CN1223721A - Automatic sample processing system - Google Patents

Abstract

A system for a clinical lab that is capable of automatically processing, including sorting, of multiple specimen containers. The system comprises a central controller, a workstation (100), one or more analyzers (2000), and an automated centrifuge. The workstation (100) has automatic detectors for detecting the presence of a holder (14) holding specimen containers (12). The workstation (100) has a bar code reader for reading bar codes on the containers. The system has a transport subsystem, preferably a workstation robotic arm (700) and an analyzer robotic arm (2000) for transporting the specimen containers (12), moving them to and from the workstation (100), to and from the analyzers (2000), and to and from the centrifuge (1000). The centrifuge is loaded with buckets (1200) containing specimen containers (12). The workstation (100) can be provided with a balance system (800) for balancing the weight of the buckets (1200) used. The workstation (100) can also have a decapper (900) for automatically removing caps from the specimen containers.

Description

Automatic sample processing system

background

The present invention generally relates to a system for laboratory assay automation, and more particularly to the assay of biological samples.

Laboratory assays have changed and improved dramatically over the past 70 years. Initially, assays or analyzes were performed manually and typically using large volumes of plasma, blood or other biological fluids. However, as mechanical technology developed in industrial chemical plants, similar techniques were introduced into analytical laboratories. As new technologies are introduced, methods are improved, thereby increasing the quality of results obtained from a single instrument and reducing the amount of sample required to perform each assay.

Instruments have been developed that increase the efficiency of the assay process by reducing the round-trip time and sample size required to complete the various analyses. Such an instrument may be, for example, the Synchron _(TM) series of automated analyzers available from Beckman Instruments Company of Fullerton, California. These instruments automatically analyze many blood samples and perform multiple analyses, and provide reliable, accurate and rapid sample analysis.

Although improvements have been made, there is room for improvement in the operation of analytical laboratories. For example, a lot of time is also required for sample preparation. Sample preparation includes sorting of samples for processing, centrifugation and decapping of containers containing samples. Centrifugation requires multiple sample containers, usually test tubes, to be loaded into the receiving tank of the centrifuge to balance the weight of the receiving tank so that the centrifuge can be balanced. For processing, open the centrifuge lid, remove the receiver tank, and remove the test tube from the receiver tank. All these operations are labor-intensive and increase the cost of laboratory analysis. Moreover, these labor-intensive steps are prone to operator error. In addition, human participation also brings the risk of contamination of the sample by the operator and exposure of the operator to dangerous biological substances.

Attempts have been made to provide automation, including the use of conveyor systems to transport samples to analyzers, as described in US Patent Nos. 5,178,834 and 5,209,903. One problem with using conveyor systems is that they are generally part of an overall complete system that includes specific analyzers and other processing devices. Thus, an analytical laboratory wishing to switch to a conveyor system would need to replace all of its existing systems, which would require significant capital investment and significant training costs for operators.

Another common problem in analytical laboratories is how to handle "STAT" samples. These are specimens that require immediate processing. For example, patient samples from emergency rooms often require "STAT" analysis so that the doctor on call can determine the cause of the condition. Current analytical systems rely primarily on operator intervention to interrupt the normal workflow to ensure that STAT samples receive timely attention. However, during busy periods in laboratories, these STAT samples and coupons do not always receive the timely processing they require.

Prior art laboratory centrifuges typically have a high speed motor driven spindle, a number of holders for placing test tubes, test tube holders and/or vials provided at each angularly spaced loading station of the headstock assembly, the spindle The box assembly is located in a tubular cavity surrounded by a safety ring, and the centrifuge also has a safety-lock door that covers the cavity during spindle operation. The spindle is driven at a selected speed which can be from about 3600 RMP up to about 100,000 RMP.

The automation of centrifugation poses many problems. For example:

1. In some cases it is necessary to bypass centrifugation;

2. Access to the centrifuge is blocked by a protective cover that shifts generally vertically between open and closed positions;

3. During the movement, comes the prohibitive expense of automating the cover and preventing injury to personnel;

4. The centrifuge must be equilibrated to within approximately 10 grams before high speed operation begins; and;

5. Many processes are expensive due to the time required to spin the sample, especially the long cycles required to load and unload the centrifuge, program the spinning process, and accelerate and decelerate the centrifuge.

In some prior art centrifuges, a headstock is indexable to one of several rest positions for loading and unloading the centrifuge from corresponding angularly spaced receiver loading stations of the headstock assembly. However, these centrifuges became complex and expensive due to the use of different motors and controls for indexing and high speed operation; high speed performance was degraded due to the increased inertia caused by the indexing motor.

Therefore, there is a need for a system that automates sample handling and sample preparation processes, including centrifugation for analytical processes, especially for analytical laboratories. The system must be usable with existing devices, ie existing devices do not need to be replaced, and the system can be used with many existing analytical devices. Also, the throughput of the system is minimally affected by samples requiring centrifugation. Furthermore, there is a need for a system capable of identifying and rapidly processing STAT samples, minimizing health risks from contact with biological samples, and minimizing contamination of samples by operator error.

review

The present invention provides a system that satisfies the above needs. The system of the present invention is based on a modular workstation that can automatically prepare biological samples for further processing by a number of analytical devices without the need to replace existing analytical devices. The system sorts incoming samples and prioritizes STAT samples. Incoming samples are automatically centrifuged, decapped and transported to the selected analytical unit as needed. The system can be automatically controlled by using a central controller. The system provides efficient, high throughput and rapid analytical results while reducing operator error and operator exposure to biological matter.

Typically, samples to be processed automatically are contained in multiple containers, such as test tubes, which may have caps. Each container is marked with container identification, eg a barcode. The containers are located in one or more holders such as sectors and/or racks with identification markings on the segments and/or racks.

According to one aspect of the invention, a processing system includes: (i) a central controller, (ii) a workstation with subsystems for sorting, preparing and shipping containers, (iii) a processing system for centrifuging selected a centrifugation system for the sample, and (iv) at least one analyzer for selectively analyzing the sample. Not only the system as a whole is considered new and innovative, but also subsystems of the system as a whole, as well as specific mechanical components of the system. central controller

The central controller, which may be part of the workstation, includes memory and a data input unit for entering processing instructions into the memory for processing each container according to the container identification. According to the instructions of the central controller, each container can preferably be processed as follows:

(a) for sorting only, i.e. the workstation is used only for sorting containers for further processing;

(b) sorting and centrifugation;

(c) sorting, centrifugation and decapping;

(d) sorting, centrifugation, decapping and analysis;

(e) Sorting, decapping and analysis (for samples not requiring centrifugation); and

(f) Sorting and analysis (suitable for samples that do not require centrifugation and automatic decapping).

The central controller is provided with a process monitor having a programmed detection input step for determining the introduction of a container at an input position on the workbench; a container selection step in which the detected container is selected for processing; an identification step to determine a treatment schedule for each selected container based on the container identification mark; and a treatment selection step to initiate the identified processing schedule, which is sorting, centrifugation one or more of , decap and analyze. workbench

The table is equipped with detectors to detect the presence or absence of grippers in the system. The detector has an output member for signaling the presence of a gripper to the central controller. The station has an indicia reader, eg a barcode reader, for reading container identification indicia. The indicia reader is provided with an output unit for providing container identification indicia to the central controller. Preferably, the indicia reader is also operative to signal the gripper identification indicia to the central controller.

The workstation also includes a container sorting subsystem having a data input component in communication with the central controller for receiving instructions from the central controller to sort the containers according to processing instructions stored in the central controller memory for use in for selective processing. The container sorting system also includes several sorting locations for placing containers according to their processing instructions.

Typically, the station includes a plurality of input locations for initial placement of containers by an operator, each input location having a detector. Preferably, at least one location is selected for the prioritized container, ie, the STAT sample, whereby the central processor provides instructions to prioritize the prioritized container when the detector output unit signals the presence of a prioritized container.

The workbench typically includes a platform with positioning means, such as posts, for positioning the holder and centrifuge receiver in predetermined positions. The platform may be equipped with subsurface detectors, such as reed tubes, to detect the presence of a gripper on the platform. A table robot arm is supported on the platform and typically houses an indicium reader, which may be a bar code reader. The platform has an analyzer transport location for placing the holder for analysis by the analyzer, and an analyzer receiving location for receiving the analyzed sample from the analyzer. Preferably, the workstation is provided with a guard system for selectively blocking access by an operator, eg, an operator interfering with the operation of the system. The guard system consists of a bulkhead enclosing the bench top with openings for the passage of the analyzer robotic arm, an extension for transporting the receivers to the centrifuge, and an interlocked access hatch. The access wicket may be a sash door with an actuator responsive to the central control and an operator input for signaling the central control that access is required, the control operating to properly restrain the workbench The operation of the automatic arm and the subsequent activation of the drive to open the access wicket. Preferably, the base of the platform has several bulkheads designed according to standard dimensions, which are connected by a pair of beams and a guide rail of the automatic arm track. Preferably, the guide rail provides a large capacity air accumulator for the system.

Two different types of grippers can be used, and different types of positioning means can be used for different types of grippers. For example, a first gripper, eg a sector, may be used for the containers to be processed, wherein the first gripper is transported by the conveyor system. A second gripper, eg, a rack, may be used, in which case the containers of the second gripper are individually transported by the conveyor system for sorting. Preferably, the gripper positioning means of the second gripper is closer to the delivery system than the gripper positioning means of the first gripper to minimize movement of the delivery system.

Typically, the platform is positioned adjacent to an analyzer. Preferably, the portion of the platform closest to the analyzer is for containers to be transported to the analyzer. The platform may have an input side for receiving containers for further processing, the input side is opposite the analyzer side, and between the input side and the analyzer side is a transport channel for the table robotic arm . Centrifugal Processing System

A centrifuge processing system consists of an automated centrifuge with multiple receivers, also called baskets or troughs, each receiving multiple containers. The centrifuge includes a motor coupled to a spindle housing the receiver, a controller, and optionally a cover and a cover drive. The centrifuge controller indexes or parks the spindle assembly at selected positions for automatic placement and removal of receiving slots based on signals from the central controller. The lid has a closed position and an open position, and the lid driver opens and closes the lid in response to commands from the centrifuge controller.

Before the receptacles with containers are placed in the centrifuge, they are preferably balanced in a balancing system. The balance system may be a portion of the workbench comprising a balance with positions for receiving and placing several container receptacles, and a balance controller for increasing the relative incremental weight with each storage position Selectively deposit containers in the receptacle cavities while changing so that the weights in each pair of receptacles are equal. The balance controller can be designed as a balance program in the central controller. The balance program maintains the basic data of the position of the container and the relative weight, and instructs the automatic arm to deposit the container. Preferably, the balancing system also includes an array of balancing loads, ie, balancing test tubes, the balancing controller being operative to selectively deposit selected balancing loads in the receptacles to define weight differentials between receptacles. Preferably, the balance load is loaded so as to limit the weight difference between each pair of receptacles to no more than 10 grams.

A preferred centrifuge according to the present invention comprises a body; a headstock supported relative to the body for supporting a plurality of fluid receivers spaced at an angle and rotating the receivers around a vertical axis; A coupled spindle motor; a rotary encoder connected to the motor for generating an index signal and several position signals for each rotation of the spindle; a driver for driving the spindle motor according to an external signal; a A cover supported by the body for sealing the headstock assembly during rotation, an upper portion of the cover having an openable access cover for access to fluid samples; horizontal transitions between closed positions; a cover position sensor to signal the closed position of the cover; and a controller to signal the drive and door positioner based on the encoder, door position sensor and external signals. centrifuge controller

Preferably, the centrifuge controller is operative to (a) receive and store a centrifuge rotation profile, including a rotor shaft speed and period; (b) index the rotor to advance a selected sample stage into a the access position; (c) rotating the rotor according to the cycle profile; and (d) parking the rotor with a predetermined sample stage in the access position. Preferably, indexing and rotating the rotor is done by the same spindle motor to avoid a detrimental increase in inertia of the spindle housing. Preferably, the controller is also operative to achieve the rotational profile set acceleration and velocity and a rotational distance comprising a first distance corresponding to rotational velocity and period, and a second distance corresponding to acceleration to rotational velocity and deceleration to rest Two distances. Preferably, the rotational distance also includes a distance from the indexed position to the predetermined sample stage spacing to allow a smooth deceleration from rotational speed to rest, where the sample stage is in the access position.

Preferably, the cover retainer frictionally engages the cover to prevent injury in the event of inadvertent contact with the cover during movement. The cover positioning means may include a drive wheel in biasing contact with the cover for limiting the drive force acting thereon when the cover is moved. decap system

Before the centrifuged containers are analyzed, they can be decapped in a decapping system, which can also be included as part of the workbench. The cap removal system includes a receptacle for clampingly holding a container; a yoke member movably mounted relative to the receptacle and having means for clamping a cover mounted on the container; switching means for laterally moving the yoke member between open and closed positions; and a lift for lifting the yoke member relative to the receiver in the closed position to remove the top cover.

Preferably, the decapping system also includes a collector for receiving caps from the yoke members and an unloader for transferring removed caps from the yoke members to the collector. The means for gripping the lid may include an upwardly raised portion of the yoke for cooperating with an outwardly extending raised surface of the lid, the yoke raised portion extending below the lid in the closed position. The function of the unloader can be performed by a column fixedly installed relative to the receiver together with the programmed operation of the conversion device, the lifter is used to position the yoke parts in the open position and align the removed top cover above the column, the yoke The frame member is lowered to engage the cover with the post, thereby removing the top cover from the yoke member. In another preferred yoke lug, the yoke part has an electrically actuated clamping device to clamp the cover, and the unloader may be a plunger biasedly supported on the yoke, together with the switching device The set-up program runs so that the cover is loaded on the plunger before the gripper is actuated, and the cover can be ejected once the clamp is released.

