Transfer device, automated analysis device including transfer device, and teaching method of automated analysis device

Abstract

A transfer device for transferring a well plate including first and second alignment marks comprises: a body; and a gripper connected to the lower end of the body and configured to grip the well plate, the gripper including a first grip member having a first teaching structure and a second grip member having a second teaching structure, wherein, at a first position at which the gripper is positioned adjacent to the well plate in order to grip the well plate, the first teaching structure may overlap the first alignment mark in a first direction, and the second teaching structure may overlap the second alignment mark in a second direction.

Description

A transfer device, an automated analysis device including a transfer device, and a teaching method of an automated analysis device

[0001] The present invention relates to a transfer device, an automated analysis device including the transfer device, and a teaching method for the automated analysis device. More specifically, the present invention relates to a transfer device for transferring a well plate, an automated analysis device including the transfer device for transferring a well plate, and a teaching method for the automated analysis device including the transfer device for transferring a well plate.

[0002] Gene amplification testing is an in vitro diagnostic technique that amplifies specific genes to determine their presence or absence. To perform gene amplification testing using various specimens from humans, animals, plants, and other sources, substances that inhibit the gene amplification reaction must first be removed from the biological sample and the nucleic acid extracted. The extracted nucleic acid is then used to prepare the amplification reaction solution.

[0003] Initially, the detection composition preparation work, such as preparing nucleic acid extracts and amplification reaction solutions, relied on manual labor by experimenters. However, due to problems such as human error during the preparation process and inefficiencies in terms of cost and time, an automated preparation device that automatically performs the detection composition preparation work has been developed. This automated preparation device can perform the detection composition preparation work in a well plate, and can perform a gene amplification test using the well plate on which the detection composition preparation work has been completed. For example, after sealing the upper surface of a well plate using a sealing device, a gene amplification test can be performed using an analysis device, and an automated analysis device that automatically performs this gene amplification test work is being developed.

[0004] An automated analysis device may include a robotic arm and a transport device that transports a well plate, and the robotic arm and transport device may transport the well plate to the analysis device and the sealing device. Among automated analysis devices, a modular automated analysis device may not have the analysis device and the sealing device fixed to the bottom surface of the housing. For example, in the process of installing a modular automated analysis device at a location designated by a user, after positioning the analysis device and the sealing device on the bottom surface of the housing, the engineer installing the modular automated analysis device must perform a teaching task to teach the target positions where the well plates should be placed on each of the analysis device and the sealing device using the robotic arm and the transport device. In addition, the positions of the analysis device and the sealing device may change due to an external impact while the user is using the modular automated analysis device. In this case, the target positions of each of the analysis device and the sealing device change, and the engineer must perform the teaching task again. As such, modular automated analysis devices may have a relatively high number of teaching issues by engineers, and the teaching task takes a relatively long time.

[0005] One object of the present invention is to provide a transport device.

[0006] Another object of the present invention is to provide an automated analysis device.

[0007] Another object of the present invention is to provide a teaching method for an automated analysis device.

[0008] However, the present invention is not limited to the above-described purposes, and may be expanded in various ways without departing from the spirit and scope of the present invention.

[0009] In order to achieve the above-described object of the present invention, in a transport device for transporting a well plate including first and second alignment marks, the transport device according to exemplary embodiments of the present invention includes a first grip member having a body and a first teaching structure and a second grip member having a second teaching structure, and includes a gripper connected to a lower end of the body and configured to grip the well plate, and at a first position where the gripper is positioned adjacent to the well plate to grip the well plate, the first teaching structure can overlap the first alignment mark in a first direction, and the second teaching structure can overlap the second alignment mark in a second direction.

[0010] In exemplary embodiments, the first teaching structure may include a first teaching portion extending in a third direction and a second teaching portion extending in the third direction and parallel to the first teaching portion.

[0011] In exemplary embodiments, the first alignment mark includes two first alignment marks, and a first end of the first teaching portion and a first end of the second teaching portion at the first position can overlap the first alignment marks in the first direction, respectively.

[0012] In exemplary embodiments, the first alignment marks may be located on a first side of the well plate.

[0013] In exemplary embodiments, the first grip member further includes a first grip portion positioned between the first and second teaching portions and a first friction member fixed to an inner surface of the first grip portion, wherein the first friction member can contact a first side surface of the well plate at a second position where the gripper grips the well plate.

[0014] In exemplary embodiments, the first grip member may further include a first connecting portion connecting the first teaching portion and the first grip portion and extending in the first direction, and a second connecting portion connecting the second teaching portion and the first grip portion and extending in the first direction.

[0015] In exemplary embodiments, a first inner side surface of the first connecting portion formed by extending the first direction and a second inner side surface of the second connecting portion formed by extending the second connecting portion in the first direction may be aligned with the first side surface of the well plate at the first position.

[0016] In exemplary embodiments, the second teaching structure may include a third teaching portion extending in a third direction and a fourth teaching portion extending in the third direction and parallel to the third teaching portion.

[0017] In exemplary embodiments, the second alignment mark includes two second alignment marks, and a first end of the third teaching portion and a first end of the fourth teaching portion at the first position can overlap the second alignment marks in the second direction, respectively.

[0018] In exemplary embodiments, the second alignment marks are located on a second side of the well plate, and the first and second alignment marks may face each other.

[0019] In exemplary embodiments, the second grip member further includes a second grip member positioned between the third and fourth teaching members and a second friction member fixed to an inner surface of the first grip member, wherein the second friction member can contact a second side surface of the well plate at a second position where the gripper grips the well plate.

[0020] In exemplary embodiments, the second grip member may further include a third connecting portion connecting the second end of the third teaching portion and the second grip portion and extending in the second direction, and a fourth connecting portion connecting the second end of the fourth teaching portion and the second grip portion and extending in the second direction.

[0021] In exemplary embodiments, a third inner side surface of the third connecting portion formed by extending the third connection portion in the second direction and a fourth inner side surface of the fourth connecting portion formed by extending the fourth connection portion in the second direction may be aligned with the second side surface of the well plate at the first position.

[0022] In exemplary embodiments, the first grip member and the second grip member may be symmetrically facing each other.

[0023] In exemplary embodiments, after the first grip member moves in the first direction at the first position and the second grip member moves in the second direction at the first position, the first and second grip members can grip the well plate.

[0024] In exemplary embodiments, the first and second alignment marks may be visible to the naked eye.

[0025] In exemplary embodiments, the first and second alignment marks may be at least one selected from a symbol, a corner of the well plate, a groove recessed inwardly from each of the first and second side surfaces of the well plate, and an opening formed in each of the first and second side surfaces of the well plate.

[0026] In order to achieve the above-described object of the present invention, a transport device for transporting a well plate including an alignment mark may include a transport device body according to exemplary embodiments of the present invention and a gripper connected to a lower end of the body, configured to hold the well plate, and configured to be used for a teaching operation using the alignment mark of the well plate.

[0027] In order to achieve the above-described object of the present invention, in a transport device for transporting a well plate including first and second alignment marks, the transport device according to exemplary embodiments of the present invention comprises: a first teaching structure including a body and a first teaching portion extending in a third direction and a second teaching portion extending in the third direction and being parallel to the first teaching portion; a first grip portion positioned between the first and second teaching portions; a first friction member fixed to an inner surface of the first grip portion; a first grip member including a first connecting portion connecting a second end of the first teaching portion and the first grip portion and extending in the first direction; and a second connecting portion connecting a second end of the second teaching portion and the first grip portion and being extended in the first direction; and a second teaching structure including a third teaching portion extending in the third direction and a fourth teaching portion extending in the third direction and being parallel to the third teaching portion; a second grip portion positioned between the third and fourth teaching portions; and a second friction member fixed to an inner surface of the first grip portion. A second grip member including a third connecting portion connecting the second end of the third teaching portion and the second grip portion and extending in the second direction, and a fourth connecting portion connecting the second end of the fourth teaching portion and the second grip portion and extending in the second direction, and a gripper connected to the lower end of the body and configured to grip the well plate, wherein at a first position where the gripper is positioned adjacent to the well plate to grip the well plate, the first teaching structure can overlap the first alignment mark in a first direction, and the second teaching structure can overlap the second alignment mark in a second direction.

