Device and method for handling carriers carrying, in particular, cell cultures

Abstract

The invention relates to a system for storing and handling carriers (6), for example microplates, which carry one or more units (7), in particular cell cultures. A first module (1) has a housing comprising a plurality of storage spaces (5) for storing the carriers (6) and a first handling device (8) with which the carrier (6) can be brought through an opening of the module (1). The second module (2) has a housing and a second handling device (9) arranged therein, with which the carrier can be transported. In order to ensure smooth transfer of the carrier (6) from the first handling device (8) to the second handling device (9), it is proposed that the first handling device (8) places the carrier (6) on a transfer area (4) that can be adapted to a transfer position of the first handling device (8) and the second handling device (9) can assume a pick-up position in which it can remove the carrier (6) from the transfer area (4).

Description

Description Device and method for handling carriers, in particular carrying cell cultures field of technology

[0001] The invention relates to a system for storing and handling carriers, for example microplates, which carry one or more units, in particular cell cultures. A first module has a housing with several storage locations for storing the carriers and a first handling device with a holding device, with which the carrier can be removed from the storage location and brought outside through an opening in the housing, in particular into a second module. The second module has a housing and, in particular, a treatment device for treating the units, as well as a second handling device with a holding device, with which the carrier can be brought to the treatment device. State of the art

[0002] A system for treating cell cultures is described in WO 2020 / 098960 A1.

[0003] US 2019 / 0241375 A1, US 2009 / 0302795 A1, US 2018 / 0056528 A1 and US 2007 / 0237675 A1 describe a device with a handling device.

[0004] During the automated handling of units, it is necessary to transfer the carriers carrying the units from the first module to the second module. The carrier must be transferred from the holding device of the first handling device to the holding device of the second handling device. When the carrier is returned from the second Module to the first module this takes place in the reverse order. The first handling device is in a preset spatial relationship to the first module and the second handling device is in a preset spatial relationship to the second module. The control device is therefore able to control the first handling device in such a way that its holding device removes carriers from the storage location or deposits them at the storage location without disruption. It is also able to control the second handling device in such a way that its holding device feeds carriers to the treatment device or away from the treatment device without disruption. The control device knows, to a certain extent, the exact coordinates of the one or more storage locations or of the treatment device or a storage location in the second module for depositing the carrier.However, the first module is usually not in an exact spatial relationship to the second module, which is why disruptions can occur when transferring the carrier from the first handling device to the second handling device. Summary of the invention

[0005] The invention is based on the object of eliminating the above-mentioned disadvantages.

[0006] The problem is solved by the invention specified in the claims, wherein the subclaims are not only advantageous developments of the independent claims, but also represent independent solutions to the problem.

[0007] First and foremost, the two modules are brought into a spatial relationship during the initial setup of the system. This can be done, for example, by connecting the module housings to each other. connected, for example, by screwing, or by firmly attaching the module housings to a common support structure. The modules then have a spatial relationship to one another that can only be changed, for example, during maintenance.

[0008] During initial setup of the system or during re-setup of the system, for example after maintenance during which the spatial relationship of the modules was changed, a transfer location is brought into a spatial relationship with the holding device of the first handling device. The transfer location is preferably located outside the housing of the first module. It can be located in the housing of the second module. The control device controls the first handling device in such a way that a carrier carried by its holding device assumes a transfer position, in particular outside the housing of the first module. This can be achieved by the first handling device first picking up the carrier from a storage position in which the carrier is located at a storage location and bringing it to the transfer position under the control of the control device. The transfer location is located in the region of the carrier in the transfer position.The spatial position of the transfer station can be changed using adjusting elements. The adjusting elements can have fixing elements. The transfer station can, for example, be displaced in at least two, preferably three spatial directions after releasing the fixing elements. Preferably, the transfer station can also be rotated in at least two directions of rotation, preferably three directions of rotation in space after releasing the fixing elements. The transfer station can thus be adapted to the position of the carrier in the transfer position. For example, the transfer station can have positioning flanks that are brought into contact with contact flanks of the carrier in a contact position. The positioning flanks can be slightly further apart than the contact flanks, so that during positioning only one or only a few positioning flanks can be moved into a contact position. can be brought to an assigned contact flank. Self-detection can be achieved by an inclined course of the positioning flanks or contact flanks. After the transfer point has been relocated and its spatial position has been adjusted to the carrier in the predetermined transfer position, the position of the transfer point can be fixed using the fixing elements. It is thus provided that the transfer point, whose spatial relationship to the first module is initially undefined, is brought into a defined spatial relationship to the first module using the adjusting elements. The position of the carrier in the transfer position is preferably predetermined in the control device. After the position of the transfer point has been adjusted, the control device is thus able to relocate the carrier between a first predetermined position, namely a storage position, and a second predetermined position, namely the transfer position.The position of the transfer point is adapted to the second specified position.

