Fluid container management system

Abstract

To provide a suitable fluid container management system.SOLUTION: Systems and methods for transferring containers (100) include or employ a container loading interface (200), a container storage module (400), and a container distributor (300) configured to transfer containers from the container loading interface to the container storage module. The container loading interface includes a movable support platform (202) that is movable between an accessible position and a non-accessible position, and a container loading transporter (214). The container storage module includes a housing (402) and a container storage transporter (418). The container distributor includes a container gripper (320) configured to grasp a container on the container loading transporter and to transfer the container to the container storage transporter in the container storage module.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Provisional Application No. 63 / 094,647, filed October 21, 2020, which is incorporated by reference in its entirety.

[0002] The present disclosure relates to a system that facilitates the manual introduction of fluid containers into processing equipment, the storage of the containers, the transfer of controlled amounts of the contents of each container, the monitoring of the amount of fluid contained within each container, and the disposal of each container once it is emptied or has no further use for it. [Background technology]

[0003] Automated sample processing systems frequently require replenishment of process fluids, such as reagents, and / or require different process fluids to be provided to the system to enable the system to perform different processes. In an automated system, stopping operation of the system can adversely affect efficiency and throughput. However, due to the enclosed nature of many such processing systems and the number of moving components within the system, providing additional containers of process fluid to the system while the system is operating and without interrupting the operation of the system is a challenge. Summary of the Invention [Means for solving the problem]

[0004] The following presents a simplified description in order to provide a basic understanding of some aspects described herein. This description is not an extensive overview of the claimed subject matter. It is not intended to identify key or critical elements of the claimed subject matter or to delimit the scope thereof. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

[0005] Examples described herein include a system for transferring containers including grooves formed on opposing sides of the container. The system may include a container loading interface, a container storage module, and a container dispenser configured to transfer the container from the container loading interface to the container storage module. The container loading interface may include a movable support platform, which may be movable between an accessible position and a non-accessible position, and a container loading transporter supported on the movable support platform. The container loading transporter may include a plurality of container pockets, each configured to receive a container inserted vertically into the container pocket and allow the container to be laterally removed from the container pocket when the movable support platform may be in the accessible position, and the container loading transporter may be configured to sequentially transport the container pockets to a container transfer position relative to a transfer opening formed in the movable support platform when the movable support platform may be in the non-accessible position. The container storage module may include a housing with a container inlet / outlet opening formed in one side thereof, a movable barrier configured for movement between a first position blocking the container inlet / outlet opening and a second position allowing a container to be moved laterally through the container inlet / outlet opening, and a container storage carrier disposed within the housing and including a plurality of container retention stations. Each container retention station may include a spring tab configured to resiliently engage a groove of a container retained in the container retention station to retain the container in the container retention station and to bias outwardly to allow the container to be laterally inserted into or removed from the container retention station.The container distributor may include a container gripper configured to grip a container transferred into one of the container pockets of the container loading transporter located at the container transfer position by engaging a groove in the container, a gripper advancement system configured to move the container gripper and remove the container laterally from a container pocket of the container loading transporter in which the container may be held, and a distributor movement system configured to move the container gripper and the container held thereby from the container transfer position to an entry / exit opening of the container storage module. The gripper advancement system may be configured to move the container gripper and insert the container held thereby through the entry / exit opening into a container holding station of the container storage transporter, and the gripper may be configured to release the container into the container holding station by disengaging from the groove in the container.

[0006] In some examples, the movable support platform of the container loading interface may include a drawer that may be movable between a non-accessible position, where the movable support platform may be retracted into the facility, and an accessible position, where the movable support platform may be extended from the facility.

[0007] In some embodiments, the container loading transporter may include a loading carousel supported on a movable support platform for rotation about a loading carousel axis, with the container pockets arranged circumferentially around the loading carousel axis.

[0008] In some embodiments, the loading interface may additionally or alternatively include a home sensor for detecting a home rotational position of the loading carousel.

[0009] In some embodiments, each container pocket may include a retaining clip configured to engage a groove formed on the container to removably retain the container within the container pocket.

[0010] In some embodiments, the container pockets are positioned on the periphery of the loading carousel and open at the periphery of the loading carousel to allow the containers to be withdrawn from the pockets in a lateral direction relative to the loading carousel axis.

[0011] In some embodiments, each container pocket may include reliefs formed on opposing sides of the open peripheral edge of the container pocket that provide clearance for the gripping mechanisms to open and engage or disengage from grooves of a container held within the container pocket.

[0012] In some embodiments, each container pocket may include a container positioning stop configured to engage a notch formed in a container positioned in the container pocket.

[0013] In some embodiments, the container loading interface may include a scanner configured to scan machine-readable information regarding each container carried on the container loading transporter.

[0014] In some embodiments, the scanner may include a barcode scanner.

[0015] In some embodiments, the container loading interface may additionally or alternatively include a load transporter motor coupled to the loading carousel and providing motorized rotation of the loading carousel about the loading carousel axis.

[0016] In some embodiments, the load transporter motor may be coupled to the load carousel by a drive belt.

[0017] In some examples, the container storage module may additionally or alternatively include a pusher pin extending from the movable barrier, and the container dispenser may include a door actuator arm configured to engage the pusher pin, and the door actuator arm may be movable by the dispenser movement system to move the movable barrier of the container storage module from a first position to a second position.

[0018] In some embodiments, the container storage transporter may include a storage carousel supported within the housing for rotation about a storage carousel axis, and the container holding stations may be arranged circumferentially around the storage carousel axis.

[0019] In some embodiments, the container storage transporter may include a home sensor for detecting a home rotational position of the storage carousel.

[0020] In some examples, the storage carousel may additionally or alternatively include an upper clip ring including a plurality of pairs of oppositely facing spring tabs and a lower clip ring including a plurality of pairs of oppositely facing spring tabs, each pair of spring tabs on the upper clip ring aligned with a corresponding pair of spring tabs on the lower clip ring, each defining a retention station.

[0021] In some embodiments, each spring tab may include a knuckle that is bent inwardly into a corresponding holding station, and each knuckle may seat in one of the grooves of a container disposed within the holding station.

[0022] In some embodiments, the upper clip ring may be spaced apart from the lower clip ring such that each pair of spring tabs on the upper clip ring may be spaced apart from a corresponding pair of spring tabs on the lower clip ring.

[0023] In some embodiments, the container storage module may additionally or alternatively include a storage transporter motor coupled to the storage carousel and providing motorized rotation of the storage carousel about the storage carousel axis.

[0024] In some embodiments, the storage transporter motor may be coupled to the storage carousel by a spur gear mounted to the carousel and engaged with a spur gear mounted on the output shaft of the storage transporter motor.

[0025] In some examples, the container gripper may additionally or alternatively include a gripper element mounting bracket, a first gripper element including a first hook mounted to the gripper element mounting bracket for pivotal movement about a first gripper rotation axis, located at a radially spaced apart position relative to the first gripper rotation axis, and configured to seat in one of the grooves of the container, and a second gripper element including a second hook mounted to the gripper element mounting bracket for pivotal movement about a second gripper rotation axis, which may be parallel to the first gripper rotation axis, located at a radially spaced apart position relative to the second gripper rotation axis, and configured to seat in an opposing groove of the container. In some examples, the first hook and the second hook are bent toward each other, and the first gripper element and the second gripper element are coupled to each other for coordinated pivotal movement toward or away from each other about respective first and second gripper rotation axes. In some embodiments, the container gripper may be configured to grip the container by pivoting the first and second gripper elements toward each other until the respective first and second hooks are seated within one of the grooves of the container.

[0026] In some examples, the first gripper element and the second gripper element may be coupled to each other for coordinated pivotal movement by a first gripper element coupling gear attached to the first gripper element and aligned coaxially with the first gripper rotation axis, and a second gripper element coupling gear attached to the second gripper element and aligned coaxially with the second gripper rotation axis, the first gripper element coupling gear and the second gripper element coupling gear being interengaged such that rotation of either the first gripper element or the second gripper element results in a corresponding coordinated rotation of the other gripper element in the opposite rotational direction.

[0027] In some examples, the container gripper may additionally or alternatively include a gripper motor with a gripper actuator gear, a gripper drive gear mounted coaxially with the first gripper rotation axis and configured for independent rotation from the first gripper element, where the gripper actuator gear may be engaged with the gripper drive gear, and a drive pin extending from the first gripper element at a position spaced from the first gripper rotation axis, the drive pin extending into an opening formed in the gripper drive gear.

[0028] In some embodiments, the container gripper may additionally or alternatively include a spring connected to at least one of the first gripper element and the second gripper element, and the opening formed in the gripper drive gear may include an arcuate slot.

[0029] In some examples, the gripper advancement system may additionally or alternatively include a linear track, a linear bearing coupled to the linear track, where the container gripper may be supported on the linear bearing, a gripper advancement motor, and a drive belt coupled to the gripper advancement motor and secured to the linear bearing.

[0030] In some embodiments, the dispenser movement system may include a dispenser head frame mounted so as to be rotatable about a dispenser rotation axis, and the container gripper may be supported on the dispenser head frame, a dispenser motor including a fixed sun gear arranged coaxially with the dispenser axis, and a drive gear fixed to the dispenser head frame and operably engaged with the fixed sun gear.

[0031] In some examples, the dispenser movement system may additionally or alternatively include a dispenser head frame rotatably mounted about a dispenser axis of rotation, a fixed sun gear coaxially aligned with the dispenser axis, and a dispenser motor including a drive gear fixed to the dispenser head frame and operably engaged with the fixed sun gear. In some examples, the gripper advancement system may additionally or alternatively include a linear track supported on the dispenser head frame and oriented radially with respect to the dispenser axis, a linear bearing coupled to the linear track, where the container gripper may be supported on the linear bearing, a gripper advancement motor mounted to the dispenser head frame, and a drive belt operably coupled to the gripper advancement motor and attached to the linear bearing.

[0032] In some examples, the container storage module may additionally or alternatively include at least one thermal control component for maintaining a desired temperature within the enclosure, and the at least one thermal component may include one or more of a thermoelectric module, a heat sink, and a fan.

[0033] Examples described herein include a method for transferring a container including grooves formed on opposing sides of the container, the method including the steps of moving a mobile support platform from a non-accessible position to an accessible position to provide user access to a container loading transporter supported on the mobile support platform and including a plurality of container pockets, vertically inserting a container into each of one or more of the container pockets, moving the mobile support platform from the accessible position to the non-accessible position, sequentially transporting the container pocket with the container loading transporter to a container transfer position at a transfer opening formed in the mobile support platform, gripping a container carried within one of the container pockets of the container loading transporter located at the container transfer position by engaging the grooves of the container with a container gripper, moving the container gripper with a gripper advancement system to laterally remove the container from the container pocket of the container loading transporter in which the container may be held, and inserting the container into the container loading transporter. moving the gripper and the container held thereby from a container transfer position to an inlet / outlet opening of a housing of the container storage module using a distributor movement system; engaging an actuator arm with a pusher pin extending from a movable barrier of the container storage module and moving the actuator arm using the distributor movement system to move the movable barrier of the container storage module from a first position blocking the container inlet / outlet opening to a second position allowing the container to be moved laterally through the container inlet / outlet opening; moving the container gripper using a gripper advancement system to insert the container held by the gripper through the inlet / outlet opening into one of a plurality of container holding stations of a container storage carrier disposed within the housing, each container holding station resiliently engaging a groove of a container held within the container holding station to retain the container within the container holding station and biasing outward;and releasing the container into the container holding station by disengaging the gripper from the groove of the container.

[0034] In some examples, moving the movable support platform may include moving a drawer, which may be movable between a non-accessible position, where the movable support platform may be retracted into the facility, and an accessible position, where the movable support platform may be extended from the facility.

[0035] In some embodiments, the container loading transporter may include a loading carousel supported on a movable support platform for rotation about a loading carousel axis, the container pockets may be arranged circumferentially around the loading carousel axis and may be open at an upper end thereof, and the step of transporting the container pockets in sequence may include the step of rotating the carousel about the carousel axis.

[0036] In some examples, the container pockets may additionally or alternatively be open at the periphery of the loading carousel, and gripping a container transported within one of the container pockets may include inserting a container gripper through the open periphery and engaging a groove in the container, and removing the container laterally from the container pocket may include moving the container through the open periphery with the container gripper.

[0037] In some embodiments, the method may additionally or alternatively include scanning, with a scanner, machine-readable information regarding each container carried on the container load transporter.

[0038] In some embodiments, the scanner may include a barcode scanner.

[0039] In some embodiments, the method may additionally or alternatively include monitoring the position of each container held in a pocket of the container loaded transporter using a home sensor to detect a home position of the container loaded transporter.

[0040] In some embodiments, the method may additionally or alternatively include the automated steps of: a) moving the container to a level sensing location within the enclosure using a container storage transporter; b) moving a movable grounding element relative to the container until the grounding element approaches or may contact a portion of the container; c) lowering a conductive probe, or a conductive tip removably attached to the probe, into the container through a container access opening in the enclosure; d) detecting a signal or a change in signal when the probe or conductive tip contacts a surface of fluid within the container, where the signal or change in signal may be based on electrical capacitance between the probe or conductive tip and the movable grounding element that approaches or may contact a portion of the container; and e) recording the vertical probe position at which the signal or change in signal may be detected.

[0041] In some embodiments, the method may additionally or alternatively include an automated step of f) contacting a container locator with the container at the level sensing location and urging the container to a repeatable vertical level sensing position.

[0042] In some embodiments, the method may additionally or alternatively include the automated steps of g) contacting a lower portion of the container positioned at the level sensing location with a container positioning ramp located adjacent to the container storage transporter, and h) contacting an upper portion of the container positioned at the level sensing location and pushing the container downwardly such that the bottom portion of the container maintains contact with the container positioning ramp.

[0043] In some embodiments, steps b) and h) are performed simultaneously.

[0044] In some embodiments, the method may additionally or alternatively include the step of: i) automatically during step b) moving a shutter plate attached to the housing from a first position covering the container access opening to a second position exposing the container access opening.

[0045] Examples described herein include a mechanism for gripping and transferring containers, the containers may include parallel vertically oriented grooves formed on opposing sides of the container. The mechanism may include a chassis configured for rotation about a vertically oriented chassis axis of rotation, and a gripper carriage supported on the chassis for rotation therewith and configured for movement in a radial direction relative to the chassis axis of rotation. The gripper carriage may include a container gripper comprising a first gripper element mounted on the gripper carriage for pivotal movement about a first gripper axis of rotation, which may be parallel to the chassis axis of rotation, the first gripper element including a first hook located at a radially spaced position relative to the first gripper axis of rotation, and a second gripper element mounted on the gripper carriage for pivotal movement about a second gripper axis of rotation, which may be parallel to the first gripper axis of rotation, the second gripper element including a second hook located at a radially spaced position relative to the second gripper axis of rotation. The first and second hooks may be bent toward one another, and the first and second gripper elements are coupled to one another for coordinated pivotal movement toward or away from one another about respective first and second gripper rotation axes. The container gripper may be configured to grasp a container by pivoting the first and second gripper elements toward one another until the respective first and second hooks each engage one of the vertically oriented grooves of the container.

[0046] In some examples, the first gripper element and the second gripper element may be coupled to each other for coordinated pivotal movement by a first gripper element coupling gear attached to the first gripper element and aligned coaxially with the first gripper rotation axis, and a second gripper element coupling gear attached to the second gripper element and aligned coaxially with the second gripper rotation axis, The first gripper element coupling gear and the second gripper element coupling gear are interengaged such that rotation of either the first gripper element or the second gripper element results in a corresponding coordinated rotation of the other gripper element in the opposite rotational direction.

[0047] In some examples, the mechanism may additionally or alternatively include a gripper motor with a gripper actuator gear, a gripper drive gear mounted coaxially with the first gripper rotation axis and configured for rotation independent of the first gripper element, where the gripper actuator gear may be engaged with the gripper drive gear, and a drive pin extending from the first gripper element at a position spaced from the first gripper rotation axis, the drive pin extending into an opening formed in the gripper drive gear.

[0048] In some examples, the mechanism may additionally or alternatively include a spring connected to at least one of the first gripper element and the second gripper element, and the opening formed in the gripper drive gear may include an arcuate slot.

[0049] In some examples, the mechanism may additionally or alternatively include a linear track, a linear bearing coupled to the linear track, where the gripper carriage may be supported on the linear bearing, a gripper advance motor, and a drive belt coupled to the gripper advance motor and attached to the linear bearing, such that movement of the drive belt by the gripper advance motor moves the gripper carriage radially.

[0050] In some examples, the mechanism may additionally or alternatively include a fixed sun gear aligned coaxially with the chassis axis of rotation, and a motor including a drive gear fixed to the chassis and operably engaged with the fixed sun gear, such that rotation of the drive gear by the motor causes rotation of the chassis about the chassis axis of rotation.

[0051] Examples described herein include a mechanism for performing capacitive level sensing of fluid in a fluid container supported on a mobile carrier. The mechanism may include a conductive probe configured for capacitive level sensing by detecting a signal or change in signal when the probe, or a conductive tip removably attached to the probe, contacts a surface of the fluid in the container, the signal or change in signal being based on electrical capacitance between the probe or conductive tip and a grounded conductive structure adjacent or in contact with the container, a probe position sensor for monitoring a vertical position of the probe and recording a vertical probe position at which a detectable change in signal or signal may be detected, and a mobile grounding element configured for selective movement relative to the container, positioned by the mobile carrier at a level sensing location relative to the probe until the grounding element is proximate to or may contact a portion of the container.

[0052] In some embodiments, a portion of the movable ground element may be shaped to conform to a portion of the container.

[0053] In some examples, the mechanism may additionally or alternatively include a motor, a threaded rod operably coupled to the motor, and a bracket operably coupled to the threaded rod, where the movable ground element may be attached to the bracket.

[0054] In some examples, the movable transporter may be contained within a housing having a top wall across the transporter, and a container access opening formed through the top wall above the level sensing location and configured to allow the probe, or a conductive tip removably attached to the probe, to enter a container located at the level sensing location. The mechanism may additionally or alternatively include a shutter plate attached to the top wall and movable between a first position covering the container access opening and a second position exposing the container access opening. The shutter plate may be operably coupled to a motor and may effect motorized movement of the shutter plate from the first position to the second position as the motor moves the movable grounding element closer to or into contact with a portion of the container.

[0055] In some embodiments, the shutter plate may be pivotally mounted to the top wall and may include a sector gear along its arcuate edge that may include gear teeth that engage a gear driven by a motor.

[0056] In some embodiments, the mechanism may additionally or alternatively include a container locator positioned at the level sensing location and configured to contact the container and urge the container to a repeatable vertical level sensing position.

[0057] In some embodiments, the container locator may include a container locating ramp configured to be contacted by a bottom portion of a container positioned at the level sensing location, and a container hold-down arm configured to contact an upper portion of the container positioned at the level sensing location and push the container downwardly such that the bottom portion of the container maintains contact with the container locating ramp.

[0058] In some examples, the mobile transporter may include a carousel rotatable about a vertically oriented carousel axis of rotation and including a plurality of container holding stations disposed at angularly spaced positions about the carousel axis of rotation. Each container holding station may include a spring tab extending laterally relative to the carousel axis of rotation and configured to resiliently engage a groove in a container held in the container holding station to retain the container in the container holding station such that the container may be able to slide vertically between the spring tabs of the container holding station. The container positioning ramp may be positioned directly beneath a portion of the carousel and may be configured to be contacted by a bottom portion of a container held in the container holding station as the carousel moves the container to the level sensing location, and contact between the container and the container positioning ramp may cause the container to slide to a position in the container holding station with the bottom of the container contacting the container positioning ramp, and the container hold-down arm may be configured to contact an upper portion of the container and slide the container downwardly in the container holding station such that the bottom portion of the container maintains contact with the container positioning ramp.

[0059] In some embodiments, the container hold-down arm may be coupled to the movable grounding element such that when the movable grounding element moves close to or into contact with a portion of the container, the container hold-down arm may be moved into contact with an upper portion of the container, pushing the container downward such that the bottom portion of the container maintains contact with the container positioning ramp.

[0060] In some embodiments, the container positioning lamp may include a tilted first end, a level center portion, and a tilted second end, and the container may be positioned on the level center portion when the container may be positioned at the level sensing location.

[0061] In some embodiments, the container positioning ramp may be shaped to conform to a portion of a path traversed by a container moved by a moveable transporter through the level sensing location.

[0062] In some embodiments, the mechanism may additionally or alternatively include a first roller at the beginning of the tilted first end to guide the bottom portion of the container over the tilted first end.

