Laboratory equipment handling system and method for aligning laboratory equipment

Abstract

To provide a labware aligning system used together with labware.SOLUTION: The system according to the present invention comprises a frame and a fixation system. The frame comprises a seat. The fixation system comprises a pusher and a pusher actuator. The pusher is movable relative to the frame between an open position and a closed position. The pusher actuator comprises an actuator linkage and a biasing mechanism. The actuator linkage is configured to move the pusher from the closed position toward the open position when the actuator linkage is displaced, and to allow the pusher to move toward the closed position when the actuator linkage is not displaced. The biasing mechanism is operative to urge the pusher toward the closed position when the actuator linkage is not displaced, thereby causing the pusher to align labware in the seat.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present technology relates to laboratory instruments, and more particularly, to an apparatus and a method for handling laboratory instruments .

[0002] [Related Application] This application claims the benefit and priority of U.S. Provisional Patent Application No. 62 / 962,357 filed on January 17, 2020 and U.S. Provisional Patent Application No. 62 / 964,441 filed on January 22, 2020. The disclosures of these U.S. provisional patent applications are hereby incorporated by reference in their entireties to form a part of the present specification.

Background Art

[0003] Laboratory liquid handling systems are used for transferring and manipulating predetermined volumes of liquids . One or more liquid samples can be provided into a laboratory instrument container (e.g., a microwell plate or sample tube holder) within the liquid handling system. Liquid handling systems may include one or more pipettors used to remove a portion of a sample from a laboratory instrument (e.g., via aspiration) and / or add material to the sample in the laboratory instrument (e.g., via dispense) . In some cases, it may be desirable or necessary to move a laboratory instrument or tool within the system. It may be desirable or necessary to move and place laboratory instruments by a robot and / or perform procedures on laboratory instruments by a robot, and in some cases automatically according to a program. In addition, attaching pipette tips onto a pipettor and / or ​​It may be desirable or necessary to remove the pipette tip from the pipette. [Overview of the project]

[0004] According to several embodiments, a laboratory equipment alignment system used with laboratory equipment. The (labware aligning system) includes a frame and a fixing system. The frame is equipped with a seat. The fixing system consists of a pusher and a pusher actuator. It is equipped with a pusher that is movable between an open position and a closed position relative to the frame. The pusher actuator comprises an actuator link mechanism and a biasing mechanism. The actuator link mechanism closes the pusher when the actuator link mechanism is displaced. When moving from the open position, and the actuator link mechanism is not displaced The pusher is configured to allow movement toward the closed position. The biasing mechanism is configured to allow movement toward the closed position. When the actuator link mechanism is not displaced, it pushes the pusher toward the closed position, This allows the pusher to align the experimental equipment within the base.

[0005] In some embodiments, the biasing mechanism includes a spring.

[0006] In some embodiments, the frame provides a barrier adjacent to the seat and facing the pusher. The experimental equipment is positioned within the seat, and the pusher moves from the open position to the closed position. If the actuator linkage mechanism allows this, the biasing mechanism pushes the pusher forward in the experimental apparatus. Press the ingredients against the barrier.

[0007] According to some embodiments, the experimental equipment is positioned within the seat and the pusher is in the open position. When the actuator link mechanism allows the pusher to move toward the closed position, the pusher actually Displace the test device so that it is aligned with the seat.

[0008] In some embodiments, the pusher is directed laterally inward toward the seat and toward the seat It features an inclined seat surface that faces upwards, away from the surface.

[0009] According to some embodiments, the actuator link mechanism includes an engaging member, The actuator linkage mechanism is displaced to move the pusher from the closed position to the open position. It is configured to be displaced by an operator.

[0010] In some embodiments, the actuator link mechanism allows the operator to release the engaging member. It is configured to allow the pusher to move from the open position to the closed position when this happens. ru.

[0011] In some embodiments, the engaging member is mechanically coupled to the pusher.

[0012] In some embodiments, the engaging member includes a lever member, and the operator controls the first direction The movement in one direction is changed to a translational movement of the pusher in a second direction, which is lateral to the first direction. do.

[0013] In some embodiments, the first direction is vertical and the second direction is horizontal.

[0014] According to some embodiments, the actuator link mechanism moves the pusher It is equipped with a guide feature that restricts linear translation along the axis of travel.

[0015] According to some embodiments, the laboratory instrument alignment system determines the position of a pusher and further comprises a detection system that functions to do so.

[0016] In some embodiments, the detection system comprises a light emitter that generates a light beam, and a light detector configured to receive the light beam. When the pusher is in the closed position , the pusher blocks the light beam from reaching the light detector. When the pusher is displaced within the seat by the laboratory instrument, the pusher allows the light beam to reach the light dete ctor.

[0017] According to some embodiments, the laboratory instrument is configured to hold a tip box, a pipette tip box , a well plate, a microwell plate, and a plurality of fluid receiving portions, and is at least one of the group consisting of the foregoing.

[0018] A method is also disclosed, which is a method for aligning a laboratory instrument, comprising providing a laboratory instrument alignment system comprising a frame and a securing system. The frame has a seat . The securing system comprises a pusher and a pusher actuator. The pusher is movable between an open position and a closed position relative to the frame. The pusher actuator comprises a biasing mechanism that functions to urge the pusher from the open position toward the closed position, and an actu ator link mechanism. The method comprises mechanically displacing the actuator link mechanism to cause the actuator link mechanism to move the pusher from the closed position toward the open position , positioning the laboratory instrument within the seat with the pusher in the open position, and releasing the actu ator link mechanism to allow the biasing mechanism to move the pusher toward the closed position This further includes allowing the pusher to position the experimental equipment within the seat.

[0019] According to some embodiments, the method involves a transportable system that can be operated to move experimental equipment. The system is configured to hold the experimental equipment in a releaseable manner by providing a stem. A transport system is provided that is equipped with a carrier and is capable of moving experimental equipment. Furthermore, mechanically displacing the actuator link mechanism is performed with respect to the carrier and The method also includes displacing the engaging member, and the method involves removing the carrier from the experimental apparatus. Furthermore, releasing the actuator link mechanism allows the carrier to the actuator link This includes drawing out from the mechanism.

[0020] According to some embodiments, a liquid handling system used with laboratory equipment The unit includes an alignment system and a liquid handler. The alignment system is a frame It has a frame and a fixing system. The frame has a seat. The fixing system has pushers and It includes a pusher actuator. The pusher has an open position and a closed position relative to the frame. It is movable between the two points. The pusher actuator consists of an actuator link mechanism and a biasing mechanism. The actuator link mechanism is provided when the actuator link mechanism is displaced. The pusher is moved from the closed position to the open position, and the actuator link mechanism It is configured to allow the pusher to move toward the closed position when it is not displaced. The biasing mechanism directs the pusher towards the closed position when the actuator link mechanism is not displaced. It pushes forward, thereby allowing the pusher to align the experimental equipment within the seat. do.

[0021] In some embodiments, the liquid handling system moves laboratory equipment. The transport system is further equipped to operate in such a way that the experimental equipment can be kept in a free-moving manner. Equipped with a carrier configured to hold, the transport system uses an actuator link mechanism The pusher is displaced and moved from the closed position to the open position, and the experimental equipment is placed inside the seat. It is configured to be mounted on.

[0022] According to some embodiments, the laboratory equipment handling system used with the laboratory equipment The system includes a transport system and a positioning system. The transport system moves the experimental equipment. It is operable to allow this to happen. The transport system is designed to hold the experimental equipment in a releaseable manner. It is equipped with a carrier. The alignment system includes a frame and a fixing system. The frame includes a seat. The fixing system includes a pusher and a pusher actuator. The pusher is movable between an open position and a closed position relative to the frame. The actuator comprises an actuator link mechanism and a biasing mechanism. The link mechanism pushes when the actuator link mechanism is displaced by the carrier. The actuator is moved from the closed position to the open position, and the actuator link mechanism is displaced. The system is configured to allow the pusher to move toward the closed position when it is not engaged. The biasing mechanism directs the pusher towards the closed position when the actuator link mechanism is not displaced. It pushes forward, thereby allowing the pusher to align the experimental equipment within the seat. do.

[0023] According to some embodiments, the actuator link mechanism is such that the carrier is directed toward the seat. It includes an engaging member that is displaced by the carrier when moving and lowering the experimental equipment into the seat. .

[0024] In some embodiments, the actuator link mechanism is configured such that the carrier is separated from the engaging member. When moving away from the engaging member to release it, the pusher moves from the open position to the closed position. It is configured to allow movement.

[0025] In some embodiments, the engaging member is mechanically coupled to the pusher.

[0026] In some embodiments, the engaging member controls the movement of the carrier in the first direction. Includes a lever member that changes the direction of the pusher's translational movement to a second direction that is lateral to the direction. .

[0027] In some embodiments, the first direction is vertical and the second direction is horizontal.

[0028] According to some embodiments, the carrier is a grip configured to hold laboratory equipment. It is equipped with a raspberry.

[0029] In some embodiments, the carrier comprises a carrier arm and extending from the carrier arm. It comprises a support feature and a carrier actuator, the support feature engaging with the experimental apparatus. The carrier actuator is configured to support the experimental equipment, and it supports the experimental equipment. It is possible to disengage the device from the carrier and release the experimental equipment into the seat.

[0030] According to some embodiments, the transport system is equipped with a robotic arm, and the carrier is robotic It is an end effector mounted on a turntable arm.

[0031] According to some embodiments, the laboratory equipment handling system is automatically programmed The transport system is operated accordingly, and the experimental equipment is lowered into the seat and removed from the seat. It also includes a controller that is configured to be detachable.