[0028] In order to achieve another object of the present invention described above, in an automated analysis device for handling a well plate including first and second alignment marks, the automated analysis device according to exemplary embodiments of the present invention comprises: a housing; an analysis device disposed in a first area of ​​a bottom surface of the housing and including an analysis area in which the well plate is to be placed; a body; a first grip member having a first teaching structure; and a second grip member having a second teaching structure, the body including a gripper connected to a lower end of the body and configured to grip a well plate including first and second alignment marks; and a transfer device configured to transfer the well plate to the analysis area, wherein at a first position where the gripper is positioned adjacent to the well plate to grip the well plate, the first teaching structure may overlap the first alignment mark in a first direction, and the second teaching structure may overlap the second alignment mark in a second direction.

[0029] In exemplary embodiments, the automated analysis device may further include a sealing device disposed in a second region of the bottom surface of the housing and including a sealing region in which the well plate is to be disposed.

[0030] In exemplary embodiments, the analysis device and the sealing device may not be fixed to the bottom surface of the housing.

[0031] In exemplary embodiments, after the transport device transports the well plate to the sealing area, the sealing device seals the upper surface of the well plate, and after the transport device transports the sealed well plate to the analysis area, the analysis device can analyze the target substance.

[0032] In order to achieve another object of the present invention described above, a teaching method of an automated analysis device may include a step of positioning a well plate including an alignment mark in an analysis area of ​​the analysis device, a step of lowering a transport device including a gripper having a teaching structure to a level where the well plate is positioned, and a step of performing a teaching operation of the transport device using the teaching structure and the alignment mark.

[0033] According to exemplary embodiments of the present invention, a transport device or automated analysis device includes a gripper equipped with first and second teaching structures, thereby enabling an engineer to perform a teaching task using a well plate handled by the automated analysis device. In this case, no additional structures are required for the teaching task, and the engineer can easily perform the teaching task with their naked eyes. Accordingly, the cost of the teaching task can be relatively reduced, and the time required for the teaching task can be relatively shortened.

[0034] According to exemplary embodiments of the present invention, a transfer device or an automated analysis device includes a gripper having first to fourth support portions of first and second support structures, such that the transfer device can transfer a well plate while supporting the well plate handled by the automated analysis device. Accordingly, the manufacturing cost of the transfer device can be relatively reduced by transferring the well plate without additional components, and the shape of the well plate can be prevented from being deformed because the gripper does not press on the well plate to hold the well plate.

[0035] In the teaching method of the automated analysis device according to exemplary embodiments of the present invention, the engineer can perform the teaching task using the alignment marks and the first and second teaching structures of the gripper. In this case, additional structures for the teaching task are not required, and the teaching task can be easily performed with the naked eye of the engineer. Accordingly, the cost for the teaching task can be relatively reduced, and the time required for the teaching task can be relatively shortened.

[0036] However, the effects of the present invention are not limited to the above-described effects, and may be expanded in various ways without departing from the spirit and scope of the present invention.

[0037] FIG. 1 is a perspective view showing an automated analysis device according to exemplary embodiments of the present invention.

[0038] Figures 2, 3, and 4 are drawings for explaining the interior of the automated analysis device of Figure 1.

[0039] Figure 5 is a perspective view showing a well plate used in the automated analysis device of Figure 1.

[0040] Fig. 6 is a perspective view showing a transport device included in the automated analysis device of Fig. 2.

[0041] Figures 7 and 8 are drawings for explaining the grippers included in the transport device of Figure 6.

[0042] FIGS. 9, 10, 11, 12, 13, and 14 are drawings illustrating a method of performing a teaching operation in an automated analysis device according to exemplary embodiments of the present invention.

[0043] FIG. 15 is a perspective view showing an automated analysis device according to exemplary embodiments of the present invention.

[0044] Figure 16 is a perspective view showing a well plate used in the automated analysis device of Figure 15.

[0045] Fig. 17 is a perspective view showing a transport device included in the automated analysis device of Fig. 15.

[0046] Figures 18 and 19 are drawings for explaining the grippers included in the transport device of Figure 17.

[0047] FIGS. 20, 21, 22, 23, 24, and 25 are drawings illustrating a method of performing a teaching operation in an automated analysis device according to exemplary embodiments of the present invention.

[0048] Hereinafter, with reference to the attached drawings, an automated analysis device and a method for performing a teaching operation in the automated analysis device according to exemplary embodiments of the present invention will be described in detail. In the attached drawings, identical or similar components are designated by identical or similar reference numerals.

[0049] In this specification, specific structural and functional descriptions are merely exemplified for the purpose of explaining embodiments of the present invention, and the embodiments of the present invention may be implemented in various forms and should not be construed as being limited to the embodiments described herein, but should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention. When a component is described as being “connected to” or “in contact with” another component, it should be understood that it may be directly connected to or in contact with the other component, but there may also be another component in between. Furthermore, when a component is described as being “directly connected to” or “in direct contact with” another component, it can be understood that there is no another component in between. Other expressions describing the relationship between components, such as “between” and “directly between” or “adjacent to” and “directly adjacent to”, can be interpreted similarly.

[0050] The terminology used herein is for the purpose of describing exemplary embodiments only and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, it should be understood that the terms “comprise,” “include,” or “have” specify the presence of an implemented feature, number, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof. Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

[0051] Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless expressly defined in this application.

[0052] Terms such as "first," "second," and "third" may be used to describe various components, but these components are not limited by these terms. These terms are used to distinguish one component from another. For example, without departing from the scope of the present invention, a first component could be referred to as a "second" or "third" component, and similarly, a "second" or "third" component could be referred to interchangeably.

[0053] FIG. 1 is a perspective view showing an automated analysis device according to exemplary embodiments of the present invention, FIGS. 2, 3, and 4 are drawings for explaining the interior of the automated analysis device of FIG. 1, and FIG. 5 is a perspective view showing a well plate used in the automated analysis device of FIG. 1. For example, FIG. 2 is a perspective view showing the interior of the automated analysis device, FIG. 3 is a top view showing the interior of the automated analysis device, and FIG. 4 is a block diagram showing areas where devices included in the automated analysis device are to be placed.

[0054] Referring to FIGS. 1 to 5, the automated analysis device (1000) may include a housing (650), an elevator device (600), a first analysis device (700), a second analysis device (800), a sealing device (900), a transport device (100), etc. Here, as illustrated in FIGS. 3 and 4, the housing (650) may include a bottom surface (660), and the bottom surface (660) may include a first region (10), a second region (20), a third region (30), and a fourth region (40). In addition, as illustrated in FIG. 5, a plurality of wells (530) may be formed in the well plate (500), and the well plate (500) may include a first alignment mark (510) and a second alignment mark (520). Furthermore, in FIG. 1, an automated preparation device may be placed on the automated analysis device (1000), and the automated preparation device may perform a detection composition preparation operation on a well plate (500). The well plate (500) on which the detection composition preparation operation has been completed may be moved from the automated preparation device to the interior of the automated analysis device (1000) via an elevator (600).

