JP2002533200A - Automated loading device to centrifuge - Google Patents

Abstract

SUMMARY OF THE INVENTION A method and apparatus is provided for an automatic mounting device for a centrifuge, wherein the tubes are routed to the centrifuge via an automatic routing system. The automatic mounting device has a stage area for a tube adapter and a two-function tool with a tube gripper and an adapter gripper, the tube gripper defining a tube route between the transfer device and the centrifuge adapter, and an adapter gripper. Transfers the tube adapter from the centrifuge and the tube adapter to the centrifuge.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001] The present invention relates to an automatic device for entry into a centrifuge using a robot and an intermediate stage area for entry and exit of test tube carriers. More specifically, the present invention brings the sample to be centrifuged close to the centrifuge, arranges the sample in the intermediate stage area in a balanced manner on the sample carrier of the centrifuge,
The present invention relates to a robotic device, also called a station, capable of transporting test tubes from a device that takes a centrifuge and transfers processed samples to their original location or to a third location or device.

BACKGROUND OF THE INVENTION Centrifugation is an essential step in processing blood samples in clinical test equipment. Most recent clinical trials require that serum or plasma be separated from red blood cells and other blood debris before blood can be assayed. For the most part, this can be an analysis in some work, especially when only small samples
This is accomplished by centrifugation, although type or filtration-type techniques are used. However, centrifugation is often an indispensable preparation step when processing and testing blood samples in clinical test equipment.

In clinical trials for large-volume testing, laboratory automation has become the standard.
Automation in large lab situations is moving to assembly-line type work. The sample is introduced into an automatic sample routing device. For most automatic devices, a conveyor belt device is the preferred option. The device is a test tube,
Move to a predetermined location based on the information on the order form associated with the sample sent to the control mechanism of the device. At a given stop, the sample tube is placed in the holding pattern, aliquots are removed, and the aliquots are tested for analysis with the order form. See, for example, U.S. Patent No. 5,623,415, all individually incorporated.

[0004] Although some automatic routing devices are now commercially available or functioning in private labs, their throughput is often not faster than the preparation and / or loading steps. Centrifugation circulates a load of tubes, ie, puts them in a basket of a centrifuge, spins down the blood sample, and removes the treated tubes 7-1.
It takes 0 minutes. Almost but not all sample preparation steps involving centrifugation are:
This is now done before placing the tube on the automatic routing device. In that regard, if centrifugation is required, it is manually taken off-line into the centrifuge, and then the centrifuged sample tube is placed on the routing device. Manual labor requires staff, requires additional human handling of the tubes, and requires a decision to be made on which carriers should be placed on which carriers to achieve a balanced load in the centrifuge. . Manual movements have limited speed and are more expensive than efficient automated robotic devices.

Some attempts have been made to automate the centrifugation process. One device is sold by Coulter®, Miami, Florida, USA. This device uses a four-stage device to prepare the sample. Put the tubes in the rack of the inlet module, move the rack to the barcode reader by conveyor, then move the rack to the centrifuge module, which uses the robotic arm to remove the tubes requiring centrifugation. Remove from the rack, then place the tubes directly into the centrifuge basket of the centrifuge, return the tubes directly to the rack on the conveyor, and then route the rack to other processing equipment before proceeding to the inspection station. To advance. One slow step in this operation is the centrifuging in and out operation. The robot entry / exit operation remains inactive during the spin cycle of the centrifuge, i.e., during the spin cycle, the tube cannot be inserted / extracted, since the robot entry / exit operation transfers the tube to the transport rack. This is because it moves between the centrifuge tube adapter. What is needed is a more efficient device that minimizes the time lost to the overall work caused by the wait required for the centrifuge spin cycle to be completed. The ability to interrupt certain tasks, i.e., tasks that must be performed in any case, into this downtime can greatly increase overall work efficiency. The present invention provides such a solution.

SUMMARY OF THE INVENTION In one aspect, the present invention provides for the use of a device having a processing station with a tube collection device or a transport device and a fault-tolerant centrifuge interposed therebetween to provide a sample with at least one fault-tolerant centrifuge. The process station comprises: a) a stage area for a tube adapter compatible with a centrifuge; b) i) recognizing tubes of different heights and diameters on a tube collection device or a transport device. And a tube gripper capable of adapting and fitting the tube, and for moving the tube between a tube collecting or conveying device and a centrifuge adapter in the stage area; and ii) centrifuging the adapter back into the centrifuge. A bi-functional tool having an adapter gripper that can be transported from the machine, the method comprising: a) by automatic control; Or identifying the height and diameter of the tube on the transport device, (2) selecting a tube with a preset height and diameter, and (3) grabbing the selected tube and removing it from the collection device or transport device (4) placing the tubes in the stage area adapter so that the weight distribution between the paired adapters is within the fault tolerance limits of the centrifuge as the centrifuge circulates; (6) Remove the adapter from the centrifuge into the stage area after the spin cycle and (7) Disconnect the circulated tube And placing the tube in a tube collection device or transport device.

During the spin cycle of the centrifuge, it is preferable to carry out the work of taking in and taking out the adapter. The invention, in a second aspect, relates to a robotic device for automating the processing of a sample by a fault-tolerant centrifuge, comprising: a) a tube collecting device or a transport device interfaced with the centrifuge; b) A processing station interposed between the tube collection or transport device and the at least one fault tolerant centrifuge and interfaced with the centrifuge; c) a fault tolerant centrifuge, the stations comprising: i) a centrifuge Ii) (a) (1) Identify the height and diameter of the tube on the tube collection or transport device,
And (2) selecting a tube with only a preset height and diameter, (3) placing the tube in a balanced manner in a paired adapter, and (4) placing the tube in a tube collection device. Or a tube gripper that advances the path between the transport device and the centrifuge adapter in the stage area or vice versa; (b) an adapter gripper that can transport the adapter to and from the centrifuge; (c) tube collection Operation of the device or transport device, placement of the adapter in the tube in a balanced manner, transport of the adapter to or from the centrifuge following the circulation of the centrifuge and removal of the treated tube from the adapter A two-function tool having electrical control means for continuously controlling the operation of the tool.

DETAILED DESCRIPTION OF THE INVENTION The invention, in its broadest aspect, provides an apparatus that can increase the throughput of sample tubes that must be matched for further processing. Grasp the tubes, organize them organically and place them in the carrier in the preferred manner, transfer the carrier to the workstation or device, return the carrier to the intermediate area, and return to the original or third operating site Unload tube. In certain preferred operations of this type, the device is used to grab a medical sample tube from the conveyor line, place it on the adapter of the centrifuge, balance the paired adapter, and remove the adapter. Convey from the intermediate area to the centrifuge or from the centrifuge to the intermediate area and return the tubing to the conveyor line. Filling and unloading the adapter during the spin cycle of the centrifuge provides a substantially time-saving operation.

[0009] The basic operation of the station is to load the tubes from the automated conveyor into the tube adapter in a balanced manner, and then load the adapter into the centrifuge.
After centrifugation, remove the adapter from the centrifuge and return the individual tubes to the line. Unless otherwise stated, a PC (586/90) was used to control the operation of this device. The code to control the robot was provided by Yamaha Robotics. The higher level operating system is Windows NT 4.0.