[0032] The accompanying drawings, which constitute part of this specification, illustrate embodiments of the present technology. [Brief explanation of the drawing]

[0033] [Figure 1] This is a front view of an illustrative laboratory liquid handling system, including a laboratory equipment handling system. [Figure 2] Figure 1 is a fragmentary upper rear perspective view of the experimental equipment handling system. [Figure 3] Figure 1 is a fragmented, disassembled, top-front perspective view of the experimental equipment handling system. [Figure 4] Figure 1 is a fragmented, disassembled, upper-rear perspective view of a laboratory instrument holder, which constitutes a part of the laboratory instrument handling system. [Figure 5] This is a side view of a pusher that constitutes part of the experimental equipment holder shown in Figure 4. [Figure 6] This is a fragmentary top view of the laboratory equipment handling system shown in Figure 1, with the pusher in the open position. [Figure 7] This is a fragmentary side view of the experimental equipment handling system shown in Figure 1, with the pusher in the open position. [Figure 8] This is a fragmentary bottom perspective view of the experimental equipment handling system shown in Figure 1, with the pusher in the open position. [Figure 9] Figure 1 is a fragmentary top view of the laboratory equipment handling system, in which the laboratory equipment is placed in the laboratory equipment holder, the carrier arms are in the open position, and the pusher is in the open position. [Figure 10]Figure 4 is a top view of the experimental equipment holder, in which the experimental equipment is seated within the holder and the pusher is in a fixed position. [Figure 11] Figure 1 is a fragmentary side view of a laboratory liquid handling system, in which the laboratory equipment is seated in the equipment holder, the pusher is in a fixed position, and the pipette tip has been removed from the equipment. [Figure 12] Figure 1 is a fragmentary side view of a laboratory liquid handling system, in which an alternative laboratory instrument is seated in an instrument holder, and the vial and pipette in the instrument seated in the instrument holder in Figure 4 are aligned. [Figure 13] This is a schematic diagram showing a controller that constitutes part of a laboratory liquid handling system, such as the system shown in Figure 1. [Modes for carrying out the invention]

[0034] The following describes the present technology with reference to the attached drawings, which illustrate illustrative embodiments of this technology. This will be explained in more detail below. In drawings, the relative size of an area or feature is clearly indicated. It may be exaggerated for the sake of illustration. However, this technology can be realized in many different forms. Therefore, this specification should not be interpreted as being limited to the embodiments described herein. However, these embodiments make the present disclosure more detailed and complete, and will be useful to those skilled in the art. It is provided to fully convey the scope.

[0035] To describe various components, parts, areas, layers, and / or sections In this specification, terms such as "first," "second," etc. may be used, but these terms may be used in a manner that is not necessarily true. Components, parts, regions, layers, and / or sections should not be limited by these terms. It will be understood that these terms do not refer to a single component, part, or area. Used solely to distinguish one layer or section from another area, layer, or section. Therefore, the first component, part, region, layer, or section discussed below is, Without departing from the teachings of this technology, a second component, part, region, layer, or sector The term "yon" is sometimes used.

[0036] "beneath", "below", "lower", "a Spatially relative terms such as "bove" and "upper" are shown in the diagram. To describe the relationship between one element or feature and another element or feature (which may be multiple). Therefore, for the sake of ease of explanation, it may be used herein. Spatially relative use The term is intended to include not only the orientation shown in the diagram, but also other orientations of the device during use or operation. It will be understood that the diagram illustrates this. For example, if the device in the diagram is inverted, other requirements Elements described as "below" or "beneath" a sub-element or feature are: It will be directed "above" other elements or features. Therefore, illustrative use The word "below" has two directions: "above" and "below". It can encompass both. The device can be directed in other ways (by rotating it 90 degrees or to another orientation). This is possible, and the spatially relative descriptors used herein are corresponding to It is interpreted as follows.

[0037] Where used herein, unless otherwise specified, the singular forms "a" and "an" are used. And "the" is intended to include plural forms as used herein. "includes, comprises" and / or "is equipped, includes (inc)" The term "luding, comprising" refers to the characteristics, completeness, steps, and actions described. Identifies the presence of elements and / or components, but one or more other features, complete forms, etc. Do not exclude the presence or addition of steps, actions, elements, components, and / or groups thereof. It will become clearer that one component is "connected" or "linked" to another component. If it is so, it means that it is directly connected or linked to other components. It will be understood that there may be components present or intervening in this specification. When used in writing, the terms "and / or" are associated with each other. This includes any one or more of the listed items, and all combinations thereof.

[0038] The term "automatically" implies that the action is, in effect, and in some cases, entirely Physically, it is executed without human input or manual input, and according to the program. This means that such instructions or actions may be given.

[0039] The term "programmatically" refers to a computer program. Modules, code, and / or instructions that electronically direct and / or primarily execute To say "to create".

[0040] The term "electronically" refers to wireless and wired connections between components. It includes both.

[0041] Referring to Figure 1, an example of experimental equipment handling according to a specific embodiment of this technology. System 101 is shown. The exemplary laboratory equipment handling system 101 is part of this technology. It constitutes a part of the liquid handling system 10 (Figure 1) according to the exemplary embodiment. The methods, systems, and apparatus disclosed may be used in liquid handling systems and / or applications. This disclosure may be applied to other systems and applications where alignment of experimental equipment is desired, but is not limited to these applications. It should be understood that this is applicable. Regarding the embodiment in Figure 1, the laboratory equipment handle The rigging system 101 transports and positions the experimental equipment 50 within the system 10.

[0042] As will be discussed in more detail below, the illustrated example of the laboratory equipment handling system 101 is a laboratory equipment transport system 70 and a laboratory equipment alignment system or laboratory equipment holder. It includes 100 (hereinafter referred to as experimental equipment holder 100). In some embodiments, The experimental equipment transport system 70 transports the experimental equipment 50 and also handles the experimental equipment 50. It is placed inside the holder 100. In other embodiments or uses, the laboratory equipment transport system 70 It is not provided, or the experimental equipment 50 is transported and / or the experimental equipment 50 is placed in the experimental equipment holder. It is not intended for installation within the DA100.

[0043] Referring to Figure 1, the example system 10 includes a platform or deck 12 and a frame The components include: M14, controller 20, analytical instrument 16, liquid handler 30, and pipette. It includes a pipetting module 40 and a pipetting module positioner 49.

[0044] For the purpose of this discussion, and as shown in Figures 1 and 6, in the workspace, vertically opposite The corresponding Z-axis and the X and Y axes that define both the horizontal plane are defined.

[0045] In the exemplary embodiment, the experimental apparatus 50 is located within the work area (relative to the deck 12). ) A transportable container, but this disclosure is not limited to the type of laboratory equipment. Exemplary laboratory equipment This includes a tray, rack, carrier, or platter 52 (Figure 3), and a mounting on the platter 52. Includes multiple target units or objects 60 (Figure 3) that have been kicked. In some embodiments, the object 60 is a pipette tip.

[0046] However, the experimental apparatus can take on other forms depending on the embodiment of this technology. In this embodiment, the experimental apparatus 50 contains one or more liquids operated by the system 10. It is a container configured to hold a sample. Each of the experimental apparatus 50 is a container for holding a sample. It may include a plurality of receiving sections configured to hold a body sample. The receiving section is a pipette tip. Instead of 60, individual vials or other containers that are removably seated within platter 52. This can be done. As a further example, experimental apparatus 50 is designed to directly contain liquid samples. Therefore, a well plate or microwell plate including an integral recess or receiving section It may include, or may include, the method, system, and apparatus of disclosure. Use in conjunction with laboratory equipment that holds the object (e.g., pipette tip) or liquid sample. It will be understood that this is not limited to this.

[0047] Laboratory equipment 50 includes pipette tips, vials, or other suitable types of liquid containers. Alternatively, it could be a platter or rack with a different configuration for holding the container, or This may include it.

[0048] The platter 52 in the example shown in Figure 3 has grooves 54 that extend horizontally along both sides of the platter 52. Includes carrier engagement features in the state. The example platter 52 each has upper side This also includes multiple receiving sections or slots 57 that are accessible from there. The pipette tips 60 can be installed inside each of the slots 57. In some embodiments, the slots 57 are arranged in a defined XY array. For example, the example platter 52 has 57 slots arranged in an 8x12 pattern (a total of 96 slots). (Includes .)

[0049] With respect to the embodiment of the present disclosure shown in Figure 1, the liquid handler 30 dispenses a desired amount of liquid into a container. It can be understood as any device capable of drawing in and / or discharging into a container. For example, the liquid handler 30 is connected by a tube 30A of one or more lengths. The petting module 40 may include a syringe or pump fluid-connected to it. The kid handler 30 can be controlled by the controller 20.

[0050] The illustrated pipetting module 40 includes a housing or base 42, and on the base 42 It may include multiple pipettes 44 attached to it. The pipettes 44 may be, for example, a single column Alternatively, they can be arranged in a defined XY array.

[0051] The pipetting module positioner 49 positions the pipetting module 40 on the deck. It can be provided in an embodiment that moves around 12. Pipetting module The pipette 40 selectively moves the pipette 44 downward and upward (extends and retracts) relative to the base 42. To cause and / or raise and lower base 42 relative to deck 12, one or more This may include a pipette actuator 49A. Pipetting module positioner 49 And (there may be multiple) actuators 49A are controlled by the controller 20. It is possible.

[0052] Referring to Figure 11, and then to the illustrative embodiment in Figure 1, each pipette It can be understood that TA 44 has a longitudinal axis TT and a distal end 46. Similarly, each The pipette 44 has an axially extending passage 48B that terminates at the opening 48A of the distal end 46. It can be understood that it has. In use according to the system shown in Figure 1, each pipette 4 4 is connected to the longitudinal axis TT by pipette actuator 49A (there may be multiple) It can be raised and lowered along it. In some embodiments, the axis TT is vertical It is substantially parallel to the axis ZZ. In some embodiments, of the pipette 44 One or more of these are fluidly connected to the liquid handler 30 by pipe 30A.

