U.S. patent application number 14/690902 was filed with the patent office on 2015-08-13 for microscope system.
The applicant listed for this patent is Sony Corporation. Invention is credited to Yu HIRONO, Yuichi MACHIDA, Fumiyasu SUZUKI.
Application Number | 20150226662 14/690902 |
Document ID | / |
Family ID | 45399832 |
Filed Date | 2015-08-13 |
United States Patent
Application |
20150226662 |
Kind Code |
A1 |
HIRONO; Yu ; et al. |
August 13, 2015 |
MICROSCOPE SYSTEM
Abstract
A microscope system including: a storage unit storing two or
more sheets of slide glasses to be subjected to a predetermined
treatment; a stage holding only one sheet of slide glass to be
subjected to the treatment; a supply arm by which one sheet of
slide glass to be subjected to the treatment is picked up from the
storage unit and supplied onto the stage; a discharge arm by which
the slide glass mounted on the stage is picked up and discharged in
the storage unit; a moving unit operable to move the supply arm and
the discharge arm in an integral manner so as to bring the supply
arm or the discharge arm into proximity to each of the storage unit
and the stage; and a control unit operable to control the supply
arm, the discharge arm and the moving unit.
Inventors: |
HIRONO; Yu; (Tokyo, JP)
; SUZUKI; Fumiyasu; (Saitama, JP) ; MACHIDA;
Yuichi; (Kanagawa, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Sony Corporation |
Tokyo |
|
JP |
|
|
Family ID: |
45399832 |
Appl. No.: |
14/690902 |
Filed: |
April 20, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
13167990 |
Jun 24, 2011 |
9013569 |
|
|
14690902 |
|
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Current U.S.
Class: |
359/391 |
Current CPC
Class: |
G02B 21/26 20130101;
G01N 21/13 20130101; G01N 2021/135 20130101; G02B 21/34
20130101 |
International
Class: |
G01N 21/13 20060101
G01N021/13; G02B 21/34 20060101 G02B021/34; G02B 21/26 20060101
G02B021/26 |
Foreign Application Data
Date |
Code |
Application Number |
Jun 30, 2010 |
JP |
2010-150528 |
Claims
1. (canceled)
2. A microscope system comprising: a storage unit capable of
storing at least a first slide glass and a second slide glass; a
microscope including a stage capable of holding at least one of the
first slide glass and the second slide glass; a supply arm capable
of transferring the first slide glass from the storage unit and
supplying the first slide glass onto the stage; a discharge arm
capable of transferring the first slide glass from the stage and
discharging the first slide glass into the storage unit; and a
control unit, wherein the control unit is configured to control the
supply arm and the discharge arm and is further configured to
control transferring the second slide glass onto the stage by the
supply arm after the first slide glass is transferred from the
stage by the discharge arm.
3. The microscope system according to claim 2, further comprising a
moving unit configured to move the supply arm and the discharge arm
in an integral manner so as to bring the supply arm and the
discharge arm into proximity to each of the storage unit and the
stage.
4. The microscope system according to claim 3, wherein the control
unit is configured to control the moving unit.
5. The microscope system according to claim 3, wherein the moving
unit includes a carriage moved with the supply arm and the
discharge arm associated with a base.
6. The microscope system according to claim 5, wherein the moving
unit includes a fixed base section and a rotating section
configured to rotate about a rotation axis relative to the base
section, and wherein the carriage is configured to move in a
direction substantially parallel to the rotation axis.
7. The microscope system according to claim 6, wherein the storage
unit has at least one storage device configured to store the at
least first slide glass and second slide glass, and wherein the
storage unit is arranged on a circumference of a circle having a
center on the rotation axis associated with the base section.
8. The microscope system according to claim 2, wherein the supply
arm includes a supply fixed arm section having a supply holding
space configured to hold at least one of the first slide glass and
the second slide glass and a supply moving arm section having a
supply holding unit configured to hold at least one of the first
slide glass and the second slide glass.
9. The microscope system according to claim 8, wherein the supply
arm includes a supply guide capable of preventing at least one of
the first slide glass and the second slide glass from falling off
the supply arm.
10. The microscope system according to claim 9, wherein the supply
guide includes at least two supply guide sections.
11. The microscope system according to claim 8, wherein the supply
holding unit includes a supply fixed holding element fixed to the
supply moving arm section, a supply moving holding element
configured to move in a direction based on the control unit, and a
hold spacing detection section that detects a hold spacing between
the supply fixed holding element and the supply moving holding
element in the direction.
12. The microscope system according to claim 11, wherein the
control unit is configured to determine whether or not at least one
of the first slide glass and the second slide glass is within an
allowable range, based on the hold spacing.
13. The microscope system according to claim 2, the discharge arm
further includes a discharge fixed arm section having a discharge
holding space configured to hold the sheet of slide glasses, and a
discharge moving arm section having a discharge holding unit
configured to hold the slide glass and to move in a moving
direction relative to the discharge fixed arm section.
14. The microscope system according to claim 2, wherein the
discharge arm includes a discharge guide capable of preventing at
least one of the first slide glass and the second slide glass from
falling off the discharge arm.
15. The microscope system according to claim 14, wherein the
discharge guide further includes at least two discharge guide
sections.
16. A method for using a microscope system comprising: operating a
supply arm capable of transferring at least one of a first slide
glass and a second slide glass from a storage unit; mounting the
first slide glass onto a stage of a microscope; transferring the
second slide glass from the storage unit; moving the supply arm and
the discharge arm into proximity to the stage; transferring the
first slide glass from the stage; mounting the second slide glass
onto the stage; moving the supply arm and the discharge arm into
proximity to the storage unit; and discharging the second slide
glass into the storage unit.
17. The method according to claim 16, further comprising preventing
at least one of the first slide glass and the second slide glass
from falling off the supply arm.
18. The method according to claim 16, further comprising holding at
least one of the first slide glass and the second slide glass in a
supply holding space.
19. The method according to claim 16, further comprising holding at
least one of the first slide glass and the second slide glass with
a supply holding unit of the supply arm, and wherein the supply
holding unit is configured to be moved in a direction associated
with a supply fixed arm section of the supply arm.
20. The method according to claim 16, wherein moving the supply arm
and the discharge arm includes rotating the supply arm and the
discharge arm about a rotation axis.
21. The method according to claim 16, further comprising holding at
least one of the first slide glass and the second slide glass in a
supply holding space fixed to a carriage.
Description
CROSS REFERENCES TO RELATED APPLICATIONS
[0001] The present application is a divisional of U.S. patent
application Ser. No. 13/167,990, filed on Jun. 24, 2011, which
claims priority to Japanese Patent Application JP 2010-150528 filed
on Jun. 30, 2010, the entire content of which is hereby
incorporated by reference.
BACKGROUND
[0002] The present application relates to a conveying device, a
conveying method and a microscope system, and is suitable for
application, for example, to the field of observing a biological
sample (living body sample) through magnification.
[0003] Heretofore, as a technique of observing a biological sample,
there has been widely used a technique in which the biological
sample is placed on a stage of a microscope and is observed by the
observer's naked eye.
[0004] On the other hand, in recent years, there has been proposed
a microscope system corresponding to the so-called virtual slide
system in which an image sensing element is disposed at the focal
position of an ocular of a microscope, namely, at a location
corresponding to the observer's eye, and image data representing a
biological sample in a magnified form is formed.
[0005] The thus formed image data has various advantages in that
the image data can be presented to the observer in the state of
being displayed on a display unit of a computer system or the like,
the image data is excellent in storage properties and
reproducibility, the image data can be easily transmitted to a
remote place, and so on.
[0006] Particularly, in the case where it is desired to form
multiple pieces of image data of biological samples, it may be
necessary in the microscope system to repeat a replacing treatment
of preliminarily preparing a multiplicity of slide glasses,
supplying one sheet of the slide glass onto a stage, performing a
photographing treatment (image pick-up treatment) and then
replacing the slide glass.
[0007] In view of this, examples of the microscope systems which
have been proposed include one in which, in order to automate the
replacing treatment, one sheet of slide glass at a time is taken
out from a cassette in which a plurality of rows of stacks each
having slide glasses stacked at a predetermined interval are
contained, and the thus taken-out slide glass is conveyed along a
rectilinear direction, to be sequentially set onto a stage one by
one (see, for example, PCT Patent Publication No. WO2006/098442
(FIGS. 1 and 3), hereinafter referred to as Patent Document 1).
SUMMARY
[0008] In such a microscope system as above-mentioned, however,
there has been the problem that the time required for replacement
of the slide glass is prolonged as the distance between the
containing site for the slide glass in the cassette and the stage
increases.
[0009] Thus, there is a need for a proposal of a conveying device,
a conveying method and a microscope system such that replacement of
a slide glass can be carried out in a short time.
[0010] According to one embodiment, there is provided a conveying
device including: a storage unit storing two or more sheets of
slide glasses to be subjected to a predetermined treatment; a stage
holding only one sheet of slide glass to be subjected to the
treatment; a supply arm by which one sheet of slide glass to be
subjected to the treatment is picked up from the storage unit and
supplied onto the stage; a discharge arm by which the slide glass
mounted on the stage is picked up and discharged in the storage
unit; a moving unit operable to move the supply arm and the
discharge arm in an integral manner so as to bring the supply arm
or the discharge arm into proximity to the storage unit or the
stage; and a control unit operable to control the supply arm, the
discharge arm and the moving unit. In the conveying device, the
control unit performs such a control that a second one of the slide
glasses to be subjected to the treatment subsequently to a first
one of the slide glasses mounted on the stage is picked up by the
supply arm, thereafter the first slide glass is picked up from the
stage by the discharge arm brought into proximity to the stage by
the moving unit, and then the second slide glass is mounted onto
the stage by the supply arm.
[0011] The conveying device ensures that when the treatment of the
first slide glass is finished, the first slide glass can be
discharged by the discharge arm having been in a stand-by state in
the vicinity of the stage, and, subsequently, the second slide
glass can be supplied by the supply arm. Thus, the conveying device
ensures that the treatment of the second slide glass can
immediately be started, while only requiring a little replacing
time, after the treatment of the first slide glass is finished.
[0012] According to another embodiment, there is provided a
conveying method including: a first step in which a supply arm
operable to pick up one sheet of slide glass from a storage unit
storing two or more sheets of slide glasses to be subjected to a
predetermined treatment and operable to supply the one sheet of
slide glass onto a stage for holding only one sheet of slide glass
thereon and a discharge arm operable to pick up the slide glass
mounted on the stage and discharge the slide glass into the storage
unit are brought into proximity to the storage unit by a rotating
section operable to rotate the supply arm and the discharge arm as
one body about a predetermined rotation axis so as to bring the
supply arm and the discharge arm into proximity to the storage unit
or the stage; a second step of picking up a second slide glass from
the storage unit by the supply arm; a third step of bringing the
supply arm and the discharge arm into proximity to the stage by the
rotating section; a fourth step of picking up a first slide glass
from the stage by the discharge arm; a fifth step of mounting the
second slide glass onto the stage by the supply arm; a sixth step
of bringing the supply arm and the discharge arm into proximity to
the storage unit by the rotating section; and a seventh step of
mounting the second slide glass onto the storage unit by the
discharge arm.
[0013] The conveying method ensures that when the treatment of the
first slide glass is finished, the first slide glass can be
discharged by the discharge arm having been in a stand-by state in
the vicinity of the stage, and, subsequently, the second slide
glass can be supplied by the supply arm. Thus, the conveying method
ensures that the treatment of the second slide glass can
immediately be started, while requiring only a little replacing
time, after the treatment of the first slide glass is finished.
[0014] According to a further embodiment, there is provided a
microscope system including: a storage unit operable to store two
or more sheets of slide glasses each having fixed thereon an object
of which a magnified image is to be formed; a stage operable to
hold thereon only one of the sheets of slide glasses; a supply arm
by which the one of the sheets of slide glasses is picked up from
the storage unit and supplied onto the stage; a discharge arm by
which the slide glass mounted on the stage is picked up and
discharged into the storage unit; a moving section operable to move
the supply arm and the discharge arm as one body so as to bring the
supply arm or the discharge arm into proximity to the storage unit
or the stage; and a control unit operable to control the supply
arm, the discharge arm and the moving section. In the microscope
system, the control unit performs such a control that a second one
of the slide glasses to be subjected to formation of the magnified
image subsequently to a first one of the slide glasses mounted on
the stage is picked up by the supply arm, thereafter the first
slide glass is picked up from the stage by the discharge arm
brought into proximity to the stage by the moving unit, and then
the second slide glass is mounted onto the stage by the supply
arm.