Preferably, the decapping device further includes a guide for guiding the removed cap into the receptacle. Furthermore, the decapping apparatus also includes a cap sensor for detecting entry of the cap into the receptacle and providing a signal to confirm proper capping.

Preferably, the receptacle is controllably rotated to remove the threaded cap. The receptacle may include an inflatable bladder within a rigid member, the bladder being fluidly connected via a control valve to a pressure source for selectively gripping the container. In another preferred variation, a flexible sleeve with a closed bottom end encloses a portion of the container in a rigid member, and a gripping device in the rigid member selectively grips the container through the sleeve, in case Should a container break, the sleeve advantageously prevents debris.

The system of the present invention is applicable to many samples, and is generally applicable to biological samples, eg, human blood samples. However, it is also applicable to non-biological samples. Analyzer

Typically, the system includes two analyzers, ie, a single benchtop centrifuge can serve both analyzers. However, the system can also use one analyzer or more than two analyzers. Typically, each analyzer includes a means for selectively performing at least two different analyzes on a sample, and an analyzer controller in communication with a central controller so that the central controller can instruct the analyzer What analysis does the controller perform on each sample. Each analyzer also includes an output system for providing analysis results to the memory of the central controller. Typically, the output system of each analyzer has an output section for providing information available to the analyzer to a central controller, and the central controller has a means for selectively determining which analyzer to use for each sample to be analyzed. device for analysis.

A typical analyzer has opposing sides, a front, a top, and a rear with the analysis device on the top and user access from the front. Preferably, the bench is close to one side of the analyzer without any obstruction to the front of the analyzer. The bench has a front, a rear and opposite sides, and preferably the rear of the bench is adjacent to the side of the analyzer. When using a centrifuge it is preferably close to one side of the table. When two analyzers are used, they are preferably back to back with the rear of the bench close to one side of each analyzer.

In a typical analyzer, the analyzer has a base and a stand on the base with a top plate. Preferably, the analyzer arm is located on the top plate so that it does not get in the way when it is in the rest position. Along the top plate there may be a robotic arm channel and a drive for moving the robotic arm along the robotic arm channel, the robotic arm having a track fitting. An extension arm extends from the track fitting in the same direction as the channel extends, and the container gripping means is connected to the extension arm. Preferably, the extension arm is long enough so that the robotic arm does not interfere with the upper part of the body of the stand's front working area when the track fitting is at the end of the tunnel.

Preferably, the automated arm gripper arrangement of the analyzer is adapted to cooperate with the container holder for lifting and transporting the holder between the analyzer receiving location and the analyzer. The holder may be a sector having a pair of spaced apart gripper openings on an upwardly facing wall of the sector, the gripper having oppositely extending hooked ends for passing through each gripper opening and one of the wall portions. Bottom surface fit. In another preferred variation, the gripper has an upright handle member comprising a resilient member and having a cylindrical shape to facilitate effective gripping of the gripper in a vertical position relative to the gripper. Holder. As used herein, "cylindrical" means having a surface formed by a line that is parallel to a reference axis. Conveyor system

The delivery system (i) transports containers to and from the centrifuge receiver, analyzer, and decapping systems; (ii) transports receivers to and from the equilibration system and centrifugation system; and (iii) Shipping the container to the sorting system. The delivery system has a controller that communicates with the central controller so that the central controller can direct the delivery system.

In a preferred system, the delivery system comprises at least two robotic arms. Each analyzer has a robotic arm for transporting containers to and from the analyzer, and the station has a robotic arm for other transport functions.

Preferably, the table robotic arm comprises: (i) a longitudinal track on the table, (ii) a base frame positionable along the table track extending between opposite ends of the proximate table and extending approximately centered laterally, (iii) a conical head controllably rotatably supported, (iv) an upper arm controllably rotatably supported on the conical head, (v) a controllably rotatably supported upper arm at one end of the upper arm The lower arm, (ⅵ) a toggle head rotatably supported on one end of the lower arm, and (ⅶ) a gripper head rotatably supported on a gripper shaft. The gripper head has a pair of gripper fingers extending therefrom that are controllably movable toward and away from opposite sides of the gripper axis in response to tactile feedback to facilitate Selectively grips and transports containers and holders thereon. Preferably, the gripper head includes an optical head sensor for detecting objects located proximate to the gripper fingers. The head sensor can comprise a light source portion and a light receiver portion, with respective light source and receiver axes converging proximate to the gripper axis, preferably with respect to the gripper axis being approximately the same as the gripper finger. Orthogonal relationship to detect entry of a container part or gripper end between the gripper fingers.

Preferably, the robotic arm is equipped with a marking scanner for reading container markings and gripper markings for identification. The marker scanner operates relative to a scan axis, the scanner is preferably mounted to the upper arm of the robotic arm with the scan axis oriented downwardly and outwardly from the upper portion proximate to the tapered head for reading when the gripper finger is in the vicinity of the marker. Take markers for horizontal and vertical orientation.

Preferably, the conical head is movable through an angle greater than 180 degrees about the face display axis, and the base frame is movable close to the opposite end of the table to facilitate transport of containers and holders located substantially anywhere on the table. Holder. In addition, the gripper head may preferably be disposed in extended relation to the work table for access to an external processing station.

It is necessary for a central controller to track where the container is located via the gripper. Thus, preferably, the indicia reader can read the gripper identification indicia, the reader output means providing the gripper identification indicium to the central controller for tracking the containers according to the respective gripper.

In another aspect of the invention, a centrifuge system includes a plurality of receivers; a centrifuge having a spindle assembly, a centrifuge controller for indexing the spindle assembly to automatically load and unload the receivers; and an electrically driven cover; a balancing system; and Conveyor system for transporting containers and receptacles between the balancing system and the centrifuge.

A preferred balancing system for centrifuge receptacles includes the above-noted balancing system, wherein the position of the containers in the receptacles is related to their weight so that each receptacle is loaded symmetrically.

A preferred decapping apparatus according to the present invention includes the above described decapping system which includes the ability to remove threaded caps.

The test tubes containing the samples to be analyzed have different heights and different diameters. Therefore, the gripper and centrifuge receptacle are preferably fitted with resilient fingers.

During use of the workbench, it is possible that the workbench is out of alignment with the analyzer such that the analyzer robotic arm does not adequately grip the The finished sample is transported to the workbench. Therefore, preferably, the positions on the table where the holders are held for transport to or received by the analyzer are provided with an adjustment device to independently align these positions without moving the analyzer or the table. The adjustment means includes a rotatable and translatable platform having at least one gripper position on the platform; and a clamp drive for selectively maintaining the platform in a fixed position on the table. ways to use the system

The system is used according to one method of the present invention. In the method of the invention, instructions for processing each container according to the container identification mark are stored in the memory of the central controller. The presence of a gripper in the system is detected and signaled to the central controller. The container identification mark is read and also sends a signal to the central controller. Containers are transported by automated arms to several sorting locations according to instructions in memory. Selected samples are sorted and optionally centrifuged, decapped and analyzed.

To centrifuge a selected sample, the container containing the selected sample is transported to the centrifuge receiver according to the processing instructions and loaded into a selected receiver by the table robotic arm. The loaded receptacles are then balanced, for example, by loading pairs of receptacles with symmetrical loading with an equal number of loading positions, and/or by loading "balanced" tubes in receptacles requiring additional weight. The balanced receivers are loaded into a centrifuge and the containers are centrifuged at a speed for a period of time according to instructions from a central controller. The centrifuge is unloaded by stopping the centrifuge, indexing the centrifuge to the selected discharge position, and removing the receiver from the centrifuge by an automatic arm based on a signal from the central controller.

During analysis, each analyzer provides information available to the analyzer to the central controller, and the central controller determines which analyzer analyzes each sample to be analyzed.

Thus, in the systems and methods of the present invention, sample preparation of samples for analysis is automated. Furthermore, the system can be used with existing installations, ie existing analyzers can be used by retrofitting them with a robotic arm and communication with a central controller. Furthermore, the system is capable of identifying and rapidly processing STAT samples. In addition, the system minimizes manual handling of specimens. This can reduce health hazards from contact with biological samples and the risk of contaminating the specimen.

Attached picture

Various features, aspects and advantages of the present invention can be better understood from the following description, claims and drawings, in which:

Fig. 1 is a perspective view of a system according to the present invention, comprising a workbench, a centrifuge and two analyzers;

2A-2C are flow charts of the steps of processing containers using the system of FIG. 1; FIG. 2A is for a process monitoring device, FIG. 2B is for the centrifuge processing subsystem of the monitoring device of FIG. 2A, and FIG. 2C is for the monitoring of FIG. 2A Analytical subsystem of the device;

Figure 2D shows how the system process controller of Figure 2A controls the workbench, analyzer and centrifuge;

3A-3E are plan views of different arrangements of benches, analyzers and centrifuges;

Figure 3F is a plan view of the table and centrifuge of the present invention in use with a conveyor system;

Figure 3G is a plan view of the analyzer of the present invention in use with a conveyor system;

Fig. 4 is the plan view of the workbench of Fig. 1;

Fig. 5 is similar to Fig. 4, is the schematic diagram of the workbench of Fig. 1, has shown the position of the positioning pin that is used to fix the gripper and the position of the detector that is used to detect gripper;

Figures 6A-6C show different forms of alignment pins used on the table of Figure 5;

Figure 7 is a partial cross-sectional view of the table of Figure 5, showing a detector for detecting the presence of a gripper;

Figure 8A is a perspective view of a segment used in the present system and shows how the positioning pins of the workbench are connected to the segment;

8B and 8C are top and bottom views of the sector of FIG. 8A;

Fig. 8D is a partial perspective view showing another structure of the fan-shaped body in Fig. 8A;

9A and 9B are top and side views, respectively, of a stand for use in the system of the present invention;

9C and 9D are exploded and partial side cross-sectional views of the insertion portion of the stent of FIGS. 9A and 9B;

Figure 10A is a top view of a receiving slot in the centrifuge headstock support of the system of the present invention;

Figure 10B is a side view of the receiving tank in Figure 10A;

Figure 10C is a bottom perspective view of the receiving tank in Figure 10A, showing another structure of the centrifuge pallet;

Figures 11A-11D show different loading modes for centrifuge receiving tanks according to the present invention;

Fig. 12A is a top view of the transport position adjusting device of the workbench of Fig. 1;

Figure 12B is a cross-sectional view of the adjustment device taken along line 12B-12B in Figure 12A;

13A-13D are details of the automatic arm of the workbench of FIG. 1, and FIG. 13A is a perspective view; FIG. 13B is a plan view showing a range of motion of the automatic arm relative to the workbench of FIG. 1; FIG. Partially exploded perspective view of the hand device head and an optical head sensor; FIG. 13D is the same perspective view as FIG. 13C, showing another structure of the optical sensor;

14A and 14B are front and side views of an analyzer of the system of FIG. 1 , with FIG. 14B taken along line 14B-14B in FIG. 14A;

Figures 15A-15G show details of a part of the gripper mechanism of the automatic arm of the analyzer of Figure 14A, 15A and 15B are front and right side views; Figure 15C is a right side view of Figure 15B, with part of the gripper mechanism Descend to cooperate with a sector; Figure 15D and 15E are cross-sectional views along the line 15D-15D of Figure 15A; Figure 15E shows the cooperation with a sector; and Figure 15G is a one showing another structure of the grip device part stereogram;

16A is a partial front perspective view of a centrifuge of the system of FIG. 1;

Figure 16B is a partial detailed rear perspective view showing another configuration of an inlet wicket of the centrifuge unit of Figure 16A;

Figure 16C is a detailed perspective view showing an actuation mechanism for the entrance wicket of Figure 16B;

Figures 16D and 16E are a schematic block diagram and an electrical block diagram of the centrifuge device of Figure 16B;

Figure 16F is an enlarged circuit diagram of a circuit interface assembly of the centrifuge device of Figure 16B;

Figure 16G is a flowchart of a computer program for the centrifuge device of Figure 16B;

17A and 17B are a top view and a side view, respectively, of the balancing subsystem of the system of FIG. 1;

18A is a perspective view of the decapping subsystem of the system of FIG. 1;

18B is a plan view showing the decapping subsystem of FIG. 18A on a bench;

18C is a perspective view showing another configuration of a portion of the decapping system of FIG. 18A;

18D and 18E are side sectional and bottom views of portions of the decapping system of FIG. 18C;

18F is a partial side view of another receptacle portion of the decapping system portion of FIG. 18A;

Figure 19 is a schematic diagram of a pneumatic subsystem of the system of Figure 1;

20A and 20B are exploded perspective views and side views of a workbench platform of the system of FIG. 1;

Figure 21 is a partial sectional view of a door portion of a protective cover of the workbench; description

systematic review

Referring to Figures 1, 2, 4, 8A, 9A and 10A, a system 10 according to the present invention includes a bench 100, a centrifuge unit 1000 and at least one analyzer 2000, generally two denoted 2000A and 2000B. analyzers, these serve as the main components of this system. The station 100 is loaded with containers 12, such as test tubes 102, by an operator (see FIG. 8). The test tube 102 has identification marks, ie a barcode 104 and a cap 103 . The containers are typically placed in a holder 14, such as a quadrant 300 (FIG. 8A) or a test tube holder 600 (FIG. 9A). For centrifugation, container 12 is typically transferred to a receiver or tank 1200 (FIG. 10A).

As shown in FIG. 2A, a process monitoring device 200 of system 10 includes a detect input step 202 for detecting the presence of container 12 at input location 16 of station 100 (FIG. 4). In a container selection step 204, detected containers 12 are selected for processing. Processing is on a first-in-first-out basis, except for containers that require priority or "STAT" processing. Those containers 12 are placed by the operator into a priority area 18 on the station 100 for priority processing.

