Handling device and method for dispensing objects - Patents.com

Abstract

The present invention relates to a handling device for handling objects, which comprises a rotatable perforated plate, through the holes of which the objects can be transferred. The present invention further relates to a method for distributing objects to a microtiter plate, in which objects are moved and distributed to the microtiter plate using a handling device according to the invention.

Description

[Technical field]

[0001] The invention relates to a handling device for handling objects, which comprises a rotatable perforated plate, through the holes of which the objects can be moved. The invention further relates to a method for distributing objects to a microtiter plate, in which the objects are moved and distributed to the microtiter plate by the handling device according to the invention.

[0002] Macroscopic organisms such as organoids, spheroids, fish eggs or frog eggs play an important role in many biological processes. However, the preparation of biological samples is difficult, and they must be classified by experts under a microscope and placed in a microtiter plate. Filling a microtiter plate with 96 wells takes trained laboratory personnel about 12 minutes. Due to the monotony of the work, the error rate increases. To automate this process, it is first necessary to analyze and classify the organisms to be examined using image measurement techniques. As the morphology can be very different, an algorithm-based selection decision must be made as to whether the detected microorganisms can be used for the next process or not.

[0003] However, in biological testing, mere classification is not enough. In many cases, microorganisms must be present in isolated form. In laboratory environments, the microtiter plate (MTP) has been established as the gold standard for storing and handling isolated samples. It is, for example, a plastic plate of about 12 x 8 cm, in which a variable number of depressions (wells) are formed in which the microorganisms are stored. Summary of the Invention [Problem to be solved by the invention]

[0004] The problem with the automated separation of these microorganisms is their very sensitive form. Therefore, external influences such as strong shear forces should be avoided as they can cause damage and result in the rejection of the sample. Furthermore, transport in tube-based systems poses great challenges as they can cause the formation of blockages, resulting in clogging of systems with higher throughputs, which can lead to increased accumulation of microorganisms in the ducts or tube systems.

[0005] Another important aspect is the cleanability of such a system: in a laboratory environment, sterility is often a priority, so the parts must be easy to clean. Moreover, since different organisms need to be classified and separated using the same concepts, it is also important that all parts that come into contact with the product are easily accessible and removable.

[0006] Many visual sorting devices for organisms already exist, most of which are dedicated to sorting, not separation.

[0007] In US8940541 and US2021072142, the eggs are separated by a rotating part and fed into a duct / tube. The end of the tube moves in two dimensions over a microtiter plate and the eggs are separated into individual wells. If microorganisms bind to the duct / tube, high concentrations of blockages can form, clogging the tube and interrupting the process. The duct and tube system can only be cleaned to a limited extent, so the entire hose system may have to be replaced.

[0008] In US Patent Nos. 3,613,884 and 3,746,166, for example, fish eggs are sorted into fertilized or unfertilized eggs by a rotating perforated plate and transferred to two different containers by compressed air pulses. However, this process requires very dense fish eggs to ensure that the holes in the perforated plate are filled; otherwise the process would be very slow.

[0009] It is an object of the present invention to provide a handling device and method for dispensing objects, with which objects present even in low concentrations in liquids can be handled, inspected and dispensed. [Means for solving the problem]

[0010] This object is achieved by a handling device according to claim 1 and a dispensing method according to claim 16. The respective dependent claims specify advantageous developments of the handling device according to claim 1 and the method according to claim 16.

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

[0012] The handling device according to the invention comprises a vessel for receiving a suspension containing objects. A vessel is preferably understood here as a device having a hole or a recess in which the liquid or suspension is accommodated. The vessel may advantageously be open at the top. In the following, the term "downwards" refers to the direction in which the hole or recess of the vessel extends. When the handling device is used as intended, "downwards" is the direction in which gravity acts.

[0013] The handling device according to the invention comprises an aperture plate which is rotatable about an axis, which will be referred to herein as the axis of rotation of the aperture plate.The aperture plate is preferably circular.

[0014] The perforated plate has a number of through holes at its periphery, which pass through the perforated plate. All the through holes preferably have the same distance from the axis of rotation of the perforated plate. The through holes preferably have a penetration direction perpendicular to the parallel plate faces of the perforated plate. Advantageously, the through holes are cylindrical and the cylindrical axis of the through holes is perpendicular to the parallel plate faces of the perforated plate. The through holes pass through the perforated plate, i.e. each has an opening in both plate faces of the perforated plate.

[0015] According to the invention, the perforated plate is configured such that it partially projects into the vessel, with a portion of the plurality of through holes being located in the vessel. The perforated plate is therefore advantageously intersected by an upper opening, which is formed by an edge of a hole or recess. Thus, when the vessel is filled with suspension as intended, a portion of the perforated plate is advantageously located in the suspension and another portion of the perforated plate is located outside the suspension.

