Gripper device with reduced risk of contamination

Abstract

A gripper apparatus configured to grasp a closed container having a closure attached to an open top end of the container. Opposing jaw members laterally movable between an open position, a first closed position, and a second closed position are configured to grasp the closed container at the first closed position when the closed container is positioned between the jaw members and release the closed container at the open position. The gripper apparatus further includes a plurality of fingers configured to grasp a sidewall of the closure beneath a top surface of the closure when the closure is positioned between the plurality of fingers and beneath a base of each of the jaw members as the jaw members are laterally moved toward one another from the open position to the second closed position.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to U.S. Provisional Application Serial No. 63 / 014,624, filed April 23, 2020, the disclosure of which is incorporated herein by reference. Technical Field

[0003] This disclosure relates to a gripper device for use in an automated system to transfer sample containers within an automated sample processing system. Background Technology

[0004] Clinical laboratories are configured to analyze and / or test a wide variety of components from diverse sample types, such as whole blood, serum, plasma, interstitial fluid, mucus, urine, feces, semen, pus, tissue, etc. These laboratories may be equipped with automated sample handling systems that transport sample-containing containers (e.g., test tubes) between various modules used for sample preparation and processing (e.g., loading / unloading modules, capping / removing devices, centrifuges, analyzers, storage modules, etc.). Such automated systems may include conveyor or track systems for transporting sample-containing containers between modules via carriers (e.g., disks) and may include robotic transporters for gripping and moving the sample-containing containers. For example, pick-and-place devices may be used to insert sample-containing containers into carriers, remove sample-containing containers from carriers, deliver them to modules, and in some cases, transport sample-containing containers within modules.

[0005] Sample storage units can be used to store closed sample-containing containers in a refrigerated environment for a predetermined period of time (e.g., five days) to allow for subsequent analyses, such as repeating tests if the original results are indeterminate, or performing new tests based on the results of the original tests (e.g., chain tests or tests against different analytes). To maximize the number of containers that can be stored, sample storage units may include several closely spaced, vertically arranged storage levels (each level defined by at least one shelf or one or more pairs of support rails), where each storage level is capable of supporting one or more shelves, and each shelf is capable of holding multiple containers. Generally, containers must be positioned within shelves to avoid interfering with robotic handlers used to insert and remove containers from the shelves. In some applications, top space constraints require the laterally extended jaws of the robotic handler within the sample storage unit to grip the sides of the lid (e.g., a screw cap or stop) associated with the sample-containing container. When gripped by the jaws, the closed sample-containing container can be inserted into the corresponding container receiving slot of the container shelf.

[0006] Typically, there is an insertion force associated with the container receiving slot, which must be overcome when a closed sample-containing container is inserted into the slot. For example, the container receiving slot may have a retaining spring to stabilize the container when it is inserted. As another example, the allowable deviation between the container receiving slot and the closed sample-containing container may be relatively tight, allowing the closed sample-containing container to be stabilized within the slot without the use of a separate mechanism (such as a retaining spring). While in optimal conditions there may be no insertion force associated with these tight allowable deviations in the container receiving slot, there may be situations where barcode labels on the closed sample-containing container can be layered (creating a "marked" condition), thus the insertion force due to these marked barcode labels will be associated with the container receiving slot. Therefore, a properly designed robotic handler must be able to overcome the insertion force associated with the container receiving slot so that the closed sample-containing container can be properly positioned within its corresponding receiving slot.

[0007] When a closed sample container is gripped by a jaw member, the jaw member may not be able to lower itself beyond the top of an adjacent sample container housed in a container rack. Therefore, a placement device must be used to push down on the top surface of the lid of each sample container with sufficient force to overcome the anticipated insertion force associated with the container receiving slot, allowing the sample container to be placed within the container receiving slot. In one exemplary technique, the jaw member can open to release a partially inserted sample container, move vertically upward to a position directly above the lid of the sample container, close to create an integrated abutment unit, and then move vertically downward to push against the top surface of the lid, thereby overcoming the anticipated insertion force associated with the container receiving slot and placing the sample container within the respective container receiving slot. Alternatively, after the sample container has been released by the jaw member, a separate placement member can be used to push down on the top surface of the sample container.

[0008] This approach is appropriate when the sample container has a new cap or when the cap is removed from the sample container and then the sample is extracted (e.g., pipetted) for testing. However, in cases where the cap is designed to be punctured during sample extraction, contact between the jaw members and the top surface of the cap can be a source of cross-contamination, especially if further testing is to be performed. An example of a container with a puncture-resistant cap is... Sample collection kit (Hologic). This is particularly problematic when the test to be performed involves nucleic acid amplification, as the amplification of a single nucleic acid can result in millions of copies of the nucleic acid.

[0009] Therefore, after sample extraction, it is important to avoid contact with the top surface of the puncture-prone lid when transporting the associated sample-containing container within the automated sample handling system. Avoiding contact can be particularly challenging when inserting a closed sample-containing container into a container rack supported by the sample storage unit, which may require applying a downward force (typically by pushing up and down on the top surface of the closed sample-containing container) sufficient to overcome the insertion force of the container receiving slot in order to position the closed sample-containing container within the container rack.

[0010] Therefore, it is still necessary to place the sample-containing container, which is closed by a piercing closure (e.g., a piercing cap), into the sample storage unit of the automated sample processing system without touching the top surface of the closed sample receiving container. Summary of the Invention

[0011] One embodiment of the gripper device is configured to grip a closed container having a closure attached to an open top of the container. The gripper device includes opposing jaw members capable of laterally moving between an open position, a first closed position, and a second closed position. The jaw members are configured to grip the closed container (e.g., the sidewall of the closure) in the first closed position when the closed container is positioned between the jaw members, and are further configured to release the closed container in the open position. Each of the jaw members may have a corrugated engagement surface for gripping the sidewall of the closure, in which case the closure and the container may each have a cylindrical shape. The corrugated engagement surface of each of the jaw members may include a plurality of laterally oriented grooves, wherein each pair of adjacent grooves forms a lateral edge. The corrugated engagement surface of each of the jaw members may be a circular recess. In one embodiment, the corrugated engagement surface of each of the jaw members is a generally V-shaped recess. Regardless of its shape, the corrugated engagement surfaces of the jaw members may be mirror images of each other. The jaw members can contact each other even when the closed container is not located between the jaw members, and the wavy mating surface defines an opening when the jaw members are in contact with each other. When the closed container is located between the jaw members and the jaw members are in the first closed position, the jaw members can not contact each other.

[0012] The gripper device of this embodiment also includes a plurality of fingers. Each of the jaw members has at least one of the plurality of fingers hanging down from its base. For example, each of the jaw members may have two or more of the plurality of fingers hanging down from its base. In one embodiment, each of the jaw members has only two fingers hanging down from its base. The plurality of fingers are configured to grip the sidewall of the closure below its top surface in a second closed position when the closure is located (i) between the plurality of fingers and (ii) below the base of each of the jaw members, as the jaw members move laterally toward each other from the open position. The plurality of fingers may have a gripping force greater than one pound, and preferably at least five pounds. In another embodiment, the plurality of fingers are configured to contact or be close to contact the container when the jaw members grip the sidewall of the closure in the first closed position. In this embodiment, when the container is centered among the plurality of fingers, each of the plurality of fingers is within approximately 0.25 mm of the container.

[0013] Each of the plurality of fingers may include an inner surface having a contact surface (which may be serrated) that is configured to engage the sidewall of the closure in a second closed position when the closure is located (i) below the base of each of the jaw members and (ii) between the plurality of fingers. When the sidewall of the closure is gripped by the plurality of fingers in the second closed position, the contact surface of each of the fingers may be oriented toward the axial center of the closure. The inner surface of each of the fingers may include a recess positioned adjacent to and above the contact surface. The recess may be configured such that there is no contact between the recess and the closure in the second closed position. The upper region of the inner surface of each of the plurality of fingers may be inclined inward from the recess toward the base of one of the jaw members, such that when the sidewall of the closure is gripped by the plurality of fingers in the second closed position, at least a portion of the upper region of the inner surface is located directly above the top surface of the closure. Each of the plurality of fingers may include an outer surface having a generally vertical upper region and a tapered lower region.

[0014] Another embodiment of the gripper device is configured to grasp a closed container. The gripper device includes a pair of opposing, translationally movable support members and a plurality of fingers hanging from the support members. Each of the support members has at least one of the plurality of fingers hanging therefrom. In one embodiment, each of the support members has only two fingers hanging therefrom. Each of the plurality of fingers includes an inner surface having a generally vertical lower region (which may be serrated) and a recess located between the generally vertical lower region and the corresponding support member. Each finger may include an upper region located between each recess and the corresponding support member (which may be inwardly inclined). Each of the plurality of fingers may include an outer surface having a generally vertical upper region and a tapered lower region. The plurality of fingers may be configured such that the vertical lower region of the inner surface of each of the plurality of fingers contacts the cylindrical surface of an object grasped by the plurality of fingers. The plurality of fingers may have a gripping force of more than one pound, and preferably at least five pounds.

[0015] Another embodiment of the gripper device may include a proximity sensor located above the jaw member for detecting the position of the closed container relative to the jaw member.

[0016] An embodiment of a closed container gripped by the gripper device described above includes a container and a closure attached to an open top of the container, the closure being gripped between a plurality of fingers, wherein a lower region of the inner surface of each finger contacts a sidewall of the closure below the top surface of the closure. In another embodiment, the top surface of the closure is puncturable, and in some embodiments can be punctured.

[0017] A method for gripping a closed container using the gripper device described above is proposed. The closed container includes a container and a closure attached to an open top of the container. In some embodiments, the method includes the steps of: positioning the support member such that a lower region of the inner surface of each finger is aligned with a sidewall of the closure; and translating the support member toward each other to grip the closure between the plurality of fingers, wherein the lower region of the inner surface of each finger contacts the sidewall of the closure below the top surface of the closure.

[0018] One embodiment of the robotic transporter includes any of the gripper devices described above, and a platform operably supporting the gripper device and configured to provide XYZ movement to the gripper device.

[0019] One embodiment of the container storage module includes a housing defining a chamber (which may be refrigerated) and a plurality of vertically spaced levels (e.g., shelves) contained within the chamber. Each of the levels is configured to support one or more container racks. The container storage module also includes a plurality of robotic handlers, each of which is one of the robotic handlers described above, and each of which is operatively associated with one of the levels. The front of the housing may include one or more pairs of doors for accessing the levels. The rear of the housing may include one or more openings configured to receive containers passing through it.

[0020] The container storage module may further include a pick-and-place device associated with each of the one or more openings, for gripping the container and transporting it through the respective opening and into the housing. The container storage module may also include a container transporter associated with at least one of the openings. The container transporter may be configured to receive a single container from the respective pick-and-place device and transport the container to a plurality of different pick-up locations. Each of the pick-up locations may be associated with one of the plurality of levels of the container storage module. The container may be approached at each of the pick-up locations by an associated one of the plurality of robotic transporters. At least one of the levels may support a container rack that holds a plurality of containers in a linear row.

[0021] One embodiment of the automated sample processing system includes: a container storage module as described above; an analyzer for analyzing a sample contained within the container; and a conveyor for transporting the container between the analyzer and the container storage module on a carrier for supporting the container in an upright orientation. A magnetic attraction between the carrier and the conveyor can be used to propel the carrier. The automated sample processing system may further include a capping module for closing the top of the container by a closure after the sample contained in the container has been processed in the analyzer. The capping module is positioned along the conveyor and between the analyzer and the container storage module. The automated sample processing system may further include a decapping module for removing the closure from the container before processing the sample in the analyzer. The decapping module is positioned along the conveyor before the analyzer. The automated sample processing system may further include a stop feature configured to maintain the carrier in a stationary position on the conveyor at a location adjacent to the container storage module.

[0022] A method for transferring a closed container from a pickup position to a container rack contained within a housing of a container storage module using the robotic transporter described above includes, at the pickup position, moving a jaw member of a gripper device from an open position to a first closed position to grasp the closed container, wherein the closed container is supported at the pickup position by a container holder (which may be a component of a container transporter). The method further includes: when the jaw member is in the first closed position, (i) removing the container from the container holder; (ii) positioning the container in a vertical alignment with a container slot formed in the container rack contained within the container storage module, wherein the container slot is configured to receive the closed container and support the closed container in an upright orientation; and (iii) inserting a portion of the closed container into the container slot.

[0023] The method further includes: (i) moving the jaw member from the first closed position to the open position; (ii) raising the jaw member until the plurality of fingers are laterally aligned with the sidewall of the closure of the closed container; (iii) moving the jaw member from the open position to the second closed position until the plurality of fingers engage the sidewall of the closure; and when the jaw member is in the second closed position, (iv) lowering the gripper device until the closed container is placed in the container slot. Each of the plurality of fingers can grip the sidewall of the closure at a position below the edge of the closure such that there is no contact between any of the plurality of fingers and the top surface of the closure during the method.

[0024] The method may further include: (i) providing a depth insertion stop to the container slot, wherein the depth insertion stop supports the partially inserted container within the container slot when the jaw member has been moved from the first closed position to the open position; (ii) removing the depth insertion stop from the container slot after the jaw member has been moved from the open position to the second closed position; and (iii) lowering the gripper device until the closed container is placed in the container slot of the container rack when the jaw member is in the second closed position.

[0025] The method may further include: after placing the closed container in the container slot of the container rack, (i) moving the jaw member to the open position, (ii) raising the jaw member until the plurality of fingers are above the closed container, and (iii) moving the gripper device to the pick-up position. The container rack may include a plurality of rows of container slots for receiving containers. In this case, when the gripper device is lowered to place the closure in the container slot, the fingers may be configured such that each finger is positioned between a pair of adjacent containers when the closed container is placed in the container slot. The method may also include, for example, transporting the closed container from a container carrier positioned on a conveyor located outside the container storage module to a container holder via a pick-up and place device, the container holder being in a lowered position located outside the housing of the container storage module. The container holder may be a component of a container transporter movable within the container storage module such that the closed container is transported from the lowered position to the pick-up position.

[0026] The method may further include transferring the closed container from the analyzer to the container storage module on a track connecting the analyzer and the container storage module. During this transfer step, the closed container may be supported in an upright orientation by a container carrier. The method may also include piercing the closure with a pipette within the analyzer and removing the sample from the closed container with the pipette.

[0027] A method for placing a closed container in a container slot using a gripper device as described above includes: gripping the closure of the closed container between jaw members, wherein the jaw members are in a first closed position; extending an insertion stop pin partially from the bottom end of the container slot into the container slot; lowering the jaw members and the closed container gripped therein relative to the container slot until the closed container is partially inserted into the container slot, wherein the bottom end of the closed container is located above the bottom end of the container slot within the container slot; moving the jaw members from the first closed position to an open position to release the closed container, wherein the closed container is held in a partially inserted position within the container slot by the insertion stop pin; and positioning the jaw members relative to the partially inserted closed container... The clamp is raised until the plurality of fingers are laterally aligned with the sidewall of the closure of the closed container; the jaw member is moved from the open position to the second closed position to grip the closure of the closed container between the fingers; the insertion stop pin is withdrawn from the container slot; the jaw member and the closed container gripped by the plurality of fingers are lowered relative to the container slot until the closed container is fully inserted into the container slot, wherein the bottom end of the closed container is located at the bottom end of the container slot; the jaw member is moved from the second closed position to the open position to release the closed container; and the jaw member and the plurality of fingers are raised relative to the container slot and the closed container disposed therein until the jaw member and the plurality of fingers are above the top surface of the closure.

[0028] A method for removing a closed container from a container slot using a gripper device as described above includes: grasping the closure of the closed container between a plurality of fingers, wherein the jaw member is in a second closed position, wherein the bottom end of the closed container is located at the bottom end of the container slot, and the closure of the closed container is at least partially located above the container slot; raising the jaw member and the closed container grasped by the plurality of fingers relative to the container slot until the closed container is partially removed from the container slot, wherein the bottom end of the closed container is located within the container slot above the bottom end of the container slot; and disengaging an insertion stop pin from the container slot. The bottom end extends partially into the container slot; the jaw member is moved from the second closed position to the open position to release the closed container, wherein the closed container is held in the partially removed position within the container slot by the insertion stop pin; the jaw member is lowered relative to the partially removed closed container until the jaw member is laterally aligned with the side wall of the closure of the closed container; the jaw member is moved from the open position to the first closed position to grip the closure of the closed container between the jaw members; and the jaw member and the closed container gripped therein are raised relative to the container slot until the bottom end of the closed container is above the container slot. Attached Figure Description

[0029] Various non-limiting embodiments of this disclosure are illustrated in the accompanying drawings, which are incorporated herein by reference and form part of the specification. Where appropriate, reference numerals illustrating similar structures, components, materials, and / or elements in different drawings are similarly labeled. It should be understood that, in addition to those specifically shown in these drawings, various combinations of structures, components, and / or elements are covered and fall within the scope of this disclosure.

[0030] For the sake of simplicity and clarity, the drawings depict the general structure and / or construction of the described embodiments, as well as related manufacturing methods. Well-known features (e.g., fasteners, electrical connections, control systems, etc.) are not shown in these drawings (and are not described in the corresponding descriptions for simplicity) to avoid confusion with other features, as these features are well known to those skilled in the art. Features in the drawings are not necessarily drawn to scale. The dimensions of some features may be enlarged relative to other features to improve understanding of the exemplary embodiments. Cross-sectional views are simplifications to help illustrate the relative positioning of various features. Those skilled in the art will understand that cross-sectional views are not drawn to scale and should not be construed as representing proportional relationships between different features. It should be noted that aspects and features described with reference to one embodiment, even if not specifically mentioned, are applicable to other embodiments and can be used with other embodiments.

[0031] Figure 1 This is a schematic diagram of an exemplary automated sample processing system.

[0032] Figure 2 yes Figure 1 A schematic diagram of an exemplary container storage module and an exemplary branch line associated with an exemplary automated sample processing system.

[0033] Figure 3A It is used in Figure 1 A front view of an exemplary container used for transporting and processing samples in an automated sample handling system.

[0034] Figure 3B It doesn't have a lid. Figure 3A The front view of the container.

[0035] Figure 3C It is used in Figure 1 A front view of another exemplary container used for transporting and processing in an automated sample handling system.

[0036] Figure 3D It doesn't have a lid. Figure 3C The front view of the container.

[0037] Figure 4A yes Figure 1A diagram of a portion of an automated conveyor system used in an automated sample processing system, where a deflector is shown in the off state to allow containers on the main conveyor line to bypass branch lines associated with modules of the automated sample processing system.

[0038] Figure 4B This is a diagram of a part of an automated conveyor system used in an automated sample processing system, where a deflector is shown in the open state to switch containers from the main conveyor line to a branch line of the automated sample processing system.

[0039] Figure 5 It is by Figure 1 The automated conveyor system of the automated sample processing system is used for transportation. Figures 3A to 3D A perspective view of an exemplary carrier of a container.

[0040] Figure 6 yes Figure 5 A cross-sectional view of the carrier and the container supported by the carrier.

[0041] Figure 7 yes Figure 1 A front view of an exemplary container storage module of an automated sample processing system.

[0042] Figure 8 yes Figure 7 A partial rear view of the container storage module.

[0043] Figure 9 yes Figure 7 An internal view of the container storage module, specifically showing an exemplary container rack and an exemplary robotic transporter of the container storage module.

[0044] Figure 10 yes Figure 7 An internal view of the container storage module, specifically showing Figure 9 Part of the container rack and Figure 9 Part of the platform of the robotic transporter.

[0045] Figure 11 yes Figure 7 A partial top perspective view of the rear of the container storage module, specifically showing an exemplary pick-and-place device, an exemplary barcode reader component, and an exemplary stop feature for use with the container storage module.

[0046] Figure 12 yes Figure 11 Top perspective view of the barcode reader component.

[0047] Figure 13 yes Figure 12 A top view of the barcode reader component.

[0048] Figure 14 yes Figure 11 A top view of the stopping feature.

[0049] Figure 15 yes Figure 7 An internal view of the container storage module, specifically showing Figure 9 Exemplary container insertion stop components and robotic transporters.

