Robotic Handling System and Method with Independently Operable Detachable Tools

• US 20070295113A1
• Filed: 06/14/2005
• Published: 12/27/2007
• Est. Priority Date: 06/14/2004
• Status: Active Grant

• Current Assignee: Parker-Hannifin Corporation
• Original Assignee: Parker-Hannifin Corporation
• Inventors: Weiss, Andreas, Schelberg, Charles, Londo, Thomas
• Granted Patent: US 8,187,535 B2
• Time in Patent Office: Days
• US Class Current: 73/864.34
• CPC Class Codes: G01N 2035/0434 in the form of a syringe or pipette tip
• CPC Class Codes: G01N 2035/1076 plurality or independently movable heads
• CPC Class Codes: G01N 35/0099 comprising robots or similar manipulators robots per se B25J
• CPC Class Codes: G01N 35/1065 Multiple transfer devices
• CPC Class Codes: Y10T 436/2575 Volumetric liquid transfer

Abstract

An analytical system and method that enables more efficient transport of movable devices (22) among stations (24, 25, 26). According to one aspect of the invention, the system and method permit operational timesharing of a transport mechanism (34) for the movable devices. According to another aspect of the invention, control of the transport mechanism is effected on an event-driven basis. The invention has particular application to an adaptive, motion and fluids system for automating the sample handling/management process associated with analytical processes and especially bioanalytical processes such as introducing samples into LC and HPLC systems.

Claims

1. An analytical system comprising one or more movable devices (22) for use in performing one or more operations, a plurality of stations (24, 25, 26) each having associated therewith one or more receivers (27, 28, 29) for receiving one or more of the movable devices so that a prescribed operation can be commenced at the respective station, at least one transport mechanism (34) for transporting the movable devices from station to station, and a controller (35) for directing the transport mechanism to leave at least one of the movable devices with the receiver(s) in a first one of the stations thereby to free the transport mechanism for transport of at least one other movable device between stations while the movable device or devices left at the first station are used to perform a prescribed operation at the first station.

2. An analytical system according to claim 1, wherein the movable devices include one or more sampling probes (47) for aspirating and/or dispensing an agent.

3. An analytical system according to claim 2, comprising a stationary system component (42), and at least some of the sampling probes are connected to the stationary system by a tether (43).

4. An analytical system according to claim 3, wherein the stationary system component includes a supply of the agent.

5. An analytical system according to claim 3, wherein the stationary system component includes a metering device for metering an amount of the agent to be aspirated and/or dispensed by the sampling probe.

6. An analytical system according to claim 2, wherein the sampling probe is not tethered to any stationary component of the system.

7. An analytical system according to claim 6, wherein the sampling probe includes a plunger (56) and a motive device (57) for moving the plunger in response to a command signal.

8. An analytical system according to claim 1, including a communication link between the motive device and the controller.

9. An analytical system according to claim 8, wherein the communication link is effected via a tether (43) connecting the movable device to a stationary system component (42).

10. An analytical system according to claim 8, wherein the communication link is effected wirelessly between the movable device and a stationary system component (42).

11. An analytical system according to claim 8, wherein the movable device and the controller identify the proper positioning of the movable device for proper operation.

12. An analytical system according to claim 8, wherein the movable device communicates with the controller when an operational fault is detected.

13. An analytical system according to claim 8, wherein the communication link is temporarily effected between the movable device and an interface associated with a receiver when the movable device is received by the receiver.

14. An analytical system according to claim 1, wherein the receiver assists the movable device in performing a prescribed task at the station.

15. An analytical system according to claim 1, wherein the receiver includes a positioning device for moving the movable device in relation to the station.

16. An analytical system according to claim 1, wherein the receiver is operable to move or rotate the movable device in relation to one or more movement axes of the station.

17. An analytical system according to claim 1, wherein the transport mechanism includes a robotic arm.

18. An analytical system according to claim 1, wherein the transport mechanism is controlled in response to requests corresponding to completion of the prescribed operation by a movable device or devices.

19. An analytical system according to claim 1, wherein each movable device or set of movable devices is uniquely identified for independent operation by the controller.

20. An analytical system according to claim 1, wherein the prescribed operation includes one or more of sample reformatting, sample injection, reagent addition or dilution.