A preferred automated sample tube transporter is that disclosed in US Pat. No. 5,623,415. All specific operations described below are performed with reference to the apparatus disclosed in that patent. However, this is only an exemplary device. The present invention can be used with any automated device, or can be used in a stand-alone mode of operation, ie, the tubes are submitted by a static or quasi-static device to perform the necessary centrifugation on the sample tubes.

[0011] The robot arm tube / adapter transfer device is manufactured by Yamaha Motor Co., Ltd. of Broomall.
A commercially available three-axis robot assembly as described in PA 19008-0956, published in February 1995, using commercially available parts from Yamaha Robotics. All the descriptions of the XYZ operation below refer to using this three-axis robot assembly. The relevant model numbers used to make this assembly are Model # MSA-950, Model # LSHA-450 and M
model # LSAV-450. The specifications for the "XYZ" configuration are: X = 1050mm Z = 450mm Y = 450mm.

The Y-axis payload is 7 kg. The tube cycle time was set at 5 seconds. An example of a fault-tolerant centrifuge is located in California, USA
AccelSpin® centrifuge and AS-3000 rotor sold by Spinco Business Center of Beckman Instruments, Inc., Palo Alto.
This device has 10 grams of fault tolerance between paired adapters.

Overview of Station Operating Requirements A particular embodiment of the present invention is an automated centrifuge station having the following components: a) a tube router ('interface gate'), where the station is a lab Allow individual sample tubes to be collected from the entire transport. After centrifugation, the gate can return the tubes to the transport device for further processing. b) Tube 'adapter', each capable of holding 16 tubes (4 rows and 4 rows). c) A centrifuge and four tube adapters can be held at 90 ° intervals. d) A robot arm that can: i) Move the tube between the interface gate and the tube adapter. ii) Move the tube adapter in and out of the centrifuge.

[Robot Tube and Adapter Device] The dual function tool has a tube gripper and an adapter gripper on separate vertical axes. When one gripper is active, it is lowered, the other gripper is raised to the inactive position, always one up and the other down. Each gripper has built-in grab / release controls, and each set of controls operates independently.

The preferred tube gripper is a two-finger device, with a mandrel located between and above the two finger-drawn cavities. This mandrel is used to detect tube height. The tube gripper moves so that the fingers are located on both sides of the tube, and the mandrel is above the tube and projects into the cavity described by the fingers. Thereafter, the tool lowers the gripper and the mandrel is moved vertically in contact with the top of the tube. In communication with the sensor in the sensor housing of the mandrel, it detects whether the tube is high, within a predetermined receiving range, or short. If the height of the tube is within the range of the preset receiving height, the fingers are actuated and closed to grasp the tube, which detects the diameter of the tube. Thereafter, the acceptable tube is lifted from the holder and the tool is moved toward a position above the adapter to make a pair with one or the other of the paired adapters based on the tube parameters gripped by the gripper. It is arranged so that the load between the adapters can be balanced. When a tube is unacceptable, without grasping it, the tool retracts and goes looking for another tube.

[0016] The adapter gripper of the dual function tool is designed to lift and move the adapter to grip the adapter in such a way that it can move back and forth between the intermediate area and the rotor spindle of the centrifuge. This can be achieved by a number of means. The universal adapter here is provided with a set of wings, which extend vertically above the top of the tube holder with a rectangular hole,
The rectangular projection of the arm of the adapter gripper matches this hole. The gripper arm moves to the center position of the wing, the holes and protrusions are aligned, and the arm moves out to insert the arm protrusions into the holes in the wing. By this means the adapter is grasped and operated. The adapter operating means (locking device or gripper) preferably includes an adapter restoring means for returning the inclination at the end of the spin cycle. The restoring means can take various shapes and modes, and needs to correspond to the shape of the device used to fix the adapter to the robot hand and the shape of the adapter. The preferred restoration means disclosed herein require two mechanisms, either of which can be used together or independently. In one iteration, the locking device has a set of equal length fingers that extend from the bottom on either side of the gripper hand. In normal gripper operation, the arm is in an "open" position, i.e., centered by the axis of the gripper, and a locking mechanism can be inserted inside the wing of the adapter to expand and lock to the wing. In this normal or default position, when the robot moves to acquire an adapter after completing a spin cycle,
If there is a slanted adapter, these sets of fingers or "overhanging" struts will contact one upper end of the slanted adapter before the other comes in contact, and it will continue to descend to hold the adapter. Let it recover. A second method of restoring a tilted adapter has also been developed. The adapter gripper does not stay in the default mode of "open", but instead enters "closed" mode, the arm descends and one of the hands at the bottom of the gripper overhanging post touches the top of the adapter Then continue to lower while pushing the adapter to level or essentially level the adapter. At this point, the gripper will lift slightly (if necessary) to the default "open" mode, fully inserted into the adapter and then to the "closed" mode,
Thus, it is programmed to lock onto the wings and grip the adapter.

Tube Size Handling Requirements In a preferred embodiment, the tube handling device must be able to handle tubes from 75 mm to 100 mm high. The diameter of the tube also varies from 13 mm to 16 mm. When properly adapted, this device is designed to handle tubes of all heights and diameters that can be processed with a given size centrifuge. A universal adapter was designed that could hold tubes ranging in height from 75 mm to 100 mm. The essence of this universal adapter is that all tube seats are at the same level, leaving the top of the tube at a different height. This is because the preferred mode of operation is to grip each processable tube at the same height from the bottom of the tube, regardless of the height of the tube. This is, however, one example of a way to program the tube size handling process.

[Balance of Weight] The centrifuge usually holds four adapters at 90 ° intervals. Due to the high centrifugal force,
Paired adapters loaded 180 ° apart in the centrifuge must be approximately the same weight or the centrifuge will be damaged. In the field of centrifuges,
The maximum unbalance allowed for a pair of adapters is up to 100 grams. A 10 gram tolerant device is currently under development at Beckman Instruments. Assemble a pair of adapters simultaneously to accommodate unbalanced requirements while maintaining maximum throughput. That is, the first arriving tube is placed on adapter 1, the second tube is placed on adapter 2, the third tube is placed on the lighter adapter, and the fourth tube is also on the lighter one. To the adapter. The weight of the tube can be determined from the height and diameter of the tube, and many are detected by the sensor of the gripper and fed back to the control software of the device. This determination is made based on the average gross weight of the tube of that diameter, the number programmed in the software, and the correlation between tube height and diameter. Thus, even if the partial load must be centrifuged, the opposing adapter will be the same weight and within the fault limit of the centrifuge. When adapter 1 and adapter 2 are satisfied, the processing is repeated for adapter 3 and adapter 4. This is the preferred algorithm. Alternatively, a third adapter or tube holding device may be used to serve as an intermediate storage, where the tube is reciprocated between three adapters (or two adapters and holders) to form a pair of adapters. Operate after balancing. In this operation, the tube is removed from the heavier adapter and transferred to a lighter adapter or to an intermediate holder. To balance, balance can be achieved by removing the appropriately sized tube from the intermediate holder and placing it in the appropriate one of the paired adapters. Although placing the next tube on a lighter adapter is a preferred operation, such operation is not an essential feature of the present invention.

