently of the specific example and can be combined between the examples. Identical reference numerals denote identical or corresponding features.

[0049] It shows: Figure 1: a perspective view of a handling device according to the invention, Figure 2: a rear view of the handling device according to the invention, Figure 3: a section through the handling device according to the invention, Figure 4: a detail view from Figure 3Figure 5: a side view of the handling device according to the invention; Figure 6: a detailed view of an arrangement of an air pressure nozzle and a microtiter plate; Figure 7: an example of a detection device; Figure 8: a side view of a positioning device in which the carrier is in a loading position; Figure 9: a side view of the positioning device in which the carrier is between the loading position and the insertion position; Figure 10: a side view of the positioning device in which the carrier is in the insertion position.

[0050] Figure 1Figure 1 shows a perspective view of a handling device according to the invention. The handling device has a trough 2 that begins to receive a suspension containing objects. The handling device also has a circular perforated disc 1 that is rotatable about a perforated disc axis of rotation. Here, the perforated disc axis of rotation is an axis in the mathematical sense that is perpendicular to the center of the perforated disc 1. The perforated disc 1 has a plurality of through holes 3 along its circumference that extend through the perforated disc 1. The perforated disc 1 can, for example, be a glass disc.

[0051] The perforated disc 1 partially projects into the tray 2, so that part of the through-holes 3 are located within the tray. In the example shown, the tray 2 is bounded at the top by a circular segment-shaped opening whose edge lies in a plane. In this example, the perforated disc intersects this plane. The perforated disc 1 is at an angle of 45° to this plane. When the handling device is used as intended, the liquid level will extend essentially parallel to this plane. This means that, when used as intended, the perforated disc 1 is also at an angle of 45° to the liquid level. The exact value of the angle is not critical.It is advantageous, however, if the liquid level and the perforated disc 1 form an obtuse angle, as this prevents the objects from falling out of the through-holes 3 and also prevents the liquid from leaking out over the perforated disc 1. Since the objects are often held in the through-hole 3 by capillary action, this slant is optional.

[0052] The through-holes 3 are all equidistant from the axis of rotation of the perforated disc and are also equidistant from their adjacent through-holes 3. All through-holes 3 are also equidistant from the edge of the perforated disc 1. In the example shown, the edge of the perforated disc 1 is recessed into an inner wall of the tray 2, so that the through-holes 3 are closer to the inner wall of the tray 2 than to the edge of the perforated disc 1. This ensures that the through-holes 3 can still be filled with objects even when the suspension level in the tray 2 is low.

[0053] The handling device according to the invention also includes a liquid transport device 4, which is configured to actively convey the liquid in the trough through the through-holes 3 located within the trough, in the example shown, below the circular segment-shaped opening. In the example shown, the liquid transport device 4 includes a compression disc 6 containing compression elements 7 along its circumference. The compression disc 6 has seven compression elements 7, arranged equidistantly along its circumference. The compression elements 7 are held by two annular elements.

[0054] The liquid transport device 4 also has a liquid channel, a section of which extends past the compression disc 6 between two openings 5a and 5b. The compression disc 6 engages with the compression elements 7 in the area where the liquid channel runs between the openings 5a and 5b. The compression elements 7 thereby compress the liquid channel. The compression disc 6 is rotatable about an axis of rotation that is centered perpendicular to the plane in which the compression elements 7 are arranged. This rotation causes the compression elements 7 to move successively across the liquid channel, thereby generating peristaltic liquid transport within it. In the example shown, the openings 5a and 5b are connected to the interior of the tub 2 via sections of the liquid channel not shown. In the perspective view of the Figure 1In particular, opening 5a is connected to port 8a via a section of the liquid channel. Similarly, opening 5b is connected to the interior of tub 2 via another port 8b, which is located in Figure 2 can be seen.

[0055] The liquid transport device 4 can advantageously create a circulation of the liquid. In this way, the objects 15 can be moved into the through-holes 3 while the liquid level in the tub 2 remains constant.

[0056] Advantageously, the fluid channel can be formed entirely or partially by a compressible hose.

[0057] The in Figure 1The handling device shown also includes a detection device 8, which is arranged at the edge of the perforated disc 1 such that at least one property of objects present in the through-holes 3 of the perforated disc 1 can be detected with it. The detection device 8 encompasses the edge of the perforated disc 1.