[0016] The handling device according to the invention further comprises a barrier, which is arranged behind at least the through-holes located in the bath. Here, the barrier is formed in such a way that it prevents the objects from leaking in the direction of the barrier through the through-holes, while allowing the liquid to pass in the direction of the barrier through at least some of the through-holes located in the bath. For example, the barrier can be formed as a plate arranged parallel to the perforated plate and having elongated holes passing through it. The elongated holes can extend along the through-holes. Advantageously, the elongated holes extend parallel to the edge of the perforated plate and have a distance from the axis of rotation of the perforated plate that is different from the distance between the through-holes and the axis of rotation of the perforated plate. Advantageously, the distance of the barrier from the perforated plate is smaller than the diameter of the through-holes. In particular, it is advantageous that the distance of the barrier from the perforated plate is smaller than the objects in the suspension. However, in order to allow the passage of the liquid, the distance of the barrier from the perforated plate must be greater than zero.

[0017] Advantageously, the barrier plate and the perforated plate can be interchanged to handle objects of different sizes. For larger objects, the diameter of the through holes and / or the depth of the through holes, i.e. the thickness of the perforated plate, can be adjusted. Reducing the thickness of the barrier plate by the increment of the thickness of the perforated plate is preferred, since it is not necessary to enlarge the channels through which the barrier plate and the perforated plate pass.

[0018] The handling device according to the invention further comprises a liquid transfer device, which is located in the bath and is configured to actively transport the liquid through the through-holes that allow the passage of the liquid through the barrier. Here, active liquid transfer is preferably understood as a process in which a pressure difference is actively generated, for example by an actuator, and liquid moves to compensate for this pressure difference. Active liquid transfer may optionally be referred to as pumping. Thus, the liquid transfer device may be a pump.

[0019] The fact that the liquid actively moves through the through-holes ensures that as many of the through-holes as possible that are now in suspension are filled with the object, generally independent of the object's concentration in the liquid, which makes the filling process very fast even when the object's concentration in the suspension is low.

[0020] In an advantageous embodiment of the invention, the handling device may have an outflow area provided on one side of the perforated plate and a barrier facing away from the reservoir. The outflow area and the reservoir may be considered as parts of a cavity or recess. Advantageously, the liquid transfer device is arranged to transfer liquid from the reservoir through the through hole to the outflow area.

[0021] In an advantageous embodiment, the outflow area may be a groove extending along and opening into the slot in the barrier plate, the slot and the groove preferably having the same length, so that the slot in the barrier plate allows the outflow area to continue in the direction of the barrier plate.

[0022] In a particularly advantageous embodiment, the liquid transfer device can have a liquid tube, which is connected to the outflow region in such a way that liquid is sucked from the outflow region through the liquid tube. For example, the liquid tube can open into the outflow region via an opening. The liquid tube can furthermore be connected to the tank in such a way that liquid can be transferred to the tank through the liquid tube. For this purpose, it is advantageous for the liquid tube to open into the tank via an opening. In principle, however, it is also possible for the liquid tube to end above a hole or a depression, and for the liquid flowing out of the liquid tube to flow into the hole or depression. Particularly advantageously, the liquid tube can comprise or can be a tube.

[0023] In an advantageous embodiment of the invention, the liquid transfer device may have a rotatable compression plate with a compression portion along its periphery. Here, the compression plate may be configured such that, when rotating, the compression portion moves through the liquid tube, thereby compressing the liquid tube. It is particularly advantageous when the liquid tube has a compressible tube, at least in the area where the compression portion moves. The liquid tube is preferably compressed by the compression portion until the liquid tube is completely closed.

[0024] The compression plate comprises compression sections along its periphery, which means that the radius of the compression plate varies in a plane perpendicular to the rotation axis of the compression plate and the liquid tube is also located in the area compressed by the compression section. In the simplest case, the compression section may be an area of ​​the compression plate where the compression plate has a larger radial extent compared to the neighboring areas.

[0025] In an advantageous embodiment, the compression plate is formed of two circular plates parallel to each other, between which the compression section is arranged along the edge of the parallel plates. The ends of the parallel plates are preferably parallel to each other. The compression section can be, for example, a cylindrical part, the cylindrical axis of which is perpendicular to the parallel plates and is preferably arranged equidistant along the edge of the parallel plates. The compression section can also be offset behind the end of the parallel plates. In this case, the radius of the compression plate differs only in the plane that intersects with the compression section. However, the compression plate also has a plane, i.e. in which the parallel plates lie, in which the radius does not differ.

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

[0027] In an advantageous embodiment of the invention, the handling device can have two modules. The first module can include the tank, the perforated plate, the outflow area and the liquid pipe, and the second module can include the compression plate. These modules can then be advantageously connected to one another as a whole and separated from one another. This means that all parts of the two modules are placed in their intended position simultaneously with one another in a single process step. Optionally, further steps of fixing these modules to one another can follow. The modular design means that the tank and the perforated plate can be easily separated from one another and that they can be cleaned and / or autoclaved with little effort.

[0028] Advantageously, the liquid tube is part of the same module as the tank, while the compression plate is part of another module, so that the desired contact between the liquid tube and the compression plate is automatically achieved when the tank is inserted. Thus, the usual cumbersome insertion of hoses is not necessary. Furthermore, the liquid tube, e.g. a hose, can be easily replaced.

[0029] Advantageously, the perforated plate, when used as intended, is inclined to the level of the liquid or suspension in the bath at an angle greater than 90°, preferably equal to or greater than 120°, and / or less than 180°, preferably equal to or less than 150°. The angle above the liquid level is measured. The liquid level and the perforated plate therefore preferably form an obtuse angle outside the liquid. Optionally, said angle can also be related to the upper opening of the hole or depression instead of the liquid level. This relationship is particularly useful when the hole or depression increases monotonically in the direction of this opening, at least in the area next to the opening.