[0050] Figure 16 yes Figure 7 The rear view of the container storage module, specifically showing Figure 11 Pick-up and placement device.

[0051] Figure 17 yes Figure 7 An internal view of the container storage module, specifically showing multiple levels associated with each shelf of the container storage module, an exemplary robotic transporter, and an exemplary container carrier.

[0052] Figure 18 yes Figure 7 Another internal view of the container storage module, specifically shown Figure 17 One of the robotic transporters and one of the container transporters.

[0053] Figure 19 It is shown Figure 7 A perspective view of the container rack used in the container storage module.

[0054] Figure 20 yes Figure 7 Block diagram of the controller and robot transporter for the container storage module.

[0055] Figure 21 yes Figure 9 A perspective view of an exemplary gripper device for a robotic transporter, specifically showing its use for gripping from... Figure 9 The purpose of removing or inserting containers into the container slots of the container rack.

[0056] Figure 22 yes Figure 21 A close-up perspective view of the clamping device.

[0057] Figure 23A yes Figure 21 A perspective view of a gripper device, specifically showing the jaws of the gripper device in the open position before or after the lid of the container is gripped by the jaws.

[0058] Figure 23B yes Figure 21A top view of the clamping device, specifically showing the clamping member in the open position before or after the lid of the container is gripped by the clamping member.

[0059] Figure 24A yes Figure 21 A perspective view of the gripper device, specifically showing the jaw members gripping the lid of the container in the first closed position.

[0060] Figure 24B yes Figure 21 A top view of the gripper device, specifically showing the jaws gripping the lid of the container in a first closed position.

[0061] Figure 25 yes Figure 21 A top view of the clamping device, specifically showing the jaw components in contact with each other.

[0062] Figure 26A yes Figure 21 A perspective view of a gripper device, specifically showing the jaws in the open position before or after the lid of a container is gripped by the fingers of the gripper device.

[0063] Figure 26B yes Figure 21 The bottom view of the gripper device specifically shows the jaw members in the open position before or after the lid of the container is gripped by the fingers.

[0064] Figure 27A yes Figure 21 A perspective view of the gripper device, specifically showing the jaw members gripping the lid of the container by fingers in the second closed position.

[0065] Figure 27B yes Figure 21 The bottom view of the gripper device specifically shows the jaw members gripping the lid of the container by fingers in the second closed position.

[0066] Figure 28 yes Figure 21 A perspective close-up view of a finger-shaped part of a gripper device.

[0067] Figure 29 It is the lid that connects to the container. Figure 28 A perspective close-up view of the finger-like object, specifically showing that there is no contact between the recess of the finger-like object and the lid of the container when there is sliding between the finger-like object and the lid of the container.

[0068] Figure 30A It is positioned within the gap space between containers placed in the container rack when the jaw members are in the open position. Figure 21A top view of the fingers of the gripper device.

[0069] Figure 30B It is positioned within the gap space between containers placed in the container rack when the jaw member is in the second closed position. Figure 21 A top view of the fingers of the gripper device.

[0070] Figure 31 It is an operation Figure 1 The flowchart illustrates an exemplary method for processing and storing containers in a sample processing system.

[0071] Figure 32 It is to move the container from Figure 1 The automated conveyor system of the sample processing system transports the samples to Figure 7 The flowchart illustrates an exemplary method for storing data within a container storage module.

[0072] Figure 33 From Figure 7 The container storage module's pick-up position in the chamber transports the container and places the container in... Figure 7 A flowchart illustrating an exemplary method in a container slot of a container rack for a container storage module.

[0073] Figure 34 yes Figure 21 A perspective view of the gripper device, specifically showing the jaw members in the open position and the jaws formed by the gripper device. Figure 18 The container is held between the jaw components of the container lid by the container transporter.

[0074] Figure 35 yes Figure 21 A perspective view of the gripper device, specifically showing the jaw members gripping the lid of the container in the first closed position.

[0075] Figure 36 yes Figure 21 A perspective view of a gripper device, specifically showing a gripper device having a gripped container above a container carrier.

[0076] Figure 37 yes Figure 21 A perspective view of the clamping device, specifically showing the clamping device with... Figure 9 The container holder device that grips the container above the selected container slot on the container rack.

[0077] Figure 38 yes Figure 21 A perspective view of a gripper device, specifically showing a gripper device having a partially inserted container slot in a selected container rack with a gripped container.

[0078] Figure 39 yes Figure 21 A perspective view of the clamping device, specifically showing the jaw members in the open position and the lid of the container between the jaw members when partially inserted into a selected container slot in the container rack.

[0079] Figure 40 yes Figure 21 A perspective view of the clamping device, specifically showing the clamping device in the open position, with the fingers laterally aligned with the lid of the container when the container is partially inserted into a selected container slot of the container rack.

[0080] Figure 41 yes Figure 21 A perspective view of the gripper device, specifically showing the jaw members gripping the lid of the container by fingers in a second closed position when the container portion is inserted into a selected container slot in the container rack.

[0081] Figure 42 yes Figure 21 A perspective view of a gripper device, specifically showing a gripper device having a gripped container positioned within a selected container slot on a container rack.

[0082] Figure 43 yes Figure 21 A perspective view of the clamping device, specifically showing the jaw members in the open position and the lid of the container between the jaw members when placed in a selected container slot on a container rack.

[0083] Figure 44 yes Figure 21 A perspective view of the gripper device, specifically showing the fingers of the gripper device above the lid of the container when placed in a selected container slot on a container rack.

[0084] Figure 45 It is to place the container from Figure 9 The container storage module was transported to Figure 1 A flowchart of an exemplary method for an automated conveyor system of a sample processing system.

[0085] Figure 46 It is to place the container from Figure 9 A flowchart illustrating an exemplary method for transporting the container rack of a container storage module to a placement position within the chamber of the container storage module.

[0086] Figure 47 It's the lid of a container that you grasp to close it. Figure 9 A perspective view of another gripper device of the robotic transporter.

[0087] Figure 48 yes Figure 47 A top view of the gripper device, showing the jaws in the open position before gripping the lid of a closed container or after releasing the lid.

[0088] Figure 49A yes Figure 47 A top view of the gripper device, showing the jaws gripping the lid of a closed container in a first closed position.

[0089] Figure 49B yes Figure 47 A bottom view of the gripper device, showing the jaws gripping the lid of the closed container and the fingers in contact with the container in the first closed position;

[0090] Figure 50 yes Figure 47 A top view of the clamping device, showing the jaw members in contact with each other in the closed position without the presence of a container.

[0091] Figure 51 yes Figure 47 A bottom view of the gripper device, showing the jaws in the open position before or after the lid of the closed container is gripped by fingers.

[0092] Figure 52 yes Figure 47 The bottom view of the gripper device shows the jaw members gripping the lid of the closed container with fingers in the second closed position.

[0093] Figure 53 yes Figure 47 Bottom perspective view of the jaw components of the clamping device.

[0094] Figure 54 yes Figure 53 Outline diagram of the jaw components.

[0095] Figure 55 yes Figure 47 A schematic diagram of the gripper device, showing the jaws gripping the lid of the closed container and the fingers gripping the container in the first closed position.

[0096] Figure 56 yes Figure 47 A schematic diagram of a gripper device, showing a jaw member in the second closed position that grips the lid of a closed container with fingers. Detailed Implementation

[0097] Unless otherwise specified, all technical terms, symbols, and other scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. All patent applications, publications, and other disclosures mentioned herein are incorporated herein by reference in their entirety. If any definition set forth in this disclosure conflicts with or is otherwise incompatible with the definitions in these references, the definitions set forth in this disclosure shall prevail over those incorporated herein by reference. No reference described or cited herein is considered prior art.

[0098] In this specification, the embodiments described by reference to "an embodiment," "an embodiment," "another embodiment," "an exemplary embodiment," "some aspects," "another aspect," "aspects," etc., may include specific features, structures, or characteristics, but each embodiment may not necessarily include specific features, structures, or characteristics. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when specific features, structures, or characteristics are described with respect to embodiments, such features, structures, or characteristics are also descriptions of other embodiments (whether explicitly described or not). As used herein, "an" means "at least one" or "one or more."

[0099] This specification may use relative spatial and / or directional terms to describe the location and / or orientation of components, devices, positions, features, or portions thereof. Unless expressly stated or otherwise specified by the context of this specification, such terms (including (but not limited to) top, bottom, above, below, under, on top, upper, lower, left, right, inside, outside, in, out, near, far, in front, behind, adjacent, between, horizontal, vertical, diagonal, longitudinal, transverse, etc.) are used conveniently to refer to such components, devices, positions, features, or portions thereof in the drawings and are not intended to be restrictive. Furthermore, related terms such as “about,” “substantially,” and “approximately” are used to indicate possible variations in stated values ​​or ranges within ±10%.

[0100] refer to Figure 1 This section will describe one embodiment of an automated sample processing system 10 configured for preparing and processing samples from a sample container 12 (e.g., a test tube or sample vial). The container 12 can be any type of fluid container configured to contain a sample.

[0101] like Figures 3A to 3D As shown, two non-limiting exemplary embodiments of the closed container 12 (12a and 12b) can be processed by the automated sample processing system 10.

[0102] Figure 3A and Figure 3BThe illustrated container 12a includes a container 14a and a closure 16 (in this case, a piercing lid 16a) attached to an open top 18a of the container 14a. In the illustrated embodiment, the container 14a includes a self-standing flat bottom end 20a, but in an alternative embodiment, the container 14a may have, for example, a curved or hemispherical base. The container 14a and lid 16a are generally cylindrical in shape, but other geometries are considered. The lid 16a includes sidewalls 22a, a top surface 24a, and an edge 26a between the sidewalls 22a and the top surface 24a. Further details discussing exemplary containers with piercing lids are set forth in U.S. Patent Nos. 6,716,396, 7,691,332, and 9,545,632. Commercial implementations of containers with piercing lids may include, for example... Sample transfer tubes (Hologic, Inc., Marlborough, MA) and Abbott multi-collection sample collection kit (Abbott Laboratories, Des Plaines, IL).

[0103] In comparison, Figure 3C and Figure 3D The illustrated closed container 12b includes a container 14b and a closure 16 (in this case, a removable lid 16b) attached to an open top 18b of the container 14b. In the illustrated embodiment, the container 14b includes a curved or hemispherical bottom end 20b, but in an alternative embodiment, the container 14b may include a self-supporting flat base. The container 14b and lid 16b generally have a cylindrical shape, but other geometries are considered. The lid 16b includes sidewalls 22b, a top surface 24b, and an edge 26b between the sidewalls 22b and the top surface 24b. Commercial embodiments of containers with removable lids include BD. (Becton Dickinson Company, Franklin Lakes, NJ)

[0104] Each closed container 12 (12a or 12b) may also include a machine-readable label 28 on container 14 (14a or 14b). The machine-readable label 28 may include coded information associated with the sample, such as the sample type, the type of test to be performed, and patient identification (e.g., age, sex, address, etc.). In some embodiments, the machine-readable label 28 may include markings or lines (e.g., barcodes) directly formed (e.g., printed) on the sidewall of container 12. In other embodiments, the machine-readable label 28 may be a label or sticker with an adhesive on one side and a marking pattern formed on the opposite side.

[0105] The sample can be any substance in its natural form or at any stage of processing that is suspected of containing at least one analyte of interest. The analyte of interest can be, for example, nucleic acids, proteins, prions, chemicals, or the like. The substance can be from any source, including animals, industrial processes, the environment, water sources, food, and solid surfaces (e.g., surfaces in medical facilities). Substances obtained from animals may include, for example, blood or blood products, urine, mucus, sputum, saliva, semen, tears, pus, feces, nasopharyngeal or urogenital samples obtained with a swab or other type of collection device, and other bodily fluids or materials.

[0106] Refer again Figure 1 The automated sample processing system 10 typically includes: multiple modules 30, each configured to perform a defined set of actions on the container 12; an automated conveyor system 32 configured to transport the container 12 between the modules 30; and a workflow management system (WMS) software module 34 configured to generate and manage workflows for each of the containers 12.

[0107] In the illustrated embodiment, the automated sample processing system 10 includes a loading (input) module 30a, multiple analyzer modules 30b (three analyzer modules are shown, although any suitable number of analyzer modules 30b may be used in the automated sample processing system 10, including only one), a sample transfer module 30c, a container storage module 30d, a decapping module 30e, a capping module 30f, an unloading (output) module 30g, and a container carrier feeding module 30h. It should be understood that the automated sample processing system 10 may include different numbers and types of modules 30, but the automated sample processing system 10 will generally include at least one analyzer module 30b, and for the purposes of this specification, at least one container storage module 30d.

[0108] The loading module 30a serves as an input through which an operator can manually load trays containing containers 12 (e.g., 50 to 100 containers 12 per tray) via the loading tray (not shown) of the loading module 30a. Once the trays of containers 12 have been provided to the loading tray of the loading module 30a, the containers 12 can be automatically transferred from the loading module 30a to the automated conveyor system 32 for subsequent action by other modules 30 according to the workflow of the containers 12.

[0109] Each analyzer module 30b is configured to process samples contained in a selected container 12, for example, by performing analytical tests on the samples. Such tests may include molecular assays (e.g., nucleic acid-based assays), sequencing assays, immunoassays, chemical analyses, etc. Non-limiting examples of such analyzer modules 30b include automated analyzers, such as those sold by Hologic, Inc. of Marlborough, Massachusetts. and Panther System. In the illustrated embodiment, each analyzer module 30b may be configured to receive containers 12 via automated loading (using automated conveyor system 32) or manual loading (via sample trays (not shown)). Analyzer modules 30b may be dedicated (i.e., the analyzer module may be unique in the automated sample processing system 10) or redundant (i.e., the analyzer module may be identical to at least one other analyzer module in the automated sample processing system 10) to allow for higher analytical task throughput on the samples contained in containers 12. Typically, analyzer modules 30b extract liquid or liquefied samples from each of containers 12 and combine the samples with reagents in a reaction vessel (such as cuvettes, tubes, sample vials, microtiter plates, etc.), after which the container may be sealed, capped, or otherwise closed. After the samples are combined with reagents, the contents of the reaction vessel are subjected to a series of test conditions.

[0110] Similar to loading module 30a, sample loading module 30c serves as an input through which trays containing containers of samples (e.g., 50 to 100 containers per tray) can be manually loaded by an operator into the loading tray (not shown) of sample transfer module 30c. However, sample transfer module 30c provides the additional functionality of transferring at least one aliquot of the sample from each of the manually loaded containers (“mother” containers) to at least one empty “child” container 12, wherein the sample-containing child container 12 can be automatically transferred from sample transfer module 30c to automated conveyor system 32 for subsequent action by other modules 30 according to the workflow of child container 12. Child container 12 may be configured to be used in one or more of analyzer modules 30b and differ from the configuration of the mother container. Sample transfer module 30c may store multiple empty child containers 12, at least a portion of which can receive aliquots of the sample from the mother container provided to sample transfer module 30c. The sample transfer module 30c may include a pipette (not shown) that aspirates a portion of the sample from the mother container and dispenses the aspirated sample into an empty daughter container 12. A non-limiting example of the sample transfer module 30c is sold by Holloway, Inc., Marlborough, Massachusetts. instrument.

[0111] Container storage module 30d is configured to store containers 12. In some cases, container storage module 30d may be configured to store completed containers 12 (i.e., containers 12 containing samples for which the workflow has been completed) for subsequent manual removal by the operator from container storage module 30d. In other cases, container storage module 30d may be configured to store incomplete containers 12 (i.e., containers 12 containing samples for which the workflow has not yet been completed) in a controlled environment for subsequent processing by other modules 30. As an example, incomplete containers 12 may contain samples awaiting initial testing (e.g., containers 12 containing samples tested at low frequency may be isolated in container storage module 30d until a sufficient quantity resides in automated sample processing system 10, or containers 12 await opening in analyzer module 30b for a specific test or await loading appropriate reagents and consumables onto analyzer module 30b). As another example, incomplete containers 12 may contain samples requiring chain testing or to provide physicians with sufficient time to order additional tests based on the initial test. In the illustrated embodiment, the container storage module 30d includes multiple vertically spaced hierarchical levels. Figure 1 (not shown in the image), each of which is configured to support one or more container racks ( Figure 1 (Not shown in the image). Each shelf is configured to store multiple closed containers 12. The characteristics of the container storage module 30d will be described in further detail below.

[0112] The decapping module 30e is configured to remove the sample from the closed sample-containing container 12b before processing it in one or more of the analyzer modules 30b. Figure 3C (Not shown) Removes lid 16b. In the illustrated embodiment, the lid removal module 30e is positioned ahead of the analyzer module 30b along the conveyor of the automated conveyor system 32 (described in further detail below). The lid removal module 30e may be able to remove different types of lids 16b from the closed container 12b, and in some embodiments, the lid removal module 30e may be able to remove only a single type of lid 16b from the closed container 12b. In the latter case, multiple lid removal modules 30e, each capable of removing different types of lids 16b from the closed container 12b, may be positioned along the conveyor of the automated conveyor system 32. It should be understood that the container 12a (with a piercing lid 16a) Figure 3A (As shown in the diagram) the capping module 30e can be bypassed or passed through prior to sample processing by one or more of the analyzer modules 30b. Further details discussing the exemplary capping module are set forth in U.S. Patent Nos. 6,321,619 and 7,152,504.

[0113] The capping module 30f is configured to attach (e.g., insert, or attach) a cap 16b (e.g., a replacement cap or stop) to the end-open container 12 after a sample has been extracted from the container 12 in one or more of the analyzer modules 30b, and in many cases before the container 12 is transferred to the container storage module 30d or the unloading module 30g. In the illustrated embodiment, the capping module 30f is positioned along the conveyor of the automated conveyor system 32 (described in further detail below) between the analyzer module 30b and the container storage module 30d and the unloading module 30g. The capping module 30f may be able to attach different types of caps 16b to the end-open container 12, and in some embodiments, the capping module 30f may be able to attach only a single type of cap 16b to the end-open container 12. In the latter case, multiple capping modules 30f, each capable of attaching different types of caps 16b to the end-open container 12, may be positioned between the analyzer module 30b and the container storage module 30d and the unloading module 30g. It should be understood that the container 12 (with a piercing cap 16a) Figure 3A (As shown in the figure) the capping module 30f can be bypassed or passed through before the container 12 is transported to the container storage module 30d or the unloading module 30g. Further details of the discussion of exemplary capping modules are set forth in U.S. Patent Nos. 6,321,619 and 7,152,504.

[0114] The unloading module 30g is configured to receive a capped container 12 containing contents extracted and processed by one or more of the analyzer modules 30b. The capped container 12 can be transferred from a conveyor in the automated conveyor system 32 to a shelf contained in a tray located within the housing of the unloading module 30g. After the shelf is fully filled with the capped container 12, the operator can manually remove the shelf from the tray of the unloading module 30g.

[0115] The container carrier feeding module 30h is configured to store and supply empty carriers, which can be used to transport container 12 within the automated conveyor system 32, as will be described in further detail below.

[0116] refer to Figure 1The WMS software module 34 is configured to coordinate workflows and advanced container throughput, and can be conceptualized as a minimal cloud database that maintains the state of all containers 12 and modules 30 within the automated sample processing system 10, and controls the assay-specific workflows of containers 12. Specifically, the WMS software module 34 identifies the assay to be run for any particular sample in container 12 based on encoded information on machine-readable tags 28 read by a scanner or reader (e.g., a barcode reader not shown) mounted on module 30a, and generates assay-specific workflows including pre-analytical and post-analytical steps, such as centrifugation, decapping, aliquoting, storage, chaining tests, capping, etc.

[0117] The automated conveyor system 32 includes a conveyor controller 42, a conveyor 44, multiple deflectors 46, and multiple barcode readers 47, each of which is associated with one of the modules 30 (except for the loading module 30a and the container carrier feeding module 30h). As will be described in further detail below, the container 12 is transported from one location to another in the automated conveyor system 32 via a container carrier 62, which supports the container 12 in an upright orientation. Figure 5 and Figure 6 (As shown).