[0009] In a subsequent second step, the holding device of the second handling device is moved into a position where it can pick up the carrier from the transfer station. The control device is programmed so that it can move a carrier held by the holding device of the second handling device to defined positions in the second module, for example, bring the carrier to a treatment device and, if necessary, deposit it in a storage location there. However, the previously set position of the transfer station is not known to the control device for controlling the second handling device at this stage of setup. In order to enable the control device to move the holding device of the second handling device into a position where a carrier placed on the transfer station can be picked up, a calibration step is required.During this calibration step, the holding device of the second handling device is moved from a standby position to a learning position. This can be done, for example, by The control device moves the holding device into a predetermined position which is close to, but at a certain distance from, the transfer location. The holding device can then be brought into a learning position by manual control commands or by manually guiding the holding device. In the learning position, the holding device assumes a position in which it can smoothly pick up a carrier that has been correctly placed on the position-adjusted transfer location or can place a carrier there. This learning position is then saved in the control device as the takeover position. In the calibration step, the holding device of the second handling device is preferably moved manually into a learning position in which the holding device can remove the carrier from the transfer location. The coordinates of the learning position are saved.

[0010] The control device is then programmed to automatically and smoothly pick up a carrier from the transfer station or position it at the transfer station. With a system configured in this way, a method for storing and handling carriers is possible, in which a carrier can be removed from one of the preferably several storage locations of the first module using the holding device of the first handling device. The holding device of the first handling device can then transport the carrier carried by the holding device out of the housing of the first module and place the carrier in a transfer position at the transfer station. The control device can then remove the holding device from the transfer station.Following the carrier's placement at the transfer station, the control device can move the holding device of the second handling device into a receiving position and, using the holding device of the second handling device, pick up the carrier lying in a defined position at the transfer station. The picked-up carrier can then be placed, for example, in a storage location of the second module, where a treatment device can be used to carry out a Treatment can be carried out. In a preferred embodiment, the carrier is a microplate, and the units are cell cultures arranged in wells of the microplate. Using pipettes and the like, the cell cultures can be treated at the treatment facility by removing the cell cultures from the wells, preparing them, and returning them. The cell cultures can be supplied with nutrient solutions there. Cell cultures can also be inserted into the wells.

[0011] After the units on the carriers have been processed, the carrier is removed from the storage location using the holding device of the second handling device. The carrier is then transported to the transfer location using the second handling device and deposited there. After the holding device of the second handling device has been removed from the transfer location, the first handling device can pick up the carrier there and transport it to a storage location.

[0012] It is considered advantageous that the transfer station is placed in a defined position during system setup. This defined position corresponds to the preset coordinates of a transfer position of the first handling device. The coordinates of the transfer station are set in the calibration step using the adjusting elements so that they correspond to the coordinates of the transfer position. In a learning phase, the coordinates of the holding device of the second handling device are changed so that they correspond to the coordinates of the transfer station in a takeover position. These coordinates are saved so that both the first handling device and the second handling device can automatically approach the transfer station with their holding devices to either orderly pick up a carrier or properly or to accept a carrier that has been properly deposited there.