[0030] In an advantageous embodiment, the handling device may comprise a detection device, which may be arranged at an edge of the perforated plate so that it can be used to detect at least one characteristic of an object present in the through-hole of the perforated plate, in which case the detection device is also called an inspection device.

[0031] The detection device advantageously engages around the edge of the perforated plate and has an optical unit, by means of which at least one characteristic of the object present in the through-hole can be detected from one or both sides of the perforated plate. In this way, the object can be inspected from one or both sides. The measurement results of the detection device can for example be fed to an evaluation device, which can determine by means of an algorithm whether the detected object has the desired characteristic or not, i.e. for example whether it is suitable for further testing or not. For example, unusable objects can be transferred to a defective container in a pre-sorting process. Objects that have been shown by the evaluation to have one or more desired characteristics can be transferred to a target container, for example a microtiter plate, a Petri dish, etc. The target container can be held by a support, by means of which the target container can be moved parallel to the perforated plate.

[0032] In an advantageous embodiment, the optical unit may have a first mirror and a second mirror, which are arranged opposite each other with respect to the through hole. Here, the first mirror and the second mirror may intersect at the passage axis of the through hole. The first mirror may be inclined at +45° with respect to the perforated plate, and the second mirror may be inclined at -45° with respect to the perforated plate. Advantageously, the optical unit further has a third mirror, which intersects the plane in which the perforated plate extends. The third mirror is advantageously inclined at +45° or -45° with respect to this plane, again with the measurement being performed between said plane and the reflecting surface of the third mirror. The third mirror is then arranged in the beam path of a light beam, which passes through the through hole in the direction of the longitudinal axis and is reflected by the first mirror or the second mirror.

[0033] In an advantageous development, the detection device can have an illumination device, by means of which light of one or more wavelengths is generated and irradiated onto the object present in the through-hole. In particular, it is advantageous that one or more excitation wavelengths can be generated by means of the illumination device, in order to enable image detection by fluorescence. For this purpose, the excitation wavelengths can be adapted to the fluorescent material of the object. The illumination device is advantageously arranged at the position of one of the described mirrors. In this way, the object in the corresponding through-hole can be observed by the detection device from one side while being illuminated from the other side. This allows (image) detection by transmitted light.

[0034] The optical unit may further comprise a camera with a viewing direction facing the third mirror. The camera is then arranged in the beam path of the light emitted from the through-hole, reflected by the first or second mirror and then reflected by the third mirror, which reflects this light into the camera. The viewing direction of the camera is advantageously perpendicular to the plane of the perforated plate. The arrangement of the mirrors and the camera described above creates an overlap of the views of the object from the opposite side in the camera. In this way, the object in the through-hole can be observed by the camera from both sides simultaneously.

[0035] In an advantageous embodiment, the camera may have a filter system that passes only those wavelengths that are produced in the fluorescent light when the object is excited to fluoresce, as described above.

[0036] Advantageously, the handling device comprises scraper lips arranged on the perforated plate at a distance from the axis of rotation of the perforated plate, the scraper lips being arranged in front of the detection device in the direction of rotation of the perforated plate. Advantageously, the scraper lips are arranged on both sides of the perforated plate. Advantageously, each scraper lip is at an angle greater than 0 with respect to a radial direction relative to the axis of rotation of the perforated plate, so that when the perforated plate rotates, liquid on the perforated plate is transferred to the edge of the perforated plate. These scraper lips ensure that liquid does not enter the detection device. Advantageously, the scraper lips are rubber lips.

[0037] In an advantageous embodiment, the handling device can have, on one or both sides of the perforated plate, at least in the region of the detection device, a transparent plate, for example a glass plate or an acrylic glass plate, which covers the through-hole in this region and is in direct contact with the perforated plate so as to close the through-hole. Such plates are advantageously arranged on both sides of the perforated plate, such that the two plates face each other with respect to the perforated plate. The one or two plates are advantageously arranged such that the object is detected through the plate. The detection device can therefore be directed directly at the one or two plates. Here, the one or two plates are fixed with respect to the detection device so that the perforated plate moves between them. Such plates form a defined liquid film between them or between the plate and the object in the through-hole. This prevents the liquid film from creating a distortion of the detection, for example due to meniscus formation.

[0038] In an advantageous embodiment of the invention, the handling device may further comprise a compressed air nozzle, which is directed towards the perforated plate at a distance from the axis of rotation of the perforated plate in which the through holes are provided, preferably arranged on the side of the perforated plate facing away from the barrier. The fact that the compressed air nozzle is directed towards the perforated plate means that the air jet coming out of the compressed air nozzle strikes the perforated plate. The nozzle opening is advantageously parallel to the opening of the corresponding perforation and / or to the surface of the perforated plate facing the nozzle. The nozzle outlet direction is advantageously perpendicular to the corresponding perforation and / or to the surface of the perforated plate facing the nozzle and / or is advantageously coaxial with the perforation direction of the corresponding hole when the corresponding hole is located in front of the nozzle opening.