[0055] The housing (650) can surround the first analysis device (700), the second analysis device (800), the sealing device (900), the lifting device (600), the transport device (100), etc. The bottom surface (660) of the housing (650) can face the ceiling surface of the housing (650), and the ceiling surface of the housing (650) can be adjacent to the automated preparation device. The housing (650) can include a metal, an alloy, a metal nitride, etc. For example, the housing (650) may include a metal material such as gold (Au), silver (Ag), aluminum (Al), iron (Fe), zinc (Zn), lead (Nb), tungsten (W), copper (Cu), platinum (Pt), nickel (Ni), titanium (Ti), palladium (Pd), magnesium (Mg), calcium (Ca), lithium (Li), chromium (Cr), tantalum (Ta), molybdenum (Mo), scandium (Sc), neodymium (Nd), iridium (Ir), an alloy such as an alloy containing aluminum, an alloy containing silver, an alloy containing copper, an alloy containing molybdenum, and a metal nitride such as aluminum nitride (AlN), tungsten nitride (WN), titanium nitride (TiN), chromium nitride (CrN), tantalum nitride (TaN), and the like.

[0056] The first analysis device (700) may be positioned in the first region (10) of the inner bottom surface (660) of the housing (650). In exemplary embodiments, the first analysis device (700) may not be fixed to the bottom surface (660), but may be placed on the bottom surface (660). For example, the first analysis device (700) weighs approximately 21 kilograms, and the first analysis device (700) may move due to a relatively large external impact. The first analysis device (700) may include a first analysis region (710), and the first analysis region (710) may correspond to a region where the well plate (500) is to be positioned. For example, when a well plate (500) sealed from a sealing device (900) is transferred to a first analysis area (710) via a transfer device (100), a gene amplification test of the well plate (500) can be performed after the lid of the first analysis device (700) is closed. In other words, the first analysis device (700) can amplify the target substance of the sealed well plate (500), and the first analysis device (700) can analyze the amplified target substance. In exemplary embodiments, the first analysis device (700) can include a gene amplification device. Optionally, the first analysis device (700) can also analyze the target substance without amplifying the target substance.

[0057] The second analysis device (800) may be positioned in the third region (30) of the bottom surface (660), and the first region (10) may be positioned apart from the third region (30) in the first direction (D1). In exemplary embodiments, the second analysis device (800) may not be fixed to the bottom surface (660), and the second analysis device (800) may be placed on the bottom surface (660). The second analysis device (800) may include a second analysis region (810), and the second analysis region (810) may correspond to a region where the well plate (500) is to be positioned. Here, the second analysis region (810) may be spaced apart from the first analysis region (710) in the second direction (D2). For example, when a well plate (500) sealed from a sealing device (900) is transferred to a second analysis area (810) via a transfer device (100), a genetic amplification test of the well plate (500) can be performed after the lid of the second analysis device (800) is closed. In other words, the second analysis device (800) can amplify the target substance of the sealed well plate (500), and the second analysis device (800) can analyze the amplified target substance. The second analysis device (800) can be substantially the same device as the first analysis device (700).

[0058] The sealing device (900) may be positioned in the second region (20) of the bottom surface (660), and the second region (20) may be positioned between the first region (10) and the third region (30). In exemplary embodiments, the sealing device (900) may not be fixed to the bottom surface (660), and the sealing device (900) may be placed on the bottom surface (660). The sealing device (900) may include a sealing region (910), and the sealing region (910) may correspond to an region where the well plate (500) is to be positioned. For example, when a well plate (500) placed in an elevation area (610) is transferred to a sealing area (910) via a transfer device (100), after the well plate (500) placed in the sealing area (910) moves into the interior of the sealing device (900), the upper surface of the well plate (500) can be sealed. In exemplary embodiments, the sealing device (900) may include a roll-type sealing device, a sheet-type sealing device, or the like.

[0059] The lifting device (600) may be positioned in the fourth region (40) of the floor surface (660), and the fourth region (40) may be positioned spaced apart from the third region (30) in the second direction (D2). The lifting device (600) may be fixed to the floor surface (660) and the ceiling surface. The lifting device (600) may include an lifting region (610), and the lifting region (610) may correspond to an region where the well plate (500) is to be positioned. For example, a well plate (500) for which the detection composition preparation work has been completed inside an automated preparation device may be lowered through the lifting device (600), and the well plate (500) for which the detection composition preparation work has been completed inside an automated analysis device (1000) may be positioned in the lifting region (610).

[0060] The transport device (100) may be positioned below the ceiling surface inside the housing (650). The transport device (100) may move the body of the transport device (100) in all directions (for example, the first to sixth directions (D1, D2, D3, D4, D5, D6)) below the ceiling surface via a robotic arm. For example, the transport device (100) may transport the well plate (500) located in the lifting area (610) to the sealing area (910), and may transport the well plate (500) located in the sealing area (910) to the first analysis area (710) or the second analysis area (810). In other words, the transport device (100) may include a gripper to hold the well plate (500), and the transport device (100) may hold the well plate (500) while transporting the well plate (500).

[0061] A well plate (500) may include a first side (540) and a second side (550). A first alignment mark (510) may be formed on the first side (540), and a second alignment mark (520) may be formed on the second side (550). The first alignment mark (510) and the second alignment mark (520) may be opposite to each other, and the first side (540) and the second side (550) may be substantially parallel to each other. In exemplary embodiments, the first and second alignment marks (510, 520) may be openings formed in the first and second sides (540, 550) of the well plate (500), respectively, and the first and second alignment marks (510, 520) may be visible to the naked eye. Additionally, the shapes of each of the first and second alignment marks (510, 520) may be substantially identical. In exemplary embodiments, the well plate (500) may be a PCR well plate including 96 wells (530).

[0062] However, although the first and second alignment marks (510, 520) of the present invention have been described as being open, the configuration of the present invention is not limited thereto. For example, in other exemplary embodiments, the first and second alignment marks (510, 520) may include a symbol visible to the naked eye, a corner of a well plate (500) visible to the naked eye, a groove recessed inward from each of the first and second sides (540, 550) of the well plate (500) visible to the naked eye, etc.

[0063] FIG. 6 is a perspective view showing a transport device included in the automated analysis device of FIG. 2, and FIGS. 7 and 8 are drawings for explaining grippers included in the transport device of FIG. 6. For example, FIGS. 6a and 6b are perspective views showing a first position where a gripper is positioned adjacent to a well plate to grip the well plate, and FIG. 6c is a perspective view showing a second position where the gripper grips the well plate. In addition, FIGS. 7a, 7b, and 7c are drawings showing a first grip member, and FIGS. 8a, 8b, and 8c are drawings showing a second grip member.

[0064] Referring to FIGS. 6, 7, and 8, the transport device (100) may include a body (400), a detection sensor (450), a gripper (150), etc., and the gripper (150) may include a first grip member (200) and a second grip member (300). Here, the first grip member (200) may include a first teaching structure (210), a first grip portion (240), a first connecting portion (260), a second connecting portion (270), and a first friction member (250), and the first teaching structure (210) may include a first teaching portion (220) and a second teaching portion (230). Additionally, the second grip member (300) may include a second teaching structure (310), a second grip portion (340), a third connecting portion (360), a fourth connecting portion (370), and a second friction member (350), and the second teaching structure (310) may include a third teaching portion (320) and a fourth teaching portion (330). Furthermore, the first connecting portion (260), the second connecting portion (270), the third connecting portion (360), and the fourth connecting portion (370) may include a first inner surface (265), a second inner surface (275), a third inner surface (365), and a fourth inner surface (375), respectively.

[0065] The body (400) can be connected to a robotic arm, and the body (400) can move in all directions through the robotic arm. In addition, the transport device (100) can further include a rotation module, and the upper end of the body (400) can be connected to the rotation module. The body (400) can rotate through the rotation module, and as the body (400) rotates, the well plate (500) gripped through the gripper (150) can also rotate.