[0118] The conveyor controller 42 is configured to control low-level functions of the automated conveyor system 32, such as transporting container carriers 62 between various modules 30 of the automated sample processing system 10, and supporting sample-containing containers 12 (i.e., loaded container carriers 62). Therefore, the conveyor controller 42 controls which modules 30 the loaded container carrier 62 will be directed to, and which modules 30 the loaded container carrier 62 will bypass. The conveyor controller 42 may also be configured to control low-level error handling and basic information display. The conveyor controller 42 is also configured to manage communication between the various modules 30 of the automated sample processing system 10 and the WMS software module 34.

[0119] The conveyor 44 can be any device used to convey or otherwise facilitate the transport of loaded container carriers 62 along a defined path between modules 30. Exemplary conveyors include robots, moving belts, shuttles / carriers moving on tracks or rails, magnetic devices, gear systems, cable systems, vacuum systems, automated vehicles with wheels, etc. In the illustrated embodiment, the conveyor 44 takes the form of a track comprising a main conveyor line 48, a plurality of branch lines 50 respectively associated with modules 30, and two through lines 52a, 52b.

[0120] The main conveyor line 48 serves as the primary line for transporting loaded container carriers 62 between different modules 30 of the automated sample processing system 10. In the illustrated embodiment, the main conveyor line 48 has a closed geometry (e.g., rectangular) that facilitates unidirectional movement of the loaded container carriers 62. In an alternative embodiment, the main conveyor line 48 can be both linear and bidirectional. Each branch line 50 can provide both input and output to the associated module 30. Thus, with possible exceptions to the container carrier feeding module 30h, each branch line 50 can be used to receive loaded container carriers 62 from the main conveyor line 48, allowing the associated module 30 to remove and actuate containers 12, and to receive containers 12 that have already been actuated by the associated module 30 for insertion into container carriers 62 for transport onto the main conveyor line 48.

[0121] The branch line 50 associated with the container carrier feed module 30h can be used to receive and store empty container carriers 62 fed to the main conveyor line 48 via the container storage module 30d or the unloading module 30g (after removing the container 12 from its associated container carrier 62), and can further be used to receive empty container carriers 62 from the container carrier feed module 30h for transport via the main conveyor line 48 to the loading module 30a or the sample transfer module 30c (and possibly the container storage module 30d), where the container 12 can be loaded into the empty container carrier 62.

[0122] Each module 30 may include or be associated with various devices (e.g., pick-and-place devices, container transporters, and / or robotic handlers) for transferring containers 12 from the automated conveyor system 32 to module 30, transporting and processing containers 12 within module 30 according to the defined functions of module 30, and, if necessary, returning containers 12 to the automated conveyor system 32 for processing by other modules 30. For example, as Figure 2 As shown, the container storage module 30d may include or be associated with the following: one or more pick-and-place devices 36 configured to transport containers 12 between the module 30 and the main conveyor line 48; one or more container transporters 38 configured to transport containers 12 between one or more of the pick-and-place devices 36 and one or more locations within the container storage module 30d; and one or more robotic transporters 40 configured to individually transport containers 12 between one or more of the container transporters 38 and one or more shelves (described in further detail below) contained within the container storage module 30d. Figure 7 and Figure 8(As shown in the diagram). The equipment (including the pick-and-place device 36, the container transporter 38, and the robotic transporter 40) will be described in further detail below for (i) transferring the container 12 from the automated conveyor system 32 to the container storage module 30d, (ii) transporting and moving the container 12 within the container storage module 30d for storage therein, and (iii) transferring the container 12 from the container storage module 30d back to the automated conveyor system 32 for processing by other modules 30.

[0123] Each branch line 50 includes various components, such as container cache queues, barcode reader components, container stop features, return sections, etc. For example, as... Figure 2 As shown, the branch line 50 associated with the container storage module 30d includes a container cache queue 54, a return section 56, a barcode reader component 58, and a stop feature 60.

[0124] Container buffer queue 54 is configured to receive and queue all loaded container carriers 62 that have been moved from main conveyor line 48 to branch line 50 for subsequent processing by container storage module 30d, and return unit 56 is configured to return loaded container carriers 62 that have been processed by container storage module 30d back to main conveyor line 48 for subsequent processing by other modules 30. Barcode reader assembly 58 is located on branch line 50 downstream of buffer queue 54 and is configured to read information encoded on barcodes 28 attached to the containers 12 supported in the queued container carriers 62. Barcode reader assembly 58 is also configured to individually fix and rotate loaded container carriers 62, thereby allowing reading of the attached barcodes 28. While the loaded container carrier 62 is secured, and after the barcode reader assembly 58 has read the information encoded on the barcode 28 attached to the container 12, the pick-and-place device 36 continuously removes each of the associated container carriers 62 from the buffer queue 54 and transfers the container 12 to the container storage module 30d. A stop feature 60 is located on the branch line 50 downstream of the barcode reader assembly 58 but upstream of the return section 56, and is configured to individually secure the empty container carrier 62 as the pick-and-place device 36 inserts each of the containers 12 (once operated by the container storage module 30d) into the container carrier 62, and then releases the newly loaded container carrier 62 to the return section 56 of the branch line 50 for transport to the main conveyor line 48.

[0125] Although the automated conveyor system 32 has been described as including branch lines 50, it should be understood that the automated conveyor system 32 may alternatively include any type of line that allows loaded container carriers 62 to be transported to and / or from modules 30. For example, in some embodiments, container 12 may be transported directly from main conveyor line 48 (e.g., via associated pick-and-place devices) to module 30 (i.e., when loaded container carrier 62 is on main conveyor line 48) and directly transported (e.g., via associated pick-and-place devices) back to main conveyor line 48 (i.e., when loaded container carrier 62 is on main conveyor line 48). As another example, loaded container carrier 62 may be directly extracted from main conveyor line 48 or branch line 50 into module 30, thereby eliminating the need to remove container 12 from its corresponding container carrier 62 (e.g., see U.S. Patent Publication No. 2017 / 0254827).

[0126] Return to reference Figure 1 The right inner loop 53a, defined by the main conveyor line 48 and the through line 52a, allows loaded container carriers 62 to circulate until space becomes available on the left inner loop 53b, defined by the main conveyor line 48 and the through line 52b. The left inner loop allows loaded container carriers 62 that have been transferred from the right inner loop to circulate while they wait to enter one or more of the modules 30. For example, branch line 50 may have a complete queue of container carriers 62 such that newly loaded container carriers 62 cannot be diverted from the main conveyor line 48 to branch line 50 until the associated module has extracted samples from at least a portion of the containers 12 supported by the queued loaded container carriers 62, and these loaded container carriers 62 have been removed from branch line 50 and reintroduced onto the main conveyor line 48.

[0127] Each deflector 46 is configured to deflect a selected loaded container carrier 62 onto a portion of the conveyor 44. For example, each deflector 46 may deflect a selected container carrier 62 from the main conveyor line 48 onto a corresponding branch line 50 associated with module 30 (e.g., via buffer queue 54). Thus, depending on the state of the deflector 46, some loaded container carriers 62 may travel along the main conveyor line 48 without being deflected onto the branch line 50 (i.e., those loaded container carriers 62 not marked by WMS software module 34), such as... Figure 4A As shown, and other loaded container carriers 62 can slow down to limit lateral forces and be diverted onto branch line 50 via steering mechanism 46, as Figure 4B As shown.

[0128] In the illustrated embodiment, each module 30 is configured to control its corresponding deflector 46 to guide a loaded container carrier 62 (or an empty container carrier 62 in the case of the container carrier feed module 30h) onto its corresponding branch line 50 according to the status of the workflow associated with the container 12. Each of the modules 30 is associated with a corresponding barcode reader 47, which reads information encoded on the barcode 28 of the container 12 traveling along the main conveyor line 48, such that the corresponding module 30 can determine whether the workflow of the container 12 requires an operation performed by that module 30 (i.e., analysis, decapping, capping, sample transfer, storage, etc.), and operate the corresponding deflector 46 according to the information read by the corresponding barcode reader 47.

[0129] In the illustrated embodiment, container 12 can be transferred between the right inner loop 53a and the left inner loop 53b. Specifically, the deflectors 46a, 46b can be selectively activated to recirculate a particular container carrier 62 on the left inner loop 53b (e.g., if the number of times the container carrier 62 containing the incomplete container 12 has been circulated around the left inner loop 53b has not exceeded a limit), to recirculate the particular container carrier 62 on the right inner loop 53a (e.g., if the analyzer module 30b required for the partial or complete completion of the incomplete container 12 carried by the container carrier 62 is unavailable), to move the particular container carrier 62 from the left inner loop 53b to the right inner loop 53a (e.g., if the container 12 carried by the particular container carrier 62 is completely completed, or if the number of times the container carrier 62 containing the incomplete container 12 has been circulated around the left inner loop 53b has exceeded a limit), to move the particular container carrier 62 from the right inner loop 53a to the left inner loop 53b (e.g., if at least one analyzer module 30b required for the partial or complete completion of the incomplete container 12 carried by the container carrier 62 becomes available). Each deflector 46 may take the form of, for example, a door, a switch, or other mechanism suitable for turning the loaded container carrier 62 between selected sections of the conveyor 44.

[0130] The automated conveyor system 32 can provide power for transporting the container carrier 62 in any of a variety of ways. In one embodiment, a magnetic motion system beneath the tracks (i.e., the main conveyor line 48, branch lines 50, and straight lines 52a, 52b) powers the container carrier 62, for example, by using an iron-containing coil located beneath the tracks and one or more magnets in the container carrier 62 to propel the container carrier 62 along the tracks. Further details of non-limiting exemplary embodiments that can be used in the magnetic motion system of the automated conveyor system 32 are set forth in U.S. Patent Nos. 9,766,258 and 9,776,811. In another embodiment, the tracks may include a plurality of individually controllable rollers that can be operated to carry the container carrier 62 along the tracks. In yet another embodiment, the tracks may mechanically constrain the container 12 along a single dimension, in which case the container 12 may be self-propelled. Exemplary automated conveyor systems that can be used include commercially available systems from FlexLink, Inpeco (Flexlab, FlexLab-HT, etc.), integrated drive systems (e.g., IDS-CLAS-X1), Thermo Fisher Scientific, Hitachi, MagneMotion, GLP, and others.

[0131] Now for reference Figure 5 and Figure 6 A non-limiting exemplary container carrier 62 for supporting a container 12 transported by an automated conveyor system 32 will be described. In the illustrated embodiment, the container carrier 62 supports a single container 12, but in an alternative embodiment, the container carrier 62 may support multiple containers 12. In the illustrated embodiment, each container carrier 62 includes a base 44 configured for engagement with the automated conveyor system 32 and a retaining device 66 configured for securing the container 12 to the base 42.

[0132] The base 64 takes the form of a "disc". In the illustrated embodiment, the bottom surface of the base 64 includes a magnet 88 configured for operative engagement with a magnet or ferro-containing element on the automated conveyor system 32. The base 64 may be made of plastic, such as ultra-high molecular weight polyethylene (UHMWPE). In other embodiments, the base 64 is made of metal (e.g., stainless steel). The top end 68 of the base 64 defines a recess 70 configured to receive at least a portion of the container 12. In the illustrated embodiment, the recess 70 has a depth equal to the depth of the bottom end 20 of the container 12 and a diameter equal to the diameter of the container 14, but in an alternative embodiment, the diameter of the recess 70 may be larger than the diameter of the container 14. It should be understood that although the base 64 and the recess 70 of the container carrier 62 are preferably substantially cylindrical, the base 64 and the recess 70 may have any shape, provided that the container carrier 62 can stably support the container 12 in a substantially upright orientation.

[0133] exist Figure 6 In the illustrated embodiment, the base 64 includes an annular stop 72 disposed in the recess 70 and abutting against the inner surface 74 of the base 64. The stop 72 defines a bottom 76 of the recess 70 such that the bottom end 20 of the container 12 contacts the stop 72. In some embodiments, the stop 72 includes a tapered surface 78 to facilitate movement of the bottom end 20 of the container 12 toward the bottom 76 of the recess 70 when the container 12 is initially received in the recess 70 of the base 64. In the illustrated embodiment, the base 64 includes a plurality of spaced-apart radially extending annular flanges 80. Adjacent flanges 80 define an annular groove 82 in the space therebetween. The arrangement of the flanges 80 and grooves 82 can be used by an automated conveyor system 32 for transporting or handling the container carrier 62. For example, a barcode reader assembly or stop feature of the automated conveyor system 32 (e.g., with...) Figure 2 The barcode reader assembly 58 and stop feature 60 associated with the container storage module 30d shown may include a protrusion (not shown) that engages within a recess 82 to secure or rotate the container carrier 62. Either of the deflectors 46 of the automated conveyor system 32 ( Figure 1 (As shown in the figure) may have similar protrusions that fit within the groove 82 to facilitate the transfer of the container carrier 62 from the main conveyor line 48 to the branch line 50.

[0134] In the illustrated embodiment, the holding device 66 includes an annular support 84 and a plurality of wire fingers 86. The wire fingers 86 are preferably resilient, meaning that after any deflection during normal operation, the wire fingers 86 return to their respective original positions. Thus, the wire fingers 86 are configured to flex, allowing the container 12 to be inserted into the recess 70 of the base 64 while applying a radially inward force to the container 12 to collectively clamp a portion of the container 12, thereby securing the container 12 to the base 64 and maintaining the orientation and position of the container 12 as the carrier 62 moves within the automated conveying system 32. In an alternative embodiment, instead of the annular support 84 and wire fingers 86, the holding device may alternatively include a resilient cylindrical bore (not shown) that resiliently clamps the container 12, thereby allowing the container 12 to be inserted into and held by the cylindrical bore.

[0135] In an alternative embodiment, each container carrier may include active components such as processors, motion systems, guidance systems, sensors, etc. In yet another alternative embodiment, each container carrier may include onboard intelligence that allows the container carrier to self-guide between points along the main conveyor line 48. Discussions are set forth in U.S. Provisional Application Serial No. 62 / 891,728. Figure 5 and Figure 6Further details of the exemplary carrier 62 shown. Other exemplary carriers that can be used to transport container 12 in automated conveyor system 32 are described in U.S. Patent Nos. 7,485,264, 8,147,778, and 10,041,965 and U.S. Patent Publications 2006 / 0222573, 2017 / 0153262, 2017 / 0248623, and 2018 / 0052183.

[0136] Now for reference Figures 7 to 18 The description will cover a non-limiting exemplary embodiment of the container storage module 30d, along with branch line 102 (corresponding to...). Figure 1 and Figure 2 Branch line 50), barcode reader component 104 and stop feature 106 (corresponding to Figure 2 The branch line 50, barcode reader assembly 58, and stop feature 60 are shown.

[0137] like Figure 7 As shown in the best embodiment, the container storage module 30d includes a housing 108 defining an internal chamber 110 (see [reference]). Figure 9 , Figure 10 , Figure 15 and Figure 17 The housing 108 contains a plurality of vertically spaced levels 112 (in this case, four levels 112) within the chamber 110. In a preferred embodiment, the chamber 110 of the housing 108 is cooled to a temperature suitable for preventing or delaying degradation of the sample contained in the stored container. Therefore, the container storage module 30d also includes at least one cooling unit (not visible) with an evaporator fan 115 in Figure 9 and Figure 17 As shown in the diagram. The front portion 116 of the housing 108 includes at least one door 118, and in the illustrated embodiment includes four pairs of doors 118, each pair of doors 118 being configured to provide an operator with manual access to a corresponding level 112. Figure 8 As shown, the back surface 120 of the housing 108 includes one or more closable openings 122 through which the container 12 can be transported between the exterior of the housing 108 and the chamber 110 of the housing 108. In the illustrated embodiment, the back surface 120 of the housing 108 includes multiple pairs of openings 122 (one pair of openings 122 associated with each level 112). In the illustrated embodiment, the back surface 120 of the housing 108 includes four pairs of openings 122, of which two pairs of openings 122 ( Figure 8 (As shown in the image) is set on branch line 102 ( Figure 11Above the branch line 102, and two pairs of openings 122 (not shown), are provided below the branch line 102. Each pair of openings 122 includes an input opening 122a for receiving the container 12 into the chamber 110 of the housing 108 and an output opening 122b for removing the container 12 from the chamber 110 of the housing 108. The pairs of openings 122 can be selectively opened under the control of a controller to allow the container 12 to pass through them. For example, the rear face 120 of the housing 108 may include one or more doors 123 (in this case, a single door) associated with each opening 122. The door 123 of each opening 122 may be individually positioned to allow the container 12 to pass through the opening 122 (see [reference]). Figure 11 The opening position of the input opening 122a) and the position for preventing the container 12 from passing through the opening 122 (see Figure 11 The output opening 122b) is between the closed positions.

[0138] In the illustrated implementation scheme, such as Figure 7 and Figure 8 As shown, each of the layers 112 supports at least one container shelf 114 (in this case, four shelves 114) for receiving and holding a plurality of closed containers 12 (preferably in a linear row). Figure 19 As best shown, in one embodiment, each container rack 114 includes a pair of spaced-apart support plates 124 (124a and 124b) having an alignment array (128a and 128b) with openings 128, and a base plate 124c having a tapered opening 128c aligned with the array of openings 128a, 128b in the support plates 124. The openings 128a, 128b of the support plates 124a, 124b are sized to allow the container body 14 of the container 12 to pass through them, while the tapered opening 128c of the base plate 124c is sized to prevent the container body 14 from passing through it. The tapered opening 128c is also sized to allow vertical movement of the pin 160 of the container insertion stop assembly (described in further detail below) through it. The combination of openings 128a, 128b in support plates 124a, 124b and a tapered opening 128c in substrate 124c forms a slot 130 for receiving and supporting the container 12 in a substantially vertical orientation. The container 12 is positioned within the slot 130 when its bottom end 20 contacts the tapered opening 128c of substrate 124c. In the illustrated embodiment, the opening 128 is circular; however, the opening 128 can be any suitable shape capable of receiving and supporting the container 12 in a substantially vertical orientation.

[0139] As discussed above, the container storage module 30d is configured to automatically receive, store, and return the closed container 12 to the conveyor 44. Specifically, the loaded container carrier 62, marked by the WMS software module 34 for storage in the container storage module 30d, is actuated by the container storage module 30d. Figure 1 and Figure 2 (As shown in the diagram) The associated detour 46 detours from the main conveyor line 48 to the branch line 102, where the loaded container carriers 62 are queued in the buffer queue 132 of the branch line 102, as... Figure 12 As shown. The barcode reader assembly 104 individually reads the information encoded on the barcode 28 of the queuing container 12, and then loads and stores the container 12 in the container storage module 30d. Any container 12 previously stored in the container storage module 30d, marked by the WMS software module 34 for testing by at least one of the analyzer modules 30b, is individually removed from the container storage module 30d and inserted into an empty container carrier 62 secured by the stop feature 106, which then releases the loaded container carrier 62 to the return section 134 of the branch line 102, as... Figure 13 and Figure 14 As shown.

[0140] like Figures 11 to 13 As best shown, the barcode reader assembly 104 includes a gating mechanism 136, a rotation alignment mechanism 138, and a barcode reader 140. The gating mechanism 136 controls the release of a first loaded container carrier 62 into the buffer queue 132 of the branch line 102, from which it proceeds to the rotation alignment mechanism 138. The rotation alignment mechanism 138 engages and rotates the loaded container carrier 62, thereby positioning the container 12 such that the associated barcode 28 can be read by the barcode reader 140. In the illustrated embodiment, the rotation alignment mechanism 138 includes three wheels 142a-142c that are movable inward toward each other to frictionally engage the loaded container carrier 62. The loaded container carrier 62 then rotates back and forth such that there is at least one point in time when the barcode 28 on the associated container 12 faces the barcode reader 140 and is read by it. The three wheels 142a-142c can also be used to secure the loaded container carrier 62 when the input pickup and placement device 150a extracts the container 12 from the container carrier 62 for storage in the container storage module 30d.

