CN112044485B - 用于处理样品容器的夹持装置和分析仪器 - Google Patents
用于处理样品容器的夹持装置和分析仪器 Download PDFInfo
- Publication number
- CN112044485B CN112044485B CN202010506444.8A CN202010506444A CN112044485B CN 112044485 B CN112044485 B CN 112044485B CN 202010506444 A CN202010506444 A CN 202010506444A CN 112044485 B CN112044485 B CN 112044485B
- Authority
- CN
- China
- Prior art keywords
- cap
- sample container
- sample
- closed
- clamping device
- 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.)
- Active
Links
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 239000000523 sample Substances 0.000 description 64
- 230000001419 dependent effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000011166 aliquoting Methods 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000006101 laboratory sample Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/20—Measuring arrangements characterised by the use of mechanical techniques for measuring contours or curvatures
- G01B5/207—Measuring arrangements characterised by the use of mechanical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L9/00—Supporting devices; Holding devices
- B01L9/06—Test-tube stands; Test-tube holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/50—Containers for the purpose of retaining a material to be analysed, e.g. test tubes
- B01L3/508—Containers for the purpose of retaining a material to be analysed, e.g. test tubes rigid containers not provided for above
- B01L3/5082—Test tubes per se
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/009—Gripping heads and other end effectors with pins for accurately positioning the object on the gripping head
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/46—Measurement of colour; Colour measuring devices, e.g. colorimeters
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- 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
- G01N2035/0401—Sample carriers, cuvettes or reaction vessels
- G01N2035/0403—Sample carriers with closing or sealing means
- G01N2035/0405—Sample carriers with closing or sealing means manipulating closing or opening means, e.g. stoppers, screw caps, lids or covers
-
- 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
- G01N2035/0401—Sample carriers, cuvettes or reaction vessels
- G01N2035/0406—Individual bottles or tubes
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Clinical Laboratory Science (AREA)
- Analytical Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biochemistry (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Hematology (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