[0066] The gripper (150) may be connected to the lower end of the body (400), and the gripper (150) may be configured to hold and transport the well plate (500). In addition, the automated analysis device (1000) may correspond to a modular automated analysis device, and as described above, the first analysis device (700), the second analysis device (800), and the sealing device (900) may not be fixed to the bottom surface (660). For example, in the process of installing the modular automated analysis device (1000) at a location designated by the user of the automated analysis device (1000), after positioning the first and second analysis devices (700, 800) and the sealing device (900) on the floor surface (660), the engineer installing the modular automated analysis device (1000) must perform the teaching task for teaching the target positions (e.g., the first and second analysis areas (710, 810) and the sealing area (910)) where the well plate (500) is to be placed on each of the first and second analysis devices (700, 800) and the sealing device (900) via the robotic arm and transfer device (100). In addition, the positions of the first and second analysis devices (700, 800) and the sealing device (900) may change due to external impact during the process of the user using the modular automated analysis device (1000). In such a case, the target positions of each of the first and second analysis devices (700, 800) and the sealing device (900) are changed, so the engineer must perform the teaching task again. In exemplary embodiments, the gripper (150) may be configured to be used for the teaching task.

[0067] As described above, the first position is defined as a position where the gripper (150) is adjacent to the well plate (500) to grip the well plate (500). In other words, the first position may be a position where the engineer has completed the teaching task, and the first position is a state where the gripper (150) (e.g., the first and second grip members (200, 300)) is not in contact with the well plate (500). In exemplary embodiments, at the first position, the first teaching structure (210) may overlap the first alignment mark (510) in a first direction (D1), and at the first position, the second teaching structure (310) may overlap the second alignment mark (520) in a second direction (D2). Here, the first direction (D1) and the second direction (D2) may be substantially opposite directions. Meanwhile, the second position is defined as a position where the gripper (150) grips the well plate (500). In other words, the second position is a state where the first and second grip members (200, 300) come into contact with the well plate (500) after the first grip member (200) moves in the first direction (D1) and the second grip member (300) moves in the second direction (D2) from the first position. In exemplary embodiments, the first grip member (200) and the second grip member (300) may face each other symmetrically. In addition, the gripper (150) may operate in a closed state and an open state. For example, when the gripper (150) grips the well plate (500), the gripper (150) may be in a closed state. Additionally, when the gripper (150) does not grip the well plate (500), the gripper (150) may be in an open state. That is, in the first position, the gripper (150) may be in an open state, and in the second position, the gripper (150) may be in a closed state.

[0068] Referring back to FIG. 7, each of the first teaching portion (220) and the second teaching portion (230) may extend in a third direction (D3), and the first teaching portion (220) and the second teaching portion (230) may be substantially parallel to each other. In exemplary embodiments, as illustrated in FIGS. 9 and 11, a first end of each of the first and second teaching portions (220, 230) at the first position may overlap the first alignment mark (510) in the first direction (D1). Here, the third direction (D3) may be substantially orthogonal to the first and second directions (D1, D2), and the third direction (D3) may be substantially opposite to the fourth direction (D4).

[0069] The first grip portion (240) may be positioned between the first teaching portion (220) and the second teaching portion (230). A first friction member (250) may be fixed to an inner surface of the first grip portion (240). When the first friction member (250) comes into contact with the well plate (500) (for example, at the second position where the gripper (150) grips the well plate (500), the first friction member (250) may come into contact with the first side surface (540) of the well plate (500). The first friction member (250) may be made of a soft material having frictional force to support the well plate (500) while preventing the well plate (500) from being damaged. For example, the first friction member (250) may include urethane, rubber, or the like.

[0070] The first connecting portion (260) can connect the second end of the first teaching portion (220) and the first grip portion (240), and the first connecting portion (260) can include a first inner side surface (265) formed by extending in the first direction (D1). As illustrated in FIG. 13, the first inner side surface (265) of the first connecting portion (260) at the first position can be aligned with the first side surface (540) of the well plate (500).

[0071] The second connecting portion (270) may connect the second end of the second teaching portion (230) and the first grip portion (240), and the second connecting portion (270) may include a second inner side surface (275) formed to extend in the first direction (D1). As illustrated in FIG. 14, the second inner side surface (275) of the second connecting portion (270) at the first position may be aligned with the first side surface (540) of the well plate (500). In exemplary embodiments, the first grip portion (240), the first teaching portion (220), the second teaching portion (230), the first connecting portion (260), and the second connecting portion (270) may be formed integrally.

[0072] Referring back to FIG. 8, each of the third teaching portion (320) and the fourth teaching portion (330) may extend in a third direction (D3), and the third teaching portion (320) and the fourth teaching portion (330) may be substantially parallel to each other. In exemplary embodiments, as illustrated in FIGS. 10 and 12, a first end of each of the third and fourth teaching portions (320, 330) at the first position may overlap the second alignment mark (520) in the second direction (D2).

[0073] The second grip portion (340) may be positioned between the third teaching portion (320) and the fourth teaching portion (330). A second friction member (350) may be fixed to an inner surface of the second grip portion (340). When the second friction member (350) comes into contact with the well plate (500) (for example, at the second position where the gripper (150) grips the well plate (500), the second friction member (350) may come into contact with the second side surface (550) of the well plate (500). The second friction member (350) may be made of substantially the same material as the first friction member (250).

[0074] The third connecting portion (360) can connect the second end of the third teaching portion (320) and the second grip portion (340), and the third connecting portion (360) can include a third inner side surface (365) formed by extending in the second direction (D2). As illustrated in FIG. 13, the third inner side surface (365) of the third connecting portion (360) at the first position can be aligned with the second side surface (550) of the well plate (500).

[0075] The fourth connecting portion (370) may connect the second end of the fourth teaching portion (330) and the second grip portion (340), and the fourth connecting portion (370) may include a fourth inner side surface (375) formed to extend in the second direction (D2). As illustrated in FIG. 14, the fourth inner side surface (375) of the fourth connecting portion (370) at the first position may be aligned with the second side surface (550) of the well plate (500). In exemplary embodiments, the second grip portion (340), the third teaching portion (320), the fourth teaching portion (330), the third connecting portion (360), and the fourth connecting portion (370) may be formed integrally.

[0076] The detection sensor (450) may be positioned on one side of the body (400) and may detect the well plate (500). For example, when the gripper (150) grips the well plate (500), the detection sensor (450) detects the well plate (500), and when the gripper (150) does not grip the well plate (500), the detection sensor (450) does not detect the well plate (500). The detection sensor (450) may be a laser detection sensor that detects the presence or absence of the well plate (500).

[0077] According to exemplary embodiments of the present invention, the automated analysis device (1000) includes a gripper (150) equipped with first and second teaching structures (210, 310), so that an engineer can perform a teaching task using a well plate (500) handled by the automated analysis device (1000). In this case, no additional structure is required for the teaching task, and the teaching task can be easily performed with the naked eye of the engineer. Accordingly, the cost for the teaching task can be relatively reduced, and the time required for the teaching task can be relatively shortened.

[0078] FIGS. 9, 10, 11, 12, 13, and 14 are drawings illustrating a method for performing a teaching operation in an automated analysis device according to exemplary embodiments of the present invention. For example, FIGS. 9 to 14 are drawings for explaining a teaching operation performed in the automated analysis device illustrated in FIGS. 1 to 8.

[0079] Referring to FIGS. 3 and 4, the teaching operation in the automated analysis device (1000) can be performed in the lifting area (610), the first analysis area (710), the sealing area (910), and the second analysis area (810). In other words, the teaching operation in the automated analysis device (1000) can be performed four times. In addition, the gripper (150) can operate in a closed state and an open state. For example, the gripper (150) can be in an open state while the teaching operation is performed.

[0080] Referring to FIGS. 4, 9, and 10, after the well plate (500) is positioned in the lifting area (610), the transport device (100) is positioned on the lifting area (610). After the first and second teaching parts (220, 230) (or the third and fourth teaching parts (320, 330)) of the transport device (100) are lowered to the level where the well plate (500) is positioned, the transport device (100) is moved in the fifth direction (D5) or the sixth direction (D6) (e.g., the x-axis direction) so that the first and second teaching parts (220, 230) (or the third and fourth teaching parts (320, 330)) overlap with the range of the width (w) of the first alignment mark (510) (or the second alignment mark (520)). When the first and second teaching parts (220, 230) overlap with the range of the width (w) of the first alignment mark (510), the x-axis teaching operation can be completed. Here, since the first grip member (200) and the second grip member (300) face each other symmetrically and operate as one unit, when an engineer performs the x-axis teaching operation through the first and second teaching parts (220, 230), the x-axis teaching operation of the third and fourth teaching parts (320, 330) does not need to be performed.