[0063] In some embodiments, the mechanism may additionally or alternatively include a second roller at the beginning of the tilted second end to guide the bottom portion of the container over the tilted second end.

[0064] In some examples, the movable transporter may be contained within a housing having a top wall across the transporter, with a container access opening formed through the top wall above the level sensing location and configured to allow the probe, or a conductive tip removably attached to the probe, to enter a container located at the level sensing location through the container access opening. The mechanism may additionally or alternatively include a motor, a threaded rod operably coupled to the motor, a follower block threadably coupled to the threaded rod, a bracket extending from the follower block, a shutter plate attached to the top wall and movable between a first position covering the container access opening and a second position exposing the container access opening, a container positioning ramp configured to be contacted by a bottom portion of a container positioned at the level sensing location, and a container hold-down arm configured for movement between a first position not contacting a container positioned at the level sensing location and a second position contacting an upper portion of a container positioned at the level sensing location and pushing the container downward such that the bottom portion of the container maintains contact with the container positioning ramp. The moveable grounding element may be mounted to the bracket such that rotation of the threaded rod in a first direction by the motor moves the grounding element toward or into contact with a portion of the container and rotation of the threaded rod in a second direction by the motor moves the grounding element toward or out of contact with a portion of the container. The shutter plate may be operatively coupled to the motor and may provide motorized movement of the shutter plate from the first position to the second position as the motor moves the moveable grounding element toward or into contact with a portion of the container and may provide motorized movement of the shutter plate from the second position to the first position as the motor moves the moveable grounding element toward or out of contact with a portion of the container.The follower block may contact the container hold-down arm and move the container hold-down arm from its first position to its second position as the motor moves the moveable grounding element closer to or into contact with a portion of the container to move the shutter plate from its first position to its second position.

[0065] In some embodiments, the shutter plate may be pivotally mounted to the top wall and may include a sector gear along its arcuate edge, which may include gear teeth that engage a gear driven coaxially with the threaded rod by a motor.

[0066] In some embodiments, the container hold-down arm may be configured for pivotal movement between its first position and its second position, and the mechanism may additionally or alternatively include a spring coupled to the container hold-down arm and biasing the container hold-down arm in its first position.

[0067] Examples described herein include a method for performing capacitive level sensing of a fluid in a container supported on a mobile conveyor. The method may include the automated steps of a) moving the container to a level sensing location with the mobile conveyor, b) moving the mobile grounding element relative to the container until the grounding element approaches or may contact a portion of the container, c) lowering a conductive probe, or a conductive tip removably attached to the probe, into the container, d) detecting a signal or change in signal when the probe or conductive tip contacts a surface of the fluid in the container, the signal or change in signal may be based on electrical capacitance between the probe or conductive tip and the mobile grounding element that approaches or may contact a portion of the container, and e) recording the vertical probe position at which the signal or change in signal may be detected.

[0068] In some embodiments, the method may additionally or alternatively include an automated step of f) contacting a container locator with the container at the level sensing location and urging the container to a repeatable vertical level sensing position.

[0069] In some embodiments, step f) may include the automated steps of g) contacting a bottom portion of the container positioned at the level sensing location with a container positioning ramp located adjacent to the movable transporter, and h) contacting an upper portion of the container positioned at the level sensing location and pushing the container downward such that the bottom portion of the container maintains contact with the container positioning ramp.

[0070] In some embodiments, steps b) and h) are performed simultaneously.

[0071] In some embodiments, the container positioning ramp may include a tilted first end, a level center portion, and a tilted second end, and the container is positioned on the level center portion when the container is positioned at the level sensing location.

[0072] In some embodiments, the container positioning ramp may additionally or alternatively include a first roller at the beginning of the tilted first end to guide the bottom portion of the container over the tilted first end.

[0073] In some embodiments, the container positioning ramp may additionally or alternatively include a second roller at the beginning of the tilted second end to guide the bottom portion of the container over the tilted second end.

[0074] In some examples, the mobile transporter may include a carousel rotatable about a vertically oriented carousel axis of rotation and including a plurality of container holding stations disposed at angularly spaced positions about the carousel axis of rotation. Each container holding station may include a spring tab extending laterally relative to the carousel axis of rotation and configured to resiliently engage a groove of a container held in the container holding station and retain the container in the container holding station such that the container may be able to slide vertically between the spring tabs of the container holding station. Contacting a bottom portion of the container with the container positioning ramp may slide the container in the container holding station to a repeatable vertical level sensing position, and contacting an upper portion of the container with the container hold-down arm slides the container in the container holding station downward such that the bottom portion of the container maintains contact with the container positioning ramp.

[0075] In some embodiments, the carrier may be contained within a housing having a top wall across the carrier, and a container access opening is formed through the top wall and above the level sensing location and configured to allow the probe, or a conductive tip removably attached to the probe, to enter a container located at the level sensing location. The method may also include performing the steps of: i) automatically during step b) moving a shutter plate, attached to the top wall, from a first position covering the container access opening to a second position exposing the container access opening.

[0076] In some embodiments, a portion of the movable ground element may be shaped to conform to a portion of the container.

[0077] In some embodiments, the container positioning ramp may be shaped to conform to a portion of a path traversed by a container moved by a moveable transporter through the level sensing location.

[0078] Examples described herein include a mechanism for providing selective access to one of a plurality of containers within a substantially enclosed housing. The mechanism may include a movable transporter within the housing and configured to hold and transport the plurality of containers, a container access opening formed in a top wall of the housing at a location on a path traversed by the plurality of containers transported on the movable transporter such that movement of the transporter sequentially positions each of the plurality of containers beneath the container access opening, and a shutter plate pivotally mounted to the top wall of the housing and pivotable between a first position covering the container access opening, thereby preventing access through the container access opening to the containers located beneath the container access opening, and a second position exposing the container access opening, thereby allowing access through the container access opening to the containers located beneath the container access opening.

[0079] In some embodiments, the mechanism may additionally or alternatively include a motor operably coupled to the shutter plate and providing motorized movement of the shutter plate from the first position to the second position.

[0080] In some embodiments, the shutter plate may include a sector gear mounted for pivotal movement between a first position and a second position and including gear teeth along its arcuate edge that engages a gear driven by a motor.

[0081] In some embodiments, the mechanism may additionally or alternatively include a container hold-down arm configured for movement between a first position that does not contact a container positioned beneath the container access opening and a second position that contacts an upper portion of the container positioned beneath the container access opening and holds the container in a fixed vertical position. A motor may be coupled to the container hold-down arm and move the container hold-down arm from its first position to its second position as the motor moves the shutter plate from its first position to its second position.

[0082] In some embodiments, the mechanism may additionally or alternatively include a threaded rod operably coupled to the motor, and a gear driven by the motor may be arranged coaxially with the threaded rod and a follower block threadably coupled to the threaded rod. The container hold-down arm may be configured for pivotal movement between its first position and its second position, and the container hold-down arm contacts the follower block such that as the gear driven by the motor rotates the sector gear and moves the shutter plate from its first position to its second position, the threaded rod moves the follower block, causing the container hold-down arm to move from its first position to its second position.

[0083] In some embodiments, the mechanism may additionally or alternatively include a spring coupled to the container hold-down arm and biasing the container hold-down arm in its first position.

[0084] Examples described herein include a method for providing selective access to one of a plurality of containers in a substantially enclosed housing. The method may include the automated steps of a) transporting the plurality of containers in the housing on a movable transporter, b) sequentially positioning each of the plurality of containers transported on the movable transport beneath a container access opening formed in a top wall of the housing, and c) automatically pivoting a shutter plate pivotally mounted to the top wall of the housing from a first position covering the container access opening to a second position exposing the container access opening.

[0085] In some embodiments, the method may additionally or alternatively include the step of d) automatically contacting an upper portion of the container positioned directly below the container access opening during step c) and holding the container in a fixed vertical position.

[0086] In some embodiments, step d) may include contacting a container hold-down arm with an upper portion of the container that is positioned directly below the container access opening.

[0087] Examples described herein include a system for disposing of used containers comprising a retainer cage disposed across a waste opening. The retainer cage may include first and second sides oriented vertically opposite to each other, upper and lower retainer bars extending laterally from the first side of the retainer cage toward the second side, and a container gripper. The upper and lower retainer bars are vertically spaced apart from each other and extend across a portion of the width of the retainer cage to leave a gap between the second side and the terminating end of the retainer bars. The gap between the upper and lower retainer bars and the second side may be configured to allow a container to be inserted through the gap. The container gripper is configured to hold the container and insert the container through the gap to a position between the first and second sides, whereby the gripper can be positioned between vertically spaced upper and lower retainer bars and the container can be positioned behind the upper and lower retainer bars.

[0088] In some examples, the container includes grooves formed on opposing sides of the container, and the container gripper may include a gripper element mounting bracket, a first gripper element including a first hook mounted to the gripper element mounting bracket for pivotal movement about a first gripper rotation axis, located at a radially spaced position relative to the first gripper rotation axis, and configured to seat in one of the container grooves, and a second gripper element including a second hook mounted to the gripper element mounting bracket for pivotal movement about a second gripper rotation axis, which may be parallel to the first gripper rotation axis, located at a radially spaced position relative to the second gripper rotation axis, and configured to seat in the opposite container groove. The first hook and the second hook may be bent toward each other. The first gripper element and the second gripper element may be coupled to each other for coordinated pivotal movement toward or away from each other about respective first and second gripper rotation axes. The container gripper may be configured to grip a container by pivoting the first and second gripper elements toward one another until the respective first and second hooks are seated within one of the grooves of the container. When gripping a container, the first and second gripper elements fit between vertically spaced upper and lower retainer bars.

[0089] In some examples, the first gripper element and the second gripper element are coupled to each other for coordinated pivotal movement by a first gripper element coupling gear attached to the first gripper element and aligned coaxially with the first gripper rotation axis, and a second gripper element coupling gear attached to the second gripper element and aligned coaxially with the second gripper rotation axis. The first gripper element coupling gear and the second gripper element coupling gear may be interengaged such that rotation of either the first gripper element or the second gripper element results in a corresponding coordinated rotation of the other gripper element in the opposite rotational direction.

[0090] In some examples, the container gripper may additionally or alternatively include a gripper motor with a gripper actuator gear, a gripper drive gear mounted coaxially with the first gripper rotation axis and configured for independent rotation from the first gripper element, where the gripper actuator gear may be engaged with the gripper drive gear, and a drive pin extending from the first gripper element at a position spaced from the first gripper rotation axis, the drive pin extending into an opening formed in the gripper drive gear.

[0091] In some embodiments, the container gripper may additionally or alternatively include a spring connected to at least one of the first gripper element and the second gripper element, and the opening formed in the gripper drive gear may include an arcuate slot.

[0092] In some examples, the system may additionally or alternatively include a gripper advancement system comprising a linear track, a linear bearing coupled to the linear track, where the container gripper may be supported on the linear bearing, a gripper advancement motor, and a drive belt coupled to the gripper advancement motor and secured to the linear bearing.

[0093] In some examples, the gripper may additionally or alternatively include a chassis configured for rotation about a vertically oriented chassis axis of rotation. The gripper mounting bracket may be supported on the chassis for rotation therewith, and a first gripper axis of rotation may be parallel to the chassis axis of rotation, and a second gripper axis of rotation may be parallel to the chassis axis of rotation.

[0094] Examples described herein include a method for disposing of a used container. The method may include moving the used container horizontally into a retainer cage positioned across a waste opening with a container gripper that holds the used container. The retainer cage may include first and second sides oriented vertically opposite to each other and upper and lower retainer bars extending laterally from the first side to the second side of the retainer cage. The upper and lower retainer bars may be vertically spaced apart from each other and may extend across a portion of the width of the retainer cage to leave a gap between the terminal ends of the upper and lower retainer bars and the second side through which the container gripper moves the used container horizontally into the retainer cage. The container gripper and the used container held thereby are moved horizontally within the retainer cage until the container gripper extends through the gap between vertically spaced upper and lower retainer bars so that the used container can be positioned behind the upper and lower retainer bars, and the used container is released from the container gripper so that it falls through a waste opening over which the retainer cage can be positioned.

[0095] In some embodiments, the method may additionally or alternatively include moving the container gripper horizontally out of a gap between vertically spaced upper and lower retainer bars.

[0096] In some examples, the container includes grooves formed on opposing sides of the container, and the container gripper may include a gripper element mounting bracket, a first gripper element including a first hook mounted to the gripper element mounting bracket for pivotal movement about a first gripper rotation axis, located at a radially spaced apart position relative to the first gripper rotation axis, and configured to seat in one of the container grooves, and a second gripper element including a second hook mounted to the gripper element mounting bracket for pivotal movement about a second gripper rotation axis parallel to the first gripper rotation axis, located at a radially spaced apart position relative to the second gripper rotation axis, and configured to seat in the opposing container groove. The first hook and the second hook may be bent toward each other, and the first gripper element and the second gripper element are coupled to each other for coordinated pivotal movement toward or away from each other about respective first and second gripper rotation axes. The container gripper may be configured to grip a container by pivoting the first and second gripper elements toward one another until the respective first and second hooks are seated within one of the grooves of the container. When gripping a container, the first and second gripper elements fit between vertically spaced upper and lower retainer bars.

[0097] In some examples, the first gripper element and the second gripper element may be coupled to each other for coordinated pivotal movement by a first gripper element coupling gear attached to the first gripper element and aligned coaxially with the first gripper rotation axis, and a second gripper element coupling gear attached to the second gripper element and aligned coaxially with the second gripper rotation axis. The first gripper element coupling gear and the second gripper element coupling gear may be interengaged such that rotation of either the first gripper element or the second gripper element results in a corresponding coordinated rotation of the other gripper element in the opposite rotational direction.

[0098] In some examples, the container gripper may be actuated to retain or release a used container by a gripper motor with a gripper actuator gear, a gripper drive gear mounted coaxially with the first gripper rotation axis and configured for independent rotation from the first gripper element, the gripper actuator gear may be engaged with the gripper drive gear, and a drive pin extending from the first gripper element at a position spaced from the first gripper rotation axis, the drive pin extending into an opening formed in the gripper drive gear.

[0099] In some embodiments, the container gripper may additionally or alternatively include a spring connected to at least one of the first gripper element and the second gripper element, and the opening formed in the gripper drive gear may include an arcuate slot.

[0100] In some embodiments, the used container may be moved horizontally into the retainer cage using a gripper advancement system that may include a linear track, a linear bearing coupled to the linear track, where the container gripper may be supported on the linear bearing, a gripper advancement motor, and a drive belt coupled to the gripper advancement motor and secured to the linear bearing.

[0101] In some examples, the gripper and used container held thereby may be moved horizontally within the restraint cage by a chassis configured for rotation about a vertically oriented chassis axis of rotation. A gripper mounting bracket may be supported on the chassis for rotation therewith, a first gripper axis of rotation may be parallel to the chassis axis of rotation, and a second gripper axis of rotation may be parallel to the chassis axis of rotation.

[0102] Examples described herein include a mechanism for positioning a fluid container supported on a movable transport at a predetermined location. The mechanism may include a container positioning ramp located adjacent a portion of the movable transport and configured to be contacted by a bottom portion of a container supported on the movable transport when the movable transport moves the container to the predetermined location, and a container hold-down arm configured for selective movement relative to the container positioned at the predetermined location. The container hold-down arm may be configured to contact an upper portion of a container positioned at the predetermined location and urge the container downward such that the bottom portion of the container maintains contact with the container positioning ramp.

[0103] In some embodiments, the container positioning ramp may include a tilted first end, a level center portion, and a tilted second end, and the container is positioned on the level center portion when the container is positioned at the level sensing location.

[0104] In some embodiments, the mechanism may additionally or alternatively include a roller at the beginning of the tilted first end to guide the bottom portion of the container over the tilted first end.

[0105] In some embodiments, the mechanism may additionally or alternatively include a motor, a threaded rod operably coupled to the motor, and a follower block threadably coupled to the threaded rod, which may contact the container hold-down arm as the motor moves the follower block, causing the container hold-down arm to move from its first position to its second position.

[0106] In some examples, the movable transporter may be contained within a housing having a top wall across the transporter, and a container access opening formed through the top wall above a predetermined location and configured to allow the fluid transfer probe, or a tip removably attached to the fluid transfer probe, to enter a container located directly below the container access opening. The mechanism may additionally or alternatively include a shutter plate attached to the top wall and movable between a first position covering the container access opening and a second position exposing the container access opening. The shutter plate may be operably coupled to a motor that effects motorized movement of the shutter plate from the first position to the second position as the motor moves the follower block to move the container hold-down arm from its first position to its second position.

[0107] In some examples, the mobile transporter may include a carousel rotatable about a vertically oriented carousel axis of rotation and including a plurality of container holding stations disposed at angularly spaced positions about the carousel axis of rotation. Each container holding station may include a spring tab extending laterally relative to the carousel axis of rotation and configured to resiliently engage a groove of a container held in the container holding station to retain the container in the container holding station such that the container may be able to slide vertically between the spring tabs of the container holding station. The container positioning ramp may be located beneath a portion of the carousel and configured to be contacted by a bottom portion of a container held in the container holding station as the carousel moves the container into position.

[0108] Contact between the container and the container positioning ramp may cause the container to slide to a position within the container holding station with a bottom of the container in contact with the container positioning ramp. The container hold-down arm may be configured to contact an upper portion of the container and slide the container downward within the container holding station such that the bottom portion of the container maintains contact with the container positioning ramp.

[0109] Examples described herein include a mechanism for holding and moving a plurality of containers, each container including a vertically oriented groove formed on an opposing side of the container. The mechanism may include a carousel configured to be rotatable about a vertically oriented axis of rotation, and the carousel may include a plurality of container-retaining pockets arranged circumferentially around an outer periphery of the carousel. Each container-retaining pocket may open at the outer periphery of the carousel to allow a container to be pulled out of the pocket in a radial direction relative to the axis of rotation, and each container-retaining pocket may include a retaining clip configured to engage a groove formed on the container and removably retain the container within the container pocket.

[0110] In some embodiments, each container-retaining pocket may include reliefs formed on opposing sides of the open peripheral edge of the container pocket that provide clearance for the gripping mechanisms to open and engage or disengage from grooves of a container retained within the container-retaining pocket.

[0111] In some embodiments, the mechanism may additionally or alternatively include a scanner configured to scan machine-readable information regarding each container transported within a container-holding pocket on the carousel.

[0112] In some embodiments, the scanner may include a barcode scanner.

[0113] In some examples, the mechanism may additionally or alternatively include a machine-readable tag disposed on a wall of each container pocket, and the scanner may be configured to detect the machine-readable tag when the container pocket is empty.

[0114] In some embodiments, the mechanism may additionally or alternatively include a motor coupled to the carousel and providing motorized rotation of the carousel about the carousel axis.

[0115] In some embodiments, each container-retaining pocket may include a container positioning stop configured to engage a notch formed in a container positioned in the container-retaining pocket.

[0116] In some embodiments, the mechanism may additionally or alternatively include a home sensor for detecting a home rotational position of the carousel.

[0117] Examples described herein include a method for holding and transporting a plurality of containers, each container including vertically oriented grooves formed on opposing sides of the container. The method may include transporting the containers into container-retaining pockets formed about a periphery of a carousel that is rotatable about a vertically oriented axis of rotation, removably retaining each container in an associated container-retaining pocket with a retaining clip that engages with the grooves formed on the container, and laterally removing each container from its associated container-retaining pocket through an open outer peripheral side of the container-retaining pocket.

[0118] In some embodiments, each container retaining pocket may include a recess formed on an opposing side of an open outer peripheral side of the container pocket, and the step of laterally removing each container from its associated container retaining pocket may include engaging a groove on the container with a container gripper that accesses the groove on the container through the recess.

[0119] In some embodiments, the method may additionally or alternatively include using a scanner to scan machine-readable information regarding each container carried in a container-holding pocket on the carousel.

[0120] In some embodiments, the scanner may include a barcode scanner.

[0121] In some embodiments, the method may additionally or alternatively include scanning a machine-readable tag disposed on a wall of the container pocket with a scanner when the container pocket is empty.

[0122] In some embodiments, a motor may additionally or alternatively be coupled to the carousel to provide motorized rotation of the carousel about the carousel axis.

[0123] In some embodiments, the method may additionally or alternatively include engaging a container positioning stop with a notch formed in each container and extending into the container-retaining pocket.

