WO2010094575A1

WO2010094575A1 - System and method for processing samples

Info

Publication number: WO2010094575A1
Application number: PCT/EP2010/051363
Authority: WO
Inventors: Ralf STROHHÄUSL; Manfred Pottmann
Original assignee: Flsmidth Wuppertal Gmbh
Priority date: 2009-02-18
Filing date: 2010-02-04
Publication date: 2010-08-26
Also published as: CN102334036A; DE102009003510A1; CN102334036B; DE102009003510B4

Abstract

The present invention relates to a system for processing samples that can be sent by means of pneumatic dispatch, comprising: a plurality of pneumatic dispatch stations (2) that can be connected to pneumatic dispatch lines (7) for receiving and removing pneumatic dispatch containers for the sample transport, several processing devices (20) for processing samples, a plurality of handling apparatuses for transporting pneumatic dispatch containers and/or samples preferably between pneumatic dispatch stations (2) and processing devices (20) and/or between processing devices (20), and for advantageous development, the present invention proposes that the pneumatic dispatch stations (2) be arranged in a stellately distributed manner. The invention further relates to a method for processing samples that can be sent by means of pneumatic dispatch, preferably using the system previously mentioned.

Description

Plant and method for processing samples

The present invention relates to a plant, preferably a laboratory plant, for processing, in particular for the analysis and / or analysis preparation, by pneumatic mailable samples, such as molten metal samples, slag samples, cement samples or the like, comprising: a plurality of connectable to pneumatic tube lines pneumatic tube stations for receiving and Removal of pneumatic tube containers for sample transport, a plurality of processing equipment for processing, in particular for analysis and / or analysis preparation of samples, a plurality of handling devices for transporting pneumatic tube containers and / or samples in particular between pneumatic tube stations and processing advised and / or between processing equipment.

Generic proper laboratory equipment are known in the art. They are suitable for, for example, to examine material samples from samples taken from an ongoing production at the production site (eg samples cast from the molten metal melt in a steelworks) and, if necessary, to prepare them appropriately.

Thus, within the scope of the invention, the term sample processing may meaningfully include the analysis and / or analysis preparation of samples. For example, the sample preparation may serve to produce a metallically bright sample surface for subsequent analysis by removal of an unclean (eg, scaled-up) surface. This can be done, for example, by means of milling and / or grinding. The sample analysis can serve, for example, for the qualitative and / or quantitative determination of ingredients of the sample, in particular of alloy constituents. In practice, suitable processing devices (ie devices for analyzing and / or preparing samples for analysis) are often not located at the production site itself, but rather in processing plants which are remote and protected from it. Laboratory equipment used. This often results in the requirement to transport the samples obtained as quickly as possible over the appropriate distance to the processing plant. In practice, this is often done by so-called pneumatic tube systems, in which the sample entered at the production site in a pipe post container and entered with this in a pneumatic tube mailing station and from there through a pneumatic tube route or pressurizable pipeline up to a reception and removal suitable pneumatic post office is transported to the processing plant. In particular, this makes it possible to connect a laboratory system by means of several pneumatic tube sections to several, if necessary remote from each other production location. In a processing plant known in the prior art, a larger number of (for example, thirty) suitable for receiving and for removal of pneumatic tube containers tube post stations with each other in a matrix, ie arranged in rows and columns. There is a need to transport the stochastisch incoming at the pneumatic tube stations samples to the appropriate processing for their desired processing processing or spend. For this purpose, handling devices are required, which transport the samples each in the row and / or column direction in order to achieve the best possible utilization of the processing equipment and thereby high throughput. However, the complexity of the required means of transport and thus the susceptibility to interference, in particular during gripping and transfer processes of the samples, increases with increasing time of sample collection, so that in order to enable safe operation, such systems have a high degree of redundancy of the transport devices and thus are not utilized become.

Against this background, the invention has the object, advantageous to develop a system of the type mentioned, so that in particular the aforementioned disadvantages can be avoided as much as possible. According to the invention, the object is achieved firstly and essentially in conjunction with the feature that the pneumatic tube stations are arranged in a star shape, in particular leaving free star peripheral regions or star intermediate regions in which no pneumatic tube stations are arranged. In contrast to the known matrix arrangement, the invention offers the possibility that all pneumatic tube stations laterally exposed within their distribution level, ie preferably have only along their star-shaped distribution lines to them adjacent pneumatic tube stations. As described below, this advantageously contributes to a particularly efficient arrangement and use of handling devices with less complexity and susceptibility to interference.

Further features of the invention are explained below, also in the description of the figures, often in their preferred assignment to the subject matter of claim 1 or to features of further claims. But they can also be in an assignment to only individual features of claim 1 or the respective further claim or each independently of importance.