[0141] like Figure 14As best shown, the stop feature 106 includes a fixed abutment surface 141 and a movable abutment surface 143, which can alternately (i) move toward the fixed abutment surface 141 to thereby secure the empty container carrier 62 when the stored container 12 is retrieved from the container storage module 30d and inserted into the fixed container carrier 62 using the output pick-and-place device 150a, and (ii) move away from the fixed abutment surface 141 to thereby release the loaded container carrier 62 onto the return line 134 of the branch line 102. Preferably, the fixed abutment surface 141 and the movable abutment surface 143 are concave and have a radius of curvature equal to that of the container carrier 62, thereby maximizing the frictional engagement between the stop feature 106 and the container carrier 62.

[0142] The container storage module 30d also includes one or more container insertion stop components 148. Figure 15 Only one is shown in the image), or one or more external pickup and placement devices 150 (in this case, a pair of pickup and placement devices 150a, 150b, such as...). Figure 11 and Figure 16 (as shown), one or more container transporters 152 (see...) Figure 9 and Figure 17 ), one or more robotic transporters 154 (see Figure 9 , Figure 10 , Figure 15 , Figure 17 and Figure 18 ), and a controller 156 for controlling the operation of components of the container storage module 30d. Figure 20 (as shown in the image).

[0143] like Figure 15As best shown, each of the container insertion stop assemblies 148 is operatively associated with one of the levels 112 and provides a depth insertion stop when the container 12 is inserted into the empty container slot 130 of the container rack 114 in a two-step container insertion process (described in further detail below) via a robotic transporter 154 associated with the same level 112. Specifically, each container insertion stop assembly 148 includes a bracket 158 ​​capable of XY movement via an orthogonal rail assembly 146 and an associated motor 151 (i.e., in an orthogonal direction along the XY plane, which lies below the container rack 114 of the level 112 operatively associated with the container insertion stop assembly 148), and a pin 160 capable of vertical movement. The bracket 158 ​​resides below the container rack 114 at level 112 associated with the container insertion stop assembly 148 and moves to position the pin 160 directly below the selected empty container slot 130 of the container rack 114 in which the container 12 is inserted. The pin 160 is configured for vertical movement via a screw mechanism 153 and an associated motor 155 between a first position within the selected empty container slot 130 and a second retracted position below the selected empty container slot 130 to facilitate controlled insertion of the container 12 into the container slot 130 and controlled removal of the container from the container slot. When the pin 160 is in the first position within the selected empty container slot 130, it provides a depth insertion stop for the empty container slot 130 of the container rack 114 when the container 12 is inserted into the empty container slot 130 during the first step of a two-step container insertion process. When pin 160 is in the second retracted position below the selected empty container slot 130, the depth insertion stop has been removed from the selected empty container slot 130 before the container 12 is placed within the selected empty container slot 130 during the second step of the two-step container insertion process. In an alternative embodiment, instead of retracting from the container slot 130, pin 160 may be pushed into (or toward) the second position during the second step of the container insertion process by the downward force of the container 12 on pin 160.

[0144] like Figure 8 , Figure 11 and Figure 16As best shown, a pair of pickup and placement devices 150a, 150b are located on the exterior of housing 108 and include: an input pickup and placement device 150a for delivering container 12 to a position adjacent to one of the input openings 122a on the rear side, right side of housing 108; and an output pickup and placement device 150b for removing container 12 from a corresponding position adjacent to one of the output openings 122b on the rear side, left side of housing 108. The input pickup and placement device 150a is configured to grip a single closed container 12 and remove it from a container carrier 62 secured by barcode reader assembly 104. After removing the closed container 12 from container carrier 62, the input pickup and placement device 150a transports the closed container 12 to a selected one of the input openings 122a, which is associated with one of the levels 112 of container storage module 30d. The output pickup and placement device 150b is configured to grasp a single closed container 12 from one of the selected output openings 122b, which is associated with one of the levels 112 of the container storage module 30d. After grasping the container 12, the output pickup and placement device 150b transports the container 12 to an empty container carrier 62 secured by a stop feature 106. After the container 12 has been inserted into the container carrier 62 by the output pickup and placement device 150b, the container carrier 62 is released by the stop feature 106 onto the return line 134 of the branch line 102.

[0145] Each pick-and-place device 150 includes a bracket 166 capable of vertical movement parallel to the rear surface 120 of the housing 108 and between various levels 112 and lines 102 via a vertical rail 169, a drive belt 171, and an associated motor (not shown). A gripper 168 is mechanically coupled to the bracket 166 via a rotating arm 167 and configured to alternately grip and release individual containers 12. The rotating arm 167 is configured to rotate the gripper 168 about 90 degrees about an axis between a first position adjacent to the rear surface 120 of the housing 108 and a second position offset from the rear surface 120 of the housing 108 via operation of an associated motor 173. Rotation of each gripper 168 facilitates the removal of a container 12 from or insertion into a branch line 102 of the container storage module 30d, which is offset from the corresponding bracket 166 along its vertical path of movement.

[0146] When the gripper 168 of the input pickup and placement device 150a is in the level corresponding to branch line 102 and in a second rotationally outward position offset from the rear side 120 of the housing 108, the gripper 168 is adjacent to the barcode reader assembly 104 on branch line 102, such that the gripper 168 can pick up container 12 from the fixed loaded container carrier 62 held by the barcode reader assembly 104. In contrast, when the gripper 168 of the input pickup and placement device 150a is positioned in one of the vertical levels 112 and in a first rotationally inward position, the gripper 168 is positioned adjacent to the input window 122a, such that the gripper 168 can transfer container 12 to the container carrier 152 associated with that level 112. In the illustrated embodiment, the gripper 168 grasps the container 14 of the closed container 12 at a position below the lid 16 (e.g., Figure 11 (as best shown in the image), thereby limiting the possibility of cross-contamination between containers 12 caused by the clamp 168.

[0147] like Figure 17 and Figure 18 As shown, each of the container carriers 152 is operatively associated with one of the levels 112 (e.g., shelves) contained within the housing 108 of the container storage module 30d, and correspondingly with a pair of associated openings 122a, 122b. Each of the container carriers 152 is configured to receive a single container 12 from an input pick-up and placement device 150a at an input pick-up position located adjacent to the input opening 122a and outside the housing 108 (see [link to relevant documentation]). Figure 11 and Figure 16 ), and for delivering the container 12 picked up by the output pickup and placement device 150b to the output placement position, which is located adjacent to the output opening 122b and outside the housing 108 (see Figure 11 and Figure 16 The container transporter 152 is further configured to transport containers 12 picked up by the robotic transporter 154 to an input drop position located within a chamber 110 of the housing 108, and to receive individual containers 12 from the robotic transporter 154 at an output pick-up position located within a chamber 110 of the housing 108 (see [link]). Figure 18 ).

[0148] Each container transport 152 is in the form of a shuttle, which includes a slider 170 capable of bidirectional lateral movement along a horizontal plane above a level 112 operatively associated with the container transport 152 via a rail 175, a drive screw 177, and an associated motor 179. The slider 170 is movable between a first position approaching openings 122a, 122b and a second position contained within the housing 108 of the container storage module 30d and spaced apart from openings 122a, 122b. Figure 18 As shown, each container carrier 152 also includes a pair of retainers 172 (input retainer 172a and output retainer 172b) operably associated with the slider 170. Each of the retainers 177a, 172b has a recess 181 sized to receive and stably support a single container 12.

[0149] When the container carrier 152 is in the first position, the input holder 172a extends through the input opening 122a at the input pick-up position outside the housing 108, allowing the input pick-up and placement device 150a to transport the container 12 from the container carrier 62 on the branch line 102 of the container storage module 30d and insert the container 12 into the recess 181 of the input holder 172a. Similarly, when the container carrier 152 is in the first position, the output holder 172b extends through the output opening 122b to the output drop position outside the housing 108, allowing the output pick-up and placement device 150b to remove the container 12 from the recess 181 of the output holder 172b and transport the container 12 to the empty container carrier 62 on the branch line 102 of the container storage module 30d. When the container transporter 152 is in the second position, the input retainer 172a is fully contained within the chamber 110 of the housing 108 in the input drop position, allowing the robot transporter 154 to remove the container 12 from the recess 172 of the input retainer 172a and transport the container 12 to the selected slot 130 of the container rack 114. Similarly, when the container transporter 152 is in the second position, the output retainer 172b is fully contained within the chamber 110 of the housing 108 in the output pick position, allowing the robot transporter 154 to transport the container 12 from the selected slot 130 of the rack 114 and insert the container 12 into the recess 181 of the output retainer 172b.

[0150] In the illustrated embodiment, the retainers 172a and 172b are each capable of vertical bidirectional movement along a horizontal plane between a first lower height (when the retainer extends through openings 122a and 122b to facilitate the insertion and / or removal of the container 12 into and / or from the recesses 181 of the input retainer 172a and the output retainer 172b, respectively, performed by the first pick-and-place device 150a and the second pick-and-place device 150b) and a second higher height (when the retainer is fully disposed within the chamber 110 of the housing 108 to facilitate the removal and / or insertion of the container 12 from and / or into the recesses 181 of the input retainer 172a and the output retainer 172b, respectively, performed by the robotic transporter 154).

[0151] Although the container transporter 152 has been described as having a single slider 170 operatively associated with both the input retainer 172a and the output retainer 172b, in an alternative embodiment, the container storage module 30d may include a pair of container transporters 152 (i.e., a dedicated input container transporter and a dedicated output container transporter). In this embodiment, the input container transporter includes a first slider operatively associated with the input retainer 172a, and the output container transporter includes a second slider associated with the output retainer 172b. The input and output container transporters of this alternative embodiment each include separate drive screws and associated motors, thereby allowing the container transporters to operate independently of each other within the container storage module 30d.

[0152] like Figure 9 , Figure 15 , Figure 17 ,and Figure 18 As shown, each of the robotic transporters 154 is operatively associated with one of the levels 112 of the container storage module 30d, such that the input holder 172a of the associated container transporter 152 can be approached by the associated robotic transporter 154 at the output drop position at the corresponding level 112, and the output holder 172b of the associated container transporter 152 can be approached by the associated robotic transporter 154. Therefore, each robotic transporter 154 is configured to remove container 12 from the input holder 172a of the associated container transporter 152 and then insert container 12 into a preselected empty container slot 130 supported on the container rack 114 at the corresponding level 112, and conversely, each robotic transporter 154 is also configured to remove container 12 from the preselected container slot 130 of one of the container racks 114 at the associated level 112 and then insert container 12 into the output holder 172b of the associated container transporter 152.

[0153] As briefly discussed above, each robotic transporter 154 is configured to fully position the container 12 within a selected slot 130 of the container rack 114 using a two-step container insertion process. Specifically, during the first step of the container insertion process, the robotic transporter 154 is configured to first grip the container 12 and insert the container portion into the slot 130 (i.e., until the bottom end 20 of the container 12 contacts the tip 164 of the pin 160, which provides an insertion stop between the second support plate 124b and the base plate 124c, as shown). Figure 18 (As shown). During the second step of the container insertion process, the robot handler 154 is configured to release the partially inserted container 12 (while the pin 160 supports the weight of the container 12 to prevent it from falling further and contacting the tapered opening 128c of the substrate 124c), re-clamp the container 12, and after the pin 160 has retracted to its position below the substrate 124c, insert the container 12 until the bottom end 20 of the container 12 contacts the tapered opening 128c of the substrate 124c, as shown. Figure 19 As shown. The following will be relative to... Figure 33 Further details of the two-step container insertion process were discussed.

[0154] The robotic transporter 154 is also configured to remove a container 12 placed within a pre-selected container slot 130 of a container rack 114 using a two-step container removal process. In the first step, a pin 160 moves upward to push against the container 12, thereby partially removing the container 12 from the pre-selected container slot 130 during the first step of the two-step container removal process. Alternatively, the robotic transporter 154 partially removes the container 12 from the pre-selected container slot 130, and the pin 160 then moves upward to support the container 12 prior to the second step of the removal process. The robotic transporter 154 can then grip the container 12 and completely remove it from the pre-selected container slot 130 during the second step of the container removal process. The following will describe the process in relation to... Figure 34 Further details regarding the container removal process were discussed.

[0155] Each robotic transporter 154 includes a platform 174 capable of XYZ movement, and a gripper device 176 mechanically coupled to the platform 174 and configured to selectively grip and release a single closed container 12. The platform 174 includes a frame of rails, slides, tracks, and brackets, a portion of which is in… Figure 10As shown in the diagram, the bench 174 can be moved by any number of conventional motion-generating mechanisms (e.g., electric motors, stepper motors, servo motors, pneumatic or hydraulic motors, etc.) and drive mechanisms (e.g., chains and sprockets, guides, pulley and belt arrangements, gear drives or worm drives, or other conventional drive components). In the illustrated embodiment, the bench 174 includes an orthogonal rail assembly 183 attached to the wall of the chamber 110 for orthogonal horizontal movement of the gripper device 176, such as... Figure 9 , Figure 10 , Figure 15 , Figure 17 and Figure 18 As shown. The stand 174 also includes: a pair of guide posts 185 along which the gripper device 176 moves vertically; and a pulley assembly including pulleys 187 and belts 189, which causes the gripper device 176 to move vertically along the guide posts 185, as shown. Figure 9 , Figure 10 and Figure 15 As shown.

[0156] Therefore, the stand 174 is configured to transport the closed container 12 from the input holder 172a of the associated container carrier 152 to a preselected container slot 130 in the container rack 114 supported at the associated level 112 of the container storage module 30d by causing the gripper device 176 to: (i) move laterally to align the gripper device 176 vertically with the input holder 172a (i.e., one on top of the other as used herein), (ii) move downward to grip the container 12, (iii) move upward to remove the gripped gripper 12 from the container carrier 152, (iv) move laterally to align the gripper device 176 vertically with the preselected container slot 130 of the container rack 114, and (v) move downward to deploy the container 12 in the preselected container slot 130 using a two-step container insertion process.

[0157] The rack 174 is also configured to transport the stored container 12 from a preselected container slot 130 in one of the container racks 114 to the associated container carrier 152 by causing the gripper device 176 to: (i) move laterally to vertically align the gripper device 176 with the preselected container slot 130 of the container rack 114, (ii) move downward to grip the container 12, (iii) move upward to remove the gripped container 12 from the preselected container slot 130 using a two-step container removal process, (iv) move laterally to vertically align the gripper device 176 with the output holder 172b of the associated container carrier 152, and (v) move downward to deploy the container 12 in the output holder 172b.

[0158] Although each robotic transporter 154 has been described as including a platform 174 capable of applying XYZ movement to the gripper device 176, any suitable type of robotic transporter for moving the gripper device 176 in at least one direction may be used. For example, in one embodiment, the robotic transporter 154 may be capable of applying only linear bidirectional movement to the gripper device 176. Furthermore, instead of performing linear X and / or Y movement (or only such movement), the robotic transporter 154 may be capable of applying rotational movement to the gripper device 176.

[0159] like Figure 15 As best shown, each robotic transporter 154 includes a proximity sensor 191 configured to sense the proximity of the top surface 24 of the closure 16 of the closed container 12 relative to the gripper device 176 to ensure that the gripper device 176 is laterally aligned with the closed container 12 before gripping it, as described in further detail below.

[0160] Now for reference Figure 20 The gripper device 176, the platform 174, and the controller 156 will be described in further detail. The controller 156 is configured to control the movement of each of the robotic transporters 154. For this purpose, the controller 156 includes: (i) a position control subsystem 178 configured to control the XYZ movement of the platform 174 (x-movement shown along the horizontal axis, y-movement shown along an axis perpendicular to the horizontal axis, and z-movement shown along the vertical axis), and thus control the XYZ positioning of the corresponding gripper device 176; and (ii) a gripper control subsystem 180 configured to control the gripping movement of the gripper device 176. The controller 156 can control the movement of each platform 174 and gripper device 176 according to pre-programmed routines, and sensors (not shown) or other feedback mechanisms can provide the controller 156 with electrical signals indicating the current position and gripping state of each gripper device 176. The controller 156 can take the form of any suitable computer, processor, etc.

[0161] In one embodiment, the robotic handler 154 is designed such that when a closed container 12 is inserted into or removed from the container slot 130, the gripper device 176 does not contact any adjacent containers 12 disposed on the shelf 114. By avoiding contact with adjacent containers 12 during insertion and removal of containers 12, a potential source of cross-contamination between containers 12 within the container storage module 30d is substantially eliminated. This is especially important when the closure 30 is a previously penetrated punctureable closure 30a (see above). Figure 3A ).

[0162] Now for reference Figure 21Each robotic transporter 154 has a gripper device 176 configured to grasp the closed container 12 and fully position the closed container 12 within a selected container slot 130 of a shelf 114 supported at level 112 of the container storage module 30d. Similarly, it clamps the positioned container 12 and removes it from the selected container slot 130 of the same or different container shelves 114 supported at the same level 112 of the container storage module 30d. Figure 17 (as shown in the figure). To achieve this, each gripper device 176 includes a pair of opposing, translationally movable support members, which in the illustrated embodiment are a pair of opposing jaw members 200a, 200b. The jaw members 200a, 200b are capable of lateral movement between: (i) an extended open position in which there may be no contact between the jaw members 200a, 200b and the closed container 12 located between the jaw members 200a, 200b (see Figure 170). Figure 23A and Figure 23B (ii) a first closed position, in which the jaw members 200a, 200b can grip the closed container 12 located between the jaw members 200a, 200b (see [reference]). Figure 24A and Figure 24B As described in further detail below, jaw members 200a and 200b can be used to grip the closed container 12 and insert the closed container portion into a selected container slot 130 of the shelf 114 supported by the level 112 of the container storage module 30d. Figure 17 (As shown in the figure). Jaw members 200a and 200b may be made of suitable rigid or semi-rigid materials, such as stainless steel or polycarbonate.

[0163] In the illustrated embodiment, when the jaw members 200a and 200b are in the first closed position, they grip the sidewall 22 of the closure 16 of the closed container 12. When the jaw members 200a and 200b are in the first closed position, the container 12 can be partially inserted into the selected container slot 130. The downward descent of the robotic transporter 154 is restricted to prevent contact between the gripper device 176 and any adjacent placed containers 12 on the container rack 114.

[0164] exist Figure 22In the illustrated embodiment, each of the jaw members 200a and 200b includes: an upper horizontal flange 202 extending in a first direction, which can be directly or indirectly coupled to the frame 174 of the robotic transporter 154; a lower horizontal flange 206 extending in a second direction opposite to the first direction; and a vertical member 204 combining the upper horizontal flange 202 and the lower horizontal flange 206. The upper horizontal flange 202 can be coupled to the frame 174 of the robotic transporter 154 via fasteners (not shown). For example, each of the illustrated jaw members 200a and 200b includes two holes 208 extending through the upper horizontal flange 202 to facilitate coupling of the gripper device 176 to the frame 174 by means of such arrangements as rivets, bolts and nuts, or other similar fasteners. In the illustrated embodiment, each upper horizontal flange 202 also includes an upwardly extending ridge 210, which can be used to slidably engage a corresponding groove (not shown) in the fixture 174 to facilitate and maintain the alignment of the jaw members 200a, 200b relative to the fixture 174.

[0165] Two lower horizontal flanges 206 are used to engage the closed container 12 and facilitate this engagement. The lower horizontal flanges 206 include opposing wavy engagement surfaces 212 for gripping the sidewalls 22 of the closure 16 associated with the closed container 12, such as... Figure 24A and Figure 24B As shown. In the illustrated embodiment, the corrugated engagement surfaces 212 take the form of generally circular recesses that are mirror images of each other, such that the corrugated engagement surfaces 212 generally conform to the cylindrical sidewalls 22 of the closure 16. Preferably, the radius of the closure 16 is comparable to the radius of curvature of the corrugated engagement surfaces 212, thereby maximizing the area of ​​each corrugated engagement surface 212 that contacts the sidewalls 22 of the closure 16 when the jaw members 200a, 200b are in the first closed position. Figure 25 As shown, the lower horizontal flanges 206 are capable of contacting each other when the closed container 12 is not positioned between the jaw members 200a, 200b, such that the corrugated engagement surfaces 212 define an opening when the lower horizontal flanges 206 are in contact with each other. In an alternative embodiment, each of the corrugated engagement surfaces 212 may be generally V-shaped, such that there are four contact points between the jaw members 200a, 200b and the sidewalls 22 of the closure 16. The advantages of the V-shaped corrugated engagement surfaces will be discussed in further detail below with respect to alternative embodiments of the gripper device 176. In the illustrated embodiment, the corrugated engagement surfaces 212 are knurled and preferably include a series of laterally oriented grooves 211, which facilitate gripping of the cylindrical sidewalls 22 of the closure 16.