本发明涉及用于处理样品容器的夹持装置和分析仪器。具体公开了一种用于处理样品容器(2)的夹持装置(1),其中,样品容器(2)被给定帽类型的帽(3)封闭或者未被帽封闭,其中,夹持装置(1)包括:‑多个指状件(4),其适于共同地引起对样品容器(2)的夹持,‑触觉传感器装置(5、7、8、9),其布置在指状件(4)中的至少一个处并适于对所夹持的样品容器(2)以及如果有的话的所夹持的帽(3)的纵向轮廓(LP)进行采样,以及‑联接到触觉传感器装置(5、7、8、9)的控制装置(6),其中,控制装置(6)适于基于采样得到的纵向轮廓(LP)来确定样品容器(2)是被帽(3)封闭还是未被帽封闭。
Description
技术领域
本发明涉及一种用于处理样品容器的夹持装置以及一种分析仪器。
发明内容
本发明的目的是提供一种用于处理样品容器的夹持装置以及提供一种高度灵活(flexible)和高性能的分析仪器。
夹持装置适于处理例如呈常规样品管形式的样品容器。样品容器被给定帽类型的帽封闭或者未被帽封闭。该帽类型可选自一组不同的帽类型。不同类型的样品容器可例如被不同类型的帽封闭。
夹持装置包括多个指状件,所述指状件适于共同地夹持样品容器和/或适于引起对样品容器的夹持。
夹持装置还包括触觉传感器装置,该触觉传感器装置布置在所述指状件中的至少一个处和/或机械地联接到所述指状件中的至少一个。触觉传感器装置适于对所夹持的样品容器以及帽(如果有的话)的纵向轮廓进行测量和/或采样。纵向轮廓是在样品容器的纵向延伸部中的轮廓。
夹持装置还包括联接到触觉传感器装置的控制装置,其中,该控制装置适于基于采样得到的纵向轮廓来确定样品容器是被帽封闭还是未被帽封闭。采样得到的纵向轮廓依赖于样品容器是否被帽封闭。通常,帽的未被插入到样品容器中的部分具有另一个直径,特别是比样品容器更大的直径。因此,采样得到的纵向轮廓特别地在样品容器和帽之间的过渡位置处改变。因此,控制装置可例如评估采样得到的纵向轮廓的梯度,以确定是否存在帽。附加地或替代地,控制装置可将采样得到的纵向轮廓与具有/没有帽的已知样品容器的所存储的纵向轮廓进行比较。
根据实施例,触觉传感器装置包括多个(例如,在2和100个之间)触觉传感器,所述触觉传感器能够移动并沿着指状件中的至少一个纵向地布置以对纵向轮廓进行采样。触觉传感器可以是轴向可移动的。触觉传感器可以是能够沿垂直于所夹持的样品容器的纵向轴线的方向移动的。
根据实施例,如果控制装置确定样品容器被帽封闭,则控制装置还适于确定帽类型,特别是基于采样得到的纵向轮廓。通常,采样得到的纵向轮廓对于帽类型而言是特征化的。因此,可以基于采样得到的纵向轮廓来确定帽类型。控制装置可例如将采样得到的纵向轮廓与已知帽类型的所存储的纵向轮廓进行比较。控制装置还可使用感测到的帽颜色来确定帽类型。
根据实施例,帽包括待插入到样品容器中的基部部分,其中,如果控制装置确定样品容器被帽封闭,则控制装置还适于基于采样得到的纵向轮廓来确定基部部分被插入到样品容器中的程度。通常,帽包括待插入到样品容器中的基部部分以及包括相邻的头部部分,该头部部分具有比样品容器更大的直径。如果基部部分被完全插入到样品容器中,则在样品容器和头部部分之间的过渡位置处采样得到的轮廓在由样品容器的直径确定的值和由头部部分确定的值之间变化。如果基部部分未被完全插入到样品容器中,则采样得到的轮廓在如下值之间变化,所述值为:由样品容器的直径确定的值、然后由基部部分的直径确定的值、且然后由头部部分确定的值。因此,可确定基部部分的未被插入到样品容器中的长度。进一步地,如果帽类型是已知的,则帽的几何性质(例如基部部分和头部部分的纵向延伸部)是已知的。因此,可以基于采样得到的纵向轮廓来计算基部部分被插入到样品容器中的程度。
根据实施例,所述多个触觉传感器中的每一个包括:销,其是轴向可移动的;以及位移测量单元,其适于测量轴向可移动销的轴向位移。纵向轮廓由触觉传感器的轴向位移形成。
根据实施例,触觉传感器是弹簧加载的,使得轴向可移动销借助于弹簧力而压靠所夹持的样品容器的表面。
根据实施例,所述多个触觉传感器沿着所述多个指状件中的每一个纵向地布置。如果例如夹持装置包括两个指状件,则多个触觉传感器沿着第一指状件纵向地布置,并且相同数量的触觉传感器沿着第二指状件纵向地布置。
根据实施例,指状件的数量是两个。
根据实施例,夹持装置还包括颜色传感器,该颜色传感器适于感测所夹持的帽(如果有的话)的颜色。控制装置可适于依赖帽的颜色来确定帽类型。
分析仪器包括如上文所描述的夹持装置。该分析仪器通常包括与夹持装置相互作用的另外的部件,例如用于处理包含在样品容器中的样品的装置、离心机、用于分装的装置等。
附图说明
现在将参考附图详细描述本发明。在附图中,
图1描绘了分析仪器的侧视图,该分析仪器包括根据第一实施例的用于处理样品容器的夹持装置,
图2描绘了处于打开状态的图1的夹持装置的侧视图,
图3描绘了处于封闭状态的图1的夹持装置的侧视图,以及
图4描绘了根据另外的实施例的用于处理样品容器的夹持装置的侧视图。
具体实施方式
图1高度示意性地描绘了分析仪器100,其包括用于处理样品容器2的夹持装置1,其中,样品容器2被给定帽类型的帽3封闭或者未被帽封闭。
样品容器2包含待处理和/或分析的实验室样品12,例如血液样品。
分析仪器可例如形成用于分装(aliquoting)的装置。
如所描绘的,夹持装置1包括两个L形指状件4,两个L形指状件适于借助于对应的夹持表面4a来共同地夹持样品容器2。指状件4可被打开以释放样品容器2(见图2),或者可被闭合以夹持样品容器2(见图3)。
可借助于未明确描绘的常规驱动机构(例如,呈电动马达的形式)来转移/移动/旋转指状件4。
夹持装置1还包括触觉传感器装置,该触觉传感器装置包括多个触觉传感器5,所述触觉传感器沿着指状件4纵向地布置(即,沿纵向方向LD)以对所夹持的样品容器2和帽3(如果有的话)的纵向轮廓LP进行采样。