[0015] The microscope system ensures that when the treatment of the
first slide glass is finished, the first slide glass can be
discharged by the discharge arm having been in a stand-by state in
the vicinity of the stage, and, subsequently, the second slide
glass can be supplied by the supply arm. Thus, the microscope
system ensures that the treatment of the second slide glass can
immediately be started, while only requiring a little replacing
time, after the treatment of the first slide glass is finished.
[0016] The embodiments ensure that when the treatment of the first
slide glass is finished, the first slide glass can be discharged by
the discharge arm having been in a stand-by state in the vicinity
of the stage, and, subsequently, the second slide glass can be
supplied by the supply arm. Thus, the embodiments ensure that the
treatment of the second slide glass can immediately be started,
while only requiring a little replacing time, after the treatment
of the first slide glass is finished. Consequently, according to
the embodiments, it is possible to realize a conveying device, a
conveying method and a microscope system such that replacement of a
slide glass can be carried out in a short time.
[0017] Additional features and advantages are described herein, and
will be apparent from the following Detailed Description and the
figures.
BRIEF DESCRIPTION OF THE FIGURES
[0018] FIG. 1 is a diagrammatic perspective view showing the
configuration of a microscope system;
[0019] FIG. 2 is a block diagram showing the configuration of a
controlling unit;
[0020] FIG. 3 is a diagrammatic perspective view showing the manner
of mounting a multi-sheet cassette;
[0021] FIGS. 4A to 4C are diagrams showing the configuration of the
multi-sheet cassette;
[0022] FIGS. 5A and 5B are diagrams showing the center-of-gravity
position of the multi-sheet cassette;
[0023] FIG. 6 is a diagram showing the configuration of a one-sheet
tray;
[0024] FIG. 7 is a diagrammatic perspective view showing the
configuration of a supply tray;
[0025] FIG. 8 is a diagrammatic top plan view showing the
configuration of the supply tray;
[0026] FIGS. 9A to 9C are diagrammatic perspective views showing
the configuration of a discharge tray;
[0027] FIG. 10 is a diagrammatic top plan view showing the
configuration of the discharge tray;
[0028] FIG. 11 is a diagrammatic perspective view showing the
configuration of a supply arm and a discharge arm;
[0029] FIGS. 12A and 12B are diagrammatic perspective views for
illustrating the configuration and movement of a clamp block;
[0030] FIG. 13 is a diagrammatic perspective view for illustrating
contraction of the supply arm;
[0031] FIG. 14 is a flow chart showing the procedure of a basic
conveying operation process of the supply arm;
[0032] FIG. 15 is a flow chart showing the procedure of a pick-up
operation process by the supply arm;
[0033] FIG. 16 is flow chart showing the procedure of a releasing
operation process by the supply arm;
[0034] FIGS. 17 to 21 are diagrammatic perspective views showing
basic conveying operations (1) to (5);
[0035] FIG. 22 is a flow chart showing the procedure of a basic
conveying operation process of a discharge arm;
[0036] FIG. 23 is a flow chart showing the procedure of a pick-up
operation process by the discharge arm;
[0037] FIG. 24 is a flow chart showing the procedure of a releasing
operation process by the discharge arm;
[0038] FIG. 25 is a flow chart showing the procedure of a conveying
operation process by the supply arm and the discharge arm;
[0039] FIGS. 26 to 46 are diagrammatic perspective views showing
conveying operations (1) to (21) by the supply arm and the
discharge arm; and
[0040] FIGS. 47A and 47B are diagrams for illustrating comparison
of occupied areas.
DETAILED DESCRIPTION
[0041] Embodiments of the present application will be described
below in detail with reference to the drawings.
[0042] 1. First Embodiment
[0043] 2. Other Embodiments
1. First Embodiment
1-1. General Configuration of Microscope System
[0044] In FIG. 1, a microscope system 1 according to this
embodiment includes a microscope unit 2, a conveying unit 3, and a
controlling unit (not shown) 4.
[0045] The microscope unit 2 picks up an image, magnified in a
predetermined scale factor, of a biological sample SPL disposed on
a slide glass SG. The conveying unit 3 supplies a slide glass SG
onto a stage of the microscope unit 2, and discharges the slide
glass SG from the stage. The controlling unit 4 controls the
components of the microscope unit 2 and the conveying unit 3, and
picks up the image formed through photography by the microscope
unit 2.
[0046] The slide glass SG has, immobilized thereon by a
predetermined immobilizing technique, a biological sample SPL
having a tissue section or smear cells of a connective tissue
(e.g., blood) or an epithelial tissue or both of them. The tissue
section or the smear cells may be stained, as required. Examples of
the staining include not only general staining represented by HE
(hematoxylin-eosin) staining, Giemsa staining, Papanicolaou
staining, etc. but also fluorescent staining such as FISH
(Fluorescence In-Situ Hybridization), enzyme-antibody method,
etc.
[0047] Incidentally, the slide glass SG, in the state of having the
biological sample SPL mounted thereon, is coated with an embedding
agent, and, further, is covered with a cover glass.
[0048] Besides, in the microscope system 1, with respect to the
slide glass SG, lengths to be used as references for the longer
(major) edge and the shorter (minor) edge are prescribed.
Furthermore, a longer edge upper limit and a longer edge lower
limit as well as a shorter edge upper limit and a shorter edge
lower limit are prescribed, by taking allowable errors into account
in addition to the respective lengths of the longer edge and the
shorter edge.
[0049] Hereinafter, the range from the longer edge lower limit to
the longer edge upper limit will be referred to as "longer edge
allowable range," and the range from the shorter edge lower limit
to the shorter edge upper limit will be referred to as "shorter
edge allowable range." Further, the situation in which the longer
edge of the slide glass SG is within the longer edge allowable
range and the shorter edge is within the shorter edge allowable
range is expressed as "(to fall) within the allowable range,"
whereas the other situations are expressed as "not within the
allowable range" or "(to fall) outside of the allowable range."
[0050] In the microscope unit 2, a frame section 12 is disposed at
a predetermined position on the depth side on an upper surface 11A
of a roughly flat plate-like base section 11 disposed substantially
horizontally, and a transmitting illumination section 13 is
disposed on the user's side of the frame section 12.
[0051] The frame section 12 has a prop section 12A extending in a
direction (Z-axis direction) orthogonal to the upper surface 11A of
the base section 11 and a support unit 12B extending in a direction
toward the user's side (Y-axis direction) substantial horizontally
in relation to the base section 11 from one end on the upper side
of the prop section 12A, and is L-shaped in general form in side
view.
[0052] A surface on the user's side of the prop section 12A is
formed with a guide 12C along the Z-axis direction, and a stage
unit 14 is provided which is movable in the Z-axis direction while
being engaged with the guide 12C.
[0053] The stage unit 14 is provided with a stage 15 on which a
slide glass SG is to be mounted and fixed, and a stage driving
mechanism 16 which moves the stage 15 in the X-axis, Y-axis and
Z-axis directions.
[0054] The stage 15 is provided with a plurality of movable-type
clip members for fixing or releasing the slide glass SG mounted on
the stage 15. The stage 15 is so configured that, if a slide glass
SG falling within the allowable range is mounted properly, the
slide glass SG can be properly fixed or released by the clip
members.
[0055] The support unit 12B is provided, at a position
substantially on a vertical line of the transmitting illumination
section 13, with a lens system 17 having an optical axis coincident
with the vertical line and with an image sensing element 18,
sequentially in this order toward the upper side (the Z-axis
direction side) of the stage 15.
[0056] The lens system 17 has a plurality of lenses including an
objective lens and an image forming lens, and magnifies in a
predetermined scale factor the image of the biological sample SPL
arranged on the slide glass SG mounted on the stage 15 and
illuminated by the transmitting illumination section 13. The image
sensing element 18 is so configured that the image of the
biological sample SPL magnified by the lens system 17 is formed on
an image sensing plane, whereby the image can be picked up.
1-2. Configuration of Controlling Unit
[0057] The controlling unit 4 is so configured as to control the
components of the microscope unit 2, to subject the image data on a
subject (to be photographed) obtained by image sensing to a
predetermined image processing or the like, and to store the thus
processed image data into a predetermined storage unit.
[0058] As shown in FIG. 2, the controlling unit 4 is composed
mainly of a control unit 21 which has a CPU (Central Processing
Unit) 21A for executing various arithmetic processes, a ROM (Read
Only Memory) 21B having data preliminarily stored therein, and a
RAM (Random Access Memory) 21C for momentarily storing data.
[0059] The control unit 21 is so configured that, while using the
RAM 21C as a work area, the CPU 21A executes various programs read
from the ROM 21B or the storage unit 23 through a bus 22, and
stores various data into the storage unit 23.
[0060] The storage unit 23 has, for example, a hard disc drive, an
optical disc drive, a flash memory or the like, and is so designed
as to be capable of storing therein various large-capacity data
such as high-resolution image data.
[0061] An operating unit 24 has, for example, a keyboard, various
switches, a touch panel or the like, for accepting user's operation
inputs and for supplying the control unit 21 with operation
instructions representing the contents of the input operations.
[0062] A display unit 25 has, for example, a liquid crystal
display, an EL (Electro Luminescence) display, a plasma display or
the like, which can display various display screens and picked-up
image data as images.
[0063] An interface 26 is so designed as to perform transmission
and reception of various control signals, detection signals,
various data or the like between itself and the stage 15, the stage
driving mechanism 16 and the image sensing element 18 of the
microscope unit 2 as well as the conveying unit 3 to be described
later.
1-3. Configuration of Conveying Unit
[0064] The conveying unit 3 (FIG. 1) has a configuration based on a
base section 31 connected to the base section 11 of the microscope
unit 2 and extended in a substantially horizontal direction.
[0065] At a substantially central portion of an upper surface 31A
of the base section 31, there is provided a roughly circular
disk-shaped rotating base 32 capable of rotation about a center
axis X substantially perpendicular to the upper surface 31A. From
an upper surface 32A of the rotating base 32, a prop 33
substantially triangular prism-like in shape is extended in a
direction substantially perpendicular to the upper surface 32A,
namely, substantially along the Z-axis direction.
[0066] With a side surface of the prop 33 is engaged with a
carriage 34 through a movement rail 33A extending along the Z-axis
direction. The carriage 34 is driven through a driving mechanism
(not shown), based on the control conducted by the controlling unit
4, whereby the carriage 34 can be moved upward or downward in the
state of being engaged with the movement rail 33A.
[0067] The carriage 34 is fitted with a supply arm 35 for supplying
a slide glass SG onto the stage 15 (FIG. 1) and a discharge arm 36
for discharging the slide glass SG from the stage 15 (this will be
described in detail later).
[0068] On the other hand, pedestals 37A, 37B, 37C, 37D and 37E
(hereinafter these are collectively referred to as pedestals 37)
substantially rectangular parallelopiped in shape are arranged on
the upper surface 31A of the base section 31 at five locations at
an angular interval of about 45 degrees along the circumference of
a circle having a radius greater than the radius of the rotating
base 32, with the imaginary center line X as a center axis.
[0069] Each of the pedestals 37A to 37E is so arranged that its
longer edge faces the rotation center of the rotating base 32,
specifically, that the perpendicular to its longer edge at the
center of the longer edge intersects the imaginary center line
X.
[0070] On the pedestals 37, as shown in FIG. 3 corresponding to
FIG. 1, there can be respectively mounted multi-sheet cassettes 40
each serving as a storage device in which up to 60 sheets of slide
glasses SG to be supplied onto the stage 15 can be stored.
Incidentally, in the case of FIG. 3, the conveying unit 3 is
provided with five multi-sheet cassettes 40 so that a total of 300
sheets of slide glasses SG can be stored.
[0071] Besides, as shown in FIG. 1, a one-sheet tray 50 as a
storage device for storing one sheet of slide glass SG to be
supplied onto the stage 15 can also be mounted to the pedestal 37.
Furthermore, the conveying unit 3 can store the slide glasses SG in
such a combination manner that, for example, a one-sheet tray 50 is
mounted to the pedestal 37A, whereas multi-sheet cassettes 40 are
mounted respectively to the pedestals 37B to 37E.
[0072] For convenience of description, the multi-sheet cassettes 40
and the one-sheet tray 50 mounted respectively to the pedestals 37
will hereinafter be collectively referred to as storage unit
38.
[0073] In practice, the conveying unit 3 is so configured that the
supply arm 35 or the discharge arm 36 can be slewed into a desired
direction and be adjusted to a desired height, by a combination of
a rotating operation of the rotating base 32 and a moving operation
of the carriage 34, under the control of the controlling unit
4.
