CN1223721A - Automaied 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

Automaied sample processing system

Background

The present invention relates generally to the system of laboratory assays robotization, especially relates to the chemical examination of Biosample.

In 70 years of past, laboratory assays changes and is improved significantly.At first, chemical examination or analyze and to be undertaken by manually-operated, and generally to use a large amount of blood plasma, blood or other biofluid.But along with the development of mechanical technique in industrialization factory, similar techniques is introduced into assay office.Along with the introducing of new technology, method is improved, thereby the result's who is obtained by single instrument quality is improved and makes the sample size that carries out each assay office and need to reduce.

Developed such instrument, it finishes the efficient that required turnaround time of various analyses and sample size improve the chemical examination process by minimizing.For example, this quasi-instrument can be California, the Synchron that the Beckman instrument company of Fullerton provides _TMThe series automatic analyzer.This quasi-instrument can be analyzed many blood samples automatically and carry out multiple analysis, and sample analysis reliably, accurately and fast is provided.

Although make improvements, in the operation of assay office, also leave some room for improvement.For example, also needing many times to be used for sample prepares.The sample preparation comprises classification, the centrifugal treating of the sample that is used to handle and removes the lid of the container that sample is housed.Centrifugal treating need be with a plurality of sample receivers, it generally is test tube, the hydro-extractor dump tank of packing into makes the weight balancing of dump tank, so that make the hydro-extractor balance, with the dump tank hydro-extractor of packing into, shut centrifuge cup then, carry out centrifugal treating, open centrifuge cup, take out dump tank, from dump tank, take out test tube then.All these operations all are labor-intensive, have increased the cost of lab analysis.And these labour-intensive steps easily cause the operator to make mistakes.In addition, participating in of people also brought sample to be operated the danger that personnel pollute, and the operator is exposed under the dangerous biological substance.

Attempted providing robotization, comprised and use conveyor system that sample is transported to analyser, as U.S. Patent No. 5,178,834 and 5,209,903 is described.Use a problem of conveyor system to be, they generally are the parts of a total holonomic system, and this system comprises specific analyser and other treating apparatus.Like this, wish that an assay laboratory of changing-over to a conveyor system need change its whole existing systems, this needs a large amount of fund inputs and to a large amount of training costs of operator.

Another common problem in the assay laboratory is how to handle " STAT " sample.These are the samples that need handle immediately.For example, usually need " STAT " to analyze from the patient's of first-aid room sample, so that doctor on duty can determine the cause of the state of an illness.Current analytic system mainly relies on the operator to get involved to interrupt normal workflow to guarantee that the STAT sample is paid close attention to timely.But at breadboard time of stress, these STAT samples and sample are not always to obtain their required timely processing.

The laboratory centrifuge of prior art generally has main shaft, several bottles of placing clamper, the test-tube stent of test tube and/or being provided at each angled isolated loading platform of main spindle box assembly that a high-speed electric expreess locomotive drives, the main spindle box assembly is arranged in a tubular cavity and is surrounded by a safety link, hydro-extractor also has a safety-tightly lock a door, and is used for covering the chamber at the main shaft run duration.Main shaft is driven with a selected speed, and this speed can be from about 3600RMP up to about 100,000RMP.

The robotization of centrifugal treating brings many problems.For example:

1. need to walk around centrifugal treating in some cases;

2. the passage that enters hydro-extractor is stopped by protective cover, the generally conversion vertically between the open and close position of this protective cover;

3. in motion process, be accompanied by to make and cover robotization and the personnel that prevent come to harm is too high expense;

4. before high-speed cruising begins, hydro-extractor is equilibrated in about 10 gram scopes; And;

5. because the required time of rotary sample, cause many cost of technology costlinesses, especially load and unload hydro-extractor,, cause the expense costliness for the rotary manipulation process programs and hydro-extractor is quickened and slows down when needing the cycle of length.

In some hydro-extractor of prior art, main spindle box can be inserted in several rest positions, so that at the angled isolated receptacle loading platform loading and unloading hydro-extractor of main spindle box assembly correspondence.But because what use for transposition and high-speed cruising is different motor and control, it is complicated and expensive that these hydro-extractors become; Because the inertia that position rotaring motor causes increases, thereby reduced performance at a high speed.

Therefore, need the system that can make sample preparation and the robotization of sample set-up procedure, comprise the centrifugal treating that is used for analytic process, especially comprise the centrifugal treating that is used for the assay laboratory.This system must be able to use with conventional device, that is, existing apparatus does not need to change, and this system can use with many existing analytical equipments.Also have, the processing power of system needing to be subjected to the sample minimum degree ground influence of centrifugal treating.And, need this system to discern and rapid treatment S TAT sample, make the health risk minimum that contacts and brought with Biosample, and the probability minimum that makes the pollution that mistake caused of the sample person of being operated.

Summary

The invention provides a system that satisfies above-mentioned needs.System of the present invention is based on a modular workbench, and this worktable can automatically be prepared Biosample and be used for further being handled by many analytical equipments, and does not need to change existing analytical equipment.This system can be to sample classification and the priority processing STAT sample that newly advances.As required, newly advancing sample can be by centrifugal treating automatically, remove top cover and be transported to selected analytical equipment.Can automatically control this system by using a central control unit.This system provides effective, high processing power and analysis result fast, has reduced the operator error probability simultaneously and reduced the operator being exposed under the biological substance.

Usually, the sample of being handled automatically is contained in a plurality of containers, test tube for example, and it can have lid.Each container has the container identification marking, for example, and a bar code.Container is arranged in the one or more clampers such as segment and/or support, on segment and/or the support identification marking is arranged.

According to an aspect of the present invention, a disposal system comprises: (ⅰ) central control unit, (ⅱ) one has the worktable that is used to classify, prepare and transport the subsystem of container, (ⅲ) centrifugal processing system that is used for the selected sample of centrifugal treating, and (ⅳ) be used at least one analyser of analytical sample selectively.Not only total system is considered to novel and innovation, and the concrete mechanical part of the subsystem of total system and system also is considered to novel and innovation.Central control unit

The central control unit that can be used as the part of worktable comprises storer and a data input block, and the data input part part is used for the processing instruction input store so that handle each container according to the container identification marking.According to the instruction of central control unit, can preferably carry out following processing to each container:

(a) only classify, that is, worktable only is used for container is classified so that further handle;

(b) classification and centrifugal treating;

(c) classification, centrifugal treating and remove top cover;

(d) classification, centrifugal treating, go top cover and analysis;

(e) classify, go top cover and analysis (not needing being suitable for the sample of centrifugal treating); With

(f) classification and analyze (be suitable for do not need centrifugal treating and go automatically to cover sample).

Central control unit is equipped with a processing watch-dog, handles the detection input step that watch-dog has a setting program, is used to determine that the input position on worktable introduced container; A container is selected step, and the container that is detected is selected the processing in this step; An identification step is used for according to the container identification marking each selected container being determined to handle subitem; And a processing selecting step, the processing that is used to begin to determine subitem, to handle subitem is classification, centrifugal treating, remove top cover and analyze in one or more.Worktable

Worktable is equipped with detector, is used for the detection system clamper and whether exists.Detector has an output block, is used for sending the signal that has a clamper to central control unit.Worktable has an indicia reader, and for example, a barcode reader is used to read the container identification marking.Indicia reader is equipped with an output block, is used for providing the container identification marking to central control unit.Preferably, indicia reader also can be used for sending clamper identification marking signal to central control unit effectively.

Worktable also comprises a container classification subsystem, it has a data input part part that is communicated with central control unit, be used to accept instruction, so that the container classification is optionally handled being used for according to the processing instruction that is stored in the central control unit storer from central control unit.The container categorizing system also comprises several classification positions, is used for placing container according to their processing instruction.

Usually, worktable comprises a plurality of input positions, is used for placing container at first by the operator, and each input position has a detector.Preferably, at least one position is selected for the container of priority processing, that is, the STAT sample, therefore, when the detector output block sent the signal that has a priority processing container, the central information processor provided the instruction of the preferential container of priority processing.

Worktable generally comprises a platform, and platform has the locating device such as distance pole, is used to make clamper and hydro-extractor receptacle to locate in the precalculated position.Platform can be equipped with the detector that is lower than the surface, and for example, reed contact pipe is used for existing on the test platform clamper.Worktable robot arm is bearing on the platform and an indicia reader generally is housed, and reader can be a barcode reader.Platform has an analyser transporting position, is used to place clamper so that analyzed by analyser; And an analyser accepts the position, is used to accept the sample of having analyzed from analyser.Preferably, worktable is equipped with a guard system, is used for stopping selectively that the operator is approaching, for example, and the operation of operator's EVAC (Evacuation Network Computer Model).Guard system comprises that one impales bench-top and has the dividing plate that is used to make the opening that the analyser robot arm passes through, one and is used for receptacle is transported to the expansion of hydro-extractor and the access door of an interlocking.Access door can be a sash door, it has a drive unit that central control unit is reacted and one to be used for sending the operator's input media that requires the signal that enters to central control unit, and the controller operation is so that prevent the operation of worktable robot arm suitably and start drive unit subsequently to open access door.Preferably, the pedestal of platform has several dividing plates by the standard size design, and they are connected by a guide rail of pair of beams and robot arm track.Preferably, guide rail provides a jumbo air air vessel that is used for system.

Two kinds of dissimilar clampers can be used, and dissimilar locating devices can be used for dissimilar clampers.For example, can use first clamper for the container that will handle, for example, segment, wherein, first clamper is transported by induction system.Can use second clamper, for example, support, when using second kind of clamper, the container of second clamper is individually transported so that classify by induction system.Preferably, the clamper locating device of second clamper is nearer from induction system than the clamper locating device of first clamper, so that the amount of movement of induction system is minimum.

Usually, platform is settled near an analyser.Preferably, platform the part of close analyser be to be used to place the container that will be transported to analyser.Platform can have an input sidepiece, is used to accept the container that will further handle, and the input sidepiece is relative with the sidepiece of analyser, is a passage that transports for the use of worktable robot arm between input sidepiece and analyser sidepiece.Centrifugal processing system

Centrifugal processing system comprises a robotization hydro-extractor, and it is equipped with a plurality of receptacles, is also referred to as to accept basket or dump tank, and each dump tank is accepted a plurality of containers.Hydro-extractor comprises a motor with spindle coupled, and main shaft is being laid dump tank, a controller, and is laying a lid and a lid driver as required.The Centrifugal Machine Control device makes the spindle assemblies transposition or stops in selected position, so that automatically place and take out dump tank according to the signal from central control unit.Lid has an off-position and an open position, and the lid driver is according to instruction unpack and closing cap from the Centrifugal Machine Control device.

Before the receptacle that container is housed was placed into hydro-extractor, preferably, they were balanced in a balanced system.Balanced system can be a part of worktable, it comprises that has a balance that is used to accept and place the position of several container receptacles, and balance controller, the balance controller be used for relevant when increasing progressively weight and changing along with each deposit position selectively at receptacle chamber storing containers, so that each is to being equal in weight in the receptacle.Balance controller can be designed to an equilibrium code in the central control unit, and equilibrium code is keeping the master data of container position and associated weight, and instructs the robot arm storing containers.Preferably, balanced system also comprises a collection of balancing load, that is, the balance test tube, the balance controller operation is so that leave selected balancing load in the receptacle in selectively, to limit the weight difference between the receptacle.Preferably, balancing load is loaded to limit each the weight difference between the receptacle is no more than 10 grams.