[0013] In order to hold the carrier in a correct position at the transfer station, one or more contact flanks of the carrier each rest against a positioning flank of the transfer station. The flanks can be inclined flanks, so that sliding against each other on the inclined flanks leads to a defined position of the carrier. In one embodiment, the transfer station can have a transfer plate with a footprint that is slightly larger than the footprint of the carrier, for example the footprint of a microplate. The plate can have edges that form the positioning flanks against which the contact flanks of the carrier can rest. The positioning flanks are preferably each located in a corner region of the plate and the contact flanks in corner regions of the carrier. The positioning flanks thus form a rectangular bearing recess for receiving the carrier. The plate can form a recess between two steps.The support can rest on spaced-apart ledges, creating a cavity between the ledges or steps into which a holding device of either the first or second handling device can enter. This holding device can be a scoop or a fork that can move beneath the underside of the support to lift the support. However, the plate can also have recesses on one edge into which a holding device of the first or second handling device can enter in order to grip under only an edge region of the support. The support can be gripped by the holding device, for example, like a pair of tongs.

[0014] The transfer position can be a position in which the contact flanks of the carrier are in contact with the positioning flanks, i.e. a position in which By lowering the holding device, a fine adjustment of the carrier's position is performed. The control device is then programmed from the outset so that the carrier is first brought into a position over the positioning flanks and then lowered into the transfer position.

[0015] Analogously, the transfer position can be a position in which the holding device of the second handling device has come into contact with the carrier. The control device is then preferably programmed from the outset to first lift the carrier from the transfer position and then move it in a horizontal direction.

[0016] The adjusting elements can have adjusting screws. In order to be able to adjust the transfer plate in one spatial direction at a time, an adjusting screw can engage in a slot. The adjusting screw can also be a fixing device with which a transfer plate of the transfer station can be fixed in position. A base plate can be attached to a base of the housing. The base plate can support another plate which can be moved relative to the base plate in one spatial direction. A further plate which can be moved transversely to this spatial direction can be arranged on this plate. This uppermost plate can hold a shaft which projects upwards like a column. The shaft can be formed by two or more shaft elements which can be moved telescopically relative to one another, so that not only the position of the transfer plate in the plane but also the height of the transfer plate can be adjusted.A recess containing a ball can be arranged in the upper area of ​​the shaft. The ball can be locked in position with a locking element. By loosening the locking element, the ball can be rotated, allowing the position of the transfer plate to be changed in one or more directions. Short description of the drawings

[0017] An embodiment of the invention is explained below with reference to the accompanying drawings. They show: Fig. 1 shows a first embodiment of a system according to the invention with a first module 1 and a second module 2 and a control device 3, wherein a holding device 10 of a first handling device 8 has taken a carrier 6 from a storage position, Fig. 2 schematically shows a storage location 5 for receiving the carrier 6, Fig. 3 is a view according to Figure 1 in a position in which the carrier 6 is located in a housing opening 21 between a housing of the first module and a housing of the second module, Fig. 4 enlarges the position and details of a transfer station 4 shown in Figure 3 for temporarily receiving a carrier 6 during its transport between two modules 1, 2, Fig. 5 the section along the line VV in Figure 4, Fig. 6 is a plan view of a carrier 6 resting on a transfer plate 24 of the transfer station 4 in a transfer position, wherein contact flanks 13 of the carrier 6 rest on positioning flanks 13 of the transfer plate 24, Fig. 7 shows the section along the line VII-VII in Figure 6, Fig. 8 shows the section along the line VIII-VIII in Figure 6, Fig. 9 is a schematic representation of an operating position in which the carrier 6 assumes a transfer position in which it is assigned to the transfer station 4, as shown in Figure 6, Fig. 10 is a representation according to Figure 9, after the holding element 10 has left the transfer location 4 and a holding element 11 of a second handling device 9 engages the carrier 6 in order to remove the carrier 6 from the transfer location, Fig. 11 is a follow-up view to Figure 10, after the holding element 11 has lifted the carrier 6 from the transfer point 4, Fig. 12 is a view according to Figure 5 to illustrate the takeover of the carrier 6 by the holding elements 11 of the second handling device 9, Fig. 13 is a subsequent view to Figure 11, after the carrier 6 has been placed on a storage location 23 of the second module 2, Fig. 14 is a subsequent view to Fig. 13, after the carrier 6 has been picked up with the holding element 11 of the second handling device 9 from the storage location 23 and has been placed on the transfer plate 24 of the transfer location 4, Fig. 15 is a plan view of a system comprising a process module 2 connected to three storage modules 1, 1', 1", each of the three storage modules 1, 1', 1" in the process module 2, a transfer point 4 is provided. Description of the embodiments