[0074] Thus, the conveying unit 3 is so configured that the supply
arm 35 or the discharge arm 36 can be made to face the stage 15
(FIG. 1) or can be made to face one of slots in one of the
multi-sheet cassettes 40 in the storage unit 38.
1-4. Configuration of Multi-Sheet Cassette
[0075] As shown in FIGS. 4A, 4B and 4C, the multi-sheet cassette 40
has a bottom surface section 41, side surface plates 42 and 43 and
an top plate 44 which are combined in a box-like shape so as to
form an interior space for storing the slide glasses SG
therein.
[0076] Incidentally, FIG. 4A is a perspective view of the
multi-sheet cassette 40 as viewed from a right front upper side,
whereas FIGS. 4B and 4C are respectively a front view and a right
side view of the same.
[0077] The bottom surface section 41 is roughly rectangular
parallelopiped in shape, and can be engaged with the pedestal 37 of
the conveying unit 3 through an engaging mechanism (not shown). In
addition, the bottom surface section 41 has the side surface plates
42 and 43 screwed respectively to both left and right side surfaces
thereof.
[0078] Each of the side surface plates 42 and 43 is elongated
roughly rectangular parallelopiped in overall shape such that its
longitudinal direction is oriented in a substantially vertical
direction when it is mounted to the bottom surface section 41. In
addition, each of the side surface plates 42 and 43 is provided, on
the side to be the inside upon assemblage, with substantially
horizontal slits for each holding the side of one end in the
longitudinal direction of the slide glass SG, with the number of
the slits being equal to the number of sheets of slide glasses SG
stored in each multi-sheet cassette 40 (namely, 60 sheets) and with
the slits being formed repeatedly in the vertical direction.
[0079] In other words, the multi-sheet cassette 40 is so designed
that the slide glasses SG can each be held in the manner of
bridging between the corresponding slits in the side surface plates
42 and 43. In this case, the spaces which are each defined by the
slits in the multi-sheet cassettes 40 and each capable of
containing one sheet of slide glass SG are so designed as to be
able to contain a slide glass SG having the longer edge maximum
length and the shorter edge maximum length. The space will be
referred to as a slot.
[0080] Besides, the surfaces of the slits are formed to be smooth
so as to reduce friction thereon. Therefore, in the multi-sheet
cassette 40, it is possible, by only sliding the slide glass SG
relative to the slits formed in the side surface plates 42 and 43,
to smoothly load and unload the slide glass SG into and from the
multi-sheet cassette 40.
[0081] Furthermore, the side surface plates 42 and 43 are fitted,
on the depth side, with plate-like protective plates 42A and 43A
for preventing the slide glasses SG from slipping off to the depth
side of the slits. In other words, the multi-sheet cassette 40 is
so designed that insertion or taking-out of the slide glasses SG
can be conducted only on the front side on which the slits are
opened.
[0082] A top plate 44 is configured in a flat rectangular
parallelopiped shape as if obtained by thinning the bottom surface
plate 41 in the vertical direction, and is so designed to have the
side surface plates 42 and 43 screwed respectively to both left and
right side surfaces thereof.
[0083] Further, the top plate 44 is fitted, on its left and right
side surfaces, with a handle support plate 45 having a roughly
triangular thin plate member and a handle support plate 46 formed
in left-right symmetry with the handle support plate 45. Each of
the handle support plates 45 and 46 is formed in such a shape that
the upper-side vertex is deviated from the base toward the user's
side.
[0084] Between the upper-side vertexes of the handle support plates
45 and 46, a roughly cylindrical grip section 47 interconnecting
the vertexes is bridgingly provided.
[0085] Here, as shown in a schematic side view in FIG. 5A, the
center of gravity of the multi-sheet cassette 40 is roughly at the
position of a point P1, both in a state of being not loaded with
the slide glasses SG (namely, in an empty state) and in a state of
being fully loaded with sixty slide glasses SG.
[0086] In addition, the grip section 47 is so designed that the
angle .theta. between the vertical line and an imaginary straight
line L1 interconnecting the center-of-gravity point P1 of the
multi-sheet cassette 40 as a whole and the center point P2 of the
grip section 47 is in the range of 4 to 6 degrees.
[0087] Therefore, as shown in FIG. 5B, when the grip section 47 of
the multi-sheet cassette 40 is gripped by the user or the like, the
center-of-gravity point P1 is located substantially just under the
center point P2 of the grip section 47, so that the multi-sheet
cassette 40 is inclined to have its front-side surface oriented
slightly upward.
[0088] Specifically, during when the multi-sheet cassette 40 is
transported, simple gripping of the grip section 47 by the operator
ensures that the depth side on which the protective plates 42A and
43A are attached can be oriented downward and the side on which the
slits are opened can be oriented upward. Consequently, it is
possible to greatly reduce the possibility that the slide glasses
SG might fall during transportation of the multi-sheet cassette
40.
[0089] Besides, when the multi-sheet cassette 40 is mounted on a
horizontal base or mounted to the pedestal 37, it is set
substantially upright (vertical), so that the slits are returned to
be horizontal. Accordingly, by simply applying a comparatively weak
force to each slide glass SG in a horizontal direction, the slide
glass SG can be inserted into the multi-sheet cassette 40 or taken
out of the multi-sheet cassette 40 through sliding in the slit.
[0090] Incidentally, the angle .theta. of the multi-sheet cassette
40 is set to be not less than 4 degrees so as to prevent the slide
glasses SG from slipping off when the grip section 47 is gripped by
the operator or the like. In addition, the angle .theta. is set to
be not more than 6 degrees so as to prevent positional deviation
(shifting) of the cover glass on the slide glass SG immediately
after preparation thereof.
1-5. Configuration of One-Sheet Tray
[0091] As shown in FIG. 6, a one-sheet tray 50 has a configuration
in which a supply tray 52 is provided in the vicinity of an upper
end of a thin plate-like support plate 51, and a discharge tray 53
is provided under the supply tray 52.
[0092] 1-5-1. Configuration of Supply Tray
[0093] As a perspective view is shown in FIG. 7 and a top plan view
is shown in FIG. 8, the supply tray 52 is configured to be
substantially rectangular parallelopiped in overall shape, and is
shaped as if its upper side were cut in conformity with the slide
glass SG and a space necessary for mounting the slide glass SG.
[0094] The supply tray 52 is so designed as to hold a slide glass
SG in a holding space 52E (FIG. 8) surrounded by inside walls 52A1,
52A2, 52B, 52C1, 52C2, 52D1 and 52D2.
[0095] In this instance, the supply tray 52 support the slide glass
SG on the lower side of the latter by support surfaces 52F1, 52F2
and 52F3 (hatched in FIG. 8). In addition, the supply tray 52 is
opened on the upper side of the holding space 52E.
[0096] In practice, the supply tray 52 is so designed that the
slide glass SG is mounted thereon from the upper side according to
the holding space 52E by an operator's manual work, and,
thereafter, the slide glass SG is gripped and taken out by the
supply arm 35.
[0097] Besides, the supply tray 52 is provided with a space 52J
ensuring that a finger for pinching the slide glass SG from the
lower side can escape when the operator mounts the slide glass, and
with a space 52K for insertion of a tip portion of the supply arm
35 (FIG. 1).
[0098] Further, the supply tray 52 is provided, on the opposite
side to the space 52J with reference to the longitudinal direction,
with an inclined surface section 52L permitting the operator to
mount the slide glass SG so as to positionally adjust it to the
holding space 52E while sliding its end surface in its longitudinal
direction, and with an abutting plate 52M.
[0099] Meanwhile, the supply tray 52 is so designed that the longer
edge and the shorter edge of the holding space 52E surrounded by
the inside walls 52A1, 52A2, 52B, 52C1, 52C2, 52D1 and 52D2 are set
to be respectively comparable to the longer edge upper limit and
the shorter edge upper limit of the slide glass SG.
[0100] Specifically, the holding space 52E of the supply tray 52 is
so designed that a slide glass SG falling outside of the allowable
range, for example, a slide glass SG having a cover glass or an
embedding agent protruding sideways or a slide glass SG having a
longer edge greater than the longer edge upper limit, cannot be
mounted in the holding space 52E.
[0101] Incidentally, the supply tray 52 ensures that a slide glass
SG having a longer edge smaller than the longer edge upper limit or
having a shorter edge smaller than the shorter edge upper limit
would chatter in the holding space 52E, so that the operator can
clearly recognize that the longer edge or the shorter edge of the
slide glass is smaller than prescribed.
[0102] In addition, the size of the holding space 52E is so set as
to prevent, as assuredly as possible, the formation of a
superfluous space in the surroundings of the slide glass SG,
thereby limiting the mounting range of the slide glass SG to a
certain extent. With such a configuration, the supply tray 52
ensures that the slide glass SG is positioned in a comparatively
narrow range and can be properly gripped by the supply arm 35 (FIG.
1).
[0103] Further, in the supply tray 52, the steps between partial
upper surfaces 52N1 and 52N2 continuous with the inside walls 52C1
and 52C2 and the support surfaces 52F2 and 52F3 are restricted to
be low. Incidentally, the steps are set to a height corresponding,
for example, to the total thickness of one or two slide glasses
SG.
[0104] This ensures in the supply tray 52 that a slide glass SG
falling outside of the allowable range would not make proper
contact with the support surfaces 52F1, 52F2 and 52F3, and a part
thereof would ride onto the partial upper surface 52N1 or 52N2,
whereby such a slide glass SG can be put into an instable state, so
to speak, a "chattering" state.
[0105] With such a configuration, the supply tray 52 permits the
operator to recognize through tactile sensation, visual sensation
or auditory sensation that the slide glass SG is not properly
contained in the holding space 52E, namely, that the slide glass SG
is instable and is exceeding the prescribed size.
[0106] Further, the spacing between the support surfaces 52F1, 52F2
and the support surface 52F3 of the supply tray 52 is set to be
comparable to the longer edge lower limit of the slide glass SG.
With this configuration, the supply tray 52 ensures that a slide
glass SG which has the length of the longer edge being below the
longer edge lower limit and which may therefore slip off from the
supply arm 35 or the stage 15 (FIG. 1) cannot be mounted
properly.
[0107] In this instance, the supply tray 52 permits the operator to
recognize through tactile sensation, visual sensation or auditory
sensation that the slide glass SG has the longer edge less than the
longer edge lower limit, based on the situation in which the slide
glass SG is not properly supported by the support surfaces 52F1,
52F2 and 52F3 but is in an instable state.
[0108] Thus, the supply tray 52 is so configured that a slide glass
SG falling outside of the allowable range cannot be properly
mounted thereon. With such a configuration, the supply tray 52
permits the operator or the like to easily recognize a slide glass
SG falling outside of the allowable range and to immediately
understand that the image of the slide glass SG cannot be picked up
by the microscope system 1.
[0109] 1-5-2. Configuration of Discharge Tray
[0110] As perspective views are shown in FIGS. 9A and 9B and a top
plan view is shown in FIG. 10, the discharge tray 53 is roughly
rectangular parallelopiped in overall shape, and has a shape as if
its upper side were cut in conformity with the slide glass SG and a
space necessary for mounting the slide glass SG.
[0111] For convenience of description, hereinafter, of that side
surface of the discharge tray 53 into which the discharge arm 36 is
to be inserted will be referred to as an insertion surface 53S1,
and the opposite side surface as a discharge surface 53S2.
[0112] The discharge tray 53 is so designed as to hold a slide
glass SG in a holding space 53D which is defined between inside
surfaces 53A1, 53A2 and inside surfaces 53B1, 53B2 corresponding to
the shorter edge side of the slide glass SG, is opened at a portion
corresponding to the longer edge side of the slide glass SG and is
partitioned by inside bottom surfaces 53C1, 53C2.
[0113] While the inside surfaces 53A1 and 53B1 are set to be
substantially parallel to each other, the inside surfaces 53A2 and
53B2 are inclined so that the spacing therebetween is broadened as
one approaches the insertion surface 53S1.
[0114] In addition, between the inside bottom surfaces 53C1 and
53C2 is formed a space 53E for insertion therein of a tip portion
of the discharge arm 36 (FIG. 1) from the insertion surface 53S1
side.
[0115] On the other hand, on the upper side of the discharge
surface 53S2 is formed a projected section 53F which is projected
as compared with the surroundings thereof. The projected section
53F has bored therein a hole 53G penetrating from the holding space
53D and having a passage section such as to permit the slide glass
SG to pass therethrough perpendicularly to the longer edge of the
slide glass SG.
