WO1997047974A2 - Robotized laboratory for sample analysis - Google Patents

Robotized laboratory for sample analysis Download PDF

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Publication number
WO1997047974A2
WO1997047974A2 PCT/FR1997/001018 FR9701018W WO9747974A2 WO 1997047974 A2 WO1997047974 A2 WO 1997047974A2 FR 9701018 W FR9701018 W FR 9701018W WO 9747974 A2 WO9747974 A2 WO 9747974A2
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WO
WIPO (PCT)
Prior art keywords
robot
laboratory according
laboratory
operator
sample
Prior art date
Application number
PCT/FR1997/001018
Other languages
French (fr)
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WO1997047974A3 (en
Inventor
Didier Arthaud
Claude Boulle
Original Assignee
Elf Aquitaine
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Filing date
Publication date
Application filed by Elf Aquitaine filed Critical Elf Aquitaine
Publication of WO1997047974A2 publication Critical patent/WO1997047974A2/en
Publication of WO1997047974A3 publication Critical patent/WO1997047974A3/en

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    • 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

Definitions

  • the present invention relates to a robotic laboratory for analyzing samples which, in particular, ensures total traceability of the analysis by constant monitoring of the samples being analyzed. It finds its application in control and research laboratories of the pharmaceutical, petroleum, chemical, petrochemical industries in medical analysis laboratories, and in general in all laboratories in which numerous and repetitive analyzes must be carried out.
  • the laboratory thus described uses the same principles as those used for the production of automated assembly lines, such as those in the automotive industry, in which the assembled object is moved by conveyors between a series of robots which perform basic tasks, for example, welding, drilling, painting.
  • the robots used in the automated laboratories described above have only five degrees of freedom, which limits their ability to position an object in space; moreover, they are not designed to operate continuously 24 hours a day. There is no provision for easy maintenance or decontamination when dangerous products have been handled. For safety reasons, an operator must not be able to approach the robot (s) during their operation. Given the risks of mechanical shock and of projection of dangerous products, the solution generally adopted to limit these risks consists in cutting the energy supply to the motors of the robots. This solution is not very effective because it intervenes after the possible collision.
  • the automatic distribution of a sample, in each of the containers of a support requires knowing the exact position of at least one container in space, which is not possible with known laboratories. .
  • the sample whose dimensions are to be determined is placed between the jaws.
  • the movable jaw is moved until it comes into contact with the sample to be measured which abuts on the fixed jaw.
  • the jaw spacing measurement means deliver an electrical signal representative of the size of the sample.
  • Another drawback of known automated laboratories is that they do not have a station for distributing an automated liquid sample.
  • one solution consists in using an intermediate reservoir provided with a hollow needle which makes it possible to perforate the septum.
  • the containers being simply placed on a portion, after perforation the containers remain suspended on the needle by pinching effect of the septum, which requires a manual operation.
  • the syringe used as an intermediate reservoir has a piston controlled by a linear motor. This device is complex and, due to the moving parts, it is subject to wear by friction.
  • the present invention relates to a robotic laboratory for analyzing samples in liquid, solid or pulverulent form, efficient, suitable for continuous operation 24 hours a day in complete safety ensuring the traceability of operations.
  • This laboratory comprising a plurality of analyzers, at least one industrial rotoid robot with at least five working axes, mounted on a horizontal displacement rail giving it an additional working axis, provided with displacement means on said rail, connected to a control system is characterized in that it further comprises a room separated into two contiguous non-communicating zones for an operating operator, one of said zones being called “robotic zone” and the other "operator lock", the robotic zone comprising the robot fitted with an industrial gripper at its end, a robot work plan placed below the robot supporting the analyzers, the airlock operator comprising a work plan for the operating operator, two-way container transfer conveyors containing the samples, between the robotic zone and the operator airlock.
  • the robot displacement rail has a length greater than the length of the robot work surface so as to allow the robot to access two maintenance zones located beyond the ends of said work plane.
  • the laboratory also includes means for self-testing the repeatability of the positioning of the robot in space along its working axes.
  • the means of self-test of the repeatability of the robot comprise at least one fixed device chosen from micro-contacts, proximity sensors, laser detectors suitably distributed in space and mobile means for activating said devices. , carried by the robot gripper.
  • the laboratory further comprises at least one rack of sample containers, mounted on supports, comprising circular locations for said supports, said racks and said supports being provided with means for angular positioning of each support in a location.
  • the angular positioning means comprise a Hall effect sensor fixed to the rack and a magnet secured to the support.
  • the angular positioning means comprise a video camera, image processing means and means for angular location of each container in each location.
  • the laboratory further comprises an automatic distributor of cylindrical syringes provided with eccentric tips, comprising a support block with recesses of shape adapted to housing the ends of the syringes and end caps, a movable plate provided with displacement means and a position detector.
  • the laboratory further comprises an accessory distributor comprising two vertical parallel flanges, superimposed, inclined plates, arranged in Z integral with the flanges, flaps articulated around the upper edge of each plate, mounted on a rotating horizontal base. with two stable positions offset by 90 ° provided with means of rotation and immobilization in the two stable positions, the lowest plate being provided with a vertical edge for stopping the accessories allowing the gripping of said accessories by the robot at a unique location.
  • an accessory distributor comprising two vertical parallel flanges, superimposed, inclined plates, arranged in Z integral with the flanges, flaps articulated around the upper edge of each plate, mounted on a rotating horizontal base. with two stable positions offset by 90 ° provided with means of rotation and immobilization in the two stable positions, the lowest plate being provided with a vertical edge for stopping the accessories allowing the gripping of said accessories by the robot at a unique location.
  • the laboratory also includes a dimensional control station for a sample comprising a working block comprising two coaxial conical holes with vertical axis, respectively upper and lower, a horizontal slot separating the two conical holes, a drawer movable in the slot closing the lower part of the upper conical hole provided with means of displacement in a horizontal plane, a sample transfer cup, a movable cup holder mounted on a horizontal slide, placed below the work block provided in its part upper of a counterbore of the bucket centered in the axis of the conical holes and comprising means of horizontal displacement, a video camera placed above the work block in the axis of the conical holes and electronic means for processing images.
  • a dimensional control station for a sample comprising a working block comprising two coaxial conical holes with vertical axis, respectively upper and lower, a horizontal slot separating the two conical holes, a drawer movable in the slot closing the lower part of the upper conical hole provided with means of displacement in a horizontal plane, a sample transfer cup, a
  • the laboratory comprises a universal gripping adapter consisting of a cylindrical-conical block comprising a cylindrical groove provided with two flat receiving sectors of the industrial gripper of the robot.
  • the universal gripping adapter further comprises a glass vial stopper fixed at the end of its conical part.
  • the universal gripping adapter further comprises an axial cylindrical recess intended to receive a cannula.
  • the universal gripping adapter further comprises two opposite axial frustoconical recesses for mounting a tip adapted to the shape and size of a tablet or capsule.
  • the laboratory comprises at least one liquid distribution station comprising a fixed frame, at least one tube of liquid to be distributed, at least two receiving bottles, a mobile support of tubes and bottles, provided with means of horizontal displacement. and vertical, a syringe secured to the fixed frame provided with a vertically mounted hollow needle, connected to suction means and delivery means, a movable presser foot crossed by the needle, a return spring for the foot -of the crowbar in the position remote from the syringe, a mechanical stop.
  • the laboratory includes a sample positioner comprising suitable means for gripping said sample, a video camera and image processing means.
  • the laboratory includes a bottle stopper consisting of a first cylindrical block comprising a lateral groove provided with two flat sectors for receiving the industrial gripper of the robot and a second coaxial cylindrical block of diameter less than the diameter of the first block and equal to the diameter of the stopper bottle.
  • the samples and the containers used by the robot being provided with identifiers
  • the laboratory also comprises a manual reader of said identifiers placed in the operator lock, an automatic reader of identifiers of the containers placed on the robot work plan, a supervision computer system connected to the robot control system, to the analyzers, said computer system having access to a database relating to the analysis procedures and to a database relating to the results of said analyzes.
  • FIG. 1 represents a schematic plan of implantation of the main elements of the laboratory
  • FIG. 2 represents a rack of sample containers
  • FIG. 3a schematically represents an accessory distributor in a vertical section
  • FIG. 3b represents an accessory distributor seen from above
  • FIG. 3c represents three trays of an accessory distributor
  • FIG. 3d represents 1 ' lower end of the lower tray of an accessory distributor
  • FIG. 4a represents a dimensional control station for samples in vertical section
  • FIG. 4b represents a top view of a dimensional control station for samples
  • - the Figure 5a shows a universal grip adapter
  • Figure 5b shows a universal grip adapter for worm bottle cap re
  • FIG. 1 represents a schematic plan of implantation of the main elements of the laboratory
  • FIG. 2 represents a rack of sample containers
  • FIG. 3a schematically represents an accessory distributor in a vertical section
  • - FIG. 3b represents an accessory distributor seen from above
  • FIG. 3c represents three trays of an accessory distributor
  • FIG. 3d represents 1 '
  • FIG. 5c represents a universal gripping adapter for a filling cannula
  • FIG. 5d represents a universal gripping adapter
  • FIG. 5e represents a universal gripping adapter for ballast recuperator
  • - FIG. 6 represents a distribution station liquid
  • FIG. 7a schematically represents an automatic syringe dispenser; with correctly placed syringes
  • FIG. 7b schematically represents an automatic syringe dispenser, with a misplaced syringe
  • FIG. 8 represents a vial stopper.
  • the robotic laboratory for analyzing samples of the invention comprises a room 1 separated into two contiguous zones 2 and 3 respectively called robotic zone and its operator.
  • zone 2 robotics there is an industrial robot 5, a rotoid with six working axes suspended from a rail 6 placed above a work surface 4 of the robot 5.
  • the work plan 4 of the robot 5 supports analyzers 7, 11, 12 and 13 such as apparatuses for chemical analysis, apparatuses for determining physical or dimensional characters.
  • analyzers 7, 11, 12 and 13 such as apparatuses for chemical analysis, apparatuses for determining physical or dimensional characters.