[0081] Referring to FIGS. 11 and 12, after the x-axis teaching operation is completed, the transport device (100) is moved in the third direction (D3) or the fourth direction (D4) (e.g., the z-axis direction) so that the first and second teaching units (220, 230) (or the third and fourth teaching units (320, 330)) overlap with the range of the height (h) of the first alignment mark (510) (or the second alignment mark (520)). When the first and second teaching units (220, 230) overlap with the range of the height (h) of the first alignment mark (510), the z-axis teaching operation can be completed. Here, since the first grip member (200) and the second grip member (300) face each other symmetrically and operate as one unit, if the engineer performs the z-axis teaching work through the first and second teaching parts (220, 230), the z-axis teaching work of the third and fourth teaching parts (320, 330) does not need to be performed.

[0082] Referring to FIGS. 13 and 14, after the z-axis teaching operation is completed, the transfer device (100) is moved in the first direction (D1) or the second direction (D2) so that the first gap (g1) between the well plate (500) and the first friction member (250) and the second gap (g2) between the well plate (500) and the second friction member (350) become substantially the same. When the first and second gaps (g1, g2) are substantially the same, the y-axis teaching operation can be completed. Here, since the first grip member (200) and the second grip member (300) face each other symmetrically and operate as one unit, if the engineer looks in the fifth direction (D5) and performs the y-axis teaching operation, the engineer does not need to look in the sixth direction (D6) and perform the y-axis teaching operation.

[0083] At the same time, the transfer device (100) is rotated so that the first inner side (265) of the first connecting portion (260) (or the second inner side (275) of the second connecting portion (270)) and the first side (540) of the well plate (500) are aligned (e.g., the first inner side (265) and the first side (540) are aligned to the first virtual line (VL1), and the third inner side (365) of the third connecting portion (360) (or the fourth inner side (375) of the fourth connecting portion (370)) and the second side (550) of the well plate (500) are aligned (e.g., the second inner side (365) and the second side (550) are aligned to the second virtual line (VL2). When the first inner side (265) and the first side (540) are aligned, and the third inner side (365) and the second side (550) are aligned, the tilt teaching operation can be completed. Here, since the first grip member (200) and the second grip member (300) face each other symmetrically and operate as one unit, when the engineer looks in the fifth direction (D5) and performs the tilt teaching operation, the engineer does not need to look in the sixth direction (D6) and perform the tilt teaching operation.

[0084] In this way, teaching operations can be performed on each of the first analysis area (710), the sealing area (910), and the second analysis area (810).

[0085] However, although the teaching operation of the present invention has been described as proceeding in the order of the lifting area (610), the first analysis area (710), the sealing area (910), and the second analysis area (810), the teaching method of the present invention is not limited thereto. For example, in other exemplary embodiments, the teaching operation may proceed in the order of the lifting area (610), the second analysis area (810), the sealing area (910), and the first analysis area (710).

[0086] In addition, although the order of the teaching work of the present invention has been described as performing the x-axis teaching work and the z-axis teaching work, and then performing the y-axis teaching work and the tilt teaching work, the teaching method of the present invention is not limited to this. For example, in other exemplary embodiments, the order of the teaching work may be to perform the y-axis teaching work and the tilt teaching work, and then perform the x-axis teaching work and the z-axis teaching work.

[0087] In the teaching method of the automated analysis device according to exemplary embodiments of the present invention, the engineer can perform the teaching task using the first and second alignment marks (510, 520) and the first and second teaching structures (210, 310) of the gripper (150). In this case, no additional structure is required for the teaching task, and the teaching task can be easily performed with the naked eye of the engineer. Accordingly, the cost for the teaching task can be relatively reduced, and the time required for the teaching task can be relatively shortened.

[0088] Fig. 15 is a perspective view illustrating an automated analysis device according to exemplary embodiments of the present invention, and Fig. 16 is a perspective view illustrating a well plate used in the automated analysis device of Fig. 15. For example, Fig. 15 is a perspective view illustrating the inside of the automated analysis device. The automated analysis device (2000) illustrated in Fig. 15 may have a configuration substantially the same as or similar to that of the automated analysis device (1000) described with reference to Figs. 1 to 14, except for the transfer device (105). In Fig. 15, overlapping descriptions of components substantially the same as or similar to those described with reference to Figs. 1 to 14 are omitted.

[0089] Referring to FIGS. 1, 4, 15, and 16, the automated analysis device (2000) may include a housing (650), an elevator device (600), a first analysis device (700), a second analysis device (800), a sealing device (900), a transport device (105), etc. Here, as illustrated in FIGS. 4 and 15, the housing (650) may include a bottom surface (660), and the bottom surface (660) may include a first region (10), a second region (20), a third region (30), and a fourth region (40). In addition, as illustrated in FIG. 16, a plurality of wells (530) may be formed in the well plate (500), and the well plate (500) may include a first alignment mark (510), a second alignment mark (520), a third alignment mark (560), and a fourth alignment mark (570). Furthermore, an automated preparation device can be placed on the automated analysis device (2000), and the automated preparation device can perform a detection composition preparation operation on a well plate (500). The well plate (500) on which the detection composition preparation operation has been completed can be moved from the automated preparation device to the interior of the automated analysis device (2000) via an elevator (600).

[0090] The housing (650) can surround the first analysis device (700), the second analysis device (800), the sealing device (900), the lifting device (600), the transport device (105), etc. The bottom surface (660) of the housing (650) can face the ceiling surface of the housing (650), and the ceiling surface of the housing (650) can be adjacent to the automated preparation device.

[0091] The first analysis device (700) may be positioned in the first region (10) of the inner bottom surface (660) of the housing (650). In exemplary embodiments, the first analysis device (700) may not be fixed to the bottom surface (660), but may be placed on the bottom surface (660). The first analysis device (700) may include a first analysis region (710), and the first analysis region (710) may correspond to a region where the well plate (500) is to be positioned.

[0092] The second analysis device (800) may be positioned in the third region (30) of the bottom surface (660). In exemplary embodiments, the second analysis device (800) may not be fixed to the bottom surface (660), but may be placed on the bottom surface (660). The second analysis device (800) may include a second analysis region (810), and the second analysis region (810) may correspond to a region where the well plate (500) is to be positioned.

[0093] The sealing device (900) may be positioned in the second region (20) of the bottom surface (660). In exemplary embodiments, the sealing device (900) may not be fixed to the bottom surface (660), but may be placed on the bottom surface (660). The sealing device (900) may include a sealing region (910), and the sealing region (910) may correspond to an region where the well plate (500) is to be positioned.

[0094] The lifting device (600) may be located in the fourth area (40) of the floor surface (660). The lifting device (600) may be fixed to the floor surface (660) and the ceiling surface. The lifting device (600) may include an lifting area (610), and the lifting area (610) may correspond to an area where the well plate (500) is to be located.

[0095] The transport device (105) may be positioned below the ceiling surface inside the housing (650). The transport device (100) may move the body of the transport device (105) in all directions below the ceiling surface via a robotic arm. For example, the transport device (105) may transport a well plate (500) positioned in the lifting area (610) to the sealing area (910), and may transport a well plate (500) positioned in the sealing area (910) to the first analysis area (710) or the second analysis area (810).