Throughput The goals of the throughput are as follows: When fully loaded and centrifuged, 64 tubes are processed (ie 4 tubes).
Each of the two adapters holds 16 tubes. ). The time for centrifugation is about 8 minutes. It is acceptable to unload the processed adapter and take one minute to replace it with a full, unprocessed adapter. This gives 9
Minutes of centrifuge cycle time, or 6 + 2/3 cycles / hour. This means that the maximum capacity of the station is 426 tubes / hour (64 tubes / cycle × 6 + 2/3 cycles / hour). The rated throughput is 450 tubes / hour (load / unload tubes to adapter). This is the target throughput. It should be recognized that this is not a limitation of the present invention. As long as the paired adapters are balanced, it is also assumed that they operate at a partial capacity. For example, a single pair of adapters can be used, and the pair need not be completely filled with tubing. When installed in a medical lab, it is often necessary to perform less than the full volume spin cycle at the end of the day.

[Communication with Factory Host] The device is under the control of a factory control package provided by Yamaha Robotics, called the factory host. The station must be able to accept control commands (such as startup or shutdown), report status (such as a barcode reader failure), and report the barcode ID of the tube when the tube leaves the station. The list of supported factory host instructions includes:

[Error Detection and Recovery] The station must respond safely to various operating conditions. These include:-broken pipes-tube jams due to unexpected obstructions-errors reported from automated centrifuge controls-errors reported from robotic controls-barcodes when the pipe leaves the station No reading ・ Safety device activation by operator, emergency stop button, etc.

[Handling of Partial Load] Since the work from the transfer device arrives irregularly, it cannot be guaranteed that the 64 tubes are completely loaded on time. The operator (or waiting for a built-in 'timeout') must provide a way to force load and centrifuge at partial load. When processed with a partial load, there are not enough empty packs to remove a previously processed full load. This is because removing newly arrived tubes creates an empty pack that is used to hold and transport previously processed tubes. Handling a partial load means that the method can require empty packs to facilitate removal of previously processed tubes on time.

[Tracking requirements between pipe and adapter] The station must be able to recover elegantly and quickly from interruption of processing (power failure, jam of pipe, operation of emergency stop, etc.). The location of all passing adapters and tubes must be tracked.
Tracking information must be frequently written to non-volatile storage (such as a hard disk) to ensure quick and reliable recovery.

Automatic Calibration The robot portion of the station must know where to place the tubes and adapters. This means that various positions must be 'teached' to the station. If the station requires maintenance and a portion of the station has been removed, it is highly desirable that the station be able to continue operation without having to 're-teach' the location. To achieve this, it is necessary to incorporate an auto-calibration package. This package includes software to calculate new positions based on sensor feedback, as well as sensors to detect small placement changes in robot position.

Station Manual Control For maintenance and manual error recovery by the operator, the station must be provided with a manual control method for the following equipment parts: • Robot • Centrifuge • Grippers • Interface gates • All other output bits, bits controlling safety devices, etc. Additionally, for diagnostic and setup purposes, the station must be able to display sensor values.

User Friendly Initialization, Shutdown, and Restart Sequence The startup, shutdown and restart (after error) of the station must be as simple and error free as possible. This involves requiring an operator screen that is easy to follow and a control panel that is easy to use.

Simple Installation Robot stations typically have precision machinery and accurate mounting and point teaching. Since the device will be installed in a hospital and operated by personnel unfamiliar with robots, the installation must be as automatic as possible. Of particular note is the requirement for accurate teaching points.

[Operating Mode] [Operating Mode--Stable Operation] [Handling of Short Tubes Using “Universal Adapter”] At present, a universal adapter (tube is held in a centrifuge) capable of accommodating any blood sample tube On the device, various other names, such as baskets, are available.) This section details the cycle steps required when using a universal adapter. This is the preferred approach using a universal adapter. The invention is not limited to this universal adapter technology. It is merely an illustration of the present invention.

The station has 12 adapter slots in the table (3 rows of 4 slots). The four slots (one row) have adapters containing tubes waiting for processing. Four slots (one row) have unloaded adapters (empty adapters). The four slots (one row) are empty ('no adapter in the slot') and the processed adapter is ready to be received from the centrifuge. Four adapters containing the treated tubes are arranged in the centrifuge. Generally, on a three row intermediate platform, one row is emptied, one row has a filled adapter from the conveyor line, and the remaining rows are centrifuged to return the tubes to an automated sample delivery device. It is preferable to work as a row of containing adapters.

The steady state operation of the station starts from the initial state of the station as described below: On the station table, there are four tube adapters, "Processing A, B
, C, and D ". The four adapters are full loaded with 64 tubes (16 tubes in one adapter) and are waiting to be centrifuged. A table holding these adapters Slot is called the “Processing Adapter” slot. Within the centrifuge, there are four tube adapters, called “Processed A, B, C, and D.” The adapter is full and contains 64 tubes. (16 per adapter)
Pipe), waiting to be returned to the transport line. There are four empty tube adapters on the station table. These are referred to as "empty adapter A", "empty adapter B", empty adapter "C", and empty adapter "D", and the slot of the table holding these adapters is called "empty adapter A". This is referred to as an "adapter" slot. Four adapter slots are empty on the table. These are "no adapter" slots. The normal steady state cycle is as follows:

[Adapter Loading Cycle, Universal Adapter] The door of the centrifuge is automatically opened. -The robot lowers the adapter tool so that the adapter finger can be used (lower of the adapter tool). • The robot moves to the centrifuge and removes one of the "processed" adapters, creating a "no adapter" slot in the centrifuge. • The "processed" adapter is placed in the "no adapter" slot of the machine table. • The robot moves the "working" adapter to the "no adapter" slot in the centrifuge and creates a "no adapter" slot on the table (during each cycle, four empty rows in a different row of the table) The four slots are used to receive processed adapters from the centrifuge in the next cycle.) Rotate the centrifuge 180 ° to expose the next “processed” adapter to the door opening. -Repeat steps 1 to 5 so that the centrifuge contains four adapters waiting to be processed and the table has four adapters full of tubes waiting to be returned to the line To -The centrifuge is commanded to start spinning. Spin for 8 minutes and then stop automatically.

[Tube Loading Cycle, Universal Adapter] The robot lowers the pipe tool so that the pipe finger can be used (when the pipe tool is lowered, the adapter tool is raised). The tube arrives at the interface gate from the conveyor (in a pack). Using the sensors, the robot knows whether the tube is long or short, then grabs the tube and places it in an available position on the "empty adapter A". With the tube removed, an empty pack is created at the interface gate. Noting whether the tube is 'long' or 'short', the station controller keeps track of the weight determination of 'Adapter A' and its associated 'Adapter B'. The gripper sensor determines when the tube is 13 mm or 16 mm when closing at the tube, which makes the weight determination more accurate. The robot moves to one of the "processed" adapters ("processed adapter A") and removes the processed tube. The tubing is placed in an empty pack at the interface gate, the barcode is read and reported to the factory host, and the tubing is returned to the transport. Typically, it takes about 8 hours to pick up a new tube and replace it with a treated tube.
Seconds (ie, "put in" 7 + 1/2 tubes / minute and "out" 7 + 1/2 tubes / minute).