It is preferably provided that the tube post stations are divided into at least three (or more) station groups, wherein in each case belonging to a same station group pneumatic tube stations, preferably the removal openings for the pneumatic tube container along a, preferably straight, geometric space line are arranged, said Space lines of the various station groups are star-shaped with each other and wherein each two station groups or space lines each bordered a planar Sternumfangsbereich in the area inside no pneumatic tube stations are arranged, ie the interior of which is free of pneumatic tube stations. There is the possibility that robots are provided as handling devices, wherein the number of robots corresponds to the number of station groups, wherein the robots have at least one gripper each for gripping. fen of pneumatic tube containers, whose so-called gripping area, ie Aktionsbzw. Movement range of the entire gripper, in a projection on the installation level in each case a marginal course along or approximately along a circular line, and wherein each gripping area in a projection on the installation level two mutually adjacent station groups each completely or partially covers. This geometrically allows each pneumatic tube station of the station group under consideration to be selectively accessible by means of one of at least two (or for example three) robots. It is possible for one or more, in particular all, station groups to be completely or partially covered, in each case directly or indirectly, by gripping areas of at least two robots or to be reachable by at least two robots. It is considered to be advantageous for the space lines of the station groups to intersect geometrically in a common center and for the space lines to extend in the radial direction from the center and to be evenly spaced in the circumferential direction. If, for example, three station groups are provided, a corresponding number of three star interstices or star circumference segments of mutually equal size, which are left free of station groups, are formed in this way. It is also preferred that a group of tube post stations is arranged along a respective secant of each gripping region edge. To achieve a geometrically symmetrical and thus space-saving arrangement, each station group may have the same number of pneumatic tube stations. For example, each station group may have ten (alternatively, but less or more) pneumatic tube stations. In addition, there is the possibility that each station group has at least one transfer station, which is adapted to a receptacle of one or more pneumatic post containers and / or samples for transfer from a first adjoining gripping area into the other or a second adjacent gripping area. In such a transfer station, in a simple example, it may be a free, correspondingly positioned area for the temporary storage of samples. For example, a transfer station can be located in the center of the station groups or space lines. If the gripping areas of all robots overlap there, such a transfer station could optionally be reached by each of the robots. As an alternative or in combination, one or more transfer stations can also be located radially along spatial lines from the center, in particular at the radially outer end of station groups, so that they can be selectively reached by one of the two robots whose gripping areas adjoin.

It is also preferred that with respect to the said center each two adjacent space lines (here also referred to as so-called group lines) span a circumferential angle segment or circumferential surface segment of the installation plane of the system and that one robot each in such a circumferential direction. kelsegment is arranged. By such an arrangement, a particularly efficient use of the robot is made possible. In this context, it is also preferred that the robots are each rotatable about at least one axis of rotation perpendicular to the installation plane, preferably rotatable by at least one full revolution, wherein the axis of rotation of each robot intersects an angle bisector of a circumferential angle segment or extends at a small distance therefrom. As a result, the robots are arranged equidistantly or symmetrically to two station groups neighboring each other. In particular, the axes of rotation of the robot can geometrically form the corner points of an isosceles, in particular equilateral, triangle, in the middle of which lies the center or the intersection of the spatial lines of the station groups.

Furthermore, it is preferred that, along the circumference of each gripping region, a plurality of processing devices (ie devices for sample analysis and / or analytical preparation of the samples) are arranged directly or indirectly protruding into the respective gripping region. For this purpose, the processing device can protrude either directly or even into the gripping area, so that the robot with its gripper can enter a sample directly in it and from it can be taken later again; Alternatively, the processing device may be associated with or at least associated with an auxiliary device for sample handling which protrudes into the gripping area of the robot and can be transferred by means of the samples to and from the processing. Also in this case, the processing device thus projects functionally or indirectly within the scope of the invention in the sense of the invention. There is the possibility that along the circumference of each gripping area in these directly or indirectly projecting as processing devices one or more analyzers for analyzing samples and / or one or more preparation devices for preparing the analysis of samples are arranged. For example, separating devices (for example sawing, milling, etc.) and surface processing devices (for example milling cutters, grinding devices, etc.) come into consideration as preparation devices. For example. a sample milling machine according to German Utility Model DE 20122648.0 or a milling machine with a clamping device according to DE 10220054 A1 can be provided. The content of the two aforementioned publications is hereby incorporated by reference into the present application, also for the purpose of being able to record features in claims. Alternatively or in combination, a mill-press automaton (MPA) may be provided for sample preparation, in which preferably pulverulent or granular samples are first broken, then ground and subsequently pressed. For sample preparation, a sample punch can also be used for analytical preparation. The analyzers may, for example, be devices for optical emitter spectroscopy (OES), XRF X-ray spectrometers, devices for combustion and analysis of the combustion gases or other analyzers. An embodiment which is advantageous in terms of the redundancy achievable thereby is seen in that preparation apparatuses for the preparation of the analysis function at a plurality, preferably at all, robotic cells or gripping regions with respect to one another, preferably even identical ones with each other, and / or functionally identical, preferably identical to one another are arranged. There is also the possibility that a (direct or telbar) into a gripping area projecting processing device is connected in series with one or more processing equipment to a preparation line. It is also possible for one or more so-called transfer stations, which are adapted to the input and / or output of samples, to be arranged along the circumference of one or more gripping areas or robot cells, preferably at all gripping areas protrude the respective gripping area (ie in turn are arranged indirectly or directly protruding). For the purposes of the invention, a so-called robot cell comprises a robot with the pneumatic tube stations located in its gripping area, processing devices (ie devices for analysis and / or devices for preparing samples for analysis) and transfer stations. A so-called laboratory area also includes other devices connected in preparation lines. A robot cell may also include one or more of the previously discussed transfer stations. Furthermore, it is expedient that at least one sample dispensing station is arranged along the circumference of one or more gripping regions, preferably of all gripping regions, into which samples which are no longer required during processing can be dispensed by means of a robot. It is also considered advantageous that processing devices in each case project directly or indirectly into the gripping regions of at least two robots or can be supplied with samples by means of at least two robots.