[0096] The well plate (500) may include a first side (540), a second side (550), a third side (580), and a fourth side (590). A first alignment mark (510) may be formed on the first side (540), a second alignment mark (520) may be formed on the second side (550), a third alignment mark (560) may be formed on the third side (580), and a fourth alignment mark (570) may be formed on the fourth side (590). The first alignment mark (510) and the second alignment mark (520) may be opposite to each other, and the first side (540) and the second side (550) may be substantially parallel to each other. Additionally, the third alignment mark (560) and the fourth alignment mark (570) may be opposite to each other, and the third side (580) and the fourth side (590) may be substantially parallel to each other. In exemplary embodiments, the first to fourth alignment marks (510, 520, 560, 570) may be openings formed in the first to fourth side surfaces (540, 550, 580, 590) of the well plate (500), respectively, and the first to fourth alignment marks (510, 520, 560, 570) may be visible to the naked eye. Additionally, the shapes of each of the first to fourth alignment marks (510, 520, 560, 570) may be substantially the same. In exemplary embodiments, the well plate (500) may be a PCR well plate including 96 wells (530).

[0097] In exemplary embodiments, the transport device (105) does not include a gripper for holding the well plate (500), and the transport device (100) can transport the well plate (500) while supporting the well plate (500) using the opening (i.e., the first to fourth alignment marks (510, 520, 560, 570)).

[0098] However, although the first to fourth alignment marks (510, 520, 560, 570) of the present invention have been described as being open, the configuration of the present invention is not limited thereto. For example, in other exemplary embodiments, the first to fourth alignment marks (510, 520, 560, 570) may include a symbol visible to the naked eye, a corner of the well plate (500) visible to the naked eye, a groove recessed inward from each of the first to fourth side surfaces (540, 550, 580, 590) of the well plate (500) visible to the naked eye, etc.

[0099] Fig. 17 is a perspective view showing a transport device included in the automated analysis device of Fig. 15, and Figs. 18 and 19 are drawings for explaining grippers included in the transport device of Fig. 17. For example, Figs. 17a and 17b are perspective views showing a first position where a gripper is positioned adjacent to a well plate to grip the well plate, and Fig. 17c is a perspective view showing a second position where the gripper grips the well plate. In addition, Figs. 18a, 18b, and 18c are drawings showing a first grip member, and Figs. 8a, 8b, and 8c are drawings showing a second grip member.

[0100] Referring to FIGS. 17, 18, and 19, the transport device (105) may include a body (400), a detection sensor (450), a gripper (155), etc., and the gripper (155) may include a first grip member (200) and a second grip member (300). Here, the first grip member (200) may include a first teaching structure (210), a first support structure (245), and a first connecting portion (260), and the first teaching structure (210) may include a first teaching unit (220), a second teaching unit (230), a third teaching unit (225), and a fourth teaching unit (235). Additionally, the second grip member (300) may include a second teaching structure (310), a second support structure (345), and a second connecting portion (360), and the second teaching structure (310) may include a fifth teaching portion (320), a sixth teaching portion (330), a seventh teaching portion (325), and an eighth teaching portion (335). Furthermore, the first support structure (245) may include a first support portion (221) and a second support portion (231), and the second support structure (345) may include a third support portion (321) and a fourth support portion (331).

[0101] The body (400) can be connected to a robotic arm, and the body (400) can move in all directions through the robotic arm. In addition, the transport device (105) can further include a rotation module, and the upper end of the body (400) can be connected to the rotation module. The body (400) can rotate through the rotation module, and as the body (400) rotates, the well plate (500) gripped through the gripper (155) can also rotate.

[0102] The gripper (155) may be connected to the lower end of the body (400), and the gripper (155) may be configured to support and transport the well plate (500). In addition, the automated analysis device (2000) may correspond to a modular automated analysis device, and as described above, the first analysis device (700), the second analysis device (800), and the sealing device (900) may not be fixed to the bottom surface (660). For example, in the process of installing the modular automated analysis device (2000) at a location designated by the user of the automated analysis device (2000), after positioning the first and second analysis devices (700, 800) and the sealing device (900) on the floor surface (660), the engineer installing the modular automated analysis device (2000) must perform the teaching task for teaching the target positions (e.g., the first and second analysis areas (710, 810) and the sealing area (910)) where the well plate (500) is to be placed on each of the first and second analysis devices (700, 800) and the sealing device (900) via the robotic arm and transfer device (105). In addition, the positions of the first and second analysis devices (700, 800) and the sealing device (900) may change due to external impact during the process of the user using the modular automated analysis device (2000). In such a case, the target positions of each of the first and second analysis devices (700, 800) and the sealing device (900) are changed, so the engineer must perform the teaching task again. In exemplary embodiments, the gripper (155) may be configured to be used for the teaching task.

[0103] As described above, the first position is defined as a position where the gripper (155) is adjacent to the well plate (500) to grip the well plate (500). In other words, the first position may be a position where the engineer has completed the teaching task, and the first position is a state where the gripper (155) (e.g., the first and second grip members (200, 300)) does not contact the well plate (500). In exemplary embodiments, at the first position, the first teaching portion (220) and the second teaching portion (230) of the first teaching structure (210) may overlap the first alignment mark (510) in the first direction (D1), and at the first position, the fifth teaching portion (320) and the sixth teaching portion (330) of the second teaching structure (310) may overlap the second alignment mark (520) in the second direction (D2). In addition, the third teaching unit (225) of the first teaching structure (210) and the seventh teaching unit (325) of the second teaching structure (310) may overlap in the third direction (D3) (or the fourth direction (D4)), and the fourth teaching unit (235) of the first teaching structure (210) and the eighth teaching unit (335) of the second teaching structure (310) may overlap in the third direction (D3). Here, the first direction (D1) and the second direction (D2) may be substantially opposite directions, the third direction (D3) and the fourth direction (D4) may be substantially opposite directions, and the first and second directions (D1, D2) may be substantially orthogonal to the third and fourth directions (D3, D4). Meanwhile, the second position is defined as a position where the gripper (155) supports the well plate (500).In other words, the second position is a state in which the first grip member (200) moves in the first direction (D1) and the second grip member (300) moves in the second direction (D2) from the first position, and then the first support structure (245) of the first grip member (200) and the second support structure (345) of the second grip member (300) are located inside the well plate (500) through the first and second alignment marks (510, 520). In exemplary embodiments, the first grip member (200) and the second grip member (300) may face each other symmetrically.

[0104] Referring back to FIG. 18, each of the first teaching portion (220) and the second teaching portion (230) may extend in a third direction (D3), and the first teaching portion (220) and the second teaching portion (230) may be substantially parallel to each other. In exemplary embodiments, as illustrated in FIGS. 20 and 22, each of the first and second teaching portions (220, 230) at the first position may overlap the first alignment mark (510) in the first direction (D1). In addition, as illustrated in FIG. 24, at the first position, the third teaching portion (225) can overlap with the third alignment mark (560) in the third direction (D3) (or the fourth direction (D4)), and as illustrated in FIG. 25, at the first position, the fourth teaching portion (235) can overlap with the fourth alignment mark (570) in the third direction (D3) (or the fourth direction (D4)).

[0105] The first support portion (221) may correspond to a portion extending in a first direction (D1) from the first teaching portion (220), and the second support portion (231) may correspond to a portion extending in the first direction (D1) from the second teaching portion (230). The first support portion (221) and the second support portion (231) may be substantially parallel to each other. At the second position, the first and second support portions (221, 231) may be positioned inside the well plate (500) through the first alignment mark (510) (i.e., the opening), and when the transport device (105) moves in the fourth direction (D4), the first and second support portions (221, 231) may support the well plate (500). In other words, when the transport device (105) moves in the fourth direction (D4) from the second position, the well plate (500) can be lifted by the first and second supports (221, 231).

[0106] The first connecting portion (260) can connect the first teaching portion (220), the second teaching portion (230), the third teaching portion (225), and the fourth teaching portion (235). For example, when viewed in the third direction (D3), the first teaching portion (220) and the second teaching portion (230) can be connected to the first connecting portion (260) extending in the fifth direction (D5) (or the sixth direction (D6)), and the third teaching portion (225) and the fourth teaching portion (235) can be connected to two first connecting portions (260) extending in the first direction (D1) (or the second direction (D2)), respectively. In exemplary embodiments, the first teaching unit (220), the second teaching unit (230), the third teaching unit (225), the fourth teaching unit (235), the first support unit (221), the second support unit (231), and the first connecting unit (260) may be formed integrally.