A preferred hydro-extractor according to the present invention comprises a body; Main spindle box with respect to body supporting is used to be supported to several fluid receptacles that angle intervals opens and receptacle is rotated around vertical axes; A spindle motor that couples with main spindle box; A rotary encoder that is connected with this motor is used for producing a transposition signal and several position signallings for each rotation of main shaft; A driver is used for according to an extraneous signal drives spindle motor; Cover by the body supporting is used at rotation process sealing main spindle box device, and a top of cover has an openable lid that enters, so that near fluid sample; One with enter the locating device that couples of lid opening and closing level conversion between the position so that make to enter to cover; A lid position transducer is used to send the signal of the off-position of lid; And a controller, be used for sending signal to driver and door locating device according to scrambler, door position sensor and extraneous signal.The Centrifugal Machine Control device

Preferably, the operation of Centrifugal Machine Control device is used for (a) and accepts and store a hydro-extractor to rotate overview, comprises armature spindle speed and cycle; (b) make the rotor transposition, enter an access site so that a selected sample stage is advanced; (c) make rotor rotation according to cycle profile; And (d) rotor that stops, make a predetermined sample stage be positioned at access site.Preferably, rotor transposition and rotation are finished by same spindle motor, to avoid the inertia increase harmful to main spindle box.Preferably, controller also moves acceleration and speed and the rotary distance to realize that the rotation overview is set, this rotary distance comprises first distance corresponding with rotational speed and cycle, and with accelerate to rotational speed and decelerate to static corresponding second distance.Preferably, rotary distance also comprises a distance from index position to predetermined sample stage interval, so that slow down smoothly to static from rotational speed, sample stage is in access site when static.

Preferably, the lid locating device frictionally cooperates with lid, to prevent in motion process just in case injure with neglectful contact of lid.The lid locating device can comprise a driving wheel that contact with lid bias voltage ground, is used for having the driving force of using thereon made to order covering the mobile time limit.Remove roof system

Before the container after the centrifugal treating is analyzed, they can go to remove lid in the roof system at one, and removing roof system also can be a part that is included in the worktable.Go roof system to comprise a receptacle of fixing a container with being used to clamp; Install and have the yoke member that is used to clamp the device that is installed in a lid on the container movably with respect to receptacle for one; A conversion equipment that is used between the open and close position, being displaced sideways yoke member; And a lifter, remove top cover thereby be used for when make-position, promoting yoke member with respect to receptacle.

Preferably, go roof system also to comprise a gatherer, be used to accept lid from yoke member; And a unloader, be used for the top cover that removes is transferred to gatherer from yoke member.The device that is used for clamp cap can comprise the part that raises up of york piece, is used for and the protrusion surface engagement of covering that stretches out, and the york piece projection extends in the bottom that make-position is positioned at lid.By the function that can carry out unloader with respect to the hard-wired pillar of receptacle together with the operation of the setting program of conversion equipment, lifter is used to make yoke member to be positioned at open position and makes the top cover that removes be positioned at the alignment of pillar top, yoke member descends so that lid and stanchions, thereby removes top cover from yoke member.In another preferred york piece projection, yoke member has an electrically driven (operated) clamp device with clamp cap, and unloader can be a bias voltage be bearing in plunger on the york piece, be loaded on the plunger together with the operation of the setting program of conversion equipment so that driving the gripper equipment protecgulum, can eject by lid in case unclamp clamp device.

Preferably, go cover device also to comprise a guiding piece, be used to guide the lid that removes to enter receptacle.And, go cover device also to comprise a cover sensor, be used for surveying lid and enter receptacle and send signal to confirm to go suitably top cover.

Preferably, receptacle controllably rotates to remove threaded lid.Receptacle can comprise an inflatable bladder that is arranged in a rigid element, bladder by an operation valve fluid communication be connected to a pressure source so that grip containers selectively.In another preferably changes, flexible sleeve with a closed bottom end surrounds the part of the container that is arranged in a rigid element, a clamp device in rigid element passes sleeve grip containers selectively, just in case a container breaks, sleeve can advantageously prevent fragment.

System of the present invention goes for many samples, and generally is applicable to Biosample, for example, and the human body blood sample.But it is also applicable to abiotic sample.Analyser

Usually, this system comprises two analysers, that is, a single worktable hydro-extractor can be served two analysers.But this system also can use an analyser or more than two analyser.Usually, each analyser comprises a device that is used for a sample is finished selectively at least two kinds of different analyses, with an analyser controller that is communicated with central control unit, therefore, central control unit can carry out any analysis to each sample by instruction analysis instrument controller.Each analyser also comprises an output system, and being used for provides analysis result to the storer of central control unit.Usually, the output system of each analyser has an output block, be used for providing analyser obtainable information, and central control unit has the device that is used for selectively determining that each sample that will analyze by which analyser is analyzed to central control unit.

A typical analyser has relative sidepiece, a front portion, a top and a rear portion, and having analytical equipment and user on the top can be approaching from the front portion.Preferably, worktable approaches a sidepiece of analyser, and the front portion of analyser is not had any obstruction.Worktable has a front portion, rear portion and relative sidepiece, and preferably, the rear portion of worktable is near the sidepiece of analyser.When using hydro-extractor, preferably it approaches a sidepiece of worktable.When using two analysers, preferably they back-to-back, a sidepiece of each analyser is approached at the rear portion of worktable.

In a typical analyser, analyser has a pedestal and a support that is positioned on the pedestal, and support has a top board.Preferably, the analyser robot arm is positioned on the top board, so that it can not counteract when being in rest position.Along top board a robot arm passage and a drive unit that is used for moving along the robot arm passage robot arm can be arranged, robot arm has a track component.An adjutage extends along extending identical direction with passage from the track component, and the container gripper equipment is connected with adjutage.Preferably, adjutage is that enough length is not so that when the track component was positioned at the end of passage, robot arm hindered the top of the body of the preceding workspace of support.

Preferably, the robot arm gripper equipment of analyser is fit to cooperate with container gripper provided, so that accept to mention between position and the analyser and transport clamper at analyser.Clamper can be a segment, has a pair of isolated gripper equipment opening on the wall that makes progress of segment, and gripper equipment has the hook-like ends of relative extension, so that cooperate with a basal surface of wall portion by each gripper equipment opening.In another preferably changed, clamper had a upright shank spare, and shank spare comprises an elastomeric element and has a cylindricality, so that help gripper equipment to firmly grasp clamper effectively with respect to one section vertical position of clamper.Here used " cylindricality " means to have a surface that is formed by straight line, and this straight line is parallel with a reference axis.Induction system

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

In an optimum decision system, induction system comprises at least two robot arms.Each analyser have a robot arm be used to transport container to and leave analyser, and worktable has a robot arm to be used for other delivery functions.

Preferably, the worktable robot arm comprises: (ⅰ) long rails that is positioned on the worktable, (ⅱ) one can be along the pedestal of worktable tracks positioned, track extends between near the opposed end of worktable and is laterally placed in the middle approx, (ⅲ) conical head of swivel bearing controllably, (ⅳ) one controllably swivel bearing at the upper arm of conical head, (ⅴ) one controllably swivel bearing at the underarm of an end of upper arm, (ⅵ) one controllably swivel bearing and (ⅶ) be supported in to a rotatable control gripper equipment head on the gripper equipment axle at the toggle head of an end of underarm.The gripper equipment head has a pair of extended from it gripper equipment and refers to, it along with tactile feedback controllably towards the motion of the opposite side portion of gripper equipment axle with away from the opposite side portion of gripper equipment axle, so that selectively promptly and transport container and clamper on it.Preferably, the gripper equipment head comprises an optical head sensor, is used to survey be positioned at the object that refers near gripper equipment.Hot nose can comprise a Lights section and an optical receiving set part, and have and approach gripper equipment axis congruence poly-each light source and receptacle axle, these preferably refer to into approximate orthogonality relation with respect to gripper equipment axle and gripper equipment, have a container part or clamper end to enter between gripper equipment refers to so that survey.

Preferably, robot arm is equipped with a mark scannng instrument, is used to read Container Tag and clamper mark so that identification.The mark scannng instrument moves with respect to a scan axis, scanner preferably be installed to make on the upper arm of robot arm scan axis from the top of approaching conical head orientation downwards and outwards so that when gripper equipment refers near mark read level and vertical orientated mark.

Preferably, conical head can show that axle moves the angles greater than 180 degree around the face position, and pedestal is movable to the opposed end that approaches worktable, is positioned at the container and the clamper of any position on the worktable substantially with convenient transportation.In addition, the gripper equipment head can preferably become to stretch out the arrangement of relation with worktable, so that near an external treatment platform.

It is necessary that central control unit is followed the tracks of the residing position of container by clamper.Therefore, preferably, indicia reader can read the clamper identification marking, and the reader output block provides the clamper identification marking to central control unit, so that follow the tracks of container according to clamper separately.

In another aspect of this invention, a hydro-extractor system comprises several receptacles; Hydro-extractor has spindle assemblies, makes the Centrifugal Machine Control device of spindle assemblies transposition with the automatic loading and unloading receptacle; And electricity drives lid; Balanced system; And the induction system that is used between balanced system and hydro-extractor, transporting container and receptacle.

A preferred balanced system that is used for the hydro-extractor receptacle comprises the balanced system of above-mentioned mark, and the position of container that wherein is arranged in receptacle is relevant with their weight, so that symmetry is loaded each receptacle.

Preferably go cover device to comprise the above-mentioned roof system that goes according to one of the present invention, it comprises the ability of removing threaded cap.

The test tube that the sample that will analyze is housed has different height and different diameters.Therefore, clamper and hydro-extractor receptacle are preferably equipped with jerk-finger.

In using the process of worktable, worktable might not align with analyser, so that the analyser robot arm can not sufficiently clamp the clamper that the container that is used to analyze is housed, and/or the sample of having analyzed will be housed improperly be transported to worktable.Therefore, preferably, keeping clamper on the worktable so that be transported to analyser or a regulating device be housed by the position that analyser is accepted, so that make these aligned in position independently, and need not mobile analyser or worktable.But regulating device comprises the platform of a rotatable and translation, has at least one clamper position on platform; And a driving clamping device, be used for keeping selectively platform to be positioned at fixing position on the worktable.Use the method for this system

A method according to the present invention is used this system.In the method for the invention, be used for being stored in the storer of central control unit according to the instruction that the container identification marking is handled each container.There is a clamper in the detection system and sends signal to central control unit.The container identification marking is read and also sends signal to central control unit.Container is transported to several classification positions according to the instruction in the storer by robot arm.Selected sample is classified, and by centrifugal treating selectively, go top cover and analysis.

For selected sample is carried out centrifugal treating, the container that selected sample is housed is transported to the hydro-extractor receptacle according to processing instruction and by the worktable robot arm selected receptacle of packing into.The receptacle that container is housed is balanced subsequently, and for example, the symmetrical load mode that has equal " loaded " position number by employing is assembled into right receptacle, and/or " balance " test tube of packing in the receptacle of the other weight of needs.Balanced receptacle is loaded into hydro-extractor, container according to from the instruction of central control unit with a speed by centrifugal treating a period of time.By the hydro-extractor that stops, with the hydro-extractor transposition to selected discharge position, and from hydro-extractor, take out receptacle by robot arm, thereby unload for hydro-extractor according to signal from central control unit.

In analytic process, each analyser provides analyser obtainable information to central control unit, and central control unit determines each sample that will analyze by which analyser is analyzed.

Therefore, in the system and method for the present invention, the sample of the sample that is used to analyze is prepared to carry out automatically.And this system can use with existing apparatus, that is, existing analyser is by making them and have a robot arm and can being used with the improvement of a central control unit information communication.And this system can discern the sample with fast processing STAT.In addition, it is minimized that this system makes the manual process sample.The danger that this can reduce the caused health hazard of contact biological sample and pollute sample.