[0116] In practice, when a slide glass SG is conveyed from the
insertion surface 53S1 side of the discharge tray 53 by the
discharge arm 36, the discharge tray 53 holds the slide glass SG in
its holding space 53D.
[0117] Here, a state ideal for a slide glass SG at the time of
insertion thereof into the discharge tray 53 by the discharge arm
36 is a state in which the advancing direction of the discharge arm
36 and the shorter edge of the slide glass SG are substantially
parallel to each other whereas the insertion surface 53S 1 and the
longer edge of the slide glass SG are substantially parallel to
each other. Hereinafter, this state will be referred to as the
ideal insertion state.
[0118] Due to the influences of a gripping motion of the discharge
arm 36 at the time of taking out the slide glass SG from the stage
15 or the like, however, the slide glass SG may be inserted into
the discharge tray 53 while being in a state of being deviated from
the ideal insertion state in the longer edge direction or in a
state of being inclined (turned) in a horizontal direction from the
ideal insertion state.
[0119] In relation to this point, the discharge tray 53 is so
configured that the spacing between the inside surfaces 53A2 and
53B2 at the portion on the insertion surface side is sufficiently
longer (wider) than the prescribed length of the slide glass SG and
is made shorter (narrower) as one advances deeper into the inside.
Accordingly, the discharge tray 53 permits assured insertion of the
slide glass SG into the holding space 53D.
[0120] In this instance, the discharge tray 53 ensures that when
the slide glass SG is inserted into the holding space 53D from the
insertion surface 53S1 side, the slide glass SG is made to make
contact with the inside surfaces 53A2 and 53B2 which are so formed
that the spacing therebetween is gradually narrowed along the
inside direction.
[0121] With the discharge tray 53 configured in this manner, a
positional deviation or an inclination, if any, of the slide glass
SG can be gradually corrected in such a manner that the shorter
edge of the slide glass SG is gradually brought to a state of being
substantially parallel to the advancing direction of the slide
glass SG.
[0122] Thereafter, in the discharge tray 53, the longer edge on the
insertion surface side of the slide glass SG held in the holding
space 53D is pushed in by a tip portion of the discharge arm 36,
whereby a part of the slide glass SG is exposed from the hole 53G,
as shown in FIG. 9C.
[0123] With this configuration, the discharge tray 53 permits the
operator to easily grip and take out the slide glass SG, which is
located on the lower side of the supply tray 52 and is therefore
hard to take out as it is.
[0124] Thus, in the one-sheet tray 50, a tray for supply and a tray
for discharge are provided independently from each other, and,
further, the supply tray 52 and the discharge tray 53 are set
different in shape according to the purposes thereof.
1-6. Configuration of Supply Arm and Discharge Arm
[0125] Now, the supply arm 35 and the discharge arm 36 will be
described below. The supply arm 35 and the discharge arm 36 are
similar to each other in configuration, and are attached to the
carriage 34 in the state of extending in the same direction and
being overlappingly arranged on the upper and lower sides.
[0126] 1-6-1. Configuration of Supply Arm
[0127] As shown in FIG. 11, the supply arm 35 includes an arm
fixation section 60 to be fixed to the carriage 34, and an arm
movement section 70 which is moved relative to the arm fixation
section 60 and by which the slide glass SG can be gripped.
[0128] The arm fixation section 60 is composed chiefly of a roughly
rectangular parallelopiped arm base 61 which has a flat shape being
thin in the vertical direction. The arm base 61 is mounted to the
carriage 34 (FIG. 1) through its mounting surface 61A, which is a
side surface on the side of one end in regard of the longitudinal
direction thereof.
[0129] Hereafter, in the arm base 61, the direction from the
mounting surface 61A side toward the opposite side will be defined
as a Q-axis direction, the direction from the lower side toward the
upper side will be defined as an R-axis direction, and one
direction orthogonal to both the Q-axis and the R-axis will be
defined as a P-axis direction.
[0130] Near both side surface portions in regard of the P-axis
direction of the arm base 61, roughly cylindrical moving shafts 62A
and 62B are provided along the Q-axis direction.
[0131] In the inside of a roughly central portion of the arm base
61, a translation section 63 having a motor or the like is
provided, and a rotational driving force thereof is transmitted to
a gear 63A provided to protrude to the upper side (+R direction)
beyond the upper surface of the arm base 61.
[0132] At a predetermined location on the upper surface of the arm
base 61, a sensor 64 is provided for detecting that the arm
movement section 70 is located at a predetermined position in a -Q
direction.
[0133] In addition, to a side surface on the +Q side of the arm
base 61, a fall-off preventive guide 65 shaped as if obtained by
bending a plate-like member is mounted.
[0134] Of the fall-off preventive guide 65, a flat plate section
65A having a flat plate-like shape is mounted to the arm base 61
substantially in parallel to a side surface on the +Q side of the
arm base 61, with its longitudinal direction coinciding with the
P-axis direction.
[0135] At both end portions in regard of the P-axis direction of
the flat plate section 65A, guide sections 65B and 65C for
preventing the slide glass SG from falling off in the P-axis
direction are provided.
[0136] The guide section 65B has a structure wherein a coupling
plate 65B1 having a roughly rectangular shape, having a length of
about two times the length of the flat plate section 65A in the
R-axis direction and being short in the Q-axis direction is
provided at the +P side end of the flat plate section 65A in the
state of being flush with the flat plate section 65A at the -R side
end surface and extending to be inclined slightly to the +P
direction rather than the +Q direction, namely, to be opened
outward.
[0137] At the upper half of the coupling plate 65B1, a rectangular
guide plate 65B2 having a length comparable to the length of the
flat plate section 65A in the R-axis direction and a length
comparable to the length of the shorter edge of the slide glass SG
in the Q-axis direction is provided to extend toward the -Q
direction.
[0138] In addition, to a -Q side position of the +P side surface of
the guide plate 65B2, an extension guide plate 65B3 composed of a
rectangular member roughly the same as the guide plate 65B2 in
shape is partly overlappingly attached by a screw (not shown) or
the like. Further, the extension guide plate 65B3 is bent to the -P
side (namely, the inner side), in the vicinity of a -Q side
terminal portion of the guide plate 62B2.
[0139] The guide section 65C is configured substantially in
symmetry with the guide section 65B about the Q axis and the R
axis, and has a coupling plate 65C1, a guide plate 65C2 and an
extension guide plate 65C3 which correspond to the coupling plate
65B1, the guide plate 65B2 and the extension guide plate 65B3,
respectively.
[0140] Here, the spacing between the guide plates 65B2 and 65C2 is
regulated to be comparable to the longer edge upper limit for the
slide glass SG. Therefore, the space defined between the guide
sections 65B and 65C serves as a space in which a slide glass SG
falling within the allowable range can be held. Hereafter, this
space will be referred to as the holding space 65D.
[0141] Due to the inclinations of the coupling plates 65B1 and
65C1, the holding space 65D is so shaped that, at its portion on
the +Q side, it is broadened in the P-axis direction as one
advances in the +Q direction.
[0142] On the other hand, the arm movement section 70 is composed
chiefly of an arm sliding body 71 which is slid along the Q-axis
direction relative to the arm base 61 and is thereby moved
substantially in parallel to the upper surface of the arm base
61.
[0143] The arm sliding body 71 has a thin plate shape having
lengths comparable to the lengths of the arm base 61 in the Q-axis
direction and the P-axis direction, and its peripheral side
portions are bent to the upper side (+R side) so as to secure
strength.
[0144] The arm sliding body 71 is formed, on the +Q side, with a
smooth mount surface 71BX on which to mount the slide glass SG. The
mount surface 71BX is provided, at a +Q side end portion thereof,
with fixing claws 71BY as fixing grip elements which rise up to the
upper side (+R side).
[0145] In addition, the arm sliding body 71 is provided, in its
portion ranging from the center toward the -Q side, with a roughly
elliptic hole 71A having a hole diameter permitting the gear 63A to
escape therethrough and having a major diameter along the Q-axis
direction. The hole 71A is provided, on a +P-side side surface
thereof, with a rack 71AX for meshing with the gear 63A.
[0146] Further, the arm sliding body 71 is fitted, under the -Q
side thereof, with bearing sections 72A and 72B corresponding
respectively to the moving shafts 62A and 62B.
[0147] In the supply arm 35 thus configured, the gear 63A is
rotationally driven by the translation section 63 on the basis of
the control by the controlling unit 4, whereby the arm movement
section 70 can be slid along the Q-axis direction relative to the
arm fixation section 60.
[0148] For example, through a contracting operation of the supply
arm 35 wherein the arm movement section 70 is slid in the -Q
direction in the condition where a slide glass SG is mounted on the
mount surface 71BX, the slide glass SG can be moved so as to be
drawn into the holding space 65D.
[0149] In this instance, the supply arm 35 ensures that, even if
the slide glass SG is mounted at a position somewhat deviated in
the P-axis direction, the position of the slide glass SG in regard
of the P-axis direction can be corrected toward the center, by
drawing the slide glass SG while keeping it in contact with the
guide section 65B or 65C.
[0150] Further, the arm sliding body 71 is provided at its upper
surface with a clamp unit 73 at a position deviated in the -Q
direction from the fixing claws 71BY to leave therebetween a
spacing comparable to the shorter edge upper limit for the slide
glass SG, slightly on the +Q side relative to the center of the arm
sliding body 71.
[0151] As shown in FIG. 12A, the clamp unit 73 is composed of a
combination of a plurality of component parts, with a mounting
plate 74 as a chief member. The mounting plate 74 has a bottom
plate section 74A roughly flat plate-like in overall shape and
mounted to the upper surface of the arm sliding body 71, and a side
plate section 74B extended toward the upper side (+R side) from an
end portion on the -Q side of the bottom plate section 74A.
[0152] On the -Q side of the side plate section 74B, a clamp motor
75 is mounted. An output shaft of the clamp motor 75 is extended in
the +Q direction to penetrate a hole bored in the side plate
section 74B, and is formed with a spiral groove.
[0153] On the other hand, in an area ranging from the center to a
+Q-side end portion of the upper surface of the bottom plate
section 74A, a clamp block 76 as a moving grip element having a
flat roughly rectangular parallelopiped shape is provided so that
it can be slid along the Q-axis direction relative to the bottom
plate section 74A. The clamp block 76 is provided with a hole
penetrating the inside thereof from a -Q-side side surface thereof,
and is provided therein with a bearing 76B for screw engagement
with the output shaft of the clamp motor 75.
[0154] In addition, the clamp block 76 is provided, under the
+Q-side side surface thereof, with a projected section 76A composed
of a prism projected relative to the surroundings and elongated in
the Q-axis direction. The length in the R-axis direction (namely,
the thickness) of the projected section 76A is set to be comparable
to or slightly smaller than the thickness of the slide glass SG
exclusive of the cover glass.
[0155] In the clamp unit 73 thus configured, with the clamp motor
75 driven on the basis of the control by the controlling unit 4,
the clamp block 76 can be moved in the +Q direction or the -Q
direction.
[0156] Here, in the clamp unit 73, the spacing between the fixing
claws 71BY and the projected section 76A of the clamp block 76
(hereafter, this spacing will be referred to as the grip spacing
(or grip interval)) is varied between the prescribed length of the
shorter edge of the slide glass SG and a length slightly extended
from the prescribed length. In other words, in the clamp unit 73,
the movable range of the clamp block 76 is set to be comparatively
narrow. Therefore, in the clamp unit 73, the moving operation of
the clamp block 76 can be completed in a short time.
[0157] In addition, the clamp unit 73 is so configured that the
clamp block 76 is driven by a comparatively strong force.
[0158] In the case where the slide glass SG is practically gripped
by the supply arm 35 (FIG. 11), the spacing between the projected
section 76A and the fixing claws 71BY is widened preliminarily by
moving the clamp block 76 in the -Q direction, as shown in FIG.
12A, before the slide glass SG is mounted on the mount surface
71BX. Hereafter, the operation of moving the clamp block 76 in the
-Q direction will be referred to as the releasing operation.
[0159] Thereafter, the supply arm 35 moves the slide glass SG into
the holding space 65, as shown in FIG. 13, by moving the arm
movement section 70 in the -Q direction to effect contraction, in
the condition where the slide glass SG is mounted on the mount
surface 71BX.
[0160] Subsequently, in the supply arm 35, the clamp block 76 is
moved in the +Q direction with a predetermined torque, as shown in
FIG. 12B. Hereafter, the operation of moving the clamp block 76 in
the +Q direction will be referred to as the pressing operation.
