Robotic arm

• US 10,274,505 B2
• Filed: 08/12/2016
• Issued: 04/30/2019
• Est. Priority Date: 11/07/2011
• Status: Active Grant

• Current Assignee: Beckman Coulter Incorporated (Danaher Corporation)
• Original Assignee: Beckman Coulter Incorporated (Danaher Corporation)
• Inventors: Johns, Charles W., Quint, Joseph F., Chen, Chi S.
• Primary Examiner(s): Luo, Kate H
• Application Number:
  US15/236,185
• Publication Number:
  US 20160349278A1
• Time in Patent Office: 991 Days
• Field of Search: None
• CPC Class Codes: B01D 21/262 by using a centrifuge
• CPC Class Codes: B01L 3/5021 Test tubes specially adapted for centrifugation purposes centrifuges B04B5/04
• CPC Class Codes: B04B 11/04 Periodical feeding or discharging; Control arrangements therefor
• CPC Class Codes: B04B 13/00 Control arrangements specially designed for centrifuges; Programme control of centrifuges control arrangements for feed, charge, or discharge B04B11/00
• CPC Class Codes: B04B 15/00 Other accessories for centrifuges
• CPC Class Codes: B04B 2009/143 by weight compensation with liquids
• CPC Class Codes: B04B 2011/046 Loading, unloading, manipulating sample containers
• CPC Class Codes: B04B 2013/006 Interface detection or monitoring of separated components
• CPC Class Codes: B04B 7/02 Casings; Lids shock absorbers, vibration dampers F16F
• CPC Class Codes: B04B 7/08 Rotary bowls centrifugal casting machines B22D
• CPC Class Codes: B04B 9/14 Balancing rotary bowls balancing per se G01M; Schrappers
• CPC Class Codes: B04B 9/146 Unbalance detection devices
• CPC Class Codes: B25J 11/00 Manipulators not otherwise provided for
• CPC Class Codes: B25J 15/0047 for internally gripping hollow or recessed objects
• CPC Class Codes: B65D 51/24 combined or co-operating with auxiliary devices for non-closing purposes
• CPC Class Codes: B65G 47/28 during transit by a single conveyor
• CPC Class Codes: G01B 11/02 for measuring length, width or thickness G01B11/08 takes precedence
• CPC Class Codes: G01B 11/08 for measuring diameters
• CPC Class Codes: G01B 11/10 of objects while moving
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01F 23/00 : Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
• CPC Class Codes: G01F 23/20 : by measurement of weight, e.g. to determine the level of stored liquefied gas
• CPC Class Codes: G01F 23/292 : Light , e.g. infrared or ultraviolet
• CPC Class Codes: G01F 23/2921 : for discrete levels
• CPC Class Codes: G01L 19/08 : Means for indicating or recording, e.g. for remote indication
• CPC Class Codes: G01M 1/14 : Determining imbalance G01M1/30 takes precedence
• CPC Class Codes: G01N 2035/00495 : Centrifuges
• CPC Class Codes: G01N 2035/0405 : manipulating closing or opening means, e.g. stoppers, screw caps, lids or covers
• CPC Class Codes: G01N 2035/0462 : Buffers [FIFO] or stacks [LIFO] for holding carriers between operations
• CPC Class Codes: G01N 2035/0491 : Position sensing, encoding; closed-loop control
• CPC Class Codes: G01N 2035/1025 : Fluid level sensing
• CPC Class Codes: G01N 2035/1032 : Dilution or aliquotting
• CPC Class Codes: G01N 21/27 : using photo-electric detection G01N21/31 takes precedence; circuits for computing concentration logarithmic circuits G06G7/24; photometric circuits in general G01J
• CPC Class Codes: G01N 35/00584 : Control arrangements for automatic analysers
• CPC Class Codes: G01N 35/00732 : Identification of carriers, materials or components in automatic analysers
• CPC Class Codes: G01N 35/0095 : introducing urgent samples with priority, e.g. Short Turn Around Time Samples [STATS]
• CPC Class Codes: G01N 35/0099 : comprising robots or similar manipulators robots per se B25J
• CPC Class Codes: G01N 35/04 : Details of the conveyor system G01N35/021 - G01N35/028 take precedence
• CPC Class Codes: G01N 35/10 : Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices G01N35/0099 takes precedence
• CPC Class Codes: G01N 35/1009 : Characterised by arrangements for controlling the aspiration or dispense of liquids
• CPC Class Codes: Y10T 29/49826 : Assembling or joining