  • work plan 8 for the operator.
  • the robot 5 is, moreover, provided with means of movement on the rail 7 not shown in Figure 1, .and an industrial gripper 10 at its end.
  • the robot 5 is connected to a control system not shown in the figures.
  • the samples to be analyzed, deposited on the work plan 8 for the operator, are placed in appropriate containers then placed manually on the conveyors which convey them to the robotic zone 2 above the work plan of the robot 5. Thanks to its gripper 10 , the robot 5 grasps the container of the sample, distributes it in suitable containers and places it on one of the analyzers 7. When the analysis is finished, the robot takes up the rest of the sample and places it on a conveyor 9 which brings it back to the operator airlock. Thanks to these provisions, the operator does not need to access the robotic zone when the robot is in operation. A locking device for the access door to this area completes the installation to avoid any risk of penetration when the robot is in operation. A specific programmed stop procedure allows the robot 5 to complete the movement in progress before authorizing the unlocking of the access door.
  • One of the characteristics of the invention is the use of a 6-axis industrial rotoid robot, mounted on a rail which allows the gripper mounted at the end of the robot to access very precisely any point in a zone. extended access.
  • the rail 6 of linear movement of the robot is extended at its two ends so that the robot accesses two zones (14, 15) outside of the work surface 4 in which it is easily accessible for carrying out maintenance operations. , and / or tests and / or decontamination.
  • a particularly efficient self-test device uses laser detectors. This device includes: a portable laser transmitter placed on the work surface of the robot. laser receivers fixed in the space of the robotic zone linked to the control system.
  • the robot grasps the laser transmitter by means of its gripper, places itself in the predetermined test positions along the rail and successively targets the attached laser receivers. If all the receivers sequentially receive the laser beam emitted by the transmitter carried by the robot, the test result is positive. In all cases a test report is printed.
  • FIG. 2 representing a rack 24, containers 20 of samples are mounted on supports 21, comprising six locations 22. These supports 21 being mounted in known manner in countersinks 23 of the rack 24.
  • the characteristic of the invention consists in attaching a magnet 25 to each support 21 and to a magnetic detector 26 at each counterbore 23, and in connecting the detectors 26 to a processing electronics.
  • the robot places a support 21 in a counterbore 23, it rotates it until the processing electronics detects that the magnet 25 is facing the detector 26.
  • the support 21 for the sample is angularly positioned on the rack 24.
  • Different types of detectors can be used, in particular Hall effect sensors.
  • the laboratory of the invention comprises: a dispenser 85 automatic syringe 86, 87 cylindrical with tips 89 and 90. a block 91 support with recesses 92,93,94,95. a movable plate 88 provided with displacement means 96, a position detector 97.
  • the syringes 86, 87 are positioned manually by the laboratory operator, in each location of the support 85.
  • the support is then placed under the plate 88 which descends until it is in contact with, as the case may be, with at least one or all syringes. If all the syringes are placed correctly, the detector 97 is activated by lowering the tray. If at least one syringe is incorrectly positioned in its location, the plate 88 is stopped before the detector 97 activation position. The operator is alerted to this anomaly.
  • the laboratory of the invention comprises a distributor 31 of accessories 32 comprising: two vertical flanges 33 and 34 adapted to the width of one accessory. stacked trays 35. - flaps 36 hinged around the upper edge 37 of each plate 35. a circular horizontal base 38 provided with two notches 39 and 40. an immobilizing device 42, a vertical rim 43 of the lower plate.
  • the dispenser comprises means of displacement in rotation not shown.
  • the notches 39 and 40 cooperate with the immobilizing device 42 secured to the work surface on which the dispenser is placed to determine two positions of the flanges 33 and 34 offset by 90 °.
  • the flaps 36 are folded down to allow the loading of each tray from the lower tray, then returned to the position perpendicular to each tray.
  • the invention comprises a dimensional control station 45 for a sample 46 comprising: a working block 47 provided with two concentric tapered holes 48 and 49 with vertical axes respectively upper and lower. - A horizontal slot 50 separating the two holes 48 and 49. a movable drawer 51, provided with displacement means not shown. a sample transfer cup 52. - A bucket holder 53 movable in a horizontal plane comprising a counterbore 55 and provided with displacement means not shown. a horizontal slide 54. a video camera 57 placed in the axis 56 of the block 47. - electronic image processing means not shown.
  • the robot by means of the gripper mounted at its end, deposits a sample 46, placed in a transfer cup 52, in the upper conical hole 48 of the block 47.
  • the drawer 51 is in the closed position of the hole 48.
  • the robot deposits the transfer cup 52 on the cup holder 53, which is in the position shown in FIG. 4b.
  • the sample 46 is located at the bottom of the hole 48 on the upper part of the drawer 51.
  • the video camera 57 takes an image of the sample 46 and transmits it to the processing electronics which analyzes it and simultaneously determines the parameters sought: length, width, barycenter. This device also makes it possible to detect samples outside dimensional tolerances.
  • the bucket holder 53 is then moved so that the opening of the bucket 52 is located below the conical hole 49 and its axis coincides with the axis 56.
  • the drawer 51 is moved outside the slot out of the hole 48 by action on its displacement means.
  • the sample under the effect of its weight, crosses the hole 49 and falls into the cup 52.
  • the bucket holder 53 is then moved to the position shown in FIG. 4b where it is accessible to the robot.
  • the invention comprises a universal gripping adapter 60, of which a part 61 is cylindrical and the other 62 frustoconical.
  • a cylindrical groove 63 provided with two planar sectors 68 arranged on the cylindrical part, it can be gripped by the robot gripper.
  • This universal adapter constitutes the basic support for various accessories such as a bottle cap 64, represents FIG. 5b, a cannula 65 for filling the container represents FIG. 5c, an endpiece 66 for capsule or tablet represents FIG. 5d or a ballast recuperator 67 shown in Figure 5e.
  • the laboratory of the invention comprises a liquid distribution station shown in FIG. 6 which comprises: - a fixed frame 70, a support 71 movable in vertical and horizontal translation, at least one tube 72 containing the liquid to be distributed.
  • a liquid distribution station shown in FIG. 6 which comprises: - a fixed frame 70, a support 71 movable in vertical and horizontal translation, at least one tube 72 containing the liquid to be distributed.
  • 73.74 receptor bottles provided with septa, a syringe 75 secured to the frame 70 provided with a hollow needle 76 at its lower part, suction means 80 connected to the upper part of the syringe 75, means 81 of discharge connected to the upper part of the syringe 75, two solenoid valves, a crowbar 78 movable vertically, - a return spring 77, a mechanical stop 79 secured to the frame 70.
  • the mobile support 71 is equipped with horizontal and vertical displacement means.
  • the movable support 71 is moved so that the needle 76 is substantially in the axis of the tube 72, then it is lifted so that the needle 76 is slightly above the bottom of the tube 72.
  • the suction means 80 are placed in communication with the interior of the syringe 75, by action on the solenoid valve 84, for the time necessary for filling the syringe 75.
  • the support 71 is then lowered and then placed horizontally so that the needle 76 is substantially in the axis of the bottle 73, then reassembled.
  • the needle 76 pierces the septum which closes the entry of the bottle 73.
  • the presser foot 78 slides vertically on the frame 70 by compressing the spring 75.
  • the delivery means 8 are brought into communication with the interior of the syringe 75 by action on the solenoid valve 83 the time necessary for filling the bottle 73.
  • the support 71 descends.
  • the compressed spring 77 acts on the presser foot 78, which holds the bottle against the support during the descent.
  • the mechanical stop 79 is adjusted in a vertical position so that the end of the needle 76 is released septum at the end of the stroke.
  • the bottle 73 does not remain suspended from the needle.
  • the laboratory comprises a sample positioner comprising: suitable gripping means, a video camera - image processing means.
  • the gripping means in the case of samples in the form of capsules are of the suction type and are mounted at the end of the robot.
  • the video camera being placed above the work surface on which the sample is located, produces an image which is analyzed by the processing means.
  • the main axis of the sample is identified and appropriate orders are given to the robot by the control system to orient the main axis of the sample along a predetermined axis.
  • the laboratory comprises: - a manual reader of the identifiers of the samples placed on the work plan of the operator, an automatic reading of the identifiers of the containers used by the robot placed on the robot's work plan, - a computerized supervision system.
  • the supervision computer system is directly linked to the robot control system and the analyzers, and has access to a database which contains all the information necessary for the automatic execution of analyzes. In this same database can be stored the results of analyzes.
  • This database can be single or distributed, located on the supervision computer system or other system on the same site or on a remote site.
  • the samples to be analyzed are available in the airlock in conditioned form.
  • the samples carry an identifier, for example, a bar code stuck on their packaging. This code is entered by the operator using the manual identifier reader located in the operator lock.
  • the identifier of the container in which the operator has the sample to be analyzed is also entered manually.
  • the results of these entries are transmitted to the computerized management system which combines them. Then, when the robot uses a new container to transfer all or part of the sample, it identifies this container by means of an automatic reader placed on its work surface and associates its identifier with that of the sample.
  • the computer system has knowledge of all the containers in which the sample has passed. In addition, he is aware of all the operations to which the sample was subjected, which ensures full traceability of the analyzes.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
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Abstract

The invention discloses a robotized laboratory for product sample analysis of products, comprising a plurality of analysers, characterised in that it further comprises premises (1) divided into two adjacent zones, called robot zone (2) and operator lock chamber (3). The robot zone (2), comprising a rotoid industrial robot (5) with six working axles, communicates with the operator lock chamber (3) by means of bi-directional conveyors (9) transporting sample containers. The invention is useful in control or research laboratories in pharmaceutical, oil, chemical, petrochemical industries and in medical analysis laboratories.