[0166] It should be understood that the jaw members 200a, 200b are not limited to the configuration shown and may include either pair of support members capable of coordinated movement to grip and release the sidewall 22 of the closure 16 fixed to the container 14.

[0167] Each gripper device 176 also includes a plurality of fingers 214a-214d, each finger hanging from the base 219 of one of the jaw members 200a, 200b (and in this case, the bottom surface of the lower horizontal flange 206), as... Figure 21 , Figure 22 , Figure 26B , Figure 27B As shown. When the closure 16 is positioned between the fingers 214a-214d and below the lower horizontal flange 206, as the jaw members 200a, 200b move from the open position (see... Figure 26A and Figure 26B ) to the first closed position (see Figure 27A and Figure 27B The fingers 214a-214d are laterally positioned toward each other and configured to grip the sidewalls 22 of the closure 16 below the top surface 24 of the closure 16. As described in further detail below, when the jaw members 200a, 200b are in the second closed position, the fingers 214a-214d grip the closed container 12 and place the closed container within the selected container slot 130 of the shelf 114. The fingers 214a-214d may be made of a suitable rigid or semi-rigid material (such as stainless steel or polycarbonate) and may be integrally formed with the corresponding jaw members 200a, 200b from which the fingers dangle as a single unit, or they may be fastened using fasteners 217 (e.g., such as...). Figure 22 The screws or bolts shown are used to connect to the corresponding jaw components 200a and 200b.

[0168] exist Figure 22In the illustrated embodiment, the gripper device 176 includes four fingers 214a-214d, and each of the jaw members 200a and 200b has two fingers 214a-214d hanging from the base 219 of one of the jaw members 200a and 200b, in this case hanging from the bottom surface of the lower horizontal flange 206. In the illustrated embodiment, two fingers 214a and 214b hang from the base 219 of the jaw member 200a, and two additional fingers 214c and 214d hang from the base 219 of the second jaw member 200b. The fingers 214a-214d in the illustrated embodiment extend perpendicular to the base 219 of the lower horizontal flange 206 (i.e., in the vertical direction), but in an alternative embodiment, the fingers 214 may extend from the base 219 of the jaw member 200 at a non-perpendicular angle. In the illustrated embodiment, when the jaw members 200a and 200b are in the second closed position, the four fingers 214a-214d are circumferentially spaced 90 degrees from each other, but other circumferential spacings are taken into account.

[0169] The gripper device 176 may have any number of fingers 214, allowing the fingers 214 to securely grip the closure 16. In an alternative example, the gripper device 176 may include three fingers (one finger 214 hanging from the base 219 of one of the jaw members 200, and two fingers 214 hanging from the base 219 of the other of the jaw members 200). In this example, when the jaw members 200a, 200b are in the second closed position, the three fingers 214 may be circumferentially spaced about 120 degrees from each other. In another example, the gripper device 176 may include six fingers (three fingers hanging from the base 219 of each of the two jaw members 200). In this case, when the jaw members 200a, 200b are in the second closed position, the six fingers 214 may be circumferentially spaced about 60 degrees from each other.

[0170] Further reference Figure 28 Each of the fingers 214a-214d includes an inner surface 216 divided between: a lower region 218 (or contact surface 218), an upper region 220 adjacent to the base 219 (e.g., lower horizontal flange 206) of the respective jaw members 200a, 200b, and a recess 222 between the lower region 218 and the upper region 220 (i.e., adjacent to the contact surface and directly above the contact surface).

[0171] The contact surface 218 of each of the fingers 214a-214d is configured to engage the sidewall 22 of the closure 16 when the closure 16 is located below the base 219 of each of the jaw members 200a, 200b and between the contact surfaces 218 of the fingers 214a-214d. In the illustrated embodiment, the combination of fingers 214a-214d has a gripping force of at least one pound, and more preferably at least five pounds. In the illustrated embodiment, the contact surface 218 of each of the fingers 214a-214d is serrated to prevent the fingers 214a-214d from sliding on the sidewall 22 of the closure 16 when the gripper device 176 applies a downward force against any reaction force in the container slot 130. Figure 27B As shown, when the sidewall 22 of the closure 16 is gripped by the fingers 214a-214d in the second closed position, the contact surface 218 of each of the fingers 214a-214d can be oriented toward the axial center of the closure 16.

[0172] like Figure 29 As shown, the recess 222 is configured such that when the jaw members 200a and 200b are in the second closed position, there is no contact between the contact surfaces 218 of the fingers 214a-214d and the top surface 24 of the closure member 16 (when the jaw members 200a and 200b are in the second closed position, the contact surfaces 218 of the fingers 214a-214d grip the sidewall 22 of the closure member 16 below the edge 26 of the closure member 16), thereby ensuring that contact between the gripper device 176 and the top surface 24 of the closure member 16 is avoided.

[0173] When the contact surface 218 of each finger 214a-214d contacts the sidewall 22 of the closure 16, the upper region 220 of the contact surface 218 of each finger 214a-214d is configured to be positioned above but not in contact with the top surface 24 of the closure 16. In the illustrated embodiment, the upper region 220 of the contact surface 218 of each finger 214a-214d is inclined inward from the recess 222 toward the base 219 of the corresponding jaw member 200 (or toward the engagement surface 212 of the lower flange 206) such that when the sidewall 22 of the closure 16 is gripped by the fingers 214a-214d in the second closed position, at least a portion of the upper region 220 of the contact surface 218 is located directly above the top surface 24 of the closure 16. Therefore, in the event of any slippage between the contact surface 218 of the finger 214 and the sidewall 22 of the closure 16, the upper region 220 of the inner surface 216 will contact the edge 26 of the closure 16, thereby preventing contact between the base 219 of the jaw members 200a, 200b and the top surface 24 of the closure 16, as... Figure 29As shown. Furthermore, the upper region 220 of the inner surface 216 is inclined toward the base 219 of the corresponding jaw member 200 to reinforce the corresponding fingers 214a-214d, thereby increasing the gripping force of the fingers 214a-214d. For example, if sliding between the closure 16 and the fingers 214a-214d is not a significant issue, the upper region 220 of the inner surface 216 may have another orientation, such as a vertical orientation.

[0174] like Figure 28 As shown, each of the fingers 214a-214d includes an outer surface 224 having: a generally vertical upper region 226 having a circular end surface 227; and an inwardly tapered lower region 228 having a circular end surface 229. When the jaw members 200a, 200b are in the second closed position, the tapered lower region 228 helps to position the fingers 214a-214d within the space defined by the closure 16 of the adjacent container 12 supported by the container rack 114. When the fingers 214a-214d contact the closure 16 of the container 12 disposed in the adjacent container slot 130 of the container rack 114, the outer surface 224 of the fingers 214a-214d is shaped to slidably contact the edge 26 (not the top surface 24) of the contacted closure 16, thereby allowing the grasped container 12 to continue moving downward into the selected container slot 130.

[0175] Furthermore, the fingers 214a-214d of the gripper device 176 are sized and arranged such that when the jaw members 200a, 200b are in the following condition, the fingers 214a-214d engage within a gap space 230 defined by the contour of the closure 16 of the adjacent container 12 disposed in the respective slots 130 of the container rack 114: (i) when the container 12 is gripped and disposed in the slots 130 of the container rack 114, it is in a second closed position (see Figure 30B (ii) immediately before gripping container 12 for removal from slot 130 of container rack 114, in the open position (see Figure 30A (iii) immediately after releasing the container 12 inserted into the slot 130 of the container rack 114, it is in the open position (see [reference]). Figure 30A As shown in the figure, the size of the gap space is largest in the area positioned at approximately 45 degrees relative to the rows and columns of the placed containers 12. Therefore, the fingers 214a-214d are also oriented at approximately 45 degrees relative to the rows and columns of the placed containers 12.

[0176] Now for reference Figure 47An alternative gripper device 176' is shown, which modifies the positioning of fingers 214a'-214d'. In this embodiment, fingers 214a'-214d' are positioned below jaw members 200a', 200b', such that they facilitate the clamping and proper alignment of the closed container 12. Similar features of the two embodiments of gripper devices 176, 176' are identified in the figures by the same reference numerals (reference numerals associated with features of the second embodiment of gripper device 176' are followed by apostrophes).

[0177] like Figure 49A and Figure 49B As shown, the corrugated mating surface 212' of this embodiment is specifically configured to resist vertical sliding between the closed container 12 and the jaw members 200a', 200b', which could lead to contamination or damage to the gripper device 176'. For example, if the closed container 12 is not aligned when the sidewall 22 of the closure 16 is gripped between the jaw members 200a', 200b', the closed container 12 may not be laterally aligned with the selected container slot 130, which could cause the bottom end 20 of the container 12 to contact the top surface of the support plate 124a of the container rack 114 when attempting to partially insert the closed container 12 into the selected container slot 130. Figure 19 (As shown in the diagram). Therefore, when the stand 174 is together with the proximity sensor 191 located above the jaw members 200a', 200b', Figure 15 , Figure 23A and Figure 24A As shown in the diagram, when the closed container 12 moves downward, it may vertically shift within the jaw members 200a' and 200b', which may cause the top surface 24 of the closure member 16 of the closed container 12 to forcefully contact the proximity sensor 191.

[0178] Specifically, such as Figure 48 , Figure 49A , Figure 49B and Figure 50 As best shown, the wavy mating surfaces 212' take the form of generally V-shaped recesses, which are mirror images of each other. Specifically, the wavy mating surfaces 212' of each jaw member 200a', 200b' include two generally straight surfaces 213a', 213b' that engage with each other through a circular portion 213c' of the wavy mating surfaces 212', which radiate from the wavy mating surfaces, such as... Figure 49A and Figure 49BAs shown in the optimal configuration, when the jaw members 200a' and 200b' are in the first closed position, the wavy engagement surfaces 212' of the jaw members 200a' and 200b' contact the sidewalls 22 of the closure member 16 at only four points 215a'-215d'. This is achieved by concentrating the clamping force (or contact pressure) applied by the jaw members 200a' and 200b' on the four contact points 215a'-215d' (as shown above). Figure 24B Vertical sliding is unlikely to occur when the bottom end 20 of the misaligned container 12 contacts the top surface of the support plate 124a of the container rack 114 (as opposed to the substantially continuous contact surface with a circular wavy engagement surface 212). Figure 19 As shown in the figure, vertical sliding is possible when attempting to insert the closed container 12 portion into the selected container slot 130.

[0179] like Figure 50 As shown, the lower horizontal flanges 206' are able to contact each other when the closed container 12 is not positioned between the jaw members 200a' and 200b', such that the wavy mating surface 212' defines an opening when the lower horizontal flanges 206' are in contact with each other.

[0180] like Figure 53 and Figure 54 As best shown, the corrugated mating surface 212' is knurled or toothed, such that each straight surface 213a', 213b' of the corrugated mating surface 212' includes a plurality of laterally oriented grooves 211'. The laterally oriented grooves 211' are located between and adjacent to the top and bottom surfaces of the horizontal flange 206', such that a lateral edge 215' is formed between adjacent lateral grooves 211' and between the lateral grooves 211' and the top and bottom surfaces of the horizontal flange 206'. When the jaw members 200a', 200b' are in the first closed position, the lateral edge 215' is designed to at least partially embed itself into the sidewall 22 of the closure member 16 (in a preferred embodiment, which is made of a soft plastic material such as high-density polyethylene (HDPE), thereby further reducing the possibility of vertical sliding between the closure member 16 and the jaw members 200a', 200b'. In the illustrated embodiment, each groove 211' has an arcuate cross-section with a suitable radius, for example, 1 mm. Although three transverse grooves 211' and four transverse edges 215' are shown, it should be understood that each straight surface 213a', 213b' of the corrugated mating surface 212' may have any number of transverse grooves 211' and at least one corresponding transverse edge 215'. Two straight surfaces 213a', 213b' of the same or opposite corrugated mating surfaces 212' may have the same or different numbers of transverse grooves 211'.

[0181] Each gripper device 176' also includes a plurality of fingers 214a'-214d', each of which hangs from the base 219' (in this case, the bottom surface of the lower horizontal flange 206') of one of the jaw members 200a', 200b', as... Figure 47 and Figure 53 As shown. When the jaw members 200a' and 200b' are in the first closed position, the fingers 214a'-214d' are configured to contact or approach the container 14 of the closed container 12 when the jaw members 200a' and 200b' grasp the side wall 22 of the closure member 16 of the closed container 12. Figure 49B and Figure 55 The best view is shown in the diagram. In this way, it helps to maintain the substantially vertical orientation of the closed container 12 (i.e., when the jaw members 200a', 200b' grip the sidewall 22 of the closure member 16, the fingers 214a'-214d' prevent vertical misalignment and possible rotation of the container 14). When the container 14 is centered between the fingers 214a'-214d', the distance between the fingers 214a'-214d' and the container 14 of the closed container 12 in the first closed position is preferably in the range of 0 (i.e., indicating contact with the container 14) to 0.25 mm. Within the range where the fingers 214a'-214d' contact the container 14 of the closed container 12 when the jaw members 200a', 200b' grip the side wall 22 of the closure member 16, it is likely preferable that the clamping force of the jaw members 200a', 200b' is greater than that of the fingers 214a'-214d', because the jaw members 200a', 200b' are generally less compliant (i.e., more laterally rigid) than the fingers 214a'-214d'.

[0182] exist Figure 47 In the illustrated embodiment, the gripper device 176' includes four fingers 214a'-214d', wherein two of the fingers 214a'-214d' hang from the base 219' of each of the jaw members 200a', 200b'. Figure 55 As best shown, in the illustrated embodiment, the fingers 214a'-214d' extend inwardly at the base 219' of the lower horizontal flange 206' so as to position the fingers 214a'-214d' in contact with or near contact with the container 14 of the closed container 12 when the jaw members 200a', 200b' grip the sidewall 22 of the associated closure member 16 of the closed container 12 in the first closed position. In the illustrated embodiment, when the jaw members 200a', 200b' are in the first closed position, the four fingers 214a'-214d' are circumferentially spaced from each other at approximately ninety degrees, but other circumferential spacings are taken into account.

[0183] like Figure 55As best shown, when the closure 16 is positioned between the fingers 214a'-214d' and below the lower horizontal flange 206', as the jaw members 200a', 200b' move from the open position (see... Figure 51 ) to the second closed position (see Figure 52 As they move laterally toward each other, the fingers 214a'-214d' are further configured to grip the sidewall 22 of the closure 16 below its top surface 24. When the jaw members 200a', 200b' are in the second closed position, the fingers 214a'-214d' grip the closure 16 and place the closed container 12 within the selected container slot 130 of the shelf 114.

[0184] The gripper device 176' may have any number of fingers 214', allowing the fingers 214' to securely grip the closure 16. In an alternative example, the gripper device 176' may include three fingers (one finger 214' hanging from the base 219' of one jaw member 200', and two fingers 214' hanging from the bottom surface of another jaw member 200'). In this example, when the jaw members 200a', 200b' are in the second closed position, the three fingers 214' may be circumferentially spaced about 120 degrees from each other. In another example, the gripper device 176' may include six fingers (three fingers hanging from the base 219' of each jaw member 200'). In this case, when the jaw members 200a', 200b' are in the second closed position, the six fingers 214' may be circumferentially spaced about sixty degrees from each other.

[0185] refer to Figure 53 , Figure 54 and Figure 56 Each of the fingers 214a'-214d' has an inner surface 216' that includes a lower region 218' (or contact surface 218') adjacent to the bottom surface (e.g., lower horizontal flange 206') of the corresponding jaw members 200a', 200b' and a recessed upper region 220'.

[0186] The contact surface 218' of each of the fingers 214a'-214d' is configured to engage the sidewall 22 of the closure 16 when the closure 16 is located below the base 219' of the jaw members 200a', 200b' and between the contact surfaces 218' of the fingers 214a'-214d'. In the illustrated embodiment, the fingers 214a'-214d' have a combined gripping force of at least one pound, and more preferably at least five pounds. In the illustrated embodiment, the contact surface 218' of each of the fingers 214a'-214d' is knurled or serrated to prevent the fingers 214a'-214d' from sliding on the sidewall 22 of the closure 16 if a reaction force is encountered when the gripper device 176' places the closed container 12 in the container slot 130. Figure 52 As shown, when the sidewall 22 of the closure 16 is gripped by the fingers 214a'-214d' in the second closed position, the contact surface 218' of each of the fingers 214a'-214d' can be oriented toward the axial center of the closure 16.

[0187] like Figure 56 As shown, the generally vertical recess 220' is configured such that when the contact surfaces 218' jointly grip the sidewall 22 below the edge of the closure 16 in the second closed position, there is no contact between the inner surfaces 216' of the fingers 214a'-214d' and the top surface 24 of the closure 16. This configuration ensures that contact between the gripper device 176' and the top surface 24' of the closure 16 is avoided.

[0188] In addition, such as Figure 52 As shown, the contact surfaces 218' of the fingers 214a'-214d' are arranged relative to the wavy engagement surfaces 212' of the jaw members 200a', 200b', such that if there is some sliding between the fingers 214a'-214d' and the gripped closure 16 when the jaw members 200a', 200b' are in the second closed position, there is sufficient space for the closure 16 to extend at least partially into the opening defined by the wavy engagement surfaces 212' of the jaw members 200a', 200b', without any contact between the top surface of the edge 26 of the closure 16 and the base 219' of the jaw members 200a', 200b'.

[0189] like Figure 54As shown, each of the fingers 214a'-214d' includes an outer surface 224 having a generally vertical upper region 226' and an inwardly tapered lower region 228'. When the jaw members 200a', 200b' grip the sidewall 22 of the closure member 16 in the first closed position, the tapered lower region 228' positions the contact surface 218' of the fingers 214a'-214d' in contact with or near contact with the container 14 of the closed container 12, such as... Figure 55 As best shown. Furthermore, as discussed above with respect to the fingers 214a-214d of the gripper device 176, the fingers 214a'-214d' of the gripper device 176' can be sized and arranged such that when the jaw members 200a', 200b' are in the second closed position and when the closed container 12 is placed in the slot 130 of the container rack 114, and when the jaw members 200a', 200b' move from the second closed position to the open position after placing the closed container 12 in the container slot 130, the fingers 214a'-214d' are positioned within the gap space defined by the closure 16 of the adjacent container 12 supported by the container rack 114. The same advantages apply when the fingers 214a'-214d' are lowered to grip the closed container 12 and remove the closed container from the container slot 130. In the event of some misalignment of the fingers 214a'-214d', and when the fingers 214a', 214b' contact the closure 16 of an adjacent container 12 positioned in a nearby container slot 130, the outer surface 224' of the fingers 214a'-214d' is shaped to slidably contact the edges 26 (not the top surface 24) of these adjacent closures 16, thereby allowing the grasped container 12 to continue moving downwards into the selected container slot 130. In this way, potential contamination contact between the fingers 214a'-214d' and the adjacent closures 16 can be minimized or avoided.

[0190] The fingers 214a'-214d' of the gripper device 176' may be made of a suitable rigid or semi-rigid material (such as stainless steel or polycarbonate) and may be integrally formed with the corresponding jaw members 200a', 200b' from which the fingers hang as a single unit, or they may be fastened to the corresponding jaw members 200a', 200b' using fasteners.

[0191] The structure and function of the automated sample processing system 10 have been described; now, in contrast to... Figure 31 An exemplary method 300 for operating a sample processing system 10 to process and store containers 12 is described. For the sake of brevity, the method 300 described below is relative to a single container 12, while the automated sample processing system 10 is capable of processing multiple containers 12 simultaneously.