A development is also possible because the pneumatic tube stations of the processing plant or laboratory system are designed as transmitting and receiving stations. Thus, pneumatic tube containers can not only be received in the laboratory facility, but can also be sent from there to the dispatch station in production or, if appropriate, to another destination. Concerning. the robot has the possibility that its gripper is movable with respect to the vertical axis of rotation of the robot in the radial direction and in the circumferential direction, wherein the robot is preferably designed as a six-axis robot. Preferably, a substantially approximately hemispherical gripping area, the Consequently, it is approximately circular in a projection onto the installation level.

According to a further aspect, it is preferred that the system for sample processing has at least one, preferably central, computer (central computer) which is preferably connected to all processing by means of data lines, the processing devices transmitting information relating to their respective current operating state adapted to the computer. It is also preferred that the computer is connected to all robots by means of data lines, wherein the robots are adapted to the transmission of information regarding their respective current operating state to the computer. The information about the operating state may include whether the processing device or the robot is currently in operational readiness or not (for example in the case of a defect), whether the device or the robot is currently occupied with a sample or is free for a new sample , It may also contain information about the progress of the work and the quality of workmanship. Furthermore, it is preferred that the computer is connected to preferably all leading to the processing plant pneumatic tube mailing stations or pneumatic tube remote stations by data lines, the pneumatic tube dispatch stations to the transmission of information concerning the respective sample the sample type and the sample for receiving assigned Pipe post office (eg station number or location in one of the station groups), and preferably concerning the this processing type associated processing sequence (ie preparation and analysis sequence, preferably including any possible alternatives) and / or preferably concerning a processing level, are adapted to the computer , Alternatively, there is the possibility that the computer is connected to a database from which it can query a predetermined processing sequence assigned to the respective sample type. In connection with the possibilities described above, it is preferred that the computer, preferably by means of a software, is adapted for each of post-station incoming sample depending on the previously or simultaneously advised by the processing and / or transmitted by the robots and / or the pneumatic mail dispatching information for processing the specific processing sequence automatically according to predetermined criteria, a specific processing flow that includes information, by means of which robot or by means of which robots the sample is transferred to which of the processing devices and preferably by means of which robot or by means of which robots the sample is transferred from there to one or more further processing devices, and to the robot or robots by means of the data lines corresponding actuation signals (control signals). and / or control signals). Accordingly, what is referred to as a processing sequence is understood to be a sequence of predetermined analysis preparation and / or analysis steps which is desired for a specific sample. In contrast, a so-called processing sequence also contains the information or instructions in which the existing robot cells and by means of which specific processing devices the processing sequence is processed. The throughput and reliability can be increased even further by the computer, preferably by means of software, adapted to the sample already partially or completely certain processing during its execution depends on meanwhile more of the processing equipment and / or robots and / or to automatically modify information transmitted by the pneumatic tube mailing stations according to predetermined criteria or to adapt it to the current circumstances. For example, a situation may arise in which a camera monitor indicates that a sample could not be cut in the desired manner. The computer can use this obtained current information to modify the processing sequence previously determined for this sample or to determine one or more alternative processing sequences. For example. the computer can specify that the sample should be turned by means of a robot and then milled on its opposite surface. In this respect, there is also the possibility that the computer, preferably by means of software, is adapted to the To control processing devices with signals for a predetermined processing of each sample according to the specific processing flow determined by him.

From the background described above, the present invention also encompasses a method for processing, preferably for analysis and / or analytical preparation, of tube-mailable samples, such as molten metal samples, slag samples, cement samples, or the like, preferably using equipment that incorporates one or more of the foregoing having described features. In order to further develop such a method, the invention proposes that the method comprises at least some of the features described below:

Provision of a plurality of star-shaped distributed pneumatic tube stations for receiving samples in pneumatic tube containers, - providing one or more transfer stations for samples (depending on the configuration, pneumatic tube stations can also assume this function),

Providing one or more sample dispensing stations for dispensing samples, in particular providing one or more transfer stations,

Arranging robots for transporting samples and / or pneumatic post containers such that each pneumatic post station and each transfer station is accessible by at least two robots in their respective gripping area and so that each sample dispensing station can be reached by at least one or more robots within its respective gripping area is, for each sample received at a pneumatic tube station, selecting a robot from the at least two robots reaching the respective pneumatic tube station for taking the sample, in particular together with its pneumatic tube container, from the pneumatic tube station and for transferring it to a processing device suitable for a desired processing, by means of the selected robot extracting the sample and in particular its pneumatic tube from the pneumatic tube station and transferring at least the sample into a first processing device, and preparing and / or analyzing the sample by means of the first processing device.

For the achievable effects and advantages, reference is made to the foregoing description.

Further features of the invention are explained below, also in the description of the figures, often in their preferred assignment to the subject matter of the independent method claim (claim 25) or to features of further claims. But they can also be in an assignment to only individual features of the independent method claim or the respective further claim or each independently of importance.