Description

LABORATOIRE ROBOTISE D'ANALYSES D'ECHANTILLONS ROBOTIZED LABORATORY OF SAMPLES ANALYSIS
DOMAINE TECHNIQUETECHNICAL AREA
La présente invention a pour objet un laboratoire robotisé d'analyses d'échantillons permettant, notamment d'assurer la traçabilité totale de l'analyse par un suivi constant des échantillons en cours d'analyse . Elle trouve son application dans les laboratoires de contrôle et recherche des industries pharmaceutiques, pétrolières, chimiques, pétrochimiques dans les laboratoires d'analyses médicales, et d'une manière générale dans tous les laboratoires dans lesquels doivent être effectuées des analyses nombreuses et répétitives.The present invention relates to a robotic laboratory for analyzing samples which, in particular, ensures total traceability of the analysis by constant monitoring of the samples being analyzed. It finds its application in control and research laboratories of the pharmaceutical, petroleum, chemical, petrochemical industries in medical analysis laboratories, and in general in all laboratories in which numerous and repetitive analyzes must be carried out.
ETAT DE LA TECHNIQUE ANTERIEURESTATE OF THE PRIOR ART
Dans beaucoup de laboratoires de contrôle et recherche, on doit effectuer des analyses répétitives et nombreuses.In many control and research laboratories, there must be repetitive and numerous analyzes.
A cette fin, certains laboratoires sont équipés de stations de travail qui effectuent un nombre limité d'opérations. Pour réaliser une analyse complète, il faut mettre en oeuvre plusieurs stations de contrôle. Dans le document ANALYTICAL CHEMISTRY Vol 62 n°l, January 1, 1990 pages 29A to 34A (Send in the robots A.R. Newman) un équipement de laboratoire est décrit, qui comprend sept stations de travail. Des flacons d'échantillons identifiés par des code-barres sont déplacés par des élévateurs et des convoyeurs entre les zones où sont installées les stations de travail réalisant des taches spécialisées. Au niveau des différentes stations de travail, des bras contrôlés pneumatiquement et des appareils réalisent les fonctions qui leurs sont dédiées. Chaque bras ou appareil réalise une tâche spécifique, ce qui accroît la précision de 1 ' opération. Les stations de travail sont équipées de micro¬ ordinateurs connectés à un calculateur central qui centralise les informations et communique avec une base de données dans laquelle les informations de préparation sont collectées.To this end, some laboratories are equipped with workstations which carry out a limited number of operations. To carry out a complete analysis, several control stations must be used. In the document ANALYTICAL CHEMISTRY Vol 62 no. 1, January 1, 1990 pages 29A to 34A (Send in the robots AR Newman) laboratory equipment is described, which includes seven workstations. Vials of samples identified by bar codes are moved by elevators and conveyors between the areas where workstations performing specialized tasks are installed. At the various workstations, pneumatically controlled arms and devices perform the functions dedicated to them. Each arm or apparatus performs a specific task, which increases the precision of the operation. The workstations are equipped with microcomputers connected to a central computer which centralizes the information and communicates with a database in which the preparation information is collected.
Le laboratoire ainsi décrit reprend les mêmes principes que ceux qui sont mis en oeuvre pour la réalisation des chaînes de montage automatisées, telles que celles de l'industrie automobile, dans lesquelles l'objet assemblé est déplacé par des convoyeurs entre une suite de robots qui réalisent des tâches élémentaires, par exemple, soudage, perçage, peinture.The laboratory thus described uses the same principles as those used for the production of automated assembly lines, such as those in the automotive industry, in which the assembled object is moved by conveyors between a series of robots which perform basic tasks, for example, welding, drilling, painting.
Un tel laboratoire est complexe et onéreux en raison du coût élevé des stations de travail qui nécessitent chacune leur propre robot et des convoyeurs.Such a laboratory is complex and expensive because of the high cost of workstations, each of which requires its own robot and conveyors.
Un autre laboratoire d'analyses automatisé est décrit dans le document WO 93/15407. Selon ce document, les opérations élémentaires d'analyse sont réalisées par des appareils connus assemblés selon les règles particulières et adaptés aux analyses à réaliser. Tous ces appareils interagissent avec au moins un robot, sous le contrôle d'un calculateur, muni d'un programme adapté auxquels ils sont connectés au moyen d'interfaces adaptées.Another automated analysis laboratory is described in document WO 93/15407. According to this document, the elementary analysis operations are carried out by known devices assembled according to the specific rules and adapted to the analyzes to be carried out. All these devices interact with at least one robot, under the control of a computer, equipped with a suitable program to which they are connected by means of suitable interfaces.
Les laboratoires décrits dans ces documents ne permettent pas le suivi automatique des échantillons depuis leur arrivée dans le laboratoire et au cours des manipulations par les robots. Il n'est donc pas possible d'apporter à posteriori la preuve du bon déroulement des analyses, et que des confusions entre échantillons n'ont pas été faites.The laboratories described in these documents do not allow automatic monitoring of samples since their arrival in the laboratory and during handling by robots. It is therefore not possible to provide posteriori proof of the good progress of the analyzes, and that confusion between samples has not been made.
Les robots mis en oeuvre dans les laboratoires automatisés décrits ci-dessus n'ont que cinq degrés de liberté, ce qui limite leur capacité à positionner un objet dans l'espace; de plus, ils ne sont pas conçus pour fonctionner en continu 24 heures sur 24. Aucune disposition ne permet une maintenance facile ou la décontamination lorsque des produits dangereux ont été manipulés. Pour des raisons de sécurité, un opérateur ne doit pas pouvoir s'approcher du ou des robots pendant leur fonctionnement. Compte tenu des risques de chocs mécaniques et de projection de produits dangereux, la solution généralement adoptée pour limiter ces risques consiste à couper l'alimentation en énergie des moteurs des robots. Cette solution est peu efficace car elle intervient après la collision éventuelle.The robots used in the automated laboratories described above have only five degrees of freedom, which limits their ability to position an object in space; moreover, they are not designed to operate continuously 24 hours a day. There is no provision for easy maintenance or decontamination when dangerous products have been handled. For safety reasons, an operator must not be able to approach the robot (s) during their operation. Given the risks of mechanical shock and of projection of dangerous products, the solution generally adopted to limit these risks consists in cutting the energy supply to the motors of the robots. This solution is not very effective because it intervenes after the possible collision.
D'autre part, la répartition automatique d'un échantillon, dans chacun des contenants d'un support, exige de connaître la position exacte d'au moins un contenant dans l'espace, ce qui n'est pas possible avec les laboratoires connus.On the other hand, the automatic distribution of a sample, in each of the containers of a support, requires knowing the exact position of at least one container in space, which is not possible with known laboratories. .
Dans ces mêmes laboratoires, il existe des distributeurs de tubes à essais et de filtres, mais ces appareils ne permettent pas la distribution automatique d'autres accessoires tels que des microflacons munis de septum, des godets ou des seringues, qui sont indispensable pour l'automatisation complète d'une analyse. Les laboratoires connus sont équipés de stations de contrôle des dimensions de gélules et de comprimés de type mécanique, comprenant :In these same laboratories, there are distributors of test tubes and filters, but these devices do not allow the automatic distribution of other accessories such as micro-flasks provided with septum, cups or syringes, which are essential for the complete automation of an analysis. Known laboratories are equipped with stations for checking the dimensions of capsules and mechanical type tablets, comprising:
- un mors fixe et un mors mobile ;- a fixed jaw and a mobile jaw;
- un moteur de déplacement du mors mobile ; - des moyens de mesure de l'écartement des mors .- a motor for moving the movable jaw; - Means for measuring the spacing of the jaws.
L'échantillon dont on veut déterminer les dimensions est placé entre les mors. Le mors mobile est déplacé jusqu'à ce qu'il vienne en contact avec l'échantillon à mesurer qui vient en butée sur le mors fixe. Dans cette position, les moyens de mesure de l'écartement des mors délivrent un signal électrique représentatif de la dimension de l'échantillon. Avec ce dispositif, on n'effectue qu'une mesure à la fois; si on veut connaître deux dimensions, il faut répéter l'opération. Ce dispositif est mal adapté à la mesure des dimensions de comprimés de forme oblongue, car on n'est jamais certain de la position de l'échantillon entre les mors. Il est également mal adapté à la mesure des dimensions d'échantillons fragiles. Dans les laboratoires automatisés connus, les robots sont munis de préhenseurs à 2 ou 3 doigts qui sont mal adaptés à la prise d'objets de formes diverses. Un autre inconvénient des laboratoires automatisés connus est qu'ils ne disposent pas de station de répartition d'un échantillon liquide automatisable. Pour répartir un échantillon liquide contenu dans un premier contenant, dans d'autres contenants dont l'ouverture est munie de septum, une solution consiste à utiliser un réservoir intermédiaire muni d'une aiguille creuse qui permet de perforer le septum. Les contenants étant simplement posés sur une portion, après perforation les contenants restent suspendus à l'aiguille par effet de pincement des septum, ce qui nécessite une opération manuelle. La seringue utilisée comme réservoir intermédiaire comporte un piston commandé par un moteur linéaire. Ce dispositif est complexe et, du fait des pièces en mouvement, il est sujet à usure par frottement.The sample whose dimensions are to be determined is placed between the jaws. The movable jaw is moved until it comes into contact with the sample to be measured which abuts on the fixed jaw. In this position, the jaw spacing measurement means deliver an electrical signal representative of the size of the sample. With this device, only one measurement is made at a time; if you want to know two dimensions, you have to repeat the operation. This device is ill-suited for measuring the dimensions of oblong tablets, because one is never sure of the position of the sample between the jaws. It is also poorly suited for measuring dimensions fragile samples. In the known automated laboratories, the robots are provided with grippers with 2 or 3 fingers which are badly adapted to the grip of objects of various forms. Another drawback of known automated laboratories is that they do not have a station for distributing an automated liquid sample. To distribute a liquid sample contained in a first container, in other containers whose opening is provided with septum, one solution consists in using an intermediate reservoir provided with a hollow needle which makes it possible to perforate the septum. The containers being simply placed on a portion, after perforation the containers remain suspended on the needle by pinching effect of the septum, which requires a manual operation. The syringe used as an intermediate reservoir has a piston controlled by a linear motor. This device is complex and, due to the moving parts, it is subject to wear by friction.