[0058] The handling device also includes a carrier 9 for a microtiter plate 10. The carrier 9 holds the microtiter plate 10 such that its surface, into which cavities are formed, lies parallel to the surface of the perforated disk 1. The microtiter plate 10 can be displaced by the carrier 9 in directions parallel to this surface.

[0059] The handling device also includes a compressed air nozzle 11, which is directed towards the through-holes 3 in the perforated plate 1 and opposite which the microtiter plate 10 is arranged. The compressed air nozzle 11 can generate a burst of air with which objects located in the through-holes 3 can be dispensed into a cavity of the microtiter plate 10.

[0060] In the Figure 1In the view shown, during operation of the handling device, the perforated disc 1 will rotate clockwise, so that objects are first introduced into the through-holes 3 in the tray 2 and then transported to the detection device 8. In the detection device 8, one or more properties of the objects can be detected. Objects with the desired properties can then be moved by further rotation of the perforated disc 1 to the compressed air nozzle 11 and dispensed by a burst of air into a cavity of the microtiter plate 10. The time at which the burst of air must be generated by the nozzle 11 can be easily calculated from the time of detection and the angular velocity of the perforated disc 1.

[0061] In the Figure 1In the example shown, the handling device has a further compressed air nozzle 12, which is arranged along the circumference of the perforated disc 1 between the detection device 8 and the compressed air nozzle 11. This compressed air nozzle 12 allows objects that do not have the desired properties to be removed from the through-holes 3 before they reach the compressed air nozzle 11 and the microtiter plate 10.

[0062] Figure 2 shows the reverse side of the in Figure 1The handling device shown is described. In this device, one rear wall of the tub 2 is made transparent to allow the arrangement of the barrier 13 to be seen. The barrier 13 is designed as a barrier disc 13, which is arranged parallel to the perforated disc 1 and has a distance from the perforated disc 1 that is smaller than the diameter of the through holes 3. The barrier 13 also has an elongated hole 14 that pierces the barrier disc 13 and runs parallel to the edge of the perforated disc 1. The elongated hole 14 is located at a distance from the perforated disc's axis of rotation that is different from the distance of the through holes 3 from the perforated disc's axis of rotation. In the example shown, the distance of the elongated hole 14 from the perforated disc's axis of rotation is slightly smaller than the distance of the through holes 3 from the perforated disc's axis of rotation.

[0063] The in Figure 2The barrier 13 shown is arranged behind the through-holes 3 located in the tray 2 and is designed such that it prevents objects from exiting the through-holes 3 towards the barrier 13, but allows the liquid to pass through at least part of the through-holes 3 located in the tray 2 towards the barrier 13. To allow the liquid to pass through, the barrier disc 13 can be located at a distance greater than zero from the perforated disc 1.

[0064] Barrier 13 and perforated disc 1 separate the basin 2 from a drain area 41. The liquid transport device actively conveys the liquid from the basin 2 through the through holes 3 and through the elongated hole 14 into the drain area 41. The liquid channel is connected to the drain area 41, allowing liquid to be drawn from it. Furthermore, the liquid channel is connected at its other end to the basin 2 via connection 8a, enabling the liquid to flow through the liquid channel into the basin 2.

[0065] The Figure 3 and 4 show a cross-section through the handling device according to the invention as Figure 1 shown in the area of ​​one of the through holes 3. This shows Figure 4 a detailed view that is in Figure 3 is marked with A.

[0066] It can be seen that the perforated disc 1 projects with its edge into a recess in the wall 16 of the tub 2 and forms the boundary of the tub 2. This places the through-holes 3 close to the wall 16 of the tub 2. The objects 15 are moved downwards by the force of gravity, so that they collect in an area bounded on one side by the inner wall 16 of the tub 2 and on the other side by the perforated disc 1. The active movement of the liquid draws the objects 15 into the through-holes 3. Advantageously, the through-holes 3 are dimensioned such that exactly one of the objects 15 can fit into each one.