[0124] Examples described herein include a transporter for a plurality of containers, each container including a groove formed on an opposing side of the container. The transporter may include a carousel rotatable about a vertically oriented carousel axis of rotation and including a plurality of container holding stations disposed at angularly spaced positions about the carousel axis of rotation. Each container holding station may include a spring tab extending laterally relative to the carousel axis of rotation and configured to resiliently engage a groove of a container held in the container holding station and retain the container in the container holding station such that the container may be able to slide vertically between the spring tabs of the container holding station. The transporter may include a container positioning ramp disposed beneath a portion of the carousel and configured to be contacted by a bottom portion of a container held in the container holding station as the carousel moves the container holding station across the container positioning ramp. Contact between the container and the container positioning ramp may cause the container in the container holding station to slide into a position with the bottom of the container contacting the container positioning ramp. The transporter may include a container hold-down arm configured for selective movement relative to the container contacting the container positioning ramp, and the container hold-down arm may be configured to contact an upper portion of the container and slide the container downwardly within the container holding station such that the bottom portion of the container maintains contact with the container positioning ramp.

[0125] In some embodiments, the carousel may include an upper clip ring including a plurality of pairs of oppositely facing spring tabs and a lower clip ring including a plurality of pairs of oppositely facing spring tabs, each pair of spring tabs on the upper clip ring aligned with a corresponding pair of spring tabs on the lower clip ring to define each container holding station.

[0126] In some embodiments, the upper clip ring may be spaced apart from the lower clip ring such that each pair of spring tabs on the upper clip ring may be spaced apart from a corresponding pair of spring tabs on the lower clip ring.

[0127] In some embodiments, each spring tab may include a knuckle that is bent inwardly toward the oppositely facing spring tab of each pair of spring tabs, and each knuckle may seat within one of the grooves of a container disposed within the holding station.

[0128] In some embodiments, the transporter may additionally or alternatively include a motor, a threaded rod operably coupled to the motor, and a follower block threadably coupled to the threaded rod, which may contact the container hold-down arm as the motor moves the follower block, causing the container hold-down arm to move from a first position that does not contact the top of the container to a second position that does contact the top of the container.

[0129] In some embodiments, a container hold-down arm may be pivotally mounted within the mounting yoke, a first end of the hold-down arm may be contacted by a follower block, and a second end of the hold-down arm, the first end of which is contacted by the follower block, may contact the container upon pivoting the hold-down arm.

[0130] Other features and characteristics of the subject matter of the present disclosure, and its method of operation, associated elements of construction and combination of parts, and economies of manufacture will become more apparent upon consideration of the following description and appended claims, taken in conjunction with the accompanying drawings, all of which form a part of this specification and in which like reference numerals designate corresponding parts in the various views. The present invention provides, for example, the following: (Item 1) 1. A system for transporting a container including a groove formed on opposing sides of the container, the system comprising: 1. A container loading interface, comprising: a movable support platform movable between an accessible position and a non-accessible position; a container loading transporter supported on the movable support platform and including a plurality of container pockets, each container pocket configured to receive a container inserted vertically into the container pocket and allow the container to be laterally removed from the container pocket when the movable support platform is in the accessible position, the container loading transporter configured to sequentially transport the container pockets to a container transfer position relative to a transfer opening formed in the movable support platform when the movable support platform is in the non-accessible position; a container loading interface comprising: 1. A container storage module comprising: a housing with a container inlet / outlet opening formed in a side of the housing; a movable barrier configured for movement between a first position blocking the container inlet / outlet opening and a second position allowing a container to be moved laterally through the container inlet / outlet opening; a container storage and transporter disposed within the housing and including a plurality of container holding stations, each container holding station including a spring tab configured to resiliently engage a groove of a container held within the container holding station to retain the container within the container holding station and to bias outwardly to allow the container to be laterally inserted into or removed from the container holding station; a container storage module comprising: a container dispenser configured to transfer containers from the container loading interface to the container storage module, a container gripper configured to grip a container transferred into one of the container pockets of the container loading carrier positioned at the container transfer position by engaging a groove of the container; a gripper advancement system configured to move the container gripper and laterally remove the container from a container pocket of the container load carrier in which the container is retained; and a distributor movement system configured to move the container gripper and the container held thereby from the container transfer location to an entrance / exit opening of the container storage module; Equipped with a container distributor, the gripper advancement system configured to move the container gripper and insert the container held thereby through the entrance / exit opening into a container holding station of the container storage carrier, the gripper configured to release the container into the container holding station by disengaging from the container groove; A system comprising: (Item 2) 2. The system of claim 1, wherein the movable support platform of the container loading interface comprises a drawer that is movable between the inaccessible position in which the movable support platform is retracted into the facility and the accessible position in which the movable support platform is extended from the facility. (Item 3) 3. The system of claim 1 or 2, wherein the container loading transporter comprises a loading carousel supported on the movable support platform for rotation about a loading carousel axis, and the container pockets are arranged circumferentially around the loading carousel axis. (Item 4) 4. The system of claim 3, wherein the loading interface further includes a home sensor for detecting a home rotational position of the loading carousel. (Item 5) 5. The system of claim 3 or 4, wherein each container pocket includes a retaining clip configured to engage the groove formed on the container to removably retain the container within the container pocket. (Item 6) The system of any one of items 3-5, wherein the container pocket is positioned on an outer periphery of the loading carousel and opens at the outer periphery of the loading carousel to allow a container to be withdrawn from the pocket in a lateral direction relative to the loading carousel axis. (Item 7) 7. The system of claim 6, wherein each container pocket includes reliefs formed on opposing sides of an open peripheral edge of the container pocket to provide clearance for a gripping mechanism to open and engage or disengage from a groove of a container held within the container pocket. (Item 8) 8. The system of any one of claims 1-7, wherein each container pocket includes a container positioning stop configured to engage a notch formed in a container positioned in the container pocket. (Item 9) 9. The system of any one of items 1-8, wherein the container loading interface further comprises a scanner configured to scan machine-readable information regarding each container transported on the container loading transporter. (Item 10) 10. The system of claim 9, wherein the scanner comprises a barcode scanner. (Item 11) 8. The system of any one of claims 3-7, wherein the container loading interface further comprises a load transporter motor coupled to the loading carousel and providing motorized rotation of the loading carousel about the loading carousel axis. (Item 12) Item 12. The system of item 11, wherein the load transporter motor is coupled to the load carousel by a drive belt. (Item 13) The system of any one of items 1-12, wherein the container storage module comprises a pusher pin extending from the movable barrier, and the container distributor comprises a door actuator arm configured to engage the pusher pin, the door actuator arm being movable by the distributor movement system to move the movable barrier of the container storage module from the first position to the second position. (Item 14) 14. The system of any one of claims 1-13, wherein the container storage transporter comprises a storage carousel supported within the housing for rotation about a storage carousel axis, and the container holding stations are arranged circumferentially around the storage carousel axis. (Item 15) Item 15. The system of item 14, wherein the container storage transporter further includes a home sensor for detecting a home rotational position of the storage carousel. (Item 16) 16. The system of claim 14 or 15, wherein the storage carousel comprises an upper clip ring including a plurality of pairs of oppositely facing spring tabs and a lower clip ring including a plurality of pairs of oppositely facing spring tabs, each pair of spring tabs on the upper clip ring being aligned with a corresponding pair of spring tabs on the lower clip ring to define each retention station. (Item 17) 17. The system of any one of claims 14-16, wherein each spring tab includes a knuckle that is bent inwardly into the corresponding holding station, and each knuckle seats in one of the grooves of the container disposed within the holding station. (Item 18) Item 17. The system of item 16, wherein the upper clip ring is spaced from the lower clip ring such that each pair of spring tabs on the upper clip ring is spaced from a corresponding pair of spring tabs on the lower clip ring. (Item 19) 20. The system of any one of claims 14-18, wherein the container storage module further comprises a storage transporter motor coupled to the storage carousel and providing motorized rotation of the storage carousel about the storage carousel axis. (Item 20) 20. The system of claim 19, wherein the storage transporter motor is coupled to the storage carousel by a spur gear mounted on the carousel and engaged with a spur gear mounted on an output shaft of the storage transporter motor. (Item 21) The container gripper includes: a gripper element mounting bracket; a first gripper element mounted to the gripper element mounting bracket for pivotal movement about a first gripper axis of rotation, the first gripper element including a first hook located at a radially spaced position relative to the first gripper axis of rotation and configured to seat within one of the grooves of the container; a second gripper element mounted to the gripper element mounting bracket for pivotal movement about a second gripper axis of rotation parallel to the first gripper axis of rotation, the second gripper element including a second hook positioned at a radially spaced location relative to the second gripper axis of rotation and configured to seat in an opposed groove of the container; Equipped with the first hook and the second hook are bent toward one another, the first gripper element and the second gripper element are coupled to one another for coordinated pivotal movement toward or away from one another about the respective first and second gripper rotation axes, and the container gripper is configured to grip a container by pivoting the first and second gripper elements toward one another until the respective first and second hooks are seated within one of the grooves of the container. 21. The system according to any one of items 1-20. (Item 22) The first gripper element and the second gripper element a first gripper element coupling gear attached to the first gripper element and aligned coaxially with the first gripper rotation axis; a second gripper element coupling gear attached to the second gripper element and aligned coaxially with the second gripper rotation axis; and the first gripper element coupling gear and the second gripper element coupling gear are interengaged such that rotation of either the first gripper element or the second gripper element results in a corresponding coordinated rotation of the other gripper element in an opposite rotational direction. 22. The system according to item 21. (Item 23) The container gripper further comprises: a gripper motor with a gripper actuator gear; a gripper drive gear mounted coaxially with the first gripper axis of rotation and configured for independent rotation from the first gripper element, the gripper actuator gear being engaged with the gripper drive gear; a drive pin extending from the first gripper element at a location spaced from the first gripper axis of rotation, the drive pin extending into an opening formed in the gripper drive gear; 23. The system of claim 22, comprising: (Item 24) 24. The system of claim 23, wherein the container gripper further comprises a spring connected to at least one of the first gripper element and the second gripper element, and the opening formed in the gripper drive gear comprises an arcuate slot. (Item 25) The gripper advancement system A linear track; a linear bearing coupled to the linear track, the container gripper being supported on the linear bearing; A gripper advance motor; a drive belt coupled to the gripper advance motor and secured to the linear bearing; 25. The system of any one of items 1-24, comprising: (Item 26) The distributor movement system includes: a dispenser head frame rotatably mounted about a dispenser axis of rotation, the container gripper being supported on the dispenser head frame; a fixed sun gear arranged coaxially with the distributor shaft; a distributor motor fixed to the distributor head frame and including a drive gear operatively engaged with the fixed sun gear; 26. The system of any one of items 1-25, comprising: (Item 27) The distributor movement system includes: a distributor head frame mounted for rotation about a distributor axis of rotation; a fixed sun gear arranged coaxially with the distributor shaft; a distributor motor fixed to the distributor head frame and including a drive gear operatively engaged with the fixed sun gear; Equipped with The gripper advancement system a linear track supported on the distributor head frame and oriented radially relative to the distributor axis; a linear bearing coupled to the linear track, the container gripper being supported on the linear bearing; a gripper advance motor mounted to the dispenser head frame; a drive belt operatively coupled to the gripper advance motor and attached to the linear bearing; 25. The system of any one of items 1-24, comprising: (Item 28) The container storage module further comprises at least one thermal control component for maintaining a desired temperature within the enclosure, the at least one thermal component comprising: A thermoelectric module; A heat sink; With fans 28. The system of any one of claims 1-27, comprising one or more of: (Item 29) 1. A method for transporting a container including grooves formed on opposing sides of the container, the method comprising: moving a movable support platform from a non-accessible position to an accessible position to provide user access to a container loaded carrier supported on said movable support platform and including a plurality of container pockets; inserting a container vertically into each of the one or more of said container pockets; moving the movable support platform from the accessible position to the inaccessible position; sequentially transporting the container pocket with the container loading transporter to a container transfer position at a transfer opening formed in the movable support platform; gripping a container transported within one of the container pockets of the container load carrier positioned at the container transfer position by engaging a groove in the container with a container gripper; moving the container gripper with a gripper advancement system to laterally remove the container from a container pocket of the container load carrier in which the container is retained; moving the container gripper and the container held thereby from the container transfer location to an inlet / outlet opening of a container storage module enclosure using a distributor movement system; engaging an actuator arm with a pusher pin extending from a moveable barrier of the container storage module and moving the actuator arm using the distributor movement system to move the moveable barrier of the container storage module from a first position blocking the container inlet / outlet opening to a second position allowing a container to be moved laterally through the container inlet / outlet opening; using the gripper advancement system to move the container gripper and insert the container held by the gripper through the entrance / exit opening into one of a plurality of container holding stations of a container storage carrier disposed within the housing, each container holding station including a spring tab configured to resiliently engage a groove of a container held within the container holding station to retain the container within the container holding station and to bias outwardly to allow the container to be laterally inserted into or removed from the container holding station; releasing the container into the container holding station by disengaging the gripper from the container groove; A method comprising: (Item 30) 30. The method of claim 29, wherein moving the movable support platform includes moving a drawer that is movable between the inaccessible position in which the movable support platform is retracted into the facility and the accessible position in which the movable support platform is extended from the facility. (Item 31) 31. The method of claim 29 or 30, wherein the container loading transporter comprises a loading carousel supported on the movable support platform for rotation about a loading carousel axis, the container pockets being circumferentially arranged around the loading carousel axis and open at their upper ends, and wherein transporting the container pockets in sequence comprises rotating the carousel about the carousel axis. (Item 32) the container pockets are disposed on an outer periphery of the loading carousel and open at the outer periphery of the loading carousel; gripping the container conveyed within one of the container pockets includes inserting the container gripper through the open periphery and engaging a groove in the container; and removing the container laterally from the container pocket includes moving the container through the open perimeter with the container gripper. Item 32. The method according to item 31. (Item 33) 33. The method of any one of claims 29-32, further comprising scanning, with a scanner, machine-readable information about each container carried on the container loading transporter. (Item 34) Item 34. The method of item 33, wherein the scanner comprises a barcode scanner. (Item 35) 35. The method of any one of claims 29-34, further comprising monitoring the position of each container held in a pocket of the container loaded transporter using a home sensor to detect a home position of the container loaded transporter. (Item 36) a) moving the container with the container storage transporter to a level sensing location within the enclosure; b) moving a movable grounding element relative to said container until the grounding element approaches or contacts a portion of said container; c) lowering a conductive probe, or a conductive tip removably attached to said probe, into said container through a container access opening in said housing; d) detecting a signal or a change in signal when the probe or conductive tip contacts a surface of a fluid in the container, the signal or the change in signal being based on an electrical capacitance between the probe or conductive tip and the movable ground element approaching or contacting a portion of the container; e) recording the vertical probe position where said signal or a change in said signal is detected; 36. The method according to any one of items 29-35, further comprising the automated step of: (Item 37) f) contacting said container with a container locator at said level sensing location and urging said container to a repeatable vertical level sensing position; 37. The method according to item 36, further comprising the automated step of: (Item 38) Step f) is g) contacting a lower portion of the container located at the level sensing location with a container location ramp located adjacent to the container storage transporter; h) contacting an upper portion of the container located at the level sensing location and pushing the container downward such that a bottom portion of the container maintains contact with the container positioning ramp; 38. The method according to item 37, comprising the automated step of: (Item 39) Item 39. The method according to item 38, wherein steps b) and h) are carried out simultaneously. (Item 40) 40. The method according to any one of items 36-39, further comprising the step of automatically moving a shutter plate attached to the housing during step b) from a first position covering the container access opening to a second position exposing the container access opening. (Item 41) A mechanism for gripping and transporting a container, the container including parallel vertically oriented grooves formed on opposite sides of the container, the mechanism comprising: a chassis configured for rotation about a vertically oriented chassis axis of rotation; a gripper carriage supported on the chassis for rotation therewith and configured for movement in a radial direction relative to the chassis axis of rotation, the gripper carriage comprising a container gripper, the container gripper comprising: a first gripper element mounted to the gripper carriage for pivotal movement about a first gripper axis of rotation parallel to the chassis axis of rotation, the first gripper element including a first hook located at a radially spaced position relative to the first gripper axis of rotation; a second gripper element mounted to the gripper carriage for pivotal movement about a second gripper axis of rotation parallel to the first gripper axis of rotation and including a second hook located at a radially spaced position relative to the second gripper axis of rotation; Equipped with a gripper carriage, wherein the first and second hooks are bent toward one another, and the first and second gripper elements are coupled to one another for coordinated pivotal movement toward or away from one another about the respective first and second gripper rotation axes, and wherein the container gripper is configured to grip a container by pivoting the first and second gripper elements toward one another until the respective first and second hooks each engage one of vertically oriented grooves of the container; A mechanism comprising: (Item 42) 1. An arrangement for performing capacitive level sensing of a fluid in a fluid container supported on a movable carrier, the arrangement comprising: a conductive probe configured for capacitive level sensing by detecting a signal or a change in a signal when the probe, or a conductive tip removably attached to the probe, contacts a surface of a fluid in the container, the signal or change in signal being based on electrical capacitance between the probe or conductive tip and a grounded conductive structure adjacent to or in contact with the container; a probe position sensor for monitoring a vertical position of the probe and recording the vertical probe position at which the signal or a detectable change in a signal is detected; a movable grounding element configured for selective movement relative to a container positioned at a level sensing location relative to the probe by the movable carrier until the grounding element approaches or contacts a portion of the container; A mechanism comprising: (Item 43) 1. A method for performing capacitive level sensing of a fluid in a container supported on a mobile carrier, the method comprising: a) moving the container with the mobile conveyor to a level sensing location; b) moving the movable grounding element relative to the container until the grounding element is proximate to or in contact with a portion of the container; c) lowering a conductive probe, or a conductive tip removably attached to said probe, into said container; d) detecting a signal or a change in signal when the probe or conductive tip contacts a surface of a fluid in the container, the signal or the change in signal being based on an electrical capacitance between the probe or conductive tip and the movable ground element approaching or contacting a portion of the container; e) recording the vertical probe positions at which said signal or a change in said signal is detected; and The method includes the automated steps of: (Item 44) A mechanism for providing selective access to one of a plurality of containers within a substantially enclosed housing, the mechanism comprising: a movable transporter within the housing and configured to hold and transport the plurality of containers; a container access opening formed in a top wall of the enclosure at a location on a path traversed by a plurality of containers carried on the movable carrier such that movement of the carrier sequentially positions each of the plurality of containers directly beneath the container access opening; a shutter plate pivotally mounted to a top wall of the housing and pivotable between a first position covering the container access opening, thereby preventing access through the container access opening to the container located directly below the container access opening, and a second position exposing the container access opening, thereby allowing access through the container access opening to the container located directly below the container access opening; A mechanism comprising: (Item 45) 1. A method for providing selective access to one of a plurality of containers within a substantially enclosed enclosure, the method comprising: e) transporting a plurality of containers within said enclosure on a mobile carrier; f) sequentially positioning each of the plurality of containers carried on the movable carrier directly beneath a container access opening formed in a top wall of the enclosure; g) automatically pivoting a shutter plate pivotally mounted on a top wall of said housing from a first position covering said container access opening to a second position exposing said container access opening; The method includes the automated steps of: (Item 46) 1. A system for disposing of used containers comprising a retainer cage disposed across a waste opening, the retainer cage comprising: oppositely oriented perpendicular first and second sides; upper and lower retainer bars extending laterally from a first side of the retainer cage toward the second side, the upper and lower retainer bars being vertically spaced from one another and extending across a portion of the width of the retainer cage to leave a gap between the second side and a terminal end of the retainer bars, the gap between the upper and lower retainer bars and the second side being configured to allow a container to be inserted through the gap; a container gripper configured to hold the container and insert the container through the gap to a position between the first and second sides whereby the gripper is positioned between the vertically spaced upper and lower retainer bars and the container is moved to a position behind the upper and lower retainer bars; A system comprising: (Item 47) 1. A method for disposing of used containers, the method comprising: moving a used container horizontally into a retainer cage positioned across a waste opening with a container gripper holding the used container, the retainer cage having opposite vertically oriented first and second sides and upper and lower retainer bars extending laterally from the first side toward the second side of the retainer cage, the upper and lower retainer bars being vertically spaced apart from one another leaving a gap between terminal ends of the upper and lower retainer bars and the second side, the gap extending across a portion of the width of the retainer cage through which the container gripper moves the used container horizontally into the retainer cage; moving the container gripper and the used container held thereby horizontally within the retainer cage until the container gripper extends through a gap between the vertically spaced upper and lower retainer bars and the used container is positioned behind the upper and lower retainer bars; Releasing the used container from the container gripper so that the used container falls through the waste opening over which the restraint cage is disposed. A method comprising: (Item 48) 1. A mechanism for positioning a fluid container supported on a mobile carrier, the mechanism comprising: a container positioning ramp located adjacent a portion of the moveable conveyor and configured to be contacted by a bottom portion of a container supported on the moveable conveyor when the moveable conveyor moves the container to the predetermined location; a container hold-down arm configured for selective movement relative to the container positioned at the predetermined location, the container hold-down arm configured to contact an upper portion of the container positioned at the predetermined location and to urge the container downwardly such that a bottom portion of the container maintains contact with the container positioning ramp; A mechanism comprising: (Item 49) 1. A mechanism for holding and moving a plurality of containers, each container including a vertically oriented groove formed on opposite sides of the container, the mechanism comprising a carousel configured to be rotatable about a vertically oriented axis of rotation, the carousel including a plurality of container retaining pockets arranged circumferentially around an outer periphery of the carousel, each container retaining pocket opening at the outer periphery of the carousel to allow a container to be pulled out of the pocket in a radial direction relative to the axis of rotation, and each container retaining pocket including a retaining clip configured to engage the groove formed on the container and removably retain the container within the container pocket. (Item 50) 1. A method for holding and transporting a plurality of containers, each container including vertically oriented grooves formed on opposite sides of said container, said method comprising: conveying the container into a container-retaining pocket formed about a periphery of a carousel configured to be rotatable about a vertically oriented axis of rotation; removably retaining each container within an associated container-retaining pocket with a retaining clip engaged with the groove formed on the container; removing each container from its associated container-retaining pocket laterally through an open outer peripheral side of said container-retaining pocket; A method comprising: (Item 51) 1. A carrier for a plurality of containers, each container including a groove formed on opposing sides of the container, the carrier comprising: a carousel rotatable about a vertically oriented carousel axis of rotation and including a plurality of container holding stations disposed at angularly spaced positions about the carousel axis of rotation, each container holding station including a spring tab extending laterally relative to the carousel axis of rotation and configured to resiliently engage a groove in a container held within the container holding station to retain the container within the container holding station, the container being capable of sliding vertically between the spring tabs of the container holding stations; a container positioning ramp disposed beneath a portion of the carousel and configured to be contacted by a bottom portion of a container held in a container holding station as the carousel moves the container holding station across the container positioning ramp, the contact between the container and the container positioning ramp causing the container in the container holding station to slide to a position with the bottom of the container contacting the container positioning ramp; a container hold-down arm configured for selective movement relative to the container contacting the container positioning ramp, the container hold-down arm configured to contact an upper portion of the container and slide the container downwardly within the container holding station such that a bottom portion of the container maintains contact with the container positioning ramp; A conveyor comprising: [Brief description of the drawings]

[0131] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate various embodiments of the presently disclosed subject matter, in which like reference numbers indicate identical or functionally similar elements.