EXPOSE DE L'INVENTIONSTATEMENT OF THE INVENTION
La présente invention a pour objet un laboratoire robotisé d'analyses d'échantillons sous forme liquide, solide ou pulvérulente, performant, adapté à un fonctionnement en continu 24 heures sur 24 en toute sécurité assurant la traçabilité des opérations.The present invention relates to a robotic laboratory for analyzing samples in liquid, solid or pulverulent form, efficient, suitable for continuous operation 24 hours a day in complete safety ensuring the traceability of operations.
Ce laboratoire comprenant une pluralité d'analyseurs, au moins un robot industriel rotoïde à au moins cinq axes de travail, monté sur un rail de déplacement horizontal lui conférant un axe supplémentaire de travail, muni de moyens de déplacement sur ledit rail, relié à un système de contrôle est caractérisé en ce qu'il comprend en outre un local séparé en deux zones contiguës non communicantes pour un opérateur d'exploitation, une desdites zones étant dénommée "zone robotique" et l'autre "sas opérateur", la zone robotique comprenant le robot muni d'un préhenseur industriel à son extrémité, un plan de travail du robot placé en dessous du robot supportant les analyseurs, le sas opérateur comprenant un plan de travail pour l'opérateur d'exploitation, des convoyeurs bidirectionnels de transfert de contenants renfermant les échantillons, entre la zone robotique et le sas opérateur. Selon une autre caractéristique de l'invention le rail de déplacement du robot a une longueur supérieure à la longueur du plan de travail du robot de manière à permettre au robot d'accéder à deux zones de maintenance situées au delà des extrémités dudit plan de travail Selon une autre caractéristique le laboratoire comporte en outre, des moyens d' autotest de la répétabilité du positionnement du robot dans l'espace selon ses axes de travail .This laboratory comprising a plurality of analyzers, at least one industrial rotoid robot with at least five working axes, mounted on a horizontal displacement rail giving it an additional working axis, provided with displacement means on said rail, connected to a control system is characterized in that it further comprises a room separated into two contiguous non-communicating zones for an operating operator, one of said zones being called "robotic zone" and the other "operator lock", the robotic zone comprising the robot fitted with an industrial gripper at its end, a robot work plan placed below the robot supporting the analyzers, the airlock operator comprising a work plan for the operating operator, two-way container transfer conveyors containing the samples, between the robotic zone and the operator airlock. According to another characteristic of the invention, the robot displacement rail has a length greater than the length of the robot work surface so as to allow the robot to access two maintenance zones located beyond the ends of said work plane. According to another characteristic, the laboratory also includes means for self-testing the repeatability of the positioning of the robot in space along its working axes.
Selon un mode de réalisation particulier les moyens d' autotest de la répétabilité du robot comprennent au moins un dispositif fixe choisi parmi des microcontacts, des capteurs de proximité, des détecteurs laser convenablement répartis dans l'espace et des moyens mobiles d'activation desdits dispositifs, portés par le préhenseur du robot. Selon une autre caractéristique le laboratoire comprend en outre au moins un portoir de contenants des échantillons, montés sur des supports, comportant des emplacements circulaires pour lesdits supports, lesdits portoirs et lesdits supports étant munis de moyens de positionnement angulaire de chaque support dans un emplacement .According to a particular embodiment, the means of self-test of the repeatability of the robot comprise at least one fixed device chosen from micro-contacts, proximity sensors, laser detectors suitably distributed in space and mobile means for activating said devices. , carried by the robot gripper. According to another characteristic, the laboratory further comprises at least one rack of sample containers, mounted on supports, comprising circular locations for said supports, said racks and said supports being provided with means for angular positioning of each support in a location.
Selon un mode de réalisation particulier les moyens de positionnement angulaire comprennent un capteur à effet Hall fixé au portoir et un aimant solidaire du support. Selon un mode de réalisation particulier les moyens de positionnement angulaire comprennent une caméra vidéo, des moyens de traitement d'images et des moyens de repérage angulaire de chaque contenant dans chaque emplacement.According to a particular embodiment, the angular positioning means comprise a Hall effect sensor fixed to the rack and a magnet secured to the support. According to a particular embodiment, the angular positioning means comprise a video camera, image processing means and means for angular location of each container in each location.
Selon un mode de réalisation particulier le laboratoire comprend en outre un distributeur automatique de seringues cylindriques munies d'embouts excentrés, comportant un bloc support avec des évidements de forme adaptée au logement des extrémités des seringues et des embouts, un plateau mobile muni de moyens de déplacement et un détecteur de position.According to a particular embodiment, the laboratory further comprises an automatic distributor of cylindrical syringes provided with eccentric tips, comprising a support block with recesses of shape adapted to housing the ends of the syringes and end caps, a movable plate provided with displacement means and a position detector.
Selon une autre caractéristique le laboratoire comprend en outre un distributeur d'accessoires comportant deux flasques parallèles verticaux, des plateaux superposés, inclinés, disposés en Z solidaires des flasques, des volets articulés autour du bord supérieur de chaque plateau, montés sur un socle horizontal tournant à deux positions stables décalées de 90° muni de moyens de rotation et d'immobilisation dans les deux positions stables, le plateau le plus bas étant muni d'un rebord vertical d'arrêt des accessoires permettant la prise desdits accessoires par le robot à un emplacement unique.According to another characteristic, the laboratory further comprises an accessory distributor comprising two vertical parallel flanges, superimposed, inclined plates, arranged in Z integral with the flanges, flaps articulated around the upper edge of each plate, mounted on a rotating horizontal base. with two stable positions offset by 90 ° provided with means of rotation and immobilization in the two stable positions, the lowest plate being provided with a vertical edge for stopping the accessories allowing the gripping of said accessories by the robot at a unique location.
Selon une autre caractéristique le laboratoire comporte en outre une station de contrôle dimensionnel d'un échantillon comprenant un bloc de travail comportant deux trous coniques coaxiaux à axe vertical, respectivement supérieur et inférieur, une fente horizontale séparant les deux trous coniques, un tiroir mobile dans la fente obturant la partie inférieure du trou conique supérieur muni de moyens de déplacement dans un plan horizontal, un godet de transfert de l'échantillon, un porte godet mobile monté sur une glissière horizontale, placé en dessous du bloc de travail muni à sa partie supérieure d'un lamage de réception du godet centré dans l'axe des trous coniques et comportant des moyens de déplacement horizontal, une caméra vidéo placée au dessus du bloc de travail dans l'axe des trous coniques et des moyens électroniques de traitement d'images.According to another characteristic, the laboratory also includes a dimensional control station for a sample comprising a working block comprising two coaxial conical holes with vertical axis, respectively upper and lower, a horizontal slot separating the two conical holes, a drawer movable in the slot closing the lower part of the upper conical hole provided with means of displacement in a horizontal plane, a sample transfer cup, a movable cup holder mounted on a horizontal slide, placed below the work block provided in its part upper of a counterbore of the bucket centered in the axis of the conical holes and comprising means of horizontal displacement, a video camera placed above the work block in the axis of the conical holes and electronic means for processing images.
Selon une autre caractéristique le laboratoire comporte un adaptateur universel de préhension constitué d'un bloc cylindrocônique comportant une gorge cylindrique munie de deux secteurs plans de réception du préhenseur industriel du robot.According to another characteristic, the laboratory comprises a universal gripping adapter consisting of a cylindrical-conical block comprising a cylindrical groove provided with two flat receiving sectors of the industrial gripper of the robot.
Selon un mode de réalisation particulier l'adaptateur universel de préhension comporte en outre un bouchon de flacon de verre fixé à l'extrémité de sa partie conique. Selon un mode de réalisation particulier 1 ' adaptateur universel de préhension comporte en outre un évidement cylindrique axial destiné à recevoir une canule.According to a particular embodiment, the universal gripping adapter further comprises a glass vial stopper fixed at the end of its conical part. According to a particular embodiment, the universal gripping adapter further comprises an axial cylindrical recess intended to receive a cannula.
Selon un mode de réalisation particulier l'adaptateur universel de préhension comporte en outre deux évidements troncôniques axiaux opposés pour le montage d'un embout adapté à la forme et à la taille d'un comprimé ou d'une gélule.According to a particular embodiment, the universal gripping adapter further comprises two opposite axial frustoconical recesses for mounting a tip adapted to the shape and size of a tablet or capsule.
Selon une autre caractéristique le laboratoire comporte au moins une station de répartition de liquide comprenant un bâti fixe, au moins un tube de liquide à répartir, au moins deux flacons récepteurs, un support mobile de tubes et de flacons, muni de moyens de déplacement horizontal et vertical, une seringue solidaire du bâti fixe munie d'une aiguille creuse montée verticalement, reliée à des moyens d'aspiration et des moyens de refoulement, un pied-de-biche mobile traversé par l'aiguille, un ressort de rappel du pied-de-biche dans la position éloignée de la seringue, une butée mécanique. Selon une autre caractéristique le laboratoire comporte un positionneur d'échantillon comprenant des moyens adaptés de préhension dudit échantillon, une caméra vidéo et des moyens de traitement d'images.According to another characteristic, the laboratory comprises at least one liquid distribution station comprising a fixed frame, at least one tube of liquid to be distributed, at least two receiving bottles, a mobile support of tubes and bottles, provided with means of horizontal displacement. and vertical, a syringe secured to the fixed frame provided with a vertically mounted hollow needle, connected to suction means and delivery means, a movable presser foot crossed by the needle, a return spring for the foot -of the crowbar in the position remote from the syringe, a mechanical stop. According to another characteristic, the laboratory includes a sample positioner comprising suitable means for gripping said sample, a video camera and image processing means.
Selon une autre caractéristique le laboratoire comporte un bouchon de flacon constitué d'un premier bloc cylindrique comportant une gorge latérale munie de deux secteurs plats de réception du préhenseur industriel du robot et d'un second bloc cylindrique coaxial de diamètre inférieur au diamètre du premier bloc et égal au diamètre du flacon à boucher.According to another characteristic, the laboratory includes a bottle stopper consisting of a first cylindrical block comprising a lateral groove provided with two flat sectors for receiving the industrial gripper of the robot and a second coaxial cylindrical block of diameter less than the diameter of the first block and equal to the diameter of the stopper bottle.