The method according to the invention can be developed advantageously in particular by the following method steps:

Check, if further processing of the sample is necessary, if necessary further processing, check whether this processing can take place in a processing device reachable by the last selected robot and in this case transfer of the sample by means of this robot to a second processing device, otherwise Sample by means of the last selected robot to a transfer station, which can also be reached by at least one further robot from which a suitable for further processing second processing device can be reached, and then moving the sample by means of this robot to the second processing device, - Prepare and / or analyzing the sample by means of the second processing device, Check whether further processing of the sample is necessary and, if necessary, carry out further transfer and processing steps, if no further processing of the sample is necessary, selecting a robot and placing the sample in one using the selected robot from the last processing device sample output station.

A preferred embodiment of the method still provides the following method steps:

Retrieving information from the processing devices and from the robots regarding their respective current operating state, for all samples sent from pneumatic post sender stations, retrieving information from the post office mailing stations to the sample sent therefrom, concerning their sample type, regarding the pneumatic tube station destined for that sample in the processing plant, preferably in relation to the processing sequence assigned to this sample type and preferably a processing precedence step determined for this sample, and - for all samples according to predetermined criteria automatic determination, preferably computer- or software-based calculation of sample-specific processing sequences that pretend by means of which robot or by means of which robots the respective sample is transferred to which of the processing devices and preferably, by means of which robots or by means of which robots, this sample from there to one or more e further processing equipment is transported.

For further expedient possibilities to further develop the method according to the invention, reference is made to the remainder of the description. The invention will be described below with reference to the accompanying figures, in which an example of a preferred embodiment of a system according to the invention and exemplarily possible processing methods are illustrated. It shows:

1 shows a construction plan or a plan view of a system according to the invention for processing samples according to a preferred embodiment;

Fig. 2 is a sectional view of detail II in Fig. 1;

3 shows the construction plan according to FIG. 1, supplemented by signal lines and pneumatic tube or transport lines;

4 shows the construction plan according to FIG. 4, supplemented by numerical sequences for illustrating exemplary processing sequences and FIG

Fig. 5 to 9 different of the components contained in Figure 1, in contrast, in magnification.

With reference to FIGS. 1 to 3, the construction of a system 1 according to the invention for processing samples according to a preferred exemplary embodiment will first be presented. In the example chosen (ie, not necessary), this comprises a total of thirty pneumatic tube stations 2. Ten of these pneumatic tube stations are grouped into a so-called station group 4 on the basis of their adjacent position along an imaginary, straight spatial line 3. A total of three station groups 4, each comprising ten pneumatic tube stations 2, available. The space lines 3 and thereby the station groups 4 extend in a star-shaped overall, so that it is to be talked about a star-shaped distribution of the pneumatic tube stations 2. It understands that a number of station groups differing from the example described here can also be selected, for example a star-shaped arrangement of pneumatic tube stations along four, five, etc. space lines 3. In the example, a strictly symmetrical arrangement exists. The three spatial lines intersect at a center 5. In this regard, the three space lines or station groups in the circumferential direction U are each pairwise spaced by an intermediate angle α, which is uniformly 120 °. As well as other components, the pneumatic tube stations 2 are shown only schematically in the illustrations for illustrative purposes, wherein therein a respective discharge opening 6 is indicated by the circle, which can be used to remove a received from the pneumatic tube station, not shown with pneumatic tube container and possibly for input one of the pneumatic tube station 2 to be sent pneumatic tube container. Each of the total of thirty pneumatic tube stations 2 can be connected to at least one pneumatic delivery line 7, as shown in FIG. 3 for reasons of clarity, by way of example only for one pneumatic delivery line. This is used to connect a pneumatic tube mailing station 8, which is located on one of the plant 1 (laboratory equipment) remote production 9. The symbolic departure indicates that the production can be 9 if necessary, located at a great distance from the system 1.

In the example, the installation 1 comprises three robots 10 serving as handling devices. These are rotatable on their uprights, respectively, about an axis of rotation 11 perpendicular to the plane of the drawing of FIG. 1 (ie to the installation plane) along the respective entire circumference. The exact position of the axes of rotation 11 is indicated by the intersections of the horizontal and vertical dash-dotted lines in Figure 1. Each robot 10, which is a six-axis robot, has an arm 12 at the radially outer end of which is a gripper 13. By means of the hinges or axes of rotation, the gripper 13 can be pivoted about the axis of rotation 11, as well as displaced radially and in the vertical direction, so that each robot 10 in the example a substantially hemispherical (insofar as from Contemplation level of Figure 1 standing up) gripping area 14 has. In the projection of Figure 1, this is bounded by an outer, each circular edge line 15. The respective edge course 15 marks for the respective robot 10 the maximum possible gripping or working area in relation to the plane of the pneumatic tube stations 2. FIG. 1 shows that in each case one gripping area 14 completely covers two station groups 4 in the projection view on the installation level.