[0132] [Figure 1] FIG. 1 is a perspective view of a facility within which the fluid container management system described herein may be employed.

[0133] [Diagram 2] FIG. 2 is a schematic diagram of a fluid container management system as described herein.

[0134] [Diagram 3] FIG. 3 is a top perspective view of a fluid container that may be managed within the fluid container management system.

[0135] [Figure 4] FIG. 4 is a bottom perspective view of the container.

[0136] [Diagram 5] FIG. 5 is a transverse cross-sectional view of the container taken along line 5-5 in FIG.

[0137] [Figure 6] FIG. 6 is a partial perspective view of the support platform of the container loading interface extending from the fixture.

[0138] [Figure 7] FIG. 7 is a top rear perspective view of the container loading interface.

[0139] [Figure 8] FIG. 8 is a top plan view of the container loading interface.

[0140] [Figure 9] FIG. 9 is a top perspective view of the container dispenser.

[0141] [Figure 10] FIG. 10 is a top plan view of the container dispenser.

[0142] [Figure 11] FIG. 11 is a side view of the container dispenser.

[0143] [Figure 12] FIG. 12 is a bottom perspective view, partially in cross section, of the container dispenser.

[0144] [Figure 13] FIG. 13 is a top plan view of the gripper of the container dispenser, with one gripper finger depicted as transparent.

[0145] [Figure 14] FIG. 14 is a top perspective view of the gripper, with one gripper finger depicted as transparent.

[0146] [Figure 15] FIG. 15 is a partial perspective view of an alternative gripper.

[0147] [Figure 16] FIG. 16 is a top front perspective view of the container storage module.

[0148] [Figure 17] FIG. 17 is a top front perspective view of the container storage module with the housing omitted.

[0149] [Figure 18] FIG. 18 is a top right-side perspective view of the container storage module with the housing omitted.

[0150] [Figure 19] FIG. 19 is a cross-sectional perspective view taken along line 19-19 in FIG.

[0151] [Figure 20] FIG. 20 is a partial right interior perspective view of the container storage module.

[0152] [Figure 21] FIG. 21 is a top perspective view of a container storage transporter within a container storage module.

[0153] [Figure 22] FIG. 22 is a partial plan view of a holding station of a container storage carrier and a container to be inserted into the holding station.

[0154] [Figure 23] FIG. 23 is a partial perspective internal view of a container holding station showing all or a portion of a container storage transporter, a multifunction motor, a follower block and bracket coupled to the multifunction motor, a container hold-down arm actuated by the follower block, and a container positioning ramp.

[0155] [Figure 24] FIG. 24 is a partial cross-sectional interior view of a container holding station showing all or a portion of a container storage transporter, a multifunction motor, a follower block and bracket coupled to the multifunction motor, and a container positioning ramp.

[0156] [Diagram 25] FIG. 25 is a top perspective view of the waste disposal module. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0157] Detailed Description While aspects of the presently disclosed subject matter may be embodied in a variety of forms, the following description and the accompanying drawings are intended to disclose merely some of these forms as specific examples of the subject matter, and therefore, the presently disclosed subject matter is not intended to be limited to the forms or embodiments so described and illustrated.

[0158] Unless otherwise defined, all technical terms, notations, and other technical terms or terminology used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure belongs.All patents, patent applications, published patent applications, and other publications referenced herein are incorporated by reference in their entirety.If the definitions set forth in this section contrast or otherwise contradict the definitions set forth in the patents, applications, published applications, and other publications incorporated herein by reference, the definitions set forth in this section shall prevail over the definitions incorporated herein by reference. definition

[0159] As used herein, unless otherwise indicated or suggested otherwise by context, "a" or "an" means "at least one" or "one or more."

[0160] The present description may use various terms describing relative spatial arrangements and / or orientations or directions when describing the location and / or orientation of a component, device, location, feature, or portion thereof, or the direction of movement, force, or other dynamic action. Unless specifically stated or dictated otherwise by the context of the description, such terms, including but not limited to top, bottom, above, below, under, on top of, above, below, left of, right of, in front of, behind, next to, adjacent to, between, horizontal, vertical, diagonal, longitudinal, transverse, radial, axial, clockwise, counterclockwise, etc., are used in the drawings for convenience and are not intended to be limiting when referring to such component, device, location, feature, or portion thereof, or movement, force, or other dynamic action.

[0161] Unless otherwise indicated or suggested otherwise by context, terms used herein to describe a physical and / or spatial relationship between a first component, structure, or portion thereof, and a second component, structure, or portion thereof, such as attached, connected, fastened, joined, coupled, coupled, or similar terms or variations of such terms, are intended to encompass both a direct relationship, where the first component, structure, or portion thereof directly contacts the second component, structure, or portion thereof, and an indirect relationship, where one or more intervening components, structures, or portions thereof exist between the first component, structure, or portion thereof and the second component, structure, or portion thereof.

[0162] Unless otherwise stated, any specific dimensions set forth in this description merely represent example implementations of devices embodying aspects of the present disclosure and are not intended to be limiting.

[0163] As used herein, the term "adjacent" refers to being in the vicinity or next to one another. Adjacent objects can be spaced apart from one another or can actually or directly contact one another. In some cases, adjacent objects can be joined to one another or integrally formed with one another.

[0164] As used herein, the terms "substantially" and "substantially" refer to a vast degree or extent. For example, when used in conjunction with an event, circumstance, characteristic, or property, the terms can refer to instances where the event, circumstance, characteristic, or property occurs precisely, as well as instances where the event, circumstance, characteristic, or property occurs close to an approximation, such as taking into account typical tolerance levels or variability of the embodiments described herein.

[0165] As used herein, "molecular assay" refers to a procedure for specifically detecting and / or quantifying a target molecule, such as a target nucleic acid. A sample containing or suspected to contain a target molecule is contacted with one or more reagents, including at least one reagent specific for the target molecule, and exposed to conditions permitted to generate a detectable signal that indicates whether the target molecule is present. For example, if the molecular assay is a polymerase chain reaction (PCR), the reagents include primers specific for the target, and the generation of the detectable signal can be accomplished, at least in part, by providing a labeled probe that hybridizes to the amplicon produced by the primer in the presence of the target. Alternatively, the reagents can include an intercalating dye for detecting the formation of double-stranded nucleic acid.

[0166] As used herein, "reagent" refers to any substance or combination thereof involved in a molecular assay, other than the sample materials and products of the assay. Exemplary reagents include nucleotides, enzymes, amplification oligomers, probes, and salts.

[0167] As used herein, "assay" refers to a procedure for detecting and / or quantifying a target molecule or analyte in a sample. A sample containing or suspected of containing a target molecule is contacted with one or more reagents and exposed to conditions permitted to produce a detectable signal that indicates whether or not the target molecule is present in the sample, or the amount of the target molecule in the sample.

[0168] As used herein, "sample" refers to any material suspected of containing an organism, virus, or cell of interest, or alternatively, an analyte derived from an organism, virus, or cell of interest, or any material suspected of containing an analyte of interest. The material may be, for example, an unprocessed clinical sample, such as a blood or urogenital sample, a buffered medium containing the sample, a medium containing an analyte derived from an organism, virus, or cell that has been isolated and / or purified ("extracted") in a medium or receptacle, or on a material or device, containing the sample and a lysis agent to release the analyte belonging to the organism, virus, or cell. For this reason, it will be understood that the term "sample" refers to a specimen in its raw form, or for any stage of processing to release, isolate, and purify ("extract") an analyte derived from an organism, virus, or cell. Thus, reference to a "sample" can refer to a material suspected of containing an analyte derived from an organism, virus, or cell at different stages of processing, and is not limited to the initial form of the material.

[0169] "Nucleic acid" and "polynucleotide" refer to polymeric compounds, including nucleosides or nucleoside analogs, with nitrogen-containing heterocyclic bases or base analogs, linked together to form polynucleotides, including polymers that are conventional RNA, DNA, mixed RNA-DNA, and analogs thereof. The nucleic acid "backbone" can include a variety of linkages, including one or more of sugar-phosphodiester linkages, peptide-nucleic acid linkages ("peptide nucleic acid" or PNA; International Publication No. WO 95 / 32305), phosphorothioate linkages, methylphosphonate linkages, or combinations thereof. The sugar portion of the nucleic acid can be ribose, deoxyribose, or analogs, with substitutions, e.g., 2' methoxy or 2' halide substitutions. The nitrogen-containing bases can be conventional bases (A, G, C, T, U), their analogs (e.g., inosine or other; The Biochemistry of the Nucleic Acids 5-36, Adams et al., ed., 11th ed., 1992), purine or pyrimidine derivatives (e.g., N 4 -Methylguanine, N 6 -methyladenine, deaza- or aza-purines, deaza- or aza-pyrimidines, pyrimidine bases with a substituent at the 5 or 6 position (e.g., 5-methylcytosine), purine bases with a substituent at the 2, 6, or 8 position, 2-amino-6-methylaminopurine, O 6 -methylguanine, 4-thio-pyrimidine, 4-amino-pyrimidine, 4-dimethylhydrazine-pyrimidine, and O 4-alkyl-pyrimidines; U.S. Pat. No. 5,378,825 and International Publication No. WO 93 / 13121). Nucleic acids can contain one or more "abasic" residues, and the backbone does not contain nitrogenous bases due to the position of the polymer (U.S. Pat. No. 5,585,481). Nucleic acids can consist of only conventional RNA or DNA sugars, bases, and linkages, or can contain both conventional components and substitutions (e.g., polymers containing conventional bases, or both conventional bases and one or more base analogs, with 2' methoxy linkages). Nucleic acids include "locked nucleic acids" (LNAs), analogs containing one or more LNA nucleotide monomers with bicyclic furanose units locked into an RNA-mimetic sugar conformation that enhances hybridization affinity toward complementary RNA and DNA sequences (Vester and Wengel, 2004, Biochemistry 43(42):13233-41). Oligomer embodiments that may affect the stability of the hybridization complex include PNA oligomers, oligomers containing 2'-methoxy or 2'-fluoro substituted RNA, or oligomers containing charged linkages (e.g., thiophosphate) or neutral groups (e.g., methylphosphonate), which affect the overall charge, charge density, or steric association of the hybridization complex. Methylated cytosine, such as 5-methylcytosine, can be used with any of the above backbones / sugars / linkages, including RNA or DNA backbones (or mixtures thereof), unless otherwise indicated. RNA and DNA equivalents have different sugar moieties (i.e., ribose vs. deoxyribose) and can differ by the presence of uracil in RNA and thymine in DNA. Differences between RNA and DNA equivalents do not contribute to differences in homology, since the equivalents have the same degree of complementarity to a particular sequence. When referring to a range regarding the length of an oligonucleotide, amplicon, or other nucleic acid, it is understood that the range encompasses all integers (e.g., a length of 19 to 25 contiguous nucleotides includes 19, 20, 21, 22, 23, 24, and 25).

[0170] "Nucleic acid amplification" or simply "amplification" refers to any in vitro procedure that produces multiple copies of a target nucleic acid sequence, or its complementary sequence, or a fragment thereof (i.e., an amplified sequence that contains less than the entire target nucleic acid). Amplification methods include, for example, replicase-mediated amplification, polymerase chain reaction (PCR), ligase chain reaction (LCR), strand displacement amplification (SDA), helicase-dependent amplification (HDA), transcription-mediated amplification (TMA), and nucleic acid sequence-based amplification (NASBA). Both TMA and NASBA are forms of transcription-based amplification. Replicase-mediated amplification uses self-replicating RNA molecules and a replicase such as QB-replicase (see, for example, U.S. Pat. No. 4,786,600). PCR uses DNA polymerase, primer pairs, and thermal cycling to synthesize multiple copies of two complementary strands of dsDNA or from cDNA (see, e.g., U.S. Pat. Nos. 4,683,195, 4,683,202, and 4,800,159). LCR uses four or more different oligonucleotides to amplify a target and its complementary strands by using multiple cycles of hybridization, ligation, and denaturation (see, e.g., U.S. Pat. Nos. 5,427,930 and 5,516,663). SDA uses a primer that contains a recognition site for a restriction endonuclease and an endonuclease that nicks one strand of a semi-modified DNA duplex containing the target sequence, whereby amplification occurs in a series of primer extension and strand displacement steps (see, e.g., U.S. Pat. Nos. 5,422,252, 5,547,861, and 5,648,211). HDA uses a helicase to separate the two strands of a DNA duplex, generating a single-stranded template, followed by hybridization of a sequence-specific primer to hybridize to the template and extension by a DNA polymerase to amplify the target sequence (see, e.g., U.S. Pat. No. 7,282,328).Transcription-based amplification uses DNA polymerase, RNA polymerase, deoxyribonucleoside triphosphates, ribonucleoside triphosphates, promoter-containing oligonucleotides, and optionally other oligonucleotides, and can ultimately produce multiple RNA transcripts from a nucleic acid template. Examples of transcription-based amplification are described in U.S. Patent Nos. 4,868,105, 5,124,990, 5,130,238, 5,399,491, 5,409,818, and 5,554,516, and International Publication Nos. WO88 / 01302, WO88 / 10315, and WO95 / 03430. Amplification can be either linear or exponential.

[0171] In cyclic amplification methods that detect amplicons in real time, the term "threshold cycle" (Ct) is a measurement of the time of appearance of a signal associated with the amplification of a target, and can be, for example, about 10 times the standard deviation of the normalized reporter signal. Once the amplification reaches the "threshold cycle", it is generally considered that there is a positive amplification product of the sequence to which the probe binds. The binding of the probe generally provides substantial information about the identity of the product (e.g., in the case of one or more allele-specific probes, the amplicon is from a particular target sequence or class of members of an allele of a gene). The amplification product can additionally be further characterized through methods known to those skilled in the art, such as gel electrophoresis, nucleic acid sequencing, and other such analytical procedures.

[0172] "Oligomer" or "oligonucleotide" generally refers to a nucleic acid of less than 1,000 nucleotides (nt), including those within a size range with a lower limit of about 2-5 nt and an upper limit of about 500-900 nt. Some specific embodiments are oligomers within a size range with a lower limit of about 5-15, 16, 17, 18, 19, or 20 nt and an upper limit of about 50-600 nt, other specific embodiments are oligomers within a size range with a lower limit of about 10-20 nt and an upper limit of about 22-100 nt. Oligomers can be purified from naturally occurring sources, but can also be synthesized by using any well-known enzymatic or chemical method. Oligomers can be referred to by their functional name (e.g., capture probe, primer, or promoter primer), but one of skill in the art will understand that such terms refer to oligomers. Oligomers can form secondary and tertiary structures by self-hybridizing or by hybridizing to other polynucleotides. Such structures can include, but are not limited to, duplexes, hairpins, cruciforms, bends, and triplexes. The oligomers may be generated in any manner, including chemical synthesis, DNA replication, reverse transcription, PCR, or combinations thereof. In some embodiments, the oligomers that form the invasive cleavage structures are generated within the reaction (e.g., by extension of a primer in an enzymatic extension reaction).

[0173] "Amplicon" or "amplification product" refers to a nucleic acid molecule generated in a nucleic acid amplification reaction, which is derived from a target nucleic acid. The amplicon or amplification product contains a target nucleic acid sequence, which may be in the same or opposite orientation as the target nucleic acid. In some embodiments, the amplicon has a length of about 100-2,000 nucleotides, about 100-1,500 nucleotides, about 100-1,000 nucleotides, about 100-800 nucleotides, about 100-700 nucleotides, about 100-600 nucleotides, or about 100-500 nucleotides.

[0174] "Amplification oligonucleotide" or "amplification oligomer" refers to an oligonucleotide that hybridizes to a target nucleic acid or its complement and participates in a nucleic acid amplification reaction, for example, serving as a primer and / or promoter-primer. Certain amplification oligomers contain at least 10 contiguous bases, optionally at least 11, 12, 13, 14, 15, 16, 17, 18, 19, or 20 contiguous bases that are complementary to a region of the target nucleic acid sequence or its complementary strand. The contiguous bases can be at least 80%, at least 90%, or fully complementary to the target sequence to which the amplification oligomer binds. In some embodiments, the amplification oligomer comprises an intervening linker or non-complementary sequence between two sections of complementary sequence, for example, the two complementary sections of the oligomer collectively comprise at least 10 complementary bases, optionally at least 11, 12, 13, 14, 15, 16, 17, 18, 19, or 20 complementary bases. One of skill in the art will appreciate that the recited ranges include all integers and rational numbers within the range (e.g., 92% or 98.377%). Certain amplification oligomers are 10-60 bases in length and can optionally include modified nucleotides.

[0175] "Primer" refers to an oligomer having a 3' end that hybridizes to a template nucleic acid and is extended by polymerization. A primer can be optionally modified, for example, by including a 5' region that is non-complementary to the target sequence. Such modifications can include functional additions, such as tags, promoters, or other sequences that can be used or useful to manipulate or amplify the primer or the target oligonucleotide. Examples of primers incorporating tags or tag and promoter sequences are described in U.S. Pat. No. 9,284,549. A primer modified with a 5' promoter sequence can be referred to as a "promoter-primer." Those skilled in the art of molecular biology or biochemistry will understand that an oligomer that can function as a primer can be modified to include a 5' promoter sequence and then function as a promoter-primer, and similarly, any promoter-primer can serve as a primer with or without its 5' promoter sequence.

[0176] "Detection oligomer" or "detection probe," as used herein, refers to an oligomer that interacts with a target nucleic acid to form a detectable complex. The target sequence of a probe generally refers to the specific sequence within a larger sequence (e.g., a gene, amplicon, locus, etc.) to which the probe specifically hybridizes. Detection oligomers can include target-specific and non-target-complementary sequences. Such non-target complementary sequences can include sequences that would impart a desired secondary or tertiary structure, such as a flap or hairpin structure, that can be used to facilitate detection and / or amplification (see, e.g., U.S. Pat. Nos. 5,118,801, 5,312,728, 6,835,542, 6,849,412, 5,846,717, 5,985,557, 5,994,069, 6,001,567, 6,913,881, 6,090,543, and 7,482,127; International Publication Nos. WO 97 / 27214 and WO 98 / 42873; Lyamichev et al., Nat. Biotech., 17:292 (1999); and Hall et al., PNAS, USA, 97:8272 (2000). Probes of defined sequences can be produced by techniques known to those of skill in the art, such as by chemical synthesis and by in vitro or in vivo expression from recombinant nucleic acid molecules.