[0107] Referring back to FIG. 19, each of the fifth teaching portion (320) and the sixth teaching portion (330) may extend in a third direction (D3), and the fifth teaching portion (320) and the sixth teaching portion (330) may be substantially parallel to each other. In exemplary embodiments, as illustrated in FIGS. 21 and 23, each of the fifth and sixth teaching portions (320, 330) at the first position may overlap the second alignment mark (520) in the second direction (D2). In addition, as illustrated in FIG. 24, at the first position, the seventh teaching portion (325) can overlap with the third alignment mark (560) in the third direction (D3) (or the fourth direction (D4)), and as illustrated in FIG. 25, at the first position, the eighth teaching portion (335) can overlap with the fourth alignment mark (570) in the third direction (D3) (or the fourth direction (D4)).

[0108] The third support member (321) may correspond to a portion extending in the second direction (D2) from the fifth teaching member (320), and the fourth support member (331) may correspond to a portion extending in the second direction (D2) from the sixth teaching member (330). The third support member (321) and the fourth support member (331) may be substantially parallel to each other. At the second position, the third and fourth support members (321, 331) may be positioned inside the well plate (500) through the second alignment mark (520) (i.e., the opening), and when the transport device (105) moves in the fourth direction (D4), the third and fourth support members (321, 431) may support the well plate (500). In other words, when the transport device (105) moves in the fourth direction (D4) from the second position, the well plate (500) can be lifted by the third and fourth supports (321, 331).

[0109] The second connecting portion (360) can connect the fifth teaching portion (320), the sixth teaching portion (330), the seventh teaching portion (325), and the eighth teaching portion (335). For example, when viewed in the third direction (D3), the fifth teaching portion (320) and the sixth teaching portion (330) can be connected to the second connecting portion (360) extending in the fifth direction (D5) (or the sixth direction (D6)), and the seventh teaching portion (325) and the eighth teaching portion (335) can be connected to two second connecting portions (360) extending in the first direction (D1) (or the second direction (D2)), respectively. In exemplary embodiments, the fifth teaching unit (320), the sixth teaching unit (330), the seventh teaching unit (325), the eighth teaching unit (335), the third support unit (321), the fourth support unit (331), and the second connecting unit (360) may be formed integrally.

[0110] According to exemplary embodiments of the present invention, an automated analysis device (2000) includes a gripper (155) equipped with first and second teaching structures (210, 310), thereby enabling a teaching operation to be performed using a well plate (500) handled by the engineer automated analysis device (2000). In this case, no additional structure is required for the teaching operation, and the teaching operation can be easily performed with the naked eye of the engineer. Accordingly, the cost for the teaching operation can be relatively reduced, and the time required for the teaching operation can be relatively shortened.

[0111] In addition, the automated analysis device (2000) includes a gripper (155) having first to fourth support portions (221, 231, 321, 331) of the first and second support structures (245, 345), so that the transfer device (105) can transfer the well plate (500) while supporting the well plate (500) handled by the automated analysis device (2000). Accordingly, the manufacturing cost of the transfer device (105) can be relatively reduced by transferring the well plate (500) without an additional member (e.g., a friction member), and the shape of the well plate (500) can not be deformed because the gripper (155) does not press the well plate (500) to hold the well plate (500).

[0112] FIGS. 20, 21, 22, 23, 24, and 25 are drawings illustrating a method for performing a teaching operation in an automated analysis device according to exemplary embodiments of the present invention. For example, FIGS. 21 to 25 are drawings for explaining a teaching operation performed in the automated analysis device illustrated in FIGS. 15 to 19.

[0113] Referring to FIGS. 3 and 4, the teaching operation in the automated analysis device (2000) can be performed in the lifting area (610), the first analysis area (710), the sealing area (910), and the second analysis area (810). In other words, the teaching operation in the automated analysis device (2000) can be performed four times. In addition, the gripper (155) can operate in a closed state and an open state. For example, the gripper (155) can be in an open state while the teaching operation is being performed.

[0114] Referring to FIGS. 4, 20, and 21, after the well plate (500) is positioned in the lifting area (610), the transport device (105) is positioned on the lifting area (610). After the first and second teaching parts (220, 230) (or the fifth and sixth teaching parts (320, 330)) of the transport device (100) are lowered to the level where the well plate (500) is positioned, the transport device (105) is moved in the fifth direction (D5) or the sixth direction (D6) (e.g., the x-axis direction) so that the first and second teaching parts (220, 230) (or the fifth and sixth teaching parts (320, 330)) overlap with the range of the width (w) of the first alignment mark (510) (or the second alignment mark (520)). When the first and second teaching parts (220, 230) overlap with the range of the width (w) of the first alignment mark (510), the x-axis teaching operation can be completed. Here, since the first grip member (200) and the second grip member (300) face each other symmetrically and operate as one unit, when an engineer performs the x-axis teaching operation through the first and second teaching parts (220, 230), the x-axis teaching operation of the fifth and sixth teaching parts (320, 330) does not need to be performed.

[0115] Referring to FIGS. 22 and 23, after the x-axis teaching operation is completed, the transport device (105) is moved in the third direction (D3) or the fourth direction (D4) (e.g., the z-axis direction) so that the first and second teaching units (220, 230) (or the fifth and sixth teaching units (320, 330)) overlap with the range of the height (h) of the first alignment mark (510) (or the second alignment mark (520)). When the first and second teaching units (220, 230) overlap with the range of the height (h) of the first alignment mark (510), the z-axis teaching operation can be completed. Here, since the first grip member (200) and the second grip member (300) face each other symmetrically and operate as one unit, if the engineer performs the z-axis teaching work through the first and second teaching parts (220, 230), the z-axis teaching work of the fifth and sixth teaching parts (320, 330) does not need to be performed.

[0116] Referring to FIGS. 24 and 25, after the z-axis teaching operation is completed, the transfer device (105) is moved in the fifth direction (D5) or the sixth direction (D6) (e.g., the y-axis direction) so that the third and seventh teaching units (225, 325) (or the fourth and eighth teaching units (235, 335)) overlap with the range of the width (w) of the third alignment mark (560) (or the fourth alignment mark (570)). When the third and seventh teaching units (225, 325) (or the fourth and eighth teaching units (235, 335)) overlap with the range of the width (w) of the third alignment mark (560) (or the fourth alignment mark (570)), the y-axis teaching operation can be completed. Here, since the first grip member (200) and the second grip member (300) face each other symmetrically and operate as one unit, if the engineer performs the y-axis teaching work through the third and seventh teaching units (225, 325), the y-axis teaching work of the fourth and eighth teaching units (235, 335) does not need to be performed.

[0117] At the same time, when looking in the fifth direction (D5), the transport device (105) is rotated so that the side surfaces of each of the third and seventh teaching parts (225, 325) (or the fourth and eighth teaching parts (235, 335)) are not visible. When looking in the fifth direction (D5), when the side surfaces of each of the third and seventh teaching parts (225, 325) are not visible (for example, when only the front surfaces of each of the third and seventh teaching parts (225, 325) are visible), the tilt teaching operation can be completed. Here, since the first grip member (200) and the second grip member (300) face each other symmetrically and operate as one, when the engineer looks in the fifth direction (D5) and performs the tilt teaching operation, the engineer does not need to look in the sixth direction (D6) and perform the tilt teaching operation.

[0118] In the teaching method of the automated analysis device according to exemplary embodiments of the present invention, the engineer can perform the teaching task using the first to fourth alignment marks (510, 520, 560, 570) and the first and second teaching structures (210, 310) of the gripper (155). In this case, no additional structure is required for the teaching task, and the teaching task can be easily performed with the naked eye of the engineer. Accordingly, the cost for the teaching task can be relatively reduced, and the time required for the teaching task can be relatively shortened.