[0039] In an advantageous embodiment of the invention, the handling device may have a support for the microtiter plate, which is arranged opposite the perforated plate of the compressed air nozzle, the compressed air nozzle being directed towards the microtiter plate. The perforated plate is therefore arranged between the compressed air nozzle and the microtiter plate. The microtiter plate usually has a number of holes opening into the surface of the microtiter plate. In this configuration, compressed air from the compressed air nozzle can be used to move an object from one of the through holes to a hole in the microtiter plate located between the compressed air nozzle and the corresponding hole. The diameter of the through hole is preferably smaller than or equal to the diameter of the hole in the microtiter plate (usually all holes have the same diameter). Advantageously, the diameter of the through hole is necessarily larger than the diameter of the object.

[0040] The microtiter plate can preferably be held by the support so that the surface with the holes, in other words the surfaces on which the holes are formed, are parallel to the perforated plate. Furthermore, the microtiter plate can preferably be moved by the support in a direction parallel to the surface of the microtiter plate with the holes and / or in a direction parallel to the perforated plate. In this way, the microtiter plate can be moved by the support so that different holes face the nozzle openings.

[0041] In an advantageous embodiment of the invention, the handling device can also have a positioning device, by means of which the support can be moved from an insertion position to a placement position. In the placement position, the microtiter plate with a surface with holes can be held parallel to the perforated plate. Advantageously, the support can be moved back and forth between the insertion position and the placement position by the positioning device. Here, the path of this movement can be predetermined by the positioning device. Advantageously, the microtiter plate held in the holder rotates when the support moves along the path. Thus, the angle between the surface of the microtiter plate with holes and the perforated plate or the liquid level can change along the path.

[0042] In the insertion position, the microtiter plate is advantageously held so that the surface having the holes is aligned horizontally, i.e. parallel to the liquid level in the bath. In the installation position, the microtiter plate can be held so that the surface having the holes is aligned parallel to the perforated plate, such that the objects are filled into the holes of the microtiter plate through the through-holes.

[0043] In a particularly advantageous embodiment, the microtiter plate together with the support can also be moved in the installed position parallel to the perforated plate, such a change in position can also be effected, for example, by means of the positioning device itself.

[0044] The invention further relates to a method for dispensing objects in a microtiter plate, in which a handling device formed as described above is used, in particular a handling device with a detection device and a compressed air nozzle facing the microtiter plate. The objects are removed from the liquid in which they are suspended by means of the handling device. This is achieved by actively moving the liquid through a through-hole, which is now in the liquid. This moves the objects into the through-hole. The objects are then moved to the detection device by rotating the perforated plate. The detection device then detects at least one property of the objects. The objects are then moved further by the perforated plate to the compressed air nozzle and, depending on the value of the detected property, are 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 moved so that when an object is transferred to a hole, another empty hole faces the nozzle. In this way, the holes are filled with objects one after the other. When a process with an object is carried out, it is as follows: First, the object is moved by the liquid to one of the through holes. Then, by rotating the perforated plate, the object is moved to the detection device. The detection device detects at least one characteristic of the object, on the basis of which the object is classified. By further rotating the perforated plate, the object is moved from the detection device to the compressed air nozzle. If the object has a specific target characteristic, the compressed air nozzle will inject air at the moment when the object passes through the compressed air nozzle. In this way, the object is moved into the hole of the microtiter plate. If the object does not have a specific characteristic, another nozzle may be provided, which removes the object from the opening of the passage as soon as it passes through the other nozzle. This other nozzle can also inject air for this purpose. It is advantageous to transfer the object to another container, for example a Falcon tube.

[0046] Advantageously, the object may be a macroscopic organism, such as fish eggs, etc. The perforated plate may preferably be a glass plate or may comprise glass, which improves the illumination of the object.

[0047] The automated storage of objects such as macroscopic organisms in microtiter plates has significant advantages over the prior art. The invention allows for the gentle placement of macroscopic organisms into automatically movable microtiter plates or other sample containers. -The direct and rapid transfer of organisms from plates to microtiter plates makes the system suitable for high throughput. The advantageous 45° inclination of the microtiter plate makes it possible in particular to fill the wells with the upstream medium. - The compressed air pulse can be individually adjusted depending on the size of the creature. -The system does not contain narrow ductwork or tubes that may become clogged with organisms and cause blockage of the system. -Furthermore, the two main parts of the system can be very easily disassembled and cleaned, which facilitates the sterilization process while facilitating the exchange of different organisms. -By using different plates, organisms of different sizes are sorted and separated. -The optical detection unit is capable of recording and analyzing images of the front and back of the organism. - The washable tank also serves as the pump housing, making clamping and replacing the pump hose very easy. [Brief description of the drawings]