[0053] Each pipette 44 has a pipette tip removal mechanism 4 (schematically shown in Figure 11). It could also include 7.

[0054] Continuing to refer to Figure 11, each example pipette tip 60 is tubular and also far Each pipette tip 60 has a proximal end 60A and a proximal end 60B facing it. The tip 60 extends completely through it and terminates at the terminal opening 64 of the distal end 60A. Includes a through passage 66. Each pipette tip 60 also includes a connecting base 62 on its proximal end 60B. Each pipette tip 60 is placed in each of the slots 57 with the connecting base 62 facing upwards. I took a seat inside.

[0055] The distal end 46 of the pipette 44 and the connecting base 62 connect each pipette tip 60 to each Cooperatively fitted or configured to be fixed to the distal end 46 in a releaseable or removable manner. In some embodiments, the pipette 44 and the pipette tip connecting base 62 are located at the distal end When part 46 is inserted axially into the connecting base 62, the connecting base 62 grips the distal end 46. (For example, by interference fit, and / or on the distal end 46 or connecting base 62) By an attached O-ring (e.g., an elastomer O-ring) or by the distal end 46 They are configured to interlock. In some embodiments, gripping or interlocking is as described in this specification. During the operation described in the manual, the pipette tip 60 is held on the end 46. While sufficient for this purpose, if intentionally acted upon during the removal operation, the pipette tip 60 will be at the end It is also permitted to remove and detach from part 46. In some embodiments, pipette The tip removal mechanism 47 selects each pipette tip 60 from the associated pipette 44. It is configured to be selectively and forcibly pushed off.

[0056] Referring to Figure 3, in some embodiments, the laboratory apparatus 50 includes a platter 52. It is provided as a tip box or pipette tip box, for example by the manufacturer, The PET Chip 60 can be pre-installed inside.

[0057] The illustrated transport system 70 (Figure 1) includes an articulated robotic transport arm 72 and (transport arm A carrier 80 (provided as an end effector on 72) and one or more transport arms Includes actuator 74. The transport arm actuator 74 raises the carrier 80 and The carrier 80 can be operated to move around deck 12, including by lowering it. That is the case.

[0058] In some embodiments, the carrier 80 is a robotic gripper. Exemplary carrier Figure 3 shows 80, a carrier base 82, and a pair of opposing units mounted on the base 82. Includes a carrier finger or arm 84. The example carrier arm 84 is a carrier base It protrudes from S82 in a cantilevered manner and extends along the longitudinal axis AA. The 84s are spaced apart around axis AA, and open spaces are defined between them. Arm 84 has a support feature or a part that protrudes laterally inward toward the opposing arm 84. A tab 86 is provided. In the exemplary embodiment, the support arm 84 and the tab 86 are carriers The seat portion 81 is defined, but this example is provided for illustrative purposes only and is not limiting. It's not meant for that purpose.

[0059] As an example, carrier 80 has arms 84 positioned laterally along the lateral axis LL relative to each other. Select to move toward (narrowing direction DG) and to move away from (spreading direction DR) in the lateral direction. The system further includes a carrier actuator 83 configured to selectively displace. The carrier actuator 83 is in an open position where the arm 84 is spread by a first distance (Figure 9), Alternatively, the closed position in which the arm 84 extends laterally by a second distance shorter than the first distance. It can be used to mount the carrier 80 on the base (Figure 6).

[0060] From the disclosures herein, the transport system 70 and the carrier 80 are shown herein. It will be recognized that configurations different from the current configuration can be used. For example, transport The stem 70 replaces or adds to the transport arm 72 a rail gantry mechanism (a rail This may include (and gantry mechanism).

[0061] Liquid handler 30, pipetting module 40, and pipetting module The structure and function of the positioning device 49 and the laboratory equipment transport system 70 are merely illustrative. Furthermore, these systems and components may be made into different structures depending on the embodiment of this technology. It will be recognized that it can be made to work.

[0062] The example laboratory instrument holder 100 has a frame 110 that defines the laboratory instrument holder seat 102. This disclosure includes, but is not limited to, a fixed system 131. The tool holder 100 may further include a laboratory equipment presence / absence detection system 178 (Figure 8).

[0063] The frame 110 in Figure 3 consists of a frame base 112 and three fixing fasteners 116A, 11 Includes 6B and 116C.

[0064] Frame 110 as an example has a first or main axis MM (Figure 10) and a second or lateral axis. It has LL, and a third or height axis HH (Figure 7). In some embodiments, The height axis HH is substantially vertical, and the principal axis MM and the horizontal axis LL are substantially parallel. It is perpendicular to the vertical direction and also perpendicular to the height direction HH.

[0065] Returning to Figure 10, the example frame base 112 has a front end side portion 112A and an opposing rear end side portion The boundary is formed by 112B, the first lateral portion 112C, and the opposing second lateral portion 112D. It includes a planar, horizontally oriented support surface 114 (Figure 3). Recess 118 (Figure 4) is defined at one corner of the base 112. The support surface 114 is substantially horizontal. Define the base surface.

[0066] The stopper portion 116A is located near the corner between the side portion 112B and the side portion 112D, at the rear end side portion 112 It is located on the edge of B. In this embodiment, the stopper portion 116B is stopped from the stopper portion 116A. The side portion 112 is perpendicular to the portion 116B and collectively defines the corner base portion 117. It is located on the edge of the side portion 112D near the corner between B and the side portion 112D. Stopper portion 116C It is located on the edge of the lateral portion 112D and is spaced axially away from the stopper portion 116B. B and the stopper 116C collectively constitute the lateral side barrier. The stopper 116A constitutes the end barrier. Other configurations of the stopper can be used, and this disclosure is provided for illustrative purposes only. The embodiments are not limited to the examples shown and are not intended to be restrictive.

[0067] Referring to Figure 4, the example fixing system 131 consists of a pusher 130 and a mounting assembly. Includes a bridge 150, a pusher actuator link mechanism 160, and a spring 156. The tutor link mechanism 160 and the spring 156 work together to form a pusher actuator. do.

[0068] For the purposes of this disclosure, the pusher biases the components of the experimental apparatus into the seat of the frame. It can be understood as a mechanism that plays a role in and / or is capable of doing so. Yes, it is possible. The pusher 130 in the example of Figures 4 and 5 is a planar, horizontally oriented support surface. Includes a body or base 132 having 132A. The example pusher 130 has a support surface 132 A fixed stopper, post, or support that protrudes upward from A and has a seat surface 136. It further includes the feature 134. The seat surface 136 (Figure 5) has a lower surface 136A and a chamfered or inclined upper surface. Including 136B. As will be discussed below, the pusher 130 is slidably attached to the base 112. Connected and substantially horizontal sliding or pusher along the axis of travel PP in the inward DC and opposite directions It slides outward DO. The pusher's forward axis PP is substantially parallel to the main spindle MM. .

[0069] Referring to Figure 5, the lower surface 136A of the pusher 130 is substantially planar, and the pusher Define the downward plane of the pusher. The downward plane of the pusher is substantially parallel to the vertical ZZ. That is, it extends (substantially perpendicular to the horizontal base surface of the support surface 114). Pusher lower horizontal The surface forms an oblique angle A1 (Figure 10) with respect to the pusher axis PP. .

[0070] The upper surface 136B of the example pusher 130 is substantially planar, and the upper plane of the pusher Define the upper plane of the pusher. The upper plane extends at an oblique angle A2 (Figure 5) with respect to the vertical ZZ. Direction 136B forms an oblique angle A3 (Figure 10) together with the pusher travel axis PP. Seat surface 1 The upper surface 136B of 36 extends laterally inward toward the seat 102 and away from the seat 102. It faces upwards.

[0071] The shape and structure of the pusher 130 are exemplary, and the pusher may be in other embodiments of this technology. It will be recognized that different configurations can be used depending on the state.

[0072] The lever guide slot 140 (Figure 4) is defined on the outer lateral side of the example pusher 130. The lever guide slot 140 extends substantially vertically.

[0073] The integrated linear guide rail 142 (Figures 5 and 8) is located on the inner lateral side of the pusher 130. It extends along a substantially horizontal axis. The guide rail 142 extends along a substantially horizontal axis.

[0074] The integrated detection tab 144 (Figures 5 and 8) protrudes forward from the front end of the pusher 130.

[0075] Mount assembly 150 (Figure 4) consists of a fixed block 152 and a guide track 154 This includes: The fixed block 152 is fixed to the base 112, and the guide track 154 is It is fixed to the fixed block 152. The guide track 154 is the guide rail 142 that slides. Defines a guide groove 154A that can be accommodated. Exemplary guide rail 142 and The pusher 130 is thereby connected to the base 112, and the pusher forward axis PP It slides along the guide track 154 and the guide rail 142 (Figures 5 and 8). The engagement restricts the pusher 130 to linear movement along the pusher's axis PP.

[0076] Spring 156 can function as a biasing mechanism, but it is merely one example of a biasing mechanism. In the example embodiment, the spring 156 may be any suitable type of spring. Yes, it is possible. In some embodiments and as illustrated, the spring 156 is a wound coil spring. Yes. One end 156A of the spring 156 is fixed to the pusher 130 (for example, a spring pin). (by) The opposing ends 156B of the spring 156 are fixed to the base 112 (for example, (By mounting features or fasteners).

[0077] Referring to Figures 4 and 6-8, the pusher actuator link mechanism 160 engages Member or lever member 170, lever holder 162, rotation pin 164, guide pin 1 The lever member 170 includes an upper leg portion 172, a lower leg portion 174, and a pivot hole 17 3 and the engaging feature portion 176 are included. The lever holder 162 is firmly mounted on the base 112. The lever member 170 rotates around the horizontal pivot axis QQ (Figure 6). The lever holder 162 is rotatably connected by the n164. The upper leg portion 172 rotates It is offset laterally from axis QQ.