21. A device for processing liquid biological specimens comprising a plurality of stations (24, 25, 26), at least one of which supports a liquid biological specimen;

a syringe assembly (22;

47) for aspirating or dispensing a preselected volume of liquid;

a transporter (34) adapted to releasably engage the syringe and to position the syringe at a selected one of the stations; and

a controller (35) to direct the transporter from one station to another; and

wherein the syringe is operable independently of the location of the transporter.

22. A device according to claim 21, wherein the plurality of stations include a wash station, a processing station, or a station for supplying liquid reagents, or a station for accepting a supplied amount of liquid reagents.

23. A device according to claim 21, wherein each station includes a signal generator to generate an in-place signal indicating the arrival and positioning of a frame in the station, and the syringe is operated in response to the in-place signal.

24. A device according to claim 21, wherein a task-complete signal is generated when the syringe completes a task, and the controller includes a queue of task complete signals for processing.

25. An analytical system comprising a plurality of stations (24, 25, 26), a plurality of self-contained syringes (47) each including a dedicated metering device for independent aspiration and/or dispensing of an agent, and a transport mechanism (34) for transporting the movable devices from station to station.

26. An analytical system comprising a plurality of movable devices (22) for use in performing one or more operations in an analytical procedure, a plurality of stations (24, 25, 26) at which an analytical procedure is performed, a transport mechanism (34) for transporting the movable devices from station to station, and a controller (35) for directing the transport mechanism to retrieve one or more of the movable devices from a station in response to a request corresponding to completion of the prescribed operation by a movable device or devices at such station.

27. A method comprising the steps of providing a plurality of movable devices (22) for performing one or more operations at respective stations (24, 25, 26) each having associated therewith a receiver (27, 28, 29) for receiving one or more of the movable devices so that a prescribed operation can be commenced at the respective station, and transporting the movable devices from station to station, wherein the transporting step includes directing the transport mechanism (34) to leave at least one of the movable devices with the receiver in a first one of the stations thereby to free the transport mechanism for transport of at least one other movable device between stations while the movable device or devices left at the first station are used to perform a prescribed operation at the first station.

28. A method according to claim 27, wherein the movable devices include one or more sampling probes (47) for aspirating and/or dispensing an agent.

29. A method according to claim 28, at least some of the sampling probes are connected to a stationary system (42) by a tether (43) through which the agent is supplied to the sampling probe.

30. A method according to claim 27, wherein at least some of the sampling probes are not tethered to any stationary component of the system.

31. A method according to claim 30, wherein the sampling probe includes a plunger (56) and a motive device (57) for moving the plunger in response to a command signal.

32. A method according to claim 27, wherein the movable devices communicate with a transport controller.

33. A method according to claim 27, wherein the transport mechanism is controlled in response to requests corresponding to completion of the prescribed operation by a movable device or devices.

34. A method according to claim 27, each movable device is uniquely identified for independent control by a controller.

35. A method according to claim 27, wherein the prescribed operation includes one or more of sample reformatting, sample injection, reagent addition or dilution.

36. A method comprising the steps of using a plurality of movable devices (22) to perform one or more operations in an analytical procedure at respective stations (24, 25, 26), a transport mechanism (34) for transporting the movable devices from station to station, and a controller (35) for directing the transport mechanism to retrieve one or more of the movable devices from a station in response to a request corresponding to completion of the prescribed operation by a movable device or devices at such station.

37. A method by which movable devices can be shared among two or more clusters in similar or different configurations all of which contain stations and receivers capable of interacting with and utilizing the movable devices.

38. A method according to claim 37, wherein the movable device carries with it the set of operations it is to perform on the various clusters

39. A method according to claim 37, wherein the set of operations a movable device is to use on the several clusters is broadcast to the respective clusters via an enterprise wide control software package using a network or other functionally equivalent means.

40. An analytical system comprising one or more autonomous movable devices (22) for use in performing one or more operations in an analytical procedure, one or more stations (24, 25, 26) at which an analytical operation is performed, and one or more transport mechanisms (34) for transporting the movable devices from station to station, wherein at least one of the autonomous movable devices is configured to receive and store a workflow including one or more operations to be performed by or on the movable device, and further to execute their workflow and generate system events whenever movable device needs assistance performing an operation.

41. An analytical system according to claim 40, wherein a communication link is effected wirelessly between the autonomous movable device and a stationary system component.

42. An analytical system according to claim 40, wherein a communication link is temporarily effected between the autonomous movable device and an interface associated with a receiver at a station when the autonomous movable device is received by the receiver.