[0018] The figures schematically show a first module 1, 1', 1", which is a storage module for carriers 6. The carriers 6 are microplates, which, for example, have a plurality of regularly arranged trays, only one tray, or other structures in which cell cultures 7 are located. The modules 1, 1', 1" have a plurality of storage locations 5 arranged one above the other, each for storing a carrier 6. Several column-like arrangements for storage locations 5 can be provided, extending around a center of the module 1, 1', 1". In the center of the module 1, 1', 1" is a first handling device 8, which can form a holding device 10, for example a plate or a fork, with which a carrier 6 can be picked up or gripped.

[0019] Using a programmable control device 3, the first handling device 8 can be moved within the housing of the module 1, 1', 1". The holding device 10 can move to each of the storage locations 5 in order to deposit a carrier 6 there or to pick up a carrier 6 located there in a storage position. The carrier 6 can be transported to a housing opening 21 with the first handling device and transported through the housing opening 21 (see Figure 3) into an adjacent housing of a second module. The second module 2 is a treatment module in which the cell cultures 7 can be treated. For this purpose, the carrier 6 can be deposited, for example, on a storage location 23. A treatment device 22, which may have pipettes or the like, is only indicated. The pipettes can be used to add liquids to the tank or to remove cell cultures from the tank.

[0020] Figure 15 shows a more complex arrangement in which a process module 2 is connected to three storage modules 1, 1', 1", wherein a housing opening 21 is provided between each of the storage modules 1, 1', 1" and the process module 2, which opening can be pre-closed with doors or sliders (not shown).

[0021] The second module has at least one transfer station 4, with a transfer station 4 preferably being arranged in the area of ​​each housing opening 21. The task of the transfer station 4 is the temporary storage of a carrier 6, which can be transported between a storage module 1, 1', 1" and the process module. The carrier picked up by the holding device 10 of the first handling device 8 is deposited in a transfer position at the transfer station 4. The carrier 6 deposited there can be taken over by a holding device 11 of a second handling device 9, which is located in the process module 2, in order to be transported to the storage location 23. For this purpose, the transfer station 4 has a defined position relative to both the first handling device 8 and the second handling device 9, which position is stored in the control device 3.

[0022] Each of the modules 1, 1', 1", or 2 can be assigned an individual control device 3. The control device 3 has a memory in which the coordinates of the storage locations 5 of the storage module 1, 1', 1" are stored, or has a memory in which the coordinates of the storage location 23 or the treatment device 22 are stored. For the sake of clarity, only one control device 3 is shown in the drawings. However, it is also possible for the device to have only a single physical control device 3, which has software modules for each of the multiple modules 1, 1', 1", 2.

[0023] The memories of the control devices 3 of the storage modules 1, 1', 1" also contain coordinates of a transfer position. The transfer position corresponds to a position of the holding device 10 of the first handling device 8 outside the housing 20 of the storage module 1, 1', 1".

[0024] The control device 3 or the software module for operating the second handling device 9 is capable of positioning the holding device 11 of the second handling device 9 at a transfer position in order to pick up or deposit a carrier 6 carried by the transfer station 4. During initial setup or after a reset, the coordinates of the transfer position are not defined.

[0025] To define the coordinates of the takeover position, in a first step, the holding device 10 of the first handling device is brought into the programmed or predetermined transfer position. This is preferably done using a carrier 6 that has previously been removed from a storage position and is carried by the holding device 10. In the storage position, the carrier 6 lies in one of the storage locations 5. The storage locations 5 can be designed such that the carrier 6 assumes a defined position there, for example, having positioning flanks that engage contact flanks of the carrier 6 in order to hold the carrier 6 in a defined position. The carrier 6 is removed from the storage location 5 using the holding device 10. The transfer location 4 has adjusting elements 14, 15, 16, 17 with which the spatial position of a transfer plate 24 of the transfer location 4 can be adjusted.By means of the adjusting elements 14, 15, 16, 17, the spatial position of the transfer plate 24 is adapted to the position of the carrier 6, which is held by the holding device 10 in the transfer position.