Accompanying drawing

Various features, aspect and the advantage that the present invention may be better understood from following description, claim and accompanying drawing, wherein:

Fig. 1 is the stereographic map according to a system of the present invention, comprises a worktable, a hydro-extractor and two analysers;

Fig. 2 A-2C is the process flow diagram of step that adopts the system handles container of Fig. 1; Fig. 2 A is used for a device for monitoring processing, and Fig. 2 B is used for the centrifugal treating subsystem of the supervising device of Fig. 2 A, and Fig. 2 C is used for the analyzing subsystem of the supervising device of Fig. 2 A;

The system handles controller that Fig. 2 D has shown Fig. 2 A is Control work platform, analyser and hydro-extractor how;

Fig. 3 A-3E is the planimetric map of the different layouts of worktable, analyser and hydro-extractor;

Fig. 3 F is the planimetric map that worktable of the present invention and hydro-extractor use with a conveyor system;

Fig. 3 G is the planimetric map that analyser of the present invention uses with a conveyor system;

Fig. 4 is the planimetric map of the worktable of Fig. 1;

Fig. 5 and Fig. 4 are similar, are the synoptic diagram of the worktable of Fig. 1, have shown the position and the position of detector that is used to survey clamper of the register pin that is used for fixing clamper;

Fig. 6 A-6C has shown the multi-form of register pin on the worktable that is used in Fig. 5;

Fig. 7 is the partial sectional view of the worktable of Fig. 5, has shown that is used to survey a detector that has a clamper;

Fig. 8 A is the stereographic map that is used for a segment of native system, and has shown how the register pin of worktable is connected with segment;

Fig. 8 B and 8C are the top and bottom perspective views of the segment of Fig. 8 A;

Fig. 8 D is the partial perspective view of another structure of the segment of displayed map 8A;

Fig. 9 A and 9B are respectively vertical view and the side views that is used for a support of system of the present invention;

Fig. 9 C and 9D are the exploded view and the side partial cross-sectional of insertion portion of the support of Fig. 9 A and 9B;

Figure 10 A is the vertical view of the dump tank of a centrifuge principal axis case supporting plate that is arranged in system of the present invention;

Figure 10 B is the side view of the dump tank among Figure 10 A;

Figure 10 C is the face upwarding stereogram of the dump tank among Figure 10 A, has shown the another kind of structure of hydro-extractor supporting plate;

Figure 11 A-11D has shown the different load modes for hydro-extractor dump tank according to the present invention;

Figure 12 A is the vertical view of transporting position regulating device of the worktable of Fig. 1;

Figure 12 B is the sectional view of the regulating device of the line 12B-12B intercepting in Figure 12 A;

Figure 13 A-13D is the details of robot arm of the worktable of Fig. 1, and Figure 13 A is a stereographic map; Figure 13 B shows the planimetric map of robot arm with respect to a range of movement of the worktable of Fig. 1; Figure 13 C is a gripper equipment head of robot arm and the exploded stereographic map of an optical head sensor; Figure 13 D is the stereographic map identical with Figure 13 C, has shown another structure of optical sensor;

Figure 14 A and 14B are the front view and the side views of an analyser of the system of Fig. 1, and Figure 14 B is the line 14B-14B intercepting in Figure 14 A;

Figure 15 A-15G has shown the gripper equipment details partly of the analyser robot arm of Figure 14 A, and 15A and 15B are front view and right side view; Figure 15 C is the right side view with Figure 15 B, and gripper equipment partly descends and cooperates with a segment among the figure; Figure 15 D and 15E are the sectional views along the line 15D-15D of Figure 15 A; Figure 15 E has shown and the cooperating an of segment; And Figure 15 G is a stereographic map that shows another structure of gripper equipment part;

Figure 16 A is the partial front perspective view of a hydro-extractor of the system of Fig. 1;

Figure 16 B is a local detail rear perspective view, has shown another structure of an access door of the centrifuge apparatus of Figure 16 A;

Figure 16 C is a detailed perspective view, has shown a drive unit of the access door of Figure 16 B;

Figure 16 D and 16E are an illustrated blocks figure and circuit block diagrams of the centrifuge apparatus of Figure 16 B;

Figure 16 F is the amplification circuit diagram of a circuit interface assembly of the centrifuge apparatus of Figure 16 B;

Figure 16 G is the process flow diagram of a computer program of the centrifuge apparatus of Figure 16 B;

Figure 17 A and 17B are respectively a vertical view and side views of balancing subsystem of the system of Fig. 1;

Figure 18 A is the stereographic map that removes the top cover subsystem of the system of Fig. 1;

Figure 18 B is the planimetric map that removes the top cover subsystem that shows Figure 18 A on the worktable;

Figure 18 C is the stereographic map of another structure of the part of removing roof system of displayed map 18A;

Figure 18 D and 18E are the sectional side view and the upward views that go the roof system part of Figure 18 C;

Figure 18 F is the partial side view of another receptacle part of going the roof system part of Figure 18 A;

Figure 19 is the synoptic diagram of a pneumatic subsystem of the system of Fig. 1;

Figure 20 A and 20B are the exploded perspective view and the side views of a worktable platform of the system of Fig. 1;

Figure 21 is the partial section of a door section of a protective cover of worktable; Describe

Systematic review

Referring to Fig. 1,2,4,8A, 9A and 10A, a system 10 according to the present invention comprises: worktable 100, centrifuge apparatus 1000 and at least one analyser 2000, generally be two analysers that are marked as 2000A and 2000B, these are as the chief component of native system.Load onto container 12 by an operator at worktable 100, for example test tube 102 (referring to Fig. 8).Have identification marking on the test tube 102, i.e. a bar code 104 and a top cover 103.Container generally is placed on a clamper 14, for example in a segment 300 (Fig. 8 A) or the test-tube stent 600 (Fig. 9 A).In order to carry out centrifugal treating, container 12 generally is transferred to receptacle or dump tank 1200 (Figure 10 A).

Shown in Fig. 2 A, a device for monitoring processing 200 of system 10 comprises that is surveyed an input step 202, is used to survey the existence at the container 12 of the input position 16 (Fig. 4) of worktable 100.Select in the step 204 container 12 selected processing that are detected at a container.Preferential or " STAT " container of handling, processing is based on first in first out except needs.Those containers 12 are put on the worktable 100 one preferential district 18 so that priority processing by the operator.

Behind a container 12 of having selected to be used to handle, read the container identification marking in container identification marking read step 206, promptly bar code 104, and in processing selecting step 208 based on the concrete processing of container 12 being determined the main subitem of handling.This container then in centrifugation step 210, remove among top cover step 212, analytical procedure 214 and output category step 216 one or more and handle.

For passing through the sample of entire process process, container is delivered to centrifugal subsystem by centrifugation step 210 so that carry out centrifugal treating in centrifuge apparatus 1000 (Figure 16 A-16G).In removing top cover step 212, removed top cover subsystem 900 subsequently by the container of centrifugal treating and handle (Figure 18 A-18B) by one.Then, the sample that removes top cover is transported to analytical procedure 214 so that analyze on any obtainable analyser.Substantially, can carry out analysis, comprise the analysis of urine, blood and celiolymph the effective any kind of biology material sample.And system 10 of the present invention can be used for technical analysis, so it is not limited to biological substance.

After analyzing on one or two analyser 2000, container is sent back to worktable 100, and takes out classification subsequently in output category step 216, and wherein, each container 12 is placed in the specific clamper 14.Some clampers 14 are used for the container that also will further analyze or handle, and other clamper is used for finishing the container of processing.

Shown in Fig. 2 A, container 12 needn't pass through whole treatment steps 210,2122,214 and 216.For example, worktable 100 can only be used for taking out classification.In addition, it can be used for not needing to separate and/or remove the container of top cover, and supervising device 200 adopts the result of processing selecting step 208 so that determine follow-up treatment step.For example, directly sent for analysis and taking-up classification subsequently of suitable containers 12.

Below the centrifuge apparatus of describing in detail 1000 be designed for the container that will be contained in receptacle or the dump tank 1200 (Figure 10 A) carry out centrifugal treating.Each dump tank 1200 be equipped with a plurality of will be by the container of centrifugal treating, and hydro-extractor 1000 is used to make a plurality of dump tanks to carry out centrifugal treating, generally is four.The suitable operation of hydro-extractor and to avoid the damage of hydro-extractor be very important, the dump tank that is contained in the hydro-extractor has identical substantially weight, and deviation generally is in about 10 grams.

Centrifugation step 210 monitoring are the centrifugal subsystem shown in Fig. 2 B substantially.In centrifugal subsystem, the dump tank 1200 selected position of packing into, the location storage of each container in each dump tank is in storer.Dump tank is packed into predetermined order so that reasonably permitted by approximate equilibrium and the concrete fill-in that is required the container 12 of centrifugal treating.Preferably, by a balanced system 800 (Figure 17 A, 17B) monitoring loading procedure, and further balance dump tank 1200 to meet predetermined tolerance.Balanced dump tank pack into subsequently hydro-extractor 1000, carry out centrifugal treating and be removed.Then, more single container 12 is taken out from dump tank 1200 so that further handle.

Analytical procedure 214 monitoring is the analyzing subsystem shown in Fig. 2 C substantially, and container 12 (generally being test tube 102) is placed into segment 300, puts into the storer that the corresponding data of wherein specific segment are stored in a processing controller 500 with container.As shown in Figure 1, segment 300 that test tube is housed is placed on a transporting position 106 of worktable 100 by a robot arm 110 of worktable 100, and each analyser all has a transporting position 106.An analyser transferring position 2004 is picked up and be transported to an analyser robot arm 2002 with segment from transporting position 106.Then, analyser 2000 is according to the processing instruction analytical sample from processing controller, and analysis result is stored in the storer of processing controller 500.Then, analyser robot arm 2002 segment 300 that the sample of analyzing will be housed is picked up and they is delivered to worktable accept position 110 from analyser transferring position 2004.Accept the segment 300 of position 110 is picked up so that classify by worktable robot arm 700 subsequently at worktable.

Fig. 2 D has shown data and the process flow diagram of operating instruction information between the different piece of system 10.This system comprises center processing controller 500, and it generally is a computer system.For example, operable computer system is the industrial analog of 32 personal computers that extensively can get, and this computing machine has the read-write memory in a few megabit scopes.Controller 500 is equipped with a suitable input media, and for example, keyboard, touch-screen, card reader or another computing machine are used for the processing instruction input store so that handle each container 12 according to the container identification marking.

Processing controller 500 utilizes the instruction that is provided for mechanical Control work platform 100 with the feedback of worktable state and sample recognition data form.The controller 2010A and the 2010B that separate that each analyser 2000 is equipped with controller 2008A and 2008B separately respectively and is used for robot arm 2002.Analyser controller 2008A and 2008B can be the analogs of commercial commercially available industrial microcomputer or processing controller 500.Each analyser controller 2008A and 2008B have an output coupling arrangement, and being used for provides the information about utilizability from each analyser to central control unit 500, and promptly whether analyser can carry out a concrete chemical examination and result of laboratory test.Back, processing controller 500 proposes the chemical examination requirement and provides operating instruction by the controller 2008A of correspondence and the input coupling arrangement of 2008B to each analyser 2000 each sample.Similarly, processing controller 500 provides different loading and unloading instructions to each analyser robot arm controller 2010A and 2010B.The appropriate device that is used for analyser robot arm controller 2010A and 2010B can obtain from many industrial robots supplier.

The information that the analyser that provides to central control unit 500 according to each analyser output obtains, central control unit selects to determine which analyser is used for each sample.This can finish by the software that is contained in the controller storage, and in storer, software compares obtainable information of analyser and the required chemical examination of carrying out of sample.But the analyser acquired information comprises each analyser and can carry out the status information of what chemical examination and analyser for example, whether reagent and the analyser that is used for specific chemical examination of whether having packed into has deposit available.

Processing controller 500 also provides mechanical steering order and from centrifuge apparatus receive status information to centrifuge apparatus 1000.

Selectively, total system can be connected with a principal computer 502.Principal computer 502 can be connected with a plurality of systems, and each system comprises a worktable, a hydro-extractor and one or more analyser.Principal computer can be used for each sample to processing controller 500 input instructions, and result of laboratory test can report to principal computer 502 by center processing controller 500.

Ingredient in system, be that coupling arrangement between output unit, output system unit and the input system can be existing data web member, for example, with cable, total bus with such as the interconnective RS232 connector of data transmission device of IR transmission or directly hard lead.System unit is arranged

As shown in Figure 1, worktable 100 comprises a platform 112 with a platform end face 114.Worktable has a front portion or input part 116, rear portion or an analyser portion 118 and two relative sidepieces 120.The front portion has the placement location of placing clamper 14, the container that clamper 14 is used to deposit the container 12 that will handle, has finished the container of handling and partly handled.Middle part along platform is a guide rail 704 for robot arm 700 uses.