Another tube arrives at the interface gate at the transport device. The robot grabs the tube. The robot uses the running weight determination of 'Adapter A' and its associated 'Adapter B' to place the tube on the lighter of the set of two adapters. This consequently alternates between the two adapters on average, but it is also possible that two tubes in a row are located on the same adapter. The allowable weight imbalance is 10 grams (100 grams in an auto-balanced centrifuge), and the unbalance between long and short tubes is only 9 grams, so this can be achieved when workpieces arrive continuously. The use of an algorithm always results in a full adapter that always satisfies the unbalanced specifications.

The robot retrieves another “processed” tube from “processed adapter A” or “processed adapter B”. The tubes are placed in empty packs at the interface gate. Steps 10-15 are repeated to fill four adapters, such as "empty adapter A" and "empty adapter B", with long and short "working" tubes. The name of the adapter is renamed, such as "Processing Adapter A" or "Processing Adapter B". Sixty-four "processed" tubes were returned to the line (from "processed adapter A", "processed adapter B", etc.). These adapters are now renamed "empty adapter A", "empty adapter B", "empty adapter C", and "empty adapter D".

Step 16 is repeated here to use “empty adapter A”, “empty adapter B”, etc. and “processed adapter C”, “processed adapter D”, etc. When the empty adapters are full, they are renamed as "Processing Adapter C", "Processing Adapter D", and so on. The tube transfer cycle detailed in steps 10-17 must be completed during the 8-minute centrifuge spin cycle. The device is ready to begin the next adapter loading cycle as described above.

[3.2 Operation Mode--Partial Load Using Long Tube] Even if the robot can maintain the load / unload at a speed of 7+ 管 tube / min, it will be at full rate from the main laboratory. There is no guarantee that the tube will arrive.
This means that the station may wait for more than 8 minutes to fill the "working" adapter or centrifuge the "working" adapter that is not full of tubes. are doing.

When the partial load must be centrifuged, the steady state operation described in section 3.1 needs to be modified. In particular, it is clear that in the case of a partial load, an empty pack is not created sufficiently, since it is the arrival of a new work that creates an empty pack used to remove the processed work. The device asks the factory host for an empty pack. So the cycle described in section 3.1 is modified as follows: When an empty pack arrives at the interface, the robot moves to one of the “processed” adapters and removes the processed tube. except. The tubes are placed in empty packs at the interface gate and returned to the transport device. Step 1 is repeated so that all processed tubes are returned to the transport device. The station does not unload the next batch of centrifuged adapters until all of the processed tubes from the previous batch have been returned to the line.

Operation Mode--Initialization Sequence During initialization from a cold start, the device responds to the following: Executes a user-defined routine. This allows you to 'hook' the custom initialization, for example turning the robot on and off if necessary to reset the robot. -The open / closed state of the gripper must be established with the gripper sensor. • If the gripper has a tube, the operator must manually remove it, following the instructions on the screen. -The gripper must be opened and ready to grab the first adapter or tube.・ The robot must return to its home position to establish the initial position. -The centrifuge must be homed to establish the initial position.

The device must establish the status of all adapter slots, both on the table and in the centrifuge. Within the centrifuge, move to the respective adapter position and then move the finger of the gripper to that position so that the jam detector is triggered if an adapter is present. Adapters present on the table are checked with optical sensors. -Once all adapter locations are known, an image of the inferred machine configuration is shown to the operator. If there is an error in the automatic configuration, the operator can enter corrections on the interactive display. • All packs that were at the interface gate to date are allowed to exit the device. -With the factory host issuing a sign-on status message, the device must 'sign on' to the factory control package and wait for a 'start-up' command from the factory host. Note that initialization includes homing the robot. In order to ensure safe operation, the order of the axes of the robot to be homed must be under the control of the user. For example, before moving the X or Y axis, first raise the Z axis (ie, first 'Z' home return)
Is often required.

Operation Mode--Restart Sequence Following recovery from an error, the device must be elegantly restored and resume operation with minimal operator intervention. The restart sequence is as follows: Execute a user defined routine. This allows you to 'hook' a custom restart, for example turning the robot on and off if necessary to reset the robot. -The open / closed state of the gripper must be established with the gripper sensor. • If the gripper has a tube, the operator must manually remove it, following the instructions on the screen. -The gripper must be opened and ready to grab the first adapter or tube. -If necessary, the robot must be homed to establish the initial position. -If necessary, the centrifuge must be homed to establish the initial position. The device must establish the status of all adapter slots, both on the table and in the centrifuge. This is performed by reading the recorded image of the adapter slot from the file on the disk repeatedly stored in the runtime so that an elegant restart can be performed.

Once all adapter locations are known, an image of the inferred machine configuration is shown to the operator. If there is an error in the automatic configuration, the operator can enter corrections on the interactive display. -The device must establish the condition of all tubes in the adapter, both on the frame and in the centrifuge. This is done by reading a recorded image of the tube configuration from a file on disk that is repeatedly stored in runtime to allow for an elegant restart. • All packs that were at the interface gate to date are allowed to exit the device. -The device must 'sign on' to the factory control package by the factory host issuing a "sign on" status message.

Mode of Operation--Shutdown Sequence At the end of a day's operation, the device must be gracefully shut down with minimal operator intervention. The shutdown sequence is as follows: The operator initiates the shutdown sequence by pressing the 'shutdown' button on the operator panel. -Execute a user-defined routine. This allows for a custom shutdown
The hook can be 'hooked', for example, turning on and off the power of the robot if necessary to reset the robot.

The device completes the centrifugation for all tubes in the centrifuge and for all tubes of the 'working' adapter. However, new work will not be accepted. If a new workpiece arrives, the tube is released immediately through the interface gate without being processed. The device requires an empty pack to return all remaining tubes to the line. After all tubes have been returned to the line, the device writes an image of the status of the adapter to disk to speed up the cold start the next day. -Move the robot to the 'storage' position to make it inactive. • Lock the centrifuge in the 'storage' position and deactivate it. -The factory host is sent an "inactive" message, after which it informs the factory software that the centrifuge device has become inactive. -A message is displayed to inform the operator that it is safe to turn off the device.

Tracking Requirements for Pipes and Adapters In order to facilitate an elegant restart sequence in case of error recovery or a power failure, the software of the device must track certain properties of the adapters and pipes. Then, the data is written to a non-volatile medium to maintain the data current. The tracking information required is: • You must know the contents of each adapter slot, both on the table and in the centrifuge. Slot categories include: The slot has a “working” adapter and is waiting for centrifugation. The slot has a "processed" adapter and is waiting to be returned to the line. The slot has an empty or partially filled adapter and is waiting to be filled with new work. -The adapter can be accommodated without the adapter in the slot.