After a container 12 is selected for processing, the container identification mark, ie, the barcode 104 is read at a container identification mark reading step 206 and the main processing sub-items are determined at a process selection step 208 based on the specific processing of the container 12 . The container is then processed in one or more of a centrifugation step 210 , a decapping step 212 , an analysis step 214 , and an output sorting step 216 .

For samples to be processed throughout, the container is sent from the centrifugation step 210 to the centrifugation subsystem for centrifugation in the centrifuge assembly 1000 (FIGS. 16A-16G). The centrifuged containers are then processed by a decapping subsystem 900 in a decapping step 212 (FIGS. 18A-18B). Next, the decapped sample is delivered to analysis step 214 for analysis on any available analyzer. In general, any type of analysis valid for biological samples, including analysis of urine, blood and cerebrospinal fluid, can be performed. Furthermore, the system 10 of the present invention can be used for industrial analysis, so it is not limited to biological substances.

After analysis on one or two analyzers 2000 , the containers are returned to the station 100 and subsequently sorted in an output sorting step 216 , in which each container 12 is placed in a specific holder 14 . Some holders 14 are for containers that are yet to be further analyzed or processed, other holders are for containers that have already been processed.

As shown in FIG. 2A , container 12 need not go through all of processing steps 210 , 2122 , 214 and 216 . For example, the workstation 100 can be used only for take-out sorting. In addition, it can be used for containers that do not require separation and/or decapping, and the monitoring device 200 uses the results of the processing selection step 208 to determine subsequent processing steps. For example, suitable containers 12 may be sent directly for analysis and subsequently removed for sorting.

The centrifuge apparatus 1000, described in detail below, is designed to centrifuge containers contained in a receptacle or tank 1200 (FIG. 10A). Each receiving tank 1200 is equipped with a plurality of containers to be centrifuged, and the centrifuge 1000 is used to centrifuge a plurality of receiving tanks, generally four. It is important for the proper operation of the centrifuge and to avoid damage to the centrifuge. The receiving tanks installed in the centrifuge have approximately the same weight, and the deviation is generally within about 10 grams.

The centrifugation step 210 monitors the centrifugation subsystem generally as shown in Figure 2B. In the centrifuge subsystem, the receivers 1200 are loaded into selected locations, and the positions of the individual containers in each receiver are stored in memory. The receiving tanks are loaded in a predetermined order so as to be approximately balanced and reasonably permitted by the specific replenishment of containers 12 requiring centrifugation. Preferably, the loading process is monitored by a balancing system 800 (FIGS. 17A, 17B), and the receiving tank 1200 can be further balanced to meet predetermined tolerances. The equilibrated receiver tanks are then loaded into centrifuge 1000, centrifuged and removed. The individual containers 12 are then removed from the receiving tank 1200 for further processing.

Analysis step 214 monitors the analysis subsystem generally as shown in FIG. 2C, containers 12 (typically test tubes 102) are placed into sectors 300, and data corresponding to the particular sector into which the containers are placed is stored in a process controller 500 in memory. As shown in FIG. 1, a quadrant 300 containing test tubes is placed by a robotic arm 110 of the worktable 100 at a delivery location 106 of the worktable 100, one delivery location 106 for each analyzer. An analyzer robotic arm 2002 picks up and transports the sectors from the delivery location 106 to an analyzer transfer location 2004 . Next, the analyzer 2000 analyzes the sample according to the processing instruction from the processing controller, and stores the analysis result in the memory of the processing controller 500 . Then, the analyzer robotic arm 2002 picks up the sectors 300 containing the analyzed samples from the analyzer transfer position 2004 and sends them to the bench receiving position 110 . The sectors 300 at the table receiving position 110 are then picked up by the table robot arm 700 for sorting.

FIG. 2D shows the flow of data and operational order information between different parts of the system 10 . The system includes a central processing controller 500, which is typically a computer system. For example, computer systems that may be used are industrial analogues of widely available 32-bit personal computers with read-write memory in the range of several megabits. Controller 500 incorporates a suitable input device, such as a keyboard, touch screen, card reader or another computer, for entering processing instructions into memory for processing each container 12 according to the container identification indicia.

The process controller 500 uses feedback in the form of stage status and sample identification data to provide instructions for mechanically controlling the stage 100 . Each analyzer 2000 is equipped with a respective controller 2008A and 2008B and a separate controller 2010A and 2010B for the robotic arm 2002, respectively. Analyzer controllers 2008A and 2008B may be commercially available industrial microcomputers or the like of process controller 500 . Each analyzer controller 2008A and 2008B has an output connection for providing information to the central controller 500 from each analyzer regarding the availability, ie whether the analyzer is capable of performing a particular assay and the assay results. In turn, the process controller 500 requests assays for each sample to each analyzer 2000 and provides run instructions through an input connection of the corresponding controllers 2008A and 2008B. Similarly, process controller 500 provides different loading and unloading instructions to each analyzer robot controller 2010A and 2010B. Suitable devices for analyzer robotic arm controllers 2010A and 2010B are available from a number of industrial robot suppliers.

Based on the analyzer-acquired information each analyzer output provides to the central controller 500, the central controller selects which analyzer to use for each sample. This can be accomplished by software contained in the memory of the controller, where the software compares the information available to the analyzer with the assays required to be performed on the sample. Information available to the analyzers includes what assays each analyzer can perform as well as analyzer status information such as whether reagents for a particular assay have been loaded and whether the analyzer has reserves available.

The process controller 500 also provides mechanical control commands to the centrifuge device 1000 and receives status information from the centrifuge device.

Optionally, the entire system can be connected to a host computer 502 . Host computer 502 can interface with multiple systems, each system including a bench, a centrifuge, and one or more analyzers. A host computer can be used to input instructions to the processing controller 500 for each sample, and assay results can be reported by the central processing controller 500 to the host computer 502 .

The connection means between the system components, i.e. the output unit, the output system unit and the input system can be existing data connections, for example, with cables, bus bars, and data transmission means such as IR transmission or direct hard wires Interconnected RS232 connectors. System Component Arrangement

As shown in FIG. 1 , workbench 100 includes a platform 112 having a platform top surface 114 . The bench has a front or input section 116 , a rear or analyzer section 118 and two opposing sides 120 . The front part has a place for holding holders 14 for storing containers 12 to be processed, containers which have already been processed and containers which have been partially processed. Along the middle of the platform is a rail 704 for the robotic arm 700 .

The system is suitable for use with various configurations of holders 14 . For example, it can be used with a quadrant 300 as shown in Figures 8A, 8B and 8C, which can store a small number of test tubes 102. The sector 300 is especially suitable for containers that need to be treated as such. As detailed below, the robotic arm 700 has a gripping device 726 for gripping not only individual containers 12 but also segments 300, and as a result, a group of containers 12 can be transported for various processing steps simultaneously. The workstation 100 can also be used with a stand 600, as shown in FIG. 9, which can store multiple containers. Containers 12, typically test tubes 102, are removed one by one from rack 600 for processing. Preferably, the bracket 600 is placed closer to the robotic arm rail 704 than the sector 300 to help improve and increase the processing capacity of the system. In the analyzer section 118 of the workbench 100 , there is a quadrant 300 containing containers for delivering or receiving containers to or from the analyzer 2000 .

As shown in FIG. 1 , the bench robot arm 700 is preferably centrally located on the platform 112 for easy access to the front input section 116 and analyzer section 118 of the platform. Also, the centrifuge 1000 is preferably mounted at one side 120 of the bench 100 so that the operator has access to the full length of the front or input section 116 of the platform 112, with the rear or analyzer section 118 reserved for access by the analyzer 2000 .

In the arrangement of FIG. 1 , the analyzers 2000 are mounted with their sides close to, preferably adjoining, the bench 100 , with the two analyzers 2000 back to back. In the configuration of FIG. 1, the workbench 100 does not interfere with the operation of any analyzer, and neither analyzer interferes with the operation of the workbench. In addition, the centrifuge 1000 located at one end of the bench does not interfere with the analyzer and bench. The analyzers are substantially the same, with the difference that one analyzer (2000A) is "armed on the right" with its robotic arm 2002A to reach the right of the table 100, and the second analyzer 2000B is "armed on the left" with its robotic arm 2002B to reach the left of workbench 100 .

FIG. 3A is a top view of the arrangement of the system shown in FIG. 1 . Another possible arrangement is shown in Figures 3B-3F. The arrangement of FIG. 3B is the same as that of FIG. 3A except that the centrifuge 1000 is placed in a U-shaped space formed by the table 100 and the two analyzers 2000 and abuts the rear 2020 of the bottom 2012 of the two analyzers.

In the form of the invention shown in Figure 3C, the arrangement is the same as that shown in Figure 3B, except that the second analyzer 2000B is placed next to the end of the table 100 remote from the first analyzer.

In the arrangement of Figure 3D, the two analyzers 2000 are placed on opposite sides of the bench 100 so as to form a "cross" shape, with the right analyzer 2000A abutting the rear 118 of the bench and the left analyzer 2000B abutting Front 116 of work bench 100 . The centrifuge 1000 is located at one end of the bench as in the arrangement of Figure 3A.

The arrangement of Figure 3E is similar to that of Figure 3D, except that the two analyzers 2000 are placed at the centrifuge end of the bench 100 rather than in the middle of the bench. The arrangement of Figure 3E has the advantage over that of Figure 3D that the input side of the bench is not obstructed by any analyzers.

As can be seen from these various arrangements, the bench and centrifuge 1000 can be installed so that they do not obstruct access to either analyzer.

The bench and centrifuge of the present invention are not limited to use directly with the analyzer as shown in Figures 3A-3E. Also, they can be used with conveyor systems that include a conveyor 126, as shown in Figures 3F and 3E. In the version of FIG. 3E, the robotic arm 700 of the station picks up the containers generally in the quadrant from the conveyor 126, processes the containers, and optionally centrifuges the containers. The processed containers are then returned to the conveyor 126 .

In the version of FIG. 3G , the conveyor cooperates with the analyzer 2000 , whose robotic arm 2002 picks up and delivers the containers and/or segments to the conveyor 126 . Analyzer

The analyzer 2000 shown in FIG. 1 is a Synchron CX analyzer unit supplied by Beckman Instruments Company of Fullerton, California, which may be modified or retrofitted to incorporate the robotic arm 2002 described herein. As shown in FIGS. 14A and 14B , each analyzer 2000 has a base 2012 with opposing sides 2014 , a front 2016 , a top 2018 and a rear 2020 . The top 2018 has an analyzer mobile station 2004 and the analysis device thereon, and the top 2018 is accessible from the front by the user. Mounted on the rear of the top 2018 of the base 2012 is a stand 2022 having a front working area 2024 and a top plate 2026 . On top plate 2026 is a transfer mechanism including robotic arm 2002 for automatically transferring samples from workbench 100 to analyzer 2000 and for transferring analyzed samples from analyzer 2000 to workbench 100 . A track or rail 2028 with drive means 2030 extends through the top plate 2026 for moving the robotic arm 2002 along the rail 2028 . Robotic arm 2002 has a rail engaging member 2032 and an extension arm 2034 that extends from rail engaging member 2032 in the same direction that rail 2028 extends. From the end of the extending arm 2034, there is a forward extending arm 2036 and at the end of the forward extending arm 2036 there is a downwardly cantilevered arm 2038. At the bottom end of the forwardly extending arm is a gripping device 2040 .

Thanks to the extension arm 2034 , the gripper device 2040 can reach the sector 300 on the table 100 . Also, in the "rest" state, the robotic arm 2002A of the first analyzer 2000A does not obstruct the top 2018 of the base 2012 and the front working area of the stand, thereby preventing handling and operator access to the analyzer.

As further shown in Figures 15A-15F, the gripper device 2040 of each analyzer automatic arm 2002 is supported by a gripper device transmission 2041, and the transmission device 2041 is mounted on a bracket 2042, which is rigidly fixed to the automatic arm. 2002 on the lifting part 2043. A crank member 2044 is movable about the vertical axis 2045 of the transmission 2041 through an angular movement of approximately 180 degrees between first and second positions to select opposite orientations for placing the segments 300 in the analyzer transfer position 2004 and operating The table transports the segments on or retrieves the position 106. An automatic pincer 2046 is mounted to one end end of the crank member 2044 for movably supporting a pair of outwardly facing hook-shaped gripper members 2048 each insertable into a respective top wall of the sector 300 In the slot 322, the sector 300 will be described below with reference to FIGS. 8A-8C. After such insertion, the hooked end 2049 of the gripper member 2048 engages the underside of the top wall 306 (in which the slot 322 is formed) once the automatic pliers 2046 are activated to separate the gripper members 2048 . Moreover, each gripper member 2048 has an extractor member 2050 vertically and slidably engaged therewith, and a vertically oriented compression spring 2052 is positioned above the extractor member for use when the gripper member extends into the slot. The top wall 306 is biasedly contacted between the slots 322 at 322 . One purpose of the extractor part 2050 is to ensure that the sector 300 remains in an undisturbed state when the sector 300 is placed in a position, and that the extractor holds the sector during lifting and retraction of the gripper part 2048 by the lifting part 2043 300 down. Another purpose of the extractor member 2050 is to stabilize the segments 300 on the gripper member 2048 during operation of the analyzer gripper 2040 .

One suitable device for transmission 2041 may be the model NCRB/BW30-180S rotary transmission available from SMC Corporation of Tustin, Canada. One device suitable for use as automatic pliers 2046 may be the model HGP-10-A gripper device available from Festo Corporation of Hauppauge, New York. A device suitable for use as the analyzer guide rail 2028 and drive unit 2030 may be the IS-MX-20-200-400 Automatic Positioning System with the SA-A vertical moving part supplied by Intelligent Actuator Corporation of Torrance, Canada .