Selon une autre caractéristique de l'invention, les échantillons et les contenants utilisés par le robot étant munis d'identificateurs, le laboratoire comporte en outre un lecteur manuel desdits identificateurs placé dans le sas opérateur, un lecteur automatique d'identificateurs des contenants placé sur le plan de travail du robot, un système informatique de supervision connecté au système de contrôle du robot, aux analyseurs, ledit système informatique ayant accès à une base de données relatives aux procédures d'analyses et à une base de données relative aux résultats des dites analyses.According to another characteristic of the invention, the samples and the containers used by the robot being provided with identifiers, the laboratory also comprises a manual reader of said identifiers placed in the operator lock, an automatic reader of identifiers of the containers placed on the robot work plan, a supervision computer system connected to the robot control system, to the analyzers, said computer system having access to a database relating to the analysis procedures and to a database relating to the results of said analyzes.
BREVE DESCRIPTION DES DESSINSBRIEF DESCRIPTION OF THE DRAWINGS
L'invention sera mieux comprise à la lecture de la description ci-après en référence aux dessins annexés dans lesquels : la figure 1 représente un plan schématique d'implantation des éléments principaux du laboratoire, la figure 2 représente un portoir de contenants d' échantillons, la figure 3a représente schématiquement un distributeur d'accessoires selon une coupe verticale, - la figure 3b représente un distributeur d'accessoires vu de dessus, la figure 3c représente trois plateaux d'un distributeur d' accessoires, la figure 3d représente 1 ' extrémité basse du plateau inférieur d'un distributeur d'accessoires, la figure 4a représente une station de contrôle dimensionnel d'échantillons en coupe verticale, la figure 4b représente une vue du dessus d'une station de contrôle dimensionnel d'échantillons, - la figure 5a représente un adaptateur universel de préhension, la figure 5b représente un adaptateur universel de préhension pour bouchon de flacon de verre, la figure 5c représente un adaptateur universel de préhension pour une canule de remplissage, la figure 5d représente un adaptateur universel de préhension, la figure 5e représente un adaptateur universel de préhension pour récupérateur de lest, - la figure 6 représente une station de répartition de liquide, la figure 7a représente schématiquement un distributeur automatique de seringues; avec des seringues correctement placées, la figure 7b représente schématiquement un distributeur automatique de seringues, avec une seringue mal placée, la figure 8 représente un bouchon de flacon. EXPOSE DETAILLE DE L'INVENTIONThe invention will be better understood on reading the description below with reference to the accompanying drawings in which: FIG. 1 represents a schematic plan of implantation of the main elements of the laboratory, FIG. 2 represents a rack of sample containers , FIG. 3a schematically represents an accessory distributor in a vertical section, - FIG. 3b represents an accessory distributor seen from above, FIG. 3c represents three trays of an accessory distributor, FIG. 3d represents 1 ' lower end of the lower tray of an accessory distributor, FIG. 4a represents a dimensional control station for samples in vertical section, FIG. 4b represents a top view of a dimensional control station for samples, - the Figure 5a shows a universal grip adapter, Figure 5b shows a universal grip adapter for worm bottle cap re, FIG. 5c represents a universal gripping adapter for a filling cannula, FIG. 5d represents a universal gripping adapter, FIG. 5e represents a universal gripping adapter for ballast recuperator, - FIG. 6 represents a distribution station liquid, FIG. 7a schematically represents an automatic syringe dispenser; with correctly placed syringes, FIG. 7b schematically represents an automatic syringe dispenser, with a misplaced syringe, FIG. 8 represents a vial stopper. DETAILED DESCRIPTION OF THE INVENTION
En référence à la figure 1 le laboratoire robotisé d'analyses d'échantillons de l'invention comprend un local 1 séparé en deux zones 2 et 3 contiguës respectivement dénommées zone robotique et sas opérateur.With reference to FIG. 1, the robotic laboratory for analyzing samples of the invention comprises a room 1 separated into two contiguous zones 2 and 3 respectively called robotic zone and its operator.
Dans la zone 2 robotique on trouve un robot 5 industriel, rotoïde à six axes de travail suspendu à un rail 6 placé au-dessus d'un plan 4 de travail du robot 5.In zone 2 robotics there is an industrial robot 5, a rotoid with six working axes suspended from a rail 6 placed above a work surface 4 of the robot 5.
Le plan 4 de travail du robot 5 supporte des analyseurs 7, 11, 12 et 13 tels que des appareils d'analyses chimique des appareils de détermination de caractères physiques, ou dimensionnelles. Dans le sas 3, on trouve un plan 8 de travail pour l'opérateur.The work plan 4 of the robot 5 supports analyzers 7, 11, 12 and 13 such as apparatuses for chemical analysis, apparatuses for determining physical or dimensional characters. In the airlock 3, there is a work plan 8 for the operator.
Entre la zone 2 robotique et la sas 3 on trouve des convoyeurs 9 bidirectionnels.Between the robotic zone 2 and the airlock 3 there are bidirectional conveyors 9.
Le robot 5 est, de plus, muni de moyens de déplacements sur le rail 7 non représentés sur la figure 1, .et d'un préhenseur 10 industriel à son extrémité. Le robot 5 est raccordé à un système de contrôle non représenté sur les figures.The robot 5 is, moreover, provided with means of movement on the rail 7 not shown in Figure 1, .and an industrial gripper 10 at its end. The robot 5 is connected to a control system not shown in the figures.
Les échantillons à analyser déposés sur le plan 8 de travail pour opérateur, sont déposés dans des contenants appropriés puis disposés manuellement sur les convoyeurs qui les acheminent dans la zone 2 robotique au-dessus du plan de travail du robot 5. Grâce à son préhenseur 10, le robot 5 saisit le contenant de l'échantillon, le répartit dans des contenants adaptés et le dispose sur un des analyseurs 7. Lorsque l'analyse est terminée, le robot reprend le restant de l'échantillon et le dispose sur un convoyeur 9 qui le ramène dans le sas opérateur. Grâce à ces dispositions, l'opérateur n'a pas besoin d'accéder à la zone robotique quand le robot est en fonctionnement. Un dispositif de verrouillage de la porte d'accès à cette zone complète l'installation pour éviter tout risque de pénétration, quand le robot est en fonction. Une procédure spécifique d'arrêt programmée permet au robot 5 de terminer le mouvement en cours avant d'autoriser le déblocage de la porte d'accès.The samples to be analyzed, deposited on the work plan 8 for the operator, are placed in appropriate containers then placed manually on the conveyors which convey them to the robotic zone 2 above the work plan of the robot 5. Thanks to its gripper 10 , the robot 5 grasps the container of the sample, distributes it in suitable containers and places it on one of the analyzers 7. When the analysis is finished, the robot takes up the rest of the sample and places it on a conveyor 9 which brings it back to the operator airlock. Thanks to these provisions, the operator does not need to access the robotic zone when the robot is in operation. A locking device for the access door to this area completes the installation to avoid any risk of penetration when the robot is in operation. A specific programmed stop procedure allows the robot 5 to complete the movement in progress before authorizing the unlocking of the access door.
Une des caractéristiques de 1 ' invention est l'utilisation d'un robot industriel rotoïde 6 axes, monté sur un rail qui permet au préhenseur monté à l'extrémité du robot d'accéder avec une très grande précision à tout point d'une zone d'accès étendue.One of the characteristics of the invention is the use of a 6-axis industrial rotoid robot, mounted on a rail which allows the gripper mounted at the end of the robot to access very precisely any point in a zone. extended access.
Selon l'invention, le rail 6 de déplacement linéaire du robot est prolongé à ses deux extrémités pour que le robot accède à deux zones (14, 15) hors du plan 4 de travail dans lesquelles il est facilement accessible pour effectuer des opérations de maintenance, et/ou de tests et/ou de décontamination. Un dispositif d'autotest particulièrement performant met en oeuvre des détecteurs laser. Ce dispositif comporte : un émetteur laser portable posé sur le plan de travail du robot. des récepteurs laser fixés dans 1 ' espace de la zone robotique reliés au système de contrôle.According to the invention, the rail 6 of linear movement of the robot is extended at its two ends so that the robot accesses two zones (14, 15) outside of the work surface 4 in which it is easily accessible for carrying out maintenance operations. , and / or tests and / or decontamination. A particularly efficient self-test device uses laser detectors. This device includes: a portable laser transmitter placed on the work surface of the robot. laser receivers fixed in the space of the robotic zone linked to the control system.
Pour effectuer les autotests, le robot saisit l'émetteur laser au moyen de son préhenseur, se place dans les positions de tests prédéterminées tout au long du rail et vise successivement les récepteurs laser fixés. Si tous les récepteurs reçoivent séquenciellement le faisceau laser émis par l'émetteur porté par le robot, le résultat du test est positif. Pour tous les cas un compte-rendu de test est imprimé.To carry out the self-tests, the robot grasps the laser transmitter by means of its gripper, places itself in the predetermined test positions along the rail and successively targets the attached laser receivers. If all the receivers sequentially receive the laser beam emitted by the transmitter carried by the robot, the test result is positive. In all cases a test report is printed.
Selon la figure 2 représentant un portoir 24, des contenants 20 d'échantillons sont montés sur des supports 21, comprenant six emplacements 22. Ces supports 21 étant montés de manière connue dans des lamages 23 du portoir 24. La caractéristique de l'invention consiste à fixer un aimant 25 à chaque support 21 et à un détecteur 26 magnétique au niveau de chaque lamage 23, et à relier les détecteurs 26 à une électronique de traitement. Lorsque le robot met en place un support 21 dans un lamage 23, il le fait tourner jusqu'à ce que l'électronique de traitement détecte que l'aimant 25 soit en regard du détecteur 26. Ainsi le support 21 d'échantillon est angulairement positionné sur le portoir 24. Différents types de détecteurs peuvent être utilisés, notamment des capteurs à effet Hall.According to FIG. 2 representing a rack 24, containers 20 of samples are mounted on supports 21, comprising six locations 22. These supports 21 being mounted in known manner in countersinks 23 of the rack 24. The characteristic of the invention consists in attaching a magnet 25 to each support 21 and to a magnetic detector 26 at each counterbore 23, and in connecting the detectors 26 to a processing electronics. When the robot places a support 21 in a counterbore 23, it rotates it until the processing electronics detects that the magnet 25 is facing the detector 26. Thus the support 21 for the sample is angularly positioned on the rack 24. Different types of detectors can be used, in particular Hall effect sensors.