[0177] "Label" or "detectable label," as used herein, refers to a moiety or compound that is detected or leads to a detectable signal. A label may be directly or indirectly attached to a probe or may be, for example, an intercalating dye (e.g., SYBR®). The ligand may be a ligand of the ligand molecule, such as a ligand for a marker ... Embodiments of fluorescent dyes include those that absorb light (e.g., have a peak absorption wavelength) in the range of 495-690 nm and emit light (e.g., have a peak emission wavelength) in the range of 520-710 nm, including those known as FAM®, TET®, HEX®, CALFLUOR® (orange or red), CY®, and QUASAR® compounds. Fluorescent dyes can be used in combination with a quenching molecule, which absorbs light and reduces background fluorescence when in close proximity to the fluorescent dye. Such quenchers are well known in the art and include, for example, BLACK HOLE QUENCHER® (or BHQ®), Blackberry Quencher® (or BBQ-650®), Eclipse®, or TAMRA®. TMCompounds. Certain embodiments include "homogenous detectable labels" that are detectable in homogenous systems, where the bound labeled probe in a mixture exhibits a detectable change compared to the unbound labeled probe, allowing the label to be detected without physically removing the hybridized one from the unhybridized labeled probe (e.g., U.S. Pat. Nos. 5,283,174, 5,656,207, and 5,658,737). Exemplary homogenous detectable labels include chemiluminescent compounds, including acridinium ester ("AE") compounds, such as standard AE or AE derivatives, which are well known (U.S. Pat. Nos. 5,656,207, 5,658,737, and 5,639,604). Methods for synthesizing labels, attaching labels to nucleic acids, and detecting signals from labels are known (e.g., Sambrook et al., Molecular Cloning, A Laboratory Manual, 2nd ed. (Cold Spring Harbor Laboratory Press, Cold Spring Harbor, NY, 1989) at Chapter 10, and U.S. Patent Nos. 5,658,737, 5,656,207, 5,547,842, 5,283,174, 5,585,481, 5,639,604, and 4,581,333, and European Patent No. 0 747 706). Other detectably labeled probes include FRET cassettes, TaqMan® probes, and probes that undergo conformational changes in the presence of targeted nucleic acids, such as molecular torches and molecular beacons. FRET cassettes are described in US Patent Application Publication No. 2005 / 0186588 and US Patent No. 9,096,893. TaqMan® probes contain donor and acceptor labels, and fluorescence is detected upon enzymatic degradation of the probe during amplification to release the fluorochrome from the presence of the quencher. Chemistry for performing TaqMan assays is described in PCT Application No. PCT / US2018 / 024021, filed March 23, 2018, and US Patent No. 5,723,591.Molecular torches and beacons exist in open and closed configurations, the closed configuration quenches the fluorescent dye, and the open position separates the fluorescent dye from the quencher, allowing a change in the detectable fluorescent signal. Hybridization to a target opens the otherwise closed probe. Molecular torches are described in U.S. Patent No. 6,361,945, and molecular beacons are described in U.S. Patent No. 6,150,097.

[0178] "Reconstitution solution," as used herein, refers to a solvent (including water, organic solvents, and mixtures thereof) or buffer that can be used to dissolve another substance, such as a dried substance (e.g., a lyophilized material). As used herein, the terms "reconstitution solution" and "solvent" can be used interchangeably with the terms "reconstitute" and "dissolve."

[0179] The terms "lyophilization," "lyophilized," and "freeze-drying," as used herein, refer to a process whereby the material to be dried is first frozen and then the ice or frozen solvent is removed by sublimation in a vacuum environment. A "lyophilized agent" refers to the lyophilized material. A "lyophilized reagent" is a lyophilized agent that comprises at least one reagent. System Overview

[0180] Described herein is a fluid container management system that facilitates manual introduction of fluid containers (e.g., containers such as vials containing reagents or other process fluids) into processing equipment, followed by automated transfer of the containers from a container loading interface to a container storage module, storage of the containers (e.g., in a temperature controlled environment), automated transfer of controlled amounts of the contents of the containers from each container, and monitoring of the amount of fluid contained within each container, and automated disposal of the containers when empty or otherwise no longer of further use. The processing equipment in which the system may be incorporated may be an analyzer for performing biological, chemical, biochemical, or other multi-step analytical processes, such as the molecular analyzer 10 shown in FIG. 1 for performing nucleic acid-based amplification reactions. Exemplary processing equipment includes the analyzers described in U.S. Pat. Nos. 8,731,712 and 9,732,374 and International Publication No. WO 2019 / 014239 A1, and the Panther Fusion® system available from Hologic, Inc. (Marlborough, MA).

[0181] The major components or modules of the fluid container management system are shown diagrammatically in Figure 2. Generally, the system includes a container loading interface 200, a container dispenser 300, a container storage module 400, and a container disposal module 550. Although the container loading interface 200, the container dispenser 300, the container storage module 400, and the container disposal module 550 are described as parts of the fluid container management system, each of the modules 200, 300, 400, and 500 may be capable of independent operation, or two or more, but less than all, of the modules may be operated together.

[0182] The loading interface 200 generally includes a container loading transporter 214 supported on a movable support platform 202. The support platform 202 is movable between an accessible position in which the container loading transporter 214 is accessible to a user, e.g., extending from the processing facility 10 in a drawer-like manner as shown in solid lines in FIG. 2, and a non-accessible position in which the container loading transporter 214 is disposed within a support frame 204 within the processing facility 10 and is not accessible to a user, as shown in dashed lines in FIG. 2. A transfer opening 220 formed in the support frame 204 allows containers to be removed from the container loading transporter 214 and the loading interface 200. An optional scanner 230 is configured to scan machine-readable identification information (e.g., a barcode (1D or 2D) or an RFID tag) on ​​each container 100 transported on the container loading transporter 214.

[0183] The container storage module 400 includes a housing or enclosure 402 that defines a chamber therein. The chamber within the housing 402 may be temperature controlled, and the container storage module 400 may include means for controlling the temperature within the housing 402, such as insulation within one or more walls of the housing 402, heating and / or cooling elements such as Peltier devices, temperature distribution or dissipation components such as heat sinks and / or air circulation fans, temperature sensing elements, and temperature control circuitry that receives and processes data from the temperature sensing elements and transmits operational signals to the heating and / or cooling elements. A container storage transporter 418, contained within the housing 402 and shown therein in dashed lines, is configured to transport a plurality of containers and transport them within the housing 402. A container inlet / outlet opening 406 allows containers to be inserted into and removed from the housing 402. A container access opening 408, formed in a top wall of the housing 402, allows access into a container 100 that is aligned with the opening 408, such as by a pipettor.

[0184] The container dispenser 300 includes a dispenser head 304 with a mechanism for gripping an individual container transported on a container load transporter 214 through the transfer opening 220. The dispenser head 304 is a mechanism configured to remove a container 100 from the container load transporter 214, hold the removed container 100, transport it to a container inlet / outlet opening 406 of a container storage module 400 (e.g., by rotation of the dispenser head 304 about a rotation axis Θ), open a door or other barrier covering the inlet / outlet opening 406, and insert the container 100 into the housing 402 and onto the container storage transporter 418. The dispenser head 304 is further configured to open a door or other barrier covering the inlet / outlet opening 406, remove the container 100 from the container storage transporter 418 through the inlet / outlet opening 406 of the container storage module 400, transport the container 100 to the waste disposal module 550, and discard the container 100 in the waste disposal module 550.

[0185] Further details of each component or module are described below. Fluid container

[0186] 3-5 show an example fluid container 100 that may be used with the systems described herein. The container 100 may include a base 102 and a lid 120 disposed on the top end of the base 102. The base 102 and lid 120 may be made from a suitable moldable material, including various plastics such as polypropylene or cyclic olefin copolymers, polyethylene, polycarbonate, acrylic, or polyvinyl chloride (PVC), and the base 102 and lid 120 may be injection molded.

[0187] 4 and 5, the base 102 includes a vessel 110 configured to hold a fluid and extending longitudinally from an upper end of the base 102 and including a sidewall 114 and a bottom wall 116 at a bottom end 118 of the vessel 110. In the illustrated embodiment, the vessel 110 has a tubular or cylindrical sidewall 114 (i.e., a circular lateral profile) with a rounded internal concave bottom wall 116. The vessel 110 may have different shapes and configurations, such as a square or rectangular lateral profile and / or a flat bottom wall.

[0188] The base 102 of the container 100 further includes a skirt 130 that surrounds the vessel 110. In various embodiments, the skirt 130 has a flat bottom edge that extends below the bottom end 118 of the vessel 110. Thus, the container 100 may self-balance in an upright position when placed with the bottom edge of the skirt 130 supported on a flat surface. The skirt 130 may include a first wall section 132 that partially surrounds the vessel 110 and has a bottom edge 134, at least a portion of which extends below the bottom end 118 of the vessel 110.

[0189] The first wall section 132 may include an alignment notch 136 formed therein and extending upwardly from a bottom edge 134 of the first wall section 132. The container 100 may be transported within a recessed pocket of a rack, shelf, conveyor, carousel, or the like (e.g., the container loading transporter 214 or the container storage transporter 418), and prongs or other inward extensions may be provided within the recessed pocket to extend into and engage the alignment notch 136 of the container 100 seated within the pocket, thereby urging a particular desired orientation of the container 100 within the pocket and restricting the container 100 from rotating or otherwise moving within the pocket.

[0190] The skirt 130 may further include a second wall section 138 having a bottom edge 142. The second wall section 138 includes a signage panel 140 onto which identification or other informational indicia related to the container 100 and / or its contents may be imprinted, upon which indicia 141 may be affixed, and may include machine-readable indicia such as a bar code or radio frequency identification tag ("RFID"). The bottom edge 142 of the second wall section 138 may be contiguous with the bottom edge 134 of the first wall section 132.

[0191] 3 and 4, the skirt 130 further includes grooves 144, 146 formed on opposite sides of the base 102, which are preferably generally parallel to one another as shown in the figures and which may be oriented perpendicular or longitudinally relative to the orientation of the elongated vessel 110. The groove 144 may be defined by an exterior convex surface (i.e., the sides or walls of the groove) that is V-shaped and converges toward a valley floor 156 of the groove 144. The valley floor 156 of the groove 144 is a transition between one wall of the groove 144 and an opposite wall of the groove 144. One converging surface may include a portion of the first wall section 132 and the opposite converging surface may include a portion of the second wall section 138. The valley floor 156 thereby separates the first wall section 132 and the second wall section 138. Similarly, groove 146 may be defined by exterior convex surfaces (i.e., sides or walls of the groove) that are V-shaped and converge toward a valley floor 158 of groove 146. One converging surface may include a portion of first wall section 132 and the opposing converging surface may include a portion of second wall section 138. Valley floor 158 thereby separates first wall section 132 and second wall section 138.

[0192] The grooves 144, 146 provide surface features that are engaged by a mechanical gripper mechanism, as will be described below, to allow the container 100 to be held and transported by a container transfer mechanism, such as the container dispenser 300, that includes a mechanical gripper mechanism. Additionally, the grooves 144, 146 are located closer to one end or side of the container 100 than the opposite end or side of the container 100. For example, as shown in Figures 3 and 4, the grooves 144, 146 are much closer to the right end or side of the container 100 (when the container is in an upright orientation, as shown in Figure 3) than the left end or end. This off-center positioning of the grooves 144, 146 allows a gripper mechanism that engages the grooves 144, 146 from the same side on which the grooves are located (i.e., from the right side in Figure 3) to laterally insert the container 100 into a container holder that is configured to allow the gripper mechanism access to the grooves 144, 146. The container holder may be configured to allow access to the grooves 144, 146 by leaving exposed the side of the container where the grooves 144, 146 are located and allowing engagement of the grooves by the gripper mechanism.

[0193] 3, the lid 120 generally includes a cover wall 122 having a lid opening 124 formed therein that is aligned with the container 110. A septum 126 may be disposed between the lid 120 and the base 102 below the lid opening 124. The septum 126 may include a plurality of slits 128 formed through a portion of the septum 126 that allow a rigid instrument, such as a mounting shaft of a pipettor (not shown), to pass through the septum 126 and into the container 110.

[0194] Additional features that may be incorporated into container 100 are described in US Provisional Application No. 62 / 994,552. Container Loading Interface

[0195] Additional features that may be included within the container loading interface 200 are illustrated in Figures 6-8. The mobile support platform 202 may comprise a drawer including a drawer front panel 206 and a drawer frame 210 supported on linear tracks 212 (e.g., linear bearings) within a support frame 204 disposed within the facility 10. The mobile support platform 202 does not necessarily comprise a drawer, however, for convenience, reference number 202 will be used to refer to the mobile support platform generally, or the drawer specifically.

[0196] The drawer 202 may be manually pulled out of the facility 10 by a user grasping and pulling a handle 208 formed in the front panel 206 of the drawer, as shown in FIG. 6. The drawer 202 may then be closed by pushing the handle 208 or front panel 206 to push the drawer 202 back into the support frame 204 in the facility 10. As shown in FIG. 7, the drawer 202 may optionally include a linear damper 222 (e.g., a rack and pinion damper) to modulate the movement of the drawer 202 and prevent a sudden opening or closing movement that could dislodge the container 110 or splash its contents. Alternatively, the drawer 202 may be motorized and can be opened and closed by the touch of a button or switch, or by computer command. An automatically controlled locking mechanism (not shown) may be provided to lock the drawer in a closed position while the facility 10 is in operation, or at other times when it would not be desirable to open the drawer 202. One or more sensors, such as a slotted optical sensor (not shown), may be provided to generate a signal indicating that the drawer 202 is in the open and / or closed position.

[0197] As shown in FIG. 7, a container loading transporter 214 in the form of a carousel may be supported by or within the drawer 202 for rotation about a central, vertically oriented carousel axis. The container loading transporter 214 does not necessarily comprise a carousel, but for convenience, the reference number 214 will be used to refer to the container loading transporter generally, or the carousel specifically. The loading carousel 214 may include a number of container pockets 216 formed about the periphery of the carousel. Each container pocket 216 may be configured to receive and hold a single container 100. The container pockets 216 are open at the top to allow a container 100 to be inserted vertically into each container pocket 216 from above the transporter 214, and also open at its periphery (the periphery of the loading carousel 214) to allow a container 100 to be removed from the container pocket 216 laterally relative to the carousel rotation axis (e.g., radially relative to the carousel rotation axis) through a transfer opening 220. In one embodiment, as shown in FIG. 6, the container loading transporter 214 may include indicia 213, such as alphanumeric characters, that uniquely identify each of the container pockets 216.

[0198] 8, retaining clips 236 may be provided on opposite sides of the container pocket 216 to retain the container 100 within the container pocket 216. The retaining clips 236 may be resilient spring-like members that engage grooves 144, 146 of the container 100 retained within the container pocket 216 and bias outwardly, allowing the container 100 to be removed laterally from the container pocket 216. Each retaining clip 236 may include an upper chamfered surface that engages a bottom edge of the skirt 130 as the container is inserted vertically into the container pocket 216, causing the clip to move laterally outward, allowing the container to be inserted into the container pocket 216. As the container 100 is pulled laterally out of the container pocket 216, a portion of the first wall section 132 on the side of the skirt 130 that forms part of the grooves 144, 146 contacts the retaining clips 236, which causes the retaining clips 236 to spread away from each other and allow the container 100 to be removed from the container pocket 216.

[0199] Each container pocket 216 may include a container locating stop 234 that engages a notch 136 formed in the skirt 130 of the container 100. A machine-readable tag 226 (e.g., a bar code) may be provided on an interior wall of the container pocket 216 itself and may be detected by a scanner 230 when the container pocket 216 is empty, thereby serving as a pocket empty signal.

[0200] Each container pocket 216 of the loading carousel 214 opens towards the outer periphery of the loading carousel 214, and a container 100 is positioned in the carousel container pocket 216 with the grooves 144, 146 of the container 100 located at or near the outer periphery of the loading carousel 214. Thus, the side of the container 100 in which the grooves 144, 146 are located is exposed at the outer periphery of the loading carousel 214, and the grooves can be accessed from a position located radially outside the loading carousel 214 by a gripper mechanism which grips the container 100 with cooperating fingers or jaws (opposable grippers or gripping elements) that engage opposing grooves 144, 146. As shown in FIG. 8, reliefs 218 may be provided on either side of the opening to each container pocket 216 to provide clearance for the gripping mechanisms to open and engage or disengage from grooves 144, 146 of container 100.

[0201] The scanner 230 can read machine-readable indicia (e.g., 2-D barcode 141) disposed on the indicia panel 140 of each container 100 as the loading carousel 214 rotates the containers 100 past the scanner 230, as represented by the diverging dashed lines emanating from the scanner 230 in FIG. 8. Information derived from the indicia, such as the container's contents' identification, lot number, expiration date, etc., is associated with a specific location on the loading carousel 214. In one implementation, after a container's 100's machine-readable indicia is read by the scanner 230, system control software can monitor the precise location of that container 100 as the loading carousel 214 rotates within the drawer 202. In addition to the information that may be encoded by each machine-readable indicia, an operator may be able to provide the system with additional information about the contents or use of each container 100. This information may be provided via a user input screen on the primary display. Alternatively, the indicia is read by the scanner 230 immediately before the container 100 is transferred to the storage module 400 by the container dispenser 300 and the identification information is associated with a particular location within the storage module 400 .

[0202] As shown in FIG. 8, motorized rotation of the loading carousel 214 may be provided by a load transporter motor 224 coupled to a drive pulley (not shown) that is coaxially mounted to the loading carousel 214 by a drive belt 228. The load transporter motor 224 may comprise a stepper motor and may include a rotary encoder 225. A rotational position sensor, such as an optical home sensor 232, may be provided to detect the home position of the loading carousel 214 and, optionally, one or more other rotational positions. In one embodiment, the home sensor 232 comprises an optical sensor comprising an emitter-detector pair that detects the passage of a home flag (not shown) inferred from the loading carousel 214 passing between the emitter and detector. Precise rotational positioning of the loading carousel 214 may be achieved by a control system (computerized) that monitors the signal from the sensor 232 and the encoder count from the encoder 225 and generates movement commands in the form of a defined number of steps of motor movement. Thus, as information about a container is obtained by reading the indicia 141 on the container, the position of that container on the loading carousel 214 is known from the sensor 232 and encoder 225 . Container distributor

[0203] Features of an exemplary container dispenser 300 are shown in Figures 9-14. The container dispenser 300 comprises a dispenser head 304 including a dispenser head frame or chassis 306 mounted on the support frame 302 so as to be rotatable about a dispenser axis of rotation (or chassis axis of rotation) "Θ", which is coaxial with a sun gear 388, which is fixed to the support frame 302. A gripper carriage 305 carries a container gripper 320 and is movable in a radial direction "R" relative to the chassis 306 relative to the dispenser axis of rotation Θ. A flexible cable 314 may be provided for transmitting power, data, and commands between the rotating dispenser head 304 and the structure to which the support frame 302 is attached. 9, the dispenser movement system is configured to move the dispenser chassis 306 and gripper carriage 305, and in one embodiment comprises a dispenser motor 382 mounted on a motor mount 384 that is attached to the dispenser head chassis 306 and includes a drive gear 386 (a spur gear) that engages the outer peripheral teeth of a fixed sun gear 388 such that motorized rotation of the drive gear 386 by the dispenser motor 382 results in rotation of the dispenser head 304 about axis Θ. The dispenser motor 382 may comprise a stepper motor and may include a rotary encoder 383. A rotational position sensor, such as an optical home sensor 315, shown in FIGS. 11 and 12, may be provided to detect a home position of the dispenser head 304 (e.g., as indicated by a home flag 317, shown in FIGS. 9 and 11), and optionally one or more other rotational positions. Precise rotational positioning of the dispenser head 304 can be achieved by a control system (computerized) that monitors signals from the home sensor 315 and encoder counts from the encoder 383 and generates movement commands in the form of a defined number of steps of motor movement. An optional first stop pin 310 and an optional second stop pin 312 extend horizontally from opposite ends of the dispenser head chassis 306. The stop pins 310, 312 contact an optional shutoff element 313 to prevent over-rotation of the dispenser head 304, which could damage the flex cable 314.The container dispenser 300 may optionally include an actuator arm 308 extending from one end of the chassis 306 and including a vertically oriented upper end with a pin notch 309 formed on one side of the upper end.