[0026] Different means can be used to adjust the position of a transfer station 4, for example, to a housing 20. The drawings show a simplest embodiment. A base plate 30 is arranged on the bottom of the housing of the process module 2 (see Figure 4). The base plate 30 supports a first plate 31, which is linearly guided in an X-direction relative to the base plate 30. The first plate 31 has elongated holes 33 through which a fastening screw 14 extends. After loosening the fastening screw 14, the first plate 31 can be adjusted in the X-direction. The position of the first plate 31 relative to the base plate 30 can be fixed using the fastening screw 14.

[0027] The first plate 31 supports a second plate 32, which can be adjusted linearly in the Y direction relative to the first plate 31. The second plate 32 has elongated holes 34, each of which is passed through by a fastening screw 15. After loosening the fastening screw 15, the second plate 32 can be adjusted in the Y direction. The fastening screw 15 can be used to fix the position of the second plate 32 relative to the first plate 31.

[0028] The second plate 32 supports a lower section 29 of a shaft, which is inserted into a cavity of an upper section 28 of the shaft. The position of the two sections 28, 29 can be fixed using a clamping screw 16. After loosening the clamping screw 16, the height of the upper section 28, i.e., its position in the Z direction or its rotational position about the Z axis, can be adjusted. The clamping screw 16 can be used to fix the position of the upper section 28 relative to the lower section 29.

[0029] The upper section 28 carries a ball 35 (see Figure 5) whose position can be fixed with a clamping screw 17. After loosening the clamping screw The rotational position of the ball 35 can be adjusted using the clamping screw 17. After tightening the clamping screw 17, the rotational position of the ball 35 is fixed.

[0030] The transfer plate 24 is connected to the ball 35 so that the screws 14, 15, 16, 17 form adjusting elements to change and fix the spatial position of the transfer plate 24.

[0031] The transfer plate 24 has two shoulders 26, each of which merges into a central region, forming a step 25. This creates a cavity 27 for engagement of the holding device 10 of the first handling device 8. The edges of the transfer plate 24, which has a rectangular outline, each have recesses 18, 19 located in the center and opposite one another for engagement of the holding device 11 of the second handling device 9.

[0032] The shoulders 26 are located in the corner area of ​​the bearing plate 24. There, there are edge-side webs that form inclined flanks. These flanks form positioning flanks 12. Two opposing positioning flanks 12 diverge upward, so that the positioning flanks 12 form positioning slopes that lead to an adjustment of the position of the support plate 6 when the support plate 6 slides along the positioning flanks 12 during settling with the contact flanks 13 formed by the edge of the support 6.

[0033] By means of the previously described adjusting elements 14 to 17, the spatial position of the transfer plate 24 can be adjusted to the carrier 6 held in the transfer position in such a way that the positioning flanks 12 rest against the contact flanks 13.

[0034] After the transfer plate 24 has been fixed, the control device 3 is able to automatically place a carrier 6 on the transfer station 4 or remove it from the transfer station 4.

[0035] In a subsequent calibration step, the coordinates of the holding device 11 of the second handling device 9 in the takeover position are determined. For this purpose, the holding device 10 is moved from any desired standby position to a position in which the holding device 11 of the second handling device 9 can receive the carrier 6 arranged on the transfer station 4. This is done in a teaching process in which the second handling device 9 is manually controlled or manually brought into a teaching position. In this teaching position, the holding devices 11 of the second handling device 9, which are designed, for example, like grippers, can move into the recesses 18 in order to grip under the edge of the carrier 6. Once the holding devices 11 have been brought into this teaching position, the coordinates of the teaching position are saved as the coordinates of the takeover position.The control device 3 is now able to automatically pick up a carrier 6 from the transfer location 4 and, for example, bring it to the storage location 23 or deposit it on the transfer location 4 so that it can be taken over from there by a holding device 10 of the first handling device 8.