B) The following information is added to each cavity of the adapter: The cavity has a long 13 mm diameter tube. -The cavity has a long 16mm diameter tube. The cavity has a short 13 mm diameter tube. -The cavity has a short 16mm diameter tube. -There are no tubes in the cavity. Tube type must be recorded to ensure that the equipment meets the weight imbalance requirements. During cold start and whenever the equipment resumes operation after opening the interlocked doors, the following actions should be taken to facilitate proper pipe tracking: • First connect the pipe to each adapter on the table. Is deployed, the robot moves sideways and performs a careful 'jam detection' in anticipation of abutting the wall of the adapter. If the device cannot detect a collision with the adapter wall, assume that the adapter has been moved and there is no adapter in the current adapter slot. This will generate an error message, urging the operator to re-initialize the station. -If the presence of the adapter is confirmed by the jam detection device, the 'existence' of the adapter is registered in the station database, and the robot confirms the presence of the adapter until the next door interlock interruption or the next power failure. You don't have to.

Automatic Calibration of Robot Points The device must be able to automatically learn the location of the various sites in the workcell as they move slightly out of alignment. Although point teaching is required during the initial installation of the machine, typical operators do not have the ability to re-teach robot points. A device based on sensors must be devised so that the robot can learn the following points, even if they move slightly from the factory installation position: the loading point of the centrifuge adapter; the pick-up point of the interface gate; Interface gate drop pointsPoints for each of the frame's adapter slots

A sensor that is expected to be used is a jam detector. With a jam, the robot can 'feel' the path to the adapter slot, moving slightly to see if the jam has cleared again. Also, the location of the cavity within the adapter must be automatically known. This is probably known mathematically from the origin of the adapter in each slot. If the points move too much and the auto-calibration fails, the instrument software will provide a way to move the robot manually and will probably use a robot teaching pendant.

[Operator Interface] The operator interface physically includes a color CRT screen, a custom control panel having some buttons and light sources, and a stack light source. Most of the detailed error messages and more complex interactions (such as returning the robot home) are displayed by the CRT. The purpose of the control panel is to provide a simple, "non-threatening" interface for simple operator interaction, such as "start" and "pause". The stacked light source provides a quick visual indicator of proper or improper operation that is easily visible at a distance.

6.1 Operator Interface--Control Panel The control panel consists of the following buttons, each of which has a computer controlled light source attached.・ Key switch for turning on / off the bypass of the door interlock ・ Moving power ON button (lights up as soon as power is supplied) ・ Moving power OFF button ・ Main power ON / OFF key switch ・ Emergency stop button ( Lights when button is pressed, ie lights up during activity)

To start operation of the machine, the operator sets the 'Main power' key switch to 'O'
Switch to N 'position. The computer and the logic circuit receive power, and the computer starts up. When control is transferred to the computer, the computer checks several devices and instructs the operator to press the 'moving power' button to power the centrifuge, interface gate, and robot. Next, the computer starts blinking the 'Initialize' button (using the mouse) on the CRT.
When the operator presses the "Initialize" button, the device performs the initialization sequence detailed in section 3.3. After the initialization is completed, the initialization light turns off,
The "Start" button on the CRT starts blinking. Pressing the "start button" causes the machine to begin normal operation as described in section 3.0. The light source of the "Start" button stops blinking and lights up and stabilizes.

At any time, the operator can press the “Pause” button on the CRT to stop the automatic program sequence. The “start” light source turns off and the “pause” light source starts blinking. In the “pause” mode, C
A display appears on the RT and the control program can be terminated. Here, if the operator selects the end of the program, the "manual mode" can be entered, and the machine can be manually controlled on the CRT. This can be used, for example, to release a broken tube from a gripper or to move a robot to a position accessible to an operator. Once the machine has been placed in manual mode, the machine must be "initialized" again by the control panel. However, if the automatic mode was not interrupted, the "pause" can be canceled by pressing the "start" button. Thus, the “pause” light source is turned off and the “start” light source is turned on.

When the shift is completed, the “Shutdown” button on the CRT can be pressed. This tells the machine that work in progress should be completed, and Section 3.
The shutdown in the order described in 5 is started. The “shutdown” flashes until the shutdown is completed, and when the “shutdown” is completed, the “shutdown” light source is stably turned on and the “start” light source is turned off. When shutdown is complete,
The mobile power and the main computer power can be safely turned off or restarted by pressing the "Initialize" button.

If the operator wants to immediately load a part of the tube to be processed, the CRT
You can press the "partial load" button above. Instead of waiting for the adapter to fill, the device loads the adapter as soon as possible. If the device has separate 'long' and 'short' adapters, two “for each tube type”
A "partial load" button is provided. To stop the robot and centrifuge in an emergency, press the 'emergency stop' button.
The power to the robot and the centrifuge is turned off, but the computer continues to operate,
Give the operator an instruction to restore.

[Operator Interface-CRT Display Device] [Operator Interface-CRT Display Device-Main Runtime Screen] When the machine is operated, the adapter slots are sequentially processed, "processed" and "processed".
It continues to change to “empty”, “there is no adapter in this slot.” To help the operator understand the condition of the machine, the CRT shows a schematic of the adapter slot and the status of the slot is color coded. "Processing"-green (flashing or bright green until full, then persistently lit or light green) "processed"-red-"empty"-white No adapter "-black

In order to further specify the adapter, the following characters are displayed on the screen image inside the color area. -"I"-processing-"P"-processed-"E"-empty-"N"-no adapter in this slot The runtime screen has a message area to inform the operator of relevant information Used for For example, after power is supplied to the machine, the message area displays "Press the initialization button on the CRT to initialize the machine." This assists the operator through the machine's scheduled sequence from startup to shutdown. The runtime screen also has an error message area. This area is reserved for error recovery information. A list of errors is provided in Section 9.

The runtime screen is provided with a status display area, and continuously displays the following information. -Communication status with the factory host-connection or disconnection-Whether or not a 'startup' message from the factory host has been received-Station ID indicated to the factory host-Version level of the software being executed-Logical status of the interface gate: Waiting for product Waiting for release of accumulator tube by robot's acknowledgment Product being released from accumulator Waiting for release of one tube read by robot command ・ Logical state of robot: Waiting for product Processing of new tube Line of old tube While loading or unloading the adapter in the centrifuge When the operator presses the 'Configure' button on the runtime screen, the operator can access the configuration screen. When the operator presses the 'pause' button on the CRT, a 'manual mode' button appears on the runtime screen. Pressing the 'Manual Mode' button now causes the device to enter a mode where the components can be individually controlled by the operator. Section 6
. See 2.3.

[Operator Interface--CRT Display--Configuration Screen] There are various parameters that affect the operation of the machine, which can be adjusted by the operator. These parameters are displayed on the configuration screen. To access this screen, press the 'Configure' button on the runtime screen. As an option, the operator enters a password and then switches to the configuration screen.

The following parameters can be accessed and changed: • When the adapter is not fully filled, the wait time for the centrifuge to wait for more tubes after it is ready to start the next cycle. After this time, the 'partial load' cycle starts.・ Robot speed, specified as a percentage. -I / O signal addresses and their corresponding names. Centrifuge spin time and G intensity, acceleration and deceleration times. Taught points and their world coordinates. A height offset to 'approach' the taught point. 'Height offset' is the distance above the taught point that the robot must move to avoid interfering with the gripper tube. Station ID to be notified to the factory host. • Whether or not to display the factory host character string dialog to the operator in the factory host message window on the screen. -Whether to allow machine operation when the software of the factory host is not running at the same time.