每个触觉传感器5包括能够沿着其纵向轴线LA移动的销7。销7布置成使得每个销的纵向轴线与所夹持的样品容器2的纵向轴线成直角。
每个触觉传感器5还包括位移测量单元8,该位移测量单元适于测量对应的轴向可移动销7的轴向位移。
每个触觉传感器5还包括弹簧9,使得轴向可移动销7被推压抵靠所夹持的样品容器2的外表面。
纵向轮廓LP可例如表示轴向可移动销7的依赖纵向位置z的轴向位移(沿x方向的位移,即沿纵向轴线LA的方向的位移)。
夹持装置1还包括控制装置6,该控制装置联接到每个触觉传感器5的位移测量单元8,使得控制装置6可以读取纵向轮廓LP。基于纵向轮廓LP,控制装置6确定样品容器2是被帽3封闭还是未被帽封闭。进一步地,控制装置6基于采样得到的纵向轮廓LP来确定帽类型。
参考图2和图3,夹持装置1还包括颜色传感器10,该颜色传感器联接到控制装置6并适于感测所夹持的帽3(如果有的话)的颜色。控制装置可基于帽3的颜色来确定帽类型和/或样品容器类型。
参考图2和图3,夹持装置1还包括可选的距离传感器11,该距离传感器联接到控制装置6并适于感测到所夹持的帽3(如果有的话)的距离。控制装置可基于感测到的距离来控制夹持操作。
参考图1,帽3包括头部部分3a和待插入到样品容器2中的基部部分3b。如果控制装置6确定样品容器2被帽3封闭,则控制装置6基于采样得到的纵向轮廓LP来确定基部部分3b被插入到样品容器2中的程度。
图4描绘了根据另外的实施例的用于处理样品容器2的夹持装置1’。
夹持装置1’包括两个I形指状件4,并且借助于弹簧加载的触觉传感器5来夹持样品容器2,其中,图1中所描绘的夹持装置1借助于指状件4的夹持表面4a来夹持样品容器2。
关于其余的特征,参考有关图1至图3中所描绘的实施例的描述。
根据本发明的夹持装置1/1’能够在处理样品容器的同时确定帽的存在、帽类型、帽被插入到样品容器中的程度、样品容器直径以及帽颜色。
夹持装置1/1’包括在指状件4上的触觉/机械传感器,该触觉/机械传感器包括轴向可移动销7,其中,每个轴向可移动销7独立地响应于由夹持装置1/1’处理/夹持的样品容器2的表面。
位移测量单元8绘制每个销7的轴向位置的分布(map),以产生帽3和样品容器2的纵向轮廓LP。
该轮廓信息LP用于对帽3的类型和帽3被插入到样品容器2内的程度进行分类。
如果帽3的插入不稳定,则在运输/处理期间,轴向可移动销7将帽3保持/固定就位。
附加的颜色传感器10也可被集成在夹持装置1内以用于帽颜色的确定。
Claims (10)
1.一种用于处理样品容器(2)的夹持装置(1、1’),其中,所述样品容器(2)被给定帽类型的帽(3)封闭或者未被帽封闭,
其中,所述夹持装置(1、1’)包括:
- 多个指状件(4),其适于共同地引起对样品容器(2)的夹持,
- 触觉传感器装置(5、7、8、9),其布置在所述指状件(4)中的至少一个处并适于对所夹持的所述样品容器(2)以及如果有的话所夹持的所述帽(3)的纵向轮廓(LP)进行采样,以及
- 联接到所述触觉传感器装置(5、7、8、9)的控制装置(6),其中,所述控制装置(6)适于基于采样得到的纵向轮廓(LP)来确定所述样品容器(2)是被帽(3)封闭还是未被帽封闭。
2.根据权利要求1所述的夹持装置(1、1’),其特征在于,
- 所述触觉传感器装置(5、7、8、9)包括多个触觉传感器,所述触觉传感器沿着所述指状件(4)中的至少一个纵向地布置以对所述纵向轮廓(LP)进行采样。
3.根据权利要求1或2所述的夹持装置(1、1’),其特征在于,
- 如果所述控制装置(6)确定所述样品容器(2)被帽(3)封闭,则所述控制装置(6)还适于确定所述帽类型,特别是基于采样得到的纵向轮廓(LP)。
4.根据权利要求1或2所述的夹持装置(1、1’),其特征在于,
- 所述帽(3)包括待插入到所述样品容器(2)中的基部部分(3b),
- 其中,如果所述控制装置(6)确定所述样品容器(2)被帽(3)封闭,则所述控制装置(6)还适于基于采样得到的纵向轮廓(LP)来确定所述基部部分(3b)被插入到所述样品容器(2)中的程度。
5.根据权利要求1或2所述的夹持装置(1、1’),其特征在于,
- 每个触觉传感器包括:
- 轴向可移动销,以及
- 位移测量单元,其适于测量所述轴向可移动销的轴向位移。
6.根据权利要求1或2所述的夹持装置(1、1’),其特征在于,
- 所述触觉传感器是弹簧加载的。
7.根据权利要求2所述的夹持装置(1、1’),其特征在于,
- 所述多个触觉传感器沿着所述多个指状件(4)中的每一个纵向地布置。
8.根据权利要求1或2所述的夹持装置(1、1’),其特征在于,
- 指状件(4)的数量是两个。
9.根据权利要求1或2所述的夹持装置(1、1’),其特征在于,
- 所述夹持装置(1、1’)还包括:
- 颜色传感器(10),其适于感测如果有的话所夹持的帽(3)的颜色。
10.一种分析仪器(100),其包括:
- 根据权利要求1-9中任一项所述的夹持装置(1、1’)。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19178494.1A EP3748364B1 (en) | 2019-06-05 | 2019-06-05 | Gripping device for handling sample containers and analytical instrument |
EP19178494.1 | 2019-06-05 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112044485A CN112044485A (zh) | 2020-12-08 |
CN112044485B true CN112044485B (zh) | 2022-08-23 |
Family
ID=66793774