[0119] Although the present invention has been described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various modifications and changes may be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below.

[0120] The present invention can be applied to various automated devices comprising modular devices. For example, it can be applied to modular automated analysis devices requiring teaching operations.

[0121] <Explanation of symbols>

[0122] 100: Transfer device 150: Gripper

[0123] 200: First grip member 210: First teaching structure

[0124] 220, 230: First and second teaching parts 240: First grip part

[0125] 250: First friction member 260, 270: First and second connecting parts

[0126] 265, 275: first and second inner surfaces 300: second grip member

[0127] 310: Second teaching structure 320, 330: Third and fourth teaching sections

[0128] 340: Second grip portion 350: Second friction member

[0129] 360, 370: Third and fourth connecting parts 365, 375: Third and fourth inner surfaces

[0130] 400: Body 450: Detection sensor

[0131] 500: Well plate 510: First and second alignment marks

[0132] 530: Well 540, 550: First and second sides

[0133] 600: Elevator 610: Elevator area

[0134] 650: Housing 660: Bottom

[0135] 700, 800: First and second analysis devices 710, 810: First and second analysis areas

[0136] 900: Sealing device 910: Sealing area

[0137] 1000: Automated Analysis Device

Claims

1. In a transport device for transporting a well plate including first and second alignment marks, body; and A gripper comprising a first grip member having a first teaching structure and a second grip member having a second teaching structure, and connected to the lower end of the body and configured to grip the well plate, In a first position where the gripper is positioned adjacent to the well plate to hold the well plate, The above first teaching structure overlaps the above first alignment mark in the first direction, A transport device characterized in that the second teaching structure overlaps the second alignment mark in the second direction.

2. In the first paragraph, the first teaching structure, A first teaching section extending in the third direction; and A transport device characterized by including a second teaching portion extending in the third direction and parallel to the first teaching portion.

3. In the second paragraph, the first alignment mark includes two first alignment marks, A transport device characterized in that the first end of the first teaching section and the first end of the second teaching section at the first position overlap with the first alignment marks in the first direction, respectively.

4. A transport device according to claim 3, characterized in that the first alignment marks are located on the first side of the well plate.

5. In the second paragraph, the first grip member, A first grip portion positioned between the first and second teaching portions; and Further comprising a first friction member fixed to the inner surface of the first grip portion, A transport device characterized in that the first friction member contacts the first side of the well plate at the second position where the gripper holds the well plate.

6. In the fifth paragraph, the first grip member, A first connecting portion connecting the first teaching portion and the first grip portion and extending in the first direction; and A transport device characterized in that it further includes a second connecting portion that connects the second teaching portion and the first grip portion and extends in the first direction.

7. A transport device according to claim 6, characterized in that the first inner side surface of the first connecting portion formed by extending in the first direction and the second inner side surface of the second connecting portion formed by extending in the first direction are aligned with the first side surface of the well plate at the first position.

8. In the first paragraph, the second teaching structure, a third teaching section extending in a third direction; and A transport device characterized by including a fourth teaching portion extending in the third direction and parallel to the third teaching portion.

9. In the 8th paragraph, the second alignment mark includes two second alignment marks, A transport device characterized in that the first end of the third teaching part and the first end of the fourth teaching part at the first position overlap with the second alignment marks in the second direction, respectively.

10. A transport device according to claim 9, wherein the second alignment marks are located on the second side of the well plate, and the first and second alignment marks are opposite to each other.

11. In the 8th paragraph, the second grip member, A second grip portion located between the third and fourth teaching portions; and Further comprising a second friction member fixed to the inner surface of the first grip portion, A transport device characterized in that the second friction member contacts the second side of the well plate at the second position where the gripper holds the well plate.

12. In the 11th paragraph, the second grip member, A third connecting portion connecting the second end of the third teaching portion and the second grip portion and extending in the second direction; and A transport device characterized in that it further includes a fourth connecting portion that connects the second end of the fourth teaching portion and the second grip portion and extends in the second direction.

13. A transport device characterized in that, in the 12th paragraph, the third inner side surface of the third connecting portion formed by extending in the second direction and the fourth inner side surface of the fourth connecting portion formed by extending in the second direction are aligned with the second side surface of the well plate at the first position.

14. A transport device characterized in that in the first paragraph, the first grip member and the second grip member are symmetrically facing each other.

15. A transport device characterized in that, in the first paragraph, the first grip member moves in the first direction at the first position and the second grip member moves in the second direction at the first position, and then the first and second grip members grip the well plate.

16. A transport device according to claim 1, characterized in that the first and second alignment marks are visible to the naked eye.

17. A transport device according to claim 1, wherein the first and second alignment marks are at least one selected from a symbol, a corner of the well plate, a groove recessed inward from each of the first and second sides of the well plate, and an opening formed in each of the first and second sides of the well plate.

18. In a transport device for transporting a well plate including alignment marks, body; and A transport device comprising a gripper connected to the lower end of the body, configured to hold the well plate, and configured to be used for teaching operations using the alignment marks of the well plate.

19. In a transport device for transporting a well plate including first and second alignment marks, body; and A first teaching structure including a first teaching portion extending in a third direction and a second teaching portion extending in the third direction and parallel to the first teaching portion; A first grip portion positioned between the first and second teaching portions; A first friction member fixed to the inner surface of the first grip portion; A first connecting portion connecting the second end of the first teaching portion and the first grip portion and extending in the first direction; and A first grip member that connects the second end of the second teaching part and the first grip part and includes a second connecting part extending in the first direction; and A second teaching structure including a third teaching portion extending in the third direction and a fourth teaching portion extending in the third direction and parallel to the third teaching portion; A second grip portion located between the third and fourth teaching portions; A second friction member fixed to the inner surface of the first grip portion; A third connecting portion connecting the second end of the third teaching portion and the second grip portion and extending in the second direction; and A second grip member including a fourth connecting portion extending in the second direction and connecting the second end of the fourth teaching portion to the second grip portion, and a gripper connected to the lower end of the body and configured to hold the well plate, In a first position where the gripper is positioned adjacent to the well plate to hold the well plate, The above first teaching structure overlaps the above first alignment mark in the first direction, A transport device characterized in that the second teaching structure overlaps the second alignment mark in the second direction.

20. In an automated analysis device for handling a well plate including first and second alignment marks, housing; An analysis device disposed in a first area of ​​the bottom surface of the housing and including an analysis area in which the well plate is to be placed; A body, a first grip member having a first teaching structure, and a second grip member having a second teaching structure, the gripper being connected to the lower end of the body and configured to hold a well plate including first and second alignment marks, and a transfer device configured to transfer the well plate to the analysis area, In a first position where the gripper is positioned adjacent to the well plate to hold the well plate, The above first teaching structure overlaps the above first alignment mark in the first direction, An automated analysis device characterized in that the second teaching structure overlaps the second alignment mark in a second direction.

21. In paragraph 20, An automated analysis device characterized in that it further comprises a sealing device disposed in a second area of ​​the bottom surface of the housing and including a sealing area in which the well plate is to be disposed.

22. An automated analysis device according to claim 21, characterized in that the analysis device and the sealing device are not fixed to the bottom surface of the housing.

23. In the 21st paragraph, after the transport device transports the well plate to the sealing area, the sealing device seals the upper surface of the well plate, An automated analysis device characterized in that after the transport device transports the sealed well plate to the analysis area, the analysis device analyzes the target substance.

24. A step of positioning a well plate including alignment marks in the analysis area of ​​the analysis device; A step of lowering a transport device including a gripper having a teaching structure to a level where the well plate is located; and A teaching method of an automated analysis device, comprising a step of performing a teaching operation of the transfer device using the teaching structure and the alignment mark.

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