CN105393122A - 用于搬运样品管的方法和搬运装置 - Google Patents

用于搬运样品管的方法和搬运装置 Download PDF

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Publication number
CN105393122A
CN105393122A CN201480042223.2A CN201480042223A CN105393122A CN 105393122 A CN105393122 A CN 105393122A CN 201480042223 A CN201480042223 A CN 201480042223A CN 105393122 A CN105393122 A CN 105393122A
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CN
China
Prior art keywords
sample tube
camera
sample
handling
tube
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201480042223.2A
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English (en)
Chinese (zh)
Inventor
C.佩戴因
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
F Hoffmann La Roche AG
Original Assignee
F Hoffmann La Roche AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by F Hoffmann La Roche AG filed Critical F Hoffmann La Roche AG
Publication of CN105393122A publication Critical patent/CN105393122A/zh
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • G01N2035/0491—Position sensing, encoding; closed-loop control
    • G01N2035/0493—Locating samples; identifying different tube sizes

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
  • Manipulator (AREA)
  • Sampling And Sample Adjustment (AREA)
CN201480042223.2A 2013-07-26 2014-07-25 用于搬运样品管的方法和搬运装置 Pending CN105393122A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102013214694.9A DE102013214694B4 (de) 2013-07-26 2013-07-26 Verfahren zum Handhaben eines Gegenstands und Vorrichtung zum Handhaben von Gegenständen
DE102013214694.9 2013-07-26
PCT/EP2014/066070 WO2015011274A2 (de) 2013-07-26 2014-07-25 Verfahren zum handhaben eines probenröhrchens und vorrichtung zum handhaben

Publications (1)

Publication Number Publication Date
CN105393122A true CN105393122A (zh) 2016-03-09

Family

ID=51263385

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480042223.2A Pending CN105393122A (zh) 2013-07-26 2014-07-25 用于搬运样品管的方法和搬运装置

Country Status (6)

Country Link
US (2) US10509047B2 (https=)
EP (1) EP3025158A2 (https=)
JP (2) JP2016530507A (https=)
CN (1) CN105393122A (https=)
DE (1) DE102013214694B4 (https=)
WO (1) WO2015011274A2 (https=)

Cited By (7)

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CN105388308A (zh) * 2015-11-09 2016-03-09 曹汝安 一种血样试管转运方法
CN106695743A (zh) * 2017-02-10 2017-05-24 中国东方电气集团有限公司 一种基于移动机器人的危化溶液抽取参数的下达方法
CN107186708A (zh) * 2017-04-25 2017-09-22 江苏安格尔机器人有限公司 基于深度学习图像分割技术的手眼伺服机器人抓取系统及方法
CN108689161A (zh) * 2017-03-31 2018-10-23 平田机工株式会社 移载方法以及移载系统
CN111999513A (zh) * 2020-08-16 2020-11-27 湖南创星科技股份有限公司 一种血制品样本智能定位管理系统
CN113820506A (zh) * 2021-08-10 2021-12-21 西安金域医学检验所有限公司 一种自动排号仪
CN116883488A (zh) * 2023-07-21 2023-10-13 捷安特(中国)有限公司 一种圆形管的中心位置确定方法、装置、设备及介质

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CN109414811B (zh) * 2016-07-14 2022-05-27 西门子医疗保健诊断公司 基于样品架成像数据的用于机器人夹持器动态位置调整的方法和装置
CN110023950B (zh) 2016-10-28 2023-08-08 拜克门寇尔特公司 物质准备评估系统
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DE102024116144A1 (de) * 2024-06-10 2025-12-11 Analytik Jena Gmbh+Co. Kg Vorrichtung zum Beistellen von Objekten für ein Probengerät sowie Anlage mit Probengerät
CN119246530A (zh) * 2024-10-23 2025-01-03 深圳慧智星晨科技有限公司 一种基于视觉的样本管挑选及异常决策处置方法及系统

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105388308A (zh) * 2015-11-09 2016-03-09 曹汝安 一种血样试管转运方法
CN106695743A (zh) * 2017-02-10 2017-05-24 中国东方电气集团有限公司 一种基于移动机器人的危化溶液抽取参数的下达方法
CN106695743B (zh) * 2017-02-10 2019-12-03 中国东方电气集团有限公司 一种基于移动机器人的危化溶液抽取参数的下达方法
CN108689161A (zh) * 2017-03-31 2018-10-23 平田机工株式会社 移载方法以及移载系统
CN107186708A (zh) * 2017-04-25 2017-09-22 江苏安格尔机器人有限公司 基于深度学习图像分割技术的手眼伺服机器人抓取系统及方法
CN107186708B (zh) * 2017-04-25 2020-05-12 珠海智卓投资管理有限公司 基于深度学习图像分割技术的手眼伺服机器人抓取系统及方法
CN111999513A (zh) * 2020-08-16 2020-11-27 湖南创星科技股份有限公司 一种血制品样本智能定位管理系统
CN113820506A (zh) * 2021-08-10 2021-12-21 西安金域医学检验所有限公司 一种自动排号仪
CN116883488A (zh) * 2023-07-21 2023-10-13 捷安特(中国)有限公司 一种圆形管的中心位置确定方法、装置、设备及介质
CN116883488B (zh) * 2023-07-21 2024-03-26 捷安特(中国)有限公司 一种圆形管的中心位置确定方法、装置、设备及介质

Also Published As

Publication number Publication date
US20200081021A1 (en) 2020-03-12
WO2015011274A2 (de) 2015-01-29
US10509047B2 (en) 2019-12-17
US20160124006A1 (en) 2016-05-05
DE102013214694B4 (de) 2015-02-12
JP2019117207A (ja) 2019-07-18
DE102013214694A1 (de) 2015-01-29
WO2015011274A3 (de) 2015-06-11
JP2016530507A (ja) 2016-09-29
EP3025158A2 (de) 2016-06-01

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Application publication date: 20160309