Furthermore, a total of four so-called transfer stations 16, each schematically indicated by a triangular symbol, are provided. The transfer stations 16 need not necessarily be at the same height as the removal openings of the pneumatic tube stations 2. Of these there is a transfer station 16 in the center 5, so that it is covered by all three gripping areas 14. A further transfer station 16 is located at the radially outer end of the station groups 4 with respect to the center 5. These three transfer stations can consequently be reached by two robots 10 each. The transfer stations 16 make it possible for samples, in particular with their sample or pneumatic tube container, to be parked there by a robot 10 and taken over from there by means of another robot. The three robots 10 and their axes of rotation 11 are located in each one of the three bounded by the space lines 3 Umfangswinkelsegmente 17 of the installation level, respectively on the. With respect to the circumferential angle α imaginary bisector 18. Along the respective bisector 18 is the distance of Rotary axes 11 to the center 5 are the same. The reference numeral 12 'is an example of a robotic arm 12 in an alternative possible rotational position. It can be seen that the star circumference areas 19 which are spanned in pairs by the respective angle α or by the space lines 3 are areally free of tube post stations 2, ie that no pneumatic tube stations are arranged to the interior thereof. The plant 1 shown in FIG. 1 comprises a multiplicity of processing devices, which are initially provided uniformly with the reference numeral 20. In this case, analyzers 21 for the analysis of samples and preparation apparatuses 22 for analyzing preparation of samples can be distinguished. The respective processing devices 20 are arranged adjacent to each other at edge sections along the arcuate edge courses 15, so that they protrude into the respective gripping region 14 (not shown in detail) either directly or indirectly in combination with auxiliaries which are not shown in the drawing. The arrangement of the devices 20 is thus chosen so that samples (and, if necessary, pneumatic tube containers) can be entered into the device for processing by means of the respective robot 10 and later removed therefrom. The embodiment selected in the example with three star-shaped station groups 4 is considered to be advantageous, since for each robot 10 along the edge profile 15 of its gripping region 14 an edge section or circumferential angle of about 240 ° to the arrangement of the processing equipment 20 is available, which is for typical laboratory requirements in practice favorable to achieving a high utilization of the components and high operational reliability proves. In FIG. 1, the robot cell, which is uppermost in the viewing direction, comprises a milling device 23 and a sample punch 24. By means of the milling device 23, cast samples (for example also in the form of so-called "lollipops") can be freed from a scaled surface. The sample punch 24 can be used for punching small, for example, circular sample pieces, which can be transported by means of a blown air line 25 (see Fig. 3) to a magazine 26 and from there by means of further lines 27 (or by hand) to burners 28. The burners are analyzers in which the combustion gases of the samples can be analyzed to determine the sample contents. The robot cell in the viewing direction has an XRF X-ray spectrometer 29 and a so-called OES device 30 as analysis device 21. A second XRF X-ray spectrometer 29 is arranged in FIG can be achieved below robot. Moreover, also has the The robot cell shown on the bottom left comprises two OES devices 30, in which the samples of an optical emitter spectroscopy (in particular for determining the proportions of alloying elements) can be subjected. With the reference character 30 'is designated within the processing line 31 radially upstream handling cell. In the known per se OES technique, an arc generated on the sample surface is decomposed into spectral colors and closed from the spectral distribution on the proportions of the constituents. The milling device 23 and the sample punch 24 are located between the two OES devices 30 in the direction of rotation of the robot. The OES device 30, which is closer to the robot cell in the viewing direction of FIG. 1, forms the radially outer section of a preparation line 31 whose radial direction inner section forms a further milling device 32. At the transition between the two aforementioned robot areas, there is a mill-press machine 33 (so-called MPA) as a further preparation device. This is the XRF X-ray spectrometer 29 radially upstream and can be optionally equipped by the two associated robots 10 with samples to then in turn to the XRF X-ray spectrometer 29 to pass (or take over from there). The mill-press-Automat can serve in a conventional manner for the preparation of powdery or granular samples (eg of slags), in particular by means of the preparation steps breaking, grinding and pressing. With reference to matching reference numerals corresponding processing devices can be seen for the robot area shown in Figure 1 bottom right. In the system selected in the example, a plurality of XRF X-ray spectrometers 29, OES devices 30 and combustion devices 28 are available as analysis devices 21. As preparation devices in each case a plurality of milling devices 23, sample punching 24, milling devices 32 and mill presses 33 are available. It can also be seen that each of the three robot areas in the example in each case has a milling device 23 and at least has access to a mill-press machine 33. Two out of three robot areas are equipped with a sample punch 24. Each robot rich has at least access to an XRF X-ray spectrometer 29, which in each case precedes a mill-press automaton 33 to form a preparation line. Each robot cell has at least access to an OES device 30. In the case of two out of four OES devices 30 that are present in total, a milling device 32 projects radially into it and projects into the gripping region 14. The system 1 has a transfer station 34, which projects into the two gripping areas of the two robot cells lower in the viewing direction of FIG. In addition, two sample dispensing stations 35 are provided. Of these, one protrudes into the gripping area of the robot cell shown on the bottom left in the viewing direction of FIG. 1 and the other into the gripping areas of the two further robot cells. The two milling devices 32 are preceded by a cooling device 37, which protrudes into the respective gripping region 14, within their respective preparation line 31 and by means of which the sample transfer to the milling device and from there to the OES device 30 takes place.