Selon les figures 7a et 7b, le laboratoire de l'invention comporte : un distributeur 85 automatique de seringues 86, 87 cylindriques à embouts 89 et 90. un bloc 91 support avec des évidements 92,93,94,95. un plateau 88 mobile muni de moyens 96 de déplacement, un détecteur 97 de position.According to FIGS. 7a and 7b, the laboratory of the invention comprises: a dispenser 85 automatic syringe 86, 87 cylindrical with tips 89 and 90. a block 91 support with recesses 92,93,94,95. a movable plate 88 provided with displacement means 96, a position detector 97.
Les seringues 86,87 sont positionnées manuellement par l'opérateur du laboratoire, dans chaque emplacement du support 85. Le support est ensuite placé sous le plateau 88 qui descend jusqu'à être en contact avec suivant le cas, avec au moins une ou toutes les seringues. Si toutes les seringues sont placées correctement, le détecteur 97 est activé par la descente du plateau. Si au moins, une seringue est mal positionnée dans son emplacement, le plateau 88 est arrêté avant la position d'activation du détecteur 97. L'opérateur est alerté de cette anomalie.The syringes 86, 87 are positioned manually by the laboratory operator, in each location of the support 85. The support is then placed under the plate 88 which descends until it is in contact with, as the case may be, with at least one or all syringes. If all the syringes are placed correctly, the detector 97 is activated by lowering the tray. If at least one syringe is incorrectly positioned in its location, the plate 88 is stopped before the detector 97 activation position. The operator is alerted to this anomaly.
Selon les figures 3a, 3b, 3c et 3d, le laboratoire de l'invention comporte un distributeur 31 d'accessoires 32 comprenant : deux flasques 33 et 34 verticaux adaptés à la largeur de 1 ' accessoire. des plateaux 35 superposés. - des volets 36 articulés autour du bord 37 supérieur de chaque plateau 35. un socle 38 horizontal circulaire munis de deux encoches 39 et 40. un dispositif 42 d'immobilisation, -un rebord 43 vertical du plateau inférieur.According to Figures 3a, 3b, 3c and 3d, the laboratory of the invention comprises a distributor 31 of accessories 32 comprising: two vertical flanges 33 and 34 adapted to the width of one accessory. stacked trays 35. - flaps 36 hinged around the upper edge 37 of each plate 35. a circular horizontal base 38 provided with two notches 39 and 40. an immobilizing device 42, a vertical rim 43 of the lower plate.
De plus, le distributeur comporte des moyens de déplacement en rotation non représentés. Les encoches 39 et 40 coopèrent avec le dispositif 42 d'immobilisation solidaire du plan de travail sur lequel est placé le distributeur pour déterminer deux positions des flasques 33 et 34 décalés de 90°. L'une étant la position de chargement en accessoires représentée en pointillés sur la figure 3b et l'autre la position de prise des accessoires par le robot. Les volets 36 sont rabattus pour permettre le chargement de chaque plateau à partir du plateau inférieur, puis remis en position perpendiculaire à chaque plateauIn addition, the dispenser comprises means of displacement in rotation not shown. The notches 39 and 40 cooperate with the immobilizing device 42 secured to the work surface on which the dispenser is placed to determine two positions of the flanges 33 and 34 offset by 90 °. One being the accessory loading position shown in dotted lines in FIG. 3b and the other being the position in which the accessories are taken up by the robot. The flaps 36 are folded down to allow the loading of each tray from the lower tray, then returned to the position perpendicular to each tray.
Selon les figures 4a et 4b, 1 ' invention comporte une station de contrôle 45 dimensionnel d'un échantillon 46 comprenant : un bloc 47 de travail muni de deux trous 48 et 49 tronconiques concentriques à axe vertical respectivement supérieur et inférieur. - une fente 50 horizontale séparant les deux trous 48 et 49. un tiroir 51 mobile, muni de moyens de déplacement non représentés. un godet 52 de transfert d'échantillon. - un porte godet 53 mobile dans un plan horizontal comportant un lamage 55 et muni de moyens de déplacement non représentés. une glissière 54 horizontale. une caméra 57 vidéo placée dans l'axe 56 du bloc 47. - des moyens électroniques de traitement d'image non représentés.According to FIGS. 4a and 4b, the invention comprises a dimensional control station 45 for a sample 46 comprising: a working block 47 provided with two concentric tapered holes 48 and 49 with vertical axes respectively upper and lower. - A horizontal slot 50 separating the two holes 48 and 49. a movable drawer 51, provided with displacement means not shown. a sample transfer cup 52. - A bucket holder 53 movable in a horizontal plane comprising a counterbore 55 and provided with displacement means not shown. a horizontal slide 54. a video camera 57 placed in the axis 56 of the block 47. - electronic image processing means not shown.
Le robot au moyen du préhenseur monté à son extrémité, dépose un échantillon 46, placé dans un godet 52 de transfert, dans le trou 48 conique supérieur du bloc 47. Le tiroir 51 étant dans la position de fermeture du trou 48. Le robot dépose le godet 52 de transfert sur le porte-godet 53, lequel se trouve dans la position représentée figure 4b. L'échantillon 46 se trouve au fond du trou 48 sur la partie supérieure du tiroir 51.The robot by means of the gripper mounted at its end, deposits a sample 46, placed in a transfer cup 52, in the upper conical hole 48 of the block 47. The drawer 51 is in the closed position of the hole 48. The robot deposits the transfer cup 52 on the cup holder 53, which is in the position shown in FIG. 4b. The sample 46 is located at the bottom of the hole 48 on the upper part of the drawer 51.
La caméra 57 vidéo, prend une image de l'échantillon 46 et le transmet à l'électronique de traitement qui l'analyse et détermine simultanément les paramètres recherchés : longueur, largeur, barycentre. Ce dispositif permet également de détecter les échantillons hors tolérances dimensionnelles.The video camera 57 takes an image of the sample 46 and transmits it to the processing electronics which analyzes it and simultaneously determines the parameters sought: length, width, barycenter. This device also makes it possible to detect samples outside dimensional tolerances.
Le porte-godet 53 est alors déplacé pour que l'ouverture du godet 52 se trouve au-dessous du trou 49 conique et son axe confondu avec l'axe 56.The bucket holder 53 is then moved so that the opening of the bucket 52 is located below the conical hole 49 and its axis coincides with the axis 56.
Le tiroir 51 est déplacé à l'extérieur de la fente hors du trou 48 par action sur ses moyens de déplacement. L'échantillon, sous l'effet de son poids, traverse le trou 49 et tombe dans le godet 52.The drawer 51 is moved outside the slot out of the hole 48 by action on its displacement means. The sample, under the effect of its weight, crosses the hole 49 and falls into the cup 52.
Le porte-godet 53 est ensuite déplacé dans la positon représentée figure 4b où il est accessible au robot.The bucket holder 53 is then moved to the position shown in FIG. 4b where it is accessible to the robot.
Grâce à ce mode opératoire, on utilise toujours le même godet de transfert pour déplacer un échantillon donné. Selon la figure 5a, l'invention comporte un adaptateur 60 universel de préhension, dont une partie 61 est cylindrique et l'autre 62 tronconique.With this procedure, the same transfer cup is always used to move a given sample. According to FIG. 5a, the invention comprises a universal gripping adapter 60, of which a part 61 is cylindrical and the other 62 frustoconical.
Grâce a une gorge 63 cylindrique munie de deux secteurs 68 plans ménagés sur la partie cylindrique, il peut être saisi par le préhenseur du robot.Thanks to a cylindrical groove 63 provided with two planar sectors 68 arranged on the cylindrical part, it can be gripped by the robot gripper.
Cet adaptateur universel constitue le support de base pour différents accessoires tels que un bouchon 64 de flacon, représente figure 5b, une canule 65 de remplissage de contenant représente figure 5c, un embout 66 pour gélule ou comprimé représente figure 5d ou un récupérateur 67 de lest représenté figure 5e.This universal adapter constitutes the basic support for various accessories such as a bottle cap 64, represents FIG. 5b, a cannula 65 for filling the container represents FIG. 5c, an endpiece 66 for capsule or tablet represents FIG. 5d or a ballast recuperator 67 shown in Figure 5e.
Selon une autre caractéristique le laboratoire de l'invention comporte une station de répartition de liquide représentée figure 6 qui comprend : - un bâtit 70 fixe, un support 71 mobile en translation verticale et horizontale, au moins un tube 72 contenant le liquide à répartir. 97/47974 PC17FR97/01018According to another characteristic, the laboratory of the invention comprises a liquid distribution station shown in FIG. 6 which comprises: - a fixed frame 70, a support 71 movable in vertical and horizontal translation, at least one tube 72 containing the liquid to be distributed. 97/47974 PC17FR97 / 01018
1414
au moins deux flacons 73,74 récepteurs, munis de septums, une seringue 75 solidaire du bâtit 70 muni d'une aiguille 76 creuse à sa partie basse, des moyens 80 d'aspiration reliés à la partie supérieure de la seringue 75, des moyens 81 de refoulement reliés à la partie supérieure de la seringue 75, deux électrovannes, un pied 78 de biche mobile verticalement, - un ressort 77 de rappel, une butée 79 mécanique solidaire du bâtit 70.at least two 73.74 receptor bottles, provided with septa, a syringe 75 secured to the frame 70 provided with a hollow needle 76 at its lower part, suction means 80 connected to the upper part of the syringe 75, means 81 of discharge connected to the upper part of the syringe 75, two solenoid valves, a crowbar 78 movable vertically, - a return spring 77, a mechanical stop 79 secured to the frame 70.
Le support 71 mobile est équipé de moyens de déplacement horizontaux et verticaux.The mobile support 71 is equipped with horizontal and vertical displacement means.