This system is suitable for using with the clamper 14 of multiple structure.For example, it can be used for the segment 300 shown in Fig. 8 A, 8B and 8C, and this segment can be deposited a spot of test tube 102.Segment 300 is particularly useful for needs through the same container of handling.As detailed below, robot arm 700 has gripper equipment 726, and gripper equipment 726 not only is used to pick up single container 12 but also picks up segment 300, and the result can transport one group of container 12 so that carry out various treatment steps simultaneously.Worktable 100 also can use with support 600, and as shown in Figure 9, this support can be deposited a plurality of containers.Generally be that the container 12 of test tube 102 takes out from support 600 one by one and is used for handling.Preferably, support 600 put than segment 300 more near robot arm guide rail 704, to help to improve and increase the processing power of system.In the analyser portion 118 of worktable 100, the segment 300 that container is housed is arranged, be used for carrying or accept container from analyser 2000 to analyser 2000.

As shown in Figure 1, worktable robot arm 700 preferably is centrally located on the platform 112, so that easy preceding input part 116 and analyser portion 118 near platform.And hydro-extractor 1000 is preferably mounted in sidepiece 120 places of worktable 100, so that the operator can be near the front portion of platform 112 or whole length of input part 116, rear portion or 118 reservations of analyser portion enter for analyser 2000.

In the layout of Fig. 1, analyser 2000 is so that their sidepiece is approaching, the mode of preferably adjoining worktable 100 is installed, and makes two analysers 2000 back-to-back.In the structure of Fig. 1, worktable 100 can not hinder the operation of any one analyser, and yet can the not hinder one's work operation of platform of any one analyser.In addition, the hydro-extractor 1000 that is positioned at an end of worktable does not hinder analyser and worktable yet.Analyser is identical substantially, difference is its robot arm 2002A of an analyser (2000A) " equipment on the right ", to arrive the right of worktable 100, its robot arm 2002B of second analyser 2000B " on the left side equipment " is to arrive the left side of worktable 100.

Fig. 3 A is the vertical view of the layout of system shown in Figure 1.Possible in addition layout is shown in Fig. 3 B-3F.The layout of Fig. 3 B is identical with the layout of Fig. 3 A, is placed on except hydro-extractor 1000 in the U-shaped space that is formed by worktable 100 and two analysers 2000 and near the rear portion 2020 of the bottom 2012 of two analysers.

In the form of the present invention shown in Fig. 3 C, arrange identically with the layout shown in Fig. 3 B, except nestling up worktable 100, places the second analyser 2000B away from that end of first analyser.

In the layout of Fig. 3 D, two analysers 2000 are placed on the opposite side of worktable 100, thereby form " a ten " font, and right side analyser 2000A is near the rear portion 118 of worktable, and left side analyser 2000B is near the front portion 116 of worktable 100.Hydro-extractor 1000 is positioned at an end of worktable as the layout of Fig. 3 A.

The layout of Fig. 3 E is similar to the layout of Fig. 3 D, except two analysers 2000 are placed in the hydro-extractor end of worktable 100 rather than at the middle part of worktable.The layout of Fig. 3 E is that with the advantage that the layout of Fig. 3 D is compared the input side of worktable is not hindered by any analyser.

From these different layouts as can be seen, can the installment work platform and hydro-extractor 1000 so that they do not hinder near any one analyser.

Worktable of the present invention and hydro-extractor are not limited to directly using together with analyser shown in Fig. 3 A-3E.And they can use with the conveyor system that comprises a conveyer 126, shown in Fig. 3 F and 3E.In the form of Fig. 3 E, the robot arm 700 of worktable is picked up the container that generally is arranged in segment from conveyer 126, container is handled, and selectively container is carried out centrifugal treating.Subsequently, the container of handling is sent back to conveyer 126.

In the form of Fig. 3 G, conveyer cooperates with analyser 2000, and conveyer 126 is picked up and delivered to the robot arm 2002 of analyser with container and/or segment.Analyser

Analyser 2000 shown in Fig. 1 is Synchron CX analyzers that the Beckman instrument company by Califomia Fullerton provides, and it can be made amendment or retrofits so that robot arm described here 2002 is housed.Shown in Figure 14 A and 14B, each analyser 2000 has a pedestal 2012, and pedestal has relative sidepiece 2014, front portion 2016, a top 2018 and a rear portion 2020.Top 2018 has analyser shift position 2004 and analytical equipment thereon, and the user can be from the front portion near top 2018.Support 2022 is installed in the rear portion at the top 2018 of pedestal 2012, and support 2022 has a preceding workspace 2024 and a top board 2026.Be a transmission mechanism that comprises robot arm 2002 on top board 2026, be used for sample is delivered to analyser 2000 automatically from worktable 100, and be used for the sample after analyzing is delivered to worktable 100 from analyser 2000.Track or guide rail 2028 with drive unit 2030 extend through top board 2026, are used for moving robot arm 2002 along guide rail 2028.Robot arm 2002 has a guide rail meshing part 2032 and an adjutage 2034, and 2028 equidirectionals that extend extend adjutage 2034 from guide rail meshing part 2032 along track.From the end of adjutage 2034, an adjutage 2036 is forward arranged, there is one to lower cantalever 2038 in the end of adjutage 2036 forward.In the bottom of adjutage forward is gripper equipment 2040.

Owing to have adjutage 2034, gripper equipment 2040 can arrive segment 300 on the worktable 100.And at " static " state, the robot arm 2002A of the first analyser 2000A can not hinder the top 2018 of pedestal 2012 and the preceding workspace of support, thereby can not hinder processing and operator near analyser.

Further shown in Figure 15 A-15F, the gripper equipment 2040 of each analyser robot arm 2002 is by 2041 supportings of a gripper equipment gearing, gearing 2041 is installed on the carriage 2042, and carriage is rigidly fixed on the Lift Part 2043 of robot arm 2002.Crank part 2044 can be around the vertical axis 2045 of gearing 2041 angular movement through about 180 degree between first and second positions, so that select opposed orientation ground to be placed on segment 300 on analyser transferring position 2004 and the worktable transporting position 106 or reclaim segment on it.An automatic pincers 2046 is installed to an end tip of crank part 2044, be used for supporting movably a pair of hook-type gripper equipment parts 2048 towards the outside, each gripper equipment parts 2048 can insert in each top wall groove 322 of segment 300, below with reference to Fig. 8 A-8C segment 300 is described.After inserting like this, gripper equipment parts 2048 separate in case automatic pincers 2046 starts, and the hook shaped ends of gripper equipment parts 2048 terminal 2049 embeds the downside of top walls 306 (being formed with groove 322 thereon).And, each gripper equipment parts 2048 have one with its extraction apparatus parts 2050 that vertically cooperate slidably, a vertically-oriented compression spring 2052 is placed in the top of extraction apparatus parts, is used for when the gripper equipment parts stretch into groove 322 bias voltage ground contact top wall 306 between groove 322.A purpose of extraction apparatus parts 2050 is to guarantee that segment keeps an interference-free state when segment 300 is placed on a position, promote, recall in the process of gripper equipment parts 2048 at Lift Part 2043, extraction apparatus keeps segment 300 downward.Another purpose of extraction apparatus parts 2050 is to make the segment 300 on the gripper equipment parts 2048 stable in the operating process of analyser gripper equipment 2040.

The model of the SMC company supply that device that is suitable for gearing 2041 can be Canadian Tustin is the NCRB/BW30-180S rotary actuator.A device that is suitable for use as automatic pincers 2046 can be the HGP-10-A type gripper equipment of the Festo company supply of New York Hauppauge.The device that is suitable for use as analyser guide rail 2028 and drive unit 2030 can be that the model that has of the Intelligent Actuator company supply of Canadian Torrance is that the model of the vertical moving-member of SA-A is the IS-MX-20-200-400 automatic station-keeping system.

Further with reference to figure 15G, gripper equipment parts 2048 preferred another structures that can be used for segment 300 ' comprise gripper equipment parts, label is 2048 ', be used to embed elasticity fast 334, and auxiliary gripper equipment parts, label is 2048 ", be used to clamp the rear wall 305 of segment 300 '.Worktable

The layout of preferred worktable 100 or experiment table as shown in Figure 4.The right side that this layout is particluarly suitable for worktable 100 has hydro-extractor 1000, as shown in figs. 1 and 4.On the importation 116 of platform 112, have 15 classification positions 128 that use for segment 300 of from left to right being designated as A-O and for 15 classification position 130A-O of the correspondence of the support use of laying test tube.The guide rail that uses for robot arm 700 extends along the middle part of platform, extends to the other end from an end, and platform is divided into importation 116 and analyser part 118.More near guide rail 704, because need to carry more frequently for the support robot arm, the container on the support needs loading and unloading one by one to support than segment.

In the general distribution of segment and backing positions, input position 16 comprises backing positions 128 and the segment position 130 that is designated as A-J, here the new container that placement will be processed (being included in the preferential district 18 that position A uses for " STAT " sample); Outgoing position 17 comprises position N and O, places here to have finished and handles and wait for segment and the support of removing from worktable 100; Auxiliary region 19 comprises position K-M, here place segment and the support of preparing the sample analyzed is housed, for example, by one in analyser sample that carries out analyzing for the first time, perhaps carried out analyzing and preparing on second analyser, to carry out the sample of the analyzing and processing second time by an analyser.Be understood that: the concrete division for the function of the position on the importation 116 will change according to the processing speed of analyser, operational analyser number and other factors, and the distribution between backing positions 128 and segment position 130 also can be different.

The support 600 that has bar code recognition mark 601 is used to deposit and/or classify test tube, and as a kind of method of removing or placing a large amount of test tubes from worktable.Although segment 300 has less volume, it can be picked up by robot arm 700 and 2002, not only is used for handling but also can be used for a plurality of test tubes are classified simultaneously, thereby has increased the efficient of worktable 100.

Worktable shown in Figure 4 is fit to use with at least two analysers.Like this, have transporting position 106, be used for picking up segment by analyser robot arm 2002 at " transmitting station " 105 of every end of analyser part 118; And accept position 110, be used for transporting the segment that the sample of analyzing is housed from robot arm 2002.Plurality of sector body position 134 is looped around around the transmitting station, so that use for empty segment, perhaps places the segment that sample is housed in the peak processing time when fill the importation.

It at the middle part of analyser side an auxiliary stand position 804 of receptacle or dump tank 1200, balance 802 and balanced system 800.Fig. 4 has shown receptacle or the dump tank that has four to carry out balance on balance 802, aided location 804 has a support for 806 uses of balance test tube, and the balance test tube is used for the weight that balance is equipped with the receptacle of container.The right side of auxiliary stand position 804 is to remove roof system 900, and then is four receptacles 1200, they or after centrifugal treating, be removed test tube, or the new test tube of packing into is to carry out centrifugal treating.

Referring again to Figure 20 A and 20B, a preferred structure of platform 112 comprises a pedestal 20, pedestal 20 has the pair of parallel beam part 22 at interval that is connected with several dividing plates 24 at interval, and dividing plate 24 has the cylindrical section 25 of the track component 26 of support rails 704 separately.Each dividing plate 24 also is equipped with a pair of cylindrical part 28 on beam part 22, the importation of platform 114 and analyser part 116 and 118 are individually fixed in the top of each organ timbering shape parts 28.Owing to have this structure, platform 112 can be used as the packing of a compactness and is deposited easily and transport, this close package comprises beam part 22, track component 26 and importation 116 and analyser part 118, and another close package comprises having the dividing plate 24 that cylindrical part 28 is fixed to the upper.Have five dividing plates 24, the space boundary between them four compartments be used for the power distribution and the electric component of form installation system 10 easily.In the bottom of each end dividing plate 24 a pair of swivel caster 130 is housed, is used for rotatably support worktable 100; And adjustable foot assembly 132 is upcountry with each end part interval and be installed in the bottom of each beam part 22, is used for regulating and stationary platform 112 with form easily.

A common worktable length is about 2.83m, and whole width is about 980mm, wherein the wide about 540mm in importation, the wide about 145mm of track and the wide about 440mm of analysis part.