The reference numeral 36 designates a central computer, and the reference numeral 37 identifies electrical supply and switching devices for components of the described laboratory installation 1. The computer 36 is connected to all the processing apparatuses 20 by means of data lines 38. Furthermore, the computer 36 is connected to the respective robots 10 by means of data lines 39. In addition, the computer 36 is connected to all connected to the laboratory system Rohrpostabsendestationen 8 by means of data lines 40, and this is shown for clarity only for a single pneumatic tube mailing station. By means of a data line 41, the computer 36 is connected to a database 42, from which it can retrieve desired processing sequences and, if appropriate, alternatively suitable processing sequences for specific sample types. The system 1 can be operated and monitored by control panels 43, which are also connected to the central computer 36. The reference numeral 46 designates screens for monitoring. The robot cells are delimited at their free peripheral sections by protective walls 44, with the reference numeral 45 Access openings (doors) are designated. The sample dispensing stations 35 may be provided with means for printing and sticking labels and also for storing samples in boxes. The robots 10 may be designed in a manner known per se, wherein the robot foot is preferably arranged in the area of the robot rotation axis 11. It is understood that the described with reference to the figures type and number of processing equipment is only exemplary, ie that a fiction, modern plant 1 can be equipped differently depending on the laboratory requirements with equipment and / or preparation lines with any number of stages. Also, the number of pneumatic tube stations that are present per station group can be modified into smaller or larger numbers and does not have to be uniform in the various station groups.

Inventive systems can be used for processing, d. H. Analysis and analysis preparation, to be used by a wide variety of sample types. For example, samples of molten metal, in particular steel and iron melt, also slag, samples of ores and minerals, samples of cement, etc. This selection already shows that it is in the initial state either powdery, granular or solid samples or mixtures to be able to act on it.

With reference to FIG. 4, only two exemplary embodiments of the method according to the invention are illustrated by way of example. In the first example chosen, a steel sample in Appendix 1 is to be prepared for its analysis and analyzed, ie processed in accordance with the invention. The order of stations is indicated symbolically by consecutive numbers in circles. In the example considered, the steel sample is accepted at the marked pneumatic tube station 2 (item 1). From there it is transferred by means of a robot 10 (number 2) to a cooling device 37 protruding into the gripping area (number 3). Here, the sample is first cooled before it is removed from the cooling device 37 in its preparation line 31 radially outward to a milling device 32 (figure 4) and from there, after milling, by means of the handling station 30 'to the radially outer OES device 30 (figure 5). After analysis there, the sample, not shown in the drawing, passes back through the processing line (ie, radially inward) and is accepted again by the robot 10 (see paragraph 6) and transferred to the sample output station 35 (FIG 7) from where it can be put into an archive.

In a second example, a slag sample is to be processed. For this sequence, the stations running one after the other are indicated by digits set in a rectangle. In the example, the sample first arrives at a pneumatic tube station 2 (item 1). From there, the sample is removed with a robot 10 (item 2) and initially set in the mill-press automaton 33 (item 3) which it can reach, where the sample is prepared for the subsequent analysis. From the MPA 33, the prepared sample is transferred to the XRF X-ray spectrometer 29 (item 4), which is radially outwardly adjacent to it in the preparation line, where the measurement takes place. This is done by means of an intermediate handling device 47. The sample that has been analyzed, which is not shown in the drawing, then returns to the MPA 33, from where the robot 10 (number 5) picks it up and reaches the sample output station 35 (number 6 ) transported to an archive for shipment.

It is preferably provided that the robots 10 take the corresponding pneumatic post container (sleeve) when receiving samples from the pneumatic tube stations and initially transport this to a handling station located at the edge of its gripping region 14 and remove the sample there. If necessary, the pneumatic tube container can be cleaned and returned to the pipe post station 2 for dispatch (or return). Due to the described signal processing, the computer 36 in the example is able to allocate the time-stochastically arriving at the pneumatic tube stations 2 stochastic specimens taking into account in each case specifically predetermined priority levels for this purpose suitable processing sequences. Taking into account the operating states reported by the processing devices 20, the computer is able to take into account, for example, that the residence time of the samples at the OES devices and at the XRF X-ray spectrometers is often greater than at other devices. Depending on the progressive progress of the machining processes of all samples processed simultaneously, the computer 36 can modify the machining processes in order to modify the machining process

Optimize throughput of the laboratory system through intelligent distribution or assignment of the samples. In connection with the fact that processing units are available on different robot cells (redundancy), this also has the advantage that individual robot cells can be maintained, while the laboratory operation can continue without functional restriction by means of the further robot cells remaining in operation. In the event that a fault nevertheless occurs, the computer 36 is equipped with suitable means for outputting a corresponding error message. Even in the event that, for example, one of the three robots 10 fails, all pneumatic tube lines are still available. In this respect, even the remaining pneumatic tube capacity is 100%. The assembly of the robot cells with processing advised, so advised with analyzers and / or with preparatory, is preferably chosen so that in case of failure or maintenance of a robot cell complete redundancy with respect. All processing equipment is available. Also, since each robot 10 can serve two-thirds of the pneumatic tube, it is possible to achieve a halving of the response time and a doubling of the processing capacity on arrival of the pneumatic tube containers in comparison with conventional systems in the prior art. The fiction, contemporary Appendix 1 also allows a savings over conventional laboratory equipment and a smaller footprint. FIG. 5 shows, compared to FIGS. 1 to 4, an enlargement of a robot 10 in a view from above. Figure 6 shows an enlargement of a milling device 23. Figure 7 shows in magnification a sample punch 24. Figure 8 shows schematically in magnification an XRF X-ray spectrometer 29. Figure 9 shows in enlargement a sample output station 35. The processing devices shown in Figures 6 to 8 are - taken alone - known to a person skilled in their structure and function.