[Operator Interface--CRT Display Device--Manual Control Screen] The manual control screen allows an operator to access the apparatus in a manual mode. This mode is entered by pressing the "manual mode" button on the runtime screen, but only when the device is in the "pause" state (i.e., the operator has pressed the "pause" button on the CRT). Is valid).

In manual mode, the following can be controlled by pressing buttons on the manual mode screen: • Robot • Centrifuge door • Centrifuge rotor position • Gripper pneumatic piping (open / close) • Interface All output bits, including those that control the gates In manual mode, you can monitor the following in the manual mode screen: • Position of the robot on all axes of the physical unit • State of all I / O bits • Gripper sensor bits: jam detection, fully open, fully closed, 13mm closed, 16
mm close

Operator Interface—Stack Light Sources The colors and meanings of the stack light sources are as follows: White—power is being supplied to the station. Green-normal automatic operation. Red-device emergency. The station cannot operate continuously without operator intervention. If the red light source is on, the green light source switches off.・ Blue-Maintenance-Safety door lock disabled. The device operates with the door open without being locked. Note: As of 97/1/22, there is no signal that allows the operator to disable the safety door. This light source is included in case the 'maintenance mode' function is returned to specification.・ Yellow-The station needs attention, and it is necessary to remove the jam at the interface gate. However, the station can be operated for a while.

[7.0 Interface to Factory Host] The station communicates with the factory host via an RS232 serial line from the station controller. Communication is bidirectional. The list of supported commands is: • Start command • Pause • Continue • Shutdown • Device status reporting • Online / Offline • Barcode device off • Route acknowledgment record • Empty pack request For more protocol details According to factory host documentation (available from Yamaha).

[8.0 Security] [Security-Safety Door] The station has a safety door to prevent the operator from reaching the station. The door has an interlock switch and the station prevents operator access if it does not disable the automatic cycle. Whenever operation resumes after the interlocked door has been opened, the device performs the following actions to help track the proper tubes: • When the tubes are first placed in their respective adapters, the robot Moves sideways and performs a careful 'jam detection' in anticipation of coming into contact with the wall of the adapter. If the device cannot detect a collision with the adapter wall, assume that the adapter has been moved and there is no adapter in the current adapter slot. This will generate an error message, urging the operator to re-initialize the station. -If the presence of the adapter is confirmed by the jam detection device, the 'existence' of the adapter is registered in the station database, and the robot confirms the presence of the adapter until the next door interlock interruption or the next power failure. You don't have to.

[8.2 Emergency Stop] Emergency stop buttons (three places) are arranged on the main frame of the machine. The button does not light during normal operation. When pressed, the light source illuminates and within 2 seconds all power and stored energy (compressed air) is deactivated. The robot and the centrifuge stop operating. The computer is left powered on. To restart the device, the power is initially restored by pressing the 'mobile power ON' button. Prompt the operator to perform an initialization sequence on the CRT and perform a normal runtime sequence.

9.0 Error Recovery Software The station handles a wide range of error conditions. These conditions include: • tube overlap (via the 'jam detect' sensor) • jamming of the gripper with unexpected objects • power failure To facilitate recovery from errors, the station will maintain the latest non-volatile state of the machine state. Record on the hard disk. If recovery is required, a non-volatile state file is retrieved and used to facilitate an elegant restart with minimal operator intervention. The details of error recovery are as follows:

[9.1 Error: Tube Jam: Tube Does Not Enter 'Adapter Cavity'] When the tube does not enter the adapter cavity, a jam is detected by the jam sensor. In this case: the robot 'full climb' in the Z direction, reaching the 'Z' limit.・ The red stack light source lights up. -Instruct the operator to press 'Start' to restart the machine.・ Instruct the operator to remove the jam with a screen message. The operator manually removes the tube from the robot gripper and returns it to an empty pack on the transport device. -The machine resumes normal operation.

[9.2 Error: Adapter Jam: Adapter Does Not Enter 'Adapter Slot'] When the adapter does not enter the adapter slot, a jam is detected by the jam sensor. In this case: the robot 'full climb' in the Z direction, reaching the 'Z' limit.・ The red stack light source lights up. -Instruct the operator to press 'Start' to restart the machine.・ Instruct the operator to remove the jam with a screen message. The operator manually removes the adapter from the robot gripper and returns it to an empty slot in the frame as shown on the error recovery screen. -The machine resumes normal operation.

9.3 Error: Tube Jam: Tube Does Not Enter Pack During 'Reload' When a tube does not enter the pack during 'reload', a jam sensor detects a jam. In this case: the robot 'full climb' in the Z direction, reaching the 'Z' limit.・ The red stack light source lights up. -Instruct the operator to press 'Start' to restart the machine.・ Instruct the operator to remove the jam with a screen message. The operator manually removes the tube from the robot gripper and returns it to the empty pack at the interface gate. -The machine resumes normal operation.

[9.4 Error: Tube Barcode Unreadable When Returning Tube to Line] When the tube barcode is 'unreadable' when returning the tube to the line, the station: A 'unreadable' message is sent by laboratory personnel, if desired. -Release the tube and return to the transport device.

[9.5 Error: Problem with Sensor] When a problem is detected in the sensor, such as a stuck air cylinder, a screen is displayed to the operator. The sensor must be repaired before continuing the automatic operation. [Error: Error notification from robot] There are many errors specific to the robot being used. Such detected errors are indicated to the operator and the device enters a manual mode so that debugging can begin. To restart, the operator presses the 'autorun' button to release the device from manual mode and then follows the 'init' and 'start' instructions on the CRT.

[Error: Error Notification from Centrifuge] There are many errors unique to a centrifuge. Such detected errors are indicated to the operator and the device enters a manual mode so that debugging can begin. To restart, the operator presses the 'automatic operation' button to release the device from manual mode, and then 'initializes' and 'starts' on the CRT.
Follow the instructions.

Error: Tube Breaking Inside the Centrifuge At the time of this writing, the only approach to detecting tube breaks inside the centrifuge is that the fingers of the gripper are placed in a known adapter cavity. It is to react to not being able to grasp the tube that should have been done. If the gripper fails to detect a tube that should have been in the adapter of the centrifuge, an error is indicated to the operator and the device enters manual mode so that debugging can begin. The centrifuge must be unlocked, cleaned and decontaminated. To restart, the operator presses the 'autorun' button to release the device from manual mode and then follows the 'init' and 'start' instructions on the CRT.

[Error: No Tube at Pickup Point] Although the sensor indicates that a tube exists at the pickup point, when the robot goes to acquire a tube, the sensor of the gripper cannot detect the tube. there is a possibility. In this case:-The robot opens the gripper. -The robot 'completely ascends' in the Z direction, reaching the 'Z' limit.・ The red stack light source lights up. Notify the operator of the error. After the operator has eliminated the source of the problem, the operator presses 'Start' to restart the machine. -The machine resumes normal operation.

[10.0 Robot Tooling] The tooling for handling pipes is attached to the center line of the robot's Z axis,
Consists of a single set of robot fingers located on the front of the adapter tool. The tube tool is held in place vertically by a pneumatic cylinder.
The fingers are driven pneumatically. The body of the gripper is mounted on a rotary ball joint, which is fully omnidirectional, referred to as a 'Unicoupler®' Model 4418 from Robotic Accessories of Tipp City, Ohio, USA. This gives the tool the ability to react safely to jam conditions. The tool has a sensor to detect displacement from the center, and the station can know that a jam has occurred. The tool spring returns the tool to the center position. If the weight of the tool is greater than the capacity of the spring provided at the factory, a stiffer spring will be needed. A finger spring holds the finger closed when air pressure is lost. This ensures that the tube does not fall if air pressure is lost.