[0067] On the side of the perforated disc 1 facing away from the tub 2, the barrier 13, which is designed here as disc 13, is arranged. As to Figure 2As described, the barrier 13 has an elongated hole 14 that has a different distance to the axis of rotation of the perforated disc than the through holes 3. On the side of the perforated disc 1 and the barrier 13 facing away from the trough 2 is the drainage area 41, which is designed here as a channel that is bounded by the elongated hole 14 and continues through it.

[0068] The thickness of the perforated disc 1 and the barrier plate 13 can be advantageously adapted to the dimensions of the objects 15 to be handled. For handling objects with larger diameters, the perforated disc 1 and the barrier plate 13 can be made thicker and larger through-holes 3 can be incorporated into them.

[0069] The Figure 5 and 6 The illustration shows a side view of an example of the invention, a measured handling device, in which the arrangement of the compressed air nozzle 11 relative to the microtiter plate 10 can be seen. Figure 6 a detailed view that is in Figure 5 is marked with B.

[0070] The compressed air nozzle 11 is arranged opposite the microtiter plate 10 with respect to the perforated disc 1. The discharge direction of the compressed air nozzle 11 is directed towards the perforated disc 1, so that a burst of air can be generated from the compressed air nozzle 11 in the direction of the microtiter plate 10. If the direction in which air can be discharged from the compressed air nozzle 11 is extended as a straight line, this line first runs through the perforated disc 1 at the distance of the through holes 3 and then through the microtiter plate 10. The compressed air nozzle 11 can be controlled such that a burst of air is generated precisely when one of the through holes 3 lies on the aforementioned straight line, in which an object 15 is located that is to be placed in a cavity 16 of the microtiter plate 10. The carrier 9 allows the microtiter plate 10 to be moved so that the cavity 16 in which the object 15 is to be placed is located on the aforementioned straight line.Advantageously, exactly one object 15 can always be placed in a cavity 16. For the next object, the perforated disk is then rotated further and the microtiter plate 10 is moved so that another cavity 16 is located in the aforementioned straight line.

[0071] Figure 7Figure 8 shows an exemplary embodiment of the detection device 8 as an optical detection device. The detection device 8 has a first mirror 19a, which is inclined at 45° to a plane in which the perforated disk 1 extends, measured between the reflecting surface of the mirror 19a and said plane. The reflecting surface faces away from the axis of rotation of the perforated disk. The detection device 8 also has a second mirror 19b, which is inclined at an angle of -45° to the plane in which the perforated disk 1 extends, again with its reflecting surface facing away from the axis of rotation of the perforated disk. The reflecting surfaces of the first mirror 19a and the second mirror 19b are therefore at an angle of 90° to each other. The detection device 8 also has a third mirror 19c, which is intersected by the plane in which the perforated disk 1 extends.The third mirror 19C is inclined at -135° to this plane, so that its reflecting surface faces that of the second mirror 19b and is parallel to it. All mirrors 19a, 19b, and 19c lie in the same radial direction with respect to the axis of rotation of the perforated disk. A ray path 18 of light emanating from one of the through-holes 3 in the perforated disk 1 is . Figure 7The line is shown with a dashed line. Light exiting the opening 3 towards the first mirror 19a strikes the reflective surface of the first mirror 19a at an angle of 45° and is reflected by it onto the third mirror 19c. In the example shown, the beam path 18 between the first mirror 19a and the third mirror 19c runs parallel to the plane in which the perforated disk 1 extends. Light exiting the opening 3 towards the second mirror 19b strikes the reflective surface of the second mirror 19b and is also reflected by it towards the third mirror 19c. In the example shown, the beam path 18 between the second mirror 19b and the third mirror 19c also runs parallel to the plane in which the perforated disk 1 extends.

[0072] The third mirror 19c now reflects the light coming from the first mirror 19a, and not the light coming from the second mirror 19b, towards a camera 17, whose viewing direction, in the example shown, is perpendicular to the plane in which the perforated disk 1 extends. In this way, the views of objects 15 in the opening 3 from both sides of the perforated disk 1 are superimposed in the camera 17. The objects 15 can therefore be examined from both sides in a single step.

[0073] In the examples shown here, the optional compressed air nozzle 12 for removing objects in 15 that do not have the desired properties is structurally integrated with the detection device. Such an arrangement is, of course, not necessary.