With further reference to FIG. 15G, another preferred structure of the gripping device part 2048 that can be used in the sector 300' includes a gripping device part, reference numeral 2048', for embedding the elastic fast 334, and an auxiliary gripping device part, reference number 2048", used to clamp the rear wall 305 of the quadrant 300'. Workbench

A preferred workbench 100 or lab bench arrangement is shown in FIG. 4 . This arrangement is particularly suitable for having the centrifuge 1000 on the right side of the bench 100 as shown in FIGS. 1 and 4 . On the input portion 116 of the platform 112, there are fifteen sorting positions 128, labeled A-O from left to right, for the sectors 300, and corresponding fifteen sorting positions 130A-O for the racks holding the test tubes. Rails for the robotic arm 700 run along the middle of the platform, from one end to the other, dividing the platform into an input section 116 and an analyzer section 118 . The racks are closer to the rails 704 than the sectors because more transfers are required for the rack robotic arm, and the containers on the racks need to be loaded and unloaded one by one.

In a general assignment of quadrant and rack positions, input positions 16 include rack positions 128 labeled A-J and quadrant positions 130, where new containers to be processed (including the preferred container for "STAT" specimens at position A) are placed. area 18); the output position 17 includes positions N and O, where the quadrants and racks that have completed processing and are waiting to be removed from the workbench 100 are placed; the auxiliary area 19 includes positions K-M, where the samples containing ready-to-analyze are placed sectors and holders, e.g. samples that are analyzed for the first time by one of the analyzers, or samples that have been analyzed by one analyzer and are to be processed for a second analysis on a second analyzer . It should be understood that the specific division of functions for the positions on the input section 116 will vary depending on the processing rate of the analyzers, the number of analyzers available, and other factors. Allocations can also be different.

Rack 600 with barcode identification indicia 601 is used to store and/or sort test tubes and as a means of removing or placing large numbers of test tubes from the bench. Although the sector 300 has a smaller volume, it can be picked up by the robotic arms 700 and 2002 not only for handling but also for sorting multiple test tubes simultaneously, thereby increasing the efficiency of the workbench 100 .

The bench shown in Figure 4 is suitable for use with at least two analyzers. Thus, a "launch pad" 105 at each end of the analyzer section 118 has delivery locations 106 for picking up the sectors by the analyzer robotic arm 2002; The quadrant of the sample. A number of quadrant positions 134 surround the launch pad to accommodate empty quadrants, or to place quadrants with samples during peak processing times when the input section is full.

In the middle of the analyzer side are the receiver or receiving tank 1200 , a scale 802 and an auxiliary stand location 804 for the balance system 800 . Figure 4 shows that there are four receptacles or receptacles for balancing on the balance 802, and the auxiliary position 804 has a stand for a balance tube 806 which is used to balance the weight of the receptacle containing the container. To the right of the auxiliary rack position 804 is the decap system 900, followed by four receptacles 1200 which are either removed from the tube after centrifugation or loaded into new tubes for centrifugation.

Referring again to FIGS. 20A and 20B , a preferred configuration of the platform 112 includes a base 20 having a pair of parallel spaced beam members 22 connected to a plurality of spaced partitions 24 each having support rails 704. The cylindrical portion 25 of the track member 26. Each bulkhead 24 also carries a pair of column members 28 on the beam member 22, and the input and analyzer sections 116 and 118 of the platform 114 are individually secured to the upper portion of each row of column members 28. Due to this structure, the platform 112 can be conveniently stored and transported as a compact package including the beam member 22, the track member 26 and the input section 116 and the analyzer section 118, and another compact package including the The bulkhead 24 to which the member 28 is secured. There are five bulkheads 24, the spaces between which define four compartments for mounting the power distribution and electrical components of the system 10 in a convenient fashion. A pair of swivel casters 130 are mounted on the lower portion of each end bulkhead 24 for rotatably supporting the workbench 100; and an adjustable foot assembly 132 is inwardly spaced from each end and mounted on each beam member 22 for adjusting and fixing the platform 112 in a convenient form.

A typical table length is about 2.83m, and the overall width is about 980mm, wherein the input part is about 540mm wide, the track is about 145mm wide and the analysis part is about 440mm wide.

Still referring to FIG. 1 , the work platform 100 is preferably equipped with a protective guard system 40 for blocking the operator from entering the space on the top surface 114 of the platform. The protection system 40 has a frame 42 on which several transparent wall parts 44 are installed. The wall parts 44 are installed vertically close to the platform top surface 114. The protection system 40 is disconnected along the rear part 118 to clean each analyzer. Automatic arms 2002A and 2002B. The wall member, designated 44A, immediately adjacent to the centrifuge unit 100 has a bubble-shaped extension 46 formed therein to include a passage to the centrifuge unit 1000 within the guard system 40. In addition, referring again to FIG. 21 , along the front portion 116 of the panel member, designated 44B, extending downwardly from the top of the frame 42 for only a portion, three transparent door panels 48 are supported so as to be opposed to each portion of the panel 44B. Move vertically overlapping. Each door panel 48 cooperates via a crank brake assembly 54 with a piston rod 50 of a pneumatic actuator 52 mounted on top of the frame 42 . A solenoid latch 56 is mounted in platform 114 in conjunction with each door panel 48 for simultaneously locking the door panels in a closed position. In the exemplary configuration shown in FIG. 21, when the solenoid latch 56 is open, the solenoid latch engages a discontinuity or slot 58 formed in the lower end of the piston rod 50, and the latch 56 is activated to release. Rod 50. Door panel 48 is reinforced by means of excess inward force by crank detent assembly 54 having follower lugs 60 thereon which, in the closed position of panel 48, approximately follow the platform top surface. 114 edge extensions. Below each crank brake assembly 54 is a door button 62 for signaling to process controller 500 that the door needs to be opened. Subject to suitable interlocks and handling suspensions, the corresponding latch 58 is actuated, and the corresponding pneumatic actuator 52 is activated, whereby the door panel 48 is raised to allow operator access to the input portion 116 of the workstation 100 . The table 100 is preferably provided with two backup stops 64, one near each end of the input portion 116, for use by the operator.

Referring to FIG. 5 , two sector positioning posts or pins 142 are provided for each sector 300 . Similarly, two bracket positioning pins 146 are provided for fixing each bracket 600 on the workbench 100 . A platform magnet 145 is mounted flush with the platform top surface 114 and in predetermined relationship to each pair of pins 142 and 146 to attract each of the retainer magnets 330 of the segments 300 and bracket 600 as described below. Also, for each receptacle or receptacle 1200 used in the centrifuge, there are two receptacle alignment pins 144 on the table 100 . Figures 6A-6C show a typical segment pin 142, bracket pin 146 and receiving slot pin 144, respectively. The specific shape of the pins is chosen so that they will fit the respective positioning device. As shown in these figures, the three types of pins are different to prevent the operator from mispositioning the device on the workbench. As also shown in FIGS. 6A-6C , the pins 142 , 144 and 146 on the platform 114 are located in a shallow recess 156 to limit any unintentional spills from the container 12 . The balance 802 also has a recess corresponding to the recess 156 . Additionally, a circumferential groove 158 is formed in the front 116 and rear 118 of the platform 114 and surrounds the various locations for the holder 14, as shown in FIG. 6A.

The cooperation between the sector pin 142 and the sector 300 is shown in Figure 8A; the cooperation between the bracket 600 and the bracket positioning pin 144 is shown in Figures 9A and 9B; between the centrifuge receiving groove 1200 and the receiving groove positioning pin 146 The relationship is shown in FIG. 10C , which shows the pin 146 in another configuration of the centrifuge 1000 .

The table is equipped with a detection system for detecting the presence of sectors and supports on the table. In the preferred form of the invention shown in Figure 7, a sensor or reed contact tube 150 is used which is recessed slightly below the upper surface of the table. Each reed contact tube 150 is held in place by a flush fitting plug member 152 which is removable for maintenance and/or replacement of the reed contact tube 150 . Preferably, the circuit of the reed contact tube 150 is provided with suitable connectors (not shown) to facilitate replacement of the reed contact tube 150 without accessing the lower portion of the platform top surface 114 . The position of the reed contact tube 150 is shown in FIG. 5 . The reed tube may be activated by providing the segments, bracket and receptacle with a magnet strong enough to activate the reed tube. In addition, other detection systems may be used, including gravimetric systems, where the detector uses weight to detect the presence of a segment or the like; or a current-dependent detection system, where the presence of a segment or bracket completes an electrical circuit to sense current; or an optical interrupter, where the device interrupts an optical path.

The exemplary sector shown in FIGS. 8A , 8B and 8C includes a base 301 having a convex front wall 302 , a concave rear wall 304 , a bottom wall 308 and side walls 310 . A top 315 is easily mounted on the base 301 and includes a top wall 306 extending rearwardly and outwardly from portions of the side walls 310 of the base. The side walls 310 are staggered for cleaning the sector pins 142 of the workbench 100 , thereby forming a protruding portion 318 with two holes 320 for receiving the pins 142 . Along the front wall 302 are tubular cavities 314 for receiving test tubes 102, in the form shown there are seven such cavities. They extend from the top wall 306 and are capable of draining liquid through the bottom wall 308 . The front of each chamber has a slot 316 for a barcode reader to read the barcode 104 on the front of the test tube 102 . On the top wall 306 are two slots 322 that are inserted by the gripping device components or clamping devices 2048 of the analyzer robotic arm 2002 (FIGS. 15A-15F). Slot 316 extends partly in base 301 and partly in top 315 .

Extending upwardly from the top wall 306 of the sector 300 is a rear wall counterpart, designated 305, from which protrudes a T-shaped handle 324, the combination of the rear wall 305 and handle 324 being held by the gripper assembly of the table robot arm 700 Component 726 (FIG. 13C) is embedded.

The front wall 302 of the quadrant 300 has an identifiable barcode 326 to enable the central controller 500 to keep track of the quadrant and the test tubes therein. The base 301 also has an inner barcode stripe 327 that is visible when the tube slot 316 is empty but is hidden when the tube is in the slot. Thus, a bar code scanner 724 (FIG. 13A) can send information to the central controller 500 about the number and location of the test tubes in each sector. A gripper magnet 330 is mounted flush with the bottom wall 308 to stabilize the segment 300 and keep the segment in place on the table 100 during movement of the test tube 102 . Gripper magnets 330 are positioned and oriented so as to be attracted to respective platform magnets 145 of table 100 . A sensor magnet 332 is similarly mounted flush with the bottom wall 308 to activate each reed sensor 150 of the bench 100 .

Referring to FIG. 8D, another preferred configuration of the sector designated 300' has a rear wall 305 (and handle 324) and a triangular resilient block 334, the rear wall 305 extending from the top wall 306 and having a rearwardly convex protrusion Part 305', the elastic block 334 is fixed on the handle 324 proximately along the underside of the protruding part 305'. With increased vertical (or horizontal) alignment fit tolerance compared to the embedded structure of FIG. 15E , the elastic block 334 helps the sector 300 to be held by the gripper device part of the analyzer robot arm 2002 in the structure shown in FIG. 13G 2048' and 2048 "reliably embedded. By elastically adapting the elastic block 334 to a gripper device part 726 and the combination of the block 334 and the rear wall 305 has a non-circular cylindrical shape, the elastic block 334 contributes to the The gripper part 726 of the table robot arm 700 in the structure grips more efficiently, although the vertical orientation of the gripper part varies slightly, the gripper part embedded in the sector 300' and the gripper axis 715 A central vertical alignment relationship is formed between them.

Since laboratories typically handle samples from different sources, such as different hospitals, laboratories, and doctors' offices, the containers or tubes 102 often have different diameters and different heights. To accommodate variations in diameter, the top 315 has four fingers 328 for each cuvette lumen 314 that are offset radially inward. The sector 300' shown in Figure 8D is available from Beckman Instruments with the Synchron CX machine.

Referring to FIGS. 9A-9D , a test tube rack 600 suitable for use with system 10 includes a frame 602 having barcode identification indicia 601 affixed thereon and defining 5×10 rows of vertical chambers 603 . The frame includes holes 604 that receive the dowel pins 146 and have counterparts for the holder magnet 330 and the sensor magnet 332 . Each chamber 603 has an insertion portion 606 with spring fingers 607 for placing test tubes of different sizes in the holder, forming the spring fingers to hold an elastic O-ring member 609 enlarged by the elastic fingers 607 as The friction fit of the container 12 of the test tube 102. Thus, each holder 600 forms a holder 14 for receiving a container 12, the cavities 603 are generally spaced about 20 mm apart, the inserts 606 are sized so that up to a container with a diameter of about 16 mm is placed offset in the center, and the spring finger members 607 The combination with O-ring 609 is sufficiently resilient to allow for efficient centering of containers up to about 13 mm in diameter.

Although the present invention has been described with respect to barcodes and barcode readers used to track test tubes and other components of the system, other detection systems may be used. For example, magnetic ink markers can be affixed to test tubes or other components for reading by a magnetic ink reader.

Referring to FIGS. 10A , 10B and 10C , each receiving slot or receptacle 1200 has a series of cavities 1203 corresponding to the openings 603 of the bracket 600 , the cavities 1203 symmetrically surrounding a rod member 1204 . The upper portion of the rod member 1204 is square in cross-section so as to mate with the gripper device member 726 (FIG. 13) of the robotic arm 700 in any of four independent orthogonal directions, and a pair of spaced elastic O-rings 1206 are secured to the rod. part to increase the friction fit with the gripper part 726. As shown in FIG. 10A , there are sixteen cavities 1203 in each receptacle 1200 , each cavity 1203 being defined by a counterpart of an insert 606 and having a counterpart of a resilient finger 607 . A receptacle 1200 is placed in each pallet 1008 of the centrifuge unit 1000, and the receptacle has a pair of grooves 1208 formed on both sides thereof so as to align with a respective bearing cover 1009 of each pallet 1008 as shown in FIG. 10A.