[0161] By this operation, the supply arm 35 clamps the slide glass
SG (which is held in the holding space 65D) between the projected
section 76A of the clamp block 76 and the fixing claws 71BY,
whereby the slide glass SG can be fixed on the supply arm 35.
[0162] In this instance, the projected section 76A abuts on the
slide glass SG itself. Therefore, even if the cover glass on the
slide glass SG is protruding sideways, the projected section 76A
would not exert any pressing force on the cover glass and,
therefore, would not break the cover glass.
[0163] Hereafter, the operation of the arm movement section 70 to
fix the slide glass SG by clamping it between the projected section
76A of the clamp block 76 and the fixing claws 71BY will be
referred to as the gripping operation.
[0164] Besides, in the following, the mechanism for gripping the
slide glass SG which includes the mount surface 71BX, the fixing
claws 71BY and the projected section 76A of the clamp block 76, on
the tip side of the arm movement section 70, will be referred to as
the gripping unit 70A.
[0165] Meanwhile, on the +P side and the -P side on the upper
surface of the clamp block 76 (FIG. 12A), there are respectively
provided detection section pieces 77A and 77B formed by bending
sheet-like members into a roughly L shape in side view.
[0166] The detection section piece 77A is in a state wherein a part
thereof is fixed to the upper surface of the clamp block 76, and a
+P-side tip portion thereof is bent to the lower side (-R side) at
a portion protruding in the +P direction beyond the +P-side side
surface of the clamp block 76.
[0167] Besides, the detection section piece 77B is substantially
the same as the detection section piece 77A in shape, and is
mounted as if the detection section piece 77A were rotated by half
turn about the R axis so that a -P-side tip portion thereof is
protruded in the -P direction beyond the -P-side side surface of
the clamp block 76.
[0168] Further, to those parts of the bottom plate section 74A
which correspond respectively to the detection section pieces 77A
and 77B, sensors 78A and 78B are mounted for respectively detecting
that the detection section pieces 77A and 77B are located at
predetermined positions, namely, that the grip spacing is equal to
a predetermined spacing.
[0169] Incidentally, in the clamp unit 73, the mounting positions
of the sensors 78A and 78B are so set as to make it possible to
detect respectively that the grip spacing is less than the shorter
edge lower limit for the slide glass SG and that the grip spacing
is more than the shorter edge upper limit for the slide glass
SG.
[0170] With the supply arm 35 thus configured, when the slide glass
SG is gripped, it is possible to detect whether or not the length
of the shorter edge of the slide glass SG is within the shorter
edge allowable range.
[0171] In this manner, the supply arm 35 is so designed that the
slide glass SG can be moved into the holding space 65D by the
contracting operation of sliding the arm movement section 70 in the
-Q direction and that the slide glass SG can be gripped by the
gripping operation of the gripping unit 70A.
[0172] 1-6-2. Basic Conveying Operation of Supply Arm
[0173] In practice, the controlling unit 4 (FIG. 2) basically
executes a control according to the flow charts shown in FIGS. 14
to 16, in the case of conveying a slide glass SG by the supply arm
35.
[0174] Incidentally, here, description will be made by taking as an
example the case of conveying onto the stage 15 a slide glass SG
stored in the storage unit 38 having the multi-sheet cassette 40.
Besides, in the following, the slide glass SG serving as an object
(target) of conveyance will be referred to as the target slide
glass (SGT).
[0175] For example, upon receiving a starting instruction for a
conveying operation by the supply arm 35 through the operating unit
24, the control unit 21 of the controlling unit 4 starts routine
RT1 (FIG. 14) and proceeds to step SP1.
[0176] In step SP1, the control unit 21 moves the carriage 34 in
the vertical direction, so as to adjust the height of the supply
arm 35 to the height of a storage part where the target slide glass
SGT is stored, and proceeds to the next step SP2.
[0177] In this instance, the control unit 21 controls the height of
the carriage 34 so that upper end portions of the fixing claws 71BY
(FIG. 11) of the supply arm 35 are set slightly below the lower
surface of the target slide glass SGT.
[0178] In step SP2, the control unit 21 proceeds to a sub-routine
SRT1 (FIG. 15) in order to perform a pick-up operation process by
the supply arm 35, and enters step SP11.
[0179] In step SP11, the control unit 21 controls the translation
section 63 of the supply arm 35, to thereby effects an extending
operation of sliding the arm movement section 70 (FIG. 11) in the
+Q direction as shown in FIG. 17, and proceeds to the next step
SP12.
[0180] In this case, the mount surface 71BX of the arm movement
section 70 is located substantially just under the target slide
glass SGT.
[0181] In step SP12, the control unit 21 moves the carriage 34
upward so as to raise the supply arm 35, and proceeds to the next
step SP13.
[0182] In this instance, the supply arm 35 causes the target slide
glass SGT to be mounted on the mount surface 71BX, and causes both
end portions in regard of the longitudinal direction of the target
slide glass SGT to be raised from the slit portions of the
multi-sheet cassette 40.
[0183] In step SP13, the control unit 21 controls the translation
section 63 of the supply arm 35 to perform a contracting operation,
and proceeds to the next step SP14.
[0184] In this case, when the target slide glass SGT is not caught
on the guide section 65B or 65C, the supply arm 35 contracts the
arm movement section 70 completely, as shown in FIG. 18, thereby
moving the target slide glass SGT into the holding space 65D.
[0185] On the other hand, when the target slide glass SGT is caught
on the guide section 65B or 65C or the like, the supply arm 35 does
not irrationally slide the arm movement section 70 but stops it at
an intermediate position, in order to prevent the target slide
glass SGT from being broken. In this case, the target slide glass
SGT is not drawn into the holding space 65D.
[0186] In step SP14, the control unit 21 determines whether or not
the arm movement section 70 of the supply arm 35 has successfully
been contracted completely, based on the results of detection by
the sensor 64.
[0187] When an affirmative determination is obtained in step SP14,
it means that the target slide glass SGT has successfully been
moved into the holding space 65D without being caught on the guide
section 65B or 65C, in other words, that the length of the longer
edge of the target slide glass SGT is not more than the longer edge
upper limit. In this instance, in order to advance a conveying
process of the target slide glass SGT, the control unit 21 proceeds
to the next step SP15.
[0188] In step SP15, the control unit 21 controls the clamp motor
75 in the clamp unit 73 of the supply arm 35, to effect a pressing
operation of moving the clamp block 76 in the +Q direction. By
this, the control unit 21 causes the target slide glass SGT to be
gripped between the projected section 76A of the clamp block 76 and
the fixing claws 71BY, and proceeds to the next step SP16.
[0189] Incidentally, since the moving distance of the clamp block
76 in the clamp unit 73 is short, the gripping operation is
completed in an extremely short time.
[0190] In this instance, the supply arm 35 can detect the grip
spacing (grip interval), based on the functions of the sensors 78A
and 78B in the clamp unit 73.
[0191] In step SP16, the control unit 21 determines whether or not
the grip interval thus detected is within the shorter edge
allowable range. When an affirmative determination is obtained
here, it means that both the longer edge and the shorter edge of
the target slide glass SGT being gripped are within the respective
allowable ranges, in other words, that the target slide glass SGT
can be properly disposed on the stage 15. In this instance, the
control unit 21 proceeds to the next step SP20.
[0192] On the other hand, when a negative determination is obtained
in step SP14, it means that the target slide glass SGT has not
successfully been moved into the holding space 65D but has been
caught on the guide section 65B or 65C, because the target slide
glass SGT exceeds the longer edge upper limit or because of other
reason. In this instance, the control unit 21 determines that the
target slide glass SGT in question at present cannot be gripped and
therefore cannot be conveyed onto the stage 15. Then, the control
unit 21 proceeds to the next step SP17.
[0193] In step SP17, the control unit 21 controls the translation
section 63 of the supply arm 35 so as to effect an extending
operation of sliding the arm movement section 70 (FIG. 11) in the
+Q direction, and proceeds to the next step SP18.
[0194] In this instance, the target slide glass SGT is in the state
of being mounted on the mount surface 71BX in an original storage
site in the storage unit 38, specifically, in the state of being
lifted up from the slit sections of the multi-sheet cassette
40.
[0195] In step SP18, the control unit 21 moves the carriage 34
downward to thereby lower the supply arm 35, and proceeds to the
next step SP20.
[0196] In this case, the target slide glass SGT is returned into a
state in which both its end portions in regard of the longitudinal
direction are supported by the slit portions of the multi-sheet
cassette 40, in other words, into the same state as before the
start of the pick-up operation.
[0197] On the other hand, when a negative determination is obtained
in step SP16, it means that the length of the shorter edge of the
target slide glass SGT falls outside of the allowable range and
that the target slide glass SGT cannot be properly fixed onto the
stage 15. In this instance, the control unit 21 determines that the
target slide glass SGT should not be conveyed onto the stage 15,
and proceeds to the next step SP19.
[0198] In step SP19, the control unit 21 controls the clamp motor
75 in the clamp unit 73, so as to effect a releasing operation of
moving the clamp block 76 in the
[0199] -Q direction, and proceeds to the next step SP17.
[0200] In this case, the target slide glass SGT is in the state of
not being gripped by the gripping unit 70A, in other words, in the
state of being mounted on the mount surface 71BX.
[0201] Thereafter, like in the case where the negative
determination is obtained in step SP14, the control unit 21
executes the processes of steps SP17 and SP18, to thereby return
the target slide glass SGT into the same state as before the start
of the pick-up operation, and proceeds to the next step SP20.
[0202] In step SP20, the control unit 21 transfers to the routine
RT1 the determination data representing whether or not the target
slide glass SGT has successfully been gripped normally, finishes
the sub-routine SRT1, then returns to step SP2 in the original
routine RT1 (FIG. 14), and proceeds to the next step SP3.
[0203] In step SP3, the control unit 21 determines whether or not
the target slide glass SGT has successfully be gripped normally,
based on the determination data brought from the sub-routine SRT1.
When an affirmative determination is obtained here, it means that
the conveying operation for the target slide glass SGT of concern
at present should be continued. In this instance, the control unit
21 proceeds to the next step SP4.
[0204] In step SP4, the control unit 21 controls the rotating base
32 so as to slew the supply arm 35 into a direction for facing the
stage 15 (hereafter, this direction will be referred to as the
stage direction), as shown in FIG. 19, and proceeds to the next
step SP5.
[0205] In this instance, forces in various directions arising from
actions of a centrifugal force and a moment of inertia attendant on
the rotating motion, etc. are exerted on the slide glass SG.
However, the supply arm 35 continues holding the target slide glass
SGT in the holding space 65D, without dropping it, by the functions
of the guide sections 65B and 65C as well as the fixing claws 71BY
and the projected section 76A of the clamp block 76.
[0206] In step SP5, the control unit 21 controls of the carriage 34
so as to adjust the height of the supply arm 35 to the stage 15,
and proceeds to the next step SP6.
[0207] Incidentally, as shown in FIG. 20, the control unit 21 in
this instance controls the height of the supply arm 35 so that the
mount surface 71BX of the supply arm 35 is slightly higher than the
upper surface of the stage 15.
[0208] In step SP6, the control unit 21 proceeds to sub-routine
SRT2 (FIG. 16) in order to perform a releasing operation process by
the supply arm 35, and enters step SP31.
[0209] In step SP31, the control unit 21 controls the translation
section 63 of the supply arm 35, so as to effect an extending
operation of sliding the arm movement section 70 (FIG. 11) in the
+Q direction, as shown in FIG. 21, and then proceeds to the next
step SP32.
[0210] In this instance, the target slide glass SGT is located at a
position substantially just above that position on the stage 15 at
which the slide glass is to be mounted.
[0211] In step SP32, the control unit 21 controls the clamp motor
75 in the clamp unit 73 so as to perform a releasing operation of
moving the clamp block 76 in the
[0212] -Q direction, and proceeds to the next step SP33.
[0213] In this instance, the target slide glass SGT is in the state
of not being gripped by the gripping unit 70A, in other words, in
the state of being mounted on the mount surface 71BX without being
not fixed in any way.
[0214] In step SP33, the control unit 21 causes the carriage 34 to
move downward so as to lower the supply arm 35, and then proceeds
to the next step SP34.
[0215] In this instance, the target slide glass SGT is in a state
wherein its central portion is supported by the mount surface 71BX
of the supply arm 35 and both its end portions in regard of the
longitudinal direction are supported by the stage 15.
