Article handling system and method

• US 6,974,294 B2
• Filed: 10/21/2002
• Issued: 12/13/2005
• Est. Priority Date: 10/19/2001
• Status: Expired due to Term

• Current Assignee: Hologic Incorporated
• Original Assignee: MonoGen, Inc.
• Inventors: Pressman, Norman J., Wroblewski, Lucien J.
• Primary Examiner(s): Brahan, Thomas J.
• Application Number:
  US10/274,385
• Publication Number:
  US 20030118487A1
• Time in Patent Office: 1,149 Days
• Field of Search: 192/48.1, 192/48.2, 414/331.05, 211 152- 155
• US Class Current: 414/331.03
• CPC Class Codes: B01D 2321/02 Forward flushing
• CPC Class Codes: B01D 2321/10 Use of feed
• CPC Class Codes: B01D 2321/16 Use of chemical agents
• CPC Class Codes: B01D 2321/2008 statically
• CPC Class Codes: B01D 2321/2016 Static mixers; Turbulence generators
• CPC Class Codes: B01D 2321/2066 Pulsated flow
• CPC Class Codes: B01D 61/18 Apparatus therefor
• CPC Class Codes: B01D 61/22 Controlling or regulating
• CPC Class Codes: B01D 63/08 Flat membrane modules
• CPC Class Codes: B01D 65/08 Prevention of membrane fouling or of concentration polarisation
• CPC Class Codes: B01F 27/13 Openwork frame or cage stirrers not provided for in other groups of this subclass
• CPC Class Codes: B01F 27/88 with a separate receptacle-stirrer unit that is adapted to be coupled to a drive mechanism
• CPC Class Codes: B01F 33/5011 portable during use, e.g. hand-held
• CPC Class Codes: B01F 35/60 Safety arrangements
• CPC Class Codes: B01F 35/605 Safety devices concerning the operation of the mixer
• CPC Class Codes: B01L 2200/025 Align devices or objects to ensure defined positions relative to each other
• CPC Class Codes: B01L 2300/042 Caps; Plugs
• CPC Class Codes: B01L 2300/044 pierceable, e.g. films, membranes
• CPC Class Codes: B01L 2300/046 Function or devices integrated in the closure
• CPC Class Codes: B01L 2300/0681 Filter
• CPC Class Codes: B01L 2300/0822 : Slides
• CPC Class Codes: B01L 2300/0851 : Bottom walls
• CPC Class Codes: B01L 3/502 : with fluid transport, e.g. in multi-compartment structures centrifugal-type cuvettes G01N21/07; analysis by separation into components G01N30/00; automatic analysers G01N35/00
• CPC Class Codes: B01L 3/508 : rigid containers not provided for above
• CPC Class Codes: B01L 3/50825 : Closing or opening means, corks, bungs closures for containers B65D; means for removing stoppers B67B7/02
• CPC Class Codes: B01L 9/06 : Test-tube stands; Test-tube holders
• CPC Class Codes: B01L 9/52 : Supports specially adapted for flat sample carriers, e.g. for plates, slides, chips
• CPC Class Codes: B65B 69/00 : Unpacking of articles or materials, not otherwise provided for
• CPC Class Codes: B65B 7/161 : Sealing filled ampoules
• CPC Class Codes: G01N 1/2813 : Producing thin layers of samples on a substrate, e.g. smearing, spinning-on G01N1/30 takes precedence
• CPC Class Codes: G01N 1/4077 : by other techniques involving separation of suspended solids
• CPC Class Codes: G01N 2001/1025 : Liquid suspensions; Slurries; Mud; Sludge
• CPC Class Codes: G01N 2001/2826 : Collecting by adsorption or absorption
• CPC Class Codes: G01N 2035/00089 : Magazines
• CPC Class Codes: G01N 2035/00138 : Slides
• CPC Class Codes: G01N 2035/0405 : manipulating closing or opening means, e.g. stoppers, screw caps, lids or covers
• CPC Class Codes: G01N 2035/0427 : nestable or stockable
• CPC Class Codes: G01N 2035/0441 : for samples
• CPC Class Codes: G01N 2035/0443 : for reagents
• CPC Class Codes: G01N 2035/0458 : Multiple concentric rows of wells
• CPC Class Codes: G01N 2035/0462 : Buffers [FIFO] or stacks [LIFO] for holding carriers between operations
• CPC Class Codes: G01N 27/22 : by investigating capacitance
• CPC Class Codes: G01N 35/00 : Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
• CPC Class Codes: G01N 35/00029 : provided with flat sample substrates, e.g. slides G01N35/028 takes precedence
• CPC Class Codes: G01N 35/0099 : comprising robots or similar manipulators robots per se B25J
• CPC Class Codes: G01N 35/021 : having a flexible chain, e.g. "cartridge belt", conveyor for reaction cells or cuvettes
• CPC Class Codes: G01N 35/04 : Details of the conveyor system G01N35/021 - G01N35/028 take precedence
• CPC Class Codes: G01N 35/1016 : Control of the volume dispensed or introduced
• CPC Class Codes: Y10T 29/49822 : by applying force
• CPC Class Codes: Y10T 29/53039 : with control means energized in response to activator stimulated by condition sensor
• CPC Class Codes: Y10T 436/11 : Automated chemical analysis
• CPC Class Codes: Y10T 436/112499 : with sample on test slide
• CPC Class Codes: Y10T 436/113332 : with conveyance of sample along a test line in a container or rack
• CPC Class Codes: Y10T 436/12 : Condition responsive control
• CPC Class Codes: Y10T 436/25375 : Liberation or purification of sample or separation of material from a sample [e.g., filtering, centrifuging, etc.]
• CPC Class Codes: Y10T 436/255 : including use of a solid sorbent, semipermeable membrane, or liquid extraction