As shown in FIG. 10C , each receptacle 1200 is formed with a pair of holes 1210 for positioning over corresponding receptacle dowel pins 144 , and a counterpart of a sensor magnet 330 for activating the associated reed tube sensor 150 of table platform 114 . (Figure 5). Optionally with further reference to FIG. 10C , a counterpart of a sensor 150 may be located in or below the tray 1008 to detect placement of the receptacle 1200 in the end 1006 of the centrifuge, and/or the counterpart of the positioning pin 144 as a Another option is mounted on the upper part of the carrier plate 1008 so that the receiving slot 1200 is positioned by the bearing cap 1009 .

When receivers containing test tubes are used in a centrifuge, it is important that they be loaded in a symmetrical fashion to provide balance. Figures 11A-11D provide a top view of a receptacle 1200 loaded into a centrifuge, showing a satisfactory loading pattern. Unfilled circles represent empty cuvette chambers 1203 , and blackened circles represent cavities filled with cuvettes 102 . The receiver slots are fitted to provide an even weight on opposite sides of the centrifuge's center point, while keeping each receiver approximately balanced relative to each rod member 1004 . Other suitable means of loading are known to those of ordinary skill in the art.

Referring to FIGS. 13A , 13B and 13C , an exemplary configuration of a robotic arm 700 includes a base frame 702 positionable along a table track 704 . A rail 704 extends approximately between opposite ends of the table 100 and converges approximately in the center between the opposite sides, with a protective bellows 705 . A conical head 706 is controllably rotatably supported on a vertical base shaft 707 of the base frame 702 and an upper arm 708 is similarly controllably rotatably supported on a horizontal projecting shaft 709 of the conical head 706 . A lower arm 710 is similarly controllably rotatably supported on an elbow shaft 711 of the upper arm 708 , which is located at one outer end of the upper arm 708 at a distance parallel to the projecting shaft 709 . Similarly, a toggle head 712 is controllably rotatably supported on a toggle shaft 713 of the lower arm 710 and has a gripper head 714 controllably rotatably supported on a gripper shaft 715 . The axes 713 and 715 are orthogonal, and the toggle axis 713 is located at one outer end of the lower arm 710 parallel to the elbow axis 711 and spaced apart. The gripper head 714 has a gripper body 716 and a pair of gripper armatures 717 that controllably move toward and away from opposite sides of the gripper axis 715 in response to tactile feedback. The gripper head 714 also includes an optical head sensor 718 fixedly supported relative to the gripper body 716. The head sensor 718 includes a light source 719 with a light source axis 720 and a light receiver with a receiver axis 722. 721 , shafts 720 and 722 converge proximate to gripper shaft 715 from opposite sides in spaced relation to gripper body 716 and gripper armature 717 . The robotic arm 700 also includes a robotic control system (not shown) with suitable means for manipulating the gripper head 714 relative to the table track 704 to grasp and transport objects in a manner known in the art. As depicted, the exemplary robotic arm 700 is a commercially available device, Model 255, available from CRS Robotics of Ontario, Canada.

As further shown, the robotic arm 700 is equipped with an identification mark scanner 724, sometimes referred to as a bar code scanner 724, the scanner 724 has a scanning axis 725 and is fixedly mounted on the upper arm 708 so that the scanning axis 725 is far from The ground intersects the gripper axis 715 from the intersection of the light source axis 720 and the receiver axis 722 . As such, the scanner 724 is advantageously positioned on the upper arm 708 so as to efficiently scan both vertically and horizontally oriented identification marks. In particular, while the various identification indicia of rack 600, receptacle 1200, and sectors 300 are generally oriented horizontally, container identification indicia 104 are generally oriented vertically. In addition, the gripper head 714 carries a pair of gripper members 726 mounted on each gripper armature and used to grip containers, receptacles and sectors for their transfer as described herein. Also, the programmed movement of the head sensor 718 in conjunction with the gripper head 714 can determine the height of the container 12 to effectively engage the gripper member 726 .

With further reference to FIG. 13B , the robotic arm 700 is movable around the base axis 707 within an angle θ that is symmetrically located on opposite sides of the table rail 704 and greater than 180 degrees, approximately 315 degrees. The range of angular orientations around the base axis 707, along with the base frame movable to each end of the table 100, facilitates the practical transport of the containers 12, sectors 300 and other holders to any one of the platforms 114. position, and often does not need to move the pedestal 702 along the track 704. Additionally, the gripper assembly head 714 is advantageously mounted in a protruding relationship relative to the platform plate 114 so that it reaches the centrifuge assembly 1000 .

Referring further to FIG. 13D, another configuration of the gripper head 714 has a head sensor 718 on only one side of the gripper body 716 and a laser source 719' installed near the light receiver 721 instead of the light emitter 719. Thus, the source axis 720 and receiver axis 722 converge from the same side of the gripper axis 715, however, the laser source 719' can more than compensate for the loss of efficiency of the sensor 718 due to the contact between the axes 720 and 722 and the gripper. Axis 715 is caused by asymmetry. position regulator

The bench transport position 106 and the receiving position correspond to each analyzer 2000, preferably equipped with a position adjustment device 961, each adjustment device 961 facilitating the exchange of the holder 300 between the bench 100 and the corresponding analyzer 2000 . As shown in Figures 12A and 12B, the transport position regulator 961 includes a platform member 962 and a clamping plate member 964, which are movably mounted on opposite sides of the platform plate 112 of the workbench 100 by several bolt fasteners 965, tightly The fastener 965 and a raised portion 966 of the platform member 962 extend through a clearance opening 967 formed in the platform 112 . A compression spring 968 is housed on each fastener so that platform member 962 and cleat member 964 are biased and made to enter into the compression fit with platform plate 112, and platform member 962 also has a partly inserted in the groove on it. O-rings to frictionally grip the platform during the clamping process. A pneumatic cylinder 970 fits between the clamping plate member 964 and the raised portion 966 of the platform member 962 so as to correspond to a gas port 971 for selectively applying high pressure gas to the pneumatic cylinder 970 by a pressure system 850 ( FIG. 19 ). Release the clamp. When the pneumatic cylinder 970 is actuated, the platform member 962 is free to rotate and move laterally. The platform member 962 has two pairs of locating pins 142 mounted thereon to position and hold the sector 300 located thereon, which can be reached by the bench robot arm 700 or the corresponding analyzer robot arm 2002 with. In addition, the platform member 962 has sensors 150 embedded therein to detect a corresponding sector 300 positioned on an associated pair of pins 142, each sensor 150 being typically implemented and assembled by a prior art magnetic reed contact tube. In order to send a signal to the processing controller 500 .

Once each sensor 2000 is positioned in approximately alignment with the table 100, the associated adjustment device 961 is adjusted by first actuating the pneumatic cylinder 970 to loosen the clamp, and then the platform member 962 is manually positioned and oriented so that the sectors 300 correspond to The table transfer position of the analyzer robotic arm 2002 is aligned with the analyzer gripping device 2040 . Pneumatic cylinders 970 are then released to clamp platform member 962 in the aligned position for adjustment. Finally, the location and orientation of the platform member 962 is stored in the memory of the process controller 500 by any suitable means, for example, by scanning a sector of the platform member 962 at a fixed position with the optical head sensor 718 of the table robotic arm 700. Body 300. balance system

As mentioned above, and with reference to FIGS. 4, 17A and 17B, the processing system 10 includes a balancing system 800 that includes a balance 802 and a balance on the bench 100 to balance the container 12 in the receiver or tank 1200 prior to centrifugation. Auxiliary bracket location 804 on rear portion 118 of . The balance 802 can be an electronic platform balance in the prior art, on which the corresponding body of the positioning pin 144 of the receiving slot is added to position the receiver 1200 . The receptacle can be moved between the balance 802, the centrifuge unit 1000 and other positions on the rear 118 by the table robot arm 700, which also lifts the container 12 from the support 600 at the auxiliary position 804 and from the table Other positions on 100 are transferred to receiving tank 1200 on scale 802. The balance system 800 also includes a balance controller for selectively depositing containers in receptacle cavities, with the associated incremental weight varying with each deposited position so that the weight in each pair of receptacles balanced. The balance controller can be realized as a balance program 808 in the central processing controller 500. The balance program 808 maintains a basic data 810 of the container position and related weight and instructs the automatic arm 700 to move the container according to the weight determined by the balance platform 802. 12 is deposited in the receptacle 1200, and the weight is signaled to the process controller 500 in any suitable form.

Preferably, the balancing system also includes a batch of balancing loads 806 (which may be test tubes 102 with predetermined weights) selectively deposited into the receptacles 1200 . Accordingly, the balancing system operates to transfer the balancing load 806 to the proper location in a particular receptacle 1200 to limit weight deviations between receptacles. Preferably, the balance load 806 is loaded gradually so as to limit the weight deviation of each pair of receptacles 1200 to no more than 10 grams. Auxiliary rack location 804 on bench 100 proximate balance 802 to facilitate temporary storage of balance load 806, rack 600 at location 804 also provides additional temporary storage for containers 12 to be further processed and/or stored.

In the balance procedure 808, the balance basic data 810 is initially entered into a select sample step 812 along with the counterpart of the container identification mark 104 and the data related to the common rotation operation process 1002, and the corresponding container 12 has been centrifuged by the centrifuge device 1000 simultaneously. Appropriate amount for centrifugation. Next, in a taring step 814 , a suitable complement of receptacles 1200 for holding containers 12 is marked, if necessary, and placed on the scale platform 802 at various locations. After each item is placed on the scale 802, the total load on the scale 802 is measured and the difference between the measurements represents the load for each particular load. Following the taring step 814 is a loading step 816 . Wherein, the containers 12 to be centrifuged are put into the respective receivers 1200 sequentially according to the appropriate manner shown in FIGS. During the loading step 816, the balance program 808 continues to monitor the load being applied to the balance 802. Thus, the balance program 808 operates to monitor the total weight associated with each receptacle. After the loading step 816, a balancing load 806 is added in a calibration step 820 as needed to keep the weight of each pair of receptacles 1200 within a predetermined tolerance. decap system

Referring specifically to FIGS. 18A-18B , the decapping system 900 includes a receiving device 902 for clampingly holding a container or test tube 102 having a cap 103 frictionally engaged with the test tube 102 and extending from the opposite side of the test tube 102 top. Extend laterally. Receptacle 902 is mounted suspended relative to a topless insert panel 903 of bench 100 described further below. An important aspect of the present invention is that the decapping system 900 can operate on both a threaded fit cap as described below and a cap that has only a friction fit with the container 12 as described herein. A yoke member 904 having a cover groove 905 formed therein is movably mounted on and supported by lifters 906 projecting above the insertion panel 903 . Elevator 906 includes a drive unit 908 coupled to a translation motor 910 via a translating belt 911 for rotational translation about the lift column 909 between open and closed positions and an elevator column 909 rigidly connected to the yoke member. Yoke member 904 . The elevator 906 is also connected by an elevator belt 913 to an elevator motor 912 for raising and lowering the elevator column in conjunction with the yoke member 904 . The yoke member 904 has an upwardly facing raised portion 916 formed in the cover groove 905 for engaging the underside of the outwardly extending raised surface 917 of the cover 103 when the cover 103 is placed on the test tube 102. The closed position of the yoke part 904 is fixed in the receiving device 902 .

In the closed position of the yoke member 904 having the raised portion 916 extending below the raised surface 917, the elevator 906 operates to lift the yoke member 904 relative to the receiving means 902 for removal of the cover 103. Correspondingly, the bladder holder 920 is rotatably mounted on the insert panel 930, and is connected to a rotation motor 924 through a rotating belt 925 so as to controllably rotate the bladder 921 around the container 12, thereby unscrewing from the lid 103. Out of the container 12. The cover 103 is located in the yoke member 904 to prevent rotation, and the cover 103 forms a non-circular profile with an extension 927 thereon, which expands 927 of the cover 103 when torque is applied to the container 12 through the receiving means 902. Rest on a portion of cover groove 905 . The gas port 922 is preferably formed to provide a swivel connection to the bladder 921, and the port 922 is connected to a three-way control valve 928 through a retainer tube 929 for selective pressure actuation according to the central controller 500, thereby realizing the described container 12 fixed.

With further reference to FIG. 18F, another preferred construction of the bladder retainer, designated clamp retainer 920', includes a resilient sleeve 921' in place of the bladder 921, the sleeve 921' having three outwardly protruding prongs. The bracket 926 and the hanger 926 cooperate with each hanger slot 929 of the holder 920' to ensure that the sleeve 921' rotates integrally with the holder 920'. Three vertically oriented clamping devices 913 are spaced between hangers 926 with corresponding eccentric rods 914 resting on a disc plate 915 . A cylinder 918 connected to a control valve 928 via a cage tube 929 by a joint 922 drives the circular plate 915 and rod 914 upwards. Rod 914 has a pair of spaced apart eccentric slots 914A cooperating with corresponding pins 913A which protrude from clamping means 913 to drive clamping means 913 inwardly in response to upward movement of rod 914 so as to slide along the test tube. 102 compresses the sleeve 921'. The bottom of the sleeve 921' is closed to confine fragments in the event the test tube 102 therein breaks. Additionally, the sleeve 921' has ribs 923 formed therein for contacting the test tube 102, including three full-length clamping ribs 923A aligned with the clamping means 913 and three proportionally shortened gripper ribs 923B. The spaces between the ribs 923 allow the sleeve 921' The test tube 102, which is normally 100mm long, extends to the bottom of the sleeve 921', although the test tube 102 having a length of 75mm is normally only partially inserted into the sleeve 921', as shown in dashed lines in FIG. A partially inserted short cuvette 102 is secured without unnecessarily increasing the axial force necessary to fully insert and withdraw the 100 mm cuvette 102 .