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010506444.8A Active CN112044485B (zh) | 2019-06-05 | 2020-06-05 | 用于处理样品容器的夹持装置和分析仪器 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11559907B2 (zh) |
EP (1) | EP3748364B1 (zh) |
JP (1) | JP7034210B2 (zh) |
CN (1) | CN112044485B (zh) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3888704A1 (en) * | 2020-04-03 | 2021-10-06 | Gibotech A/S | System for opening and/or closing a lid of a container containing medical equipment in a sterile processing department |
CN112556426B (zh) * | 2020-12-15 | 2022-08-23 | 江西科技学院 | 一种具有气相淬火功能的烧结炉及其淬火工艺 |
CN112974261B (zh) * | 2021-02-04 | 2022-10-14 | 上海中通吉网络技术有限公司 | 自动分拣设备和系统 |
EP4279228A1 (en) * | 2022-05-20 | 2023-11-22 | F. Hoffmann-La Roche AG | Gripping apparatus for gripping sample container |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3444616A1 (en) * | 2017-08-18 | 2019-02-20 | Roche Diagnostics GmbH | Method for determining, whether an opening of a laboratory sample container is open or closed, laboratory device and laboratory automation system |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AUPP058197A0 (en) * | 1997-11-27 | 1997-12-18 | A.I. Scientific Pty Ltd | Pathology sample tube distributor |
EP0995555A1 (de) * | 1998-10-15 | 2000-04-26 | Tecan AG | Robotarm |
US6203760B1 (en) * | 1999-02-12 | 2001-03-20 | Perkinelmer Instruments Llc | Autosampler having gripper with shape memory metal actuator |
US6435582B1 (en) * | 2000-07-31 | 2002-08-20 | Motoman, Inc. | Object manipulator and manipulation system |
JP3715266B2 (ja) * | 2002-08-30 | 2005-11-09 | 株式会社アイディエス | 検体容器チャック機構 |
US7694583B2 (en) * | 2005-05-05 | 2010-04-13 | Control Gaging, Inc. | Gripper gage assembly |
WO2008067846A1 (en) * | 2006-12-04 | 2008-06-12 | Inpeco Ip Ltd. | Container gripper provided with a position sensor |
KR101479232B1 (ko) * | 2008-05-13 | 2015-01-06 | 삼성전자 주식회사 | 로봇과 로봇 핸드, 로봇 핸드의 제어 방법 |
EP2490866B1 (en) * | 2009-10-20 | 2021-08-25 | Nexus Biosystems, Inc. | Gripper apparatus and method for containers of different sizes |
WO2013023130A1 (en) * | 2011-08-11 | 2013-02-14 | Siemens Healthcare Diagnostics Inc. | Methods and apparatus to calibrate an orientation between a robot gripper and a camera |
WO2014025817A1 (en) * | 2012-08-06 | 2014-02-13 | Beckman Coulter, Inc. | Sensing specimen gripper |
WO2016014429A1 (en) * | 2014-07-21 | 2016-01-28 | Beckman Coulter, Inc. | Methods and systems for tube inspection and liquid level detection |
EP3693139A1 (en) * | 2019-02-11 | 2020-08-12 | Université d'Aix-Marseille | Optical tactile sensor |
-
2019
- 2019-06-05 EP EP19178494.1A patent/EP3748364B1/en active Active