[0048] The present invention will now be described by way of example only with reference to the figures. The features shown in the embodiments can also be implemented independently of the specific embodiment and can also be combined in the embodiments. Like reference symbols indicate like or corresponding features. In the figures: [Figure 1]1 shows a perspective view of a handling device according to the present invention; [Diagram 2] FIG. 2 shows a rear view of the handling device according to the present invention. [Diagram 3] 1 shows a cross-sectional view of a handling device according to the present invention. [Figure 4] Details of FIG. [Diagram 5] 1 shows a side view of a handling device according to the present invention. [Figure 6] 1 shows details of the configuration of the compressed air nozzle and the microtiter plate. [Figure 7] 1 shows an example of a detection device. [Figure 8] FIG. 2 shows a side view of the positioning device when the support is in the installed position. [Figure 9] 1 shows a side view of the positioning device when the support is located between the installation position and the insertion position. [Figure 10] FIG. 13 shows a side view of the positioning device when the support is located at the insertion position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0049] Figure 1 shows a perspective view of a handling device according to the invention. The handling device comprises a tank 2 which starts receiving a suspension containing objects. The handling device further comprises a circular perforated plate 1 which is rotatable about its axis of rotation, which is here an axis in the mathematical sense and which lies perpendicular to the centre of the perforated plate 1. The perforated plate 1 has a number of through holes 3 on its periphery, which pass through the perforated plate 1. The perforated plate 1 can be, for example, a glass plate.

[0050] The perforated plate 1 projects partially into the tank 2 so that a part of the through-holes 3 is located in the tank 2. In the example shown, the tank 2 is defined at its top by a circular segment-like opening, the ends of which lie in one plane. In this example, the perforated plate intersects this plane. Here, the perforated plate 1 is arranged at an angle of 45° to this plane. If the handling device is used as intended, the liquid level will extend substantially parallel to this plane. This means that, if used as intended, the perforated plate 1 will also be at an angle of 45° to the liquid level. Here, the exact value of this angle is not important. However, it is advantageous if the angle between the liquid level and the perforated plate 1 is obtuse, since this prevents objects from falling through the through-holes 3 and also prevents the liquid from leaking out of the perforated plate 1. However, the inclined position is arbitrary, since objects are often held in the through-holes 3 by capillary forces.

[0051] All through-holes 3 have the same distance from the axis of rotation of the perforated plate and from adjacent through-holes 3. All through-holes 3 also have the same distance from the edge of the perforated plate 1. In the example shown, the edge of the perforated plate 1 is arranged on the inner wall of the vessel 2 in the area of ​​the vessel 2, so that the through-holes 3 are closer to the inner wall of the vessel 2 than they are to the edge of the perforated plate 1. This allows the through-holes 3 to be filled with objects even when the filling level of the suspension in the vessel 2 is low.

[0052] Furthermore, the handling device according to the invention comprises a liquid transfer device 4, which is configured to actively transfer the liquid in the tank through through-holes 3 arranged in the tank, in other words through circular segment-shaped openings in the example shown below. In the example shown in the figures, the liquid transfer device 4 comprises a compression plate 6, which comprises compression portions 7 on its periphery. In the example shown in the figures, the compression plate 6 comprises seven compression portions 7, which are here arranged at equal intervals along the periphery of the compression plate 6. Here, the compression portions 7 are held by two circular annular parts.

[0053] The liquid transfer device 4 also has a liquid pipe, a part of which extends beyond the compression plate 6 between the two openings 5a, 5b. The compression plate 6 engages with the compression part 7 in the area where the liquid pipe passes between the openings 5a, 5b. As a result, the compression part 7 compresses the liquid pipe. The compression plate 6 is rotatable around a rotation axis, which is perpendicular to the plane on which the compression part 7 is arranged. This rotation causes the compression part 7 to move one liquid pipe after another, and liquid is transferred by peristalsis in the liquid pipe. In the example shown in the figure, the openings 5a and 5b are connected to the inside of the tank 2 through a part of the liquid pipe that is not shown. In the perspective view of FIG. 1, in particular, the opening 5a is connected to the connection part 8a by a part of the liquid pipe. Thus, the opening 5b is connected to the inside of the tank 2 by another connection part 8b shown in FIG. 2.

[0054] The liquid transfer device 4 can circulate the liquid. In this way, the object 15 can be moved into the through-hole 3 while the liquid level in the tank 2 is kept constant.

[0055] Advantageously, the liquid line is formed wholly or partly from a compressible tube.

[0056] The handling device shown in Fig. 1 further comprises a detection device 8, which is arranged at the edge of the perforated plate 1 for use in detecting at least one characteristic of an object present in the through-hole 3 of the perforated plate 1. Here, the detection device 8 engages around the edge of the perforated plate 1.

[0057] The handling device further comprises a support 9 for a microtiter plate 10. The support 9 holds the microtiter plate 10 so that its surface on which the holes are formed is parallel to the surface of the perforated plate 1. The microtiter plate 10 can be moved together with the support 9 in a direction parallel to this surface.

[0058] The handling device further comprises a compressed air nozzle 11, which is directed towards the through-holes 3 of the perforated plate 1 and is arranged on the opposite side of the microtiter plate 10. The compressed air nozzle 11 is capable of generating a jet of air which can be used to distribute objects present in the through-holes 3 into the holes of the microtiter plate 10.

[0059] In the diagram shown in Fig. 1, the perforated plate 1 rotates clockwise during operation of the handling device, so that objects are first introduced into the through-holes 3 of the bath 2 and then transferred to the detection device 8. One or more properties of the objects can be detected in the detection device 8. Further rotation of the perforated plate 1 then moves the objects with the desired properties to the compressed air nozzle 11, which distributes them into the holes of the microtiter plate 10 using air injected by the nozzle 11. The time at which air should be injected by the nozzle 11 can be easily calculated using the detection time and the angular velocity of the perforated plate 1.