[0216] In step SP34, the control unit 21 operates the clip members
on the stage 15 to perform a fixing process of fixing the slide
glass SG, and then proceeds to the next step SP35.
[0217] In step SP35, the control unit 21 causes the carriage 34 to
move downward so as to lower the supply arm 35, and proceeds to the
next step SP36.
[0218] In this instance, the supply arm 35 is put into a state
wherein the mount surface 71BX is spaced from the target slide
glass SGT fixed on the stage 15 and, further, upper end portions of
the fixing claws 71BY are located below the lower surface of the
target slide glass SGT.
[0219] In step SP36, the control unit 21 controls the translation
section 63 of the supply arm 35 so as to perform a contracting
operation, and proceeds to the next step SP37.
[0220] In this instance, the supply arm 35 finishes releasing the
slide glass SG, thereby coming into so to speak an empty state.
[0221] In step SP37, the control unit 21 finishes the sub-routine
SRT2, returns to step SP6 in the original routine RT1 (FIG. 14),
and proceeds to the next step SP7. In step SP7, the control unit 21
finishes routine RT1, thereby completing the basic conveying
operation of the supply arm 35.
[0222] On the other hand, when a negative determination is obtained
in step SP3, it means that a conveying operation for the target
slide glass SGT of concern at present cannot be continued. In this
instance, the control unit 21 proceeds to step SP7, thereby to
complete routine RT1.
[0223] Thus, in its basic conveying operation, the supply arm 35 is
so controlled that it is detected whether or not the lengths of the
longer edge and the shorter edge of the slide glass SG are within
the respective allowable ranges, and performs the conveying
operation only in the case where the lengths are within the
allowable ranges.
[0224] Incidentally, the control unit 21 of the controlling unit 4
is so designed as to perform a similar conveying operation also in
the case where a supply tray 52 of a one-sheet tray 50 provided as
a storage unit 38 is used as a storage site.
[0225] 1-6-3. Configuration of Discharge Arm
[0226] The discharge arm 36 (FIG. 11) is similar to the supply arm
35 in configuration, and has an arm fixation section 80 and an arm
movement section 90 which correspond to the arm fixation section 60
and the arm movement section 70, respectively.
[0227] The arm fixation section 80 is configured in the same manner
as the arm fixation section 60 of the supply arm 35, except for
having a fall-off preventive guide 85 corresponding to the fall-off
preventive guide 65.
[0228] The fall-off preventive guide 85 includes a flat plate
section 85A and guide sections 85B and 85C corresponding
respectively to the flat plate section 65A and the guide sections
65B and 65C of the fall-off preventive guide 65.
[0229] The flat plate section 85A is greater than the flat plate
section 65A in length in the P-axis direction. The guide sections
85B and 85C are greater than the guide sections 65B and 65C in
inclination angle, from the Q-axis direction toward the P-axis
direction, of coupling plates 85B1 and 85C1 which correspond
respectively to the coupling plates 65B1 and 65C1.
[0230] This ensures that, when the arm fixation section 80 is
compared with the arm fixation section 60, a holding space 85D
defined by the guide sections 85B and 85C is larger than the
holding space 65D. In other words, the holding space 85D has a
length in the Q-axis direction and a length in the P-axis direction
which are greater than the longer edge upper limit and the shorter
edge upper limit for the slide glass SG.
[0231] In addition, the arm movement section 90 is configured in
the same manner as the arm movement section 70 of the supply arm
35, except for having a clamp unit 93 in place of the clamp unit 73
(FIG. 12A).
[0232] The clamp unit 93 is configured in the same manner as the
clamp unit 73, except for having a mounting plate 94 in place of
the mounting plate 74.
[0233] The mounting plate 94 has a structure in which the length in
the Q-axis direction is reduced and the movable range of a clamp
block 76 is enlarged in the -Q direction, as compared with the
mounting plate 74. Consequently, in the arm movement section 90,
the spacing from fixing claws 71BY to a projected section 76A of
the clamp block 76 in a gripping unit 90A is enlarged, as compared
with that in the arm movement section 70.
[0234] Consequently, in the clamp unit 93, the time required for a
moving operation of the clamp block 76 is longer than that in the
clamp unit 73.
[0235] Thus, the discharge arm 36 can perform an extending
operation and a contracting operation in the same manner as the
supply arm 35. In addition, the discharge arm 36 has the holding
space 85D greater than the holding space 65D in the supply arm 35.
Further, the moving range of the clamp block 76 in the clamp unit
93 of the discharge arm 36 is broadened, as compared with that in
the supply arm 35.
[0236] 1-6-4. Basic Conveying Operation of Discharge Arm
[0237] In practice, the controlling unit 4 (FIG. 2) executes a
control according to the flow charts shown in FIGS. 22 to 24, in
the case of conveying a slide glass SG by the discharge arm 36. The
flow charts in FIGS. 22 to 24 basically correspond to the flow
charts in FIGS. 14 to 16, respectively, but the procedures of
processing in both cases are partly different.
[0238] Incidentally, here, description will be made by taking as an
example the case of conveying a slide glass SG (target slide glass
SGT) mounted on the stage 15 into the storage unit 38 having the
multi-sheet cassette 40.
[0239] For example, upon receiving a starting instruction for a
conveying operation by the discharge arm 36 through the operating
unit 24, the control unit 21 of the controlling unit 4 starts
routine RT2 and proceeds to step SP41.
[0240] In step SP41, the control unit 21 causes the carriage 34 to
move in the vertical direction so as to adjust the height of the
discharge arm 36 to the height of the stage 15 on which the target
slide glass SGT is mounted, and proceeds to the next step SP42.
[0241] In this instance, the height of the discharge arm 36 is so
adjusted that upper end portions of the fixing claws 71BY (FIG. 11)
are set slightly below the lower surface of the target slide glass
SGT.
[0242] In step SP42, the control unit 21 proceeds to a sub-routine
SRT3 (FIG. 23) in order to perform a pick-up operation process by
the discharge arm 36, and enters step SP51.
[0243] Incidentally, the sub-routine SRT3 shows a procedure of
process as if derived from the sub-routine SRT1 (FIG. 15), which
represents the procedure of the pick-up operation process by the
supply arm 35, by omitting the determination process and the
process of returning the target slide glass SGT into an original
position.
[0244] Specifically, in step SP51, the control unit 21 controls the
translation section 63 of a discharge arm 36 so as to perform an
extending operation of sliding the arm movement section 90 (FIG.
11) in the +Q direction, and then proceeds to the next step
SP52.
[0245] In this instance, the mount surface 71BX of the arm movement
section 90 is located substantially just under the target slide
glass SGT.
[0246] In step SP52, the control unit 21 causes the carriage 34 to
move upward so as to raise the discharge arm 36, and proceeds to
the next step SP53.
[0247] In this instance, the discharge arm 36 mounts the target
slide glass SGT onto the mount surface 71BX, and lifts up both end
portions in regard of the longitudinal direction of the target
slide glass SGT from the stage 15.
[0248] In step SP53, the control unit 21 controls the translation
section 63 of the discharge arm 36 to perform a contracting
operation, and proceeds to step SP54.
[0249] In this instance, as shown in FIG. 21, the discharge arm 36
contracts the arm movement section 90 completely, to move the
target slide glass SGT into the holding space 85D.
[0250] Incidentally, as above-mentioned, the discharge arm 36 has a
structure wherein the length in the Q-axis direction and the length
in the P-axis direction of the holding space 85D are set to be
greater than the longer edge upper limit and the shorter edge upper
limit for the slide glass SG, respectively. Therefore, even if the
target slide glass SGT is inclined on the mount surface 71BX or is
positionally deviated in the P-axis direction, the discharge arm 36
can picks up the target slide glass SGT into the holding space
85D.
[0251] In step SP54, the control unit 21 controls the clamp motor
75 in the clamp unit 93 of the discharge arm 36 so as to perform a
pressing operation of moving the clamp block 76 in the +Q
direction. By this, the control unit 21 causes the target slide
glass SGT to be gripped between the projected section 76A of the
clamp block 76 and the fixing claws 71BY, and proceeds to the next
step SP55.
[0252] Incidentally, as above-mentioned, in the discharge arm 36,
the moving range of the clamp block 76 in the clamp unit 93 is
enlarged as compared with that in the clamp unit 73 of the supply
arm 35. Therefore, even if the target slide glass SGT is inclined
on the mount surface 71BX, the discharge arm 36 can appropriately
grip the target slide glass SGT while correcting the
inclination.
[0253] In step SP55, the control unit 21 finishes the sub-routine
SRT3, returns to step SP42 in the original routine RT2 (FIG. 22),
and then proceeds to the next step SP43.
[0254] In step SP43, the control unit 21 controls the rotating base
32 so as to slew the discharge arm 36 into a direction for facing
the multi-sheet cassette 40 provided as the storage unit 38
(hereafter, this direction will be referred to as the storage
direction), as shown in FIG. 19, and proceeds to the next step
SP44.
[0255] In step SP44, the control unit 21 controls the carriage 34
so as to adjust the height of the discharge arm 36 to that slot in
the multi-sheet cassette 40 in which to store the target slide
glass SGT (hereafter, this place will be referred to as the
discharge site), and proceeds to the next step SP45.
[0256] In step SP45, the control unit 21 proceeds to a sub-routine
SRT4 (FIG. 24) in order to perform a releasing operation process by
the discharge arm 36, and enters step SP61.
[0257] Incidentally, the sub-routine SRT4 shows a procedure of
process as if derived from the sub-routine SRT2 (FIG. 16),
representing the procedure of the releasing operation process by
the supply arm 35, by omitting the step SP34 and uniting the
process of step SP33 with the process of step SP35.
[0258] Specifically, in step SP61, the control unit 21 controls the
translation section 63 of the discharge arm 36 so as to perform an
extending operation of sliding the arm movement section 90 (FIG.
11) in the +Q direction, and then proceeds to step SP62.
[0259] In this instance, the target slide glass SGT is in the state
of being gripped by the gripping unit 90A in the slot of the
discharge site, as shown in FIG. 17.
[0260] In step SP62, like in step SP32, the control unit 21
controls the clamp motor 75 in the clamp unit 93 to perform a
releasing operation of moving the clamp block 76 in the -Q
direction, and proceeds to the next step SP63.
[0261] In this instance, the target slide glass SGT is in the state
of not being gripped by the gripping unit 90A, in other words, in
the state of being mounted on the mount surface 71BX without being
fixed in any way.
[0262] In step SP63, the control unit 21 causes the carriage 34 to
move downward so as to lower the discharge arm 36, and proceeds to
the next step SP64.
[0263] In this instance, the target slide glass SGT is in a state
wherein both its end portions in regard of the longitudinal
direction are supported by the slit portions of the multi-sheet
cassette 40 and it is spaced from the mount surface 71BX. In
addition, the discharge arm 36 is in a state wherein upper end
portions of the fixing claws 71BY are located below the lower
surface of the target slide glass SGT.
[0264] In step SP64, the control unit 21 controls the translation
section 63 of the discharge arm 36 so as to perform a contracting
operation, and proceeds to the next step SP65.
[0265] In step SP65, the control unit 21 determines whether or not
the discharge site at present is the discharge tray 53 of the
one-sheet tray 50. In this case, the discharge site is a slot in
the multi-sheet cassette 40; therefore, the control unit 21 obtains
a negative determination, and proceeds to step SP69.
[0266] In step SP69, the control unit 21 finishes the sub-routine
SRT4, returns to step SP45 in the original routine RT2 (FIG. 22),
and proceeds to the next step SP46. In step SP46, the control unit
21 finishes the routine RT2, thereby finishing the basic conveying
operation of the discharge arm 36.
[0267] Meanwhile, in the microscope system 1, in the case where the
one-sheet tray 50 (FIG. 6) is used in place of the multi-sheet
cassette 40 as the storage unit 38, the releasing operation for the
slide glass SG can be carried out by using the discharge tray 53 as
the discharge site.
[0268] In this instance, upon completion of step SP64 in the
sub-routine SRT4, the control unit 21 causes the target slide glass
SGT to be released into the holding space 53D, while supporting the
target slide glass SGT by the inside bottom surfaces 53C1 and 53C2
of the discharge tray 53 (FIG. 9).
[0269] Further, upon obtaining an affirmative determination in step
SP65, the control unit 21 proceeds to step SP66. In step SP66, the
control unit 21 causes the carriage 34 to move upward so as to
raise the discharge arm 36, and proceeds to the next step SP67.
[0270] In this instance, the discharge arm 36 adjusts the height of
+Q-side surface portions of the fixing claws 71BY to the height of
a side surface portion of the target slide glass SGT.