Still with reference to figure 1, worktable 100 is preferably equipped with the guard system 40 of a protectiveness, is used to stop that the operator enters the space on the platform end face 114.Guard system 40 has a framework 42, and several transparent wall plate member 44 are housed on framework 42, and wall member 44 is installed vertically near platform end face 114, and guard system 40 is 118 separated so that clean each analyser robot arm 2002A and 2002B along the rear portion.Be close to the wall member of centrifuge apparatus 100, label is 44A, and formation bubble-shaped extension 46 is thereon arranged, and is included in the guard system 40 so that will arrive a passage of centrifuge apparatus 1000.In addition, again with reference to Figure 21, along anterior 116 wall member, label is 44B, extends an only part downwards from the top of framework 42, and three transparent doors wallboards 48 are being supported so that vertically move overlappingly relative to the various piece of wallboard 44B.Each wallboard 48 cooperates with a piston rod 50 of a pneumatic actuator 52 by a crank brake assemblies 54, and gearing 52 is installed in the top, top of framework 42.A solenoid lock bolt 56 is installed in the platform 114 in combination with each wallboard 48, so that lock a wallboard simultaneously an off-position.In exemplary structure as shown in figure 21, when solenoid lock bolt 56 was opened, the solenoid lock bolt cooperated with discontinuous point that is formed on piston rod 50 lower ends or slit 58, and lock bolt 56 starts unstick 50.Door wallboard 48 relies on excessive internal force to be strengthened by crank brake assemblies 54, and the crank brake assemblies has driven projection 60 thereon, and driven projection extends along the edge of platform end face 114 approx in the off-position of wallboard 48.A door button 62 is arranged below each crank brake assemblies 54, be used for sending the signal that a needs is opened to processing controller 500.Be subjected to suitable interlocking and handle suspension and arrange, corresponding lock bolt 58 is driven, and then corresponding pneumatic actuator 52 is activated, so, a wallboard 48 be raised in case the operator near the importation 116 of worktable 100.Worktable 100 is preferably equipped with two standby stop motion mechanisms 64, near each end of importation 116, uses for the operator respectively.

With reference to figure 5, two segment reference columns are provided or sell 142 for each segment 300.Similarly, provide two support register pins 146 to be used for fixing each support 600 on the worktable 100.A platform magnet 145 keeps predetermined relationship with the 114 concordant installations of platform end face and with each to pin 142 and 146, so that hold each clamper magnet 330 of segment as described below 300 and support 600.And, for each receptacle that is used for hydro-extractor or dump tank 1200, two dump tank register pins 144 are arranged on worktable 100.Fig. 6 A-6C has shown typical segment pin 142, bracket pins 146 and a dump tank pin 144 respectively.Select pin given shape in case they can match with each self-align device.As shown in these figures, three of pin kinds of form differences in case the operator with location of mistake on the device busy platform.Still shown in Fig. 6 A-6C, the pin 142,144 and 146 on the platform 114 is arranged in a shallow recess 156, so that restriction is from any unrestrained unintentionally thing of container 12.On balance 802, also have and recess 156 corresponding concave part.In addition, circumferential groove 158 is formed in the front portion 116 of platform 114 and the rear portion 118 and around the diverse location that uses for clamper 14, as shown in Figure 6A.

Cooperation between segment pin 142 and the segment 300 is shown in Fig. 8 A; Support 600 and cooperating shown in Fig. 9 A and 9B between the support register pin 144; Relation between hydro-extractor dump tank 1200 and the dump tank register pin 146 is shown in Figure 10 C, and it has shown the pin 146 in the another kind of structure of hydro-extractor 1000.

Worktable is equipped with a detection system, is used for existing on the detection operations platform segment and support.In preferred form of the present invention shown in Figure 7, used to place sensor or the reed contact pipe 150 that is lower than the worktable upper surface recess slightly.Each reed contact pipe 150 is fixing by the stopple parts 152 of a concordant installation, and the stopple parts are can remove so that keep in repair and/or change reed contact pipe 150.Preferably, the circuit of reed contact pipe 150 has suitable web member (not shown) so that help to change reed contact pipe 150 and need not arrive the bottom of platform end face 114.The position of reed contact pipe 150 as shown in Figure 5.Can start reed contact pipe by the segment, support and the dump tank that have magnet are provided, the intensity of magnet will be enough by force to start reed contact pipe.In addition, also can use other detection system, comprise the weight system, wherein detector is surveyed the existence of a segment or analog by weight; Perhaps detection system that relies on electric current, the existence of one of them segment or support is connected a circuit so that measure electric current; Perhaps optical interrupter, wherein this device disconnects a light path.

Exemplary segment shown in Fig. 8 A, 8B and 8C comprises a matrix 301 with a convex antetheca 302, spill rear wall 304, diapire 308 and sidewall 310.Top 315 is installed on the matrix 301 easy as can and comprises a top wall 306, and top wall 306 extends backward and outwards from the part of the sidewall 310 of matrix.Sidewall 310 is staggered so that the segment register pin 142 of cleaning platform 100, thereby forms an outshot 318, and two holes 320 that hold pin 142 are arranged on the outshot 318.Along antetheca 302 are the tubular cavities 314 that are used to hold test tube 102, and seven this chambeies are arranged in form as shown in the figure.They extend also from top wall 306 can pass through base wall 308 discharged liquids.There is a slit 316 front portion in each chamber so that barcode reader reads in the bar code 104 on test tube 102 front portions.Be two slits 322 on top wall 306, slit 322 is embedded by the gripper equipment parts or the clamp device 2048 of analyser robot arm 2002 (Figure 15 A-15F).Slit 316 extends in part in the matrix 301 and partly in top 315.

Upwardly extending from the top wall 306 of segment 300 is the corresponding body of a rear wall, is designated as 305, a T shape of projection handle 324 above it, and the combination of rear wall 305 and handle 324 is embedded by the gripper equipment parts 726 of worktable robot arm 700 (Figure 13 C).

Has discernible bar code 326 on the antetheca 302 of segment 300, so that central control unit 500 is followed the tracks of segment and test tube wherein.Matrix 301 also has an inner barcode stripes 327, and when test tube slit 316 was empty, inner barcode stripes 327 was visible, but test tube is in slit the time, and inner barcode stripes 327 is covered.Like this, a barcode scanner 724 (Figure 13 A) is emitted in the number of test tube in each segment and the information of position can for central control unit 500.Clamper magnet 330 is evenly installed with diapire 308 so that segment 300 is stablized and segment is remained on the original position of worktable 100.Clamper magnet 330 is positioned and is directed so that attracted by each platform magnet 145 of worktable 100.A sensor magnet 332 is evenly installed with diapire 308 similarly so that start each reed contact tube sensor 150 of worktable 100.

With reference to figure 8D, another preferred structure that is designated as 300 ' segment has rear wall 305 (with handle 324) and a triangle elastomer block 334, rear wall 305 is from top wall 306 extensions and have a projection 305 ' of projection backward, and elastomer block 334 is fixed on the handle 324 near the downsides along projection 305 '.Compare the tolerance on fit that vertical (or level) with increase alignd with the embedded structure of Figure 15 E, elastomer block 334 helps segment 300 by the gripper equipment parts 2048 ' and 2048 of the analyser robot arm 2002 in the structure shown in Figure 13 G " embed reliably.Flexibly adapt to and the combination of piece 334 and rear wall 305 has a non-circular cylindricality by elastomer block 334 and gripper equipment parts 726, elastomer block 334 helps the gripper equipment parts 726 of the worktable robot arm 700 in the structure of Figure 13 D more effectively to grasp, although vertically being positioned with a little of gripper equipment parts changes, being embedded in of gripper equipment parts formed the vertically relation of alignment of a center between segment 300 ' and the gripper equipment axis 715.

Because the sample of separate sources is generally handled in the laboratory, as different hospitals, testing laboratory and Doctor's office, container or test tube 102 usually have different diameters and different height.In order to adapt to diameter variation, there are four outstanding fingers 328 at top 315 for each cuvette cavity 314, and outstanding finger is radially to bias internal.Segment 300 ' shown in Fig. 8 D can obtain from Beckman Instruments withthe Synchron CX machine.

With reference to figure 9A-9D, a test-tube stent 600 that is suitable for system 10 comprises a framework 602, and framework 602 has the bar code recognition mark 601 that adds thereon and defines the vertical chamber 603 of 5 * 10 rows.Framework comprises the hole 604 that holds register pin 146 and has clamper magnet 330 and the corresponding body of sensor magnet 332.Each chamber 603 has and has spring and refer to 607 insertion section 606 so that place the test tubes of different sizes in support, form spring and refer to so that fix an elasticity O shape ring component 609, O shape ring component 609 has increased frictional fit as the container 12 of test tube 102 by jerk-finger 607.Like this, each support 600 forms the clamper 14 of a storage container 12, the spacing of chamber 603 general at interval about 20mm, insertion section 606 makes size and makes the container eccentricity ground centre that is approximately 16mm up to diameter, jerk-finger parts 607 and O shape encircle 609 combination to have enough elasticity so that make more effectively centre of container that diameter is not more than about 13mm.

Although the present invention is described the test tube that is used to follow the tracks of native system and the bar code and the barcode reader of other parts, other detection system also can be used.For example, the magnetic ink mark can be attached on test tube or other parts so that read by a magnetic ink reader.

With reference to figure 10A, 10B and 10C, each dump tank or receptacle 1200 have a series of chambeies 1203 corresponding with the opening 603 of support 600, and chamber 1203 is symmetrically around a rod unit 1204.The cross section on the top of rod unit 1204 be square in case along four independently any direction of right angle orientation cooperate with the gripper equipment parts 726 (Figure 13) of robot arm 700, the elasticity O shape at a pair of interval ring 1206 is fixed on the rod unit to increase the frictional fit with gripper equipment parts 726.Shown in Figure 10 A, 16 chambeies 1203 are arranged in each receptacle 1200, each chamber 1203 is limited and is had the corresponding body of jerk-finger parts 607 by the corresponding body of an insertion section 606.Receptacle 1200 is placed in each supporting plate 1008 of centrifuge apparatus 1000, and receptacle has a pair of groove 1208 of its both sides that is formed on so that align with each bearing cap 1009 of each supporting plate 1008 shown in Figure 10 A.

Shown in Figure 10 C, each receptacle 1200 is formed with pair of holes 1210 so that be positioned on the corresponding dump tank register pin 144, and the corresponding body of a sensor magnet 330 is so that start the relevant reed contact tube sensor 150 (Fig. 5) of worktable platform 114.Selectively further with reference to figure 10C, the corresponding body of a sensor 150 can be arranged in supporting plate 1008 or its underpart so that detect laying state at the receptacle 1200 of hydro-extractor end 1006, and/or the corresponding body of register pin 144 selects to be installed in the top of supporting plate 1008 so that make dump tank 1200 location by bearing cap 1009 as another kind.

When the dump tank that test tube is housed was used for hydro-extractor, they should pack into so that balance to be provided with symmetrical manner was very important.Figure 11 A-11D provides a vertical view of the receptacle 1200 of the hydro-extractor of packing into, has shown gratifying load mode.The circle of not filling out is represented empty cuvette cavity 1203, the chamber that test tube 102 is equipped with in the circle representative of blacking.Dump tank pack into so that provide uniform weight at the opposite side of the central point of hydro-extractor, keep each receptacle simultaneously with respect to each rod unit 1004 balance approx.For the person of ordinary skill of the art, other suitable load mode is known.