[0060] 1, the handling device further comprises a compressed air nozzle 12, which is arranged along the periphery of the perforated plate 1, between the detection device 8 and the compressed air nozzle 11. This compressed air nozzle 12 can be used to remove objects not having the desired properties from the through-holes 3 before they reach the compressed air nozzle 11 and the microtiter plate 10.

[0061] Figure 2 shows the rear of the handling device shown in figure 1. The rear wall of the vessel 2 is transparent in order to visualize the configuration of the barrier 13. Here, the barrier 13 is formed as a barrier plate 13 arranged parallel to the perforated plate 1 and at a distance from it that is smaller than the diameter of the through-holes 3. The barrier 13 further comprises an elongated hole 14 which passes through the barrier plate 13 and runs parallel to the edge of the perforated plate 1. The distance of the elongated hole 14 from the axis of rotation of the perforated plate is different from the distance of the through-holes 3 from the axis of rotation of the perforated plate. In the example shown, the distance of the elongated hole 14 from the axis of rotation of the perforated plate is slightly smaller than the distance of the through-holes 3 from the axis of rotation of the perforated plate.

[0062] 2 is arranged behind the through-holes 3 arranged in the tank 2 and is formed in such a way that it prevents objects from leaking from the through-holes 3 in the direction of the barrier 13, but liquid passes through at least a part of the through-holes 3 arranged in the tank 2 in the direction of the barrier 13. To allow liquid to pass through, the distance of the barrier plate 13 from the perforated plate 1 can be greater than 0.

[0063] The barrier 13 and the perforated plate 1 separate the tank 2 from the outflow area 41. The liquid transfer device actively transfers liquid from the tank 2 through the through holes 3 and the slots 14 to the outflow area 41. A liquid tube is connected to the outflow area 41 and liquid is sucked out of the outflow area 41. The other end of the liquid tube is also connected to the tank 2 through a connection 8a and liquid can be transferred to the tank 2 through the liquid tube.

[0064] Figures 3 and 4 show a cross section in the region of one of the through holes 3 of the handling device according to the invention shown in Figure 1. Figure 4 shows a detail view indicated by A in Figure 3.

[0065] The figure shows that the edge of the perforated plate 1 protrudes into a recess in the wall 16 of the vessel 2, defining the vessel 2. This means that the through-holes 3 are located close to the wall 16 of the vessel 2. The objects 15 move downwards due to gravity and collect in the area defined on the one hand by the inner wall 16 of the vessel 2 and on the other hand by the perforated plate 1. The active movement of the liquid sucks the objects 15 into the through-holes 3. The through-holes 3 are advantageously sized such that there is only one space for the object 15.

[0066] The barrier 13 is formed here as a plate 13 and is arranged on one side of the perforated plate 1 facing away from the tank 2. As shown in Figure 2, the barrier 13 has slots 14 which are at a different distance from the axis of rotation of the perforated plate than the through holes 3. On the side of the barrier 13 facing away from the perforated plate 1 and the tank 2, an outflow area 41 is formed, which is here formed as a channel defined by and passing through the slots 14.

[0067] The thickness of the perforated plate 1 and the barrier plate 13 is advantageously adapted in particular to the size of the objects 15 to be handled. To handle objects with a larger diameter, the perforated plate 1 and the barrier plate 13 may be thicker and larger through holes 3 may be formed in them.

[0068] Figures 5 and 6 show a side view of an example of a handling device according to the invention, showing the arrangement of compressed air nozzles 11 on the opposite side of a microtiter plate 10. Here, Figure 6 shows the detail indicated by B in Figure 5.

[0069] The compressed air nozzle 11 is arranged on the opposite side of the microtiter plate 10 with respect to the perforated plate 1. Here, the direction of the discharge of the compressed air nozzle 11 is directed towards the perforated plate 1, so that air is jetted from the compressed air nozzle 11 in the direction of the microtiter plate 10. The direction of the air discharged from the compressed air nozzle 11 continues as a straight line, which first passes through the perforated plate 1 at a certain distance from the through-hole 3 and then through the microtiter plate 10. The compressed air nozzle 11 can be controlled to always jet air exactly when one of the multiple through-holes 3 is located on said straight line, and an object 15 is placed, i.e. inserted, in a hole 16 of the microtiter plate 10. The support 9 allows the position of the microtiter plate 10 to be changed so that the hole 16 in which the object 15 is placed is located on said straight line. Advantageously, exactly one object 15 is placed in the hole 16. Then, for the next object, the perforated plate is rotated again and the position of the microtiter plate 10 is changed so that another hole 16 is located on the straight line.