[0036] According to the invention, the transfer station 4 forms a transfer platform or transfer station, for example formed by a transfer plate 24, which forms a fastening adapter with which the transfer platform or transfer station can be fastened outside the housing of the first module and preferably inside the housing of the second module, wherein the adapter enables a position adjustment of the transfer platform or transfer station The control device for controlling the handling device of the first module is inherently capable of moving to a transfer position. The coordinates of the transfer position are preset. The spatial position of the transfer platform or transfer station is adapted to this transfer position. The control device for controlling the handling device of the second module is inherently capable of moving to a takeover position. The coordinates of the takeover position are not preset but are determined after the spatial position of the transfer platform or transfer station has been determined. This is preferably done through a calibration step in which the handling device of the second module is manually relocated.

[0037] The above statements serve to explain the inventions covered by the application as a whole, which also independently develop the state of the art at least by the following combinations of features, whereby two, several or all of these combinations of features can also be combined, namely:

[0038] A system for storing and handling carriers 6 carrying one or more units 7, comprising at least a first module 1 and a second module 2, a control device 3 and a transfer location 4, wherein at least the first module 1 has one or more storage locations 5 for at least one carrier 6 each, wherein a first handling device 8 is assigned to the first module 1 and a second handling device 9 is assigned to the second module 2, wherein each of the first and second handling devices 8, 9 has a holding element 10, 11 with which the handling device 8, 9 can hold a carrier 6, wherein the control device 3 is configured to move the carrier 6 with the holding device 10 of the first handling device 8 between a storage position in which the carrier 6 is at a storage location 5, and a transfer position in which the carrier 6 is located at the transfer location 4, wherein adjusting elements 14, 15, 16, 17 are provided with which, when the system is set up, the transfer location 4 can be adapted to the position of the carrier 6 in the transfer position, so that the carrier 6 in the transfer position assumes a defined position relative to the transfer location 4, wherein in a calibration step the holding device 11 of the second handling device 9 can be brought from a ready position into a learning position in which the carrier 6 can be taken over from the transfer location 4 and wherein the control device 3 is set up to store the learning position as a takeover position which the holding device 9 of the second handling device 11 can move to automatically in order to take over a carrier 6 from the transfer location 4 or to set down there.

[0039] A system which is characterized in that the carrier 6 has contact flanks 13 which correspond to positioning flanks 12 of the transfer station 4, wherein with the adjusting elements 14, 15, 16, 17 when setting up the system one or more of the positioning flanks 12 can be brought in space into a contact position against an associated contact flank 13 of the carrier 6 held by the holding device 10 of the first handling device 8 in the transfer position.

[0040] A system characterized in that the transfer point 4 is arranged outside the first module 1 or in the second module 2.

[0041] A system which is characterized in that the electronic control 2 and / or the second handling device 9 is arranged to move the Holding device 11 of the second handling device 9 from the ready position to the learning position.

[0042] A system characterized in that the first module 1 is a storage module with a plurality of storage locations 5 each for receiving a carrier 6 and the second module 2 is a process module with one or more treatment devices 22 for treating the units 7.

[0043] A system which is characterized in that the positioning flanks 12 are fixedly assigned to the transfer station 4 and the transfer station 4 with the adjusting elements 14, 15, 16 is linearly displaceable in at least two, preferably three spatial directions and / or that the transfer station 4 with the adjusting elements 16, 17 is pivotable about at least two, preferably three axes.

[0044] A system characterized in that two opposing positioning flanks 12 diverge obliquely in a vertically upward direction.

[0045] A system characterized by the fact that the carriers are 6 microplates and the units are 7 cell cultures.

[0046] A system which is characterized in that the transfer station 4 has a plate 24 with a rectangular storage recess for receiving the carrier 6, wherein one or more edges of the storage recess form positioning flanks 12, wherein a cavity 27 extends between two steps 25 for engagement of the holding device 10 of the first handling device 8 for gripping the carrier 6, and wherein on the edge of the plate 24 recesses recesses 18, 19 are provided for engagement of the holding device 11 of the second handling device 9.

[0047] A system characterized in that the adjusting elements 14, 15, 16, 17 are clamping elements and in particular clamping screws.