[0192] First, the container 12 containing the untreated sample can be loaded into the loading (input) module 30a via a shelf (and other containers) (step 302). The container 12 containing the untreated sample is then transferred from the loading module 30a on the right inner loop 53a of the main conveyor line 48 (step 304). For example, a pick-and-place device (not shown) can remove the container 12 from the loading module 30a and insert it into an empty container carrier 62 fixed on the branch line 50 (which has previously been fed to the main conveyor line 48 via the container carrier feed module 30h and guided to the loading module 30a), and from there the container is transported to the main conveyor line 48, where the container continues to the left inner loop 53b or turns to the right inner loop 53a until space is available on the left inner loop 53a.

[0193] When the unprocessed container 12 is placed on the branch line 50 of the loading module 30a, the WMS software module 34 identifies the assay to be performed on the sample contained in the container 12 based on the encoded information read by a barcode reader (not shown) associated with the loading module 30a, and generates an assay-specific workflow for the container 12, including pre-analytical and post-analytical steps, such as centrifugation, decapping, aliquoting, capping, and storage (step 306). The specific workflow of the container 12 is transmitted from the WMS software module 34 to the conveyor controller 42, which controls the movement of the container 12 between modules 30 via the automated conveyor system 32 according to its workflow.

[0194] If container 12 is closed by a non-piercing closure (e.g., a non-piercing cap) 16b (see...) Figure 3B Under the control of the conveyor controller 42, container 12 is first guided to the cap removal module 30e, where the cap removal module 30e removes the non-pierceable closure 16b from container 12 (i.e., removes the cap from container 12) (step 308). For example, container 12 (along with container carrier 62) can be diverted from the main conveyor line 48 to a branch line 50 associated with the cap removal module 30e via the operation of the deflector 46. When container carrier 62 is fixed on branch line 50, container 12 is removed from container carrier 62 and transported to cap removal module 30e via a pick-and-place device (not shown), where the cap is removed and then inserted back into container carrier 62 fixed on branch line 50 via the pick-and-place device (not shown) for transport back to main conveyor line 48. Alternatively, cap removal module 30e can remove the cap from container 12 directly on main conveyor line 48 without removing container 12 from container carrier 62. If container 12 is closed by puncturable closure 16a (see...) Figure 3AIf there is no closure (e.g., container 12 is provided to the main conveyor line 48 without a closure or if the container has been previously uncapped), then under the control of the conveyor controller 42, container 12 continuously bypasses the uncapping module 30e (step 308).

[0195] Next, the WMS software module 34 determines whether there is at least one task for completing the workflow of container 12 (step 310). If there is no task for completing the workflow of container 12 (e.g., if any of the analyzer modules 30b required to complete the workflow is unavailable (e.g., if all the buffer queues (not shown) of the required analyzer modules 30b are full, or if the analyzer modules 30b lack the necessary reagents and consumables to perform the task)), then under the control of the conveyor controller 42, container 12 is recirculated on the right inner loop 53a of the main conveyor line 48 (e.g., by turning container 12 through straight line 52a via the operation of the deflector 46b), thereby continuing to circulate around the right inner loop 53a until at least one remaining task for completing the workflow of container 12 (e.g., one of the previously unavailable analyzer modules 30b becomes available) (step 312). If at least one of the tasks that can complete the workflow of container 12 (e.g., if at least one of the analyzer modules 30b required to complete the workflow is available), then container 12 is guided from the right inner loop 53a of the main conveyor line 48 to the left inner loop 53b (e.g., by bypassing the straight line 52a via the operation of the deflector 46b) (step 314).

[0196] Instead of loading container 12 into loading module 30a at step 302, the mother container (along with other mother containers) containing unprocessed samples can be manually loaded into sample transfer module 30c via a rack (step 303). In this case, sample transfer module 30c transfers equal portions of the samples contained in the mother container to at least one sub-container 12 (step 305). After transferring the samples from the mother container to the sub-container 12, the sub-container 12 can be capped by a closure (e.g., a piercing closure 16a). The sub-container 12 is then removed from sample transfer module 30c and placed in container carrier 62 located on branch line 50 associated with sample transfer module 30c to move container carrier 62 onto main conveyor line 48 (step 307). Container 12 can be removed from sample transfer module 30c and placed into container carrier 62 (which has previously been fed onto main conveyor line 48 via container carrier feed module 30h and guided to sample transfer module 30c) by a pick-and-place device (not shown).

[0197] When the unprocessed container 12 is guided to branch line 50 of sample transfer module 30c, WMS software module 34 identifies the assay to be performed on the sample contained in sub-container 12 based on the encoded information read by a barcode reader (not shown) associated with sample transfer module 30c, and generates an assay-specific workflow for container 12, including pre-analytical and post-analytical steps, such as centrifugation, aliquoting, storage, chaining tests, capping, etc. (step 307). The specific workflow of container 12 is transmitted from WMS software module 34 to conveyor controller 42, which controls the transport of sub-container 12 between modules 30 according to its workflow via automated conveyor system 32.

[0198] Regardless of whether container 12 is placed from loading module 30a onto the right inner loop 53a of main conveyor line 48 and guided to the left inner loop 53b of main conveyor line 48, or regardless of whether container 12 is placed directly from sample transfer module 30c onto the left inner loop 53b, under the control of conveyor controller 42, container 12 is guided to at least one available analyzer module 30b (which can perform the opening sequence associated with container 12), wherein the available analyzer module 30b analyzes the sample contained in container 12 (e.g., nucleic acid-based assays, sequencing reactions, immunoassays, chemical analyses, etc.) (step 316). For example, the container 12 (along with the container carrier 62) can be diverted from the left inner loop 53b of the main conveyor line 48 to a branch line 50 associated with the available analyzer module 30b via the operation of the deflector 46. The container is removed from the container carrier 62 fixed to the branch line 50 and transported to the available analyzer module 30b via a pick-and-place device (not shown), where the sample is analyzed. The container 12 is then inserted back into the container carrier 62 fixed to the branch line 50 via the pick-and-place device (not shown) for transport back to the left inner loop 53b of the main conveyor line 48. In each analyzer module 30b available for completing the workflow of the container 12, at least a portion of the sample from the container 12 is removed and analyzed by the analyzer module 30b. If container 12 is closed by a punctureable closure 16a, each analyzer module 30b includes a fluid extraction device (e.g., a robotic pipette) (not shown) configured to puncture the closure 16a (or penetrate a previously punctured closure 16a) and remove an aliquot of the sample from container 12.

[0199] Next, the conveyor controller 42 determines whether the workflow of container 12 has been completed, or if not, whether the number of times container 12 has circulated around the left inner loop 53b has exceeded a predetermined limit (step 318). If the workflow of container 12 has not been completed and the number of times container 12 has circulated around the left inner loop 53b has not exceeded the predetermined limit, then under the control of the conveyor controller 42, container 12 recirculates on the left inner loop 53b of the main conveyor line 48 (e.g., by turning container 12 through the straight line 52b via the operation of the deflector 46a), and repeats the circulation around the left inner loop 53b until the previously unavailable analyzer module 30b becomes available (step 320) (e.g., the analyzer module 30b is loaded with appropriate reagents and / or consumables).

[0200] If the workflow of container 12 has been completed or the number of times container 12 has circulated around the left inner loop 53b has exceeded a predetermined limit, then container 12 (if open) (e.g., container 12 has been provided to automated conveyor system 32 without closure 16b or closure 16b has been removed from container 12 by capping module 30e) can be guided by conveyor controller 42 to capping module 30f, wherein capping module 30f caps the open end of container 12 (e.g., inserts a new closure 16b into or screws it onto the open end of container 12) (step 322). For example, the container 12 (along with the container carrier 62) can be diverted from the left inner loop 53b of the main conveyor line 48 to the branch line 50 associated with the capping module 30f via the operation of the deflector 46. The container is then removed from the container carrier 62 fixed to the branch line 50 and transported to the capping module 30f via a pick-and-place device (not shown). The container is capped, and then inserted back into the container carrier 62 fixed to the branch line 50 via the pick-and-place device (not shown) for transport back to the left inner loop 53b of the main conveyor line 48. If the capping module 30f caps the container 12 directly on the main conveyor line 48, the container 12 does not need to be removed from the container carrier 62 and transported to the capping module 30f. If the container 12 is closed by a piercing closure 16a (see...), Figure 3A Then, under the control of the conveyor controller 42, the container 12 continuously bypasses the capping module 30f (step 322).

[0201] If the workflow of container 12 is not completed (or otherwise requires further testing at a future time), container 12 can be guided to container storage module 30d under the control of conveyor controller 42, where container storage module 30d stores container 12 in a refrigerated environment for a certain period of time (step 326). The container carrier 62 that previously carried container 12 can then be guided from unloading module 30g to container carrier feed module 30h for storage therein, or it can be used to receive container 12 from container storage module 30d. If it is determined that the sample contained in container 12 should be further tested before the expiration of a predetermined storage period (e.g., 5 days) (e.g., the associated workflow sequence has not been completed, retesting, chain testing, or testing of new analytes based on the results of initial testing), container 12 is transferred from container storage module 30d to the left inner loop 53b of main conveyor line 48, where the container is recirculated and guided to at least one available analyzer module 30b for sample analysis (step 320). This will be discussed below in relation to... Figure 32 Method 400 and Figure 33 Method 600 further details the transport of container 12 between main conveyor line 48 and container storage module 30d. Once the scheduled storage period has expired, the container rack 114 supporting container 12 can be manually removed from the front 116 of container storage module 30d through door 118 (step 330).

[0202] If the workflow of container 12 is complete (or otherwise does not require further testing at a future time), under the control of conveyor controller 42, container 12 can be guided from the left inner loop 53b to the unloading (output) module 30g on the right inner loop 53a of the main conveyor line 48 (e.g., by bypassing the straight-through line 52a via operation of deflector 46) (step 328). Container 12 (along with container carrier 62) can be deflected from the right inner loop 53a of the main conveyor line 48 to the branch line 50 associated with unloading module 30g via operation of deflector 46, removing the container from container carrier 62 fixed to branch line 50 and transporting the container to unloading module 30g via pick-and-place device (not shown) for insertion into container rack (not shown). The container rack supporting container 12 can then be manually removed from unloading module 30g (step 330). The empty container carrier 62 that previously carried container 12 can then be guided from unloading module 30g to loading module 30a or container carrier feeding module 30h for storage therein.

[0203] Now for reference Figure 32An exemplary method 400 for transporting a closed container 12 from a branch line 102 of an automated conveyor system 32 to a container storage module 30d for storage in a selected container slot 130 of a container rack 114 associated with one of the hierarchical 112 will now be described. It should be understood that although method 400 is described below with respect to only one closed container 12, multiple closed containers 12 can be transported individually to the container storage module 30d for storage. Therefore, the described method 400 can be repeated for each closed container 12 to transport it to and store it within the container storage module 30d. The exemplary method 400 initially assumes that the barcode reader assembly 104 has stopped the container carrier 62, rotated the container carrier 62 to make the barcode 28 associated with the closed container 12 readable, and fixed the container carrier 62 to facilitate the removal of the associated closed container 12 (see [link to documentation]). Figure 11 and Figure 12 ).

[0204] Input pickup and placement device 150a (see) Figure 8 , Figure 11 and Figure 16The closed container 12 is transported from the container carrier 62 fixed on the branch line 102 of the automated conveyor system 32 to the input pickup position associated with the selected level 112 (step 402). In the illustrated embodiment, this step is accomplished by: (i) vertically moving the bracket 166 of the input pickup and placement device 150a to a position adjacent to the branch line 104 (this step is not performed if the input pickup and placement device 150a is in its original position adjacent to the branch line 104); (ii) rotating the gripper 168 of the input pickup and placement device 150a outward to a second position offset from the back side 120 of the housing 108, thereby engaging the gripper 168 with the barcode reader assembly 104. (iii) Keep the fixed container carrier 62 vertically aligned; (iv) Lower the bracket 166 of the input pickup and placement device 150a until the gripper 168 is adjacent to the container 14 of the container 12 held by the fixed container carrier 62; (v) Grip the container 14 by the gripper 168 of the input pickup and placement device 150a; (v) Raise the bracket 166 of the input pickup and placement device 150a until the container 12 has been cleared from the fixed container carrier 62; (vi) Raise the gripper of the input pickup and placement device 150a. 168 is rotated inward to a first position adjacent to the back 120 of the housing 108; (vii) the bracket 166 of the input pickup and placement device 150a is raised to the selected level 112 (downward if the selected level 112 is below the branch line 104 and upward if the selected level 112 is above the branch line 104), such that the holder 168 is positioned above the input opening 122a associated with the selected level 112; (viii) the door 1 associated with the input opening 122a of the selected level 112 is opened. 23; (ix) moving the slider 170 of the container transport 152 laterally to a first position close to the input opening 122a, such that the input holder 172a extends through the input opening 122a at the input pick-up position; (x) moving the gripper 168 of the input pick-up and placement device 150a downward until the gripped container is fully inserted into the input holder 172a at the input pick-up position; and (xi) releasing the container 12 from the gripper 168 of the input pick-up and placement device 150a.

[0205] Next, container transporter 152 (see Figure 17 and Figure 18(Step 404) Move the closed container 12 from the input pick-up position to the input drop position located within the chamber 110 of the container storage module 30d. In the illustrated embodiment, this step is accomplished by: (i) moving the slider 170 of the container transport 152 laterally from a first position adjacent to the input opening 122a to a second position spaced apart from the input opening 122a until the input holder 172a is directly below the input drop position; (ii) moving the input holder 172a upward from the initial level to a drop position at a second higher level; and (iii) closing the door 123 associated with the input opening 122a.

[0206] Robotic transporter 154 associated with level 112 (see Figure 15 , Figure 17 and Figure 18 The closed container 12 is then transported from the input drop position to the selected container slot 130 of the container rack 114 and, in conjunction with the container insertion stop assembly 148, performs a two-step container insertion process to place the closed container 12 within the selected container slot 130 of the container rack 114 (step 406). Further details will now be described regarding the transport of the closed container 12 from the input drop position to the selected container slot 130 of the container rack 114, and the subsequent two-step container insertion process employed by the container insertion stop assembly 148 and the robotic transporter 154.

[0207] Now for reference Figure 33 An exemplary method 500, performed by a robotic transporter 154, will be described for transporting a closed container 12 from a pick-up position to a selected container slot 130 and for fully placing the closed container 12 within the selected container slot 130 for temporary storage within a container storage module 30d. Method 500 will be described using the gripper device 176 of the robotic transporter 154, but it should be understood that method 500 can use the gripper device 176' in the same manner. Exemplary method 500 assumes that when the robotic transporter 154 is in its original position, the jaw members 200a, 200b of the gripper device 176 are in the open position (see [link to documentation]). Figure 23A and Figure 23B When the container carrier 152's input holder 172a is fully contained within the chamber 110 of the container storage module 30d and positioned at the second higher level, the clamping device 176 is vertically aligned with the input placement position (in this case, when the input holder 172a of the container carrier 152 is fully contained within the chamber 110 of the container storage module 30d and positioned at the second higher level). Exemplary method 500 also assumes that the pin 160 of the container insertion stop assembly 148 associated with the vertical level 112 of the selected container slot 130 of the container rack 114 is in a second position below the base plate 124c of the container rack 114. As briefly discussed above, the position control subsystem 178 of the controller 156 (see...) Figure 20The XYZ movement of the gripper device 176 is controlled via the bench 174, and the gripper control subsystem 180 of the controller 156 (see...) Figure 20 The jaw components 200a and 200b of the control clamp device 176 are in the open position (see...). Figure 23A , Figure 23B , Figure 26A and Figure 26B ), first closed position (see Figure 24A and Figure 24B ) and second closed position (see Figure 27A and Figure 27B Movement between ).

[0208] The bracket 158 ​​of the container insertion stop assembly 148 moves laterally to vertically align the pin 160 of the container insertion stop assembly 148 with the selected container slot 130 (step 502), and raises the pin 160 to a first position within the selected empty container slot 130, which is preferably between the base plate 124c and the second support plate 124b of the container rack 114 (see [link]). Figure 19 This provides a depth insertion stop for the selected container slot 130 (step 504).

[0209] Lower the gripper device 176 of the robot transporter 154 until the jaw members 200a, 200b in the open position are vertically aligned with the side wall 22 of the closure 16 of the container 12 within the input retainer 172a of the container transporter 152 (i.e., side-by-side as used herein) (as indicated by the proximity sensor 191) (step 506). Figure 34 As shown. Next, the jaw members 200a and 200b are moved from the open position to the first closed position to grip the side wall 22 of the closure 16 of the container 12 through the jaw members 200a and 200b (step 508), as shown. Figure 35 As shown. In the illustrated embodiment, the jaw members 200a and 200b grip the sidewall 22 of the closure member 16 of the closed container 12 via the corrugated engagement surface 212 of the respective jaw members 200a and 200b (see...). Figure 24A and Figure 24B If clamping device 176' is used, fingers 214a'-214d' will contact or come into near contact with container 14 of closed container 12 to help vertically align closed container 12 (see [link]). Figure 47 , Figure 49A and Figure 49B ).

[0210] Next, when the jaw components 200a and 200b are in the first closed position, (i) the gripper device 176 is raised to remove the gripped container 12 from the input retainer 172a of the container transporter 152 (step 510), as follows. Figure 36 As shown; (ii) the gripper device is moved laterally to position the gripped container 12 so that it is vertically aligned with the selected container slot 130 of the container rack 114 (step 512), as shown. Figure 37 As shown; and lower the gripper device to partially insert the gripped container 12 into the selected container slot 130, i.e., until the bottom end 20 of the container 12 contacts the tip 164 of the pin 160 of the container insertion stop assembly 148 (step 514), as Figure 38 As shown. It should be understood that the jaw members 200a and 200b remain above the plane of the positioned container defined by the top surface 24 of the container 12, which is positioned in the adjacent container slot of the container rack 114 (e.g. Figure 21 (As shown).

[0211] Next, the jaw components 200a and 200b are moved from the first closed position to the open position to release the partially inserted container 12, as follows. Figure 39 As shown in step 516, the gripper device 176 is then raised until the fingers 214a-214d are laterally aligned with the sidewall 22 of the partially inserted container 12's closure 16 (as indicated by the proximity sensor 191). Figure 40 As shown in step 518. It is worth noting that when the jaw members 200a and 200b move from the first closed position to the open position, the pin 160 of the container insertion stop assembly 148 supports the partially inserted container 12 within the container slot 130. Then, the jaw members 200a and 200b are moved from the open position to the second closed position, causing the fingers 214a-214d to grasp the side wall 22 of the closure member 16, as shown. Figure 41 As shown (step 520). In the illustrated embodiment, the fingers 214a-214d grip the sidewall 22 of the closure 16 of the closed container 12 via the contact surface 218 of the respective fingers 214a-214d (see...). Figure 27A and Figure 27B It should be understood that although method 500 has been described as providing a depth insertion stop in the selected container slot 130 at steps 502-504 before removing container 12, either of the depth insertion stop steps 502 or 504 may be performed at any time before the partially inserted container 12 is released at step 516.

[0212] When the jaw members 200a and 200b are in the second closed position, the pin 160 of the container insertion stop assembly 148 is lowered to a second position below the base plate 124c of the container holder 114, thereby removing the depth insertion stop from the selected container slot 130 (step 522). Then, the gripper device 176 is lowered until the container 12 is gripped and placed within the selected container slot 130, i.e., until the bottom end 20 of the container 12 contacts the tapered opening 128c of the base plate 124c of the container holder 114, as shown. Figure 42 As shown (step 524). In the illustrated embodiment, the fingers 214a-214d are configured (i.e., sized and arranged) such that each of the fingers 214a-214d is located in a gap space 230 at least partially defined by a pair of adjacent containers 12 when the grasped container 12 is in the placement position, as shown. Figure 30B As shown. To avoid cross-contamination between containers 12, it is preferable that the fingers 214a-214d do not contact the closures 16 of adjacent containers 12, especially the top surface 24 of the closures 16, during steps 514-524. It should be understood that although method 500 has been described as removing the depth insertion stop from the selected container slot 130 at step 522, either the depth insertion stop step 502 or 504 can be performed at any time before the partially inserted container 12 is released at step 516.