[0271] In step SP67, the control unit 21 controls the translation
section 63 of the discharge arm 36 so as to perform an extending
operation of sliding the arm movement section 90 (FIG. 11) by a
predetermined distance in the +Q direction, and then proceeds to
the next step SP68.
[0272] In this instance, the discharge arm 36 extends the arm
movement section 90 to such an extent as to bring the fixing claws
71BY to a substantially central area of the holding space 53D,
thereby bringing +Q-side surface portions of the fixing claws 71BY
into contact with a side surface portion of the target slide glass
SGT, and moves it in the manner of pushing it directly toward the
discharge surface 53S2 side.
[0273] Consequently, a part of the target slide glass SGT is
exposed from the hole 53G, as has been shown in FIG. 9C.
Incidentally, the amount of exposure of the target slide glass SGT
is set to such an extent that the operator can hold (pinch) the
target slide glass SGT by fingers and that the target slide glass
SGT would not fall off.
[0274] In step SP68, the control unit 21 performs a process similar
to that of step SP64 to contract the discharge arm 36, thereby
drawing out the gripping unit 90A completely from the discharge
tray 53, and then proceeds to the next step SP69.
[0275] In step SP69, the control unit 21 finishes the sub-routine
SRT4, thereby finishing the releasing (discharging) operation into
the discharge tray 53 by the discharge arm 36.
[0276] Thus, the control unit 21 is so designed as to perform a
pushing-out process as expressed in steps SP66 to SP69 in the case
where the discharge site is the discharge tray 53 of the one-sheet
tray 50.
[0277] 1-6-5. Conveying Operation by Supply Arm and Discharge
Arm
[0278] Meanwhile, in the microscope system 1, in the case of
performing a continuous image sensing process of continuously
sensing the images of a plurality of slide glasses SG, the slide
glass SG on the stage 15 has to be sequentially replaced by the
conveying unit 3.
[0279] In this instance, in the microscope system 1, a combined
conveying operation is carried out such that the above-mentioned
basic conveying operation of the supply arm 35 and the
above-mentioned basic conveying operation of the discharge arm 36
are made to proceed concurrently.
[0280] Here, the procedure of a conveying operation process
conducted by use of the supply arm and the discharge arm will be
described using the flow chart shown in FIG. 25 and the perspective
views shown in FIGS. 26 to 46.
[0281] Incidentally, here, the slide glass SG to be subjected to
image sensing (photography) first is referred to as slide glass
SG1, and the slide glass SG to be subjected to image sensing
(photography) next is referred to as slide glass SG2. The slide
glass SG1 is assumed to have already been mounted on the stage 15,
as shown in FIG. 26, and is being under an image sensing
(photographing) treatment. In addition, the slide glass SG2 is
assumed to be being stored in a predetermined slot in the
multi-sheet cassette 40 provided as the storage unit 38 (hereafter,
this slot will be referred to as the supply site).
[0282] Upon receiving a starting instruction for a continuous image
sensing treatment through the operating unit 24, for example, the
control unit 21 in the controlling unit 4 reads out a continuous
image sensing program from the storage unit 23, and executes the
program. In this instance, the control unit 21 carries out
repeatedly a replacing process of replacing once the slide glass SG
on the stage 15, according to the continuous image sensing
program.
[0283] In the case of performing the replacing process, the control
unit 21 reads out a predetermined replacing process program from
the storage unit 23, to thereby start a routine RT3, and proceeds
to step SP71.
[0284] In step SP71, the control unit 21 causes the carriage 34 to
move in the vertical direction, so as to adjust the carriage 34 to
a predetermined slewing height, and proceeds to the next step
SP72.
[0285] Incidentally, the slewing height is preliminarily set as a
height for obviating interference of the supply arm 35 and the like
with other component parts of the microscope system 1 at the time
of slewing the carriage 34, the supply arm 35 and the discharge arm
36 as one body by the rotating base 32.
[0286] In step SP72, the control unit 21 controls the rotating base
32 so as to slew the carriage 34, the supply arm 35 and the
discharge arm 36 as one body into the storage direction, and then
proceeds to the next step SP73.
[0287] In step SP73, the control unit 21 causes the carriage 34 to
move in the vertical direction, so as to adjust the supply arm 35
to the height of the supply site, as shown in FIG. 28, and proceeds
to the next step SP74.
[0288] In step SP74, the control unit 21 carries out a series of
pick-up operation process by the supply arm 35 as shown in the
sub-routine SRT1 (FIG. 15). In this instance, the control unit 21
extends the supply arm 35 as shown in FIG. 29, then contracts the
supply arm 35 with the slide glass SG2 mounted on the mount surface
71BX as shown in FIG. 30, and proceeds to the next step SP75.
[0289] In step SP75, the control unit 21 determines whether or not
the slide glass SG2 has successfully been gripped normally, like in
step SP3 of the routine RT1. When a negative determination is
obtained here, it means that the lengths of the longer edge and the
shorter edge of the slide glass SG2 fall outside of the allowable
ranges, and that the slide glass SG2 should not or cannot be
conveyed onto the stage 15. In this instance, the control unit 21
returns to step SP73, in order to try to pick up another slide
glass SG.
[0290] On the other hand, when an affirmative determination is
obtained in step SP75, it means that the slide glass SG2 is
properly gripped in the holding space 65D as shown in FIG. 31, in
other words, the lengths of the longer edge and the shorter edge of
the slide glass SG2 are within the allowable ranges. In this
instance, the control unit 21 proceeds to the next step SP76, in
order to convey the slide glass SG2 onto the stage 15.
[0291] In step SP76, the control unit 21 causes the carriage 34 to
move in the vertical direction, so as to adjust the carriage 34 to
the slewing height, as shown in FIG. 32, and proceeds to the next
step SP77.
[0292] In step SP77, the control unit 21 controls the rotating base
32 so as to slew the supply arm 35 into the stage direction
together with the carriage 34 and the discharge arm 36, as shown in
FIGS. 33 and 34, and proceeds to the next step SP78.
[0293] In step SP78, the control unit 21 causes the carriage 34 to
move in the vertical direction so as to adjust the discharge arm 36
to the height of the stage 15, as shown in FIG. 35, and proceeds to
the next step SP79.
[0294] In step SP79, the control unit 21, upon completion of the
image sensing treatment of the slide glass SG1, moves the stage 15
to a predetermined replacement position as shown in FIG. 35, and
proceeds to the next step SP80.
[0295] In step SP80, the control unit 21 carries out a series of
pick-up operation process by the discharge arm 36 as shown in the
sub-routine SRT3 (FIG. 23). In this case, the control unit 21
extends the discharge arm 36 as shown in FIG. 36, and raises the
discharge arm 36 as shown in FIG. 37, to thereby mount the slide
glass SG1 onto the mount surface 71BX. Further, the control unit 21
contracts the discharge arm 36 as shown in FIG. 38, thereby
gripping the slide glass SG1 in the holding space 85D, and proceeds
to the next step SP81.
[0296] In step SP81, the control unit 21 causes the carriage 34 to
move downward, so as to adjust the supply arm 35 to the height of
the stage 15 as shown in FIG. 39, and proceeds to the next step
SP82.
[0297] In step SP82, the control unit 21 performs a series of
releasing operation process by the supply arm 35 as shown in the
sub-routine SRT2 (FIG. 16). In this case, the control unit 21
extends the supply arm 35 as shown in FIG. 40, lowers the supply
arm 35 as shown in FIG. 41 so as to mount the slide glass SG2 onto
the stage 15, then contracts the supply arm 35 as shown in FIG. 42,
and proceeds to the next step SP83.
[0298] In step SP83, the control unit 21 causes the carriage 34 to
move in the vertical direction, so as to adjust the carriage 34 to
the slewing height together with the supply arm 35 and the
discharge arm 36, and proceeds to the next step SP84.
[0299] In step SP84, the control unit 21 controls the rotating base
32 so as to slew the carriage 34, the supply arm 35 and the
discharge arm 36 as one body into the storage direction as shown in
FIGS. 43 and 44, and proceeds to the next step SP85.
[0300] In step SP85, the control unit 21 causes the carriage 34 to
move in the vertical direction so as to adjust the height of the
discharge arm 36 to the discharge site, or the slot into which to
discharge the slide glass SG1, in the multi-sheet cassette 40 as
shown in FIG. 45, and then proceeds to the next step SP86.
[0301] In step SP86, the control unit 21 carries out a series of
releasing operation process by the discharge arm 36 as shown in the
sub-routine SRT4 (FIG. 24). In this case, the control unit 21
extends the discharge arm 36, then lowers the discharge arm 36 as
shown in FIG. 46 so as to support the slide glass SG1 by the
multi-sheet cassette 40, further contracts the discharge arm 36,
and proceeds to the next step SP87.
[0302] In step SP87, the control unit 21 finishes the routine RT3,
thereby finishing the procedure of the series of conveying
operation process by the supply arm 35 and the discharge arm
36.
1-7. Operation and Effect
[0303] In the conveying unit 3 of the microscope system 1
configured as above, the supply arm 35 for supplying the slide
glass SG onto the stage 15 and the discharge arm 36 for discharging
the slide glass SG from the stage 15 are set independent from each
other, and are mounted to the carriage 34 in the manner of
overlapping with each other on the upper and lower sides.
[0304] During the image sensing (photographing) treatment of a
slide glass SG mounted on the stage 15, the control unit 21 of the
controlling unit 4 causes the supply arm 35 to pick up and hold a
new slide glass SG, and sets it in a stand-by state in the vicinity
of the stage 15 together with the empty discharge arm 36.
[0305] Then, upon completion of the image sensing (photographing)
treatment of the slide glass SG, the control unit 21 of the
controlling unit 4 discharges the slide glass SG from the stage 15
by the discharge arm 36, and immediately dispose the new slide
glass onto the stage 15 by the supply arm 35.
[0306] This ensures that, in the microscope system 1, the replacing
process for the slide glass SG mounted on the stage 15 can be
completed in an extremely short time.
[0307] Particularly, in the microscope system 1, the image sensing
(photographing) treatment for producing image pickup data on the
slide glass SG is a most time-consuming process, and the image
sensing treatment cannot be carried out during the replacing
process for the slide glass SG. In relation to this point, it is
possible in the microscope system 1 to complete the replacing
process for the slide glass SG in an extremely short time, and,
therefore, it is possible to considerably shorten the stand-by time
for the image sensing treatment and to enhance the working
efficiency.
[0308] Consequently, in the microscope system 1, in the case of
producing image pickup data on a large number (e.g., 300 sheets) of
slide glasses SG, the required time can be greatly shortened, and
the speed of production of all image pickup data can be enhanced
drastically.
[0309] Besides, in the microscope system 1, the length in the
Q-axis direction of the holding space 65D defined by the guide
sections 65B and 65C of the supply arm 35 is adjusted to the longer
edge upper limit for the slide glass SG, and the slide glasses SG
which cannot be held in the holding space 65D are not picked
up.
[0310] Further, in the microscope system 1, at the time of gripping
the slide glass SG by the gripping unit 70A of the supply arm 35,
the grip spacing is detected, and, if the grip spacing falls
outside of the shorter edge allowable range, the slide glass SG is
not picked up.
[0311] Thus, in the microscope system 1, the slide glass SG falling
outside of the allowable range can be preliminarily excluded at the
time stage of picking up the slide glass SG by the supply arm 35.
Consequently, in the microscope system 1, it is possible to obviate
a time-consuming operation such as "performing again a replacing
treatment of the slide glass SG because the fact that the slide
glass SG falls outside of the allowable range is not found until
the time stage of mounting the slide glass SG onto the stage
15."
[0312] On the other hand, in the microscope system 1, the length in
the Q-axis direction and the length in the P-axis direction of the
holding space 85D in the discharge arm 36 provided separately from
the supply arm 35 are set to be greater than the longer edge upper
limit and the shorter edge upper limit for the slide glass SG.
Consequently, in the microscope system 1, at the time of picking up
from the stage 15 a slide glass SG which has undergone the image
sensing (photographing) treatment or for which the fixing treatment
has failed, the slide glass SG can be picked up assuredly even if
the slide glass SG is positionally deviated or inclined from a
properly mounted state.
[0313] For example, in the microscope system 1, an application mode
is assumed in which a large number (e.g., 300 sheets) of slide
glasses SG are preliminarily set in the storage unit 38, and image
pickup data are sequentially produced in an unmanned manner by a
continuous image sensing treatment in the night.