Pour transférer le liquide contenu dans le tube 72 dans les flacons 73 et 74, le support 71 mobile est déplacé de manière à ce que l'aiguille 76 soit sensiblement dans l'axe du tube 72, puis il est soulevé de manière à ce que l'aiguille 76 soit légèrement au-dessus du fond du tube 72. Les moyens 80 d'aspirations sont mis en communication avec l'intérieur de la seringue 75, par action sur l'électrovanne 84, pendant le temps nécessaire au remplissage de la seringue 75.To transfer the liquid contained in the tube 72 into the bottles 73 and 74, the movable support 71 is moved so that the needle 76 is substantially in the axis of the tube 72, then it is lifted so that the needle 76 is slightly above the bottom of the tube 72. The suction means 80 are placed in communication with the interior of the syringe 75, by action on the solenoid valve 84, for the time necessary for filling the syringe 75.
Le support 71 est ensuite descendu puis placé horizontalement de manière à ce que l'aiguille 76 soit sensiblement dans l'axe du flacon 73, puis remonté.The support 71 is then lowered and then placed horizontally so that the needle 76 is substantially in the axis of the bottle 73, then reassembled.
L'aiguille 76 perfore le septum qui obture l'entrée du flacon 73. Pendant le mouvement de montée du support 71, le pied de biche 78 coulisse verticalement sur le bâtit 70 en comprimant le ressort 75. Les moyens 8 de refoulement sont mis en communication avec l'intérieur de la seringue 75 par action sur l'électrovanne 83 le temps nécessaire au remplissage du flacon 73. Quand le remplissage est terminé, le support 71 redescend. Le ressort 77 comprimé agit sur le pied de biche 78, lequel maintient le flacon contre le support pendant la descente. La butée 79 mécanique est réglée en position verticale pour que l'extrémité de l'aiguille 76 soit dégagée du septum en bout de course. Ainsi le flacon 73 ne reste pas suspendu à l'aiguille.The needle 76 pierces the septum which closes the entry of the bottle 73. During the upward movement of the support 71, the presser foot 78 slides vertically on the frame 70 by compressing the spring 75. The delivery means 8 are brought into communication with the interior of the syringe 75 by action on the solenoid valve 83 the time necessary for filling the bottle 73. When the filling is finished, the support 71 descends. The compressed spring 77 acts on the presser foot 78, which holds the bottle against the support during the descent. The mechanical stop 79 is adjusted in a vertical position so that the end of the needle 76 is released septum at the end of the stroke. Thus the bottle 73 does not remain suspended from the needle.
La même opération est répétée pour tous les flacons à remplir. Selon une autre caractéristique de l'invention, le laboratoire comprend un positionneur d'échantillons comprenant : des moyens de préhension adaptés, une caméra vidéo - des moyens de traitement d'image.The same operation is repeated for all the bottles to be filled. According to another characteristic of the invention, the laboratory comprises a sample positioner comprising: suitable gripping means, a video camera - image processing means.
Les moyens de préhension, dans le cas d'échantillons sous forme de gélules sont du type à aspiration et sont montés à l'extrémité du robot.The gripping means, in the case of samples in the form of capsules are of the suction type and are mounted at the end of the robot.
La caméra vidéo étant placée au dessus du plan de travail sur lequel se trouve l'échantillon, produit une image qui est analysée par les moyens de traitement. Ainsi l'axe principal de l'échantillon est repéré et des ordres adaptés sont donnés au robot par le système de contrôle pour orienter l'axe principal de l'échantillon suivant un axe prédéterminé.The video camera being placed above the work surface on which the sample is located, produces an image which is analyzed by the processing means. Thus the main axis of the sample is identified and appropriate orders are given to the robot by the control system to orient the main axis of the sample along a predetermined axis.
Selon une autre caractéristique de l'invention, les échantillons à leur arrivée au laboratoire pour analyse et les contenants utilisés par le robot étant munis d'identificateurs, le laboratoire comporte : - un lecteur manuel des identificateurs des échantillons placé sur le plan de travail de l'opérateur, une lecture automatique des identificateurs des contenants utilisés par le robot placé sur le plan de travail du robot, - un système informatique de supervision.According to another characteristic of the invention, the samples on their arrival at the laboratory for analysis and the containers used by the robot being provided with identifiers, the laboratory comprises: - a manual reader of the identifiers of the samples placed on the work plan of the operator, an automatic reading of the identifiers of the containers used by the robot placed on the robot's work plan, - a computerized supervision system.
Le système informatique de supervision est relié directement au système de contrôle du robot et aux analyseurs, et a accès à une base de données qui contient toutes les informations nécessaires à l'exécution automatique des analyses. Dans cette même base de données peuvent être stockés les résultats des analyses. Cette base de données peut être unique ou répartie, implantée sur le système informatique de supervision ou sur autre système sur le même site ou sur un site distant.The supervision computer system is directly linked to the robot control system and the analyzers, and has access to a database which contains all the information necessary for the automatic execution of analyzes. In this same database can be stored the results of analyzes. This database can be single or distributed, located on the supervision computer system or other system on the same site or on a remote site.
Les échantillons à analyser sont disponibles dans le sas opérateur sous forme conditionnée. Les échantillons portent un identificateur, par exemple, un code à barre collé sur leur emballage. Ce code est saisi par l'opérateur au moyen du lecteur manuel d'identificateurs placé dans le sas opérateur. L'identificateur du contenant dans lequel l'opérateur dispose l'échantillon à analyser est aussi saisi manuellement. Les résultats de ces saisies sont transmis au système informatique de gestion qui les associe. Ensuite, lorsque le robot utilise un nouveau contenant pour transférer tout ou une partie de l'échantillon, il identifie ce contenant au moyen de lecteur automatique placé sur son plan de travail et associe son identificateur à celui de 1'échantillon.The samples to be analyzed are available in the airlock in conditioned form. The samples carry an identifier, for example, a bar code stuck on their packaging. This code is entered by the operator using the manual identifier reader located in the operator lock. The identifier of the container in which the operator has the sample to be analyzed is also entered manually. The results of these entries are transmitted to the computerized management system which combines them. Then, when the robot uses a new container to transfer all or part of the sample, it identifies this container by means of an automatic reader placed on its work surface and associates its identifier with that of the sample.
Ainsi le système informatique a connaissance de tous les contenants dans lesquels l'échantillon a transité. Par ailleurs, il a connaissance de toutes les opérations auxquelles l'échantillon a été soumis, ce qui permet d'assurer la traçabilité totale des analyses.Thus the computer system has knowledge of all the containers in which the sample has passed. In addition, he is aware of all the operations to which the sample was subjected, which ensures full traceability of the analyzes.
De plus, si une séquence est interrompue, il est possible de la reprendre sans risque d'erreur. In addition, if a sequence is interrupted, it is possible to resume it without risk of error.

Claims

REVENDICATIONS
- Laboratoire robotisé d'analyses d'échantillons sous forme solide, liquide ou pulvérulente, comprenant une pluralité d'analyseurs (7,11,12 et 13), au moins un robot (5) industriel rotoïde à au moins cinq axes de travail, monté sur un rail (6) de déplacement horizontal lui conférant un axe supplémentaire de travail, muni de moyens de déplacement sur ledit rail (6), relié à un système de contrôle, caractérisé en ce qu'il comprend en outre un local (1) séparé en deux zones (2 et 3) contiguës non communicantes pour un opérateur d'exploitation, une desdites zones (2 et 3) étant dénommée zone (2) robotique et l'autre sas (3) opérateur, la zone (2) robotique comprenant le robot muni à son extrémité d'un préhenseur (10) industriel, un plan (4) de travail du robot (5) supportant les analyseurs (7,11,12 et 13), le sas (3) opérateur comprenant un plan de travail pour l'opérateur d'exploitation, des convoyeurs bidirectionnels de transfert de contenants renfermant les échantillons, entre la zone (2) robotique et le sas (3) opérateur. - Laboratoire selon la revendication 1 caractérisé en ce qu'il comporte en outre, des moyens d'autotest de la répétabilité du positionnement du robot (5) dans l'espace selon ses axes de travail. - Laboratoire selon la revendication 2 caractérisé en ce que les moyens d'autotest comprennent au moins un dispositif fixe choisi parmi des microcontacts, des capteurs de proximité, des détecteurs laser convenablement répartis dans l'espace et des moyens mobiles d'activation desdits dispositifs, portés par le préhenseur (10) du robot (5) . - Laboratoire selon l'une quelconque des revendications 1 à 3 caractérisé en ce qu'il comprend en outre au moins un portoir (24) et de contenants (20) des échantillons, montés sur des supports (21), comportant des emplacements (22) circulaires pour lesdits supports- Robotic laboratory for analyzing samples in solid, liquid or pulverulent form, comprising a plurality of analyzers (7, 11, 12 and 13), at least one industrial robot (5) rotoid with at least five working axes, mounted on a rail (6) for horizontal movement giving it an additional working axis, provided with means for movement on said rail (6), connected to a control system, characterized in that it also comprises a room (1 ) separated into two contiguous non-communicating zones (2 and 3) for an operating operator, one of said zones (2 and 3) being called robotic zone (2) and the other operator lock (3), zone (2) robotics comprising the robot provided at its end with an industrial gripper (10), a work plan (4) of the robot (5) supporting the analyzers (7, 11, 12 and 13), the airlock (3) operator comprising a work plan for the operating operator, two-way container transfer conveyors containing the s samples, between the robotic zone (2) and the operator airlock (3). - Laboratory according to claim 1 characterized in that it further comprises, self-test means for the repeatability of the positioning of the robot (5) in space along its working axes. - Laboratory according to claim 2 characterized in that the self-test means comprise at least one fixed device chosen from micro-contacts, proximity sensors, laser detectors suitably distributed in space and mobile means for activating said devices, carried by the gripper (10) of the robot (5). - Laboratory according to any one of claims 1 to 3 characterized in that it further comprises at least one rack (24) and containers (20) of the samples, mounted on supports (21), comprising circular slots (22) for said supports
(21), lesdits portoirs (24) et lesdits supports (21) étant munis de moyens de positionnement angulaire de chaque support (21) dans un emplacement (22) . 5- Laboratoire selon la revendication 4 caractérisé en ce que les moyens de positionnement angulaire comprennent une caméra vidéo, des moyens de traitement d'images et des moyens de repérage angulaire de chaque contenant(21), said racks (24) and said supports (21) being provided with means for angular positioning of each support (21) in a location (22). 5- Laboratory according to claim 4 characterized in that the angular positioning means comprise a video camera, image processing means and angular location means of each container
(20) dans chaque emplacement (22) . 6- Laboratoire selon l'une quelconque des revendications 1 à 5 caractérisé en ce qu'il comprend en outre un distributeur (85) automatique de seringues (86) cylindriques à embouts (89) excentrés, comportant un bloc (91) support avec des évidements (92) de forme adaptée au logement des extrémités des seringues (86)et des embouts (89), un plateau (88) mobile muni de moyens(20) in each location (22). 6- Laboratory according to any one of claims 1 to 5 characterized in that it further comprises a distributor (85) automatic syringes (86) with cylindrical tips (89) eccentric, comprising a block (91) support with recesses (92) of a shape suitable for housing the ends of the syringes (86) and of the nozzles (89), a movable plate (88) provided with means
(96) de déplacement et d'un détecteur (97) de position.(96) for displacement and a position detector (97).