[0213] Once the closed container 12 is positioned in the selected container slot 130, the gripper device 176 can be moved back to its original position. During this process, (i) the jaw members 200a, 200b move from the second closed position to the open position, thereby releasing the positioned container 12, as shown below. Figure 43 As shown in step 526; (ii) raise the gripper device 176 until the fingers 214a-214d are above the closure 16 of the container 12, as shown. Figure 44 (Step 528) and (iii) the gripper device 176 moves laterally until the gripper device 176 is vertically aligned with the input placement position (Step 530).

[0214] Now for reference Figure 45An exemplary method 600 for returning a closed and placed container 12 to a branch line 102 of an automated conveyor system 32 associated with a container storage module 30d will now be described. Although the method 600 described below is relative to a single closed container 12, it should be understood that multiple closed containers 12 can be transported individually from the container storage module 30d to the branch line 102, and therefore, the method 600 can be repeated for each of the multiple closed and placed containers 12 to transport them from the container storage module 30d to the branch line 102. The exemplary method 600 initially assumes that a stop feature 106 has been fixed in place of an empty container carrier 62 in which a closed container 12 will be disposed (see...). Figure 11 and Figure 14 ).

[0215] Using a two-step container removal process, the robotic transporter 154 associated with level 112 (see...) Figure 15 , Figure 17 and Figure 18 The closed container 12 is removed from the selected container slot 130 of the container rack 114, and the closed container is transported from the selected container slot 130 to the output pickup position (step 602). This will be explained below relative to... Figure 46 Method 700 further describes in detail the two-step container removal process employed by the robotic transporter 154, and further details the subsequent transport of the closed container 12 from the selected container slot 130 of the container rack 114 to the output pick-up location.

[0216] Next, container transporter 152 (see Figure 17 and Figure 18 (Step 604) Move the closed container 12 from the output pick-up position to the output drop position. In the illustrated embodiment, this step is accomplished by: (i) moving the output holder 172b of the container carrier 152 upward from the initial level to a second higher level at the output pick-up position; (ii) receiving the closed container 12 from the robot transporter 154; (iii) moving the output holder 172b downward from the second higher level to the initial level; (iv) opening the door 123 associated with the output opening 122b; and (v) moving the slider 170 of the container carrier 152 laterally from a second position spaced apart from the output opening 122b to a first position close to the output opening 122b, such that the output holder 172b extends through the output opening 122b at the output drop position.

[0217] Next, output the pick-up and place device 150b (see...) Figure 11 and Figure 16The closed container 12 is transported from the output drop position to the main conveyor 44 of the automated conveyor system 32 (in this case, the fixed container carrier 62 on the branch line 102) (step 606). In the illustrated embodiment, this step is accomplished by: (i) gripping the container 14 of the closed container 12 supported by the output retainer 172b using the gripper 168 of the output pickup and placement device 150b; (ii) moving the bracket 166 of the output pickup and placement device 150b upward, thereby removing the gripped container 12 from the output retainer 172b of the container carrier 152; (iii) moving the slider 104 of the container carrier 152 laterally from a first position close to the input opening 122a to a second position spaced apart from the output opening 122b, such that when the slider 170 is in the second position, the output retainer 172b of the container carrier 152 is fully retracted from the output opening 122b; (iv) closing the door 123 associated with the output opening 122b; (v) moving the bracket 166 of the output pickup and placement device 150b laterally to a level adjacent to the branch line 104 (if the output opening 122b is on the branch line 104). (vi) Rotate the gripper 168 of the output pickup and placement device 150b outward to a second position offset from the back 120 of the housing 108, such that the gripper 168 is directly above the fixed empty container carrier 62 held by the stop feature 106; (vii) Move the bracket 166 of the output pickup and placement device 150b downward, thereby inserting the gripped container 12 into the fixed container carrier. 62; (viii) releasing the container 12 from the grip of the clamp 168 of the output pickup and placement device 150b; (ix) raising the bracket 166 of the output pickup and placement device 150b so that the clamp 168 is positioned above the released container 12; and (x) returning the output pickup and placement device 150b to its original position by rotating the bracket 166 of the output pickup and placement device 150b inward toward the rear side 120 of the housing 108.

[0218] Now for reference Figure 44 This section describes an exemplary method 700 performed by a robotic transporter 154 to transport a closed and positioned container 12 from a selected container slot 130 of a container rack 114 to a delivery location. Exemplary method 700 assumes the robotic transporter 154 is in its original position (described above relative to method 500). As briefly discussed above, the position control subsystem 178 of controller 156 (see...) Figure 20 The XYZ movement of the gripper device 176 is controlled via the bench 174, and the gripper control subsystem 180 of the controller 156 (see...) Figure 20 The jaw components 200a and 200b of the control clamp device 176 are in the open position (see...). Figure 23A , Figure 23B , Figure 26A and Figure 26B ), first closed position (see Figure 24A and Figure 24B ) and second closed position (see Figure 27A and Figure 27B Movement between ).

[0219] The container insertion stop assembly 148 is moved laterally to vertically align the pin 160 of the container insertion stop assembly 148 with the selected container slot 130 (step 702). The gripper device 176 is moved laterally to position the fingers 214a-214d vertically aligned with the selected container slot 130 of the container rack 114, such that the fingers 214a-214d are positioned above the closed and placed container 12, as shown. Figure 44 As shown (step 704). With jaw members 200a, 200b in the open position, the gripper device 176 is then lowered until the fingers 214a-214d are laterally aligned with the side wall 22 of the closure 16 of the closed and positioned container 12 (as indicated by proximity sensor 191), as shown. Figure 43 As shown (step 706). In the illustrated embodiment, the fingers 214a-214d are configured (i.e., sized and arranged) such that each of the fingers 214a-214d is located in a gap space 230 at least partially defined by a pair of adjacent containers 12 when the grasped container 12 is in the placement position, as shown. Figure 30B As shown.

[0220] Next, the jaw components 200a and 200b are moved from the open position to the second closed position, so that the side wall 22 of the closure 16 with the container 12 placed thereon is gripped by the fingers 214a-214d, as... Figure 42 As shown (step 708). In the illustrated embodiment, the fingers 214a-214d grip the sidewall 22 of the closure 16 of the closed container 12 via the contact surface 218 of the respective fingers 214a-214d (see...). Figure 27A and Figure 27B Raise the gripper device 176 to release the gripped container 12 and partially remove it from the selected container slot 130, as shown. Figure 41 As shown (step 710). The container is raised to a first position within the selected empty container slot 130 between the base plate 124c and the second support plate 124b of the container holder 114 by the pin 160 of the stop assembly 148 (see...). Figure 19 This supports the partially removed container 12 in the selected container slot 130 (step 712). Then, the jaw members 200a, 200b are moved from the second closed position to the open position to release the partially removed container 12, as shown... Figure 40 As shown in step 714. In an alternative embodiment, instead of steps 704-714, the pin 160 is raised to a first position within the selected container slot 130 between the base plate 124c and the second support plate 124b to force the fully positioned container 12 upward in the selected container slot 130, thereby partially removing the container 12 from the selected container slot 130.

[0221] In any embodiment, the gripper device 176 is lowered until the jaw members 200a, 200b are laterally aligned with the sidewall 22 of the partially removed container 12's closure 16 (as indicated by the proximity sensor 191). Figure 39 As shown in step 716. Then, the jaw members 200a and 200b are moved from the open position to the first closed position to grip the side wall 22 of the closure member 16 of the closed container 12, as shown. Figure 38 As shown (step 718). In the illustrated embodiment, the jaw members 200a, 200b grip the sidewall 22 of the closure member 16 of the closure container 12 via the wavy mating surfaces 212 of the respective jaw members 200a, 200b (see...). Figure 24A and Figure 24B If clamping device 176' is used, fingers 214a'-214d' will contact or come into near contact with container 14 of closed container 12 to help vertically align closed container 12 (see [link]). Figure 47 , Figure 49A and Figure 49B When the jaw members 200a and 200b are in the first closed position (or after removing the container 12), the pin 160 of the container insertion stop assembly 148 can be lowered to a second position below the base plate 124c of the container holder 114 (step 720). Then, the gripper device 176 is raised to completely remove the gripped container 12 from the selected container slot 130, as... Figure 37 As shown in step 722.

[0222] Next, the gripper device 176 is moved laterally to position the gripped container 12 so that it is vertically aligned with the output retainer 172b of the container transporter 152, as follows: Figure 36 As shown in step 724. The gripper device is then lowered to insert the gripped container 12 into the output retainer 172b of the container transporter 152, as... Figure 35 As shown in step 726. Finally, the jaw members 200a and 200b are moved from the first closed position to the open position to release the inserted container 12, as shown. Figure 34 As shown in step 728.

[0223] After releasing the inserted container 12, the gripper device 176 can then be moved back to its original position. During this process, (i) the gripper device 176 is raised until the fingers 214a-214d are above the closure 16 of the placed container 12, as shown. Figure 44 (i) As shown in step 730; and (ii) the gripper device 176 moves laterally until the gripper device 176 is vertically aligned with the input drop position (step 732).

[0224] Example

[0225] The implementation scheme described herein may cover or achieve one or more of the following features and beneficial effects.

[0226] Implementation Scheme 1. A gripper device configured to grip a closed container having a container and a closure attached to an open top of the container, the gripper device comprising: opposing jaw members laterally movable relative to each other between an open position, a first closed position, and a second closed position, the jaw members being configured to grip the sidewall of the closure of the closed container in the first closed position when the closure of the closed container is located between the jaw members, and the jaw members being configured to grip the sidewall of the closure of the closed container in the open position. The closure is released at a certain position; and a plurality of fingers, each of the jaw members having at least one of the plurality of fingers hanging down from its base, wherein the plurality of fingers are configured to grip the sidewall of the closure below its top surface when the closure is (i) between the plurality of fingers and (ii) below the base of each of the jaw members, and wherein the plurality of fingers grip the sidewall of the closure at the second closed position.

[0227] Implementation Scheme 2. The gripper device according to Implementation Scheme 1, wherein the jaw member is configured to grip the sidewall of the closure member at the first closed position.

[0228] Implementation Scheme 3. The gripper device according to Implementation Scheme 2, wherein the plurality of fingers are configured to contact or approach the container when the jaw member grips the sidewall of the closure in the first closed position.

[0229] Implementation Scheme 4. The gripper device according to Implementation Scheme 3, wherein the plurality of fingers are configured to contact the container when the jaw member grips the sidewall of the closure in the first closed position.

[0230] Implementation Scheme 5. The gripper device according to Implementation Scheme 3, wherein when the container is centered among the plurality of fingers, each of the plurality of fingers is within 0.25 mm of the container.

[0231] Implementation Scheme 6. The gripper device according to any one of Implementation Schemes 1 to 5, wherein each of the jaw members has a wavy engagement surface for gripping the sidewall of the closure, and wherein the closure and the container each have a cylindrical shape.

[0232] Implementation Scheme 7. The clamping device according to Implementation Scheme 6, wherein the wavy engagement surface of each of the jaw members is a circular recess, and wherein the wavy engagement surfaces are mirror images of each other.

[0233] Implementation Scheme 8. The clamping device according to Implementation Scheme 6, wherein the wavy engagement surface of each of the jaw members is a V-shaped recess, and wherein the wavy engagement surfaces are mirror images of each other.

[0234] Implementation Scheme 9. The clamping device according to any one of Implementation Schemes 6 to 8, wherein the wavy engagement surface of each of the jaw members includes a plurality of laterally oriented grooves, and wherein each pair of adjacent grooves forms a lateral edge.

[0235] Implementation Scheme 10. The clamping device according to any one of Implementation Schemes 6 to 9, wherein the jaw members are capable of contacting each other in the absence of the closed container located between the jaw members, and wherein the wavy mating surface defines an opening when the jaw members are in contact with each other.

[0236] Implementation Scheme 11. The clamping device according to Implementation Scheme 10, wherein when the closed container is located between the jaw members and the jaw members are in the first closed position, the jaw members do not contact each other.

[0237] Implementation Scheme 12. The gripper device according to any one of Implementation Schemes 1 to 11, wherein each of the jaw members has two or more of the plurality of fingers hanging from its base.

[0238] Implementation Scheme 13. The gripper device according to Implementation Scheme 12, wherein each of the jaw members has only two of the plurality of fingers hanging down from its base.

[0239] Implementation Scheme 14. The gripper device according to any one of Implementation Schemes 1 to 13, wherein each of the plurality of fingers includes an inner surface having a contact surface configured to engage the sidewall of the closure member at a second closed position when the closure member is located (i) below the base of each of the jaw members and (ii) between the plurality of fingers.

[0240] Implementation Scheme 15. The gripper device according to Implementation Scheme 14, wherein the contact surface of each of the plurality of fingers is knurled.

[0241] Implementation Scheme 16. The gripper device according to Implementation Scheme 14 or 15, wherein when the sidewall of the closure is gripped by the plurality of fingers in the second closed position, the contact surface of each of the plurality of fingers is oriented toward the axial center of the closure.

[0242] Implementation Scheme 17. The gripper device according to any one of Implementation Schemes 14 to 16, wherein the inner surface of each of the plurality of fingers includes a recess located adjacent to and above the contact surface, the recess being configured such that there is no contact between the recess and the closure member in the second closed position.

[0243] Implementation Scheme 18. The gripper device according to Implementation Scheme 17, wherein the upper region of the inner surface of each of the plurality of fingers is inclined inward from the recess toward the base of one of the jaw members, such that when the sidewall of the closure is gripped by the plurality of fingers in the second closed position, at least a portion of the upper region of the inner surface is located directly above the top surface of the closure.

[0244] Implementation Scheme 19. The gripper device according to any one of Implementation Schemes 1 to 18, wherein each of the plurality of fingers includes an outer surface having a generally vertical upper region and a tapered lower region.

[0245] Implementation Scheme 20. The gripper device according to any one of Implementation Schemes 1 to 19, wherein the plurality of fingers have a gripping force of more than one pound.

[0246] Implementation Scheme 21. The clamping device according to any one of Implementation Schemes 1 to 20 further includes a proximity sensor located above the jaw member for detecting the position of the closed container relative to the jaw member.

[0247] Implementation Scheme 22. A robotic transporter comprising: a gripper device according to any one of embodiments 1 to 21; and a platform operably supporting the gripper device and configured to provide XYZ movement to the gripper device.

[0248] Implementation Scheme 23. A gripper device configured to grasp a closed container, comprising: a pair of opposing, translationally movable support members; and a plurality of fingers hanging from the support members, each of the support members having at least one of the plurality of fingers hanging therefrom, and each of the plurality of fingers including an inner surface having a generally vertical lower region and a recess located between the generally vertical lower region and the corresponding support member.

[0249] Implementation Scheme 24. The clamping device according to Implementation Scheme 23 further includes an upper region located between each recess and the corresponding support member, wherein the upper region is inclined inward.

[0250] Implementation Scheme 25. The clamping device according to Implementation Scheme 24, wherein each of the support members has two or more of the plurality of fingers hanging therefrom.

[0251] Implementation Scheme 26. The clamping device according to Implementation Scheme 25, wherein each of the support members has only two of the plurality of fingers hanging therefrom.

[0252] Implementation Scheme 27. The gripper device according to any one of Implementation Schemes 23 to 26, wherein the generally vertical lower region of the inner surface of each of the plurality of fingers is knurled.

[0253] Implementation Scheme 28. The gripper device according to any one of Implementation Schemes 23 to 27, wherein each of the plurality of fingers includes an outer surface having a generally vertical upper region and a tapered lower region.

[0254] Implementation Scheme 29. The gripper device according to any one of Implementation Schemes 23 to 28, wherein the plurality of fingers are configured such that the vertically lower region of the inner surface of each of the plurality of fingers contacts the cylindrical surface of an object gripped by the plurality of fingers.

[0255] Implementation Scheme 30. The gripper device according to any one of Implementation Schemes 23 to 29, wherein the plurality of fingers have a gripping force of more than one pound.

[0256] Implementation Scheme 31. A closed container gripped by a gripper device according to any one of Implementation Schemes 23 to 30, wherein the closed container includes a container and a closure attached to an open top end of the container, and wherein the closure is gripped between a plurality of fingers, wherein the lower region of the inner surface of each finger contacts a sidewall of the closure below the top surface of the closure.

[0257] Implementation Scheme 32. The closed container according to Implementation Scheme 31, wherein the top surface of the closure is puncturable.

[0258] Implementation Scheme 33. The closed container according to Implementation Scheme 32, wherein the top surface of the closure has been punctured.

[0259] Implementation Scheme 34. A method of gripping a closed container by a gripper device according to any one of Implementation Schemes 23 to 30, wherein the closed container includes a container and a closure attached to an open top of the container, and wherein the method includes: positioning the support member such that a lower region of the inner surface of each finger is aligned with a sidewall of the closure; and translating the support member toward each other to grip the closure between the plurality of fingers, wherein the lower region of the inner surface of each finger contacts the sidewall of the closure below the top surface of the closure.

[0260] Implementation Scheme 35. A robotic transporter comprising: a gripper device according to any one of Implementation Schemes 23 to 30; and a platform operably supporting the gripper device and configured to provide XYZ movement to the gripper device.

[0261] Implementation Scheme 36. A container storage module comprising: a housing defining a chamber; a plurality of vertically spaced levels contained within the chamber, each of the levels being configured to support one or more container racks; and a plurality of robotic handlers, each of the robotic handlers being operatively associated with one of the levels, and each of the robotic handlers being a robotic handler according to Implementation Scheme 22 or 35.

[0262] Implementation Scheme 37. The container storage module according to Implementation Scheme 36, wherein the front portion of the housing includes one or more pairs of doors for accessing the level.

[0263] Implementation Scheme 38. The container storage module according to Implementation Scheme 36 or 37, wherein the back of the housing includes one or more openings configured to receive a container passing through it.

[0264] Implementation Scheme 39. The container storage module according to Implementation Scheme 38 further includes a pick-up and place device associated with each of the one or more openings, for gripping the container and transporting the container through the respective opening and into the housing.

[0265] Implementation Scheme 40. The container storage module according to Implementation Scheme 39 further includes a container transporter associated with at least one of the openings, the container transporter being configured to receive a single container from the respective pick-up and place device and to transport the container to a plurality of different pick-up locations, each of the pick-up locations being associated with one of the plurality of levels of the container storage module, and the container being accessible at each of the pick-up locations by an associated one of the plurality of robotic transporters.

[0266] Implementation Scheme 41. The container storage module according to any one of Implementation Schemes 36 to 40, wherein at least one of the layers supports a container rack that holds a plurality of containers in a linear row.

[0267] Implementation Scheme 42. The container storage module according to any one of Implementation Schemes 36 to 41, wherein the chamber is cooled.

[0268] Implementation Scheme 43. An automated sample processing system comprising: a container storage module according to any one of embodiments 36 to 42; an analyzer for analyzing a sample contained within the container; and a conveyor for transporting the container between the analyzer and the container storage module on a carrier for supporting the container in an upright orientation.

[0269] Implementation Scheme 44. The automated sample processing system according to Implementation Scheme 43 further includes a capping module for closing the top of the container by means of a closure after the sample contained in the container has been processed in the analyzer, wherein the capping module is positioned along the conveyor and between the analyzer and the container storage module.

[0270] Implementation Scheme 45. The automated sample processing system according to Implementation Scheme 44 further includes a cap removal module for removing the closure from the container before processing the sample in the analyzer, the cap removal module being positioned along the conveyor before the analyzer.

[0271] Implementation Scheme 46. The automated sample processing system according to any one of Implementation Schemes 43 to 45 further includes a stop feature configured to maintain the carrier in a stationary position on the conveyor at a location adjacent to the container storage module.

[0272] Implementation Scheme 47. An automated sample processing system according to any one of Implementation Schemes 43 to 46, wherein a magnetic attraction between the carrier and the conveyor is used to propel the carrier.