[0078] The guide pin 166 is fixed to the lower leg 174 and extends laterally inward. The n166 is slidably seated within the guide slot 140 (Figures 7 and 8) of the pusher 130. The lever member 170 is then mechanically connected to the pusher 130.

[0079] The engagement feature portion 176 is located at the upper end of the upper leg portion 172. The engagement feature portion 176 is on the top side It includes an engaging surface, an inner section 176A that extends toward the base 112, and It has an outer section 176B that extends away from section 112.

[0080] Referring to Figure 8, the detection system 178 is connected to an engaging member or an optical emitter 178A. It includes an optical sensor 178B, which can be separated to define a slot 179 between them. As will be discussed below, when the pusher 130 slides inward toward the closed position, the detection tab 1 When 44 is received in slot 179 and pusher 130 slides outward toward the open position Detection tab 144 is removed from slot 179.

[0081] Referring to Figure 10, the example seat portion 102 consists of a base 112 and stoppers 116A~116 A boundary is formed by C, the lever holder 162, and the pusher 130. Seat portion 102 This is the front end 102A near the front end 112A of the base, and the rear end 112B near the rear end The end portion 102B, the first lateral portion 102C near the base side portion 112C, and the base lateral portion 1 The seat portion 102 has a second lateral portion 102D near 12D. The exemplary seat portion 102 has a top opening 102 This also includes E (Figure 3).

[0082] Here, the system 10 and the experimental equipment handling system 101 relating to the method of this technology are described. An example of the operation and use of holder 100 will be explained with reference to Figures 6 to 11. It should be noted that the following procedure is illustrative and can be modified according to the operator's wishes. It is likely.

[0083] Initially, the experimental equipment holder 100 is empty, and the experimental equipment is placed inside the carrier seat 81. It is not. The spring 156 keeps the pusher 130 in the closed position (as shown in Figures 2 and 3). The front end of the pusher 130 abuts against the edge of the recess 118 (Figure 4). Several implementations In this state, when the pusher 130 is in the closed position, the spring 156 is in a tensile state (that is, (It is extended from a relaxed state), and as a result, the spring 156 pushes the pusher 130 forward. Apply a sustained load to the DR (Dynamic Resonance) system.

[0084] Continuing to refer to Figure 1, the experimental equipment 50 is to be placed on the deck 12 or elsewhere. This is possible. For example, the experimental equipment 50 can be placed in a location accessible by the transport system 70. This can be a chip box that is stacked on one or more other chip boxes. The transport system 70 grasps the experimental equipment 50 and transports the experimental equipment 50 to the holder 100. The experimental apparatus 50 is lowered into the holder 100, and the apparatus 50 is released. These operations can be performed by the controller 20.

[0085] More specifically, and as illustrated in Figures 2 and 3, the carrier 80 The 84 is expanded in direction DR by the carrier actuator 83 and moves to the open position. In the position, the arms 84 are separated by a predetermined distance. In the open position, between the support tabs 86 The spacing is greater than the corresponding width of the experimental apparatus 50.

[0086] As shown in Figure 1 for an exemplary embodiment, the transport arm 72 then moves to the transport arm action. Driven by the tuner 74, it aligns with the laboratory equipment groove 55 (Figures 7 and 8). Position the support tab 86 in this state. Then, the carrier actuator 83 (Figure 3) The arm 84 is displaced inward to the gripping position. In the gripping position, the arm 84 is The distance between the first arms is shorter than the distance between the arms, and the support tab 86 is received within the groove 55. The experimental apparatus 50 is then gripped by the carrier 80. Support tab 86 It is positioned below a portion of the experimental apparatus 50, thereby supporting the weight of the experimental apparatus 50. Supported by Tab 86.

[0087] Furthermore, the transport arm 72 in Figure 1 is driven by the transport arm actuator 74. The carrier 80 and the gripped experimental instrument 50 are placed above the seat 102, generally (however, usually, (Not precise) Positioning with the seat portion 102 aligned (for example, as shown in Figure 2) For example, in some embodiments, the experimental apparatus 50 is located at the boundary of the lateral part of the seat portion 102. It is positioned substantially in the center with respect to boundaries 102A to 102D (Figure 10).

[0088] The transport arm 72 is then driven by the transport arm actuator 74, and the carrier Lower A80 (direction D4 in Figure 7) and the gripped experimental instrument 50 into the seat 102. When the rear 80 is lowered, the left arm 84 moves to the inner side of the lever arm engagement feature portion 176 in Figure 4. It makes contact with the 176A. When the arm drive unit 74 moves the carrier 80 further downward, The arm 84 applies a vertically downward force to the engagement feature portion 176. This force causes the lever The component 170 is mechanically displaced and rotates around the pivot axis QQ (Figure 6) in direction D5 (Figure 7). The rotation of the lever member 170 causes the guide pin 166 in Figure 4 to move backward (direction DO in Figure 7) or It is displaced upward, and as a result, the guide pin 166 pushes the pusher 130 in the rearward direction DO. However, it slides upward within the guide slot 140. The link mechanism 160 thereby allows the first The movement of the carrier arm 84 in the direction of the first direction is pushed in a second direction which is lateral to the first direction. The direction of the translational movement of the shaft 130 is changed. More specifically, the link mechanism 160 is used by Furthermore, the vertical downward translational movement of the carrier arm 84 is controlled by the horizontal outward movement of the pusher 130. The direction is changed or converted to translational movement. In some embodiments, the pusher travel axis PP (Figure 7) is substantially perpendicular to the axis of downward movement of arm 84. Pusher 13 The displacement of 0 causes spring 156 to stretch, and the return force of spring 156 causes the arm 84 to stretch. The bar member 170 maintains firm contact.

[0089] In the example Figure 1, the transport arm actuator 74 is in the open position (Figures 6-8). ) until the experimental apparatus 50 is displaced to the support surface 114 (Figure 3) of the base 112 and comes to rest. The carrier 80 is lowered into the seat 102.

[0090] The lever member 170, arm 84, and experimental apparatus 50 in Figure 6 are connected to the experimental apparatus 50 and the pusher. They are configured and positioned relative to each other so as to prevent contact with 130. (Figures 4 and 6~) (Via the link mechanism 160 in Figure 8) Arm 84 is pushed by pusher 130 in the closed position Before the experimental equipment 50 enters the volume to be occupied, the pusher 130 is displaced outward, and the experimental equipment The pusher 130 is held in this more open position until 50 comes to rest on the support surface 114. In other words, the link mechanism 170 is activated when the experimental apparatus 50 is lowered into the seat portion 102. The pusher 130 is positioned to prevent contact or interference between it and the experimental equipment 50. The pusher 130 is placed and maintained. When the pusher 130 is in the open position, the spring 156 is in the relaxed position. It is extended from there.

[0091] Pusher 130 is in the closed position (Figure 2, i.e., lever member 170) by a distance L2 (Figure 7). (When the carrier arm 84 is in an upright ready position) to the open position (Figure 7, i.e., when the lever It proceeds to the lowest position on member 170.

[0092] With the experimental apparatus 50 placed on the support surface 114 (Figure 3), the actuator 83 is Move arm 84 back to the carrier open position and release it. At that time, the left arm 84 is Along the bar member engagement feature portion 176, from the inner section 176A to the outer section 176B (Figure 4) It slides outward (direction D6, Figure 9). The support tab 86 thereby moves the experimental equipment It is pulled out of groove 55 and positioned to the side where there is no experimental equipment 50. The vertical of the left arm 84 The directional position remains unchanged because the position of the lever member 170 does not change, thereby opening the pusher 130. To maintain the same state, the system remains in the same state during this transition.

[0093] With the carrier arm 84 in the open position, the transport arm actuator 74 moves the seat portion 1 Raise the carrier 80 so that it is vertically separated from 02 and the lever member 170. When the carrier arm 84 is lifted, the engagement feature 176 is connected to the left carrier arm 84 It is not allowed to be displaced any further, and is permitted to move upward. As a result, lever member 1 70 rotates in the opposite direction to direction D5. The release of this lever member 170 releases spring 1 56 is permitted to slide pusher 130 toward the closed position in the closing direction DC (Figure 10). It can be done.

[0094] The return force of spring 156 is applied to the experimental apparatus 50 by pusher 130. Pusher 1 As 30 moves toward the closed position, the pusher 130 engages with the nearest corner of the laboratory apparatus 50. As pusher 130 continues to move toward the closed position, the force of spring 156 causes the pusher 130 aligns the experimental apparatus 50 within the seat 102. More specifically, the spring load is The added pusher 130 displaces the experimental apparatus, aligning it with the seat 102.

[0095] Pusher 130 is displaced in direction DC, but the biased downward surface 136A is the experimental apparatus 50 The force applied is directed towards the corner seat portion 117 in the forward direction (direction DF1, Figure 10) and the lateral direction (direction D Distribute to both F2). The corners and sides of the laboratory apparatus 50 furthest from pusher 130 are This causes the stopping parts 116A to 116C to be pushed up and a load to be applied. .

[0096] As shown in Figure 11, the example pusher 130 moves only L3 until it takes a fixed position. It moves in direction DC, and at this fixed position, the pusher 130 is further advanced by the experimental apparatus 50. This is prevented. In the fixed position (Figures 10 and 11), the lever member 170 is in an upright position. Partially returned to its position. The return travel distance L3 is shorter than the release travel distance L2 (Figure 7). The distance between the pusher 130 and the rear end portion 102B of the seat (Figure 10) in the fixed position is the distance between the pusher 130 and the rear end portion 102B of the seat in the open position Although shorter than the distance between the pusher 130 and the rear end of the seat 102B in the closed position This distance is longer than the distance between the pusher 130 and the rear end of the seat 102B.