[0074] The described handling device can be advantageously designed modularly, such that the perforated disc 1, the tray 2, and the liquid channel belong to one module, while the liquid transport device 4 belongs to another module. In this way, the perforated disc 1 and the tray 2 can be easily exchanged and cleaned, for example, to comply with biological hygiene regulations. The described barrier 13 can also be part of the module of which the perforated disc 1 is a part.

[0075] The device according to the invention is particularly suitable for sorting macroscopic organisms such as fish eggs.

[0076] The Figure 8 , 9 and 10Figure 1 shows a side view of a positioning device in an advantageous embodiment of the handling device. The positioning device can move the carrier 9 from an insertion position to a placement position. Advantageously, the positioning device can move the carrier 9 back and forth between any positions located on a path between the insertion and placement positions. The handling device can advantageously be surrounded by a housing 31 in which an insertion opening 32 is located for inserting a microtiter plate 10 into the housing 31. Figure 8 , 9 and 10 The figures show the carrier in different positions into which the carrier 9 can be moved by means of the positioning device.

[0077] The Figure 8Figure 1 shows a side view of the positioning device in which the carrier 9 is in the loading position. In the loading position, the microtiter plate 10 is held such that the surface of the microtiter plate 10 with the cavities is aligned parallel to the perforated disk 1. In this way, objects can be placed from the through holes of the perforated disk into the cavities of the microtiter plate 10 in the loading position.

[0078] In particularly advantageous embodiments, the microtiter plate 10 with the carrier 9 can also be displaced parallel to the perforated disk 1 in the assembly position. Such a displacement can be achieved, for example, by the positioning device itself. Alternatively, an additional device can be provided that can move the carrier 9 in the assembly position such that the microtiter plate 10 can be displaced parallel to the perforated disk.

[0079] Figure 9shows a side view of the positioning device, in which the carrier 9 is located in a position on a path between the assembly position and the insertion position. Compared to Figure 8 In the diagram, where the carrier 9 is in the placement position, it becomes clear that the carrier 9 can rotate along the path. Therefore, the angle between the surface of the microtiter plate 10, which has the cavities, and the perforated disk can be varied along the path.

[0080] Figure 10Figure 1 shows the positioning device in a side view, with the carrier 9 in the insertion position. In the insertion position, the microtiter plate 10 is optionally held in place such that its surface, which has the cavities, is horizontally oriented. In the illustrated embodiment of the handling device, the microtiter plate 10 is also held in the insertion position by the holder 9 such that it protrudes from the housing 31 through the insertion opening 32. This facilitates easy insertion of the microtiter plate 10 into the handling device.

Claims

1. A handling device for handling objects, comprising a vat for receiving a suspension containing the objects and a liquid, a perforated plate, which is rotatable about a perforated plate rotation axis and which has, along its periphery, a plurality of through-holes, which extend through the perforated plate, the perforated plate partially projecting into the vat so that some of the through-holes are located in the vat, further comprising a barrier, which is arranged behind at least those through-holes that are located in the vat, the barrier being formed such to prevent the objects from escaping through the through-holes in the direction of the barrier but allowing the liquid to pass through at least some of the through-holes that are located in the vat, in the direction of the barrier, further comprising a liquid transport device which is configured to convey the liquid actively through those through-holes that are located in the vat through which the barrier allows the liquid to pass, further comprising a detection device arranged at the edge of the perforated plate such that it can be used to detect at least one property of objects present in the holes of the perforated disc, characterised in that the handling device further comprises one or two transparent panels which close the through-holes at least in an area on one or both sides in which the detection device can detect at least one property of objects present in the holes.

2. The handling device according to the preceding claim, the handling device having an outflow region, which is located on the side of the perforated plate and the barrier opposite the vat such that liquid may flow from the vat through at least some of the through-holes and through the barrier into the outflow region, the liquid transport device having a liquid duct that is connected to the outflow region such that the liquid may be sucked through the liquid duct from the outflow region, and the liquid duct being additionally connected to the vat such that the liquid is movable through the liquid duct into the vat, the liquid duct preferably comprising a tube or being a tube.