Abstract

An article handling system and method for holding articles and moving selected articles individually from and/or to the article handling system. A plurality of vertically spaced article holding trays are mounted for independent rotation, each tray having a plurality of discrete article holding locations. A tray rotating mechanism is arranged to rotate a single selected tray, while a pick-and-place mechanism has an article gripper mounted for vertical and horizontal movement such that the gripper can reach any article holding location on any selected tray. A controller coordinates rotation of the selected tray and movement of the gripper such that the gripper can move to and from the selected article holding location. The handling system is especially useful as part of an automated system for processing multiple specimens of biological fluid in separate vials.

Claims

1. An article handling system for holding articles and moving selected articles individually from and/or to the article handling system, comprising:

a plurality of vertically spaced article holding trays mounted for independent rotation about a common vertical axis, each tray having a plurality of discrete article holding locations;

a tray rotating mechanism arranged to rotate a single selected tray;

a pick-and-place mechanism having an article gripper mounted for vertical and horizontal movement such that the gripper can reach any article holding location on any selected tray; and

a controller coordinating rotation of the selected tray and movement of the gripper such that the gripper can move to and from the selected article holding location,

wherein each tray has a rotational home position and a peripheral notch sized to accommodate the gripper when it moves vertically to or from the selected tray, the home positions of the trays being coincident and defined by rotational positions in which all notches are aligned

wherein the tray rotating mechanism comprises a rotatable vertical spindle, and each tray has an open-sided hub open to the peripheral notch and configured to partially surround the vertical spindle, each tray being removably mounted for engagement by the vertical spindle by horizontal movement of the tray relative to the vertical spindle, and

wherein the hub has at least one keyway, and the vertical spindle has at least one movable key selectively positionable to engage the keyway of the selected tray so as to enable rotation of only the selected tray.

2. An article handling system according to claim 1, wherein the vertical spindle has at least one key associated with each vertical tray position, the keys being axially movable together and spaced relative to the vertical tray positions such that only one tray at a time can be engaged by its respective key.

3. An article handling system according to claim 2, wherein the vertical spindle comprises an inner spindle movable axially within an outer spindle, the inner spindle carrying the spaced keys and the outer spindle having at least one slot through which the keys project.