Abstract

An analytical laboratory system and method for processing samples is disclosed. A sample container is transported from an input area to a distribution area by a gripper comprising a means for inspecting a tube. An image is captured of the sample container. The image is analyzed to determine a sample container identification. A liquid level of the sample in the sample container is determined. A scheduling system determines a priority for processing the sample container based on the sample container identification. The sample container is transported from the distribution area to a subsequent processing module by the gripper.

Claims

1. An assembly comprising:

a robotic arm having a gripper unit configured to grip a sample container, wherein the robotic arm is configured to move in three dimensions, thereby transporting the gripped sample container;

a chamber coupled to the robotic arm, the chamber comprising a chamber wall;

an image acquisition device physically coupled to the chamber wall and to the robotic arm comprising;

a tube presence detection unit coupled to the chamber wall on an exterior portion of the chamber, the tube presence detection unit configured to acquire images of the sample container during the transporting to the griped sample container;

a sample container identification unit coupled to the chamber wall on an interior portion of the chamber and configured to acquire an image of the gripped sample container during transporting; and

a liquid level detection unit coupled to the chamber wall on an interior portion of the chamber and comprising an optical emitter and an optical detector, configured to acquire a liquid level within the gripped sample container when the gripped sample container is positioned between the optical emitter and the optical detector; and

an image analysis device in communication with the image acquisition device, wherein the image analysis device is configured to determine identifying information associated with the sample container and a liquid level of a sample in the sample container.

2. The assembly of claim 1, wherein the image acquisition device is a first image acquisition device, and wherein the assembly comprises a second image acquisition device configured to capture a second image of a plurality of sample containers, wherein the second image is analyzed to determine a second sample container in the plurality of sample containers to grip with the gripper unit.

3. The assembly of claim 1, wherein the image analysis device is configured to determine a physical characteristic of the sample container.

4. The assembly of claim 3, wherein the physical characteristic of the sample container comprises a shape of the sample container.

5. The assembly of claim 3, wherein the physical characteristic of the sample container comprises a type of the sample container.

6. The assembly of claim 1, wherein the image analysis device is configured to analyze the image and the acquired liquid level to calculate a weight of the sample container, while the sample container is being transported by the gripper unit.

7. The assembly of claim 1, wherein the image acquisition device is horizontally offset from the gripped sample container.

8. The assembly of claim 1, wherein the optical emitter and the optical detector are located adjacent to, and on opposites sides of the sample container when the liquid level is acquired by the liquid level detection unit.

9. A method for processing a sample

detecting a presence of a sample container with a tube presence detection unit coupled to a chamber wall on an exterior portion of a chamber;

gripping a sample container with a gripper unit of a robotic arm, wherein the robotic arm is configured to move in three dimensions to transport the gripped sample container;

lifting the sample container to an analysis position within the chamber;

acquiring an image of the gripped sample container during transport of the gripped sample container with a sample container identification unit of an image acquisition device physically coupled to the robotic arm, wherein the sample container identification unit is coupled to the chamber wall on an interior portion of the chamber;

positioning the gripped sample container between an optical emitter and an optical detector of a liquid level detection unit; and

acquiring a liquid level of the gripped sample container during transport with the optical emitter and the optical detector.

10. The method of claim 9, further comprising capturing a second image of a plurality of sample containers with a second image acquisition device;

and analyzing the second image to determine a second sample container in the plurality of sample containers to grip with the gripper unit.

11. The method of claim 9, further comprising calculating a weight of the sample container during transport by the gripper unit from the image and the acquired liquid level of the sample container.

12. The method of claim 9, further comprising determining a physical characteristic of the sample container, wherein the physical characteristic comprises at least one of:

a shape of the sample container;

or a size of the sample container.