[0048] A method for setting up a system according to one of the preceding claims, wherein the holding device 10 of the first handling device 8 is brought into the transfer position, then by means of the adjusting elements 14, 15, 16, 17 the position of the transfer station 4 is adapted to the position of the carrier 6 held by the holding device 10 of the first handling device 8 in the transfer position, then the holding device 11 of the second handling device 9 is manually brought into the learning position and the learning position is stored as the takeover position in the control device.

[0049] A method which is characterized in that with the aid of the adjusting elements 14, 15, 16, 17 one or more positioning flanks 12 of the transfer station 4 are brought into a contact position against an associated contact flank 13 of the carrier 6 held in the transfer position by the holding device 10 of the first handling device 8.

[0050] A method for storing and handling carriers with a system according to one of claims 1 to 10, wherein a carrier 6 is removed from the storage location 5 of the first module 1 with the holding device 10 of the first handling device 8, the holding device 10 of the first handling device 8 is brought into the transfer position so that the carrier 6 assumes a defined position relative to the transfer location 4, the holding device 10 of the first handling device 8 is removed from the transfer position- is removed, the holding device 11 of the second handling device 9 is brought into the takeover position and the carrier 6 is removed from the transfer location 4 with the holding device 11 of the second handling device 9, or wherein a carrier 6 is placed on the transfer location 4 with the holding device 11 of the second handling device 9 so that the carrier 6 assumes a defined position relative to the transfer location 4, the holding device 11 of the second handling device 9 is removed from the transfer location 4, the holding device 12 of the first handling device 8 picks up the carrier 6 from the transfer location 4 and moves the carrier 6 to the storage location 5 of the first module 1 and brings it into the storage position there.

[0051] All disclosed features are essential to the invention (individually, but also in combination with one another). The disclosure content of the associated / attached priority documents (copy of the prior application) is hereby fully incorporated into the disclosure of the application, also for the purpose of incorporating features of these documents into claims of the present application. The subclaims characterize, with their features, independent inventive developments of the prior art, even without the features of a referenced claim, in particular for filing divisional applications based on these claims. The invention specified in each claim may additionally have one or more of the features provided in the above description, in particular with reference numbers and / or specified in the list of reference numbers.The invention also relates to designs in which individual features mentioned in the above description are not implemented, in particular insofar as they are clearly unnecessary for the respective intended use or can be replaced by other technically equivalent means. List of reference symbols 1 first module, memory module 21 housing opening 1' first module, storage module 22 treatment device 1" first module, storage module 23 storage space 2 second module, process module 24 transfer plate 3 Control device 25 level 4 Transfer point 26 paragraph 5 Storage area 27 Cavity 6 carriers, microplate 28 shaft 7 Unit, Cell Culture 29 Shaft 8 first handling device 30 base plate 9 second handling device 31 plate 32 plate 10 Holding device of the first 33 Long hole Handling device 34 Long hole 11 Holding device of the second 35 ball handling device 12 Positioning flank 13 Investment flank 14 Adjustment element, X-direction 15 Adjustment element, Y-direction 16 Adjustment element, Z-direction, Z-axis 17 Adjustment element, X-axis, Y-axis 18 Recess 19 Recess 20 housings

Claims

Claims 1. A system for storing and handling carriers (6) carrying one or more units (7), comprising at least a first module (1) and a second module (2), a control device (3), and a transfer location (4), wherein at least the first module (1) has one or more storage locations (5) for at least one carrier (6) each, wherein a first handling device (8) is assigned to the first module (1) and a second handling device (9) is assigned to the second module (2), wherein each of the first and second handling devices (8, 9) has a holding element (10, 11) with which the handling device (8, 9) can hold a carrier (6), wherein the control device (3) is configured to move the carrier (6) between a storage position, in which the carrier (6) is located at a storage location (5), and a transfer position, in which the carrier (6) is located at the transfer location (4), using the holding device (10) of the first handling device (8).wherein adjustment elements (14, 15, 16, 17) are provided with which, when the system is set up, the transfer location (4) can be adapted to the position of the carrier (6) in the transfer position, so that the carrier (6) assumes a defined position relative to the transfer location (4), wherein, in a calibration step, the holding device (11) of the second handling device (9) can be moved from a standby position to a learning position in which the carrier (6) can be taken over from the transfer location (4), and wherein the control device (3) is configured to store the learning position as a takeover position to which the holding device (9) of the second handling device (11) can automatically move in order to take over a carrier (6) from the transfer location (4) or to set it down there.