[0097] The pusher 130, which is loaded by the spring, is connected to the stopper 116A~ The experimental apparatus 50 is sandwiched between 116C and holder 100. It is forcibly aligned, positioned, and superimposed on the seat portion 102. (Experimental equipment) 50 is between the lower surface 136A (Figure 10) of the pusher 130 and the stopper portions 116A to 116C. It is captured by the pusher 130. In some embodiments, the spring 156 is experimental The device 50 is kept in an extended state in a fixed position so that a load is continuously applied to it, The experimental equipment is then fixed in an appropriate position within the seat portion 102.

[0098] The experimental apparatus 50 is then operated by the system 10 while fixed inside the holder 100. It is possible. In some embodiments, the system 10 includes a pipetting module. Using the rod 40, the operation is performed with the experimental equipment fixed within the seat 102.

[0099] In some embodiments, the pipetting module 40 has a base 1 for the laboratory instrument 50. It is used to perform the pipette tip insertion operation while fixed within 02. In some embodiments, as shown in Figure 11, the pipetting module positioning The container 49 moves the pipetting module 40 to position it vertically relative to the laboratory apparatus 50. Align or superimpose. Then, the pipette actuator 49A is distal to the pipette. Lower the end portion 46 onto each of the connecting base portions 62 of the pipette tip 60. 60 is then fixed to the distal end 46 of the pipette. And the pipette actuator The 49A raises the pipette 44 and the fixed pipette tip 60 into slot 57 Remove from. In Figure 11, the leftmost pipette 44-1 is attached to the pipette tip 60. Shown in an elevated position after insertion, pipette tip 60 is at the distal end of pipette 44-1. It is installed on section 46 and ready for use, and the next adjacent pipette 44-2 is The pipette tip 60 is shown lowered and still seated within lot 57. The remaining pipette 44 is in an elevated position without retrieving the pipette tip 60. It is shown in the manner.

[0100] The pipette 44, with the pipette tip 60 installed, will now perform further operations. It can be used for this purpose. Such further actions include (for example, as described below) Use the Kidhandler 30 to aspirate and / or dispense liquid through the pipette tip 60. This may include doing so.

[0101] The removal mechanism 47 in the example shown in Figure 11 then removes the pipette tip 60 from the pipette 44. It can be used for removal. For example, pipetting module positioner 4 9 (Figure 1) shows the experiment again by moving the pipetting module 40 as shown in Figure 11. The device 50 can be positioned or superimposed vertically. With the module 40 aligned in this position, the removal mechanism 47 is positioned to hold the pipette The tip 60 can be pushed out of the pipette 44 and inserted into each of the slots 57. .

[0102] In a further embodiment, the experimental apparatus 50 has an empty slot 57 (i.e., a pipette tip) It is possible to provide a slot 57) in which P60 is not installed, and experimental equipment 50 The pipette can be installed in the holder seat portion 102 as described herein. The ting module positioner 49 and the removal mechanism 47 are originally installed on the pipette 44. The pipette tip 60 (which was previously used) can be used to lower it into slot 57. For example, laboratory equipment 50 is used to collect used pipette tips 60 that would otherwise be discarded. It can be used as an empty tray.

[0103] If it is desired to remove the experimental apparatus 50 from the holder 100 afterward, the seat portion 102 It is positioned above and generally aligned with the seat 102 (for example, as shown in Figure 2) when moving. The carrier arm actuator 74 (Figure 1) can be used to position the carrier 80. If the carrier arm 84 is not yet in the open position, the carrier actuator 83 (Figure 3) The arm 84 is placed in the open position. Then, the transport arm 72 is moved by the transport actuator 7 Driven by 4, the carrier 80 is lowered toward the seat 102 (in direction D4). When the carrier 80 is lowered, the left arm 84 moves outwards from the lever arm engagement feature 176. It makes contact with part 176B (Figure 6). The transport arm actuator 74 further lowers the carrier. When moved, the arm 84 applies a downward vertical force to the engagement feature portion 176. In the shown embodiment, this force causes the lever member 170 to rotate on the pivot axis Q- The pusher 130 is opened against the return force of the spring 156 while rotating around Q in direction D5. Push in direction DO. In this embodiment, the experimental apparatus 50 is thus released. (That is, not to be further pinched between the pusher 130 and the stopper parts 116A~116C) The transport arm actuator 74 moves when the pusher 130 is displaced to the fully open position (Figure 7). The carrier 80 is seated until the carrier support tab 86 is aligned with the laboratory instrument groove 55. Lower it within the department.

[0104] Then, the actuator 83 displaces the arm 84 inward to the gripping position. At that time, the left arm 84 moves along the outer section 17 along the surface of the lever member of the engagement feature portion 176. It slides inward (direction DG, Figure 3) from 6B to the inner section 176A. The support tab 86 is This allows it to be inserted into the laboratory equipment groove 55, and the laboratory equipment 50 is then placed on the carrier 80. It is then gripped. The vertical position of the left arm 84 remains unchanged as the position of the lever member 170 does not change. Therefore, in order to maintain the pusher 130 in the open position, during this transition, it remains in the same state. It will be maintained.

[0105] With the carrier arm 84 gripping the experimental apparatus 50 and the pusher 130 in the open position, The transport arm actuator 74 is positioned vertically away from the seat portion 102 and the lever member 170. The carrier 80 (and experimental equipment 50) is raised in this manner. The left carrier arm 84 holds When raised, the engaging feature portion 176 is allowed to move upward, and the lever member 170 It rotates in the opposite direction to direction D5 (Figure 7). As a result, spring 156 pushes pusher 13 It is permissible to push 0 forward and slide it in the closing direction DC (Figure 10). The experimental apparatus 50 is seated Since it is removed from the part, in the exemplary embodiment, the pusher 130 is in the fully closed position. It is permissible to return to the position (Figure 2). Then, the experimental apparatus 50 is moved to another location by the carrier 80. It can be transported to a location.

[0106] The optical sensor 178B (Figure 8) of the detection system 178 is controlled by the controller 20 (Figure 1). It can be monitored, and the output of the light sensor is used by the controller 20, and the holder 1 Determine whether condition 00 (Figure 1) is met (i.e., whether or not experimental equipment is present). For example, the optical emitter 178A (Figure 8) can direct the light beam to the optical sensor 178B. By directing it in this direction, an optical barrier is formed across slot 179. Pusher 130 is in the closed position. When this is the case, the detection tab 144 is located in slot 179, and light is emitted from the optical emitter 178A. This blocks light from reaching sensor 178B, thereby indicating to controller 20 that the seat area is empty. If the experimental apparatus 50 is fixed within the seat portion 102, the width of the experimental apparatus 50 will determine the fit. The shaft 130 is held in a fixed position, and the detection tab 144 is pulled out from the slot 179. In this case, the detection tab 144 detects the light from the light emitter 178A to the light sensor 178B. This does not obstruct the view, thereby indicating to the controller 20 that the seat area is filled.

[0107] Therefore, the pusher actuator link mechanism 160 is a pusher actuator The link mechanism 160 is changed by the operator (for example, by the carrier 80 or manually). When positioned, the pusher 130 is moved from the closed position (Figures 2 and 3) to the open position (Figure 7). It will be understood that it is configured to allow this. Also, the pusher actuator link The mechanism 160 is such that the pusher actuator link mechanism 160 is not displaced any further by the operator. If not, it is permitted to move the pusher 130 back from the open position to the closed position. It is configured as follows: The spring 156 is directed to the pusher actuator link mechanism 160. Therefore, when there is no displacement, the pusher 130 is pushed forward toward the closed position, and Therefore, the pusher 130 functions to position the experimental apparatus 50 within the seat 102. The experimental apparatus 50 is positioned within the seat portion 102, and the pusher 130 is moved from the open position. When the pusher actuator link mechanism 160 allows movement toward the closed position The pusher 130 aligns with the seat 102 (for example, as shown in Figure 10). Displace the experimental equipment in this manner.

[0108] Referring to Figure 12, in a further embodiment, the experimental apparatus 50 is an alternative experimental apparatus 5 It can be replaced with 0'. Experimental apparatus 50' is the same as experimental apparatus 50, except for the following points. It can be configured and used in various ways.

[0109] The experimental apparatus 50' has a slot 57' corresponding to slot 57 in the platter 52. Includes the corresponding platter 52'. The laboratory apparatus 50' is operated by system 10. A vial or other container or receiving section configured to hold one or more liquid samples. This also includes 68. Each vial 68 has a slot 57 instead of a pipette tip 60. Each of them is removably seated. Each vial 68 faces upward at its proximal end 68A. It has a kicked-out opening.

[0110] Pipette tip 60 can be attached to pipette 44. The Joule positioner 49 (Figure 1) is, as shown in Figure 12, the pipetting module in Figure 12. Move the 40 to align or overlap it vertically with the experimental apparatus 50'. This is possible. And the pipette actuator 49A (Figure 1) controls the pipette tip 6 Lower the value to 0 in each of the 68 vials.

[0111] And in some embodiments, the system 10 is inserted into the pipette 44 The liquid is drawn from the 68. And in some embodiments, the system 10, The inserted pipette 44 dispenses the liquid into the vial 68.

[0112] Aspiration and / or dispensing can be enabled using the liquid handler 30. Example For example, in some embodiments, the liquid handler 30 generates a vacuum and dispenses a predetermined amount The liquid is drawn from each vial 68 into the corresponding pipette 44. The drawn liquid is then analyzed. It can be transferred through tube 30A to another device such as equipment 16, or subsequently to a pipette. It can be dispensed from 44. In some embodiments, a predetermined amount of liquid is liquid The contents are supplied from the handler 30 through tube 30A to the pipette 44, and from the pipette 44 to the vial. It is discharged into the 68.