[0204] Container gripper 320 of dispenser head 306 is configured to grip and hold container 100 in an upright orientation, as shown in Figures 9-14. Gripper 320 includes opposable gripper or gripping elements including a first gripper finger, i.e., gripper or gripping element 322, and a second gripper finger, i.e., gripper or gripping element 334. First gripper finger 322 includes a first hook 332 at an end of first gripper finger 322 that engages groove 144 of container 100, and second gripper finger 334 includes a second hook 340 at an end of second gripper finger 334 that engages groove 146 of container 100.

[0205] The first gripper finger 322 is pivotally mounted to a gripper finger mounting bracket 321 of the gripper carriage 305 at a first pivot mount (e.g., rod, shaft, or pin) 323. The first pivot mount 323 is generally located at a longitudinal end of the first gripper finger 322 opposite the hook 332 and supports the first gripper finger 322 for pivotal rotation about a first gripper rotation axis extending through the first pivot mount 323. Similarly, the second gripper finger 334 is pivotally mounted to the gripper finger mounting bracket 321 at a second pivot mount (e.g., rod, shaft, or pin) 335. The second pivot mount 335 is generally located at a longitudinal end of the second gripper finger 334 opposite the hook 340 and supports the second gripper finger 334 for pivotal rotation about a second gripper axis of rotation extending through the second pivot mount 335. The first gripper axis of rotation through the first pivot mount 323 and the second gripper axis of rotation through the second pivot mount 335 are preferably parallel to one another and, in one embodiment, are both oriented vertically as shown in the drawings. The gripper 320 is configured to move the first and second gripper fingers 322, 334 in a pivotal manner toward one another to grip the container 100 or to spread the first and second gripper fingers 322, 334 away from one another to release the container 100. A first finger coupling gear 330 is attached to the first gripper finger 322 and comprises a spur gear coaxial with the first gripper axis of rotation through a first pivot mount 323. Similarly, a second finger coupling gear 338 is attached to the second gripper finger 334 and comprises a spur gear coaxial with the second gripper axis of rotation through a second pivot mount 335. The first finger coupling gear 330 and the second finger coupling gear 338 are interengaged such that rotation of either the first gripper finger 322 or the second gripper finger 334 results in a corresponding coordinated rotation of the other finger in the opposite rotational direction (i.e., rotation of the first gripper finger 322 causes an equal and opposite rotation of the second gripper finger 334).

[0206] The first hook 332 of the first gripper finger 322 is bent laterally or transversely with respect to the longitudinal direction of the first gripper finger 322 (i.e., the direction between a first end of the first gripper finger, where it is pivotally mounted on the first pivot mount 323, and a second end of the first gripper finger, where it is located with the first hook 332). Similarly, the second hook 340 of the second gripper finger 334 is bent laterally or transversely with respect to the longitudinal direction of the second gripper finger 334 (i.e., the direction between a first end of the second gripper finger, where it is pivotally mounted on 335, and a second end of the second gripper finger, where it is located with the second hook 340). The first hook 332 and the second hook 340 are bent inwardly towards each other in opposite directions. In one embodiment, the lateral extent of each of the first and second hooks 332 and 340 is at least equal to the depth of each of the grooves 144, 146 such that the tip of each hook seats within the respective root 156 or 158 of the groove 144 or 146, respectively. The V-shape of each of the grooves 144, 146 will wedge the corresponding first and second hooks 332 and 340 into the respective groove, thereby allowing the gripper 320 to securely grasp the container 100. Each of the first and second hooks 332 and 340 may have a V-shaped distal edge that conforms to the V-shape of the corresponding groove 144, 146, further enhancing the wedging effect between the hooks and the grooves.

[0207] As can be seen in Figures 9, 11, 12, and 14, the first hook 332 and the second hook 340 each have a vertical extent or width such that they engage with the longitudinal extents of the respective grooves 144 and 146 of the container 100 such that the container 100 is held stably by the gripper 320 and is unlikely to tilt relative to the gripper 320.

[0208] The first gripper fingers 322 each have a single first hook 332 that engages the longitudinal extent of the grooves 144, 146, generally in a central portion of the grooves 144, 146 between the top and bottom ends of the grooves, and the second gripper finger 334 has a single second hook 340. In an alternative embodiment, shown in FIG. 15, the first gripper finger 322a may include a hook with two (or more) discrete hooks that are vertically spaced apart and aligned to be engageable with upper and lower longitudinally spaced apart portions of the groove 144 of the container 100, such as an upper hook 332a and a lower hook 332b. Similarly, the second gripper finger 334a may also include a hook with two (or more) discrete hooks that are vertically spaced apart (but not visible in FIG. 15) and aligned to be engageable with upper and lower vertically spaced apart portions of the groove 146 of the container 100.

[0209] A gripper spring 344 is attached at a first end to the first gripper finger 322 at a spring anchor 324 (see FIG. 11 ), extends through a spring opening 336 (see FIG. 9 ) formed in the second gripper finger 334, and is attached at an opposite end to a spring bracket 346. The gripper spring 344 operates to bias the gripper fingers 322 and 334 toward one another. That is, tension in the gripper spring 344 pulls the first gripper finger 322 toward the spring bracket 346 (and toward the first gripper finger 334). Meanwhile, interengagement between the first finger coupling gear 330 and the second finger coupling gear 338 rotates the second gripper finger 334 in the opposite direction, toward the first gripper finger 322.

[0210] To expand the gripper 320 by moving (or spreading) the first and second gripper fingers 322 and 334 away from one another, the first gripper finger 322 is moved outward (counterclockwise, as shown in FIGS. 10, 13, and 14 ) about the first pivot mount 323 against the bias of the gripper spring 344. In one embodiment, motorized rotation of the first gripper finger 322 against the bias of the spring 334 is provided by a gripper motor 348 mounted to a motor bracket 350 and having a gripper actuator gear, such as a worm gear 352, which engages a gripper drive gear 356 (e.g., a spur gear) mounted on its output shaft coaxially with the finger coupling gear 330 and the first pivot mount 323. A coupler 354 connects the output shaft of the gripper motor 348 to the shaft of the worm gear 352 and allows for some misalignment between the motor shaft and the worm gear shaft. A gripper drive gear or gripper element drive gear 356 is not fixed to the finger coupling gear 330 or the first gripper finger 322, but is configured to rotate independently of the finger coupling gear 330 and the first gripper finger 322. As shown in Figures 11, 13, and 14, the drive pin 326 extends downwardly from the first gripper finger 322 through an arcuate slot 358 formed in the gripper drive gear 356 and having a radial width slightly greater than the diameter of the drive pin 326 and a circumferential length that is multiple of the diameter of the drive pin 326. As the gripper motor 348 and worm gear 352 rotate the gripper drive gear 356 in a counterclockwise direction, the biasing force of the gripper spring 344 will cause the drive pin 326 to contact the end of the slot 358 closest to the second gripper finger 334, pulling the first gripper finger 322 in a clockwise direction. The continued rotation of the worm gear 352 and gripper drive gear 356 in the counterclockwise (divergent) direction applies a counterclockwise torque to the first gripper finger 322, causing a corresponding counterclockwise rotation of the first gripper finger 322.In one embodiment, the gripper motor 348 will rotate a defined number of steps to move the first gripper finger 322 a desired amount from the detected closed position. As explained above, interengagement between the first finger coupling gear 330 and the second finger coupling gear 338 will rotate the second gripper finger 334 in the opposite direction (i.e., clockwise) about the second pivot mount 335 and away from the first gripper finger 322.

[0211] To close the first and second gripper fingers 322, 334, the gripper motor 348 reverses the rotation of the worm gear 352, thereby rotating the gripper drive gear 356 in a clockwise direction and keeping the drive pin 326 in contact with the end of the slot 358 closest to the second gripper finger 334, enabling the gripper spring 344 to pull the first gripper finger 322 in a clockwise direction about the first pivot mount 323.

[0212] As the first gripper finger 322 moves in a clockwise direction, the second gripper finger 334 correspondingly moves in a counterclockwise direction about the second pivot mount 335 due to the interengagement of the first finger coupling gear 330 and the second finger coupling gear 338. If the container 100 is disposed between the inwardly facing hooks 332 and 340 of the first and second gripper fingers 322, 334, respectively, further movement of the gripper fingers 322, 334 towards each other will be prevented after the hooks 332, 340 engage the grooves 144, 146 of the container 100. A container present tab 328 extending below the first gripper finger 322 is positioned to encounter the container present sensor 316 (e.g., breaking the beam between the emitter and receiver of a slotted optical sensor), thereby generating a signal to a system controller (not shown) indicating that the first gripper finger 322 is in a position corresponding to the container 100 being present between the first and second gripper fingers 322, 334. After the hooks 332, 340 engage the grooves 144, 146, the gripper motor 348 may continue to rotate the worm gear 352 and the gripper drive gear 356. However, because further closing rotational movement of the gripper fingers 322, 334 is prevented by the container 100 gripped therebetween, the drive pin 326 moves within the slot 358 away from the end of the slot closest to the second gripper finger 344, thereby decoupling the drive gear 356 from the drive pin 326 and the first gripper finger 322. Thus, the gripper drive gear 356 is permitted to further rotate in a clockwise direction after the gripper fingers 322, 334 contact the container 100 without applying any rotational torque to the first gripper finger 322, thereby avoiding damage to components such as the gripper 320, gripper drive gear 356, worm gear 352, and / or gripper motor 348 that may be caused by the continued application of torque after further movement of the gripper fingers 322, 334 is blocked.The gripper motor 348 may continue to rotate until a motor stop tab 360, which is fixed to and rotatable with the gripper drive gear 356, engages the motor stop sensor 318 (e.g., breaking the beam between the emitter and receiver of a slotted optical sensor) and generates a signal to the system controller to stop the gripper motor 348 (i.e., by indicating a closed position of the gripper fingers 322). The motor stop tab 360 extends radially outward from the gripper drive gear 356 and downward at its distal end. The arc length of the slot 358 is preferably sufficient to allow the gripper drive gear 356 to rotate after the gripper fingers 322, 334 contact the container 100 until the motor stop tab 360 engages the motor stop sensor 318 before the drive pin 326 contacts the opposite end of the slot 358.

[0213] If the container 100 is not positioned between the first and second gripper fingers 322 and 334, as the gripper motor 348 reverses rotation of the worm gear 352 and the gripper spring 344 pulls the first gripper finger 322 in a clockwise direction about the first pivot mount 323 (and the second finger coupling gear 338 correspondingly rotates in a counterclockwise direction), the first and second gripper fingers 322, 334 will continue to move toward each other until the respective positive stops 325 and 337 of the gripper fingers 322, 334 contact each other and prevent further movement of the fingers (see FIG. 10). In an alternative embodiment shown in Figures 13 and 14, the positive stops 325, 337 are replaced with a spring plunger 394 that is fixed to one of the gripper fingers (in the illustrated embodiment, the first gripper finger 322) and includes an axially movable spring-loaded tip that contacts the other gripper finger (in the illustrated embodiment, the second gripper finger 334) and prevents relative movement of the gripper fingers 322, 334 towards each other while absorbing shock associated with the contact.

[0214] Because further movement of the first and second gripper fingers 322, 334 toward one another is prevented, continued reverse rotation of the worm gear 352 causes continued rotation of the gripper drive gear 356 as the drive pin 326 moves within the slot 358 such that the drive gear 356 becomes decoupled from the drive pin 326 and the first gripper finger 322. Thus, further reverse rotation of the worm gear 352 and the gripper drive gear 356 does not apply further rotational torque to the first gripper finger 322, thereby avoiding damage to components such as the gripper 320, gripper drive gear 356, worm gear 352, and / or gripper motor 348 that may be caused by the continued application of torque after further movement of the gripper fingers 322, 334 is blocked.

[0215] In the illustrated embodiment, the respective positive stops 325 and 337 of the gripper fingers 322 and 334 are configured such that if the container 100 is not positioned between the gripper fingers 322 and 334, the gripper fingers 322, 334 will rotate further apart and closer together than if the container 100 were positioned between the gripper fingers 322 and 334. Thus, when the container 100 is not present, the container present tab 328 extending below the first gripper finger 322 will pass through the container present sensor 316 and only momentarily activate the sensor 316. Thus, the motor stop tab 360 engages the motor stop sensor 318 to the gripper motor 348 at the same time that the presence of the container 100 in the closed gripper 320 is confirmed by the container present sensor 316 being activated by the container present tab 328. Conversely, the absence of a container 100 in the closed gripper 320 is confirmed by the absence of a container present signal from the container present sensor 316 at the time the motor stop tab 360 engages the motor stop sensor 318, stopping the gripper motor 348.

[0216] The dispenser head 304 is further configured to move the gripper 320 in a radial direction "R" relative to the dispenser axis of rotation Θ, where the direction R may be transverse to and perpendicular to the generally vertical orientation of the container 110. As shown in FIGS. 11 and 12, a gripper advancement system is configured to move the gripper carriage 305 and gripper 320 laterally, e.g., radially, and in one embodiment includes a linear track 362 supported on the dispenser head chassis 306 on which the gripper carriage 305 and gripper 320 are mounted for linear translational movement using linear bearings 364 coupled to the track 362. As shown in FIGS. 9 and 10, a gripper advance motor 366 comprising a stepper motor and which may include a rotary encoder 367 is mounted to the dispenser head chassis 306, and a drive gear 368 on an output shaft of the gripper advance motor 366 extends through the dispenser head chassis 306 (see FIGS. 11 and 12). The drive gear 368 drives a belt 370, which is supported on idler pulleys 372, 373, which are mounted to the distributor head chassis 306. In an embodiment, a tension pulley 374, which is mounted to the distributor head chassis 306, and a tension pulley 375, which is mounted to a tension bracket 377, which is pivotally mounted to the chassis 306, are provided on opposite sides of the drive gear 368. The tension bracket 377 is pivotally mounted to the chassis 306 at 379 and may be secured in a desired position by a screw 380 that extends into the chassis 306 through a slot formed in the bracket 377, providing a desired tension to the belt 370. The belt 370 is attached to the gripper carriage 305 by a mounting clamp 376 such that as the belt 370 is driven in one direction or another by the gripper advance motor 366 and the drive gear 368, the gripper 320 is advanced or retracted in the R direction. One or more sensors may be provided to detect one or more radial positions of the gripper carriage 305.The amount of movement of the gripper 320 can be monitored and controlled by a control system that monitors the encoder counts from the encoder 367 and the position signals from the radial position sensors and generates movement commands in the form of a defined number of steps of motor movement.

[0217] In one embodiment, each gripper finger 322, 334 may optionally include a conductive plate 378 (e.g., a metal plate) affixed to its outer side (i.e., the side of the gripper finger that does not face the other gripper finger). The purpose of the conductive plate is to self-teach the proper positioning of the gripper 320 and dispenser head 304, as described below. Container Storage Module

[0218] Additional features that may be included in the container storage module 400 are shown in FIGS. 16-24. The container storage module 400 comprises an enclosure or housing 402 that defines an interior chamber that may be temperature controlled, for example, as described below. If the interior chamber is temperature controlled, the enclosure or housing 402 may be insulated. A container inlet / outlet opening 406 in the housing 402 allows the container 100 to be placed in or removed from the interior chamber of the container storage module 400. As shown in FIGS. 17 and 19, a movable barrier or door 410 may be provided to close the inlet / outlet opening 406 when the container is not being moved into or out of the container storage module 400. Such a barrier or door may be desirable, particularly if the interior chamber of the storage module 400 is temperature controlled. In one embodiment, the movable barrier 410 is a sliding door with a pusher pin 411 extending therefrom and a cutout 413 formed therethrough (see also FIG. 18). The door 410 may be opened by the dispenser 300 using an actuator arm 308 of the dispenser head chassis 306, which contacts a side with a pusher pin 411 as the dispenser head 304 rotates about its axis of rotation Θ, pushing the sliding door 410 from a closed position to an open position. In particular, the dispenser head chassis 306 is rotated until the pusher pin 411 is seated in a pin notch 309 of the actuator arm 308. The dispenser head chassis 306 is then further rotated, in the illustrated embodiment, in a counterclockwise direction, thereby pushing the movable barrier 410, in the illustrated embodiment, to the left, until a cutout 413 formed in the movable barrier 410 is aligned with an entrance / exit opening 406 formed in the housing 402 such that a container 100 may be inserted or removed into or from the storage module 400 using the gripper 320.In one embodiment, the movable barrier 410 is spring biased to the closed position, in the illustrated embodiment, toward the right, such that a lateral force applied to the pusher pin 411 by the actuator arm 308 and the distributor head chassis 306 will move the door to the open position against the spring bias, and removing or releasing the lateral force will allow the spring bias to move the door to the closed position.

[0219] In one embodiment, the dispenser head 304 may incorporate a self-teach capability to determine the appropriate rotational (Θ) position of the dispenser head 304 relative to the inlet / outlet opening 406. The gripper 320 is extended into the inlet / outlet opening 406 in the R direction, and the dispenser head is rotated in the Θ direction first in one direction until the gripper contacts one side of the opening 406, and then in the opposite direction until the gripper 320 contacts the opposite side of the opening 406. Contact between the gripper 320 and one side of the opening 406 may be detected by a conductive plate 378 on the first gripper finger 322 or the second gripper finger 334 contacting the conductive side of the opening 406, whereby an electrical circuit detects electrical continuity from the plate 378 to the support frame 302. The rotational Θ position of the dispenser head 304 where the gripper 320 contacts the side with the opening 406 is recorded for subsequent positioning of the dispenser head 304 to contact and push the pusher pin 411 with the actuator arm 308 and to place a container into or remove a container from the storage module 400.

[0220] The container storage module 400 further includes a container access opening 408 formed through the top wall of the housing 402. The container access opening 408 allows a pipettor to be inserted through the opening to access the contents of a container 100 held within the storage module 400 beneath the access opening 408, aspirate fluid from the container 100, and / or detect the level (i.e., amount) of fluid within the container 100, as will be described below. A movable barrier may be provided to selectively open (expose) the container access opening 408 to allow access to the containers within the storage module 400, or close (cover) the container access opening 408 when such access is not required. Such a barrier may be desirable, particularly if the interior chamber of the storage module 400 is temperature controlled. Further details of an exemplary barrier for the container access opening 408 will be described below.

[0221] 18 and 20, in which the housing 402 has been omitted from the drawings to allow visibility of the internal components of the storage module 400, and FIG. 19, which is a cross-section of the storage module, a container storage transporter 418 is provided within the storage module 400 to receive and transport a plurality of fluid containers 100. In the illustrated embodiment, the container storage transporter 418 is a storage carousel rotatable about a central, vertically oriented storage carousel axis and having a plurality of holding stations 420 disposed about its periphery. Each holding station 420 of the storage carousel 418 may include a resilient spring clip that removably retains a fluid container 100 within the holding station 420.

[0222] 21 and 22, the storage carousel 418 may include an upper clip ring 422 including a plurality of pairs of oppositely facing spring tabs 423a, 423b and a lower clip ring 426 including a plurality of pairs of oppositely facing spring tabs 427a, 427b. In one embodiment, the upper spring tabs 423a, 423b and the lower spring tabs 427a, 427b extend radially outward relative to the storage carousel axis. The spring tabs 423a, 423b include inwardly bent knuckles 424a, 424b, respectively, and the spring tabs 427a, 427b include inwardly bent knuckles 428a, 428a, respectively. The upper clip ring 422 and the lower clip ring 426 are configured such that each pair of spring tabs 423a, 423b of the upper clip ring 422 is aligned with a corresponding pair of spring tabs 427a, 427b of the lower clip ring 426, respectively, to define a retention station 420. The container 100 is retained in the retention station 420 with the bent knuckles 424a, 424b of the upper clip ring 422 and the bent knuckles 428a, 428b of the lower clip ring 426 engaged (e.g., seated) in the grooves 144, 146 of the container 100. The upper and lower knuckles 424a, 428a engage the groove 144 near the top and bottom of the groove, respectively, and the upper and lower knuckles 424b, 428b engage the groove 146 near the top and bottom of the groove, respectively. The spring tabs 423a, 423b of the upper clip ring 422 and the spring tabs 427a, 427b of the lower clip ring 426 are resiliently flexible and are biased away from each other when the container 100 is pushed into the holding station 420. The biased spring tabs 423a, 423b and 427a, 427b generate a force that urges the knuckles 424a, 424b, 428a, 428a into the grooves 144, 146, retaining the container 100 in the holding station 420.