With reference to figure 13A, 13B and 13C, an exemplary configurations of robot arm 700 comprise one can be along the pedestal 702 of worktable track 704 location.Track 704 extends the center that also concentrates on approx between the relative sidepiece approx between the relative end of worktable 100, and the Zhe shape cover 705 with protective.Conical head 706 controllably swivel bearing on the vertical datum axle 707 of pedestal 702, upper arm 708 similarly controllably swivel bearing protrude on the axle 709 in a level of conical head 706.Controllably swivel bearing is on the elbow axle 711 of upper arm 708 similarly for a lower arm 710, and elbow axle 711 and protrusion axle 709 parallel interval ground are positioned at an outer end of upper arm 708.Similarly, toggle head 712 controllably swivel bearing on a toggle shaft 713 of lower arm 710, and have the gripper equipment head 714 of swivel bearing on a gripper equipment axle 715 controllably.Axle 713 and 715 is quadratures, and toggle shaft 713 and elbow axle 711 parallel interval ground are positioned at an outer end of lower arm 710.Gripper equipment head 714 have a gripper equipment body 716 and a pair of along with tactile feedback controllably towards or leave the gripper equipment armature 717 that the opposite side portion of gripper equipment axle 715 moves.Gripper equipment head 714 also comprises an optical head sensor 718 that supports regularly with respect to gripper equipment body 716, hot nose 718 comprises a light source 719 with a light source axle 720 and the optical receiving set 721 with a receptacle axle 722, and axle 720 and 722 approaches gripper equipment axle 715 from the opposite side portion that concerns at interval with gripper equipment body 716 and gripper equipment armature 717 and converges.Robot arm 700 also comprises an automatic control system (not shown), and it has with respect to worktable track 704 handles the appropriate device of gripper equipment heads 714 so that grasp and transport object with the known way of this area.With regard to describe with regard to, exemplary robot arm 700 be one can be from CRS Robotics of Ontario, the business-like device of 255 types that Canada obtains.

Further as shown in the figure, robot arm 700 is equipped with an identification marking scanner 724, sometimes be called barcode scanner 724, scanner 724 has a scan axis 725 and is fixedly mounted on the upper arm 708, so that scan axis 725 intersects at gripper equipment axle 715 from the point of crossing of light source axle 720 and receptacle axle 722 out and away.Like this, scanner 724 advantageously is positioned on the upper arm 708 so that scan the identification marking of vertical and horizontal orientation effectively.Especially, although the various identification markings of support 600, receptacle 1200 and segment 300 generally are flatly directed, container identification marking 104 generally is directed vertically.In addition, gripper equipment head 714 is equipped with a pair of gripper equipment parts 726, and gripper equipment parts 726 are installed on each gripper equipment armature and are used for firmly grasping container, receptacle and segment so that transport them as described here.And hot nose 718 moves the height that can determine container 12 so that it effectively cooperates with gripper equipment parts 726 together with the sequencing of gripper equipment head 714.

Further with reference to figure 13B, robot arm 700 can move in the θ angular region around datum axle 707, and the θ angle is symmetrically located at the opposite side of table slide 704 and greater than 180 degree, is approximately 315 degree.Help container 12, segment 300 and other clamper are transported to any one position on the platform 114 practically together with being movable to pedestal near each end of worktable 100 around the angular orientation scope of datum axle 707, and usually need not move pedestal 702 along track 704.In addition, gripper equipment head 714 with the favourable installation of relation of stretching out with respect to landing slab 114 so that its arrives centrifuge apparatus 1000.

Further with reference to figure 13D, another structure of gripper equipment head 714 only has the hot nose 718 of a side of gripper equipment body 716 and one and replaces luminophor 719 and be installed near the optical receiving set 721 lasing light emitter 719 '.Like this, light source axis 720 and receptacle axis 722 converge from the same side of gripper equipment axis 715, but, the loss in efficiency that lasing light emitter 719 ' can bigger ground compensation sensor 718, this loss is owing to axis 720 and 722 and 715 asymmetric causing of gripper equipment axis.Position control

Worktable transporting position 106 and accept the position and be preferably equipped with an apparatus for adjusting position 961 corresponding to each analyser 2000, each regulating device 961 help exchange clamper 300 between worktable 100 and corresponding analyser 2000.Shown in Figure 12 A and 12B, transporting position regulator 961 comprises a platform component 962 and a cleat 964, they are installed in the opposite side of the landing slab 112 of worktable 100 movably by several bolt fasteners 965, and a lug boss 966 of securing member 965 and platform component 962 extends through a clearance opening 967 that is formed in the platform 112.A compression spring 968 is housed so that make it enter compression fit with landing slab 112 to platform component 962 and cleat 964 biasings on each securing member, platform component 962 also has one partly to insert O shape ring in its upper groove so that frictionally grip platform in clamping process.Pneumatic cylinder 970 is assemblied between the lug boss 966 of cleat 964 and platform component 962 so that unclamp clamping accordingly with a gas port 971 that optionally gases at high pressure is applied to pneumatic cylinder 970 by a pressure system 850 (Figure 19).When pneumatic cylinder 970 was driven, platform component 962 can freely rotate and be displaced sideways.Platform component 962 two pairs of register pins mounted thereto 142 are arranged in case make the position thereon segment 300 location and keep motionless, segment 300 can be got at by worktable robot arm 700 or corresponding analyser robot arm 2002.In addition, platform component 962 has embedding sensor 150 so that survey wherein and is positioned in the segment 300 of relevant pin to the correspondence on 142, and each sensor 150 is generally realized and is assembled by the magnetic reed contact pipe of prior art so that send signals to processing controller 500.

In case each sensor 2000 is positioned at approximate punctual with 100 pairs of worktable, regulate relevant regulating device 961 so that unclamp clamping by at first driving pneumatic cylinder 970, manually make platform component 962 location and directed then so that segment 300 is aimed at analyser gripper equipment 2040 corresponding to the worktable transferring position of analyser robot arm 2002.Subsequently, pneumatic cylinder 970 is released so that clamp platform component 962 at aligned position, thereby regulates.At last, by location and directed be stored in the storer of processing controller 500 of any suitable device with platform component 962, for example, the segment 300 by being in a fixed position on the optical head sensor 718 scanning platform parts 962 that adopt worktable robot arm 700.Balanced system

As mentioned above, and with reference to figure 4,17A and 17B, disposal system 10 comprise a balanced system 800 in case before centrifugal treating, make receptacle or dump tank 1200 in container 12 balances, this balanced system comprises balance 802 and the auxiliary stand position 804 on the rear portion 118 of worktable 100.Balance 802 can be an e-platform balance of the prior art, and the corresponding body that installs dump tank register pin 144 thereon additional is so that receptacle 1200 location.By worktable robot arm 700, dump tank can move between other position on balance 802, centrifuge apparatus 1000 and the rear portion 118, the worktable robot arm also with container 12 from the support 600 of aided location 804 and the dump tank 1200 on from other position transfer on the worktable 100 to balance 802.Balanced system 800 also comprises a balance controller, is used for selectively container being left in the chamber of receptacle, and at this moment the Xiang Guan weight that increases progressively changes along with the position of depositing at every turn, thereby makes each to the balanced weight in the receptacle.The equilibrium code 808 that balance controller can be used as in the center processing controller 500 is realized, a master data 810 of equilibrium code 808 in store container position and relevant weight is also instructed robot arm 700, so that the weight of measuring according to balance platform 802 leaves container 12 in the receptacle 1200 in, weight is signaled to processing controller 500 with any suitable form.

Preferably, balanced system also comprises a collection of equilibrium load of optionally depositing into receptacle 1,200 806 (can be the test tube 102 that predetermined weight is housed).Therefore, balanced system running is so that transfer to correct position in the specific receptacle 1200 to be limited to the deviation of weight between the receptacle with equilibrium load 806.Preferably, equilibrium load 806 is little by little loaded so that limit each deviation of weight to receptacle 1200 and is no more than 10 grams.To make things convenient for the temporary transient storage of equilibrium load 806,804 support 600 also provides other temporary transient storage to the container 12 that will further handle and/or store in the position near balance 802 in auxiliary stand position 804 on worktable 100.

In equilibrium code 808, balance master data 810 is that corresponding container 12 has the suitable quantity that is carried out centrifugal treating by centrifuge apparatus 1000 simultaneously along with sample step 812 is selected in one of the data input of the corresponding body of container identification marking 104 and relevant public rotary manipulation process 1002 at first.Then, in the step 814 that tares, suitable the replenishing that is used to preserve the receptacle 1200 of container 12 marked, and if necessary, and is placed on each position of balance platform 802.After being placed on each article on the balance 802, the gross load on balance 802 is measured, and the difference between each time measured value is represented the load of each particular load.What connect the step 814 that and then tares is a load step 816.Wherein, container 12 that will centrifugal treating is put into each receptacle 1200 successively according to the suitable method of Figure 11 A-11D, which kind of mode specifically to depend primarily on the number of container 12 that will centrifugal treating according to.In load step 816 processes, equilibrium code 808 continues to monitor the load that is added on the balance 802.Like this, equilibrium code 808 operations are with the monitoring general assembly (TW) relevant with each receptacle.After load step 816, in aligning step 820, add equilibrium load 806 as required so that each to the weight of receptacle 1200 in predetermined permissible aberration scope.Remove roof system

Specifically referring to Figure 18 A-18B, go roof system 900 to comprise a receiving device 902, fix to have with being used to clamp and cover 103 container or test tube 102, lid 103 frictionally cooperates with test tube 102 and from the opposite side horizontal expansion at test tube 102 tops.Receiving device 902 goes top cover to insert panel 903 with respect to of the following worktable that further describes 100 to install hangingly.An importance of the present invention is to go roof system 900 both can also can have only the lid of frictional fit to move with container 12 to described here to threaded engagement lid as described below.One has the yoke member 904 that is formed on one of them lid groove 905 and is installed on the lifter 906 movably and by its supporting, and lifter protrudes and inserting panel 903 tops.Lifter 906 comprises a drive unit 908 and one and the rigidly connected lifting column 909 of yoke member, and drive unit 908 is connected with a translation motor 910 by a translation belt 911 so that be center rotational translation yoke member 904 with lifting column 909 between the opening and closing position.Lifter 906 also is connected with a lifter motor 912 by a lifter belt 913 so that in succession yoke member 904 1 lifting lifter posts.Yoke member 904 has one and is formed on and covers in the groove 905 towards last projection 916, be used for cooperating with the downside that protrudes surface 917 that stretches out of lid 103 when lid 103 is placed on the test tube 102, test tube 102 is fixed in the receiving device 902 in the make-position of yoke member 904.

Make-position in yoke member 904 has at the projection 916 that protrudes the extension of surperficial 917 bottoms, and lifter 906 operations promote yoke member 904 with relative receiving device 902 and cover 103 so that remove.Accordingly, bladder retainer 920 is pivotally mounted to and inserts on the panel 930, and is connected with a rotary electric machine 924 so that be that bladder 921 is rotated at the center with container 12 controllably by a rotation belt 925, thereby screws out container 12 from covering 103.Lid 103 is arranged in yoke member 904 with anti-rotation, lid 103 has formed a non-circular outer shape that has expansion 927 thereon, when torque acted on the container 12 by receiving device 902, the expansion 927 of lid 103 leaned against on the part covering groove 905.Gas port 922 preferably forms so that provide one to be rotatably connected for bladder 921, mouthfuls 922 are connected so that come optionally pressure-driven according to central control unit 500 with three-way control valve 928 by a retainer pipe 929, thereby realize fixing of described container 12.

Further with reference to figure 18F, another preferred structure of bladder retainer, be designated as and clamp retainer 920 ', comprise a resilient sleeve 921 ' that replaces bladder 921, sleeve 921 ' has three suspension brackets 926 that outwards protrude, and suspension bracket 926 cooperates with each suspension bracket groove 929 of retainer 920 ' to guarantee that sleeve 921 ' is along with retainer 920 ' unitary rotation.Three vertically-oriented clamp devices 913 are spaced apart between the suspension bracket 926 that has corresponding eccentric rod 914, and bar 914 is put and leaned against on the disc plate 915.Upwards drive circular slab 915 and bar 914 by joint 922 through the cylinder 918 that retainer pipe 929 is connected with operation valve 928.Bar 914 has the eccentric grove 914A at a pair of interval that cooperates with corresponding pin 913A, and pin protrudes from clamp device 913, thereby inwardly drives clamp device 913 so that along test tube 102 clamp sleeves 921 ' according to moving upward of bar 914.The bottom of sleeve 921 ' be sealing so that just in case wherein test tube 102 limits fragmentation when breaking.In addition, sleeve 921 ' has the rib 923 that is formed on wherein and is used for contacting with test tube 102, comprises that three total lengths of aiming at clamp device 913 clamp rib 923A and three clamper rib 923B that shorten in proportion.Make sleeve 921 ' have dirigibility to improve the efficient of clamp device 913 when clamping test tube 102 in the space between the rib 923.The long test tube 102 of normal 100mm extends to the bottom of sleeve 921 ', although normally only some inserts sleeve 921 ' to have length and be the test tube 102 of 75mm, shown in dotted line among Figure 18 F, clamper rib 923B is made into and is used for fixing the short test tube 102 that partly inserts, and can increase necessarily for whole insertions and taking-up 100mm test tube 102 necessary axial forces.