4. An article handling system according to claim 3, comprising a pair of opposed keys on the inner spindle associated with each tray, and a pair of opposed keyways on each hub adapted to receive the respective keys.

5. An article handling system according to claim 3 or claim 4, wherein the tray rotating mechanism comprises a lead screw driven by a stepper motor for effecting movement of the inner spindle.

6. An article handling system for holding articles and moving selected articles individually from and/or to the article handling system, comprising:

a plurality of vertically spaced article holding trays mounted for independent rotation about a common vertical axis, each tray having a plurality of discrete article holding locations;

guides at each tray location that ensure proper tray insertion and positioning during mounting thereof;

a tray rotating mechanism arranged to rotate a single selected tray;

a pick-and-place mechanism having an article gripper mounted for vertical and horizontal movement such that the gripper can reach any article holding location on any selected tray; and

a controller coordinating rotation of the selected tray and movement of the gripper such that the gripper can move to and from the selected article holding location,

wherein each tray has a rotational home position and a peripheral notch sized to accommodate the gripper when it moves vertically to or from the selected tray, the home positions of the trays being coincident and defined by rotational positions in which all notches are aligned

wherein the tray rotating mechanism comprises a rotatable vertical spindle, and each tray has an open-sided hub open to the peripheral notch and configured to partially surround the vertical spindle, each tray being removably mounted for engagement by the vertical spindle by horizontal movement of the tray relative to the vertical spindle, and

wherein each tray has a plurality of upstanding posts, and the guides engage and guide the posts during mounting of the tray.

7. An article handling system according to claim 6, further comprising a shelf at each tray location for supporting the tray during mounting thereof.

8. An article handling system according to claim 6, wherein the guides engage the tops of the posts.

9. An article handling system according to claim 8, wherein each post has a resilient top that engages a guide.

10. An article handling system according to claim 9, wherein the resilient top comprises a spring-loaded ball.

11. An article handling system according to claim 6, wherein the trays are stackable when not mounted in the handling system, the posts adapted to engage the underside of and support a superposed tray.

12. An article handling system according to claim 11, wherein each tray has stacking recesses on its underside that mate with the tops of the posts.

13. An article handling system for holding articles and moving selected articles individually from and/or to the article handling system, comprising:

a plurality of vertically spaced article holding trays mounted for independent rotation about a common vertical axis, each tray having a plurality of discrete article holding locations;

a tray rotating mechanism arranged to rotate a single selected tray;

a pick-and-place mechanism having an article gripper mounted for vertical and horizontal movement such that the gripper can reach any article holding location on any selected tray; and

a controller coordinating rotation of the selected tray and movement of the gripper such that the gripper can move to and from the selected article holding location,

wherein the tray rotating mechanism comprises a rotatable vertical spindle and each tray has a hub sized to receive the vertical spindle, the hub having at least one keyway and the vertical spindle having at least one movable key selectively positionable to engage the keyway of the selected tray so as to enable rotation of only the selected tray, and

wherein the vertical spindle has at least one key associated with each vertical tray position, the keys being axially movable together and spaced relative to the vertical tray positions such that only one tray at a time can be engaged by its respective key.

14. An article handling system according to claim 13, wherein each tray has a rotational home position and a peripheral notch sized to accommodate the gripper when it moves vertically to or from the selected tray, the home positions of the trays being coincident and defined by rotational positions in which all notches are aligned, and wherein the controller enables rotation of the selected tray only when all other trays are in their home positions.

15. An article handling system according to claim 13 or claim 14, wherein the vertical spindle comprises an inner spindle movable axially within an outer spindle, the inner spindle carrying the spaced keys and the outer spindle having at least one slot through which the keys project.

16. An article handling system according to claim 15, comprising a pair of opposed keys on the inner spindle associated with each tray, and a pair of opposed keyways on each hub adapted to receive the respective keys.

17. An article handling system according to claim 16, wherein the tray rotating mechanism comprises a lead screw driven by a stepper motor for effecting movement of the inner spindle.