-
2020
- 2020-05-28 JP JP2020093680A patent/JP7034210B2/ja active Active
- 2020-05-28 US US16/885,719 patent/US11559907B2/en active Active
- 2020-06-05 CN CN202010506444.8A patent/CN112044485B/zh active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3444616A1 (en) * | 2017-08-18 | 2019-02-20 | Roche Diagnostics GmbH | Method for determining, whether an opening of a laboratory sample container is open or closed, laboratory device and laboratory automation system |
Also Published As
Publication number | Publication date |
---|---|
CN112044485A (zh) | 2020-12-08 |
EP3748364B1 (en) | 2023-05-24 |
US11559907B2 (en) | 2023-01-24 |
EP3748364A1 (en) | 2020-12-09 |
US20200384655A1 (en) | 2020-12-10 |
JP2020201251A (ja) | 2020-12-17 |
JP7034210B2 (ja) | 2022-03-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN112044485B (zh) | 用于处理样品容器的夹持装置和分析仪器 | |
US10197586B2 (en) | Method of determining a handover position and laboratory automation system | |
US11204361B2 (en) | Laboratory automation system | |
CN107525939B (zh) | 设定移交位置的方法和实验室自动化系统 | |
US9902572B2 (en) | Method of configuring a laboratory automation system, laboratory sample distribution system and laboratory automation system | |
EP3456415A1 (en) | Sample container carrier, laboratory sample distribution system and laboratory automation system | |
KR20180135828A (ko) | 검체 처리 장치 및 검체 처리 방법 | |
US7128874B2 (en) | Method and system for picking and placing vessels | |
US20140036276A1 (en) | Sensing specimen gripper | |
EP2620776A1 (en) | Sample Rack Handling Unit | |
KR20110019380A (ko) | 생체 시료 홀더를 파지하기에 적당한 클램프, 생체 시료 홀더 및 적당한 클램프로 구성되는 조립체, 그리고 처리 및/또는 분석 장치 | |
CN104977062B (zh) | 用于液体的自动化分类的方法和设备 | |
US20220107333A1 (en) | Sample analysis system and sample analysis method | |
US9372080B2 (en) | Adjustment system for a transfer system in an in-vitro diagnostics system | |
JP3244194B2 (ja) | 引張試験機 | |
US20210278425A1 (en) | Centering unit for diagnostic laboratory transporting compartment | |
EP0813086B1 (en) | Method and apparatus for analyzing blood samples | |
JP7026109B2 (ja) | 試料を分析検査するためのテスト要素分析システム | |
CN111771115B (zh) | 用于材料的非破坏性表征的按扣装置 | |
US20020131753A1 (en) | Optical fiber holder | |
JP2008064554A (ja) | 検体容器用アダプタ、及び検体容器用ラック | |
WO2021084823A1 (ja) | 検体容器把持装置及び検体搬送装置、接続装置 | |
WO2015198707A1 (ja) | 検体検査自動化システムおよび検体チェックモジュール | |
EP4279228A1 (en) | Gripping apparatus for gripping sample container | |
US11745186B2 (en) | Retention clip and sample rack for a sample analysis system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |