Method and system for picking and placing containers and for aligning instruments

Abstract

The present application relates to a gripper assembly (20) comprising a tubular member (22), a deformable gripping portion (210), a piston (24), and a pusher (260). The gripper assembly is adapted to pick up and place a container (10) by gripping a gripped portion (102) of the container. The gripping portion extends from an adjacent end of the tubular member. The gripping portion has spring-like characteristics such that it deforms when the container is engaged and thereby holds the container. The piston is slidably disposed within the tubular member. The pusher includes a head portion (270) adjacent a first end of the pusher and a plunger portion (26) adjacent a second end of the pusher. The head portion of the pusher is slidably disposed within the tubular member and is separated from the piston. The plunger portion of the pusher is at least partially disposed within the deformable gripping portion to engage the container. The gripper assembly can be used to align an analyzer instrument (800).

Description

[0001] Related Applications

[0002] This invention relates to and claims the benefit of priority from provisional patent application 62 / 786,112, filed on December 28, 2018, in the United States Patent Office, entitled "Methods and Systems for Picking and Placing Vessels and for Aligning an Instrument". This application is incorporated herein by reference in its entirety. Background of the Invention

[0003] The present disclosure generally relates to methods and systems for handling containers used in conjunction with automated chemical analyzer instruments, and more particularly, to methods and systems for picking and placing containers used in conjunction with automated chemical analyzer instruments. The present disclosure also generally relates to aligning various subsystems within an automated chemical analyzer instrument. Automated chemical analyzer instruments include immunoassay instruments. Such instruments can be used for clinical sampling and analysis applications. Such instruments typically involve manipulating containers for various assays. The basic functions of manipulating containers generally involve picking up, transferring, and placing the containers, and mixing the contents of the containers for processing and analysis by an automated analyzer. During transfer, the containers and their contents must be moved smoothly. Jostling the containers can cause the contents to splash out of the containers and / or can cause droplets to stick to the container walls.

[0004] One of the disadvantages of conventional container picking and placing devices used in conjunction with automated analyzers is that if the container becomes disengaged from the picking and placing unit and falls off the picking and placing unit, the picking and placing device lacks the ability to detect it.

[0005] One of the disadvantages of many conventional automated analyzers is that they lack the ability to perform an autonomous alignment process to align various subsystems. Conventional automated analyzers may lack the ability to internally diagnose misalignments between various subsystems. Summary of the Invention

[0006] One aspect of the present disclosure includes a gripper assembly having a barrel, a deformable gripping portion, a piston, and a pusher. The gripper assembly can be adapted to pick up and place a container by gripping a gripped portion of the container. The barrel can extend between a first end and a second end. The deformable gripping portion can extend from adjacent the second end of the barrel. The deformable gripping portion can have spring-like characteristics to allow deformation when the gripped portion of the container engages the deformable gripping portion, thereby allowing the deformable gripping portion to hold the container by friction. The piston can be slidably disposed within the barrel. The pusher can extend between a first end and a second end. The pusher can include a head portion adjacent the first end of the pusher and can also include a plunger portion adjacent the second end of the pusher. The head portion of the pusher can be slidably disposed within the barrel independent of the piston. The plunger portion of the pusher can be at least partially disposed within the deformable gripping portion for engaging the container.

[0007] In certain embodiments, the barrel of the gripper assembly includes an inner surface having a circular cross-section. The gripper assembly may also include an end flange. The end flange may couple the second end of the barrel to the first end of the deformable gripper portion. In certain embodiments, the first end of the deformable gripper portion of the gripper assembly is adjacent to the second end of the barrel, and the second end of the deformable gripper portion includes a chamfer for receiving a container. The deformable gripper portion may include at least two gripper members that extend in a spaced-apart relationship from adjacent the second end of the barrel. When a container is inserted between the at least two gripper members, deformation may allow the at least two gripper members to deflect, thereby engaging the gripped portion of the container with the deformable gripper portion. At least one of the at least two gripper members may be made of a semi-rigid flexible material. In certain embodiments, the barrel and the deformable gripper portion may be included in a single integral piece. The single integral piece may be made of a plastic material. In certain embodiments, the gripper assembly further includes an adapter for mounting the gripper assembly to a positioning mechanism. In certain embodiments, the gripper assembly further includes a pneumatic system for actuating a piston to push a pusher for releasing the container from the deformable gripper portion. The pneumatic system may actuate the piston by supplying pressurized air to the barrel. In certain embodiments, the gripper assembly further includes a sensor system for detecting whether the pusher is in a container-present position or a container-absent position. In certain embodiments, the spring-like characteristics of the deformable gripper portion further allow deformation when the gripped portion of the alignment pin engages the deformable gripper portion, thereby allowing the deformable gripper portion to hold the alignment pin by friction. In certain embodiments, the spring-like characteristics of the deformable gripper portion further allow deformation when the gripped portion of the alignment pin engages the deformable gripper portion, thereby allowing the deformable gripper portion to hold the alignment pin by friction. The sensor system may further detect whether the pusher is in a pin-present position or a pin-absent position.

[0008] Certain aspects of the present disclosure include a method of aligning a pick-and-place unit with a target. The method may include: providing a pick-and-place unit having a gripper; moving the gripper towards a first predetermined position with at least a first actuator; monitoring the stop of the first actuator while moving the gripper towards the first predetermined position; determining a first stop position of the gripper when the first actuator stops; and determining whether the presence of the target is detected by analyzing the first stop position of the gripper.

[0009] Certain aspects of the present disclosure include a gripper having a chuck and a target having a pin. The chuck can be configured to hold the pin by friction when the chuck engages the pin and a first actuator moves the chuck and thereby moves the pin to a second predetermined position. In certain embodiments, the first actuator can include a stepper motor, and monitoring the stop of the first actuator can include detecting a step difference between an encoder and a commanded position of the stepper motor.

[0010] In certain embodiments of the present disclosure, if the presence of the target is not detected, then the gripper is moved towards a third predetermined position using at least a first actuator and a second actuator. The stop of the first actuator can be monitored while the gripper is being moved towards the third predetermined position. The second stop position of the gripper can be determined when the first actuator stops. Determining whether the presence of the target is detected by analyzing the second stop position of the gripper can also be included in the method.

[0011] In certain embodiments of the present disclosure, the method can further include repeating the steps of the preceding paragraph if the presence of the target is not detected. The gripper can be moved towards one or more subsequent predetermined positions and subsequent stop positions can be determined until the presence of the target is detected.

[0012] In certain embodiments of the present disclosure, a grid search is included when repeating the steps of the preceding two paragraphs. The grid search can include moving the gripper towards subsequent predetermined positions using at least a first actuator, a second actuator, and a third actuator. In certain embodiments, the first actuator and the second actuator actuate a pick - and - place unit. In certain embodiments, the third actuator actuates the target.

[0013] In certain embodiments of the present disclosure, after the presence of the target is detected, the edges of the target are determined. Determining the edges of the target can include moving the gripper in an engaging direction and an opposite disengaging direction using the first actuator, while incrementing the position of the gripper with respect to the target using at least a second actuator, and thereby determining at least a first edge portion and a second edge portion that are relative to each other with respect to the target. The stop of the first actuator can be monitored while the gripper is being moved in the engaging direction. Determining the edges of the target can further include incrementing the position of the gripper with respect to the target using at least a second actuator and a third actuator, and thereby determining at least a third edge portion and a fourth edge portion that are relative to each other with respect to the target. The first edge portion and the second edge portion can be relative to each other with respect to the target along a first direction, and the third edge portion and the fourth edge portion can be relative to each other with respect to the target along a second direction. The first direction and the second direction can be orthogonal to each other.

[0014] In certain embodiments of the present disclosure, the central position of an object is calculated by analyzing opposing edge portions. In certain embodiments, a gripper can be moved to align with the central position of the object. The gripper can be engaged with the object by positioning the gripper on the object and thereby holding the object by friction using the gripper. An attempt can be made to move the object with the gripper. If the attempt to move the object with the gripper is unsuccessful, the gripper can be moved to align with the central position of the object using grid search and repeated. The gripper can be engaged with the object by positioning the gripper on the object and thereby holding the object by friction using the gripper and repeated. An attempt to move the object with the gripper can be repeatedly made.

[0015] In certain embodiments of the present disclosure, stored coordinates corresponding to and / or of a first predetermined position of the object can be retrieved from a storage location for moving the gripper towards the first predetermined position. After confirming alignment of the pick-and-place unit with the object, the current position of the object can be calculated. When the current position of the object is different from the previous position of the object indicated by the retrieved stored coordinates, the current coordinates of the object and / or updated coordinates corresponding to the first predetermined position can be stored in the storage location for use when moving the gripper towards the first predetermined position next time.

[0016] The object can be a first object among a plurality of objects. The above method can include: moving the gripper towards a predetermined position corresponding to a second object among the plurality of objects using at least a first actuator; monitoring the stop of the first actuator while moving the gripper towards the predetermined position corresponding to the second object; determining the stop position of the gripper corresponding to the second object when the first actuator stops; and determining whether the presence of the second object is detected by analyzing the stop position of the gripper corresponding to the second object. After detecting the presence of the second object, the edge of the second object can be determined. The first object and the second object can be a pair of objects on a common body. The method can further include determining the rotational orientation of the common body by analyzing the pair of objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other features of the present disclosure and the manner of obtaining the above and other features will become more apparent and will be best understood by reference to the following description in conjunction with the drawings. These drawings only depict typical embodiments of the present disclosure and thus do not limit the scope of the present disclosure. These drawings are used to add specificity and details. In the drawings:

[0018] Figure 1 is a perspective view of a typical prior art container for processing and analysis by an immunoassay instrument;

[0019] Figure 2 is held by components of an immunoassay instrument Figure 1 partial cross-sectional front view of the container

[0020] Figure 3 is an exploded perspective view of a pick-and-place gripper according to the principles of the present disclosure;

[0021] Figure 4 is Figure 3 a top plan view of the pick-and-place gripper of

[0022] Figure 5 is as in Figure 4 taken Figure 3 a cross-sectional front view of the pick-and-place gripper of

[0023] Figure 6 is of an integral barrel and chuck of the pick-and-place gripper according to the principles of the present disclosure Figure 3 a perspective view;

[0024] Figure 7 is Figure 6 a top plan view of the integral barrel and chuck of

[0025] Figure 8 is as in Figure 7 taken Figure 6 a cross-sectional perspective view of the integral barrel and chuck of

[0026] Figure 9 is Figure 3 a cross-sectional front view of the pick-and-place gripper, illustrating the retention of a prior art container according to the principles of the present disclosure Figure 1 of

[0027] Figure 10 is a cross-sectional front view of a pick-and-place gripper according to the principles of the present disclosure Figure 9 but wherein the prior art container is ejected from the pick-and-place gripper;

[0028] Figure 11 is a cross-sectional front view of a pick-and-place gripper according to the principles of the present disclosure Figure 9 but wherein the prior art container slides out of the pick-and-place gripper without being ejected from the pick-and-place gripper;

[0029] Figure 12 is a partial cross-sectional front view of a pick-and-place gripper positioned above a target of a component according to the principles of the present disclosure Figure 2 of Figure 3 ;

[0030] Figure 13 is a partial cross-sectional front view of a pick-and-place gripper according to the principles of the present disclosure Figure 12 but wherein the pick-and-place gripper engages the target and wherein more portions of the Figure 2 component are shown;

[0031] Figure 14 is a front orthographic view of a partial cross-section similar to Figure 13 according to the principles of the present disclosure, but wherein the pick-and-place gripper raises a target similar to but different from Figure 2 and wherein different portions of Figure 2 are shown;

[0032] Figure 15 is a front orthographic view of a partial cross-section according to the principles of the present disclosure Figure 14 but wherein the pick-and-place gripper further raises the target and thereby disengages from the target, and wherein more portions of Figure 2 the component are shown;

[0033] Figure 16 is a perspective view of a component according to the principles of the present disclosure Figure 2 illustrating a pair of Figure 12 and 14 targets;

[0034] Figure 17 is a perspective view of a mount with a single target according to the principles of the present disclosure;

[0035] Figure 18 is a perspective view of another mount with a single target according to the principles of the present disclosure;

[0036] Figure 19 is a perspective view of yet another mount with a single target according to the principles of the present disclosure;

[0037] Figure 20 is a perspective view of a pick-and-place unit according to the principles of the present disclosure, wherein Figure 3 the pick-and-place gripper of Figure 16 operates on one of the targets of

[0038] Figure 21 is a front orthographic view of a mount and a target according to the principles of the present disclosure Figure 18 wherein a probe of the instrument is in contact with the target.

[0039] Figure 22 is as taken in Figure 21 a cross-sectional front orthographic view of the Figure 21 probe, target, and mount;

[0040] Figure 23 is a perspective view of another component of an instrument with a single target according to the principles of the present disclosure;

[0041] Figure 24 is according to the principles of the present disclosure Figures 12 to 23Stereogram of a typical target among the targets;

[0042] Figure 25 is Figure 24 Top plan view of the target;

[0043] Figure 26 is an instrument according to the principles of the present disclosure that is compatible with Figure 1 the prior art container, Figure 3 the pick - and - place gripper, Figures 12 to 25 the target, Figure 20 the pick - and - place unit, and Figure 21 and Figure 22 the probe, a schematic plan view;

[0044] Figure 27 is an instrument according to the principles of the present disclosure that is associated with a motion related to an orthogonal, straight - line grid search method using, for example, Figure 3 the pick - and - place gripper and Figure 24 the target, a schematic plan view of the motion;

[0045] Figure 28 is a schematic front view of a motion according to the principles of the present disclosure that is associated with detecting the stop of an actuator to discover the presence of, for example, Figure 27 the target;

[0046] Figure 29 is a schematic front view of a motion according to the principles of the present disclosure for determining the edge of, for example, Figure 27 the target;

[0047] Figure 30 is a schematic plan view of a motion according to the principles of the present disclosure that is associated with using an orthogonal, straight - line grid search to test the gripping pattern of, for example, Figure 3 the pick - and - place gripper and the gripping pattern of, for example, Figure 24 the target;

[0048] Figure 31 is a schematic front view according to the principles of the present disclosure that shows the motion associated with the gripping pattern of, for example, Figure 3 the pick - and - place gripper and the gripping pattern of, for example, Figure 24 the target;

[0049] Figure 32 is a schematic front view according to the principles of the present disclosure that illustrates the motion of testing the gripping pattern of the engagement of, for example, Figure 3 the pick - and - place gripper with, for example, Figure 24 the target;

[0050] Figure 33 is an instrument according to the principles of the present disclosure, for example, Figure 3 the pick - and - place gripper engages, for example, Figure 24Schematic front view of the target for testing the grasping mode;

[0051] Figure 34 is an illustration, according to the principles of the present disclosure, of, for example Figure 3 the pick - and - place gripper lifting, for example Figure 24 a target and thereby confirming the successful lifting of the target; Schematic front view;

[0052] Figure 35 is an illustration, according to the principles of the present disclosure, of, for example Figure 24 the target dropping from the pick - and - place gripper, for example Figure 3 due to poor alignment between the target and the gripper; Schematic plan view;

[0053] Figure 36 is an illustration, according to the principles of the present disclosure, of, for example Figure 3 the pick - and - place gripper positioned above, for example Figure 24 a target to prepare for determining the elevated position of the target; Schematic front view;

[0054] Figure 37 is an illustration, according to the principles of the present disclosure, of, for example Figure 3 the pusher of the pick - and - place gripper being actuated and thereby determining, for example Figure 24 the vertical position of a target; Schematic front view;

[0055] Figure 38 is associated with a curvilinear grid search method for using, according to the principles of the present disclosure, for example Figure 3 a pick - and - place gripper and Figure 20 a target; Schematic plan view of the movement;

[0056] Figure 39 is a flowchart depicting an exemplary method for aligning, according to the principles of the present disclosure, for example Figure 3 a pick - and - place gripper; and

[0057] Figure 40A and Figure 40B together form a flowchart depicting an exemplary method for aligning, according to the principles of the present disclosure, for example Figure 3 a pick - and - place gripper. DETAILED DESCRIPTION

[0058] The present disclosure relates to a new method and system for picking and placing containers for use with an automated analyzer. The present disclosure further relates to new methods and systems for aligning various subsystems of an automated analyzer.

[0059] According to the principles of the present disclosure, a pick - and - place system includes a gripper for grasping a container. A typical container 10 is shown in Figure 1is illustrated in. As depicted, the container 10 is a prior art container. The container 10 includes an elongated hollow cylindrical body 12 having an open top end 14 and a closed bottom end 16. Optionally, on the outer sidewall 17 of the cylindrical body 12, there may be a circular flange 18 located below but adjacent to the top end 14. As depicted, the flange 18 includes a top surface 18t and a bottom surface 18b. As Figure 1 and Figure 2 illustrated, the interior 19 of the container 10 can be accessed through the open top end 14. Such a container 10 can be used in an analytical instrument, such as in the Figure 26 exemplary analytical instrument 800 schematically depicted. Specifically, the interior 19 of the container 10 can accommodate various samples and can be used as a reaction container, a dilution container, a sample container, etc. Multiple such containers 10 can be used simultaneously in the instrument 800. Multiple tests can be processed simultaneously in the various reaction containers 10 that cycle through the instrument 800. A positioning mechanism 100 can be used to move the container 10 among and between the various subsystems of the instrument 800. An exemplary positioning mechanism 100 is illustrated in Figure 20 . Such a positioning mechanism 100 can include a pick-and-place system, a pick-and-place unit, etc. Such a positioning mechanism 100 can manipulate the container 10 by gripping the gripped portion 102 of the container 10.

[0060] Referring to Figure 3 , an embodiment of a gripper assembly 20 according to the principles of the present disclosure is shown. The gripper assembly 20 can be mounted on the positioning mechanism 100.

[0061] As depicted, the gripper assembly 20 has an elongated cylindrical member 22, a piston 24, and a pusher 260. As Figures 9 to 11 illustrated, the piston 24 and the pusher 260 can move independently within the cylindrical member 22. As Figure 3 and Figure 5 illustrated, the gripper assembly 20 further includes a deformable gripping portion 210. In the depicted embodiment, the deformable gripping portion 210 is a chuck. The deformable gripping portion 210 can be positioned on the gripped portion 102 of the container 10 by the positioning mechanism 100. As Figure 9 illustrated, by positioning at least a portion of the deformable gripping portion 210 on the gripped portion 102, as the deformable gripping portion 210 slightly expands, the container 10 is engaged to the gripper assembly 20, thereby creating a friction fit between the deformable gripping portion 210 and the gripped portion 102 of the container 10. Since the deformable gripping portion 210 is elastic, as Figure 10 and Figure 11As illustrated, when the container 10 is removed from the gripper assembly 20, the deformable gripping portion 210 returns to its initial configuration. The gripper assembly 20 can thus be repeatedly used to engage the gripped portion 102 of multiple containers 10.

[0062] As Figure 6 and Figure 8 depicted, the tubular member 22 and the deformable gripping portion 210 are made of a single integral piece 240. In the depicted embodiment, the end flange 230 connects the tubular member 22 to the deformable gripping portion 210. In the depicted embodiment, the container 10 is axially symmetric and has a central longitudinal axis A v (see Figure 2 ). The deformable gripping portion 210 also includes a central longitudinal axis A c (see Figure 3 ). In the depicted embodiment, the tubular member 22 includes an inner surface 220 having a circular cross-section 222. In the depicted embodiment, the tubular member 22 shares the axis A with the deformable gripping portion 210 c . In other embodiments, the container 10, the tubular member 22, and the deformable gripping portion 210 may include non-circular and / or non-axially symmetric forms.

[0063] As Figure 8 illustrated, the tubular member 22 extends between a first end 202 and a second end 204. The end flange 230 is positioned adjacent the second end 204 of the tubular member 22. The deformable gripping portion 210 extends from the end flange 230. As depicted, the deformable gripping portion 210 extends between a first end 212 and a second end 214. The first end 212 is adjacent the end flange 230. An opening 32 is provided at the second end 214. When the gripper assembly 20 engages the container 10, the opening 32 can receive the gripped portion 102 of the container 10. To facilitate engagement of the gripper assembly 20 with the container 10, a chamfer 216 may be provided at the opening 32.

[0064] As depicted, the deformable gripping portion 210 includes a plurality of gripping members 30. The gripping members 30 may be formed by fingers 224 cantilevered from the first end 212 of the deformable gripping portion 210. The fingers 224 may be separated from each other by a plurality of through slots 226 and partial slots 228. Specifically, as Figure 7 shown, the through slots 226 extend through the single integral piece 240. The partial slots 228 extend from the second end 214 of the deformable gripping portion 210 to near the first end 212. The fingers 224 thus have a spaced-apart relationship 218. As will be further described below, the through slots 226 accommodate components of the ejector 260.

[0065] The gripping members 30 are spring-like and / or have spring-like characteristics such that the gripping members 30 are flexible enough to allow them to deform or deflect to permit insertion of the gripped portion 102 of the container 10 between the gripping members 30; yet are rigid enough to have sufficient strength and tension for holding the container 10; and have a spring memory such that not only is there sufficient friction between the gripping members 30 and the container 10 to hold the container 10 in place, but also the gripping members 30 return to their initial configuration after the container 10 is released. The gripping members 30 can be made of a semi-rigid flexible material or other suitable materials. Examples of such materials include, but are not limited to, plastic materials, etc.

[0066] In one embodiment of the present disclosure, the gripper assembly 20 has at least two gripping members 30. Both of the two gripping members 30 can be flexible, or at least one can be flexible while the other can be fixed. In the depicted embodiment, the opening 32 is thus a slotted expandable circular opening adapted to receive the gripped portion 102 of the container 10. The chamfer 216 can allow the flexible gripping members 30 to pick up misaligned containers 10. When the positioning mechanism 100 and / or the gripper assembly 20 applies the opening 32 over the gripped portion 102 and / or the top end 14, the chamfer 216 can allow the container 10 to push the flexible gripping members 30 outward. In the depicted embodiment, the flexible gripping members 30 are external to the gripped portion 102 when engaged. In other embodiments, the flexible gripping members can be internal to the gripped portion of the container when engaged. In additional embodiments, the gripper assembly can have at least one external gripping member 30 and at least one internal gripping member.

[0067] Now turning to Figure 3 and Figure 5, the piston 24 will be further described. As depicted, the piston 24 extends between a first end 24t and a second end 24b. In the depicted embodiment, the first end 24t is the top end 24t of the piston 24, and the second end 24b is the bottom end 24b of the piston 24. The piston 24 may include a plug 24p that extends between the first end 24t and the second end 24b. The plug 24p may include a pair of flanges 24f. In the depicted embodiment, one of the flanges 24f is positioned adjacent the first end 24t of the piston 24, and the other of the flanges 24f is positioned adjacent the second end 24b of the piston 24. As depicted, a pair of seals 24s are captured between the pair of flanges 24f. In the depicted embodiment, the pair of seals 24s contact each other opposite the flanges 24f. In other embodiments, the seals 24s may be separated from each other. In additional embodiments, a single seal 24s or more than two seals 24s or no seals may be used. In the depicted embodiment, the seals 24s are lip seals. As Figure 5 depicted, the piston 24 and the barrel 22 may form a pneumatic actuator 42. In the depicted embodiment, the pneumatic actuator 42 is a unidirectional pneumatic actuator 42.

[0068] Turning back again Figure 3 and Figure 5 , the ejector 260 will be further described. The ejector 260 extends between a first end 262 and a second end 264. The ejector 260 includes a plunger portion 26 adjacent the second end 264 and a head portion 270 adjacent the first end 262. As depicted, the plunger portion 26 includes a plurality of fins 268. In the depicted embodiment, the plunger portion 26 includes three fins 268. A pocket 266 may be included at the first end 262 of the ejector 260. The pocket 266 may hold a magnet 28. The magnet 28 may extend between a first end 28t and a second end 28b. In the depicted embodiment, the first end 28t is the top end 28t, and the second end 28b is the bottom end 28b. As mentioned above, the through slot 226 receives the components of the ejector 260 into a single integral piece 240. Specifically, the fins 268 may be aligned with the through slot 226, wherein the ejector 260 is positioned relative to the single integral piece 240, as Figure 3 depicted. The fins 268 may slide through the inner surface 220 of the barrel 22 and reach the through slot 226. The ejector 260 may be further positioned within the single integral piece 240, and the fins 268 slide along the through slot 226.

[0069] As Figure 9As illustrated, when the positioning mechanism 100 places the gripper assembly 20 on the gripped portion 102 of the container 10, the ejector 260 is lifted. If the piston 24 has not been lifted yet, the ejector 260 will lift the piston 24. By moving the rib 268 in a radial direction relative to the axis A c through the through slot 226, the top end portion 14 of the container 10 engages firmly with the ejector 260 (e.g., at the second end portion 264). Specifically, the rib 268 extends radially significantly beyond the outer diameter of the gripped portion 102 of the container 10. By having three ribs 268, three contact areas are established between the ejector 260 and the end portion 14 of the container 10. Since the three contact areas define the plane of the end portion 14 of the container 10 and the plane defined by the second end portion 264 of the ejector 260, there is no tendency for the container 10 to tip over. When the positioning mechanism 100 engages the container 10 with the gripper assembly 20, the chamfer 216 engages the outer peripheral edge of the end portion 14 of the container 10 and thereby separates the cantilevered fingers 224 from each other. The deformation associated with the separation of the fingers 224 causes an inward force from the fingers 224 to be applied to the gripped portion 102 of the container 10. In the depicted embodiment, this force is an inward radial force that creates friction between the gripping member 30 and the gripped portion 102 of the container 10. During normal operation of the instrument 800, the frictional force is sufficient to move the container 10 within the instrument 800.

[0070] When the positioning mechanism 100 reaches the delivery destination of the container 10, the ejector 260 can be actuated by the piston 24 to remove the container 10 from the gripper assembly 20. Specifically, as Figure 10 illustrated, the piston 24 drives the ejector 260 towards the second end portion 214 of the deformable gripping portion 210. The second end portion 24b of the piston 24 contacts the first end portion 262 of the ejector 260, and thereby applies a force to move the ejector 260 towards the second end portion 214, and thereby discharges the container 10 from the gripper assembly 20. The positioning mechanism 100 can move in coordination with the actuation of the piston 24, and thereby can prevent the container 10 from falling.

[0071] In some cases, the container 10 may inadvertently disengage from the gripper assembly 20, as Figure 11As illustrated. In this case, the pusher 260 is separated from the piston 24. In the depicted embodiment, the pusher 260 descends away from the piston 24. In the depicted embodiment, the pusher 260 has a low enough friction when sliding within the inner surface 220 of the barrel 22 of the single integral piece 240 such that the downward pull of the gravity of the pusher 260 is sufficient to move the pusher 260 away from the piston 24. One or both of the seals 24s of the piston 24 have sufficient friction with the inner surface 220 of the barrel 22 such that the piston 24 remains in its position when the pusher 260 moves towards the second end 214 of the deformable gripping portion 210. Thus, the friction between one or more of the seals 24s and the inner surface 220 is sufficient to support the piston 24 against the pull of gravity. Thus, the friction between the piston 24 and the barrel 22 is sufficient to support the piston 24 against the pull of gravity. In the depicted embodiment, gravity thus actuates the pusher 260 by pushing the pusher 260 towards the second end 214. In other embodiments, the pusher 260 can be pushed in other ways. For example, a spring, a magnetic force, an electrostatic force, a force applied by another actuator, etc. can push the pusher 260 towards the second end 214.

[0072] The prior art gripper assembly is disclosed in U.S. Patent No. 7,128,874, which is incorporated herein by reference in its entirety. In this prior art gripper assembly, the piston and the pusher move together and thus operate differently from the gripper assembly 20 of the present disclosure.

[0073] According to the principles of the present disclosure, the gripper assembly 20 further includes a sensor 40. As depicted, the sensor 40 is a Hall effect sensor. In other embodiments, other sensors can be used. The sensor 40 can detect the presence of the magnet 28 positioned within the pocket portion 266 of the pusher 260. The sensor 40 can thereby detect the position of the pusher 260 and thereby report the position of the pusher 260 to the positioning mechanism 100 and / or the sensor system 60 of the instrument 800. Specifically, the sensor 40 can detect the Figure 9 container presence position 70 depicted in. The sensor 40 can further detect in Figure 5 、 Figure 10 and Figure 11The container depicted does not have a position 80. In the depicted embodiment, the container presence position 70 corresponds to an ejector 260 positioned as follows: the ejector 260 is positioned away from the second end 214 of the deformable grip portion 210 and is positioned such that the head portion 270 is spaced from the second end 204 of the barrel 22. The container absence position 80 corresponds to an ejector 260 positioned as follows: the ejector 260 is positioned toward the second end 214 of the deformable grip portion 210 and is positioned such that the head portion 270 of the ejector 260 is positioned toward the second end 204 of the barrel 22.

[0074] In accordance with the principles of the present disclosure, the piston 24 can be positioned in a first position 90 and a second position 92. In the depicted embodiment, the first position 90 corresponds to the piston upward position, while the second position 92 corresponds to the piston downward position. In other embodiments, the upward and downward orientations may or may not apply. The first piston position 90 is in Figure 5 , Figure 9 and Figure 11 illustrated. The second piston position 92 is in Figure 10 illustrated. As illustrated, the first piston position 90 is compatible with both the container presence position 70 and the container absence position 80. In contrast, the piston downward position 92 is only compatible with the container absence position 80.

[0075] A sensor 40 can be used to confirm that the gripper assembly 20 has successfully picked up the container 10. Specifically, as Figure 9 shown, when the container 10 moves the ejector 260 to the container presence position 70, the magnet 28 is detected by the sensor 40. If no container is present at the pick-up position, the ejector 260 will remain in the container absence position 80. The sensor 40 can further detect when a successful drop of the container 10 occurs. Specifically, as Figure 10 illustrated, when the positioning mechanism 100 reaches the drop position, the piston 24 is actuated thereby pushing the ejector 260 to the container absence position 80. When the ejector 260 drives the gripped portion 102 of the container 10 out of the deformable grip portion 210 of the gripper assembly 20, the positioning mechanism 100 can move the gripper assembly 20 away from the container 10. When the magnet 28 passes by the sensor 40, the container absence position 80 is confirmed. The sensor 40 can further detect when the container 10 is additionally removed from the gripper assembly 20. Specifically, as Figure 11As illustrated, the container 10 has been disengaged from the gripper assembly 20 and removed from the gripper assembly 20, and the container 10 is no longer holding the ejector 260 via the gripped portion 102 of the container 10 so as to prevent it from falling towards the container non-existence position 80. When the magnet 28 passes by the sensor 40, the container non-existence position 80 of the ejector 260 is confirmed. Since the ejector 260 is at the container non-existence position 80 and the piston 24 is at the first position 90 (see Figure 11 ), which generally indicates an abnormal and undesired condition has occurred during the manipulation of the container 10, the sensor 40 and the sensor system 60 can issue a warning to the positioning mechanism 100 and / or the instrument 800 that the container 10 has fallen from the gripper assembly 20. As mentioned above, the friction between one or more seals 24s and the inner surface 220 is sufficient to support the piston 24 against the pull of gravity. Thus, the piston 24 remains at the first position 90 when the container 10 has fallen from the gripper assembly 20. In some embodiments, another sensor can be employed to detect the position of the piston 24 (e.g., the first position 90 and / or the second position 92).

[0076] According to the principles of the present disclosure, the gripper assembly 20 can also be used to position a target and / or align with a target. As Figures 12 to 23 illustrated, a plurality of example target assemblies 500 can be positioned at different positions of the instrument 800, and the gripper assembly 20 can position the target 510 of the target assembly 500 and / or align with the target 510 of the target assembly 500. In an example embodiment, the target 510 is a cylindrical member having a central longitudinal axis A p (see Figure 24 ). In other embodiments, the target 510 can have other shapes. In an example embodiment, the target 510 includes a gripped portion 602 that is similar in size and shape to the gripped portion 102 of the container 10.

[0077] The gripper assembly 20 can be positioned above the target 510 in substantially the same manner as the gripper assembly 20 is positioned above the container 10 by the positioning mechanism 100. For example, the axis A p of the target 510 can be aligned with the axis A c of the deformable gripping portion 210 of the gripper assembly 20. Similarly, the sensor 40 can sense the presence of the target 510 and / or the gripped portion 602 of the target 510 in the same manner as it senses the presence of the container 10 and / or the gripped portion 102 of the container 10. Specifically, Figure 13 、 Figure 14 and Figure 20 illustrate the pin presence position 70. Figure 12 and Figure 15 illustrate the pin non-existence position 80.

[0078] The positioning mechanism 100 can place the gripper assembly 20 on the target 510, as Figure 12 illustrated. The positioning mechanism 100 can further engage the gripped portion 602 of the target 510 with the deformable gripping portion 210, as Figure 13 illustrated. The positioning mechanism 100 can further lift the target 510 and can confirm the presence of the gripped portion 602 in the same manner as it confirms the presence of the gripped portion 102 of the container 10 via the sensor 40. As Figure 15 illustrated, the piston 14 can be actuated to drive the gripped portion 602 of the target 510 out of the deformable gripping portion 210 of the gripper assembly 20 in the same manner as the gripped portion 102 of the container 10 can be pushed out of the gripper assembly 20. When there is misalignment between the target 510 and the gripper assembly 20, Figure 14 the illustrated lifting operation may cause the dropped target 510, thus indicating misalignment.

[0079] Now turning to Figure 13 、 Figure 15 and Figure 24 , the target assembly 500 will be described in detail. In addition to the target 510, the target assembly 500 can include a bushing 508 and a retainer 506. The bushing 508 can be attached to various components within the instrument 800 and thereby position the target 510 relative to the components. Specifically, a longitudinal axis A can be established on the various components of the instrument 800 by positioning the bushing 508 on the component and further installing the target 510 into the bushing 508 T . The retainer 506 can be attached to the target 510 and thus prevent the target from being removed from the components of the instrument 800.

[0080] Now turning to Figure 26, multiple targets are illustrated in the schematic diagram of the exemplary instrument 800. Specifically, one or more targets 510 can be mounted to the sample wheel 830, supply carriage 840, reaction build carriage 860, culture wheel 880, photometer 910, and / or wash wheel 920 via the target assembly 500. The gripper assembly 20 can be used for multiple pick-and-place positioning mechanisms 100. Specifically, the sample pick-and-place unit 850 can include the gripper assembly 20 that distributes the containers 10 among the sample wheel 830, supply carriage 840, and / or multiple reaction build carriages 860a, 860b, 860c, 860d. The sample pick-and-place unit 850 can be the first pick-and-place unit 100a. The culture pick-and-place unit 870 can be used to distribute the containers 10 between the reaction build carriages 860a, 860b, 860c, 860d and the culture wheel 880. The culture pick-and-place unit 870 can be the second positioning mechanism 100b. The analysis pick-and-place unit 890 can distribute the containers 10 among the culture wheel 880, photometer 910, and wash wheel 920. The analysis pick-and-place unit 890 can be the third positioning mechanism 100c.

[0081] To successfully transfer the containers 10 between the various components of the instrument 800, the various systems must be aligned with each other. Specifically, the pick-and-place units 100a, 100b, 100c must be sufficiently aligned with the sample wheel 830, supply carriage 840, reaction build carriage 860, culture wheel 880, photometer 910, and wash wheel 920. According to the principles of the present disclosure, by being used in combination with the various targets 510 positioned on the various components of the instrument 800, the same gripper assembly 20 that transports the containers 10 between the various components of the instrument 800 can also be used to align the various components of the instrument 800.

[0082] Figures 12 to 16 A pair of targets 510a, 510b mounted to the culture wheel 880 is illustrated. As Figure 16 illustrated, the culture wheel 880 rotates about the culture wheel axis A I such that a rotational orientation α is adopted. As Figure 20As illustrated, the culture wheel 880 can be oriented in its rotational orientation α by the third actuator 130. The second actuator 120 of the positioning mechanism 100 can move the gripper assembly 20 in the first direction V, and the third actuator 130 can move the targets 510, 510a, 510b in a direction W that is not parallel to the direction V actuated by the second actuator 120. When the desired position is reached, the first actuator 110 of the positioning mechanism 100 can position the gripper assembly 20 above the target 510a or 510b by moving in a direction Z that is not parallel to the directions V and W and thereby engage the deformable gripping portion 210 with the gripped portion 602 of the target 510a or 510b. By using the third actuator 130 to move the wash wheel 880 and the second actuator 120 to move the gripper assembly 20, the gripper assembly 20 can be aligned with the target 510a or 510b. When the first of the targets 510a or 510b is established by the positioning mechanism 100, the process can be repeated on the other target 510b or 510a, and in addition to the positioning positions of the targets 510a and 510b, the rotational direction α can also be determined.

[0083] The sample wheel 830 can similarly use a pair of targets 510a and 510b to establish the rotational orientation of the sample wheel and the linear positioning positions of the targets 510a and 510b.

[0084] The wash wheel 920 can similarly use a pair of targets 510a and 510b to establish the rotational orientation and the positioning position. However, in the depicted embodiment, a single target 510 is used on the wash wheel 920.

[0085] Other components of the instrument 800 can also be positioned by a single target. As Figure 17 illustrated, the photometer 910 can include a mount 910m that holds the target assembly 500. Similarly, the reaction build carrier 860 can respectively include mounts 860m that hold the target assembly 500 to a specific reaction build carrier. Similarly, the supply carrier 840 can include a mount 840m that holds the target assembly 500 to the supply carrier 840.

[0086] Turning again to Figure 26 , the pick-and-place unit path 852 of the sample pick-and-place unit 850 can be aligned with the sample wheel path 832 of the sample wheel 830, the supply carrier path 842 of the supply carrier 840, and the multiple reaction build carrier paths 862a, 862b, 862c, and 862d of their respective reaction build carriers 860 - collectively referred to as the reaction build carrier paths 862.

[0087] The culture pick - and - place unit path 872 of the culture pick - and - place unit 870 can be similarly aligned with the reaction build carriage 860 and the culture wheel 880. The analysis pick - and - place unit 890 can be similarly aligned with the culture wheel 880, the photometer 910, and the wash wheel 920. Specifically, the culture pick - and - place unit 870 can be aligned with the reaction build carriage path 862 and the culture wheel path 882. The analysis pick - and - place unit 890 can be aligned with the culture wheel path 882, the target position of the photometer 910, and the target position of the wash wheel 920.

[0088] Now turning to Figure 24 and Figure 25 , the target 510 will be further described. The target 510 includes a pin 512 extending between a top 514 and a bottom 516. A gripped portion 602 (e.g., a pin, a head) is positioned adjacent the top 514 of the pin 512. A tail 606 of the pin 512 is positioned adjacent the bottom 516 of the pin 512. A flange 604 is positioned between the gripped portion 602 and the tail 606 of the pin 512. The flange 604 includes a first side 604t and a second side 604b. As depicted, the first side 604t is the top side 604t, and the second side 604b is the bottom side 604b. Adjacent the bottom 516 of the pin 512 can include a groove 608. The groove 608 can engage a retainer 506 of the pin assembly 500. A chamfer 614 adjacent the second end 516 of the pin 512 can facilitate the installation of the target 510 into the bushing 508. A chamfer 612 can be included between the gripped portion 602 and the first end 514 of the pin 512. The gripped portion 602 adjacent the first end 514 of the pin 512 can include one or more edges 520 around the outer periphery of the gripped portion 602. In the depicted embodiment, the gripped portion 602 is cylindrical in shape and thus has a circular edge 520 adjacent the first end 514 of the pin 512, which circular edge 520 extends around the outer periphery of the gripped portion 602.

[0089] The edge 520 can be divided into edge portions for use when the gripper assembly 20 aligns with the target 510. Specifically, as Figure 25 illustrated, a first edge portion 522 is positioned at the top of the edge 520. A second edge portion 524 is positioned opposite the first edge portion 522 and is illustrated in Figure 25 as being at the bottom of the edge 520. A third edge portion 526 is illustrated in Figure 25 as being on the right side of the edge 520, and a fourth edge portion 528 is illustrated in Figure 25 as being on the left side of the edge 520. A central position 540 is in Figure 25is shown as being located at the center of the edge 520 and centered between the first edge portion 522 and the second edge portion 524 and also centered between the third edge portion 526 and the fourth edge portion 528. The central position 540 is further along the axis A T intersects.

[0090] A female cone 610 may be included at the first end 514 of the pin 512. As Figure 21 and Figure 22 shown, the probe of the instrument 800 can be aligned with the female cone 610. As Figure 26 shown, the instrument 800 includes a precision sample pipette 810 and an aliquot sample pipette 820. Each of the pipettes 810, 820 includes one of the probes 700. One of the probes 700 of the precision sample pipette travels along the precision sample pipette path 812, and the other of the probes 700 travels along the aliquot sample pipette path 822 of the aliquot sample pipette 820. The probe 700 extends between a proximal end 702 and a distal end 704. At the distal end 704, a male cone 706 is positioned for engaging the cone 610 of the target 510. The precision sample pipette path 812 and the aliquot sample pipette path 822 can thus be aligned with the sample wheel 830 and the sample wheel path 832 and further aligned with the supply carrier 840 and the supply carrier path 842. The precision sample pipette 810 can also be further aligned with the reaction build carrier 860.

[0091] The probe 700 also includes an internal channel 708 for aspirating fluid out of and / or dispensing fluid into the container 10 during normal operation of the instrument 800. The depicted probe 700 is designed to operate with a disposable tip. A cone 710 is included near the distal end 704 of the probe 700 for engaging a disposable tip (not shown).

[0092] Now turning Figures 27 to 38 , further details of a method for aligning the gripper assembly 20 and thus the positioning mechanism 100 (i.e., the pick and place unit) with the cross alignment pin 510 of the various components (i.e., the interface module) of the instrument 800 will now be described in detail. The positioning mechanisms 100, 100a, 100b, 100c (i.e., the pick and place units) can be automatically aligned without the operator interacting with the various subsystems (i.e., the interface module) of the instrument 800 by following the steps below. The instrument 800 may have default alignment positions (i.e., coordinates V D 、W D), and one or more of each pick and place unit 100 can reach the target 510. Some interface modules in the interface module can be moved via an actuator, while some other interface modules in the interface module can be manually adjustable but not actuated. For example, the sample wheel 830, the supply carrier 840, the reaction building carrier 860, and the culture wheel 880 can all be actuated; while the photometer 910 and the wash wheel 920 can not be actuated.

[0093] For example, as mentioned above and as Figure 20 illustrated, the second actuator 120 of the positioning mechanism 100 can move the gripper assembly 20 in the first direction V. Therefore, the second actuator 120 drives one of the V axes of each pick and place unit 100. The third actuator 130 can move the interface module 880 in the direction W and thereby locally move the targets 510, 510a, 510b. Therefore, for example, the third actuator 130 drives one of the W axes of each interface module of the instrument 800. Tests are performed to determine the actual intersection positions V, W of the target 510 of the interface modules 830, 840, 860, 880, 910, 920 and the gripper assembly 20 of the pick and place unit 100. The test can be performed by moving the gripper assembly 20 and moving the corresponding interface modules 830, 840, 860, 880 to the default alignment positions V D , W D (the default alignment positions V D , W D are stored in the memory). The test can also determine the alignment (e.g., the alignment between axis A c and A p ) between the gripper assembly 20 and the target 510 of the corresponding interface module by testing the slip along the vertical axis (i.e., the Z axis) of the pick and place unit 100 (e.g., the stop of the first actuator 110).

[0094] As depicted, the vertical axis (i.e., the Z axis) of the pick and place unit 100 is parallel to axis A p of the target 510 and axis A c of the gripper assembly 20. To test the alignment between axis A c of the gripper assembly 20 and axis A p of the target 510, the first actuator 110 moves in the Z-axis direction and the gripper assembly 20 travels towards the target 510 or towards the area adjacent to the target 510. The Z-axis test is repeated in a grid search manner around the assumed positions V D , W D of the target 510, as Figure 27As illustrated. In the depicted embodiment, the first actuator 110 includes a stepper motor 112 and an encoder 114. By comparing the differences reported by the stepper motor 112 and the encoder 114, it can be determined whether the stepper motor 112 has slipped (i.e., stopped). The stepper motor 112 can operate at a reduced power level such that slipping occurs at a lower force magnitude compared to the force magnitude that would occur during normal operation of the first actuator 110. If no slip is detected within a certain range, it is determined that the gripper assembly 20 has missed the pin 510, and the grid search will continue, as Figure 27 illustrated. For example, if the gripper assembly 20 misses the pin 510 at the X, Y position, a new attempt will be made at the X, +Y position. Similarly, if the pin 510 is missed again, a third attempt will be made at the -X, +Y position. The gripper assembly 20 can move until all nine positions have been checked. In other embodiments, more than nine positions can be checked or fewer than nine positions can be checked. In Figure 27 the depicted embodiment, the X, Y coordinates are straight lines. In other embodiments, the coordinates may not necessarily be straight lines, as Figure 38 illustrated. Generally, the coordinate V can be a straight line or a curve, the coordinate W can be a straight line or a curve, and / or the coordinate Z can be a straight line or a curve. In Figure 27 the example, the coordinate V is a straight line and corresponds to the linear coordinate X, while the coordinate W is a straight line and corresponds to the linear coordinate Y.

[0095] Figure 28 Illustrated is the gripper assembly 20 positioned at a first position near the top of the target 510. When testing for the Z-axis stop, the first stop position 450 will be detected. If the first stop position is at 450a, the gripper assembly 20 has contacted the top of the target 510. If the first stop position 450 is at 450b, the target 510 has been missed. Thus, the first predetermined position 410 is shown at Figure 27 the position X, Y, in Figure 28 shown in elevation. When the gripper assembly 20 misses the target 510 at the position X, Y, the gripper assembly 20 moves to the position 430, as Figure 27 illustrated. If the position 430 also causes the gripper assembly 20 to miss the target 510, the gripper assembly 20 moves to the subsequent predetermined position 440 until the target 510 is found. As Figure 29 illustrated, the second stop position 460 can be at 460a, at which position the gripper assembly 20 has detected the top of the target 510. However, if the second stop position 460 is at 460b, the target 510 has been missed again. When the target is missed at the third predetermined position 430, the gripper assembly 20 moves towards the subsequent predetermined position 440 and repeats the stop test. As inFigure 29 As further illustrated, the gripper assembly 20 may stop at a subsequent stop position 470a indicating that the top of the target 510 has been detected. However, if the subsequent stop position 470 is at 470b, the target 510 is missed again, and additional subsequent predetermined positions 440, as Figure 27 illustrated, will be tested until the target 510 is found.

[0096] After the target 510 is found, the Z-axis slide is used again to find the boundaries of the target 510. Specifically, the first to fourth edge portions 522, 524, 526, 528 are located. This can also be done in a grid search manner, as Figure 30 illustrated. The increment used in the edge detection grid search can be significantly smaller than the increment used in the initial pin detection grid search. Once the first to fourth edge portions 522, 524, 526, 528 are found for the +X and -X limit values, the central position 540 can be calculated in the X direction. This can be repeated for the +Y and -Y limit values or the +α and -α limit values. After calculating the centers in both directions, the gripper assembly 20 can be moved to the central position 540 and tested to see if the gripper assembly 20 can reach the appropriate Z height while triggering the pin presence position 70 determined by the sensor 40. If the sensor 40 is triggered to the container presence position 70, the alignment step is successful.

[0097] To confirm that the positioning mechanism 100 is aligned with a specific target 510, the positioning mechanism 100 will confirm the successful lifting of the target 510, as Figure 33 and Figure 34 illustrated. The calculated central position 540 determined in the previous step can be used for the first target 510 lifting attempt. If this attempt fails, the grid method can be used to find the position where the target 510 can be successfully lifted. The grid search for the pin lifting test can follow a Figure 30 more dense test grid, as illustrated. When the target 510 is successfully lifted by the positioning mechanism 100, and specifically, when the target 510 is successfully lifted by the first actuator 110 via the gripper assembly 20, the test is successfully completed and can be recorded as the new default position V D 、W D . If Figure 30 all 24 positions, as illustrated, are checked and no successful pin lift is recorded, the automatic alignment process may abort and an error message can be notified to the user that the pick-and-place unit 100 cannot lift the pin 510.

[0098] As Figure 36 and Figure 37As illustrated, once the center X and Y or α positions are known, then the pusher 260 can be actuated by the piston 24 and moved downward along the Z-axis using the slip profile until the slip is recorded. At this time, the Z position can be recorded, thus completing the position detection of the target 510.

[0099] The curvilinear method of aligning the gripper assembly 20 and thus the positioning mechanism 100 (i.e., the pick-and-place unit) with the cross-aligning pins 510, 510a, 510b of the respective rotating components (i.e., the rotating interface module) of the instrument 800 is illustrated in Figure 38 In this particular example, the gripper assembly 20 is carried along the culture pick-and-place unit path 872 (i.e., the pick-and-place gantry trajectory). The target 510 is carried along the culture wheel path 882 (i.e., the wheel trajectory, the arc along which the culture wheel 880 carries the target 510, etc.) that intersects the culture pick-and-place unit path 872. The starting search point 9600 is initially used for testing alignment, similar to the straight-line test described above. Subsequent search points 960 1-3 are illustrated to show the refinement of the search. The "fine edge search" is used when the interface module is a wheel, and the "fine edge search" starts from the temporary alignment point 9600 found in the previous alignment step. After each "fine edge search" iteration in the "fine edge search", a new temporary alignment point 960 1-3 (represented as 1, 2, 3 in Figure 38 ) is found, and this new temporary alignment point 960 1-3 is used as the starting point during the next iteration. In the depicted embodiment, this process is repeated three times, and this provides a good approximation of aligning the cross-center of the gripper assembly 20 with the center of the alignment pin 510.

[0100] Now turning to Figure 39, an example flowchart 1000 for an alignment instrument according to the principles of the present disclosure will be described. The flowchart 1000 includes five groups, Pick and Place Grid Alignment 1002, Pick and Place Coarse Edge Alignment 1004, Pick and Place Z Stop 1006, Pick and Place Window Refinement 1008, and Pick and Place Z Axis Refinement 1010. The flowchart 1000 starts at "Start Pick and Place X / Y & Angle Alignment" 1012 and proceeds to "Move the Pick and Place and Interface Module to the Default X / Y or Angle Alignment Position" 1014 in group 1002. After performing the specified function, the control flow proceeds to "Use a rectangular grid pattern with increasing diameter, move the Z-axis up / down using the stop profile until slip is observed. This indicates contact with the required alignment pin." 1016 in group 1002. After performing the specified function, the control flow proceeds to "Using the starting point determined in the previous step, scan the PnP (Pick and Place unit) in the + / - directions, move the Z-axis up / down using the stop profile until no slip is observed. Record the two + / - edges." 1018 in group 1004. After performing the specified function, the control flow proceeds to "Scan the interface module in the + / - directions, move the Z-axis up / down using the stop profile until no slip is observed. Record the two + / - edges. Calculate the central position" 1020 in group 1004. After performing the specified function, the control flow proceeds to "Using the center point determined in the previous step, engage the ejector and move the Z-axis down using the stop profile until Z slip is observed. Apply an offset to the Z stop position to determine the calculated Z alignment position." 1022 in group 1006. After performing the specified function, the control flow proceeds to "Move the Pick and Place and Interface Module to the determined X / Y or Angle Alignment Position" 1024 in group 1008. After performing the specified function, the control flow proceeds to "Advance the PnP X / Y in the positive direction, pick up and drop the pin until the pin drops. Then advance the PnP X / Y in the negative direction until the pin drops. Calculate the central position and the recorded position." 1026 in group 1008. After performing the specified function, the control flow proceeds to "Move the Pick and Place and Interface Module to the determined X / Y or Angle Alignment Position" 1028 in group 1008. After performing the specified function, the control flow proceeds to "Advance the interface module X / Y or angle in the positive direction, pick up and drop the pin until the pin drops, then advance the interface module X / Y or angle in the negative direction until the pin drops. Calculate the central position and the recorded position" 1030 in group 1008. After performing the specified function, the control flow proceeds to "Move the Pick and Place and Interface Module to the new X / Y or Angle Alignment Position" 1032 in group 1010. After performing the specified function, the control flow proceeds to "Engage the ejector and move the Z-axis down using the stop profile until Z slip is observed. If any failure is encountered, perform the previous step three times."Apply an offset to the z stop position to determine the calculated z alignment position. Save the alignment "1034. After performing the specified function, "Pick and place X / Y, and angular alignment completed" 1036.

[0101] Now turning to Figure 40A and Figure 40B , an example flow chart 1100 for an alignment instrument according to the principles of the present disclosure will be described. The flow chart 1100 includes seven groups, "Pin search" - (1104, 1106, 1108, 1110); "Coarse pin edge search" - (1112, 1114, 1116, 1118, 1120, 1122, 1126, 1128, 1130, 1132); "Top search of the pin" - (1134, 1136, 1138); "Search for the pin pick-up position" - (1140, 1142, 1144, 1148); "Fine edge search" - (1150, 1152, 1154, 1156, 1158, 1160, 1162, 1164, 1166, 1168, 1170, 1174, 1176, 1172); "Z alignment measurement" - (1178, 1180); and "Alignment verification" - (1182, 1184, 1186).

[0102] It should be understood that the forms of the systems and the steps of the methods depicted in the drawings are only selected for the purpose of describing specific embodiments and functions of the present disclosure, and the arrangements of the present disclosure can be solved in various ways and incorporated into other types of devices and programs, all of which will be apparent to those skilled in the art. It should be understood that the specific arrangements or operations of the gripper assembly 20 of the present disclosure may vary according to the automated analyzer to which it is incorporated or with which it works, but given the present disclosure, determining the necessary variations is entirely within the scope of those skilled in the art. The present disclosure may be implemented in other specific forms without departing from its essential characteristics. The described embodiments are considered to be illustrative rather than restrictive in all respects. Therefore, the scope of the present disclosure is indicated by the appended claims rather than by the foregoing description. All changes within the meaning and scope of the equivalents of the claims are covered within their scope.

Claims

1. A gripper assembly (20) for picking up and placing a container (10) by gripping a gripped portion (102) of the container (10), the gripper assembly (20) comprising: a. A tubular member (22) extending between a first end (202) and a second end (204); b. A deformable gripping portion (210) extending from adjacent the second end (204) of the tubular member (22), the deformable gripping portion (210) having spring-like characteristics such that it allows deformation when the gripped portion (102) of the container (10) engages the deformable gripping portion (210), thereby allowing the deformable gripping portion (210) to hold the container (10) by friction; c. A piston (24) slidably disposed within the tubular member (22); and d. A magnet (28); and e. A pusher (260) extending between a first end (262) and a second end (264), the pusher (260) including a head portion (270) adjacent the first end (262) of the pusher (260), a pocket portion (266) at the first end (262) of the pusher (260), and a plunger portion (26) adjacent the second end (264) of the pusher (260), the head portion (270) of the pusher (260) being slidably disposed within the tubular member (22) independently of the piston (24), and the plunger portion (26) of the pusher (260) being at least partially disposed within the deformable gripping portion (210) for engaging the container (10), and the pocket portion (266) holding the magnet (28).

2. The gripper assembly (20) according to claim 1, wherein, The tubular member (22) has an inner surface (220) with a circular cross-section (222).

3. The gripper assembly (20) according to claim 1, further comprising an end edge (230), wherein, An end rim (230) connects the second end (204) of the tubular member (22) to the first end (212) of the deformable gripping portion (210).

4. The gripper assembly (20) according to claim 1, wherein, The first end (212) of the deformable gripping portion (210) is adjacent the second end (204) of the tubular member (22), and the second end (214) of the deformable gripping portion (210) includes a chamfer (216) for receiving the container (10).

5. The gripper assembly (20) according to claim 1, wherein, The deformable gripping portion (210) includes at least two gripping members (30) extending in a spaced relationship (218) from adjacent the second end (204) of the tubular member (22).

6. The gripper assembly (20) according to claim 5, wherein, The deformation allows the at least two gripping members (30) to deflect when the container (10) is inserted between the at least two gripping members (30), thereby engaging the gripped portion (102) of the container (10) with the deformable gripping portion (210).

7. The gripper assembly (20) according to claim 5, wherein, At least one of the at least two gripping members (30) is made of a semi-rigid flexible material.

8. The gripper assembly (20) according to any one of claims 1 to 7, wherein, The tubular member (22) and the deformable gripping portion (210) are included in a single integral piece (240).

9. The gripper assembly (20) according to claim 8, wherein, The single integral piece (240) is made of a plastic material.

10. The gripper assembly (20) according to any one of claims 1 to 7, further comprising an adapter for mounting the gripper assembly (20) to a positioning mechanism (100, 100a, 100b, 100c).