[0223] 22 shows one pair of spring tabs 423a, 423b of an upper clip ring 422 for one container holding station 420. The knuckle 424a of the spring tab 423a is defined by a first angled portion 425c that extends to a first peak 425a and then a second angled portion 425d that extends from the peak 425a. The opposing knuckle 424b of the spring tab 423b is defined by a first angled portion 425e that extends to a first peak 425b and then a second angled portion 425f that extends from the peak 425b. The opposing knuckles 428a, 428b of each pair of spring tabs 427a, 427b of the lower clip ring 426 of the container holding station 420 have a similar configuration.

[0224] When the container 100 is initially inserted into the container holding station 420, the side of the skirt 130 opposite the sign panel 140 contacts the first angled portions 425c, 425e of the knuckles 424a, 424b, respectively, which causes the spring tabs 423a, 423b to spread apart from each other. As the container is pushed into the container holding station 420, the peaks 425a, 425b slide along opposite sides of the first wall section 132 of the skirt 130 until the peaks 425a, 425b are aligned with the roots 156, 158 of the grooves 144, 146, and the resiliency of the spring tabs 423a, 423b urges them towards their undeflected position, seating the knuckles 424a, 424b in the grooves 144, 146. The spring tabs 423a, 423b are configured such that when the knuckles 424a, 424b are seated in the grooves 144, 146 they are still slightly deflected so as to generate a squeezing force on the container 100 from the resiliency of the spring tabs 423a, 423b. When the container 100 is pulled out of the container holding station 420, the portions of the first wall section 132 on the side of the skirt 130 that form part of the grooves 144, 146 contact the second angled portions 425d, 425f of the knuckles 424a, 424b, respectively, which again causes the spring tabs 423a, 423b to spread apart from each other and lift the knuckles 424a, 424b out of the grooves 144, 146, allowing the container 100 to be removed from the holding station 420. This description of the insertion and removal of the container 100 into and from the spring tabs 423a, 423b of the upper clip ring 422 also applies to the insertion and removal of the container 100 into and from the spring tabs 427a, 427b of the lower clip ring 426, which occurs when the container is pushed into and removed from the holding station 420.

[0225] Thus, due to the configuration of knuckles 424a, 424b of the upper clip ring 422 and knuckles 428a, 428b of the lower clip ring 426, the container 100 can be inserted laterally into the container holding station 420, can be securely held within the container holding station 420, and can be withdrawn laterally from the container holding station 420.

[0226] The spacing between the upper clip ring 422 and the lower clip ring 426 is sufficient to allow the gripper fingers 322, 334 to pass between the upper clip ring 422 and the lower clip ring 426, thereby allowing the gripper 320 of the dispenser 300 to move the container 100 gripped by the gripper fingers 322, 334 into the holding station 420. When the container 100 is placed in the holding station 420, the knuckles 424a, 424b of the upper clip ring 422 engage grooves 144, 146 of the container 100 above the gripper fingers 322, 334, respectively, and the knuckles 428a, 428b of the lower clip ring 426 engage grooves 144, 146 of the container 100 below the gripper fingers 322, 334, respectively. The spacing between the upper clip ring 422 and the lower clip ring 426 allows the gripper fingers 322, 334 to grip the grooves 144, 146 of the container 100 that is held in the holding station 420. The spring tabs are sized and configured so that the container 100 may be inserted into the holding station 420 with the sign panel 140 facing radially outward and the inwardly bent knuckles 424a, 424b of the upper clip ring 422 and the inwardly bent knuckles 428a, 428b of the lower clip ring 426 engaged with the grooves 144 and 146 of the container 100 to precisely position the container 100 within the holding station 420 and retain the container 100 within the holding station 420. Positioning the container 100 centered on the outer periphery of the storage carousel 418, with the container oriented radially and grooves 144, 146 positioned near the outer periphery, allows the gripper 320 to engage the container 100 in each holding station 420 with minimal interference from any containers 100 on either side of the engaged container when the spacing between adjacent containers 100 on the storage carousel 418 is maximum.

[0227] As shown in FIG. 21, the housing 402 may include insulation 403, which may comprise a sponge-like material such as Styrofoam or similar insulating material.

[0228] The storage carousel 418 may be rotationally driven by a storage transporter motor 432 to which the storage carousel 418 is operatively coupled. The motor 432 may be mounted to the upper support panel 404 of the holding station 400 and has a drive gear 434 (e.g., a spur gear) on its output shaft that engages the outer peripheral gear teeth of a driven spur gear 436 that is attached to the upper and lower clip rings 422, 426 so as to be coaxial with the axis of rotation of the storage carousel 418.

[0229] The motor 432 may comprise a stepper motor and may include a rotary encoder 433. An optical sensor 438 (see FIG. 20) detects the home rotational position of the storage carousel 418. The identity of each container 100, as determined from the indicia read by the scanner 230 of the container loading interface 200, can be correlated to a particular holding station 420 of the storage carousel 418, as determined and monitored by the rotary encoder 433 and the sensor 438. Precise rotational positioning of the storage carousel 418 can be achieved by a control system (computerized) that monitors the signals from the sensor 438 and the encoder counts from the encoder 433, and generates movement commands in the form of a defined number of steps of motor movement.

[0230] In an alternative embodiment, the storage carousel 418 may be driven by a motor that is operably coupled to the storage carousel 418 via a belt and pulley arrangement.

[0231] In an embodiment, as shown in FIGS. 19 and 21, the storage carousel 418 may further include a central post 435 rotatably mounted at its upper end to the upper support panel 404 and at its lower end to a frame member of the storage module 400. A driven spur gear 436 is coaxially aligned with and attached to the upper end of the central post 435. A circular lower plate 437 is coaxially aligned with and attached to the lower end of the central post 435. The lower plate 437 may include radial spokes 441 that provide an axial opening through the center of the plate 437 (see FIG. 19). A number of risers 439 extend through the upper clip ring 422 and the lower clip ring 426 and are attached at their upper and lower ends to the driven spur gear 436 and the lower plate 437, respectively. An access hole 443 is formed through the periphery of the driven gear 436. One access hole 443 is associated with and axially aligned with each container holding station 420 .

[0232] In one embodiment, the sensor 438 is attached to the upper support panel 404 and comprises an L-shaped bracket with a side or horizontal portion attached to the upper support panel 404 and an upright or vertical portion extending downward from the upper support panel 404. An optical emitter is disposed at the distal end of one of the upright and side portions, and an optical receiver is disposed at the distal end of the other of the upright and side portions. An optical beam is directed between the optical emitter and receiver at the distal end of the upright and side portions. Thus, as the storage carousel 418 is rotated, an extending flag at a home position on the carousel (not shown) passes through the optical beam, interrupting the beam between the emitter and receiver of the sensor and generating a signal indicating the presence of the flag. Alternatively, the optical beam passes through an opening formed in the storage carousel 418 at the home position and generating a signal indicating the presence of the opening. This type of sensor is described in International Publication No. WO2020 / 181231.

[0233] Optionally, temperature control within the housing 402 of the container storage module 400 may be implemented by various thermal control components. Such thermal control components may include one or more thermal devices, such as one or more Peltier devices (thermoelectric modules) 440, disposed beneath the container storage transporter 418, as shown in FIGS. 19 and 20. To maintain a temperature within the housing 402 of the storage control module 400 that is below ambient temperature, the Peltier devices 440 may be arranged such that the top surface of the Peltier devices 440 facing the container storage transporter 418 is the cold surface and the bottom surface of the Peltier devices 440 is the hot surface. A cold-side heat dissipator, such as a heat sink 448 with multiple parallel thermal fins 450, may be provided on the top of the Peltier devices 440, and a hot-side heat dissipator, such as a heat sink 442 including multiple parallel fins 444, may be disposed on the bottom side of the Peltier devices 440.

[0234] Thermal control components may optionally include one or more fans provided within the housing 402 to circulate air within the housing 402 and / or exhaust air (e.g., hot air) out of the housing 402. For example, a fan 454 may be positioned beneath the container storage transporter or carousel 418 to push cool air upward through an open center 430 formed through the center of the container storage transporter 418. Such vertically or axially directed flow will deflect radially outward as it contacts the top surface of the storage carousel 418 (e.g., the bottom side of the upper support panel 404) or the housing 402 and passes downward along the outer wall of the housing 402. The fan 454 will draw air beneath the storage carousel 418 radially inward through cutouts 452 formed between or in the fins 450. Thus, the fan 454 will generate a nearly toroidal airflow around the containers 100 being transported on the storage carousel 418 .

[0235] As shown in FIG. 18, the container storage module 400 may further include one or more fans 456 adjacent to the hot side heat dissipator 442 to exhaust the warmed air out of the housing 402 of the module 400.

[0236] 17 and 20, a movable barrier for selectively covering the container access opening 408 may comprise a pivotable shutter plate 412. The shutter plate 412 may comprise a sector gear pivotally mounted to the upper support panel 404 at a pivot point (e.g., a screw, bolt, rod, shaft, or pin) 414 and including gear teeth 416 along its arcuate edge. A multifunction motor 460, which may be mounted to the upper support panel 404 and may include a rotary encoder 461, includes a spur gear 462 mounted on its output shaft that engages the gear teeth 416 of the shutter plate 412 (see also FIGS. 23 and 24). Rotation of the spur gear 462 pivots the shutter plate 412 about the pivot point 414 between a first position that covers the container access opening 408 and a second position that uncovers or exposes the container access opening 408 depending on the direction of rotation of the spur gear 462.

[0237] With the shutter plate 412 in the second position, a pipettor probe, or a tip removably attached to the probe, may be inserted through the container access opening 408 and the access hole 443 formed in the gear 436 to access the fluid contents of a container 100 positioned directly below the container access opening 408 by the storage carousel 418, aspirate fluid from the container 100, and / or dispense fluid into the container 100.

[0238] It may also be desirable to monitor the level of the fluid within the container 100, and one way of this can be accomplished via fluid level sensing using a pipettor enabled for capacitive liquid level sensing. As known in the art, and described, for example, in U.S. Pat. No. 5,648,727, capacitive liquid level sensing may be performed by lowering a pipettor having a conductive probe or tip removably attached to the probe into a fluid held within a container supported on an electrically grounded plane while monitoring an electronic capacitance-based signal from the tip or probe. Due to the dielectric constant of the fluid within the container between the tip and the grounded plane, the measured capacitance-based signal will instantly and detectably change (e.g., increase) when the tip contacts the fluid. As the tip is lowered, the vertical (Z-axis) position of the pipettor is also monitored as it descends toward the surface of the fluid within the container. In response to contacting the fluid surface, a change in the capacitance-based signal from the tip or probe is detected and the corresponding vertical position of the pipettor is recorded to determine the level or height of the liquid surface within the container.

[0239] For capacitive liquid level sensing to be effective, the container in which the liquid level is being monitored must be supported on a conductive structure and provide capacitive coupling with the pipettor probe or tip that is removably attached to the pipettor, especially if the container is made of a non-conductive material such as plastic. In addition, the container itself must be at a fixed, known, and reproducible vertical reference point position so that the level of fluid in the container can be ascertained from the vertical position of the pipettor where the tip or probe contacts the fluid surface. In one embodiment, as described herein, the container 100 is not supported on a conductive structure but is held by spring tabs 423a, 423b and 427a, 427b that are engaged with grooves 144, 146 on both sides of the container 100. In addition, because there is no structure supporting the bottom of the container 100 and because the container is clamped between spring tabs 423a, 423b and 427a, 427b at the position where gripper 320 inserts the container into the holding station 420, the exact vertical position of each container 100 within its associated holding station 420 may vary from container to container.

[0240] Thus, the container storage module 400 includes a container locator positioned beneath the access opening 408 (i.e., the level sensing location for the pipettor) configured to contact the container 100 and urge the container to a repeatable vertical reference point or level sensing location. As shown in Figures 20, 23, and 24, in one embodiment, the container locator includes a container positioning ramp 486 mounted beneath the storage carousel 418 and beneath the container access opening 408. The container positioning ramp 486 includes an angled first end 488 with rollers 490, a level center portion 492, and an angled second end 494 with rollers 496. As the storage carousel 418 rotates clockwise to position the container 100 directly beneath the container access opening 408, the container 100 will first encounter the tilted first end 488 and rollers 490 at the start of the tilted first end 488. The tilted first end 488 is tilted upward toward the level center portion 492 to accommodate slight variations in the vertical position of the container 100 within the holding station 420 (i.e., when the bottom edge of the skirt 130 of the container 100 is initially below the level center portion 492). The rollers 490 help ensure a smooth transition as the container 100 passes over the tilted first end 488 and prevent the container 100 from contacting the end of the container positioning ramp 486. Assuming that the bottom edge of the skirt 130 of the container 100 is initially below the level center portion 492, as the storage carousel 418 continues to rotate, the bottom edge of the skirt 130 slides from the tilted first end 488 onto the level center portion 492 such that the bottom edge 134 of the skirt 130 of the container 100 contacts the level center portion 492, which provides a fixed, known and repeatable vertical position of the container 100 for capacitive level sensing or any other purpose for which it is necessary or desirable for the container 100 to be positioned at a repeatable vertical reference point position.That is, when the container 100 is in the holding station 420 such that the bottom edge of the container 100 is below the level of the level center portion 492, the tilted first end 488 will push the container 100 upwardly within the holding station 420 until the bottom edge of the container 100 is at the level of the level center portion 492.

[0241] When the storage carousel 418 rotates counterclockwise to position the container 100 directly below the container access opening 408, the container 100 will first encounter the tilted second end 494 and the rollers 496 at the start of the tilted second end 494. The tilted second end 494 is also tilted upward toward the level center portion 492 to accommodate slight variations in the vertical position of the container 100 within the holding station 420 (i.e., when the bottom edge of the skirt 130 of the container 100 is initially below the level center portion 492). The rollers 496 help ensure a smooth transition as the container 100 passes over the tilted second end 494 and prevent the container 100 from contacting the end of the container positioning ramp 486. Assuming that the bottom edge of the skirt 130 of the container 100 is initially below the level center portion 492, as the storage carousel 418 continues to rotate, the bottom edge of the skirt 130 will slide from the tilted second end 494 onto the level center portion 492 such that the bottom edge 134 of the skirt 130 of the container 100 contacts the level center portion 492, which provides a fixed and known vertical position of the container 100 for capacitive level sensing or any other purpose for which it is necessary or desirable for the container 100 to be positioned at a repeatable vertical reference point position. Thus, if the container 100 is in the holding station 420 such that the bottom edge of the container 100 is below the level of the level center portion 492, the tilted second end 494 will push the container 100 upward in the holding station 420 until the bottom edge of the container 100 is at the level of the level center portion 492.

[0242] The shape of the container positioning ramp 486, i.e., the shape defined by the angled first end 488, the level central portion 492, and the angled second end 494, may generally conform to the path traversed by the containers 100 moved by the storage carousel 418. The shape of the container positioning ramp 486 may be curved to correspond to the circumferential curvature of the container path, or each segment 488, 492, and 494 may be straight and the first end 488 and second end 494 may be angled (e.g., obtuse) relative to the central portion 492 to approximate the circumferential curvature of the container path. The axes of rotation of the rollers 490 and 496 may generally be arranged radially relative to the axis of rotation of the storage carousel 418.

[0243] 20 and 24, in one embodiment, just below the spur gear 462, a multifunction motor 460 may include an output shaft with a threaded rod 464. The rod 464 operably engages a threaded follower block 466 such that rotation of the rod 464 by the motor 460 raises or lowers the follower block 466.

[0244] In some embodiments, the bracket 468 may extend laterally away from the follower block 466. In one embodiment, as shown in Figure 20, the bracket 468 is a bracket that is attached to the follower block 466 by fasteners. In another embodiment, as shown in Figures 23 and 24, the bracket 468 and the follower block 466 comprise a single integral component.

[0245] A movable grounding element in the form of a conductive cap 470, which may be made of a conductive material such as aluminum, is attached to a mounting rod 472, e.g., a threaded bolt or screw, that engages with a threaded hole in the cap 470 that extends through an oversized hole 469 formed in the bracket 468 such that the cap 470 can move vertically relative to the bracket 468. A spring 474 surrounds the mounting rod 472 and is positioned between the bracket 468 and the conductive cap 470 to bias the cap 470 away from the bracket 468. The conductive cap 470 extends into a vertical through hole 493 formed in a level center portion 492 of the container positioning ramp 486 (see FIG. 24). A cylindrical conductive cap guide 498, extending just below the container positioning ramp 486, may be provided to receive and guide the cap 470.

[0246] Before a container 100 is positioned directly beneath the container access opening 408, the shutter plate 412 is in a first position to close access to the container access opening 408. The follower block 466, bracket 468, and conductive cap 470 are in a lowered position such that the upper end of the conductive cap 470 does not protrude above the upper surface of the level center portion 492 of the container positioning ramp 486 and therefore does not interfere with movement of the container 100 relative to the container positioning ramp 486. 24, when the container 100 is positioned directly below the container access opening 408 and on or above the level center portion 492 of the container positioning ramp 486, the multifunction motor 460 can be activated to both move the shutter plate 412 to a second position uncovering the access opening 408 and raise the follower block 466 along with the bracket 468 and conductive cap 470 until the cap contacts or is close enough to the bottom wall 116 of the vessel 110 of the container 100 such that the capacitance between the probe and the ground plane will measurably (detectably) increase when the conductive object contacts the fluid surface 602. In one embodiment, "fully closed" is about 1 millimeter or less. The top end of the conductive cap 470 may have a recess or indentation that generally conforms to the shape of the bottom wall 116 of the vessel 110. The spring 474 allows some vertical play between the conductive cap 470 and the bracket 468 so that excessive upward force is not applied to the container 100 as the conductive cap 470 is lifted into contact with the vessel 110. The conductive cap 470 provides capacitive coupling with the pipettor, enabling capacitive liquid level sensing.

[0247] 18, 20, and 23, in one embodiment, the container locator further includes a container hold-down arm 478 pivotally mounted within a mounting yoke 480 that is attached to the upper support panel 404. A spring 482 between one end of the hold-down arm 478 and the upper support panel 404 urges the opposite end of the hold-down arm 478 against a stop element 484 to position the hold-down arm 478 in a standby position so as not to interfere with movement of the container 100 beneath the hold-down arm 478.

[0248] A second spring 467 is positioned between the follower block 466 and the hold-down arm 478. As the follower block 466 is raised to lift the conductive cap 470 into contact with the bottom wall 116 of the vessel 110 of the container 100, as shown in FIG. 23, the follower block 466 also urges the spring 467 upward, which in turn presses against the end of the hold-down arm 478, thereby pivoting the opposite end of the hold-down arm 478 downward into contact with the top of the container 100. Thus, when the container 100 is positioned in the clip of the holding station 420 of the storage carousel 418 above the upper surface of the level center portion 482 of the container positioning ramp 486, pivoting the hold-down arm 478 will push the container 100 downward against the level center portion 492, while the conductive cap 470 is raised by the follower block 466 and bracket 468 into contact with the bottom wall 116 of the vessel 110, ensuring that the container 100 is in a fixed vertical reference point position for capacitive level sensing. As described above, the spring 474 allows some vertical play between the conductive cap 470 and the bracket 468 so that excessive upward forces are not applied to the container 100 and also to the hold-down arm 478. Similarly, the spring 467 between the follower block 466 and the hold-down arm 478 ensures that excessive downward forces are not applied to the container 100.

[0249] In addition to positioning the container 100 in proper contact with the container positioning ramp 486 and ensuring that the container 100 is at a fixed vertical reference point position for capacitive level sensing, the container hold-down arm 478 may also perform a hold-down function by preventing the probe tip 600 from lifting the container 100 as the probe tip is raised due to friction between the probe tip 600 and the bulkhead 126 of the container 100.

[0250] In alternative embodiments in which capacitive level sensing of fluid within container 100 is not performed within the container storage module, the container storage module may include only the shutter plate 412 and the container hold-down arm 478, both of which are coupled to the multi-function motor 460. In such embodiments, the container hold-down arm 478 performs only the hold-down function described above and prevents the probe tip 600 from lifting the container 100 as the probe tip is raised due to friction between the probe tip 600 and the bulkhead 126 of the container 100.