In the method according to the invention, the procedure is preferably such that each individual sample receives a specific data record at its production site and / or is labeled. In particular, the data set can contain information about the desired processing sequence (sequence from preparation and / or analysis steps) in addition to information relating to the sample itself. The transfer station 34 is used by the personnel of the laboratory area for the manual infeed and outfeed of pneumatic tube containers and / or samples. As shown particularly in FIG. 3, the transfer station 34 lies in an overlapping area of gripping areas of two different robots, so that the transfer station 34 can be selectively reached by these two robots.

All disclosed features are essential to the invention. The disclosure of the associated / attached priority documents (copy of the prior application) is hereby also incorporated in full in the disclosure of the application, also for the purpose of including features of these documents in claims of the present application.

Claims

1. installation, in particular a laboratory installation, for processing, in particular for analysis and / or analysis preparation, of samples which can be sent by pneumatic mail, such as molten metal samples, slag samples, cement samples or the like, comprising: a plurality of pneumatic tube stations (2) connectable to pneumatic delivery lines (7) ) for receiving and for removal of pneumatic tube containers for sample transport, several processing devices (20) for processing, in particular for

Analysis and / or analysis preparation, of samples, a plurality of handling devices for transporting pneumatic tube containers and / or samples, in particular between pneumatic tube stations (2) and processing devices (20) and / or between processing devices (20), characterized in that the pneumatic tube stations (2) are distributed in a star shape.

2. Installation according to claim 1 or in particular according thereto, characterized in that the pneumatic tube stations (2) are divided into at least three station groups (4), in each case belonging to a same station group (4) pneumatic tube stations (2), in particular their Removal openings (6), along a, in particular straight, geometric space line (3) are arranged, wherein the space lines (3) of the various station groups (4) run star-shaped with each other and wherein each two station groups (4) or space lines (3) each one Sternumfangsbe- rich (19) bounded, whose interior is in particular free of pneumatic tube stations (2).

3. Plant according to one or more of the preceding claims or in particular according thereto, characterized in that robots (10) are provided as handling devices such that the number of robots (10) corresponds to the number of station groups (4) that the robots ( 10) at least each have a gripper (13), the gripping region (14) in a projection on the installation level in each case an edge profile (15) along or approximately along a circular line, and that each gripping area (14) in a projection on the installation level two station groups (4) each completely or partially covered.

4. Plant according to one or more of the preceding claims or in particular according thereto, characterized in that the space lines (3) of the station groups (4) intersect geometrically in a common center (5) and that the space lines (3) from the center (5 ) proceed in the radial direction and in the circumferential direction (U) are each uniformly spaced.

5. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that a respective group of pneumatic tube stations (2) is arranged along a secant of each gripping region (14).

6. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that each station group (4) has the same number of pneumatic tube stations (2).

7. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that at each station group (4) at least one transfer station (16) is arranged, which is adapted to a receptacle of one or more pneumatic post containers and / or samples for transfer from an adjacent gripping area (14) in the other adjacent thereto gripping area (14).

8. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that respect. Of the center (5) each two mutually adjacent space lines (3) span a Umfangswinkel- segment (17) of the installation level and that each a robot (10 ) is arranged in each one circumferential angle segment (17).

9. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that the robots (10) are each rotatable about at least one to the installation plane vertical axis of rotation (11) rotatable, in particular by at least one full revolution, wherein the axis of rotation (11) each of a robot (10) each intersects an angle bisector (18) of a circumferential angle segment (17) or runs at a small distance thereto.

10. Plant according to one or more of the preceding claims or in particular according thereto, characterized in that the axes of rotation (11) of the robot (10) geometrically form the vertices of an equilateral triangle, in the center of which the center (5) or the intersection of the space lines (3) the station groups (4) lies.

11. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that along an edge portion of each gripping region (14) in each case a plurality of processing devices (20) are arranged projecting into the respective gripping region.

12. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that along the circumference or the edge portion of each gripping area (14) projecting into this processing devices (20) each one or more analysis devices (21 ) are arranged for the analysis of samples and / or one or more preparation devices (22) for the analysis preparation of samples.

13. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that at several, in particular at all, gripping areas (14) functionally identical, in particular to each other identical, analysis equipment (21) and / or functionally identical to each other, in particular to each other identical, preparation devices (22) are arranged.

14. Plant according to one or more of the preceding claims or in particular according thereto, characterized in that in a gripping region (14) projecting processing device (20) with one or more other processing equipment (20) in series to a processing line (31) is connected ,

15. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that at the periphery or at the edge of one or more gripping areas (14), in particular of all gripping areas (14), one or more transfer stations (34), which are adapted to the input and / or output of samples, are arranged projecting into the respective gripping region (14).

16. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that on the circumference of one or more gripping areas (14), in particular of all gripping range (14), in each case at least one sample dispensing station (35) is arranged.

17. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that the pneumatic tube stations (2) are designed as transmitting and receiving stations.