[0273] Implementation Scheme 48. A method for transferring a closed container from a pickup position to a container rack contained within a housing of a container storage module using a robotic transporter according to Implementation Scheme 22, the method comprising the steps of: (a) at the pickup position, moving the jaw member of a gripper device from an open position to a first closed position to grip the closed container, wherein the closed container is supported by a container holder at the pickup position; (b) when the jaw member is in the first closed position: (i) removing the container from the container holder; (ii) positioning the container in relation to a container rack contained within a container storage module. The slot is vertically aligned, and the container slot is configured to receive a closed container and support the closed container in an upright orientation; and (iii) the closed container portion is inserted into the container slot; (c) after steps (b) and (iii), the jaw member is moved from a first closed position to an open position; (d) the jaw member is raised until a plurality of fingers are laterally aligned with the sidewall of the closure of the closed container; (e) the jaw member is moved from an open position to a second closed position until the plurality of fingers engage the sidewall of the closure; and (f) when the jaw member is in the second closed position, the clamping device is lowered until the closed container is placed in the container slot.

[0274] Implementation Scheme 49. The method according to Implementation Scheme 48 further includes, after placing the closed container in the container slot of the container rack: (g) moving the jaw member to the open position; (h) raising the jaw member until the plurality of fingers are above the closed container; and (i) moving the gripper device to the pick-up position.

[0275] Implementation Scheme 50. The method according to Implementation Scheme 48 or 49, wherein the container rack includes a plurality of container slot rows for receiving containers, and wherein, during step (f), the fingers are configured such that when the closed container is placed in the container slot, each of the plurality of fingers is located in the gap space between a pair of adjacent containers.

[0276] Implementation Scheme 51. The method according to any one of Implementation Schemes 48 to 50, wherein the container holder is a component of the container transporter.

[0277] Implementation Scheme 52. The method according to Implementation Scheme 51 further includes, prior to step (a), transporting the closed container from a container carrier positioned on a conveyor located outside the container storage module to the container holder, wherein the container holder is positioned at a drop position located outside the housing of the container storage module.

[0278] Implementation Scheme 53. The method according to Implementation Scheme 52, wherein the closed container is transported from the container carrier to the container holder using a pick-and-place device.

[0279] Implementation Scheme 54. The method according to Implementation Scheme 52 or 53 further includes, prior to step (a), a step of moving the container transporter within the container storage module such that the closed container is transported from the drop position to the pick-up position.

[0280] Implementation Scheme 55. The method according to any one of Implementation Schemes 48 to 54, wherein each of the plurality of fingers grips the sidewall of the closure at a position below the edge of the closure such that there is no contact between any of the plurality of fingers and the top surface of the closure during the method.

[0281] Implementation Scheme 56. The method according to any one of Implementation Schemes 48 to 55 further includes the step of transferring the closed container from the analyzer to the container storage module on a track connecting the analyzer and the container storage module, wherein the closed container is supported by the container carrier in an upright orientation during the transfer step.

[0282] Implementation Scheme 57. The method according to Implementation Scheme 56 further includes the steps of piercing the closure with a pipette in the analyzer and removing the sample from the closed container with the pipette.

[0283] Implementation Scheme 58. The method according to any one of Implementation Schemes 48 to 56 further includes the step of providing a depth insertion stop to the container slot such that the depth insertion stop supports the partially inserted container within the container slot during step (c).

[0284] Implementation Scheme 59. The method according to Implementation Scheme 58 further includes the step of removing the insertion stop from the container slot between steps (e) and (f).

[0285] Implementation Scheme 60. A method for placing a closed container in a container slot using a gripper device according to any one of embodiments 1 to 21, the method comprising: gripping the closure of the closed container between jaw members, wherein the jaw members are in a first closed position; extending an insertion stop pin partially from the bottom end of the container slot into the container slot; lowering the jaw members and the closed container gripped therein relative to the container slot until the closed container is partially inserted into the container slot, wherein the bottom end of the closed container is located above the bottom end of the container slot within the container slot; moving the jaw members from the first closed position to an open position to release the closed container, wherein the closed container is held in the partially inserted position within the container slot by the insertion stop pin; and causing... The jaw member is raised relative to the partially inserted closed container until the plurality of fingers are laterally aligned with the sidewall of the closure of the closed container; the jaw member is moved from an open position to a second closed position to grip the closure of the closed container between the fingers; the insertion stop pin is withdrawn from the container slot; the jaw member and the closed container gripped by the plurality of fingers are lowered relative to the container slot until the closed container is fully inserted into the container slot, wherein the bottom end of the closed container is located at the bottom end of the container slot; the jaw member is moved from the second closed position to an open position to release the closed container; and the jaw member and the plurality of fingers are raised relative to the container slot and the closed container disposed therein until the jaw member and the plurality of fingers are above the top surface of the closure.

[0286] Implementation Scheme 61. A method for removing a closed container from a container slot using a gripper device according to any one of embodiments 1 to 21, the method comprising: gripping the closure of the closed container between a plurality of fingers, wherein the jaw member is in a second closed position, wherein the bottom end of the closed container is located at the bottom end of the container slot, and the closure of the closed container is at least partially located above the container slot; raising the jaw member and the closed container gripped by the plurality of fingers relative to the container slot until the closed container is partially removed from the container slot, wherein the bottom end of the closed container is located at the bottom end of the container slot within the container slot. Above; extending the insertion stop pin partially into the container slot from the bottom end; moving the jaw member from the second closed position to the open position to release the closed container, wherein the closed container is held in the partially removed position within the container slot by the insertion stop pin; lowering the jaw member relative to the partially removed closed container until the jaw member is laterally aligned with the sidewall of the closure of the closed container; moving the jaw member from the open position to the first closed position to grip the closure of the closed container between the jaw members; and raising the jaw member and the closed container gripped therein relative to the container slot until the bottom end of the closed container is above the container slot.

[0287] This disclosure has been described and illustrated in considerable detail with reference to certain illustrative embodiments. Those skilled in the art will readily understand that other embodiments, as well as variations and modifications of the disclosed embodiments, are included within the scope of this disclosure. The description of the disclosed embodiments, combinations, and sub-combinations is not intended to imply that this disclosure requires features or combinations of features other than those expressly recited in the claims. Therefore, this disclosure is considered to encompass all modifications and variations covered within the spirit and scope of the appended claims.

Claims

1. A gripper device configured to grip a closed container having a container and a closure attached to an open top of the container, the gripper device comprising: The relative jaw members are configured to move vertically between a first vertical position and a second vertical position above the first vertical position, and to move laterally between an open position and a first closed position when the jaw members are in the first vertical position, and to move laterally between an open position and a second closed position when the jaw members are in the second vertical position. The jaw members are configured to grip the sidewall of the closure of the closed container at the first closed position when the jaw members are in the first vertical position and the closure of the closed container is located between the jaw members, and the jaw members are configured to release the closed container at the open position. and a plurality of fingers, each of the jaw members having at least one of the plurality of fingers that hangs downward from its base and is movable together with the associated jaw member, wherein the plurality of fingers are configured to grip the sidewall of the closure below the top surface of the closure when the jaw members are in the second vertical position and the closure is located (i) between the plurality of fingers and (ii) below the base of each of the jaw members, and the jaw members move laterally toward each other from the open position, and wherein the plurality of fingers grip the sidewall of the closure when the jaw members are in the second closed position.

2. The gripper device of claim 1, wherein the plurality of fingers are configured to contact or approach the container when the jaw members grip the sidewall of the closure in the first closed position.

3. The gripper device of claim 2, wherein the plurality of fingers are configured to contact the container when the jaw members grip the sidewall of the closure in the first closed position.

4. The gripper device of claim 2, wherein when the container is centered among the plurality of fingers, each of the plurality of fingers is within 0.25 mm of the container.

5. The gripper device according to any one of claims 1 to 4, wherein each of the jaw members has a wavy engagement surface for gripping the sidewall of the closure, and wherein the closure and the container each have a cylindrical shape.

6. The gripper device of claim 5, wherein the wavy engagement surface of each of the jaw members is a circular recess, and wherein the wavy engagement surfaces are mirror images of each other.

7. The gripper device of claim 5, wherein the wavy engagement surface of each of the jaw members is a V-shaped recess, and wherein the wavy engagement surfaces are mirror images of each other.

8. The gripper device of claim 5, wherein the wavy engagement surface of each of the jaw members comprises a plurality of laterally oriented grooves, and wherein each pair of adjacent grooves forms a lateral edge.

9. The clamping device of claim 5, wherein the jaw members are capable of contacting each other in the absence of the closed container located between the jaw members, and wherein the wavy mating surface defines an opening when the jaw members are in contact with each other.

10. The clamping device of claim 9, wherein when the closed container is located between the jaw members and the jaw members are in the first closed position, the jaw members do not contact each other.

11. The gripper device according to any one of claims 1 to 4, wherein each of the jaw members has two or more of the plurality of fingers hanging downward from its base.

12. The gripper device of claim 11, wherein each of the jaw members has only two of the plurality of fingers hanging downward from its base.

13. The gripper device according to any one of claims 1 to 4, wherein each of the plurality of fingers includes an inner surface having a contact surface configured to engage the sidewall of the closure member at a second closed position when the closure member is located (i) below the base of each of the jaw members and (ii) between the plurality of fingers.

14. The gripper device of claim 13, wherein the contact surface of each of the plurality of fingers is knurled.

15. The gripper device of claim 13, wherein when the sidewall of the closure is gripped by the plurality of fingers in the second closed position, the contact surface of each of the plurality of fingers is oriented toward the axial center of the closure.

16. The gripper device of claim 13, wherein the inner surface of each of the plurality of fingers includes a recess adjacent to and positioned above the contact surface, the recess being configured such that there is no contact between the recess and the closure member in the second closed position.

17. The gripper device of claim 16, wherein the upper region of the inner surface of each of the plurality of fingers is inclined inward from the recess toward the base of one of the jaw members, such that when the sidewall of the closure is gripped by the plurality of fingers in the second closed position, at least a portion of the upper region of the inner surface is located directly above the top surface of the closure.

18. The gripper device according to any one of claims 1 to 4, wherein each of the plurality of fingers includes an outer surface having a generally vertical upper region and a tapered lower region.

19. The gripper device according to any one of claims 1 to 4, wherein the plurality of fingers have a gripping force of more than one pound.

20. The gripper device according to any one of claims 1 to 4, further comprising a proximity sensor located above the jaw member for detecting the position of the closed container relative to the jaw member.

21. A robotic transporter, comprising: The clamping device according to any one of claims 1 to 20; and a stand, the stand being operable to support the gripper device and configured to provide XYZ movement to the gripper device.

22. A gripper device configured to grasp a closed container, comprising: A pair of opposing, translationally movable support members; and a plurality of fingers hanging down from the support member, each of the support members having at least one of the plurality of fingers hanging down therefrom, and each of the plurality of fingers including an inner surface having a generally vertical lower region and a recess located between the generally vertical lower region and the corresponding support member.

23. The clamping device of claim 22 further includes an upper region located between each recess and the corresponding support member, wherein the upper region is inclined inward.

24. The clamping device of claim 23, wherein each of the support members has two or more of the plurality of fingers hanging downward therefrom.

25. The clamping device of claim 24, wherein each of the support members has only two of the plurality of fingers hanging downward therefrom.

26. The gripper device according to any one of claims 22 to 25, wherein the generally vertical lower region of the inner surface of each of the plurality of fingers is knurled.

27. The gripper device according to any one of claims 22 to 25, wherein each of the plurality of fingers includes an outer surface having a generally vertical upper region and a tapered lower region.

28. The gripper device according to any one of claims 22 to 25, wherein the plurality of fingers are configured such that the vertically lower region of the inner surface of each of the plurality of fingers contacts the cylindrical surface of an object gripped by the plurality of fingers.

29. The gripper device according to any one of claims 22 to 25, wherein the plurality of fingers have a gripping force of more than one pound.

30. A closed container gripped by a gripper device according to any one of claims 22 to 29, wherein the closed container comprises a container and a closure attached to an open top end of the container, and wherein the closure is gripped between the plurality of fingers, wherein the lower region of the inner surface of each finger contacts a sidewall of the closure below the top surface of the closure.

31. The closed container of claim 30, wherein the top surface of the closure is puncturable.

32. The closed container of claim 31, wherein the top surface of the closure has been punctured.

33. A method of gripping a closed container using a gripper device according to any one of claims 22 to 29, wherein the closed container comprises a container and a closure attached to an open top of the container, and wherein the method comprises: Position the support member such that the lower region of the inner surface of each finger is aligned with the sidewall of the closure; And to translate the support members toward each other so as to grip the closure between the plurality of fingers, wherein the lower region of the inner surface of each finger contacts the sidewall of the closure below the top surface of the closure.

34. A robotic transporter, comprising: The clamping device according to any one of claims 22 to 29; and a stand, the stand being operable to support the gripper device and configured to provide XYZ movement to the gripper device.

35. A container storage module, comprising: The outer casing defines a cavity; A plurality of vertically spaced levels contained within a cavity, each of the levels being configured to support one or more container racks; and a plurality of robotic transporters, each of the robotic transporters being operatively associated with one of the levels, and each of the robotic transporters being a robotic transporter according to claim 21 or 34.

36. The container storage module of claim 35, wherein the front portion of the housing includes one or more pairs of doors for accessing the hierarchy.

37. The container storage module of claim 35 or 36, wherein the back of the housing includes one or more openings configured to receive a container passing through it.

38. The container storage module of claim 37, further comprising a pick-up and place device associated with each of the one or more openings for gripping the container and transporting the container through the respective opening and into the housing.

39. The container storage module of claim 38, further comprising a container transporter associated with at least one of the openings, the container transporter being configured to receive a single container from the respective pick-up and place device and to transport the container to a plurality of different pick-up locations, each of the pick-up locations being associated with one of the plurality of levels of the container storage module, and the container being accessible at each of the pick-up locations by an associated one of the plurality of robotic transporters.

40. The container storage module of claim 35 or 36, wherein at least one of the levels supports a container rack that holds a plurality of containers in a linear row.

41. The container storage module of claim 35 or 36, wherein the chamber is cooled.

42. An automated sample processing system, comprising: The container storage module according to any one of claims 35 to 41; An analyzer for analyzing samples contained within a container; and a conveyor for transporting the container between the analyzer and the container storage module on a carrier for supporting the container in an upright orientation.

43. The automated sample processing system of claim 42 further includes a capping module for closing the top of the container by means of a closure after the sample contained in the container has been processed in the analyzer, wherein the capping module is positioned along the conveyor and between the analyzer and the container storage module.

44. The automated sample processing system of claim 43 further includes a cap removal module for removing a closure from the container before processing the sample in the analyzer, the cap removal module being positioned along the conveyor before the analyzer.

45. The automated sample processing system according to any one of claims 42 to 44, further comprising a stopping feature configured to maintain the carrier in a stationary position on the conveyor at a location adjacent to the container storage module.

46. ​​The automated sample processing system according to any one of claims 42 to 44, wherein the magnetic attraction between the carrier and the conveyor is used to propel the carrier.

47. A method for transferring a closed container from a pickup position to a container rack contained within a housing of a container storage module using a robotic transporter according to claim 21, the method comprising the steps of: (a) At the pick-up position, the jaw member of the gripper device is moved from the open position to the first closed position to grip the closed container, wherein the closed container is supported by a container holder at the pick-up position; (b) when the jaw member is in the first closed position: (i) the container is removed from the container holder; (ii) Positioning the container so as to be vertically aligned with a container slot formed in a container rack contained within the container storage module, the container slot being configured to receive a closed container and support the closed container in an upright orientation; (iii) Inserting the closed container portion into the container slot; (c) After steps (b) and (iii), the jaw member is moved from the first closed position to the open position; (d) Raise the jaw member until the plurality of fingers are laterally aligned with the sidewall of the closure of the closed container; (e) Move the jaw member from the open position to the second closed position until the plurality of fingers engage the sidewall of the closure; and (f) when the jaw member is in the second closed position, lower the gripper device until the closed container is placed in the container slot.

48. The method of claim 47, further comprising, after placing the closed container in the container slot of the container rack: (g) moving the jaw member to the open position; (h) raising the jaw member until the plurality of fingers are above the closed container; and (i) moving the gripper device to the pick-up position.

49. The method of claim 47 or 48, wherein the container rack comprises a plurality of container slot rows for receiving containers, and wherein, During step (f), the fingers are configured such that when the closed container is placed in the container slot, each of the plurality of fingers is located in the gap space between a pair of adjacent containers.

50. The method according to any one of claims 47 to 48, wherein the container holder is a component of the container transporter.

51. The method of claim 50, further comprising, prior to step (a), transporting the closed container from a container carrier positioned on a conveyor located outside the container storage module to the container holder, wherein the container holder is positioned at a drop position outside the housing of the container storage module.

52. The method of claim 51, wherein the closed container is transported from the container carrier to the container holder using a pick-and-place device.

53. The method according to claim 51 or 52, further comprising, prior to step (a), moving the container transporter within the container storage module such that the closed container is transported from the drop position to the pick-up position.

54. The method of any one of claims 47 to 48, wherein each of the plurality of fingers grips the sidewall of the closure at a position below the edge of the closure such that there is no contact between any of the plurality of fingers and the top surface of the closure during the method.

55. The method according to any one of claims 47 to 48, further comprising the step of transferring the closed container from the analyzer to the container storage module on a track connecting the analyzer and the container storage module, wherein the closed container is supported by a container carrier in an upright orientation during the transfer step.

56. The method of claim 55, further comprising the steps of piercing the closure with a pipette in the analyzer and removing the sample from the closed container with the pipette.

57. The method according to any one of claims 47 to 48, further comprising the step of providing a depth insertion stop to the container slot such that the depth insertion stop supports the partially inserted container within the container slot during step (c).

58. The method of claim 57, further comprising the step of removing the insertion stop from the container slot between steps (e) and (f).

59. A method for placing a closed container in a container slot using a clamping device according to any one of claims 1 to 20, the method comprising: The closure of the closed container is gripped between the jaw members, wherein the jaw members are in the first closed position; The insertion stop pin extends partially from the bottom end of the container slot into the container slot; The jaws are lowered relative to the container slot until the closed container is partially inserted into the container slot, wherein the bottom end of the closed container is located above the bottom end of the container slot within the container slot; the jaws are moved from the first closed position to the open position to release the closed container, wherein the closed container is held in the partially inserted position within the container slot by inserting a stop pin; Raise the jaw members relative to the partially inserted closed container until the multiple fingers are laterally aligned with the sidewall of the closure of the closed container; Move the jaws from the open position to the second closed position to grip the closure of the closed container between the fingers; Withdraw the stop pin from the container slot; lower the jaw members and the closed container gripped by multiple fingers relative to the container slot until the closed container is fully inserted into the container slot, wherein the bottom end of the closed container is located at the bottom end of the container slot; move the jaw members from the second closed position to the open position to release the closed container; And to raise the jaw members and the plurality of fingers relative to the container slot and the closed container disposed therein until the jaw members and the plurality of fingers are above the top surface of the closure.

60. A method for removing a closed container from a container slot using a gripper device according to any one of claims 1 to 20, the method comprising: The closure member of the closed container is grasped between the plurality of fingers, wherein the jaw member is in a second closed position, wherein the bottom end of the closed container is located at the bottom end of the container slot, and the closure member of the closed container is at least partially located above the container slot; the jaw member and the closed container grasped by the plurality of fingers are raised relative to the container slot until the closed container is partially removed from the container slot, wherein the bottom end of the closed container is located above the bottom end of the container slot within the container slot; an insertion stop pin is partially extended from the bottom end of the container slot into the container slot; the jaw member is moved from the second closed position to an open position to release the closed container, wherein the closed container is held in the partially removed position within the container slot by the insertion stop pin; Lower the jaw member relative to the partially removed closed container until the jaw member is laterally aligned with the sidewall of the closure of the closed container; Move the jaw members from the open position to the first closed position to grip the closure of the closed container between the jaw members; And to raise the jaw member and the closed container it grips relative to the container slot until the bottom end of the closed container is above the container slot.

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