The tooling for the handling of the adapter consists of a single set of robot fingers, which is mounted on the centerline of the robot's Z axis, but behind the tube tool. The adapter tool is also held in place vertically by a pneumatic cylinder. The tool is in the "work" position when lowered by the pneumatic cylinder. When the tube tool goes down, the adapter tool goes up, and vice versa. The adapter finger is driven pneumatically. The body of the gripper is attached to a rotary ball joint, which is completely omnidirectional, referred to as a 'Unicoupler®'. This gives the tool the ability to react safely to jam conditions. The tool has a sensor to detect displacement from the center, and the station can know that a jam has occurred. The tool spring returns the tool to the center position. The finger spring opens and holds the finger against the adapter handle when air pressure is lost. This ensures that the adapter does not drop if air pressure is lost.

The tooling is equipped with the following sensors: detection of tube jams; tube grip fully open; tube grip fully closed; tube finger closed to 16 mm; tube finger closed to 13 mm. Adapter jam detection ・ Adapter grip is fully open ・ Adapter grip is fully closed ・ Rotator is in 'Tube handling' position ・ Rotator is in 'Adapter handling' position

[Robot Touring: 'Default' for Tooling] The pneumatic tubing must be connected so that the 'default' for tooling is as follows: In the event of a power failure, the grippers on the tubes are in a 'closed' position due to spring loading. Become. This ensures that the tube does not fall. In the event of a power outage, the gripper of the adapter will be in the 'open' position due to the spring load. The reason for this is that the adapter fingers are brought inside the adapter and then open to engage the handle of the adapter. By having the adapter fingers open in the event of a failure, the station ensures that the adapter does not drop. In the event of a power outage, the tool's pneumatic cylinder loses air pressure and allows the tool to descend, but the pipe air pressure will be 0 psig, so a downward force acts on something that is located below the tooling. There is no.

11.0 Escape / Barcode Reader (Interface Gate for Transporter) Although not part of the software, a section on interface gates must be included to describe the expected behavior and sensors. An escape mechanism is used to capture individual tubes from the transport and determine the bar code when returning the tubes to the line. The escape consists of an upstream stop, an accumulator stop, and a downstream / read stop. 'Stop' is a pneumatic cylinder that stops the pack containing the tubes. When the pack is stopped by the cylinder rod, the conveyor belt continues to move and slips on the underside of the pack. When the pack is stopped, the robot can grab the tube from the pick-up point or drop it to the 'reading point' drop point. The 'downstream / read' stop is somewhat complicated. At this stop, the rubber wheels contact the puck and rotate it at the front of the barcode reader to allow the barcode to be determined and report to the factory host before releasing the tubing to the line. Empty packs are released from the 'accumulator' stop and held at the 'read' stop. After dropping the 'pickup tube' into the empty adapter cavity, the robot grabs the 'treated tube' and places it in the empty pack at the read stop. The 'downstream barcode reader' is then used to read the processed barcode and report it to the factory host. The read stop is used to hold empty packs first, but the 'accumulator' stop is the next 'working' ready for the next grab / place cycle.
You are free from acquiring a tube.

[12.0 Input / Output Signals] Although not part of the software, to describe the expected behavior, a section on digital input / output bits must be included. The following is a list of station I / O requests: [Digital bit input:]-'Upstream stop'extension-'Upstreamstop'storage-'Accumulatorstop'extension-'Accumulatorstop'storage-'Read 1 stop''Expansion' · 'Read 1 stop' storage ・ Safety door interlock engagement ・ Pack of accumulator ・ Pack of 1 point of reading ・ There is a tube in the accumulator (the tube can be of any type, including those that are too small or too high)・ Start button was pressed ・ Pause button was pressed ・ Initialization button was pressed ・ Shutdown button was pressed ・ Partial load button was pressed ・ Robot X home limit read ・ Robot Y home limit reading ・ Z home limit reading of robot ・ 19-32, future expansion Bit for

[Digital bit output:] ・ Upstream stop ・ Accumulator stop ・ Read 1 stop ・ Tube rotator motor power ・ Stack light source-Red ・ Stack light source-Green ・ Stack light source -Yellow ・ Stack light source -Blue ・ Safety door locker If • 10 and 11, the two bits constitute the tool rotator control.
Two bits are required to ensure that the tool does not move during a power outage. 12-32, bits for future expansion

[Serial port:]-Robot controller-Factory host-Barcode reader-downstream of tube-Centrifuge controller-Bit I / O controller

[Robot Tool Headline Input:] ・ Detection of jam in pipe ・ Pipe grip fully open ・ Pipe grip fully closed ・ Pipe finger closed to 16 mm ・ Pipe finger closed to 13 mm ・ Adapter・ The adapter grip is fully open. ・ The adapter grip is fully closed. ・ The pipe tool is in the 'up' or 'down' position

[Pneumatic pressure piping control:]-Opening / closing of pipe gripper-Opening / closing of adapter gripper-Rotator for handling finger of 'pipe / adapter'

[13.0 Teaching / Teaching Robot Points] Robot points are taught manually, using the 'teach' package of the controller. The robot can be moved using screen-based software or it can be moved via a robot teaching pendant. The following points must be taught: Pick-up point of tube from accumulator stop. The point where the tube is placed at the downstream reading stop. -Two points on the base plate to accommodate the adapter. All slot coordinates are mathematically derived from the base plate origin, eliminating the need to teach each frame slot. The individual cavity points in the adapter are calculated from the coordinate frame and need not be taught. -The drop point of the centrifuge adapter. Also, all 'height offsets' must be specified. The 'height offset' is the distance above the teaching point, and the robot must move so that it does not interfere with this point when the gripper has a tube. The offset is specified using a configuration package.

Handling Unsolicited Events There are a variety of unsolicited state events reported from the robot and centrifuge controllers that must be handled by the centrifuge controller software. Centrifuge messages: • Send operating speed, operating time, and rotor position every second. • Sends door, door latch, and door monitoring status every 2 seconds.・ Open limit switch, closed limit switch, rotor status 2
Send every second.