18. Plant according to one or more of the preceding claims or in particular according thereto, characterized in that the gripper (13) of the robot (10) with respect to its axis of rotation (11) in the radial direction and in

Circumferential direction is movable, wherein the robot (10) is designed in particular as a six-axis robot (10).

19. Plant according to one or more of the preceding claims or in particular according thereto, characterized in that the plant (1) at least one, in particular central, computer (36), which advised with the processing (20) by means of data lines (38) is connected wherein the processing devices (20) are adapted to the transmission of information regarding their respective current operating state to the computer (36).

20. Installation according to one or more of the preceding claims or in particular according thereto, characterized in that the computer (36) with the robots (10) by means of data lines (39) is connected, wherein the robot (10) to the transfer of information regarding their respective current operating condition are adapted to the computer (36).

21. Plant according to one or more of the preceding claims or in particular according thereto, characterized in that the computer (36) is connected to pneumatic tube dispensing stations (8) by means of data lines (40), wherein the pneumatic tube mailing stations (8) to the computer to transfer information regarding the respective sample the sample type and the sample for receiving associated pneumatic post office (2), - and in particular concerning the processing sequence associated with this type of sample and / or in particular concerning the processing priority level are adjusted.

22. Plant according to one or more of the preceding claims or in particular according thereto, characterized in that the computer (36), in particular by means of software adapted thereto, for each at a pneumatic tube station (2) incoming sample depending on the previously and / or simultaneously advised by the processing (20) and / or by the robots (10) and / or by the pneumatic post sender stations (8) to automatically determine a specific processing sequence for processing their processing sequence, including by means of which robot (10) or by means of which robots (10) the sample is transferred to which of the processing devices (20) and in particular, by means of which robot (10) or by means of which robots (10) the sample from there to one or more further processing devices (20) is spent, and is adapted to the robot or robots (10) by means of the data lines (39) to practice appropriate actuation signals rsenden.

23. Plant according to one or more of the preceding claims or in particular according thereto, characterized in that the computer (36), in particular by means of a software adapted thereto, the specific processing for a sample processing during its processing depending on further, advised by the processing (20) and / or from the robots (10) and / or from the pneumatic post sender stations (8)

Information according to predetermined criteria, in particular for climbing The rate of throughput of samples through the system (1) to automatically modify.

24. Plant according to one or more of the preceding claims or in particular according thereto, characterized in that the computer (36), in particular by means of software adapted thereto, the processing equipment (20) with signals for processing each sample according to the determined by him to control the specific processing sequence.

25. A method for processing, in particular for the analysis and / or preparation of analyzes, of tube-mailable samples, such as molten metal samples, slag samples, cement samples or the like, in particular using a system according to one or more of the preceding claims, characterized by the method steps:

Provision of a plurality of star-shaped distributed pneumatic tube stations (2) for receiving samples in pneumatic tube containers, in particular providing one or more transfer stations (16) for samples, - in particular providing one or more sample dispensing stations (35) for dispensing samples,

Arranging robots (10) for transporting samples and / or pneumatic post containers so that each pneumatic post station (2) and each transfer station (16) can be reached by at least two robots (10) each, and in particular so that each sample dispensing station (19) of at least one or more robots (10) is achievable, for each sample received at a pneumatic tube station (2) selecting a robot (10) from the at least two robots (10) reaching the respective pneumatic tube station (2) for taking the sample and in particular ih- res tube post container from the pneumatic tube station (2) and transport to a processing device (20) suitable for a desired processing, by means of the selected robot (10) taking out the sample and in particular its pneumatic post container from the pneumatic tube station (2) and transporting at least the sample into a first processing device (20),

Preparing and / or analyzing the sample by means of the first processing device (20).

26. Method according to the preceding claim or in particular according thereto, characterized by the subsequent method steps:

Check whether further processing of the sample is necessary, if necessary further processing, check whether this processing can take place in a processing device (20) which can be reached by the last selected robot (10) and in this case transfer of the sample by means of this robot (10). to a second processing device (20), otherwise transferring the sample by means of the last selected robot (10) to a transfer station (16) which is also reachable (10) by at least one further robot, of which a second processing device suitable for further processing (20), and then transferring the sample by means of this robot (10) to the second

Processing equipment (20),

Preparing and / or analyzing the sample by means of the second processing device (20), checking whether further processing of the sample is necessary and, if necessary, performing further transfer and processing steps if no further processing of the sample is necessary, selecting a robot (10) and transferring the sample by means of the selected robot (10) from the last processing device (20) into a sample output station (29).

27. Method according to one or both of the preceding claims or in particular according thereto, characterized by the method steps: querying information from the processing devices (20) and from the robots (10) regarding their respective current operating state, - for those sent by pneumatic post sender stations (8) Samples requesting information from the pneumatic post sender stations (8) to the sample sent therefrom, concerning their sample type, concerning the pneumatic tube station (2) destined for that sample, in particular concerning the processing sequence associated with that sample type, and in particular that for that sample certain processing priority level, for all samples according to predetermined criteria automatic determination, in particular computer or software-based calculation of sample-specific processing sequences that specify by which robot (10) or by means of which robots (10) the respective sample to which Processing equipment (20) is handed over and in particular, by means of which robot (10) or by means of which robots (10) this sample is transferred from there to one or more further processing devices (20).