[0314] In such a case, if a slide glass SG is present which cannot
be removed from the stage 15 by a series of conveying operation,
the image sensing treatment of the subsequent other slide glasses
SG cannot be continued, and the whole process is interrupted, so
that the remaining image pickup data cannot be produced.
[0315] On the other hand, in the microscope system 1, slide glasses
SG in various states can be picked up and discharged by the
discharge arm 36, while preliminarily excluding the slide glasses
SG falling outside of prescription by the supply arm 35. This makes
it possible in the microscope system 1 to enhance reliability of
the series of conveying operations, and to suppress to an extremely
low level the possibility of interruption of the continuous image
sensing process.
[0316] Besides, in the microscope system 1, the plurality of
pedestals 37A to 37E are arranged along the circumference of a
circle on the upper surface 31A of the base section 31, and the
slide glasses SG are conveyed between the multi-sheet cassettes 40
or one-sheet trays 50 on the pedestals 37A to 37E and the stage 15
by the rotating operation of the rotating base 32.
[0317] Meanwhile, in a configuration in which a heavy structure is
rectilinearly moved over a long distance as disclosed in Patent
Document 1, it may be necessary to enhance the rigidity of each
component or part or to suppress an acceleration to a low level, in
order that the component or part can endure the moments generated
due to acceleration and/or deceleration.
[0318] On the other hand, in the microscope system 1, heavy bodies
can be concentrated on the center of rotation of a rotating motion,
so that stable operations can be performed even in the case of
high-speed conveying operations. This makes it possible in the
microscope system 1 to easily enhance accuracy while adopting a
simple configuration.
[0319] In addition, in such a configuration as disclosed in Patent
Document 1, as schematically shown in FIG. 47A, the occupied area
necessary for arm movement on the basis of one multi-sheet cassette
40 is a roughly rectangular area S1.
[0320] On the other hand, in the configuration in which a rotating
motion is used as in the microscope system 1, as schematically
shown in FIG. 47B, the occupied area necessary for arm movement on
the basis of one multi-sheet cassette 40 is a roughly sector-shaped
area S2. Thus, in the microscope system 1, the device configuration
can be reduced in size.
[0321] In addition, in the one-sheet tray 50 (FIG. 6) of the
microscope system 1, the supply tray 52 on which to mount a slide
glass SG to be supplied onto the stage 15 and the discharge tray 53
on which to mount a slide glass SG having undergone an image
sensing (photographing) treatment are provided separately from each
other.
[0322] This ensures that, in the microscope system 1, a new slide
glass SG to be photographed next can be disposed on the supply tray
52, without causing the operator to worry about the discharge place
for a given slide glass SG, during the photographing treatment of
the given slide glass SG.
[0323] In other words, in the microscope system 1, there is no
possibility of generation of a waiting time such as that in
"waiting for the discharge of a slide glass SG having undergone an
image sensing (photographing) treatment, taking the slide glass SG,
and mounting a new slide glass SG."
[0324] Further, in the supply tray 52 of the one-sheet tray 50, the
lengths of the longer edge and the shorter edge of the holding
space 52E (FIGS. 7 and 8) are set to be comparable to the longer
edge upper limit and the shorter edge upper limit for the slide
glass SG.
[0325] This ensures that, in the case where the operator cannot
mount a slide glass SG in the holding space 52E, the supply tray 52
permits the operator to recognize that the length of the longer
edge or the shorter edge of the slide glass SG falls outside of the
allowable range and it may be impossible to properly mount the
slide glass SG onto the stage 15.
[0326] On the other hand, in the discharge tray 53 of the one-sheet
tray 50, the lengths of the longer edge and the shorter edge of the
holding space 53D (FIGS. 9 and 10) are set to be sufficiently
greater than the longer edge upper limit and the shorter edge upper
limit for the slide glass SG.
[0327] This ensures in the discharge tray 53 that, even if the
slide glass SG is gripped by the discharge arm 36 in the state of
being positionally deviated or inclined, the risk of erroneous
falling or breaking of the slide glass SG at the time of mounting
the slide glass SG in the holding space 53D by the discharge arm 36
can be greatly lowered.
[0328] According to the above configuration, in the microscope
system 1, the supply arm 35 for supplying a slide glass SG onto the
stage 15 and the discharge arm 36 for discharging the slide glass
SG from the stage 15 are provided independently from each other.
Besides, in the microscope system 1, during the photographing
(image pickup) treatment of a slide glass SG, a new slide glass SG
is picked up and held by the supply arm 35, and the supply arm 35
is kept in a stand-by state in the vicinity of the stage 15
together with the empty discharge arm 36. In the microscope system
1, further, when the photographing (image pickup) treatment of the
slide glass SG is completed, the slide glass SG is discharged from
the stage 15 by the discharge arm 36, and the new slide glass SG is
immediately disposed on the stage 15 by the supply arm 35.
Consequently, in the microscope system 1, replacement of the slide
glass SG can be completed in an extremely short time.
2. Other Embodiments
[0329] Incidentally, in the embodiment above, description has been
made of the case where the supply arm 35 is provided with the
fall-off preventive guide 65.
[0330] The present application is not limited to the
above-described configuration; for example, in the case where the
gripping force of the gripping unit 70A is sufficient or in other
similar cases, the fall-off preventive guide 65 may be omitted.
[0331] In addition, in the embodiment above, description has been
made of the case where the lengths of the longer edge and the
shorter edge of the holding space 65D in the supply arm 35 are set
to the longer edge upper limit and the shorter edge upper limit,
respectively.
[0332] The present application is not restricted to this
configuration; for example, in the case where the length in the
longer edge direction of each slot in the multi-sheet cassette 40
is set to the longer edge upper limit or in other similar cases,
the lengths of the longer edge and the shorter edge of the holding
space 65D may be set to be greater than the longer edge upper limit
and the shorter edge upper limit, respectively. Besides, in such a
case, the size of the holding space 65D in the supply arm 35 may be
set comparable to the size of the holding space 85D in the
discharge arm 36.
[0333] Further, in the embodiment above, description has been made
of the case wherein the length of the shorter edge of the slide
glass SG gripped in the gripping operation of the supply arm 35 is
obtained as a grip spacing (grip interval) and it is determined
whether or not the grip spacing falls within the shorter edge
allowable range.
[0334] The present application is not limited to this
configuration, and a configuration may be adopted in which the grip
spacing is not obtained in the gripping operation and it is not
determined whether or not the grip spacing falls within the shorter
edge allowable range.
[0335] Furthermore, in the embodiment above, description has been
made of the case where the discharge arm 36 is provided with the
fall-off preventive guide 85.
[0336] The present application is not restricted to this
configuration; for example, in the case where the gripping force of
the gripping unit 90A is sufficient or in other similar cases, the
fall-off preventive guide 85 may be omitted.
[0337] Further, in the embodiment above, description has been made
of the case wherein the slide glass SG is moved along the shorter
edge direction during the extending operation and the contracting
operation of the supply arm 35 and the discharge arm 36.
[0338] The present application is not limited to this
configuration; for example, the slide glass SG may be moved along
the longer edge direction during the extending operation and the
contracting operation of the supply arm 35 and the discharge arm
36. In this case, the stage 15 and the multi-sheet cassette 40 and
the one-sheet tray 50 in the storage unit 38 may also be shaped so
that the slide glass SG is moved along the longer edge
direction.
[0339] Furthermore, in the embodiment above, description has been
made of the case wherein the supply arm 35 and the discharge arm 36
are fixed to the carriage 34 in the state of being oriented in the
same direction and overlapping with each other on the upper and
lower sides.
[0340] The present application is not restricted to this
configuration. For example, the supply arm 35 and the discharge arm
36 may be fixed in the state of being oriented in different
directions or being juxtaposed on the left and right sides, or may
further be so set that their directions can be changed freely.
[0341] Further, in the embodiment above, description has been made
of the case wherein the pedestals 37 are arranged along the
circumference of a circle, and the supply arm 35 and the discharge
arm 36 are oriented into the direction of the stage 15 or the
multi-sheet cassette 40 or the one-sheet tray 50 by the rotating
operation of the rotating base 32.
[0342] The present application is not limited to this
configuration; for example, like in Patent Document 1, a
configuration may be adopted wherein the pedestals 37 are arranged
on a straight line along the X-axis direction and the prop 33 is
moved rectilinearly in the X-axis direction.
[0343] Furthermore, in the embodiment above, description has been
made of the case where the discharge tray 53 is provided with the
hole 53G and a part of the slide glass SG is exposed from the hole
53G by the processes in steps SP66 to SP68 of the sub-routine SRT3
(FIG. 24).
[0344] The present application is not restricted to this
configuration; for example, the spacing between the supply tray 52
and the discharge tray 53 may be broadened, the hole 53G may be
omitted, and the processes in steps SP66 to SP68 may not be carried
out. In such a case, it suffices for the operator to take out the
slide glass SG directly from the holding space 53D.
[0345] Further, in the embodiment above, description has been made
of the case wherein improper holding of the slide glass SG in the
holding space 52E of the supply tray 52 is recognized by the
operator through tactile sensation, visual sensation or auditory
sensation.
[0346] The present application is not limited to this
configuration; for example, a configuration may be adopted in which
cross marks (+) are formed in the four corners in top plan view of
the slide glass SG and an image of the supply tray 52 is picked up
from above by a predetermined camera to thereby detect the held
state of the slide glass SG. In this case, the tetragon obtained by
interconnecting the center points of the cross marks on the image
picked up by the camera is substantially a rectangle when the slide
glass SG is held properly and the tetragon is a trapezoid or a
parallelogram when the slide glass SG is not held properly.
Therefore, it suffices to determine the held state of the slide
glass SG by detecting the center points of the cross marks, through
image processing or the like, and computing the lengths of the
edges of the tetragon and/or the positional relationships between
the center points.
[0347] Furthermore, in the embodiment above, description has been
made of the case where the one-sheet tray 50 is provided with a
single supply tray 52 and a single discharge tray 53.
[0348] The present application is not restricted to this
configuration; for example, the one-sheet tray 50 may be provided
with two or more supply trays 52, or two or more discharge trays
53, or with both two or more supply trays 52 and two or more
discharge trays 53.
[0349] Further, in the embodiment above, description has been made
of the case where the number of the pedestal 37 provided on the
base section 31 is five.
[0350] The present application is not limited to this
configuration, and the number of the pedestals 37 provided on the
base section 31 is an arbitrary number such as three or six. In
such a case, the distance from the center of rotation of the
rotating base 32 to each of the pedestals varies according to the
number of the pedestals 37, and, therefore, it is recommendable to
determine the number of the pedestals while taking into account the
balance thereof with, for example, the lengths of component
sections of the supply arm 35 and the discharge arm 36.
[0351] Furthermore, in the embodiment above, description has been
made of the case where the number of sheets of the slide glass SG
which can be stored in the multi-sheet cassette 40 is sixty.
[0352] The present application is not restricted to this
configuration, and the number of sheets of the slide glasses SG
which can be stored in the multi-sheet cassette 40 may be an
arbitrary number such as fifty or eighty. In this case, the height
(the length in the Z-axis direction) of the multi-sheet cassette 40
varies according to the number of sheets of the slide glasses SG,
and, therefore, it suffices to determine the height of the prop 33
according to this factor.
[0353] Further, in the embodiment above, description has been made
of the case where the microscope unit 2 is combined with the
conveying unit 3 and the controlling unit 4.
[0354] The present application is not limited to this
configuration; for example, the conveying unit 3 and the
controlling unit 4 may be put into combination with any of various
treating devices for subjecting the slide glasses SG to a
predetermined treatment one sheet at a time, such as a label
adhering device for printing a label and adhering it to each slide
glass SG.
[0355] Further, in the embodiment above, description has been made
of the case wherein the microscope system 1 as a conveying device
or a microscope system includes the storage unit 38 as a storage
unit, the stage 15 as a stage, the supply arm 35 as a supply arm,
the discharge arm 36 as a discharge arm, the rotating base 32 and
the carriage 34 as a moving unit, and the controlling unit 4 as a
control unit.
[0356] The present application, however, it not limited to this
configuration, and the conveying device or the microscope system
may include a storage unit, a stage, a supply arm, a discharge arm,
a moving unit, and a control unit which are configured in other
various manners.
[0357] The present application is also applicable to other various
microscopes designed to magnify an image of a slide glass.
[0358] It should be understood that various changes and
modifications to the presently preferred embodiments described
herein will be apparent to those skilled in the art. Such changes
and modifications can be made without departing from the spirit and
scope and without diminishing its intended advantages. It is
therefore intended that such changes and modifications be covered
by the appended claims.
* * * * *