2. System according to claim 1, characterized in that the carrier (6) has contact flanks (13) which correspond to positioning flanks (12) of the transfer station (4), wherein with the adjusting elements (14, 15, 16, 17) when setting up the system, one or more of the positioning flanks (12) can be brought into a contact position on an associated contact flank (13) of the carrier (6) held in the transfer position by the holding device (10) of the first handling device (8).

3. System according to one or more of the preceding claims, characterized in that the transfer point (4) is arranged outside the first module (1) or in the second module (2).

4. System according to one of the preceding claims, characterized in that the electronic control (2) and / or the second handling device (9) is configured to move the holding device (11) of the second handling device (9) from the standby position into the learning position by a manual displacement or by a motorized displacement.

5. System according to one of the preceding claims, characterized in that the first module (1) is a storage module with a plurality of storage locations (5) each for receiving a carrier (6) and the second module (2) is a process module with one or more treatment devices (22) for treating the units (7).

6. System according to one of claims 3 to 5, characterized in that the positioning flanks (12) are fixedly assigned to the transfer location (4) and the transfer location (4) with the adjusting elements (14, 15, 16) is linearly displaceable in at least two, preferably three spatial directions and / or that the transfer station (4) with the adjusting elements (16, 17) can be pivoted about at least two, preferably three axes.

7. System according to one of claims 2 to 6, characterized in that two opposing positioning flanks (12) diverge obliquely in a vertically upward direction.

8. System according to one of the preceding claims, characterized in that the carriers (6) are microplates and the units (7) are cell cultures.

9. System according to one of the preceding claims, characterized in that the transfer station (4) has a plate (24) with a rectangular storage recess for receiving the carrier (6), wherein one or more edges of the storage recess form positioning flanks (12), wherein a cavity (27) extends between two steps (25) for engagement of the holding device (10) of the first handling device (8) for gripping the carrier (6) underneath, and wherein recesses (18, 19) are provided on the edge of the plate (24) for engagement of the holding device (11) of the second handling device (9).

10. System according to one of the preceding claims, characterized in that the adjusting elements (14, 15, 16, 17) are clamping elements and in particular clamping screws.

11. Method for setting up a system according to one of the preceding claims, wherein the holding device (10) of the first handling device (8) is brought into the transfer position, then the position of the transfer point (4) is adjusted using the adjusting elements (14, 15, 16, 17). is adapted to the position of the carrier (6) held in the transfer position by the holding device (10) of the first handling device (8), then the holding device (11) of the second handling device (9) is manually brought into the learning position and the learning position is stored as the takeover position in the control device.

12. Method according to claim 11, characterized in that with the aid of the adjusting elements (14, 15, 16, 17) one or more positioning flanks (12) of the transfer station (4) are brought into a bearing position against an associated bearing flank (13) of the carrier (6) held in the transfer position by the holding device (10) of the first handling device (8).

13. A method for storing and handling carriers with a system according to one of claims 1 to 10, wherein a carrier (6) is removed from the storage location (5) of the first module (1) using the holding device (10) of the first handling device (8), the holding device (10) of the first handling device (8) is brought into the transfer position so that the carrier (6) assumes a defined position relative to the transfer location (4), the holding device (10) of the first handling device (8) is removed from the transfer position, the holding device (11) of the second handling device (9) is brought into the takeover position, and the carrier (6) is removed from the transfer location (4) using the holding device (11) of the second handling device (9), or wherein a carrier (6) is placed on the transfer location (4) using the holding device (11) of the second handling device (9) so that the carrier (6) assumes a defined position relative to the transfer location (4),the holding device (11) of the second handling device (9) is removed from the transfer location (4), the holding device, hing (12) of the first handling device (8) picks up the carrier (6) from the transfer location (4) and moves the carrier (6) to the storage location (5) of the first module (1) and brings it into the storage position there.

14. System or method characterized by one or more of the characterizing features of any one of the preceding claims.

Images