[0070] FIG. 7 shows an exemplary embodiment of the detection device 8 as an optical detection device. The detection device 8 in this case has a first mirror 19a, which is inclined by 45° to the plane in which the perforated plate 1 extends, measured between the reflecting surface of the mirror 19a and said plane. Here, this reflecting surface faces away from the axis of rotation of the perforated plate. The detection device 8 further has a second mirror 19b, which is inclined by minus 45° to the plane in which the perforated plate 1 extends, and whose reflecting surface also faces away from the axis of rotation of the perforated plate. The reflecting surfaces of the first mirror 19a and the second mirror 19b are therefore arranged at an angle of 90° to each other. The detection device 8 further has a third mirror 19c, which intersects the plane in which the perforated plate 1 extends. The third mirror 19c is inclined at -135° to this plane, and its reflective surface faces and is parallel to the reflective surface of the second mirror 19b. All mirrors 19a, 19b and 19c are in the same radial direction with respect to the axis of rotation of the perforated plate. The beam path 18 of the light emerging from one of the through holes 3 of the perforated plate 1 is shown in FIG. 7 by a dashed line. The light emerging from the through hole 3 in the direction of the first mirror 19a is incident on the reflective surface of the first mirror 19a at an angle of 45° and is thereby reflected to 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 plate 1 extends. The light emitted from the through hole 3 in the direction of the second mirror 19b is incident on the reflecting surface of the second mirror 19b and is thereby reflected in the direction of the third mirror 19c as well. In the example shown in the figure, the beam path 18 between the second mirror 19b and the third mirror 19c also runs parallel to the plane in which the aperture plate 1 extends.

[0071] Here, the third mirror 19c reflects not only the light coming from the first mirror 19a but also the light coming from the second mirror 19b towards the camera 17, the viewing direction of which is perpendicular to the plane in which the perforated plate 1 extends in the example shown in the figure. In this way, the views of the object 15 in the through-hole 3 from both sides of the perforated plate 1 are superimposed on the camera 17. The object 15 can therefore be inspected from both sides at once.

[0072] In the example shown, an optional compressed air nozzle 12 for removing objects 15 that do not have the desired characteristics is structurally associated with the detection device, although such an arrangement is of course not necessary.

[0073] The described handling device can have a particularly advantageous modular design, with the perforated plate 1, the vessel 2 and the liquid pipes belonging to one module, while the liquid transfer device 4 belongs to another module. In this way, the perforated plate and the vessel 2 can be easily replaced and cleaned, for example to comply with biological hygiene regulations. The described barrier 13 can be part of a module of which the perforated plate 1 is a part.

[0074] The device according to the invention is particularly suitable for sorting macroscopic organisms such as fish eggs.

[0075] Figures 8, 9 and 10 show side views of the positioning device of an advantageous embodiment of this handling device. With the positioning device the support 9 can be moved from an insertion position to a placement position. The positioning device can move the support 9 back and forth at any position located on the path between the insertion position and the placement position. The handling device is advantageously surrounded by a housing 31 in which there is an insertion opening 32 for introducing the microtiter plate 10 into the housing 31. Figures 8, 9 and 10 show the support in different positions, into which the support 9 can be moved by the positioning device.

[0076] 8 shows a side view of the positioning device with the support 9 in the installation position. In the installation position, the microtiter plate 10 can be held such that the surface of the microtiter plate 10 with the holes is aligned parallel to the perforated plate 1. In this way, objects can be loaded into the holes of the microtiter plate 10 in the installation position through the through holes of the perforated plate 1.

[0077] In a particularly advantageous embodiment, the microtiter plate 10 and the support 9 can also be moved parallel to the perforated plate 1 in the installation position. Such a change of position can be achieved, for example, by means of the positioning device itself. Alternatively, an additional device can be provided which can move the support 9 in the installation position so that the microtiter plate 10 can be moved parallel to the perforated plate.

[0078] Figure 9 shows a side view of the positioning device, with the support 9 in a position on the path between the installation position and the insertion position. Compared to Figure 8, where the support 9 is in the installation position, it is clear that the support 9 can rotate along this path. The angle between the surface of the microtiter plate 10 with holes and the perforated plate therefore varies along the path.

[0079] 10 shows a side view of the positioning device, where the support 9 is in the insertion position. In the insertion position, the microtiter plate 10 can be optionally held such that the surface of the microtiter plate 10 with the holes is horizontal. In the exemplary embodiment of the handling device shown in the figures, the microtiter plate 10 can further be held in the insertion position by the holder 9 such that the microtiter plate 10 protrudes from the housing 31 via the insertion opening 32. This makes it easier to introduce the microtiter plate 10 into the handling device.

Claims

1. 1. A handling device for handling objects, comprising: a vessel for receiving a suspension containing the object and a liquid; A perforated plate, the perforated plate being rotatable around a rotation axis of the perforated plate and having a plurality of through holes penetrating the perforated plate at its peripheral portion; Here, the perforated plate partially protrudes into the tank such that some of the plurality of through holes are disposed within the tank, Further, a barrier is disposed behind at least a plurality of through holes disposed in the tank, wherein the barrier is configured to prevent the object from flowing out of the through-holes arranged in the bath in the direction of the barrier, but to allow the liquid to pass through at least some of the through-holes arranged in the bath in the direction of the barrier; and a liquid transfer device configured to actively transfer the liquid through a plurality of through holes disposed in the reservoir, the through holes enabling passage of the liquid through the barrier. Handling equipment.