Preferably, go roof system also to comprise a gatherer 930, lid 103 from yoke member is used to collect; And a unloader 932, be used for the lid under going 103 is transported to gatherer 930 from yoke member 904.An exemplary means of unloader comprises that one is fixedly secured to a upright unloader bar 934 that inserts on the panel 903 near gatherer 930, it the yoke member open position with cover groove 905 and align.Central control unit 500 go top cover program part operation moving the yoke member 904 that has a lid that removes 103 therein, remove from yoke member up to bar 934 and cover 103.Preferably, gatherer 930 also comprises a duct member 936, is used to guide the lid 103 that is removed to enter gatherer 930.

Further with reference to figure 18C-18E, remove another preferred structure of roof system, be designated as 900 ', comprise a corresponding body with york piece shell 938 of end cover 939 as yoke member 904, and a clamp system 940, it moves in shell 938 so that clamp cap 103 reliably.Shown in Figure 18 E, clamp system 940 have a pair of relative, around the clamp device 942 of pivotal mounting, clamp device 942 is driven by the pneumatic cylinder 944 with a wedge shape eccentric driving device 946, and eccentric driving device 946 extends from cylinder 944 according to the gaseous tension of effect.Each clamp device 942 is formed with several projectioies 943 thereon so that be placed on the opposite side of clamp cap 103 when covering in the groove 905 at lid 103.Be formed with in the york piece shell 938 one from cylinder 944 to a passage 948 that protrudes at a joint 949 of cover 939 bottoms so that is connected with a flexible pipe 950, pipe 950 extends to a T-valve 952 in insertion panel 903 bottoms.As above-mentioned valve 928, start so that drive pneumatic cylinder 944 with clamp cap 103 according to central control unit 500 by a valve 952 that goes top cover pipe 870 to be connected with pneumatic system 850.Like this, lid 103 just needn't need an expansion 927 or have one with the rotation interference fit of covering groove 905.In addition, preferably going in the roof system 900 ', lid 103 does not need to have the protrusion surface 917 (Figure 18 A) of outside protrusion.

Shown in Figure 18 C and 18D, go roof system 900 ' to comprise a corresponding body at york piece shell 938 loading and unloading material machines 932, it exists with the form of a plunger assembly 954.Plunger assembly 954 comprises the protrusion plunger 955 of an operation in thrower support 956, plunger 955 has 957, one the thrower springs 958 of convex rod that are slidingly matched with thrower support 956 to be installed on the bar 957 so that head on york piece shell 938 biased downward plungers 955.Lid 103 by shut-off valve 952 unclamps from clamp device 942 enters with cooperating of york piece shell 948 by pressure taking-up from lid groove 905 by plunger 955 is moved axially.When clamp system is opened, should prevent to cover 103 and adhere on the bossing 943 of clamp device 942, be discharged into reliably in the gatherer 930 so that will cover.

When lid groove 905 is rotated position covering 103 tops, controller 500 working procedures are to drive lifter 906 to enough high, so that removing, plunger 955 covers 103, reduce york piece shell 938 then, thereby be reduced to and cover 103 pairs of punctual compression injection device springs 952 at clamp device 942, lid 103 is supporting plunger 955.Then, close clamp system 940 by open valve 952, clamp device 942 clamp cap 103 go roof system 900 ' to go the same continuous operation of roof system as above-mentioned Figure 18 A and 18B.

Still shown in Figure 18 B, duct member 936 is equipped with a lid detector 959, in case be used for whenever having a lid 103 that enters gatherer 930 by just sending signal to controller 500.Like this, just in case fail to detect passing through of the lid 103 that enters gatherer 930, can carry out suitable correction by going roof system 900 ' to handle a container 12 that will go to cover.

As shown in figure 19, worktable 100 is equipped with a pneumatic circuit or gaseous tension system 850, this system has with a connector of a suitable high pressurized gas 852 and is connected 851, gas feeds in the air vessel 854 of approximate 22 liters of capacity by an input filter 853, an one-way input valve 855 is housed is used for keep-uping pressure when gas source 852 is closed.A main solenoid valve 858 and a pressure transducer 859 are connected in series between input filter 853 and transfer valve 855, and pressure transducer 859 sends the signal of gaseous tension normal presence when about 5 atmospheric pressure.The guide rail 26 of track 704 is used as air vessel 854, and guide rail 26 has advantageously provided high capacity and extended along the total length of worktable 100 substantially, thereby makes the short relatively pneumatic possibility that is connected to become.

A gas-distribution pipe 860 is connected with air vessel 854 so that as the Pneumatic component that gas is given to worktable 100 described here.A bearing branch 861 that tells from gas-distribution pipe 860, ingress filter device 862, one have that the pressure governor 863 of an oil strainer 864 and a pressure display unit 865 and pressure transducer 866 are connected in series so that gas is given to the bearing of the track 704 of worktable robot arm 700, and pressure transducer sends the signal of about 4.5 atmospheric pressure normal presences.A detent branch 867 that tells from gas-distribution pipe 860 has connection solenoid brake valve 868 thereon to be used for a track brake of drive track 704.The corresponding body of a pressure governor is designated as 869, tells from gas-distribution pipe 860 to be connected the top cover branch 870 so that gas is given to roof system 900.A protection branch 871 that tells, has another regulator 872 from gas-distribution pipe 860 is given to three families of power and influence 873 with gas, is used to control the pneumatic actuating device 52 of guard system 40.Regulator valve 874 on a pair of guide rail 26 that is installed to track 704 is communicated with air vessel 854 gases so that unclamp transporting position regulator 961 selectively, and valve 874 is by corresponding gas port 971 connections of each adjuster tube 875 with regulator 961.At last, a counter-lateral quadrents hopper loader branch 876 of gas-distribution pipe 960 has the corresponding body of valve 874, is appointed as manual drives valve 878, is used for gas is given to the Pneumatic component of analyser 2000, comprises analyser robot arm 2002.Centrifuge apparatus

As mentioned above, centrifuge apparatus 1000 accepts to be loaded into the sample in the container 12 of receptacle 1200, makes sample stand a specific rotary manipulation process 1002 before further handling in analyser 2000.Concrete centrifuge apparatus 1000 has several loading platforms 1004 on each supporting plate 1008 of the main spindle box 1006 of a rotatable driving with reference to figure 16A, is used for the receptacle 1200 of a cover balance is received a rotating drum 1010 of centrifuge apparatus 1000.Here used " receptacle " comprises dump tank 1200, but it refers to be used for liquor sample is remained on a hydro-extractor and transports in the process device of sample being put into or taking out from hydro-extractor at sample widely.Like this, " receptacle " can represent other container in (1) single test tube, bottle or the centrifugal crate part chamber of can directly packing into; Or (2) supports, segments or all clampers of one or more containers are housed, container is in this clamper in the centrifugal treating process.

An exemplary embodiment of centrifuge apparatus 1000 comprises a casing 1012 with a chamber opening 1014; One is supported in the casing 1012 and is in the spindle unit 1016 of opening below 1014, is used for drive shaft case 1006; And as shown in the figure by pair of bearings lid 1009 supporting plates 1008 that can pivotally be installed in the main spindle box 1006.Casing 1012 comprises an abase frame 1018 with a base plate 1020 belt wheel fixed thereon; Several body wallboards comprise around abase frame 1018 and from base plate 1020 upwardly extending each counter-lateral quadrents wallboard 1022 and end wallboards 1024; And a panel 1026, panel 1026 extends between the upper end of body wallboard 1024 and 1022.One has the part that chamber opening 1014 formation chamber baffle plate 1028 has thereon covered panel 1026, an access panel 1030 has also covered the part of panel 1026, and panel 1026 has another opening (not shown) of being convenient to keep in repair the inside of casing 1012 with chamber opening 1014 corresponding opening (not shown)s and in access panel 1030 bottoms.

According to the present invention, centrifuge apparatus 1000 comprises the door part 1032 of a horizontal orientation, and it can laterally move between open position shown in Figure 16 A solid line and the make-position shown in the dotted line under the chamber baffle plate 1028.The open position of door part 1032 provides the passage that arrives rotating drum 1010, and make-position has been closed this passage and contacted unexpectedly with wherein sample with main spindle box 1006 so that prevent in the operation process of centrifuge apparatus 1000.Door part 1032 is bearing in the door frame 1034, and door frame 1034 is being placed on several post parts 1036 of keeping at a certain distance away on the base plate 1020.Door part 1032 is driven between the open and close position by the door drive 1038 of a following frictional fit that further describes; Arrived chamber opening 1014 just in case people pass because of carelessness, this moment, door part moved to make-position, affacted door part 1032 by the restriction driving force, and drive unit 1038 can advantageously protect people to escape injury.Still shown in Figure 16 A, centrifuge apparatus 1000 can comprise an input keyboard 1040 and a cathode-ray tube display (CRT display) 1042, is used for carrying out interface with an operator of centrifuge apparatus 1000.

Further referring to Figure 16 B-16E, another preferred structure of centrifuge apparatus 1000 has the corresponding body (not shown) of a little casing of the corresponding body 1032 ' that has door part and door frame and 1034 ', therefore, pass chamber opening 1014 and normally pass an access portal of dwindling 1044 so that open and close door part 1032 ' to the passage of rotating drum 1010.Shown in Figure 16 B, door wallboard 1032 ' is bearing in the dismountable door module 1046 between a top or external bracket parts 1048 and bottom or inner carriage parts 1050, and the corresponding body of the vertical alignment of opening 1044 is formed in each carriage member 1048 and 1050.Inlet port 1044 is enough entering into and 1004 stable cooperations an of loading platform so that when " loaded " position of loading platform 1004 sensings as described below a receptacle 1200 is passed its vertical transmission greatly.More particularly, the carriage member 1048 and 1050 of door module 1046 is fixed to the opposite side of each spreader 1052, handle 1054 is installed on the spreader 1052 so that flatly retract door module 1046 from door frame 1034 ', fully exposes thereby make rotating drum 1010 pass chamber opening 1014.It should be understood that to provide the passage that leads to door module 1046 by any suitable manner, for example, removes relevant end wallboard 1024.

Still shown in Figure 16 B, door frame 1034 ' comprises a support plate that extends 1056 between the upper end of post parts 1036, and a pair of side rail 1058 that rigidly fixes along the opposite side portion of support plate 1056, is used to make door module 1046 located lateral.Shown in Figure 16 C, door drive 1038 comprises a friction driving roller 1060 and the stepper motor that is mated 1064 by drive shell 1062 rotatably supports.Driving wheel 1060 has formation resilient ring parts 1066 thereon, be used for side surface 1068 bias voltages of door part 1032 ' contact, thereby open and close translation door parts 1032 ' between the position at one.

A key character of door drive 1038 is, driving wheel 1060 is not that rigidity cooperates with door part 1032 ', and just sliding contact is in case the mobile of door part 1032 ' is interrupted, and for example, lab assistant stretches in the rotating drum 1010 when door part 1032 ' forward make-position moves.Door part 1032 ' is bearing in the door module 1046 movably by several guide rolls 1070, and guide roll 1070 cooperates with pair of tracks, and this is main orbit 1072 and Auxiliary Track 1073 to track, and track 1072 and 1073 is fixed on the inner carriage parts 1050.

Still with reference to figure 16C, door part 1032 ' vertically and is flatly supported with respect to main orbit 1072, vertically-oriented guide roll 1070 is installed on the door part 1032 ' by each bolt fastener 1070A, the guide roll 1070 of horizontal orientation is supported on each bar 1070B, and it is installed on the door part 1032 ' by the steady arm plate 1070C of correspondence.Housing 1062 is installed on the door frame 1034 ' by suitable fasteners 1074 adjustable grounds, so that a required fit angle is provided between driving wheel 1060 and side surface 1068.

