System and method for sample positioning in a robotic system
First Claim
1. A positioning system for automated sample movement and positioning comprising:
- a macro positioning subsystem for moving one or more transporters carrying a sample between one or more stations having a device; and
a micro positioning subsystem disposed between said transporters and said station for precisely locating said transporters, and thus said sample, with respect to said device thereby allowing accurate interaction of said device with said sample.
3 Assignments
0 Petitions
Accused Products
Abstract
A system and method for positioning a sample, or cargo, with respect to a device in a robotic system is provided. The system includes a macro positioning system for “gross” movement of the sample between stations and a micro positioning system for precisely locating the sample in a predetermined location at a station with respect to a device that will interact with the sample. The macro positioning system provides a positioning mechanism for the general movement of a sample along a pathway between various destinations or stations wherein the sample is “grossly” positioned with respect to the station. Once at the station, the micro positioning subsystem disposed between a sample carrier and the station provides a positioning mechanism for “precisely” positioning the sample in a predetermined location at the station with respect to a device that will interact with, or perform some function on, the sample. The system and method provide for multiple sample carrying robots having autonomous navigation thereby providing flexibility and stacker-like queuing for near 100% device utilization.
62 Citations
54 Claims
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1. A positioning system for automated sample movement and positioning comprising:
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a macro positioning subsystem for moving one or more transporters carrying a sample between one or more stations having a device; and
a micro positioning subsystem disposed between said transporters and said station for precisely locating said transporters, and thus said sample, with respect to said device thereby allowing accurate interaction of said device with said sample. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 42)
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15. A system for the manipulation of chemical reaction matrices comprising:
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a chemical reaction matrix;
a transporter having a locating fixture thereupon, said transporter for moving said matrix among one or more locations; and
at each of said locations; and
a cooperating location fixture which cooperates with said locating fixture to locate said matrix in a predetermined location in space.
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29. A method for moving and positioning samples in a robotic system comprising:
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(a) providing predetermined pathways connecting one or more stations;
(b) disposing one or more sample carrier transporters along said pathways;
(c) activating a macro positioning system to move each of said transporters along said pathways to a predetermined station;
(d) macro positioning each said transporters with respect to one of said stations;
(e) activating a micro positioning system disposed between said transporter and said station;
(f) micro positioning a sample on said transporter with respect to a device at said station; and
(g) performing a function on said sample using said device.
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39. A navigation system located on-board a transporter for controlling the movement of said transporter around a pathway of a robotic system comprising:
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a controller located on-board said transporter;
a communications system for establishing a communications link between said transporter and a station;
an identification system for identifying whether said transporter is at a correct station;
an error recovery system located on-board said transporter for correcting the positioning of said transporter; and
a collision avoidance system located on-board said transporter for avoiding collisions as between transporters.
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43. A storage system for the storage of a sample in a robotic system comprising:
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a vertical support structure;
a plurality of storage devices forming levels one on top of the other supported by said support structure;
a track system disposed between and connecting said levels; and
a plurality of sample carrying robots disposed along said track system for interacting with one or more of said storage devices. - View Dependent Claims (44, 45, 46, 47, 48, 49, 50)
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51. A method of storing samples in a robotic system comprising:
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providing a plurality of vertically stacked storage devices;
disposing a track system vertically connecting each of said storage devices;
running one or more sample carrying robots along said track system between said storage devices; and
interacting between at least one of said robot and at least one of said storage device. - View Dependent Claims (52, 53, 54)
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Specification