Preferably, the cap removal system also includes a collector 930 for collecting the caps 103 from the yoke parts; and an unloader 932 for transporting the caps 103 removed from the yoke parts 904 to the collector 930 . An exemplary arrangement of the tripper includes an upright tripper bar 934 fixedly mounted to the insert panel 903 near the collector 930, which aligns with the cover slot 905 in the yoke member open position. The decap routine portion of the central controller 500 operates to move the yoke member 904 with a cap 103 removed therein until the rod 934 removes the cap 103 from the yoke member. Preferably, the collector 930 also includes a tube member 936 for guiding the removed cap 103 into the collector 930 .

With further reference to Figures 18C-18E, another preferred configuration of the decapping system, designated 900', includes a yoke housing 938 having a bottom cover 939 as a counterpart to the yoke member 904, and a clamping mechanism 940, It operates in housing 938 to securely grip cover 103 . As shown in Figure 18E, the clamping mechanism 940 has a pair of opposing, pivotally mounted clamping devices 942, the clamping device 942 is driven by a pneumatic cylinder 944 with a wedge-shaped eccentric drive device 946, the eccentric drive device 946 according to the action The gas pressure extends from cylinder 944. Each clamping device 942 has a plurality of protrusions 943 formed thereon for clamping opposite sides of the cover 103 when the cover 103 is placed in the cover groove 905 . A passage 948 is formed in the yoke housing 938 from the cylinder 944 to a fitting 949 protruding from the lower portion of the cover 939 for connection with a flexible tube 950 extending below the insert panel 903 to a three-way valve 952. As with valve 928 described above, valve 952 connected to pneumatic system 850 via a decap tube 870 is activated to drive pneumatic cylinder 944 to clamp cap 103 in response to central controller 500 . Thus, the cover 103 does not necessarily need to have an extension 927 or have a rotational interference fit with the cover groove 905 . Furthermore, in the preferred decapping system 900', the cap 103 need not have an outwardly convex raised surface 917 (FIG. 18A).

As shown in Figures 18C and 18D, the decapping system 900' includes a counterpart to the unloader 932 on the yoke housing 938 in the form of a plunger assembly 954. Plunger assembly 954 includes a projecting plunger 955 that operates in injector bracket 956. Plunger 955 has an upwardly projecting stem 957 that slides in engagement with injector bracket 956. An injector spring 958 is mounted on stem 957 for The plunger 955 is biased downward against the yoke housing 938 . Cover 103 , released from clamp 942 by closing valve 952 , is forcibly removed from cover slot 905 by axially moving plunger 955 into engagement with yoke housing 948 . When the clamping mechanism is open, the cover 103 should be prevented from sticking to the raised portion 943 of the clamping device 942 so that the cover can be reliably unloaded into the collector 930 .

When the cover slot 905 is rotated to a position above the cover 103, the controller 500 is programmed to drive the elevator 906 high enough so that the plunger 955 clears the cover 103 and then lowers the yoke housing 938, thereby lowering the clamp 942. Injector spring 952 is compressed to align with cap 103 , which bears plunger 955 . Next, the clamping mechanism 940 is closed by opening the valve 952, the clamping device 942 clamps the lid 103, and the decapping system 900' continues to operate as described above for the decapping systems of Figures 18A and 18B.

As also shown in FIG. 18B , tube member 936 is provided with a cap detector 959 for signaling to controller 500 upon passage of each cap 103 entering collector 930 . In this way, in the event that a decapped container 12 is processed by the decapping system 900' without detecting the passage of the cap 103 into the collector 930, appropriate corrections can be made.

As shown in Figure 19, the bench 100 is provided with a pneumatic circuit or gas pressure system 850 having a plug connection 851 to a suitable high pressure gas source 852 fed through an input filter 853 to an approximate In the 22 liter capacity accumulator 854, a one-way inlet valve 855 is provided to maintain pressure when the gas source 852 is closed. A main solenoid valve 858 and a pressure sensor 859 are connected in series between the input filter 853 and the input valve 855, the pressure sensor 859 signals the normal presence of gas pressure at about 5 atmospheres. Rail 26 of track 704 is used as accumulator 854, rail 26 advantageously providing a large capacity and extending substantially along the full length of table 100, thereby enabling a relatively short pneumatic connection.

A gas distribution tube 860 is connected to the gas accumulator 854 to supply gas to the pneumatic components of the table 100 as described herein. In a bearing branch 861 branching from the gas distribution pipe 860, a moisture filter 862, a pressure regulator 863 with an oil filter 864 and a pressure indicator 865 and a pressure sensor 866 are connected in series so as to feed gas to On the bearings of the track 704 of the table robotic arm 700, the pressure sensor signals the normal existence of approximately 4.5 atmospheres. A brake branch 867 from the gas distribution pipe 860 has a solenoid brake valve 868 connected thereto for actuating a track brake of the track 704. A counterpart of a pressure regulator, designated 869 , branches off from the gas distribution line 860 and is connected in the decapping branch 870 to feed gas to the decapping system 900 . A guard branch 871 branching from the gas distribution pipe 860 with another regulator 872 feeds air to three gate valves 873 for controlling the pneumatic drive 52 of the guard system 40 . A pair of regulator valves 874 mounted to rail 26 of track 704 are in gaseous communication with accumulator 854 for selectively releasing delivery position regulator 961, valves 874 are connected to corresponding gas of regulator 961 through each regulator tube 875. port 971 connection. Finally, a pair of sideloader branches 876 of gas distribution tube 960 have counterparts to valves 874 , designated as manually actuated valves 878 , for feeding gas to the pneumatic components of analyzer 2000 , including analyzer robotic arm 2002 . centrifuge unit

As mentioned above, the centrifuge device 1000 receives a sample that has been loaded into the container 12 of the receptacle 1200 and subjects the sample to a specific spinning operation 1002 prior to further processing in the analyzer 2000 . Specifically referring to FIG. 16A , the centrifuge device 1000 has several loading tables 1004 on each pallet 1008 of a rotatably driven headstock 1006 for receiving a set of balanced receivers 1200 into one of the centrifuge devices 1000. In the rotating chamber 1010. "Receptacle" as used herein includes receiving tank 1200, but refers broadly to the device used to hold a liquid sample in a centrifuge and to place the sample in or out of the centrifuge during sample transport. Thus, "receptacle" can mean (1) a single test tube, vial, or other container that fits directly into the cavity of a centrifuge housing; holder in which the container is held during centrifugation.

An exemplary embodiment of the centrifuge device 1000 includes a housing 1012 having a cavity opening 1014; a spindle assembly 1016 supported in the housing 1012 below the opening 1014 for driving the headstock 1006; and A pallet 1008 is shown pivotally mounted in the headstock 1006 by a pair of bearing caps 1009 . Cabinet 1012 includes a wheeled base frame 1018 with a base plate 1020 secured thereto; wall 1022 and end wall 1024; and a panel 1026 extending between the upper ends of the body walls 1024 and 1022. A cavity baffle 1028 having cavity opening 1014 formed therein covers a portion of panel 1026, and a viewing plate 1030 also covers a portion of panel 1026, panel 1026 having an opening (not shown) corresponding to cavity opening 1014 and at The lower portion of viewing panel 1030 facilitates another opening (not shown) for servicing the interior of enclosure 1012 .

In accordance with the present invention, centrifuge assembly 1000 includes a horizontally oriented door member 1032 that is movable laterally beneath cavity barrier 1028 between an open position, shown in solid lines, in FIG. 16A, and a closed position, shown in phantom lines. The open position of door member 1032 provides access to spin chamber 1010 and the closed position closes such access to prevent accidental contact with headstock 1006 and samples therein during operation of centrifuge assembly 1000 . The door member 1032 is supported in a door frame 1034 which is placed on a plurality of column members 1036 spaced apart above the base plate 1020 . The door member 1032 is driven between the open and closed positions by a friction-fit door driver 1038 as further described below; The force applied to the door member 1032 and the drive means 1038 can advantageously protect people from injury. As also shown in FIG. 16A , the centrifuge device 1000 may include an input keyboard 1040 and a cathode ray tube display (CRT display) 1042 for interfacing with an operator of the centrifuge device 1000 .

With further reference to Figures 16B-16E, another preferred configuration of the centrifuge assembly 1000 has a small housing counterpart (not shown) with counterparts 1032' and 1034' of the door members and gantry, thus, passing through the cavity Access from opening 1014 to swivel chamber 1010 is normally through a reduced access opening 1044 to open and close door member 1032'. As shown in Figure 16B, the door panel 1032' is supported in a removable door module 1046 between an upper or outer bracket member 1048 and a lower or inner bracket member 1050, the vertical alignment of the opening 1044 Corresponding bodies are formed in each bracket member 1048 and 1050 . The access port 1044 is large enough to transport a receptacle 1200 vertically therethrough into stable engagement with a loading station 1004 when the loading station 1004 is directed toward a loading position as described below. More specifically, the bracket members 1048 and 1050 of the door module 1046 are secured to opposite sides of respective cross-posts 1052, and a handle 1054 is mounted on one of the cross-posts 1052 to draw the door module horizontally back from the door frame 1034'. 1046, so that the rotating cavity 1010 is completely exposed through the cavity opening 1014. It will be appreciated that access to the door module 1046 may be provided by any suitable means, for example, by removing the associated end wall panel 1024 .

As also shown in FIG. 16B, the portal frame 1034' includes a support plate 1056 extending between the upper ends of the column members 1036, and a pair of side rails 1058 rigidly secured along opposite sides of the support plate 1056 for The door module 1046 is positioned laterally. As shown in FIG. 16C, the door driving device 1038 includes a friction driving wheel 1060 rotatably supported by a driving housing 1062 and a stepping motor 1064 cooperating therewith. The drive wheel 1060 has a resilient ring member 1066 formed thereon for biasing contact with a side surface 1068 of the door member 1032' to translate the door member 1032' between an open and closed position.

An important feature of the door drive 1038 is that the drive wheel 1060 is not in a rigid fit with the door member 1032', but is in sliding contact to prevent the movement of the door member 1032' from being interrupted, for example, when the door member 1032' is moving towards the closed position. Laboratory personnel reach into the rotating chamber 1010 . The door member 1032' is movably supported in the door module 1046 by a number of guide rollers 1070 which cooperate with a pair of rails, the main rail 1072 and the auxiliary rail 1073, which are fixed to the inner bracket frame part 1050.

Still referring to FIG. 16C , door member 1032' is supported vertically and horizontally relative to main rail 1072, vertically oriented guide rollers 1070 are mounted to door member 1032' by respective bolt fasteners 1070A, and horizontally oriented guide rollers 1070 Supported on each rod 1070B, it is mounted to the door member 1032' by a corresponding retainer plate 1070C. Housing 1062 is adjustably mounted to mast 1034' by suitable fasteners 1074 to provide a desired fit angle between drive wheel 1060 and side surface 1068.

As also shown in FIGS. 16B and 16D, a solenoid-operated latch 1076 is mounted to the door frame 1034' for locking the door member 1032' in the closed position. The door member 1032' has an opening 1078 formed therein, For mating with latch 1076. Additionally, a slot 1079 is formed in the inner bracket member 1050 and a cross post 1052 to allow the door module 1046 to be pulled back when the latch 1076 is retracted from the door member 1032'. It should be understood that the door driver 1038 described above is suitable for driving the door member 1032 of FIG. 16A and the door member 1032'

As shown in Figure 16D, the centrifuge assembly 1000 includes a control circuit 1080 for operating the spindle assembly 1016, drive assembly 1038, and door latch 1076; and a pair of optical position sensors mounted relative to the door frame 1034' for ejecting the door assembly 1032' for signaling the open and closed positions, a first sensor 1081 for signaling the closed position and a second sensor 1082' for signaling the open position of the door member 1032'.

Spindle assembly 1016 includes headstock 1006, and a spindle assembly 1084 having a spindle 1085 for rotatably supporting headstock 1006 in swivel chamber 1010, and spindle assembly 1084 also having a spindle supported from base plate 1020 Housing 1086. A spindle motor 1088 is connected to the spindle 1085 in a manner known in the art, and the motor 1088 is fixedly supported relative to the base plate 1020 in any suitable manner.

An important feature of the present invention is the ability of the spindle assembly 1016 to rotate each loading station 1004 into alignment with the access port 1044 for receiving or transporting the receptacle 1200, and the spindle housing 1006 can be positioned at the end of any desired rotation maneuver. A predetermined calibration position stops directly and quickly. Therefore, the spindle motor 1088 is provided with a position encoder 1090 for signaling the angular position of the spindle housing 1006 . In an exemplary preferred configuration of the control circuit 1080 shown in Figures 16D and 16E, the spindle motor 1088 is a four-pole brushless AC servo motor, which is a SGM-00A3 servo motor manufactured by Yaskawa Electric America , Inc., of Northbrook, IL. The above marked motor includes an encoder 1090 having a quadrature up count pulse output 1091 and a standard pulse output 1092 . Still as shown in Figure 16D, the control system 1080 includes a centrifuge information processor 1093, a motion information processor 1094 and a motor driver 1095, and the motion information processor 1094 is to the encoder 1090 and the position fix from the centrifuge information processor The signal is reacted to give an acceleration control signal to the motor driver 1095, thereby driving the motor 1088 from a nominal initial rest position to a proposed rotational speed, maintaining this speed for a planned rotational period, and then decelerating the motor to a stop at a predetermined final resting position.