7- Laboratoire selon l'une quelconque des revendications 1 à 6 caractérisé en ce qu'il comprend en outre un distributeur (31) d'accessoires (32) comportant deux flasques (33 et 34) parallèles verticaux, des plateaux7- Laboratory according to any one of claims 1 to 6 characterized in that it further comprises a distributor (31) of accessories (32) comprising two flanges (33 and 34) vertical parallel, trays
(35) superposés, inclinés, disposés en Z solidaires des flasques (33 et 34), des volets (36) articulés autour du bord (37) supérieur da chaque plateau (35), montés sur un socle (38) horizontal tournant à deux positions stables décalées de 90° muni de moyens de rotation et de moyens (39,40 et 42) d'immobilisation dans les deux positions stables, le plateau le plus bas étant muni d'un rebord (43) vertical d'arrêt des accessoires (32) permettant la prise desditε accessoires (32) par le robot (5) à un emplacement unique.(35) superimposed, inclined, arranged in Z integral with the flanges (33 and 34), flaps (36) articulated around the upper edge (37) of each plate (35), mounted on a horizontal base (38) rotating by two stable positions offset by 90 ° provided with rotation means and immobilization means (39, 40 and 42) in the two stable positions, the lower plate being provided with a vertical rim (43) for stopping the accessories (32) allowing the taking of said accessories (32) by the robot (5) at a single location.
8- Laboratoire selon l'une quelconque des revendications 1 à 7 caractérisé en ce qu'il comporte en outre une station de contrôle dimensionnelle d'un échantillon (46) comprenant un bloc (47) de travail comportant deux trous (48 et 49) coniques coaxiaux à axe (56) vertical, respectivement supérieur et inférieur, une fente (50) horizontale séparant les deux trous (48 et 49) coniques, un tiroir (51) mobile dans la fente (50) obturant la partie inférieure du trou (48) conique supérieur muni de moyens de déplacement dans un plan horizontal, un godet (52) de transfert de l'échantillon (46) , un porte-godet (53) mobile monté sur une glissière (54) horizontale, placé en dessous du bloc (47) de travail, muni à sa partie supérieure d'un lamage (55) de réception du godet (52) centré dans l'axe (56) des trous (48 et 49) coniques et comportant des moyens de déplacement horizontal, une caméra (57) vidéo placée au-dessus du bloc (47) de travail dans l'axe (56) des trous (48 et8- Laboratory according to any one of claims 1 to 7 characterized in that it further comprises a dimensional control station of a sample (46) comprising a block (47) of work comprising two holes (48 and 49) coaxial conical with vertical axis (56), respectively upper and lower, a horizontal slot (50) separating the two conical holes (48 and 49), a drawer (51) movable in the slot (50) closing the lower part of the upper conical hole (48) provided with means of displacement in a horizontal plane, a cup (52) for transferring the sample (46), a door - mobile bucket (53) mounted on a horizontal slide (54), placed below the working block (47), provided at its upper part with a counterbore (55) for receiving the bucket (52) centered in the axis (56) conical holes (48 and 49) and comprising means for horizontal displacement, a video camera (57) placed above the working block (47) in the axis (56) of the holes (48 and
49) coniques et des moyens électroniques de traitement d' images.49) conical and electronic image processing means.
9- Laboratoire selon l'une quelconque des revendications 1 à 8 caractérisé en ce qu'il comporte un adaptateur universel de préhension constitué d'un bloc (60) cylindroconique comportant une gorge (63) cylindrique munie de deux secteurs (68) plans de réception du préhenseur (10) industriel du robot (5) . 10- Laboratoire selon la revendication 8 caractérisé en ce que l'adaptateur universel de préhension comporte en outre un bouchon (64) de flacon de verre fixé à l'extrémité de sa partie (62) conique.9- Laboratory according to any one of claims 1 to 8 characterized in that it comprises a universal gripping adapter consisting of a block (60) cylindroconical having a groove (63) cylindrical provided with two sectors (68) planes reception of the industrial gripper (10) of the robot (5). 10- Laboratory according to claim 8 characterized in that the universal gripping adapter further comprises a stopper (64) of glass vial fixed to the end of its part (62) conical.
11- Laboratoire selon la revendication 8 caractérisé en ce que l'adaptateur universel de préhension comporte en outre un évidemment cylindrique axial destiné à recevoir une canule (65) .11- Laboratory according to claim 8 characterized in that the universal gripping adapter further comprises an axial cylindrical recess for receiving a cannula (65).
12- Laboratoire selon la revendication 8 caractérisé en ce que l'adaptateur universel de préhension comporte en outre deux évidements troncôniques axiaux opposés pour le montage d'un embout (66) adapté à la forme et à la taille d'un comprimé ou d'une gélule.12- Laboratory according to claim 8 characterized in that the universal gripping adapter further comprises two opposite axial frustoconical recesses for mounting a tip (66) adapted to the shape and size of a tablet or a capsule.
13- Laboratoire selon l'une quelconque des revendications 1 à 12 caractérisé en ce qu'il comporte au moins une station de répartition de liquide comprenant un bâti13- Laboratory according to any one of claims 1 to 12 characterized in that it comprises at least one liquid distribution station comprising a frame
(70) fixe, au moins un tube (72) de liquide à répartir, au moins deux flacons (73 et 74) récepteurs, un support(70) fixes, at least one tube (72) of liquid to be distributed, at least two bottles (73 and 74) receivers, a support
(71) mobile de tubes et de flacons, muni de moyens de déplacement horizontal et vertical, une seringue (75) solidaire du bâti (70) fixe munie d'une aiguille (76) creuse montée verticalement, reliée à des moyens (80) d'aspiration et des moyens (81) de refoulement, un pied- de-biche (78) mobile traversé par l'aiguille (76), un ressort (77) de rappel du pied-de-biche (78) dans la position éloignée de la seringue (75), une butée (79) mécanique. - Laboratoire selon l'une quelconque des revendications 1 à 13 caractérisé en ce qu'il comporte un positionneur d'échantillon comprenant des moyens adaptés de préhension dudit échantillon, une caméra vidéo et des moyens de traitement d'images. - Laboratoire selon l'une quelconque des revendications 1 à 14 caractérisé en ce qu'il comporte un bouchon de flacon constitué d'un premier bloc (101) cylindrique comportant une gorge (102) latérale munie de deux secteurs (103) plats de réception du préhenseur (10) industriel du robot (5) et d'un second bloc cylindrique coaxial de diamètre inférieur au diamètre du premier bloc et égal au diamètre du flacon à boucher. - Laboratoire selon l'une quelconque des revendications 1 à 15 caractérisé en ce que, les échantillons et les contenants utilisés par le robot (5) étant munis d'identificateurs, il comporte en outre un lecteur manuel desdits identificateurs placé dans le sas (3) opérateur, un lecteur automatique d'identificateurs des contenants placé sur le plan (4) de travail du robot(71) movable of tubes and bottles, provided with means horizontal and vertical displacement, a syringe (75) integral with the fixed frame (70) provided with a hollow needle (76) mounted vertically, connected to suction means (80) and delivery means (81), one foot - crowbar (78) movable through which the needle (76), a spring (77) for returning the presser foot (78) in the position remote from the syringe (75), a mechanical stop (79) . - Laboratory according to any one of claims 1 to 13 characterized in that it comprises a sample positioner comprising suitable means for gripping said sample, a video camera and image processing means. - Laboratory according to any one of claims 1 to 14 characterized in that it comprises a bottle stopper consisting of a first cylindrical block (101) comprising a lateral groove (102) provided with two sectors (103) receiving dishes of the industrial gripper (10) of the robot (5) and of a second coaxial cylindrical block with a diameter less than the diameter of the first block and equal to the diameter of the stopper bottle. - Laboratory according to any one of claims 1 to 15 characterized in that, the samples and the containers used by the robot (5) being provided with identifiers, it further comprises a manual reader of said identifiers placed in the airlock (3 ) operator, an automatic reader of container identifiers placed on the robot's work surface (4)
(5), un système informatique de supervision connecté au système de contrôle du robot (5, aux analyseurs (7,11,12 et 13) ledit système informatique ayant accès à une base de données relatives aux procédures d'analyses et à une base de données relative aux résultats desdites analyses. (5), a supervision computer system connected to the robot control system (5, to the analyzers (7, 11, 12 and 13), said computer system having access to a database relating to the analysis procedures and to a database of data relating to the results of said analyzes.
PCT/FR1997/001018 1996-06-11 1997-06-09 Robotized laboratory for sample analysis WO1997047974A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR96/07201 1996-06-11
FR9607201A FR2749662B1 (en) 1996-06-11 1996-06-11 ROBOTIZED LABORATORY OF SAMPLES ANALYSIS

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WO1997047974A2 true WO1997047974A2 (en) 1997-12-18
WO1997047974A3 WO1997047974A3 (en) 1998-01-29

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