Still shown in Figure 16 B and 16D, a solenoid operated bolt 1076 is installed on the door frame 1034 ', is used at make-position locking door part 1032 ', and door part 1032 ' has an opening 1078 that is formed on wherein, is used for cooperating with bolt 1076.In addition, slit 1079 is formed in inner carriage parts 1050 and the spreader 1052, so that when door part 1032 ' is regained door module 1046 is retracted at bolt 1076.It should be understood that aforesaid door drive 1038 is suitable for driving the door part 1032 of Figure 16 A and the door part 1032 ' of Figure 16 B, the corresponding body of guide roll 1070 also is suitable for the supporting of the door part 1032 of Figure 16.

Shown in Figure 16 D, centrifuge apparatus 1000 comprises a control circuit 1080 that is used for operation axis device 1016, drive unit 1038 and bolt 1076; And a pair of optic position sensor of installing with respect to door frame 1034 ', be used to send the signal that door part 1032 ' opens and closes the position, a first sensor 1081 is used to send the signal of off-position, and one second sensor 1082 ' is used to send the signal of door part 1032 ' open position.

Main shaft device 1016 comprises main spindle box 1006, and spindle assemblies 1084 with a main shaft 1085, main shaft 1085 is used for the main spindle box 1006 that rotatably support is positioned at rotating drum 1010, and spindle assemblies 1084 also has a main shaft shell 1086 from base plate 1020 supportings.A spindle motor 1088 is connected with the mode of main shaft 1085 according to prior art, and motor 1088 is supported regularly with respect to base plate 1020 in any suitable manner.

A key character of the present invention is, main shaft device 1016 can forward each loading platform 1004 to inlet port 1044 and align so that accept or transport receptacle 1200, and main spindle box 1006 can directly and promptly stop a predetermined calibration position when any one required slewing maneuver process finishes.Therefore, spindle motor 1088 is equipped with a position coder 1090, is used to send the angle position signal of main spindle box 1006.In one of the control circuit shown in Figure 16 D and 16E 1080 exemplary preferred structure, spindle motor 1088 is one four utmost point brushless ac servomotors, this motor is a SGM-00A3 type servomotor, it is by Yaskawa ElectricAmerica, Inc., of Northbrook, IL provides.The motor of above-mentioned mark comprises scrambler 1090, and scrambler 1090 has a quadrature and increases progressively count pulse output terminal 1091 and a full sized pules output terminal 1092.Still shown in Figure 16 D, control system 1080 comprises a hydro-extractor processor 1093, a movable information processor 1094 and a motor driver 1095,1094 pairs of scramblers 1090 of movable information processor and react from the location fixes signal of hydro-extractor processor, be given to motor driver 1095 so that will speed up control signal, thereby drive motor 1088 is from initial rest position to a rotational speed of drafting of a demarcation, in a swing circle of drafting, keep this speed, motor is decelerated to stop at a predetermined final rest position.

Appropriate device as hydro-extractor message handler 1093 can obtain from different commercial channel, for example, can be from Ziatech of San Luis Obispo, STD-32486 (CPU Board) motherboard that CA obtains.The device that is suitable as movable information processor 1094 can be from Motion Engineering, Inc., Of Santa Barbara, the STD/DSP type motion controller that CA obtains.This device is handled the orthogonal signal of terminal count output 1091 so that provide 8192 pulses to a position recorder in each running of spindle motor 1088, this device also has the terminal point register and the digital-analog convertor (DAC) that are contained in the hydro-extractor processor 1093, and digital-analog convertor produces one along with the difference between position recorder and the terminal point register and comprise maximal rate and other variable of acceleration and the simulation output that becomes.It should be understood that the motor of above-mentioned mark and motor driver be it is generally acknowledged is not suitable for as spindle motor 1088 and movable information processor 1094, because specified allowable load inertia only is 0.189 oz-in sec ²(0.836 * 10 ^-4), be a value than low 250 times of practicable value in the centrifuge apparatus 1000 of the present invention.It has been found that according to the present invention the motor of above-mentioned mark and motor driver are applicable to and have in the hydro-extractor 1000 that is connected the suitable compensating filter 1096 between movable information processor 1094 and the filtrator 1095.Basically be, compensating filter 1095 provides the frequency characteristic of " recessed ", and following recess is positioned at the center of about 75HZ.

Further shown in Figure 16 D, control circuit 1080 also comprises a stepper motor driver 1098, is used for according to the turn round stepper motor 1064 of door drive 1038 of hydro-extractor processor 1093.A device that is suitable as stepper motor driver 1098 is from Intelligent Motion Systems, Inc.of Taftville.The obtainable 48312 type micro-stepping motors of CT.Hydro-extractor processor 1093 also has one to be used for the system interface 1099 that is communicated with processing controller 400.Be understood that, keyboard 1040 in the structure shown in Figure 16 A has the prior art interface (not shown) that is connected with hydro-extractor processor 1093 with display 1042, when processor 1093 was connected with processing controller 400, these parts were unnecessary.Actual connection between the parts of control circuit 1080 is best shown in Figure 16 E, and circuit 1080 also comprises existing STD-32 (cardcage) card box 1100 that is used to adorn hydro-extractor message handler 1093 and movable information processor 1040; One has the electromagnetic interface filter 1102 that is used for the device that is connected with an external power source; A primary power 1104 and a stepping power supply 1106 that is used for controllor for step-by-step motor 1098; And an input/output board (I/Oboard) 1110, it provides mainly interconnecting between the parts of control circuit 1080.Retracting device 1108 absorbs the energy that reclaims from spindle motor 1088 in the moderating process, is used for by the unnecessary energy loss of motor driver 1095 restrictions.A device that is suitable as retracting device 1108 can be the JUSP-RG08 type retracting device that obtains from Yaskawa Electric.Input/output board 1110 also is included in the buffer circuit of compensating filter 1096 and prior art wherein, and buffer circuit is used for sensor 1081 and 1082 and solenoid bolt 1076, shown in Figure 16 F.More particularly, compensating filter 1096 comprises a twin-T filter, low pass operational amplifier 1114, a two-stage low-pass filter 1116 and a buffer amplifier 1118, between the analog output 1120 of the movable information processor 1094 that these unit Series are described in front and the torque command input end 1122 of motor driver 1095.

Figure 16 E illustrates a control program 1130 of hydro-extractor processor 1093, program 1130 has an initial step, program and data message are transfused in the storer of movable information processor 1094 in this step, between processor 1093 and stepper motor driver 1098, set up connection in turn, the mistake variate-value is stored in the variable store of processor 1093, and the effect mark is reset.Followed by initial step 1031 be a major cycle 1132, it has one and obtains commands steps 1133, is used to accept order and data from processing controller 400.In the exemplary implementation of program 1130, executable command line is in following table 1.

The order of table 1. hydro-extractor

Command code	Command name
		????IM	(Index Move) moved in transposition
????SA	Set acceleration (Set Acceleration)
		????SV	Setting speed (Set Velocrty)
????ST	Setting-up time (Set Time)
		????BR	(Set Run) brings into operation
????HD	Door homing (Home Door)
		????HM	Motor homing (Home Motor)
????ER	Stop (Stop)
		????VS	Obtain speed state (Get Velocity Status)
????RS	Obtain rotary state (Get Rotor Status)
		????OD	Open door (Open Door)
????CD	Close door (Close Door)

It should be understood that in the following description many details of control program 1130 are in general processing controls programmer's technical scope.For example, obtain commands steps 1133 and be accompanied by suitably storage data of several orders, only just be performed after all receiving in order, in carrying out time-consuming command procedure, control is transmitted so that carry out continuum of states by control program 1130 from commands steps and is monitored.Followed by what obtain commands steps 1130 is to begin an exectorial fill order step 1134 and set suitable mark and analog.In a main shaft homing step 1135, carry out Home Motor order, main spindle box 1006 is driven to a homing index position, loading platform 1004A here aims at inlet port 1044, and this is by the startup of the standard output terminal 1092 of scrambler 1090 decision.Main shaft homing step 1135 comprises the step 1136 of advancing, a reversing step 1137 and a bias step 1138.Main spindle box advances up to main spindle box by index position, in this location criteria output terminal startup with suitable speed in the step 1136 of advancing; Main spindle box stops in reversing step 1137, then with a very little part (1/25) reversing of the speed of forward step rapid 1136; Main spindle box stops in bias step 138 once more, advances above index position by skew then.Index position is moved obliquely from loading platform 1004A, so as a little with the step 1133 of advancing before loading platform 1004A aims in preferably start standard output terminal 1092.Like this, skew can be very little so that help finishing rapidly bias step 1138.

Carry out Index Move order by a transposition operation 1140, wherein loading platform 1004A, 1004B, 1004C and 1004D are addressed by the numeral 1,2,3 and 4 of correspondence, and main spindle box advances on (algebraically ground) according to the difference between a current index position and the addressing position, and this difference is the encoder to count number between loading platform time 0,1,2 or-1.

In the step 1142 that brings into operation, carry out Begin Run order, wherein the data of rotary manipulation process 1002 be used for calculating a terminal point distance as an acceleration distance and one at the uniform velocity apart from summation, acceleration distance be quicken and one of deceleration distance comprehensively.More particularly, at the uniform velocity distance D v is the product of the time T of speed V and rotary manipulation process 1002, and acceleration distance is V ²/ A, wherein A is the acceleration of being scheduled to, A, T and V are determined in advance by the above-mentioned recognition command of correspondence.These are offset with respect to the homing position by a distance corresponding to current index position then apart from addition, and this result is sent to movable information processor 1094 so that start spindle motor 1088.Therefore, main spindle box 1006 is accelerated to reach the rotational speed of setting according to the acceleration of setting, and is maintained rotational speed in the rotational time of setting, and main spindle box 1006 is decelerated so that be parked in the homing position according to the acceleration of setting then.

Carry out Home Door order in door homing step 1144, a door homing order 1144 has one and checks that homing step 1145 and one move back to reposition step 1146.Close if first sensor is the also show gate of opening, step 1144 withdraws from from checking the homing step; Otherwise, enter and move back to reposition step 1146 so that start stepper motor driver 1098, thus with slow homing speed (100steps/sec.) towards off-position rotaty step motor 1064.

In a door operation 1148, carry out Open Door and Close Door order corresponding to opening and closing step 1149 and 1150.In closing step 1150, stepper motor 1064 is driven 1200steps towards off-position with 1500steps/sec., then again with the 50steps/sec. motion, up to being measured to homing (closing) position.Just in case moving of door hindered by aforesaid obstacle, can prevent the damage of centrifuge apparatus 1000 and/or the injury of lab assistant along the side surface 1068 aforesaid slips of door part 1032 ' by driving wheel 1060.Similarly, opening steps 1149 is drive stepping motor 1064 on the contrary, sends the open position signal of door part 1032 ' up to second sensor 1082.System software

An optimization software operation of device for monitoring processing 200 and the graphic user interface (GUI) that comprises is with Lab-View ^TMSoftware development kit is the basis, and it can be from NationalInstrumentation Corp.of Austin, and TX obtains.For example, in this program of execution, comprise that the figure of the system 10 of worktable 100 and hydro-extractor 1000 shows together with different positioning indicators and controller.The position of all clampers 14 has been showed in graphic presentation, and by dubbing a specific clamper, its identification marking shows and also can obtain a figure of container 12.On the contrary, the identification marking of importing it also can be searched for the position of a specific container 12.This program can be used as Accel Net software and obtains from Beckman Instruments.

Although the present invention is described in detail, also may be other form with reference to different preferred forms.For example, another form or a kind of replenishing as guard system 40, worktable 100 can be equipped with detector, is used to survey partly to exist an operator with out of service automatically to the workbench that the operator damages, and is the same as what use in industrial machinery.It can be the device such as a light beam and a beam monitor, by the blocking light beam worktable is shut down.Therefore, the scope of attached claim should not be limited to the description of included preferred form here.

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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