Suitable devices for use as centrifuge information processor 1093 are available from various commercial sources, for example, the STD-32486 (CPU Board) motherboard available from Ziatech of San Luis Obispo, CA. A suitable device for use as motion information processor 1094 may be a STD/DSP type motion controller available from Motion Engineering, Inc., Of Santa Barbara, CA. This device processes the quadrature signal at the count output 1091 to provide 8192 pulses per revolution of the spindle motor 1088 to a position recorder. The device also has an end point recorder housed in the centrifuge processor 1093 and a Digital-to-analog converter (DAC). The digital-to-analog converter produces an analog output that varies with the difference between the position register and the end point register, as well as other variables including maximum speed and acceleration. It should be understood that the above-marked motors and motor drives are generally considered unsuitable for use as spindle motor 1088 and motion processor 1094 because the rated allowable load inertia is only 0.189 oz-in sec ² (0.836×10 ⁻⁴ ), is a value 250 times lower than the practically feasible value in the centrifuge device 1000 of the present invention. It has been found in accordance with the present invention that the above-identified motor and motor drive are suitable for use in a centrifuge 1000 with a suitable compensating filter 1096 connected between the motion processor 1094 and the filter 1095 . Basically, the compensating filter 1095 provides a "notched" frequency characteristic curve centered at about 75 Hz.

As further shown in FIG. 16D , the control circuit 1080 also includes a stepping motor driver 1098 for operating the stepping motor 1064 of the door driving device 1038 according to the centrifuge processor 1093 . A device suitable for use as a stepper motor driver 1098 is available from Intelligent Motion Systems, Inc. of Taftville. Model 48312 microstepping motors available from CT. The centrifuge processor 1093 also has a system interface 1099 for communicating with the process controller 400 . It should be understood that the keyboard 1040 and display 1042 in the configuration shown in FIG. , these components are unnecessary. The actual connection between the components of the control circuit 1080 is best shown in FIG. 16E. The circuit 1080 also includes an existing STD-32 (cardcage) card for the centrifuge information processor 1093 and the motion information processor 1040. box 1100; an EMI filter 1102 with means for interfacing with an external power supply; a mains power supply 1104 and a stepper power supply 1106 for a stepper motor controller 1098; and an input/output board (I/Oboard ) 1110, which provides the primary interconnection between components of the control circuit 1080. The recovery device 1108 absorbs the energy recovered from the spindle motor 1088 during deceleration, and is used to limit unnecessary energy consumption through the motor driver 1095 . One suitable device for use as recovery unit 1108 may be a recovery unit model JUSP-RG08 available from Yaskawa Electric. I/O board 1110 also incorporates compensation filter 1096 and prior art snubber circuits for sensors 1081 and 1082 and solenoid latch 1076, as shown in Figure 16F. More specifically, the compensation filter 1096 includes a double-T filter, a low-pass operational amplifier 1114, a two-stage low-pass filter 1116, and a buffer amplifier 1118. These components are connected in series to the previously described motion information processor 1094. Between the analog output 1120 and the torque command input 1122 of the motor driver 1095 .

Figure 16E illustrates a control program 1130 of centrifuge processor 1093, program 1130 has an initial step, program and data information are entered in the memory of motion processor 1094 at this step, in processor 1093 and stepper A sequential connection is established between the motor drivers 1098, the error variable value is stored in the variable memory of the processor 1093, and the active flag is reset. Following the initial step 1031 is a main loop 1132 having a get command step 1133 for accepting commands and data from the process controller 400 . During an exemplary execution of program 1130, executable commands are listed in Table 1 below.

Table 1. centrifuge command command code command name IM Index Move SA Set Acceleration (Set Acceleration) SV Set Velocity (Set Velocrty) ST Set Time (Set Time) BR Start running (Set Run) HD Return the door to its original position (Home Door) H M Returning the motor to its original position (Home Motor) ER stop vs. Get Velocity Status RS Get Rotor Status OD Open Door cd Close Door

It should be understood that in the following description, many of the details of the control program 1130 are within the skill of a typical process control programmer. For example, the get command step 1133 may suitably store data along with several commands and be executed only after the commands have all been received. Control is passed from the command step for continuation through the control program 1130 during the execution of time consuming commands. status monitoring. Following the get command step 1130 is an execute command step 1134 that starts executing the command and sets the appropriate flags and the like. Executing the Home Motor command in a spindle homing step 1135, the headstock 1006 is driven to a home indexed position where the loading table 1004A is aligned with the entry port 1044, which is the standard output from the encoder 1090 End 1092 start-up decision. The spindle home step 1135 includes a forward step 1136 , a reverse step 1137 and an offset step 1138 . The headstock is advanced at an appropriate speed in an advance step 1136 until the headstock passes the index position at which the standard output is activated; 1/25) Inverted; the headstock is stopped again in the offset step 138 and then advanced beyond the indexed position by offset. The index position is moved obliquely from the loading table 1004A to preferably activate the standard output 1092 in advance step 1133 slightly prior to alignment with the loading table 1004A. As such, the offset can be small to facilitate the offsetting step 1138 to be completed quickly.

The Index Move command is executed by an index operation 1140, wherein the loading tables 1004A, 1004B, 1004C and 1004D are addressed by corresponding numbers 1, 2, 3 and 4, and the headstock is based on a current index position and addressing The difference between the positions goes forward (algebraically) and this difference is the number of encoder counts between 0, 1, 2 or -1 at the dock time.

In the beginning run step 1142, the Begin Run command is executed, wherein the data of the rotation operation process 1002 is used to calculate an end distance as the sum of an acceleration distance and a constant speed distance, and the acceleration distance is a synthesis of the acceleration and deceleration distances. More specifically, the constant speed distance Dv is the product of the speed V and the time T of the rotation operation process 1002, and the acceleration distance is V ² /A, where A is a predetermined acceleration, and A, T and V are predetermined by the corresponding identification command Sure. These distances are summed and then offset by a distance corresponding to the current indexed position relative to the homed position, and this result is sent to the motion processor 1094 to activate the spindle motor 1088. Therefore, the headstock 1006 is accelerated according to the set acceleration to reach the set rotation speed, the rotation speed is maintained for the set rotation time, and then the headstock 1006 is decelerated according to the set acceleration to stop at the original position .

The Home Door command is executed in a door homing step 1144, which has a check homing step 1145 and a move homing step 1146. If the first sensor is open and shows that the door is closed, step 1144 exits from the check home step; otherwise, enters move home step 1146 in order to activate stepper motor driver 1098, thereby returning at a slow home speed ( 100 steps/sec.) Turn the stepper motor 1064 toward the closed position.

In a door operation 1148 the Open Door and Close Door commands are executed corresponding to the opening and closing steps 1149 and 1150. In the closing step 1150, the stepper motor 1064 is driven toward the closed position at 1500 steps/sec. for 1200 steps, and then at 50 steps/sec. until the home (closed) position is measured. In the event that movement of the door is impeded by an obstacle as described above, damage to the centrifuge device 1000 and/or injury to laboratory personnel can be prevented by the drive wheels 1060 sliding along the side surfaces 1068 of the door member 1032' as described above. . Similarly, the open step 1149 drives the stepper motor 1064 in reverse until the second sensor 1082 signals the open position of the door member 1032'. system software

A preferred software implementation for the process monitoring device 200 and the included graphical user interface (GUI) is based on the Lab-View ^(TM) software development kit, available from the National Instrumentation Corp. of Austin, TX. For example, in executing this procedure, a graphic of system 10 including bench 100 and centrifuge 1000 is displayed along with various status indicators and controls. The graphical display shows the location of all holders 14 and by tapping on a particular holder its identification is displayed and a graphic of the container 12 is also available. Conversely, the location of a particular container 12 can also be searched for by entering its identification. This program is available from Beckman Instruments as Accel Net software.

Although the invention has been described in detail with reference to various preferred forms, other forms are also possible. For example, as another form or a kind of complement of guard system 40, work platform 100 can be equipped with detector, is used for detecting that there is an operator in the part of work platform that can cause injury to operator to stop operation automatically, as in The same as generally used in industrial machinery. It could be a device such as a beam of light and a beam detector that stops the table by interrupting the beam. Therefore, the scope of the appended claims should not be limited to the description of the preferred versions contained therein.

Claims (30)

1. one kind is used for the system that a plurality of containers of sample are equipped with in processing automatically, and at least some containers have a top cover, have the container identification marking on each container, and container is placed in the clamper, and this system comprises:

(a) central control unit, it comprises (ⅰ) storer and (ⅱ) data input block, is used for input instruction, so that handle each container according to the container identification marking, processing instruction is stored in the storer;

(b) be used for surveying the detector that there is a clamper in this system, detector has an output block, is used for sending the signal that a clamper exists to central control unit;

(c) identification tag reader is used to read the container identification marking, and reader has an output block, is used for providing the container identification marking to central control unit;

(d) container categorizing system, it comprises the data input part part that (ⅰ) is communicated with central control unit, be used to accept instruction from central control unit, so that container is classified, thereby according to the instruction sample in the container handling selectively that is stored in the central control unit storer, and (ⅱ) several classification positions, be used for processing instruction storing containers according to them;

(e) centrifugal processing system is used for selected sample is carried out centrifugal treating, and centrifugal processing system comprises:

(ⅰ) be used to accept the receptacle of a plurality of containers; And

(ⅱ) hydro-extractor that is used for a plurality of receptacles are carried out simultaneously centrifugal treating, hydro-extractor has a motor; A Centrifugal Machine Control device, the hydro-extractor that is used for stopping in selected position is so that take out receptacle automatically according to the signal from central control unit from hydro-extractor; Lid with make-position and open position; And a lid driver, be used for according to instruction unpack and closing cap from central control unit;

(f) receptacle balanced system is used to make the receptacle weight balancing so that carry out centrifugal treating;

(g) one is removed roof system, is used for removing top cover to container selectively;

(h) at least one analyser is used for analytical sample selectively; And

(ⅰ) induction system, be used for (ⅰ) with container transport to hydro-extractor receptacle, analyser with remove roof system and container is transported from them there, (ⅱ) receptacle is transported to receptacle balanced system and centrifugal processing system and receptacle transported from them there, and (ⅲ) with container transport to categorizing system, induction system has a controller that is communicated with central control unit so that central control unit can be controlled induction system.

2. the system as claimed in claim 1 also comprises a process monitor, and it has:

(a) the detection input step of a setting program is used to determine the container at the input position of worktable;

(b) container is selected step, and the container that is detected is selected for processing in this step;

(c) identification step is used for determining according to the container identification marking Treatment Options of each selecteed container;

(d) a processing selecting step is used to begin fixed Treatment Options, described Treatment Options is classification, centrifugal treating, remove top cover and analyze in one or multinomial.

3. the system as claimed in claim 1 is characterized in that, each analyser comprises:

(a) device that is used for a sample is carried out selectively at least two kinds of different analyses;

(b) analyser controller that is communicated with central control unit is so that central control unit can indicate analyser what analysis each sample is carried out; And

(c) output system that is used for providing analysis result to the storer of central control unit.

4. as claim 1 or 3 described systems, comprise two analysers, it is characterized in that, each output system has an output block, be used for providing analyser obtainable information, and central control unit has the device that is used for optionally determining that each sample that will analyze by which analyser is analyzed to central control unit.

5. the system as claimed in claim 1 is characterized in that, induction system comprises that one is used for container transport to analyser and first robot arm and one second robot arm of transporting from analyser.

6. system as claimed in claim 5 also comprises a guard system, is used for stopping the operator selectively near worktable, and guard system comprises: the dividing plate on an encirclement worktable top, this dividing plate have an opening that supplies the analyser robot arm to pass through; An expansion of receptacle being delivered to hydro-extractor; Access door with a drive unit; And one sent to central control unit and to enter the operator's input media that requires signal, and the controller operation is opened access door so that prevent the operation of worktable robot arm suitably and start drive unit according to operator's input subsequently.

7. the system as claimed in claim 1, it is characterized in that, this system comprises a plurality of feed entrance points that are used to place container, each feed position is equipped with a detector, at least one position is used for the container of priority processing, wherein, the detector output block sends the signal that the priority processing container exists to the central information processor, and the central information processor provides instruction so that the preferential container of priority processing.

8. the system as claimed in claim 1, it is characterized in that, has the clamper identification marking on container gripper provided, wherein, indicia reader can read the clamper identification marking, the reader output block provides the clamper identification marking to central control unit, so that follow the tracks of container according to their clampers separately.

9. a system that is used for automatically handling a plurality of containers that sample is housed has the container identification marking on each container, and container is placed on one to have in the clamper of clamper identification marking on it, and this system comprises:

(a) central control unit, it comprises (ⅰ) storer and (ⅱ) data input block, is used to import processing instruction, so that handle each container according to the container identification marking, processing instruction is stored in the storer;

(b) be used for surveying the detector that there is a clamper in this system, detector has an output block, is used for sending the signal that a clamper exists to the central control unit storer;

(c) indicia reader is used to read container identification marking and clamper identification marking, and indicia reader has an output block, is used for providing container identification marking and clamper identification marking to the central control unit storer;

(d) container categorizing system, it comprises the data input part part that (ⅰ) is communicated with central control unit, be used to accept instruction from central control unit, so that container is classified, thereby according to the instruction sample in the container handling selectively that is stored in the central control unit storer, and (ⅱ) several classification positions, be used for processing instruction storing containers according to them.