2. the handling device has an outflow area located on a side of the perforated plate and the barrier facing the vessel such that liquid flows from the vessel through at least some of the plurality of through holes and through the barrier to the outflow area; the liquid transfer device has a liquid pipe connected to the outflow region such that the liquid can be drawn from the outflow region through the liquid pipe; the liquid conduit is further connected to the reservoir such that the liquid can travel through the liquid conduit to the reservoir; The liquid line preferably comprises or is a tube.

2. A handling device according to claim 1.

3. The liquid transfer device further includes a rotatable compression plate, the compression plate having a compression portion on a periphery thereof; The compression plate is configured such that, as the compression plate rotates, the compression portion passes through the liquid pipe, thereby compressing the liquid pipe.

3. A handling device according to claim 2.

4. the tank, the perforated plate, the outflow area and the liquid pipe are part of a first module; the compression plate is part of a second module; the first module and the second module are generally connectable to each other and separable from each other; 4. A handling device according to claim 3.

5. the barrier comprises or is a barrier plate; the barrier plate is disposed parallel to the perforated plate and is spaced from the perforated plate at a distance smaller than a diameter of the through hole; the barrier plate has an elongated hole extending through the barrier plate and parallel to an edge of the plate at a distance from an axis of rotation of the plate, the distance being different from a distance of the through hole from the axis of rotation of the plate; 3. A handling device according to claim 2.

6. the outflow area being a groove, the groove extending along the slot in the barrier plate and opening into the slot; The length of the slot and the groove are preferably the same.

6. A handling device according to claim 5.

7. The perforated plate, when used as intended, is inclined at an angle of more than 90°, preferably at an angle of 120° or more, and / or at an angle of less than 180°, preferably at an angle of 150° or less, particularly preferably at an angle of 135°, relative to the level of the liquid in the tank, when measured above the level of the liquid.

3. A handling device according to claim 1 or 2.

8. and a detection device disposed on an edge of the aperture plate such that the detection device can be used to detect at least one property of an object present in a hole in the aperture plate.

3. A handling device according to claim 1 or 2.

9. the detection device engages around the edge of the aperture plate and has an optical unit by which at least one property of the object present in the aperture is detectable from both sides of the aperture plate; 9. A handling device according to claim 8.

10. the optical unit comprises a first mirror and / or a prism and a second mirror and / or a prism; the first mirror and / or prism and the second mirror and / or prism are arranged opposite each other with respect to the hole, inclined at 45° with respect to the aperture plate, and at an angle of 90° to each other when measured between the reflective surfaces of the mirrors and / or prisms facing the hole; the optical unit further comprises a third mirror and / or a prism; the third mirror and / or prism intersects the plane in which the perforated plate extends, preferably inclined at 45° to this plane, and is arranged in the beam path of a light beam, which passes through the hole and is reflected by the first mirror or prism or the second mirror or prism; the optical unit further comprises a camera having a viewing direction directed towards the third mirror or third prism and arranged in a beam path of light starting from the hole through the first mirror or prism, the second mirror or prism and the third mirror or third prism; The viewing direction of the camera is preferably at an angle of 90° to the plane in which the perforated plate extends.

10. A handling device according to claim 9.

11. At least one scraper lip is provided, the scraper lip being disposed on the perforated plate within a distance range from a rotation axis of the perforated plate, and the through hole is provided; The scraper lip is disposed in front of the detection device in the direction of rotation of the perforated plate.

9. A handling device according to claim 8.

12. One or two transparent plates are provided; the one or two transparent plates cover the through hole from at least one side or both sides in an area where at least one characteristic of an object present in the through hole can be detected by the detection device; 9. A handling device according to claim 8.

13. at least one compressed air nozzle; the compressed air nozzle is directed towards the perforated plate at a distance from the axis of rotation of the perforated plate in which the through holes are provided, preferably located on a side of the perforated plate facing away from the barrier; 3. A handling device according to claim 1 or 2.

14. the through-holes have a diameter equal to or smaller than the diameter of holes in a microtiter plate; Further comprising a support for a microtiter plate; the support is disposed on an opposite side of the perforated plate from the compressed air nozzle such that the compressed air nozzle is directed toward a microtiter plate; The support allows the microtiter plate having the surface with the holes to be held parallel to the perforated plate and to be moved in a direction parallel to the surface with the holes. Handling device according to claim 13.

15. a positioning device, by which the support part can be moved from an insertion position to an installation position; In the installed position, the microtiter plate having the surface with the holes can be held parallel to the perforated plate. Handling device according to claim 14.

16. 1. A method for dispensing an object into a microtiter plate, comprising:

9. The method of claim 8, wherein the objects are removed from the suspension by moving the suspension of the objects through at least some of the through holes arranged in the tank, thereby moving the objects in the through holes of the perforated plate, the object present within the through-hole is moved by rotating the through-hole relative to the detection device; At least one characteristic of the object within the through-hole is detected using the detection device; and Depending on the value of the detected characteristic, the object is moved or not dispensed into the microtiter plate by an air flow generated by a compressed air nozzle. method.

17. Any objects that are not transferred into the microtiter plate are removed from the corresponding through-holes of the perforated plate by airflows generated by other compressed air nozzles at other locations and preferably sent to another container.

17. The method of claim 16.

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