Robot messages: ・ Illegal command ・ Point data destruction ・ Program destruction ・ Memory destruction ・ Parameter destruction ・ System generation destruction ・ Robot emergency stop ON ・ Robot interlock ON ・ Watchdog timer error ・ Overcurrent error ・ Monitor cable Short-circuit detection ・ Monitor overheat detection ・ Axis feedback error ・ Power module error ・ AC power drop ・ DC power drop

General Controller Software The above section relies on the scope of the Beckman centrifuge software specification. To deploy this software, you need a software platform that provides the following features:

A) Machine control a) Low-level hardware control (bit and serial port): i) Serial I / O 1) Serial I / O command set and communication driver 2) Robot control 3) Barcode reader 4) Factory Host 5) Centrifuge ii) Bit I / O control by station controller Digital I / O command set and communication driver Safety device Interface gate Operator control panel (button, light source) Stack light source

Iii) Direct control of bit I / O by robot 1) Pipe jam detector 2) Adapter jam detector b) High-level hardware control (device): i) Robot 1) Robot instruction set and communication driver 2) Z height associated with pneumatic Z extension 3) Robot bit I / O, jam detector, etc. ii) Centrifuge 1) Centrifuge command set and communication driver iii) Interface gate iv) Barcode reader v) Monitoring communication (Factory host) operator interface C) System service a) Configuration b) Robot teaching c) Calibration d) Diagnosis e) Help

The above embodiments have been provided for the purpose of illustrating the invention. This is not intended to limit the scope of the present invention. Refer to the claims for the content of the inventor's rights.

[Brief description of the drawings]

FIG. 1 is a three-dimensional front view of an apparatus showing a tube conveyor, a robot arm, a stage area, and a centrifuge.

FIG. 2a is a front view of the sbot arm and the arm transport mechanism with the tube gripper in the upper position and the adapter gripper in the lower position.

FIG. 2b is a front view of the robot arm with the adapter gripper at the upper position and the tube gripper at the lower position, and the transfer mechanism of the arm.

FIG. 3a is a front view of the tube gripper mechanism in a closed position.

FIG. 3b is a front view of the tube gripper in an open position.

FIG. 4 is a side view of the mandrel and its control mechanism.

FIG. 5 is an exploded view of a mandrel control mechanism.

FIG. 6 is an exploded view of the middle portion of the tube gripper mechanism showing the Hall effect device used to control the gripper fingers.

FIG. 7 is an exploded view of the finger control mechanism.

FIG. 8 is a front view of an adapter finger without an adapter.

FIG. 9 is a front view of an adapter gripper with an adapter.

FIG. 10 is an exploded view of the Z-axis compliance control device.

FIG. 11

FIG.

FIG. 13 is a detailed view of a ferrule gripper head with outrigger pins.

FIG. 14 is a plan view of a universal adapter.

──────────────────────────────────────────────────続 き Continuation of front page (81) Designated country EP (AT, BE, CH, CY, DE, DK, ES, FI, FR, GB, GR, IE, IT, LU, MC, NL, PT, SE ), OA (BF, BJ, CF, CG, CI, CM, GA, GN, GW, ML, MR, NE, SN, TD, TG), AP (GH, GM, KE, LS, MW, SD, SZ, UG, ZW), EA (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM), AL, AU, BA, BB, BG, BR, CA, CN, CZ, EE, GE, GH, GM, HR, HU, ID, IL, IN, IS, JP, KP, KR, LC, LK, LR, LT, LV, MG, MK, MN, MX, NO, NZ , PL, RO, SG, SI, SK, SL, TR, TT, UA, UZ, VN, YU (72) Inventor Miller Rodney D. United States of America Pennsylvania 19380 West Chester North Penn Drive 951 F-term (reference) AB03 AC01 AC05 AD01 AE11 BC05 BC11 CA04

Claims (4)

[Claims] 1. A method for automating the processing of a sample by at least one fault tolerant centrifuge using an apparatus having a processing station interposed between a tube collection device or a transport device and a defect tolerant centrifuge. Wherein the processing station is capable of: a) a stage area for a tube adapter compatible with a centrifuge; b) i) a tube collecting device or a conveying device capable of recognizing tubes of different heights and diameters and having A tube gripper which can be adapted and advances the tube between a tube collector or transport device and a centrifuge adapter in the stage area; and ii) transporting the adapter to and from said centrifuge. A dual function tool with an adapter gripper capable of: a) removing tubes of different heights and diameters from a tube collection device or a transport device under the direction of the control mechanism of the device; B) placing the tubing over the adapters in the stage area so that when the centrifuge circulates, the weight distribution between the paired adapters is within the fault tolerance limits of the centrifuge; c) placing the paired adapters D) removing the adapter from the centrifuge to the stage area after the spin cycle, e) removing the circulated tubes from the adapter and placing the tubes in a tube collector or transport device The above method, comprising: 2. A robotic device for automating the processing of a sample by a defect-tolerant centrifuge, said device comprising a processing station interposed between a tube collecting device or a transport device, said station comprising: a) a stage area for a tube adapter that is compatible with the centrifuge; b) i) tubes of different heights and diameters on the tube collecting or conveying device can be recognized and adapted, and A tube gripper for moving the tube between a tube collection or transfer device and a centrifuge adapter in the stage area; and ii) an adapter gripper capable of transferring the adapter to and from the centrifuge. A functional tool, said device further comprising: operating a tube collecting or conveying device, placing the tube in a balanced manner in a tube adapter, continuous with the circulation of the centrifuge. A robotic device having electrical control means for controlling the operation of the tool in succession to the transfer of the adapter to or from the centrifuge and the removal of the treated tube from the adapter. 3. A method for automating the processing of a sample by at least one fault tolerant centrifuge using an apparatus having a processing station with a tube collection device or a transport device and a fault tolerant centrifuge, The processing station comprises: a) a stage area for a tube adapter that is compatible with the centrifuge; b) i) can recognize and fit tubes of different heights and diameters on a tube collector or conveyor. A tube gripper capable of transporting the tube between a tube collector or transport device and a centrifuge adapter in the stage area, and ii) an adapter capable of transporting the adapter to and from the centrifuge. A dual function tool having a gripper, the method comprising: a) by automatic control: (1) determining the height and diameter of a tube on a tube collection device or a transport device; Identifying; (2) selecting a tube with a preset height and diameter; (3) grabbing and removing the selected tube from the collection device or transport device; (4) connecting the tube to an adapter in the stage area; As the centrifuge circulates, it is placed so that the weight distribution between the paired adapters is within the fault tolerance limits of the centrifuge, and (5) inserted or partially filled, balanced and paired Put the adapters into the centrifuge opposite to each other, (6) remove the adapters from the centrifuge to the stage area after the spin cycle, (7) remove the circulated tubes from the adapters and transfer the tubes to a tube collector or transport The method comprising placing on a device. 4. A robotic device for automating the processing of a sample by a fault-tolerant centrifuge, comprising: a) a tube collection device or a transport device interfaced with the centrifuge; b) a tube collection device. Or a processing station interposed between the transport device and the at least one fault tolerant centrifuge and interfaced with the centrifuge, c) a fault tolerant centrifuge, wherein the station is i) compatible with the centrifuge. Stage area for the tube adapter ii) (a) (1) Identify the height and diameter of the tube on the tube collection or transport device,
And (2) selecting a tube with only a preset height and diameter, (3) placing the tube in a balanced manner in a paired adapter, and (4) placing the tube in a tube collection device. Or the transport device is a tube gripper that advances to and from the centrifuge adapter in the stage area or vice versa; (b) an adapter gripper that can transport the adapter to and from the centrifuge; (c) a tube collector or Operation of the transfer device, placement of the tube adapters in a balanced manner, continuous transfer of the adapters to and from the centrifuge, continuously with the circulation of the centrifuge, and withdrawal of the treated tubes from the adapter. Said robot apparatus comprising: a two-function tool having electric control means for controlling the operation of the tool.