11. The gripper assembly (20) according to any one of claims 1 to 7, further comprising a pneumatic system for actuating the piston (24) to push the ejector (260) for releasing the container (10) from the deformable gripping portion (210).

12. The gripper assembly (20) according to claim 11, wherein, The pneumatic system actuates the piston (24) by supplying pressurized air to the tubular member (22).

13. The gripper assembly (20) according to any one of claims 1 to 7, further comprising a sensor system (60) for detecting whether the ejector (260) is in a container present position (70) or a container absent position (80).

14. The gripper assembly (20) according to any one of claims 1 to 7, wherein, The spring-like characteristic of the deformable gripping portion (210) further allows deformation when the gripped portion (602) of the alignment pin (510) engages with the deformable gripping portion (210), thereby allowing the deformable gripping portion (210) to hold the alignment pin (510) by friction.

15. The gripper assembly (20) according to claim 13, wherein, The spring-like characteristic of the deformable gripping portion (210) further allows deformation when the gripped portion (602) of the alignment pin (510) engages with the deformable gripping portion (210), thereby allowing the deformable gripping portion (210) to hold the alignment pin (510) by friction, and wherein the sensor system (60) further detects whether the ejector (260) is in a pin present position (70) or a pin absent position (80).

16. The gripper assembly (20) according to any one of claims 1 to 7, wherein, The spring-like characteristic of the deformable gripping portion (210) further allows deformation when the gripped portion (602) of the alignment pin (510) engages with at least two opposing deformable gripping portions (210), thereby allowing the deformable gripping portion (210) to hold the alignment pin (510) by friction.

17. The gripper assembly (20) according to claim 16, wherein, The spring-like characteristic of the deformable gripping portion (210) further allows deformation when the gripped portion (602) of the alignment pin (510) does not engage with the at least two opposing deformable gripping portions (210), thereby preventing the deformable gripping portion (210) from holding the alignment pin (510) by friction, resulting in the alignment pin (510) not being lifted.

18. The gripper assembly (20) according to any one of claims 1 to 7 further includes an actuation system for actuating the piston (24) to push the ejector (260) for releasing the container (10) from the deformable gripping portion (210).

19. A method for aligning a pick-and-place unit (100, 100a, 100b, 100c) with a target (510), the method comprising: a. providing the pick-and-place unit (100, 100a, 100b, 100c) having the gripper assembly (20); b. moving the gripper assembly (20) towards a first predetermined position (410) with at least a first actuator (110), the first actuator (110) including a stepper motor (112) and an encoder (114); c. monitoring the stop of the first actuator (110) while moving the gripper assembly (20) towards the first predetermined position (410); d. determining a first stop position (450, 450a, 450b) of the gripper assembly (20) when the first actuator (110) stops; e. determining whether the presence of the target (510) is detected by analyzing the first stop position (450, 450a, 450b) of the gripper assembly (20); f. if the presence of the target (510) is not detected, moving the gripper assembly (20) towards a second predetermined position (430) with at least the first actuator (110) and a second actuator (120); g. monitoring the stop of the first actuator (110) while moving the gripper assembly (20) towards the second predetermined position (430); h. determining a second stop position (460, 460a, 460b) of the gripper assembly (20) when the first actuator (110) stops; and i. determining whether the presence of the target (510) is detected by analyzing the second stop position (460, 460a, 460b) of the gripper assembly (20), wherein determining the first stop position (450, 450a, 450b) or the second stop position (460, 460a, 460b) includes determining the slip between the stepper motor (112) and the encoder (114) by comparing the differences reported by the stepper motor (112) and the encoder (114), wherein when the slip is not within a predetermined range, the step of determining whether the presence of the target (510) is not detected is performed.

20. The method according to claim 19, wherein, The gripper assembly (20) includes a chuck (210), wherein the target (510) includes a pin (512), and wherein the chuck (210) is configured to frictionally hold the pin (512) when the chuck (210) engages the pin (512) and the first actuator (110) moves the chuck (210) and thereby moves the pin (512) to a third predetermined position.

21. The method according to claim 19, further comprising: If the presence of the target (510) is not detected, steps f to i are repeated, wherein the gripper assembly (20) is moved towards a subsequent predetermined position (440) and subsequent stop positions (470, 470a, 470b) are determined until the presence of the target (510) is detected.

22. The method according to claim 21, wherein, Repeating steps f to i includes a grid search.

23. The method according to claim 22, wherein, The grid search includes moving the gripper assembly (20) towards the subsequent predetermined position (440) using at least the first actuator (110), the second actuator (120), and the third actuator (130).

24. The method according to claim 23, wherein, The first actuator (110) and the second actuator (120) actuate the pick-and-place unit (100, 100a, 100b, 100c).

25. The method according to claim 24, wherein The third actuator (130) actuates the target (510).

26. The method according to claim 19 further comprises: After the presence of the target (510) is detected, the edge (520) of the target (510) is determined.

27. The method according to claim 26, wherein, Determining the edge (520) of the target (510) includes: Moving the gripper assembly (20) in the engagement direction and the opposite disengagement direction using the first actuator (110), while incrementing the position of the gripper assembly (20) with respect to the target (510) using at least the second actuator (120), and thereby determining at least a first edge portion (522) and a second edge portion (524) that are opposite each other with respect to the target (510); and Monitoring the stop of the first actuator (110) while moving the gripper assembly (20) in the engagement direction.

28. The method according to claim 27, wherein, Determining the edge (520) of the target (510) further includes: incrementing the position of the gripper assembly (20) with respect to the target (510) using at least the second actuator (120) and the third actuator (130), and thereby further determining at least a third edge portion (526) and a fourth edge portion (528) that are opposite each other with respect to the target (510).

29. The method according to claim 28, wherein The first edge portion (522) and the second edge portion (524) are opposite each other with respect to the target (510) along a first direction, wherein the third edge portion (526) and the fourth edge portion (528) are opposite each other with respect to the target (510) along a second direction.

30. The method according to claim 29, wherein, The first direction and the second direction are orthogonal to each other.

31. The method according to claim 27, further comprising calculating a central position (540) of the target (510) by analyzing the opposite edge portions (522, 524, 526, 528).

32. The method according to claim 31, further comprising: Moving the gripper assembly (20) to be aligned with the central position (540) of the target (510); Engaging the gripper assembly (20) with the target (510) by positioning the gripper assembly (20) on the target (510) and thereby holding the target (510) by friction with the gripper assembly (20); And Attempt to move the target (510) with the gripper assembly (20).

33. The method according to claim 32, further comprising: If the attempt to move the target (510) is unsuccessful, then: Repeat aligning the gripper assembly (20) with the central position (540) of the target (510) using a grid search; Repeat engaging the gripper assembly (20) with the target (510) by positioning the gripper assembly (20) on the target (510) and thereby holding the target (510) by friction with the gripper assembly (20); And Repeat attempting to move the target (510) with the gripper assembly (20).

34. The method according to any one of claims 19 to 33, further comprising: Retrieving stored coordinates corresponding to the target (510) and / or the first predetermined position (410) of the target (510) from a storage location for moving the gripper assembly (20) towards the first predetermined position (410); Calculating the current position of the target (510) after confirming alignment of the pick - and - place unit (100, 100a, 100b, 100c) with the target (510); When the current position of the target (510) is different from the previous position of the target (510) indicated by the retrieved stored coordinates, storing the current coordinates of the target (510) and / or updated coordinates corresponding to the first predetermined position (410) to the storage location for use when the gripper assembly (20) is moved towards the first predetermined position (410) next time.

35. The method according to any one of claims 19 to 33, wherein, The target (510) is the first target among a plurality of targets (510), and the method further comprises: Moving the gripper assembly (20) towards a predetermined position corresponding to a second target among the plurality of targets (510) with at least the first actuator (110); Monitoring the stop of the first actuator (110) while moving the gripper assembly (20) towards the predetermined position corresponding to the second target; When the first actuator (110) stops, determining the stop position of the gripper assembly (20) corresponding to the second target; and Determining whether the presence of the second target is detected by analyzing the stop position of the gripper assembly (20) corresponding to the second target.

36. The method according to claim 35, further comprising: After detecting the presence of the second target, determining the edge (520) of the second target.

37. The method according to claim 35, wherein, The first target and the second target are a pair of targets (510a, 510b) on a common body, and the method further comprises: Determining the rotational direction (α) of the common body.

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