3. The handling device according to the preceding claim, the liquid transport device additionally having a rotatable compression plate, which has compression elements along its periphery, the compression plate being arranged such that, as the compression plate rotates, the compression elements move past the liquid duct and, in doing so, compress it.

4. The handling device according to any one of the two preceding claims, wherein the vat, the perforated plate, the outflow region and the liquid duct are part of a first module, and the compression plate being part of a second module, the first and the second module being connectable to one another and separable from one another as a whole.

5. The handling device according to any one of the preceding claims, the barrier comprising or being a barrier plate, which is arranged parallel to the perforated plate and which has a distance less than a diameter of the through-holes from the perforated plate, the barrier plate having a slot which passes through the barrier plate and runs parallel to an edge of the perforated plate at a distance from the perforated plate rotation axis which is unequal to the distance of the through-holes from the perforated plate rotation axis.

6. The handling device according to the preceding claim, the outflow region being a channel that runs along the slot of the barrier plate and opens into the slot, preferably the slot and the channel having the same length.

7. The handling device according to the preceding claims, the perforated plate being inclined relative to a liquid level of the liquid in the vat when used as intended by an angle of greater than 90°, preferably greater than or equal to 120° and / or less than 180°, preferably less than or equal to 150°, particularly preferably is inclined by 135°, measured above the liquid level.

8. The handling device according to any one the preceding claims, the detection device engaging around the edge of the perforated plate and having an optical unit by means of which the at least one property of the objects present in the holes is detectable from both sides of the perforated plate.

9. The handling device according to the preceding claim, the optical unit comprising a first and second mirror and / or prism which are arranged opposite one another in relation to the holes, are inclined by 45° relative to the perforated plate, and are arranged at an angle of 90° to one another, measured between reflective surfaces of the mirrors and / or prisms facing the holes, the optical unit additionally having a third mirror and / or prism which is intersected by a plane in which the perforated plate extends and is preferably inclined by 45° relative to this plane, and which is arranged in the beam path of light beams that pass through the holes in the direction of their longitudinal axis and are reflected by the first or second mirror or prism, the optical unit additionally having a camera with a viewing direction directed towards the third mirror or third prism and that is arranged in the beam path of light starting from the holes, via the first and second mirrors or prisms and via the third mirror or third prism, the viewing direction of the camera preferably being at an angle of 90° to the plane in which the perforated plate extends.

10. The handling device according to any one of claims 7 to 9, comprising at least one scraper lip, which rests on the perforated plate in a distance region from the perforated plate rotation axis in which the through-holes are arranged, the scraper lip being arranged in front of the detection device in the direction of perforated plate's rotation.

11. The handling device according to any one of the preceding claims, further comprising at least one compressed-air nozzle, which is directed towards the perforated plate at the distance from the perforated plate rotation axis at which the holes are arranged and which is preferably arranged on the side of the perforated plate facing away from the barrier.

12. The handling device according to any one of the preceding claims, the through-holes having a diameter smaller than or equal to the diameter of cavities in a microtitre plate, further comprising a carrier for the microtitre plate, which is arranged opposite the perforated plate of the compressed air nozzle such that the compressed air nozzle is directed toward the microtitre plate, the carrier being able to hold the microtitre plate with a surface parallel to the perforated plate and having cavities and movable in a direction parallel to the surface having cavities.

13. The handling device according to the preceding claim, comprising a positioning device, by means of which the carrier is movable from an insertion position into a loading position, the microtitre plate being holdable in the loading position with its surface with the cavities parallel to the perforated plate.

14. A method for dispensing objects into a microtitre plate, a handling device according to claim 13 being used to remove the objects from a liquid in which the objects are suspended by moving the objects into through-holes in the perforated plate by moving the liquid through at least some of those through-holes located in the vat, the objects present in the through holes being moved toward the detection device by rotating the perforated plate, then at least one property of the objects in the through-holes is detected with the detection device, and, in dependence of a value of the detected property, the objects being moved, by means of an airflow generated by the compressed-air nozzle, into the microtitre plate or not being dispensed into the microtitre plate.

15. The method according to the preceding claim, those objects that are not being moved into the microtitre plate are removed from the corresponding through-hole of the perforated plate by an airflow at another location generated by a further compressed-air nozzle and preferably transferred into another vessel.