10. one kind is used for the system that a plurality of containers of sample are equipped with in preparation automatically, and it comprises:

(a) one is carried out the centrifugal processing system of centrifugal treating to selected sample, and this centrifugal processing system comprises:

(ⅰ) be used to accept the receptacle of a plurality of containers; And

(ⅱ) hydro-extractor that is used for a plurality of receptacles are carried out simultaneously centrifugal treating, hydro-extractor has a motor; A Centrifugal Machine Control device, the hydro-extractor that is used for stopping in selected position is so that take out receptacle automatically according to the signal from central control unit from hydro-extractor; Lid with make-position and open position; And a lid driver, be used for according to instruction unpack and closing cap from central control unit;

(b) receptacle balanced system is used to make the receptacle weight balancing so that carry out centrifugal treating; And

(c) induction system is used for (ⅰ) container transport is transported from the hydro-extractor receptacle to the hydro-extractor receptacle with container, and (ⅱ) receptacle is transported to receptacle balanced system and centrifugal processing system and receptacle transported from them there.

11. one kind is used for the worktable that a plurality of containers of the sample that is used to analyze are equipped with in preparation automatically, worktable and a hydro-extractor and a controller cooperation operation, centrifugal function is carried out centrifugal treating to a plurality of receptacles that container is housed, at least some containers have a top cover, has the container identification marking on each container, container is placed in the clamper, and worktable comprises:

(a) platform;

(b) be positioned at clamper locating device on the platform, be used for clamper is positioned at preposition;

(c) be positioned at receptacle locating device on the platform, be used to make the receptacle location;

(d) be used for the detector that there is a clamper in precalculated position on the test platform, detector has an output block, is used for sending the signal that has a clamper to controller;

(e) indicia reader that is used to read the container identification marking, this reader has an output block, is used for providing the container identification marking to controller;

(f) receptacle balanced system that is positioned on the platform is used to make the weight balancing of the receptacle that container is housed of supplying with hydro-extractor;

(g) cover device that goes that is positioned on the platform is used for making selectively the container of centrifugal treating to remove top cover;

(h) transporting position that is positioned on the platform is used to place that centrifugal treating is crossed, as to remove the container of top cover clamper is housed, so that analyzed by an analyser; And the position of accepting that is positioned on the platform, be used to accept the sample of having analyzed from analyser;

(ⅰ) induction system that is positioned on the platform, be used for (ⅰ) with container transport to the hydro-extractor receptacle, transport and accept the position and remove cover device and container is transported from them there, (ⅱ) container is classified so that handle, and (ⅲ) receptacle being transported to receptacle balanced system and centrifuge apparatus and receptacle transported from them there, conveying device has an input block that is communicated with controller so that controller can be controlled induction system.

12. one kind is used for the worktable that a plurality of containers of the sample that is used to analyze are equipped with in preparation automatically, worktable and a hydro-extractor and a controller cooperation operation, centrifugal function is carried out centrifugal treating to a plurality of receptacles that container is housed, at least some containers have a top cover, have the container identification marking on each container, worktable comprises:

(a) platform;

(b) be positioned at clamper on the platform, be used for container is placed on preposition;

(c) be positioned at receptacle locating device on the platform, be used to make the receptacle location;

(d) indicia reader that is used to read the container identification marking, this reader has an output block, is used for providing the container identification marking to controller;

(e) receptacle balanced system that is positioned on the platform is used to make the weight balancing of the receptacle that container is housed of supplying with hydro-extractor;

(f) cover device that goes that is positioned on the platform is used for making selectively the container of centrifugal treating to remove top cover;

(g) analyser transporting position that is positioned on the platform is used to accept that centrifugal treating is crossed, as to remove top cover container, so that analyzed by an analyser; And an analyser that is positioned on the platform accepts the position, is used to accept the sample of having analyzed from analyser; And

(h) induction system that is positioned on the platform, being used for (ⅰ) transports container transport and accept the position and removes cover device and container is transported from them there to hydro-extractor receptacle, analyser, (ⅱ) container is classified so that handle, and (ⅲ) receptacle being transported to receptacle balanced system and centrifuge apparatus and receptacle transported from them there, conveying device has an input block that is communicated with controller so that controller can be controlled induction system.

13. one kind is used for the worktable that a plurality of containers of the sample that is used to analyze are equipped with in classification automatically, worktable and a controller cooperation operation have the container identification marking on each container, and container is placed in the clamper, and worktable comprises:

(a) platform;

(b) be positioned at clamper locating device on the platform, be used for clamper is positioned at preposition;

(c) be used for the detector that there is a clamper in precalculated position on the test platform, detector has an output block, is used for sending the signal that has a clamper to controller;

(d) indicia reader that is used to read the container identification marking, this reader has an output block, is used for providing the container identification marking to controller; And

(e) induction system that is positioned on the platform is used for the container classification, so that handle according to the mark on the container, conveying device has an input block that is communicated with controller so that controller can be controlled induction system.

14. one kind is used for the worktable that a plurality of containers of the sample that is used to analyze are equipped with in preparation automatically, worktable and a controller and at least one analyser cooperation operation have the container identification marking on the container, and container is placed in the clamper, and worktable comprises:

(a) platform;

(b) be used for the detector that there is a clamper in precalculated position on the test platform, detector has an output block, is used for sending the signal that has a clamper to controller;

(c) indicia reader that is used to read the container identification marking, this reader has an output block, is used for providing the container identification marking to controller;

(d) an analyser transporting position that is positioned on the platform is used to place clamper, so that analyzed by an analyser; And an analyser that is positioned on the platform accepts the position, is used to accept the sample of having analyzed from analyser; And

(e) induction system that is positioned on the platform, being used for (ⅰ) transports container transport and accept the position and container is transported from them there to analyser, and (ⅱ) container is classified so that handle, conveying device has an input block that is communicated with controller so that controller can be controlled induction system.

15. system as claimed in claim 14 is characterized in that, induction system comprises that is positioned at the robot arm on the long rails, and platform comprises a pedestal, and this pedestal comprises:

(a) several rigid walls;

(b) a pair of vertical crossbeam that is connected with each opposite side portion of dividing plate; And

(c) the terminal longitudinal rail that is connected of the cylindricality of a dividing plate of opening with vertical spacing between crossbeam, track is supported on the guide rail.

16. system as claimed in claim 15 is characterized in that, worktable also comprises a pneumatic subsystem that is used for induction system, and guide rail has formed an air vessel of pneumatic subsystem.

17. one kind is used for the worktable that a plurality of containers of the sample that is used to analyze are equipped with in preparation automatically, worktable and a hydro-extractor and a controller cooperation operation, centrifugal function is carried out centrifugal treating to a plurality of receptacles that container is housed, at least some containers have a top cover, has the container identification marking on each container, container is placed in the clamper, and worktable comprises:

(a) platform;

(b) be used on the test platform existing the detector of a clamper, detector has an output block, is used for sending the signal that has a clamper to controller;

(c) indicia reader that is used to read the container identification marking, this reader has an output block, is used for providing the container identification marking to controller;

(d) receptacle balanced system that is positioned on the platform is used to make the weight balancing of the receptacle that container is housed of supplying with hydro-extractor; And

(e) induction system that is positioned on the platform, being used for (ⅰ) transports to the hydro-extractor receptacle and with container container transport from the hydro-extractor receptacle, (ⅱ) container is classified so that handle, and (ⅲ) receptacle being transported to receptacle balanced system and centrifuge apparatus and receptacle transported from them there, conveying device has an input block that is communicated with controller so that controller can be controlled induction system.

18. a system that is used for the sample of automatic analyzing container comprises:

(a) worktable that is used to prepare the sample that is used to analyze, worktable have a front portion, rear portion and relative sidepiece;

(b) analyser that is used to analyze the sample of preparing by worktable, analyser has relative sidepiece, a front portion, a top and a rear portion, and the top has an analytical equipment and can be approaching from the front portion by a user; And

(c) one is used for the conveying device of sample from the worktable automatic transport to analyser;

It is characterized in that worktable approaches a sidepiece of analyser, and can not hinder the front portion of analyser.

19. a system that is used for the sample of automatic analyzing container comprises:

(a) worktable that is used to prepare the sample that is used to analyze, worktable has an end face, and end face has a transporting position that is used to place container, so that analyser is analyzed, and one accepted the position, is used to accept the sample of having analyzed from analyser;

(b) analyser that is used to analyze the sample of preparing by worktable; And

(c) robot arm that is positioned on the analyser is used for sample from the worktable automatic transport to analyser.

20. system as claimed in claim 19 is characterized in that, worktable has a regulating device, be used to make transport and accept the position and align with robot arm, and can mobile analyser or worktable.

21. an analyser that is used for the sample of automatic analyzing container comprises:

(a) pedestal with opposite side portion, a front portion, a top and a rear portion, top have an analytical equipment and can be approaching from the front portion by a user;

(b) support that is positioned on the pedestal, support have a preceding workspace and a top board; And

(c) one is used for the conveying device of sample from the worktable automatic transport to analyser, and conveying device is positioned on the top board.

22. the roof system that goes that is used for removing from the container of dress sample the lid that is pressed into, it comprises:

(a) receptacle of fixing a container with being used to clamp;

(b) yoke member of installing movably with respect to receptacle, it has clamps the device that is fixed on the lid on the container; And

(c) conversion equipment that is used between the opening and closing position, being displaced sideways yoke member;

(d) lifter is used for promoting yoke member to remove top cover in make-position with respect to receptacle;

(e) gatherer that is used to accept from the top cover of yoke member; And

(f) top cover that is used for removing is transferred to the unloader of gatherer from yoke member.

23. the roof system that goes as claimed in claim 22, be used for using with having a lid from the outward extending protrusion of opposite side portion surface, it is characterized in that, clamp device comprises york piece, this york piece has a projection that makes progress, be used for and the protrusion surface engagement that is fixed on a lid on the container, the york piece projection extends in the bottom, protrusion surface that make-position is positioned at lid.

24. the roof system that goes as claimed in claim 22 also comprises a cover sensor, is used for surveying the lid that removes and enters into gatherer and send signal.

25. the roof system that goes as claimed in claim 22 also comprises a drive unit that is used to rotate receptacle, so that remove threaded lid from container.

26., it is characterized in that receptacle comprises as claim 22,23, the 24 or 25 described roof systems that go:

(a) flexible sleeve that is arranged in a rigid element is used to surround the base section of container, and sleeve has the end of a sealing;

(b) clamp device that between rigid element and flexible sleeve, extends; And

(c) drive unit is used for mobile clamping device and effectively withstands sleeve, thereby with respect to the rigid element grip containers.

27. a method that is used for handling automatically a plurality of containers that sample is housed, at least some containers have a top cover, have the container identification marking on each container, and container is placed in the clamper, and the method comprising the steps of:

(a) provide a controller,, thereby handle each container according to the container identification marking so that preserve processing instruction with storer;

(b) there is a clamper and send the signal that has a clamper to controller in the detection system;

(c) read container identification marking and send container identification marking signal to controller;

(d) according to the alignment processing instruction relevant, selectively container is transported to several classification positions by robot arm with each Container Tag;

(e) sample of selecting according to the following step centrifugal treating:

(ⅰ), container is transported selectively and a plurality of hydro-extractor receptacles of packing into by robot arm according to the processing instruction of correspondence;

(ⅱ) make the weight balancing of the receptacle of the container of packing into;

(ⅲ) receptacle of weight balancing is put into a hydro-extractor by robot arm;

(ⅳ) according to coming the instruction of self-controller that a plurality of receptacles are carried out centrifugal treating simultaneously;

(ⅴ) stop hydro-extractor, with the hydro-extractor transposition to selected discharge position and according to coming the signal of self-controller from hydro-extractor, to take out receptacle by robot arm, thereby unload load to hydro-extractor;

(f) container of centrifugal treating being crossed by robot arm is transported to one and removes cover device and remove top cover, thereby the container of selectively centrifugal treating being crossed removes top cover; And

(g) by according to the instruction that comes self-controller with the container of selecting be transported to an analyser, with the analyser analytical sample and to the controller reporting analysis result, thereby analytical sample selectively.

28. a method that is used for handling automatically a plurality of containers that sample is housed, each has the container identification marking above the container, and container is placed in the clamper, and the method comprising the steps of:

(a) will be stored in the storer of a controller according to the processing instruction that the container identification marking is handled each container;

(b) automatically there is a clamper and send the signal that has a clamper to controller in the detection system;

(c) read container identification marking and send container identification marking signal to controller; And

(d) selectively container transport is arrived several classification positions according to processing instruction by a robot arm.

29. a method that is used for handling automatically a plurality of containers that sample is housed has the container identification marking on each container, container is placed in the clamper, and the method comprising the steps of:

(a) will be stored in the storer of a controller according to the processing instruction that the container identification marking is handled each container;

(b) read container identification marking and send container identification marking signal to controller; And

(c) sample of selecting according to the following step centrifugal treating:

(ⅰ), container is transported to a plurality of hydro-extractor receptacles and the receptacle of packing into selectively by a robot arm according to the processing instruction that comes self-controller;

(ⅱ) make the weight balancing of receptacle;

(ⅲ) by robot arm the receptacle of weight balancing is put into a hydro-extractor, this hydro-extractor has a lid with an off-position and an open position;

(ⅳ) according to coming the instruction of self-controller that a plurality of receptacles are carried out centrifugal treating simultaneously;

(ⅴ) stop hydro-extractor, open lid, with the hydro-extractor transposition to selected discharge position and according to coming the signal of self-controller from hydro-extractor, to take out receptacle by robot arm, thereby unload load to hydro-extractor.

30., it is characterized in that equilibrium step comprises as claim 27 or 29 described methods:

(a) when each container is packed receptacle into, the general assembly (TW) of monitoring receptacle and the specific receptacle that is loaded;

(b) determine a load of each receptacle from continuous load growth and the receptacle that is loaded; And

(c) regulate the right load of specific receptacle to obtain a predetermined quality of balance.

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