[0113] As a further example, the laboratory apparatus 50' has an integrated recess or receiving area for containing a liquid sample. This can be a well plate or microwell plate including the entry point, or This may include the liquid sample in a slot that does not contain a separate vial. It is discharged directly into slot 57' or drawn in directly from slot 57'.

[0114] The examples above are not exhaustive, and System 10 includes fixed experimental equipment 50, 50' Alternatively, it can perform any suitable operation on other suitable experimental equipment.

[0115] The operations described herein are performed by or via the controller 20. This can be done. Actuators 49, 49A, 74, 83 and others of system 10 The device can be controlled electronically. According to some embodiments, controller 20 This involves some, and in some embodiments all, of the steps described in the program. This can be done. According to some embodiments, actuators 49, 49A, The operations of 74 and 83 are performed completely automatically by the controller 20 according to the program. The controller 20 is equipped with an HMI 22 for receiving user commands. It is possible.

[0116] In some embodiments, the controller 20 automatically performs the following according to the program: gripping the laboratory instruments 50, 50' using a gripper 80, and transporting the laboratory instrument s 50, 50' in the carrier 80 to the holder 100, and placing the laboratory instruments 50, 50' in the seat 10 2 (including opening the pusher 130 via the link mechanism 160 as described above ) is performed.

[0117] In some embodiments, the controller 20 automatically, according to a program, positions the pipett ting module 40 above the laboratory instruments 50, 50' installed in the holder 100, and inserts the pipettor 44 into the pipette tip 60 or the vial 68. In some embodiments, the controller 20 automatically according to a program also performs the step of aspirating liquid from the vial 68 or discharging liquid into the vial 68 as described above. .

[0118] In some embodiments, the controller 20 automatically, according to a program, inserts the carr ier 80 into the seat 102 (including opening the pusher 130 via the link mechanism 160 as described above ), grips the laboratory instruments 50, 50' using the carrier 80 in the seat 102, lifts the laboratory instruments 50, 50' out of the holder 100, and transports the laboratory instruments 50 , 50' in the carrier 80 in a direction away from the holder 100. These steps are performed. .

[0119] In some embodiments, the laboratory instruments 50, 50' are manually placed in and / or removed from the holder 100 instead of using the carrier 80 or another robot mechanism. This can be achieved using either of two techniques. Although experimental apparatus 50 is mentioned below, this paper refers to other experimental apparatus (for example, experimental apparatus 5 The same applies to 0').

[0120] According to the first technique, the operator (i.e., the human user) controls the lever member 170 Push the upper leg portion 172 downward (direction D4, Figure 7) and / or sideways (direction D5, Figure 7). Then, push the pusher 130 to the open position. The operator uses their fingers or hands to do so. The lever member can be manually operated by this method, either directly or indirectly, for example, using a handheld tool. The operator or user pushes or displaces 170. Then, the operator or user moves the lever member 170 to the open position. While maintaining this position, the experimental apparatus 50 is placed on the base support surface 114 within the seat portion 102. Each time the experimental apparatus 50 is placed or positioned within the seat portion 102, the operator moves the lever member 17 Manually release 0, which in turn allows pusher 130 (while under the force of spring 156) The experimental equipment 50 is securely placed inside the seat in the same manner as described herein, while the other equipment is evacuated. It can be positioned.

[0121] According to another technique, the human operator can operate the experimental apparatus 50 without pressing the lever member 170. The object is manually placed or pressed into the seat portion 102. In this case, the corners of the experimental apparatus 50 are It makes contact with the inclined surface 136B (Figure 5) of the shaft 130. The experimental apparatus is directed downward in the vertical direction. The load from 50 is redirected by the incline 136B, and the experimental apparatus 50 is below the incline 136. The pusher 130 moves outward (direction DO) against the return force of the spring 156 until it separates from the edge of the shoulder. Push forward in a sliding motion. The experimental apparatus 50 is seated on the support surface 114, and the operator When released, pusher 130 (in the state of being subjected to the force of spring 156) will be acted upon in the same manner as described above. Securely position the test device 50 within the seat.

[0122] The experimental apparatus 50 can be removed simply by lifting it by hand and taking it out of the seat 102. It can be removed, which allows the pusher 130 to return to the closed position. In that case, the lever member 170 (Figure 7) holds the experimental apparatus 50 to facilitate removal. Before lifting, push the pusher 130 away from the experimental apparatus 50 by hand. It is possible.

[0123] In a system including a transport system such as transport system 70, both the robot and the human hand Therefore, experimental equipment can be loaded onto the holder 100 and / or removed from the holder 100. It can be removed.

[0124] According to a further embodiment, the holder 100 does not include a transport system or carrier or It can be used in systems, devices, or procedures that are not adopted. The experimental equipment can be placed in the holder or removed from the holder by hand. It is possible.

[0125] In some embodiments, the holder 100 and the kinematic spring load fixing mechanism 131 are several It can provide benefits and advantages. For example, holder 100 allows for precise placement of laboratory equipment. and positioning is possible. Precise positioning of laboratory equipment requires continuous operation, for example, automatic The removal or receiving section 6 of the pipette tip 60 using the precisely positioned pipette 44. This is important, and may even be critical, for pipetting from position 8. High positioning accuracy. enables accurate superposition between the pipettor 44 and the pipette tip 60 or the receiving portion 68 which may be required for the pipettor. Such accurate alignment also enables accurate transfer back to the carrier when it is desirable to remove the laboratory instrument from the holder 100.

[0126] By pushing the pusher 130 away from the seat 102, the holder 100 increases the tolerance for initially placing the laboratory instrumen t in the seat 102. Nevertheless, as a result of the disclosed positioning system and method, the laboratory instrument is then accurately aligned after it is initially placed in the seat 102. In an embodiment, no external force is applied to the laboratory instrument during transfer into or out of the holder 100, and the laboratory instrument is locked in the holder 100 when the carrier 80 moves out. Therefore, the risk of inclination or tilting of the laboratory instruments 50, 50' during transfer can also be reduced or eliminated. By displacing the pusher 130 outward to a distant position, inaccurate or rough alignment between the laboratory instrument and the seat 102 during initial placement is permitted.

[0127] The spring-loaded fixing mechanism can enable insertion and effective fixing of laboratory instruments of different sizes into a given holder 100 without requiring adjustment by an operator.

[0128] The spring-loaded fixing mechanism 131 is passive, and its operation is not electronic. The exemplary fixing mechanism 131 does not include or require a separate active actuator, sensor, or switch for opening and closing the positioning mechanism. As a result, there is no need to coordinate the operation or timing of the holder actuator with the movement of the carrier 80 or the laboratory instruments 50, 50'. ​​​​​​ It is not necessary. The holder 100 is for precise positioning of the carrier by the robot or operator manually. The fixing mechanism 13 can be made independent of the precise operation of the holder 100. To operate 1, a robot, a robot end effector, or a typical robot movement There is no need to change the route.

[0129] The laboratory instrument holder 100 accommodates laboratory instruments held in or near the intermediate section. It is possible. When loading the holder 100 using the robot carrier, the fixing mechanism 1 31 loads experimental equipment 50, 50' until the experimental equipment is released by the carrier. It operates smoothly. While the experimental equipment is being held, no spring force is applied to the equipment. Therefore, the carrier gripping force is not limited. For this reason, the carrier can grip with a small or limited gripping force. The experimental equipment can be held in place. The fixing mechanism 131 is a carrier that holds the experimental equipment. Use an amount of spring force on the pusher that optimizes the fixation without compromising durability. It can be designed to be that way.

[0130] By precisely, consistently, and repeatedly positioning the experimental equipment within the holder 100, Proper alignment of the XY directions between holder 100 and laboratory equipment 50, 50' and pipette 44. This can be made certain.

[0131] The system and holder according to the embodiment of this technology include, for example, biochemistry, chemical processing, and It can be used for kid handling and laboratory sample analysis. Analytical instrument 16 can be any suitable device or apparatus.

[0132] The controller 20 logic embodiment is entirely in the form of a software-based embodiment. Implementations that can be taken, or implementations combining software and hardware modes. They can take on various forms, and all of these are generally referred to as "circuits" or "modules." In some embodiments, the circuit includes both software and hardware, and the software The software operates in conjunction with specific hardware that has known physical attributes and / or configuration. It is configured to create. Furthermore, the controller logic is a computer embodied in the medium. Computers on computer-compatible storage media that have usable program code It can take the form of a program product. Hard disk, CD-ROM, optical storage device A transmission medium, for example, a transmission medium that supports the Internet or an intranet. Any suitable computer-readable medium, including other storage devices, can be used. .

[0133] Figure 13 shows the circuit or data processing system that can be used in the controller 20. This is a schematic diagram of M202. The circuit and / or data processing system can be any suitable device or It can be incorporated into the digital signal processor 210 in multiple devices. 210 communicates with HMI22 and memory212 via address / data bus 211. The processor 210 uses any commercially available or custom-spec microprocessor. It can be used as a sub-system. Memory 212 is used to perform the functions of the data processing system. This represents the entire system of the memory device, including the software and data used. (Note) RI212 is not limited to, but includes cache, ROM, PROM, EPROM, E This may include devices of types such as EPROM, flash memory, SRAM, and DRAM. .

[0134] Figure 13 shows several categories in which memory 212 is used in a data processing system. Software and data, for example, operating system 214 and applications Includes program 216, input / output (I / O) device driver 218, and data 220. This indicates that it is possible.

[0135] Data 220 may include instrument-specific data. Figure 13 shows that data 220 is related to the experimental equipment. Data 222, laboratory equipment holder data 224, and pipetting module data 226 This also indicates that it may include procedure data 228.

[0136] Experimental equipment data 222 is data relating to the characteristics of experimental equipment 50, 50' or these characteristics This data may include, for example, a unique identifier for experimental equipment 50, 50'. For example, serial number) and / or name, unique identifier of pipette tip 60 and / or Name, unique identifier and / or name of each vial 68, and / or laboratory equipment 50, 50' , or one or more fractions housed in each vial 68 or slot / receiving section 57 May include a description of the precipitate. Experimental equipment data 222 refers to experimental equipment 50, 50', pipette. The dimensions include the tip 60, the vial 68, and / or the slot or receiving section 57. The experimental apparatus data 222 is for the slot 57 relative to the outer boundary of experimental apparatus 50, 50'. The spatial or geometric layout or position of the pipette tip 60 or vial 68 It may include location data.

[0137] The experimental equipment holder data 224 is for another reference structure of deck 12 or system 10. This may include identification of the location of the seat portion 102.

[0138] The pipetting module data 226 shows the spatial relationship of the pipette 44 relative to the base 42. Alternatively, it may include pipette location data representing a geometric layout or position.

[0139] Procedure data 228 is a protocol or step for performing the procedure described herein. It may contain data representing the sequence of steps. The sequence of steps is controlled by the controller 20. This may include all or part of the above steps that are performed. The sequence of steps is, for example, For example, it may include an analysis sequence.

[0140] Figure 13 shows that application program 216 controls actuators 74 and 83. A carrier positioning control module 230 (for this purpose) and (actuators 49, 49A A pipette positioning control module 234 (for controlling the liquid handler 30) A liquid handler control module 236 for control and controls the operation of the analytical instrument 16. It also indicates that it may include an analytical instrument control module 238 for this purpose.

[0141] As will be understood by those skilled in the art, the operating system 214 is a data processing system It can be any operating system suitable for use with the system. The I / O device driver 218 is typically used for I / O data ports and data storage. In order to communicate with devices such as certain memory components, an application program Software accessed by 216 through the operating system 214 This includes the application program 216, which includes various functions of the data processing system. This illustrates a program that performs the function and supports the operation according to the embodiment of this technology. It may include at least one application. Finally, data 220 is the application The system program 216, the operating system 214, and the I / O device driver Used by Iba 218 and other software programs that may reside in memory 212 Represents static and dynamic data.

[0142] As will be understood by those skilled in the art, other configurations may also be utilized while benefiting from the teachings of this technology. It is possible. For example, one or more modules can be the operating system, I / To be incorporated into a device driver or other such logical division of a data processing system. Therefore, this technology should be interpreted as being limited to the configuration shown in Figure 13. Rather, it is intended to include any configuration capable of performing the operations described herein. The diagram shows that one or more of the modules are connected to other components, such as controllers. It can communicate with the ra 20, or is integrated whole or partially with the controller 20. It can be placed inside.

[0143] Given the interests of this disclosure, many modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, it should be understood that the illustrated embodiments are described for illustrative purposes only and should not be considered as limiting the invention as defined by the claims. Accordingly, the claims should be read to include not only the combination of elements literally described, but also all equivalent elements to perform substantially the same function and obtain substantially the same results in substantially the same manner. Therefore, the claims should be understood to further include what is specifically illustrated and described above, conceptual equivalents, and elements incorporating the fundamental concepts of the invention. Furthermore, in order to maintain the disclosures made at the time of filing this application, the contents of claims 1 to 28 at the time of filing this application are added below. (Claim 1) A frame with a seat, Fixed system and A laboratory equipment alignment system for use with laboratory equipment, comprising: The aforementioned fixed system is A pusher that is movable between an open position and a closed position relative to the frame, Pusher actuator and Equipped with, The pusher actuator is An actuator link mechanism configured to move the pusher from the closed position to the open position when the actuator link mechanism is displaced, and to allow the pusher to move toward the closed position when the actuator link mechanism is not displaced, A biasing mechanism that pushes the pusher toward the closed position when the actuator link mechanism is not displaced, thereby causing the pusher to align the experimental equipment within the seat portion. A laboratory equipment alignment system that is used in conjunction with laboratory equipment. (Claim 2) The laboratory instrument alignment system according to claim 1, wherein the biasing mechanism includes a spring. (Claim 3) The frame is provided with a barrier adjacent to the seat and facing the pusher, The laboratory equipment alignment system according to claim 1, wherein when the laboratory equipment is positioned within the seat and the actuator link mechanism allows the pusher to move from the open position to the closed position, the biasing mechanism pushes the pusher forward to press the laboratory equipment against the barrier. (Claim 4) The laboratory equipment alignment system according to claim 1, wherein when the laboratory equipment is positioned within the seat and the actuator link mechanism allows the pusher to move from the open position to the closed position, the pusher displaces the laboratory equipment so as to align it with the seat. (Claim 5) The laboratory instrument alignment system according to claim 1, wherein the pusher has an inclined seat surface that faces laterally inward toward the seat and upward away from the seat. (Claim 6) The laboratory instrument alignment system according to claim 1, wherein the actuator link mechanism includes an engaging member and is configured to be displaced by an operator in order to displace the actuator link mechanism and move the pusher from the closed position to the open position. (Claim 7) The laboratory instrument alignment system according to claim 6, wherein the actuator link mechanism is configured to allow the pusher to move from the open position to the closed position when the operator releases the engaging member. (Claim 8) The experimental instrument alignment system according to claim 6, wherein the engaging member is mechanically coupled to the pusher. (Claim 9) The experimental instrument alignment system according to claim 8, wherein the engaging member includes a lever member that redirects movement by the operator in a first direction to translational movement of the pusher in a second direction lateral to the first direction. (Claim 10) The laboratory instrument alignment system according to claim 9, wherein the first direction is vertical and the second direction is horizontal. (Claim 11) The experimental instrument alignment system according to claim 1, wherein the actuator link mechanism includes a guide feature that restricts the movement of the pusher to linear translation along the pusher's axis of travel. (Claim 12) The laboratory instrument alignment system according to claim 1, further comprising a detection system that functions to determine the position of the pusher. (Claim 13) The detection system is, A light emitter that generates a light beam, A photodetector configured to receive the aforementioned light beam It is equipped with, The pusher prevents the light beam from reaching the light detection unit when the pusher is in the closed position. The laboratory equipment alignment system according to claim 12, wherein the pusher allows the light beam to reach the photodetector when the pusher is displaced by the laboratory equipment within the seat. (Claim 14) The laboratory equipment alignment system according to claim 1, wherein the laboratory equipment is at least one of a tip box, a pipette tip box, a well plate, a microwell plate, and a rack configured to hold a plurality of fluid receiving sections. (Claim 15) A step of providing an experimental equipment alignment system, wherein the experimental equipment alignment system is A frame with a seat, Fixed system and Equipped with, The aforementioned fixed system is A pusher that is movable between an open position and a closed position relative to the frame, Pusher actuator and Equipped with, The pusher actuator is A biasing mechanism that functions to push the pusher from the open position toward the closed position, Actuator link mechanism and The steps include providing an experimental equipment alignment system, The steps include mechanically displacing the actuator link mechanism to move the pusher from the closed position to the open position, The steps include positioning the experimental apparatus within the seat portion while the pusher is in the open position, The steps include: releasing the actuator link mechanism, allowing the biasing mechanism to move the pusher toward the closed position, thereby aligning the experimental apparatus with the pusher within the seat; A method for aligning experimental equipment, which includes [the following]. (Claim 16) The method further includes providing a transport system that is operable to move the experimental equipment, the transport system comprising a carrier configured to hold the experimental equipment in a releaseable manner, Mechanically displacing the actuator link mechanism includes displacing the engaging member together with the carrier. The method further includes the step of removing the carrier from the experimental apparatus, The method according to claim 15, wherein releasing the actuator link mechanism includes pulling the carrier out of the actuator link mechanism. (Claim 17) Alignment system and, Liquid handler and A liquid handling system for use with laboratory equipment, comprising: The aforementioned alignment system is A frame with a seat, Fixed system and Equipped with, The aforementioned fixed system is A pusher that is movable between an open position and a closed position relative to the frame, Pusher actuator and Equipped with, The pusher actuator is An actuator link mechanism configured to move the pusher from the closed position to the open position when the actuator link mechanism is displaced, and to allow the pusher to move toward the closed position when the actuator link mechanism is not displaced, A biasing mechanism that pushes the pusher toward the closed position when the actuator link mechanism is not displaced, thereby causing the pusher to align the experimental apparatus within the seat portion. A liquid handling system equipped with [this feature]. (Claim 18) The system further comprises a transport system capable of moving the aforementioned experimental equipment, The transport system comprises a carrier configured to hold the experimental equipment in a releaseable manner. The liquid handling system according to claim 17, wherein the transport system is configured to move the pusher from the closed position to the open position by displacing the actuator link mechanism, and to place the experimental equipment in the seat. (Claim 19) A transport system that is operable to move the aforementioned experimental equipment, comprising a carrier configured to hold the experimental equipment in a releaseable manner, Alignment system and A laboratory equipment handling system for use with laboratory equipment, comprising: The aforementioned alignment system is A frame with a seat, Fixed system and Equipped with, The aforementioned fixed system is A pusher that is movable between an open position and a closed position relative to the frame, Pusher actuator and Equipped with, The pusher actuator is An actuator link mechanism configured to move the pusher from the closed position to the open position when the actuator link mechanism is displaced by the carrier, and to allow the pusher to move toward the closed position when the actuator link mechanism is not displaced, A biasing mechanism that pushes the pusher toward the closed position when the actuator link mechanism is not displaced, thereby causing the pusher to align the experimental apparatus within the seat portion. A laboratory equipment handling system equipped with [features / equipment]. (Claim 20) The laboratory equipment handling system according to claim 19, wherein the actuator link mechanism comprises an engaging member that is displaced by the carrier when the carrier moves toward the seat and lowers the laboratory equipment into the seat. (Claim 21) The laboratory instrument handling system according to claim 20, wherein the actuator link mechanism is configured to allow the pusher to move from the open position to the closed position when the carrier moves away from the engaging member and releases the engaging member. (Claim 22) The experimental instrument handling system according to claim 20, wherein the engaging member is mechanically coupled to the pusher. (Claim 23) The laboratory instrument handling system according to claim 22, wherein the engaging member includes a lever member that redirects the movement of the carrier in a first direction to the translational movement of the pusher in a second direction lateral to the first direction. (Claim 24) The laboratory equipment handling system according to claim 23, wherein the first direction is vertical and the second direction is horizontal. (Claim 25) The laboratory equipment handling system according to claim 19, wherein the carrier comprises a gripper configured to hold the laboratory equipment. (Claim 26) The carrier comprises a carrier arm, a support feature extending from the carrier arm, and a carrier actuator. The support feature is configured to engage with the experimental apparatus and support the experimental apparatus. The laboratory equipment handling system according to claim 19, wherein the carrier actuator is operable to disengage the support feature from the laboratory equipment and release the laboratory equipment from the carrier into the seat. (Claim 27) The laboratory equipment handling system according to claim 19, wherein the transport system comprises a robotic arm, and the carrier is an end effector on the robotic arm. (Claim 28) The laboratory equipment handling system according to claim 19, further comprising a controller configured to automatically operate the transport system according to a program, to lower the laboratory equipment into the seat and to remove the laboratory equipment from the seat.

Claims

1. A laboratory equipment handling system for use with laboratory equipment, A transport system comprising a carrier for moving the experimental equipment and holding the experimental equipment in a releaseable manner, Alignment system and Equipped with, The aforementioned alignment system is A frame with a seat, Fixed system and Equipped with, The aforementioned fixed system is A pusher that is movable between an open position and a closed position relative to the frame, Pusher actuator and Equipped with, The pusher actuator is An actuator link mechanism configured to move the pusher from the closed position to the open position when the actuator link mechanism is displaced by the carrier, and to allow the pusher to move toward the closed position when the actuator link mechanism is not displaced, A biasing mechanism that pushes the pusher toward the closed position when the actuator link mechanism is not displaced, thereby causing the pusher to align the experimental apparatus within the seat portion. Equipped with, The aforementioned transport system is While the experimental equipment is held in the carrier, move the experimental equipment to the seat. Using the carrier, the actuator link mechanism is displaced, the pusher is moved from the closed position to the open position, the experimental apparatus is received in the seat, and thereafter, With the pusher in the open position, the experimental apparatus is lowered to the seat. A laboratory equipment handling system configured as follows.

2. The actuator link mechanism is equipped with an engaging member, The transport system is configured such that when the carrier is moved toward the seat and the experimental equipment is lowered onto the seat, the carrier displaces the engaging member, thereby biasing the pusher from the closed position toward the open position, the engaging member is in contact with the carrier. The transport system is configured such that after the carrier lowers the experimental equipment onto the seat, the carrier is separated from the seat. The actuator link mechanism is configured to allow the pusher to move from the open position toward the closed position in response to the carrier moving toward the engaging member and releasing the engaging member. The engaging member is mechanically connected to the pusher, The actuator link mechanism is configured to convert the displacement of the engaging member by the carrier in a first direction into translational motion of the pusher in a second direction that is lateral to the first direction. The first direction is vertical, and the second direction is horizontal. The carrier comprises a gripper configured to hold the experimental apparatus, The aforementioned transport system is While holding the experimental instrument with the gripper, move the experimental instrument to the seat. While holding the experimental apparatus with the gripper, place the experimental apparatus on the seat. Open the gripper and separate the experimental apparatus from the gripper, and lower the experimental apparatus to the seat, The gripper is configured to move away from the seat after the experimental apparatus has been lowered onto the seat. The experimental equipment handling system according to claim 1, further comprising a controller configured to automatically operate the transport system according to a program to lower the experimental equipment onto the seat and remove the experimental equipment from the seat.

3. The actuator link mechanism is equipped with an engaging member, The transport system moves the carrier toward the seat and the experimental equipment When lowering to the seat, the carrier displaces the engaging member, thereby moving the pusher The engaging member is brought into contact with the carrier so as to bias it toward the open position from the closed position. A laboratory equipment handling system according to claim 1, configured to allow contact.

4. The transport system is configured such that after the transport system has lowered the experimental equipment onto the seat, the carrier separates from the seat. The laboratory instrument handling system according to claim 3, wherein the actuator link mechanism is configured such that the biasing mechanism allows the pusher to move from the open position to the closed position in response to the carrier moving away from the engaging member and releasing the engaging member.

5. The experimental equipment handling system according to claim 3, wherein the engaging member is mechanically coupled to the pusher.

6. The laboratory instrument handling system according to claim 5, wherein the actuator link mechanism is configured to redirect the displacement of the engaging member by the carrier in a first direction to the translational movement of the pusher in a second direction lateral to the first direction.

7. The laboratory equipment handling system according to claim 6, wherein the first direction is vertical and the second direction is horizontal.

8. The carrier comprises a gripper configured to hold the experimental apparatus, The aforementioned transport system is While holding the experimental instrument with the gripper, move the experimental instrument to the seat. While holding the experimental apparatus with the gripper, place the experimental apparatus on the seat. Open the gripper and separate the experimental instrument from the gripper, and place the experimental instrument on the seat. Lower it down, After the gripper lowers the experimental apparatus to the seat, the gripper moves away from the seat. The laboratory equipment handling system according to claim 1, configured in such a manner.

9. The carrier comprises a carrier arm, a support feature extending from the carrier arm, and a carrier actuator. The support feature is configured to engage with the experimental apparatus and support the experimental apparatus. The laboratory equipment handling system according to claim 1, wherein the carrier actuator is operable to disengage the support feature from the laboratory equipment and release the laboratory equipment from the carrier into the seat.

10. The experimental equipment handling system according to claim 1, wherein the transport system comprises a robotic arm, and the carrier is an end effector on the robotic arm.

11. The transport system is operated automatically according to the program, While the experimental equipment is held in the carrier, move the experimental equipment to the seat. Using the carrier, the actuator link mechanism is displaced, the pusher is moved from the closed position to the open position, the experimental apparatus is received in the seat, and thereafter, With the pusher in the open position, the experimental apparatus is lowered to the seat. The laboratory equipment handling system according to claim 1, further comprising at least one controller configured as follows.

12. The laboratory equipment handling system according to claim 1, wherein the biasing mechanism includes a spring.

13. The laboratory equipment handling system according to claim 1, wherein the pusher has an inclined seat surface that faces laterally inward toward the seat and upward toward away from the seat.

14. The laboratory equipment handling system according to claim 1, further comprising a detection system capable of determining the position of the pusher.

15. The steps include providing an instrument handling system which includes a carrier configured to hold instrument in a releaseable manner and a transport system which is operable to move the instrument, and an instrument alignment system which includes an instrument alignment system, wherein the instrument alignment system is A frame with a seat, Fixed system and Equipped with, The aforementioned fixed system is A pusher that is movable between an open position and a closed position relative to the frame, Pusher actuator and Equipped with, The pusher actuator is A biasing mechanism that functions to push the pusher from the open position toward the closed position, Actuator link mechanism and The steps include providing an experimental equipment alignment system, Using the transport system, the steps include moving the experimental equipment to the seat while holding it in the carrier, Using the carrier, the actuator link mechanism is displaced, the pusher is moved from the closed position to the open position, and the experimental apparatus is received in the seat; and thereafter, Using the transport system, the steps include lowering the experimental equipment to the seat while the pusher is in the open position, and A method for aligning experimental equipment, which includes [the following].

16. The actuator link mechanism is equipped with an engaging member, Using the carrier, the actuator link mechanism is displaced, and the pusher The method according to claim 15, wherein the step of moving the experimental apparatus from a closed position to an open position to receive the experimental apparatus on the seat includes bringing the engaging member into contact with the carrier such that the carrier displaces the engaging member when the carrier biases the pusher from the closed position to the open position by moving the carrier toward the seat and lowering the experimental apparatus onto the seat.

17. After the transport system has lowered the experimental equipment onto the seat, the transport system is used to move the carrier away from the seat so that the carrier releases the engaging member. This involves releasing the actuator link mechanism, allowing the biasing mechanism to move the pusher from the open position to the closed position. The method according to claim 16, including the method described in claim 16.

18. The method according to claim 15, wherein the laboratory apparatus is at least one of a tip box, a pipette tip box, a well plate, a microwell plate, and a rack configured to hold a plurality of fluid receiving sections.

19. A transport system capable of moving experimental equipment, comprising a carrier configured to hold the experimental equipment in a releaseable manner, A frame with a seat, and an alignment system with a fixing system. A laboratory equipment handling system equipped with, Liquid handler and A liquid handling system for use with laboratory equipment, comprising: The aforementioned fixed system is A pusher that is movable between an open position and a closed position relative to the frame, Pusher actuator and Equipped with, The pusher actuator is An actuator link mechanism, wherein the actuator link mechanism moves the pusher from the closed position to the open position when the actuator link mechanism is displaced by the carrier. An actuator link mechanism configured to allow the pusher to move toward the closed position when the actuator link mechanism is not displaced, A biasing mechanism that, when the actuator link mechanism is not displaced, pushes the pusher toward the closed position, thereby causing the pusher to align the experimental apparatus within the seat portion. Equipped with, The aforementioned transport system is While the experimental equipment is held in the carrier, move the experimental equipment to the seat. Using the carrier, the actuator link mechanism is displaced, the pusher is moved from the closed position to the open position, the experimental apparatus is received in the seat, and thereafter, With the pusher in the open position, the experimental apparatus is lowered to the seat. A liquid handling system configured in such a way.

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