[0251] In yet another embodiment in which it is not necessary to cover the upper opening of the container, the container storage module may include only a container hold-down arm 478 coupled to the motor 460, whose only function is to control the movement of the container hold-down arm. In such an embodiment, the container hold-down arm 478 performs only the hold-down function described above and prevents the probe tip 600 from lifting the container 100 as the probe tip is raised due to friction between the probe tip 600 and the bulkhead 126 of the container 100. Waste Disposal Module

[0252] After a container 100 held within the container storage module 400 has been emptied or is otherwise of no further use (e.g., the contents have expired or insufficient contents remain in the container for further processing), it will be necessary to remove the container 100 from the container storage module 400 and discard the container 100. The container 100 can be removed from the storage module 400 by using the actuator arm 308 of the dispenser head 304 to push a pusher pin 411 of the barrier 410 to open the movable barrier 410 for the inlet / outlet opening 406 by aligning the opening 406 with a cutout 413 formed in the barrier 410, and then extending the gripper 320 into the storage module 400 to grasp the container 100 and remove it from the container storage carrier 418 as described above.

[0253] A waste disposal module 550 is provided for disposing of the container 100 after it has been removed from the storage module 400. As shown in FIG. 25 , the waste disposal module 550 includes a retainer cage 554 disposed across an opening 552, below which a suitable waste receptacle (not shown) may be provided. The retainer cage 554 includes opposing sides 562, 564 and a top portion 560 extending therebetween. An upper retainer bar 556 and a lower retainer bar 558 extend from one of the sides 562 of the retainer cage 554. The retainer bars 556, 558 are vertically spaced from one another and extend horizontally across approximately half the width of the retainer cage 554 (i.e., approximately half the distance between sides 562 and 564), thereby leaving a gap or opening between the terminal ends of the retainer bars 556, 558 and the opposite side 564 of the retainer cage. A portion of a waste chute (not shown), which directs discarded container 100 into a waste receptacle, forms the rear wall of the retainer cage 554 opposite the upper and lower retainer bars 556, 558.

[0254] To discard a container 100 into the waste disposal module 550, the dispenser head 304 of the dispenser 300 is rotated to a position aligned with the open side of the retainer cage 554 (i.e., the side of the cage 554 lacking the upper and lower retainer bars 556, 558). The gripper 320 is then extended by advancing the gripper carriage 305 in the radial "R" direction to position the container 100 held thereby, within the cage 554, past the upper and lower retainer bars 556, 558. The dispenser head chassis 306 is then rotated (counterclockwise in the illustrated embodiment) to place the container 100 behind the upper and lower retainer bars 556, 558, with the gripper 320 extending into the gap between the upper and lower retainer bars 556, 558. Gripper fingers 322, 334 are then opened, releasing container 100 to drop through opening 552 and into a waste receptacle. Retainer cage 554 is configured to ensure that once container 100 is released, container 100 does not tip sideways, forward, or backward, but instead drops downward through opening 552 to be directed by a waste chute into a waste receptacle. In FIG. 25, container 100 is shown within retainer cage 554 suspended above opening 552. This shows, for illustration purposes, how container 100 is positioned within retainer cage 554 when released by gripper 320. A container 100 that is not held by gripper 320 and is positioned above opening 552 will drop downward through opening 552 and will not remain suspended as shown in FIG. After releasing the container 100, the gripper 320 can be withdrawn from between the retainer bars 556 and 558 and then moved to another position. Hardware and Software

[0255] Aspects of the subject matter disclosed herein may be implemented through control and computing hardware components, software (which may include firmware), data input components, and data output components. The hardware components include computing and control modules (e.g., system controllers), such as microprocessors, embedded controllers, application specific integrated circuits (ASICS), and computers, configured to effect calculation and / or control steps by receiving one or more input values, executing one or more algorithms stored on a non-transitory machine-readable medium (e.g., software) that provide instructions for manipulating or otherwise acting on or in response to the input values, and outputting one or more output values. Such outputs may be displayed or otherwise shown to a user to provide information to the user, such as information regarding the equipment or a process status being performed thereby, or such outputs may constitute inputs to other process and / or control algorithms. The data input components comprise elements by which data is input for use by the control and computing hardware components. Such data inputs may include signals generated by sensors or scanners, such as position sensors, speed sensors, accelerometers, environmental (e.g., temperature) sensors, motor encoders, barcode scanners, or RFID scanners, and manual input elements, such as keyboards, stylus-based input devices, touch screens, microphones, switches, manually operated scanners, etc. Data inputs may also include data retrieved from memory. Data output components may include hard drives or other storage media, monitors, printers, indicator lights, or audible signal elements (e.g., chimes, buzzers, horns, bells, etc.). (Embodiment)

[0256] Embodiment 1. A system for transporting a container, the system comprising: a groove formed on opposite sides of the container, the system comprising:

[0257] 1. A container loading interface, comprising:

[0258] The container loading interface includes a movable support platform that is movable between an accessible position and a non-accessible position;

[0259] a container loading interface comprising: a container loading transporter supported on a moveable support platform, the container loading transporter including a plurality of container pockets, each container pocket configured to receive a container inserted vertically therein and allow the container to be laterally removed from the container pocket when the moveable support platform is in an accessible position, the container loading transporter configured to, in turn, transport the container pockets to a container transfer position relative to a transfer opening formed in the moveable support platform when the moveable support platform is in a non-accessible position;

[0260] 1. A container storage module comprising:

[0261] a housing with a container inlet / outlet opening formed in a side thereof;

[0262] a movable barrier configured for movement between a first position that blocks the container inlet / outlet opening and a second position that allows the container to be moved laterally through the container inlet / outlet opening;

[0263] a container storage module comprising: a container storage transporter disposed within the housing and including a plurality of container holding stations, each container holding station including a spring tab configured to resiliently engage a groove of a container held within the container holding station to retain the container within the container holding station and to bias outwardly to allow the container to be laterally inserted into or removed from the container holding station;

[0264] a container dispenser configured to transfer containers from the container loading interface to the container storage module,

[0265] a container gripper configured to grip a container delivered into one of the container pockets of the container loading carrier located at the container transfer position by engaging a groove in the container;

[0266] a gripper advancement system configured to move the container gripper to laterally remove the container from a container pocket of the container loading transporter in which the container is retained; and

[0267] a dispenser movement system configured to move the container gripper and the container held thereby from the container transfer location to the inlet / outlet opening of the container storage module;

[0268] The gripper advancement system is configured to move the container gripper and insert a container held thereby through the entrance / exit opening into a container holding station of the container storage transporter, and the gripper is configured to release the container into the container holding station by disengaging from the container groove, and the system comprises a container distributor.

[0269] Embodiment 2. The system of embodiment 1, wherein the movable support platform of the container loading interface comprises a drawer that is movable between a non-accessible position in which the movable support platform is retracted into the equipment and an accessible position in which the movable support platform is extended from the equipment.

[0270] Embodiment 3. A system as described in embodiment 1 or 2, wherein the container loading transporter comprises a loading carousel supported on a movable support platform for rotation about the loading carousel axis, and the container pockets are arranged circumferentially around the loading carousel axis.

[0271] Embodiment 4. The system of embodiment 3, wherein the loading interface further includes a home sensor for detecting a home rotational position of the loading carousel.

[0272] Embodiment 5. A system as described in embodiment 3 or 4, wherein each container pocket includes a retaining clip configured to engage a groove formed on the container to removably retain the container within the container pocket.

[0273] Embodiment 6. A system as described in any one of embodiments 3-5, wherein the container pocket is positioned on the outer periphery of the loading carousel and opens at the outer periphery of the loading carousel, allowing the container to be withdrawn from the pocket in a lateral direction relative to the loading carousel axis.

[0274] Embodiment 7. The system of embodiment 6, wherein each container pocket includes reliefs formed on opposing sides of the open peripheral edge of the container pocket that provide clearance for the gripping mechanism to open and engage or disengage from grooves of a container held within the container pocket.

[0275] Embodiment 8. A system described in any one of embodiments 1-7, wherein each container pocket includes a container positioning stop configured to engage a notch formed in a container positioned in the container pocket.

[0276] Embodiment 9. A system as described in any one of embodiments 1-8, wherein the container loading interface further comprises a scanner configured to scan machine-readable information regarding each container carried on the container loading transporter.

[0277] Embodiment 10. The system of embodiment 9, wherein the scanner comprises a barcode scanner.

[0278] Embodiment 11. A system as described in any one of embodiments 3-7, wherein the container loading interface further comprises a loading transporter motor coupled to the loading carousel and providing motorized rotation of the loading carousel about the loading carousel axis.

[0279] Embodiment 12. The system of embodiment 11, wherein the load transporter motor is coupled to the load carousel by a drive belt.

[0280] Embodiment 13. A system as described in any one of embodiments 1-12, wherein the container storage module comprises a pusher pin extending from the movable barrier, the container distributor comprises a door actuator arm configured to engage with the pusher pin, and the door actuator arm is movable by the distributor movement system to move the movable barrier of the container storage module from a first position to a second position.

[0281] Embodiment 14. A system as described in any one of embodiments 1-13, wherein the container storage transporter comprises a storage carousel supported within the housing for rotation about the storage carousel axis, and the container holding stations are arranged circumferentially around the storage carousel axis.

[0282] Embodiment 15. The system of embodiment 14, wherein the container storage transporter further includes a home sensor for detecting a home rotational position of the storage carousel.

[0283] Embodiment 16. A system as described in embodiment 14 or 15, wherein the storage carousel comprises an upper clip ring including a plurality of pairs of oppositely facing spring tabs, and a lower clip ring including a plurality of pairs of oppositely facing spring tabs, each pair of spring tabs of the upper clip ring being aligned with a corresponding pair of spring tabs of the lower clip ring, each defining a retention station.

[0284] Embodiment 17. A system described in any one of embodiments 14-16, wherein each spring tab includes a knuckle that is bent inwardly into a corresponding holding station, and each knuckle seats in one of the grooves of a container disposed within the holding station.

[0285] Embodiment 18. A system as described in embodiment 16, wherein the upper clip ring is spaced from the lower clip ring such that each pair of spring tabs on the upper clip ring is spaced from a corresponding pair of spring tabs on the lower clip ring.

[0286] Embodiment 19. A system as described in any one of embodiments 14-18, wherein the container storage module further comprises a storage transporter motor coupled to the storage carousel and providing motorized rotation of the storage carousel about the storage carousel axis.

[0287] Embodiment 20. The system of embodiment 19, wherein the storage transporter motor is coupled to the storage carousel by a spur gear mounted on the carousel and engaged with a spur gear mounted on the output shaft of the storage transporter motor.

[0288] Embodiment 21. The container gripper is

[0289] a gripper element mounting bracket;

[0290] a first gripper element mounted to the gripper element mounting bracket for pivotal movement about the first gripper axis of rotation, the first gripper element including a first hook located at a radially spaced position relative to the first gripper axis of rotation and configured to seat within one of the grooves of the container;

[0291] a second gripper element mounted to the gripper element mounting bracket for pivotal movement about a second gripper axis of rotation that is parallel to the first gripper axis of rotation, the second gripper element including a second hook located at a radially spaced position relative to the second gripper axis of rotation and configured to seat in an opposed groove of the container;

[0292] A system as described in any one of embodiments 1-20, wherein the first hook and the second hook are bent toward each other, the first gripper element and the second gripper element are coupled to each other for coordinated pivotal movement toward or away from each other about respective first and second gripper rotation axes, and the container gripper is configured to grip a container by pivoting the first and second gripper elements toward each other until the respective first and second hooks are seated within one of the grooves of the container.

[0293] Embodiment 22. The first gripper element and the second gripper element are

[0294] a first gripper element coupling gear attached to the first gripper element and aligned coaxially with the first gripper rotation axis;

[0295] and a second gripper element coupling gear attached to the second gripper element and arranged coaxially with the second gripper rotation axis, the second gripper element coupling gear being coupled to the second gripper element coupling gear for coordinated pivotal movement;

[0296] A system as described in embodiment 21, wherein the first gripper element coupling gear and the second gripper element coupling gear are interengaged such that rotation of either the first gripper element or the second gripper element results in corresponding coordinated rotation of the other gripper element in the opposite rotational direction.

[0297] Embodiment 23. The container gripper is

[0298] a gripper motor with a gripper actuator gear;

[0299] a gripper drive gear mounted coaxially with the first gripper axis of rotation and configured for independent rotation from the first gripper element, the gripper actuator gear being engaged with the gripper drive gear;

[0300] 23. The system of embodiment 22, further comprising a drive pin extending from the first gripper element at a position spaced apart from the first gripper rotation axis, the drive pin extending into an opening formed in the gripper drive gear.

[0301] Embodiment 24. The system of embodiment 23, wherein the container gripper further comprises a spring connected to at least one of the first gripper element and the second gripper element, and the opening formed in the gripper drive gear comprises an arcuate slot.

[0302] Embodiment 25. The gripper advancement system comprises:

[0303] A linear track;

[0304] a linear bearing coupled to the linear track, the container gripper being supported on the linear bearing;

[0305] A gripper advance motor;

[0306] A system described in any one of embodiments 1-24, comprising a drive belt coupled to the gripper advance motor and fixed to the linear bearing.

[0307] Embodiment 26. The distributor movement system includes:

[0308] a dispenser head frame rotatably mounted about a dispenser axis of rotation, the container gripper being supported on the dispenser head frame;

[0309] a fixed sun gear arranged coaxially with the distributor shaft;

[0310] A system as described in any one of embodiments 1-25, comprising a distributor motor including a drive gear fixed to the distributor head frame and operably engaged with the fixed sun gear.

[0311] EMBODIMENT 27.

[0312] The distributor movement system is

[0313] a distributor head frame rotatably mounted about a distributor axis of rotation;

[0314] a fixed sun gear arranged coaxially with the distributor shaft;

[0315] a distributor motor including a drive gear fixed to the distributor head frame and operatively engaged with the fixed sun gear;

[0316] The gripper advancement system

[0317] a linear track supported on the distributor head frame and oriented radially relative to the distributor axis;

[0318] a linear bearing coupled to the linear track, the container gripper being supported on the linear bearing;

[0319] a gripper advance motor mounted to the distributor head frame;

[0320] A system described in any one of embodiments 1-24 comprising a drive belt operably coupled to the gripper advance motor and attached to a linear bearing.

[0321] Embodiment 28. The container storage module further comprises at least one thermal control component for maintaining a desired temperature within the enclosure, the at least one thermal component comprising:

[0322] Thermoelectric module,

[0323] Heat sink, and

[0324] A system described in any one of embodiments 1-27, comprising one or more of a fan.

[0325] Embodiment 29. A method for transporting a container comprising grooves formed on opposing sides of the container, the method comprising:

[0326] moving the movable support platform from a non-accessible position to an accessible position to provide user access to a container loaded transporter supported on the movable support platform and including a plurality of container pockets;

[0327] inserting a container vertically into each of one or more of the container pockets;

[0328] moving the movable support platform from an accessible position to a non-accessible position;

[0329] sequentially transporting the container pocket with a container loading transporter to a container transfer position at a transfer opening formed in the movable support platform;

[0330] gripping a container carried within one of the container pockets of a container loading carrier positioned at a container transfer position by engaging a groove in the container with a container gripper;

[0331] using the gripper advancement system to move the container gripper to laterally remove the container from a container pocket of the container loading transporter in which the container is retained;

[0332] moving the container gripper and the container held thereby from a container transfer location to an inlet / outlet opening of an enclosure of the container storage module using a dispenser movement system;

[0333] engaging an actuator arm with a pusher pin extending from a movable barrier of the container storage module and moving the actuator arm using the distributor movement system to move the movable barrier of the container storage module from a first position that blocks the container inlet / outlet opening to a second position that allows the container to be moved laterally through the container inlet / outlet opening;

[0334] using the gripper advancement system to move the container gripper and insert a container held by the gripper through the entrance / exit opening and into one of a plurality of container holding stations of a container storage transporter disposed within the housing, each container holding station including a spring tab configured to resiliently engage a groove of a container held within the container holding station to retain the container within the container holding station and to bias outwardly to allow the container to be laterally inserted into or removed from the container holding station;

[0335] and releasing the container into the container holding station by disengaging the grippers from the grooves of the container.

[0336] Embodiment 30. The method of embodiment 29, wherein the step of moving the movable support platform includes the step of moving a drawer that is movable between a non-accessible position in which the movable support platform is retracted into the facility and an accessible position in which the movable support platform is extended from the facility.

[0337] Embodiment 31. A method as described in embodiment 29 or 30, wherein the container loading transporter comprises a loading carousel supported on a movable support platform for rotation about the loading carousel axis, the container pockets are arranged circumferentially around the loading carousel axis and open at their upper ends, and the step of transporting the container pockets in sequence includes the step of rotating the carousel about the carousel axis.

[0338] Embodiment 32. The container pockets are arranged on the outer periphery of the loading carousel and open at the outer periphery of the loading carousel;

[0339] The step of gripping a container carried within one of the container pockets includes:

[0340] inserting a container gripper through the open periphery and engaging a groove in the container;

[0341] 32. The method of embodiment 31, wherein the step of laterally removing the container from the container pocket includes moving the container through the open perimeter with a container gripper.

[0342] Embodiment 33. The method of any one of embodiments 29-32, further comprising the step of scanning machine-readable information regarding each container transported on the container loading transporter using a scanner.

[0343] Embodiment 34. The method of embodiment 33, wherein the scanner comprises a barcode scanner.

[0344] Embodiment 35. A method as described in any one of embodiments 29-34, further comprising a step of monitoring the position of each container held in a pocket of the container loaded transporter using a home sensor to detect a home position of the container loaded transporter.

[0345] 36.

[0346] moving the container with a container storage transporter to a level sensing location within the enclosure;

[0347] moving the movable grounding element relative to the container until the grounding element is proximate to or in contact with a portion of the container;

[0348] lowering the conductive probe, or a conductive tip that is removably attached to the probe, into the container through a container access opening in the housing;

[0349] detecting a signal or change in signal when the probe or conductive tip contacts a surface of the fluid in the container, the signal or change in signal being based on an electrical capacitance between the probe or conductive tip and a movable ground element approaching or in contact with a portion of the container;

[0350] The method of any one of embodiments 29-35, further comprising the automated step of recording the vertical probe position at which a signal or change in signal is detected.

[0351] 37.

[0352] 37. The method of embodiment 36, further comprising the automated step of contacting a container locator with the container at the level sensing location and urging the container to a repeatable vertical level sensing position.

[0353] Step f) of embodiment 38 comprises:

[0354] contacting a lower portion of a container located at the level sensing location with a container location lamp located adjacent to the container storage transporter;

[0355] 38. The method of embodiment 37, comprising the automated step of contacting an upper portion of the container positioned at the level sensing location and pushing the container downward so that the bottom portion of the container maintains contact with the container positioning lamp.

[0356] Embodiment 39. The method of embodiment 38, wherein steps b) and h) are performed simultaneously.

[0357] EMBODIMENT 40.

[0358] The method according to any one of embodiments 36-39, further comprising the step of automatically moving a shutter plate attached to the housing during step b) from a first position covering the container access opening to a second position exposing the container access opening.

[0359] Embodiment 41. A mechanism for gripping and transferring a container, the container including parallel vertically oriented grooves formed on opposite sides of the container, the mechanism comprising:

[0360] a chassis configured for rotation about a vertically oriented chassis axis of rotation;

[0361] a gripper carriage supported on the chassis for rotation therewith and configured for movement in a radial direction relative to the chassis axis of rotation, the gripper carriage comprising a container gripper, the container gripper comprising:

[0362] a first gripper element mounted to the gripper carriage for pivotal movement about a first gripper axis of rotation, the first gripper axis being parallel to the chassis axis of rotation, the first gripper element including a first hook located at a radially spaced position relative to the first gripper axis of rotation;

[0363] and a second gripper element including a second hook mounted to the gripper carriage for pivotal movement about a second gripper axis of rotation that is parallel to the first gripper axis of rotation, the second hook being located at a radially spaced position relative to the second gripper axis of rotation, the first hook and the second hook being bent toward each other and the first gripper element and the second gripper element being coupled to each other for coordinated pivotal movement toward or away from each other about the respective first and second gripper axes of rotation, the container gripper being configured to grip a container by pivoting the first and second gripper elements toward each other until the respective first and second hooks each engage one of the vertically oriented grooves of the container.

[0364] Embodiment 42. The first gripper element and the second gripper element are

[0365] a first gripper element coupling gear attached to the first gripper element and aligned coaxially with the first gripper rotation axis;

[0366] and a second gripper element coupling gear attached to the second gripper element and arranged coaxially with the second gripper rotation axis, the second gripper element coupling gear being coupled to the second gripper element coupling gear for coordinated pivotal movement;

[0367] The mechanism of embodiment 41, wherein the first gripper element coupling gear and the second gripper element coupling gear are interengaged such that rotation of either the first gripper element or the second gripper element results in corresponding coordinated rotation of the other gripper element in the opposite rotational direction.

[0368] EMBODIMENT 43.

[0369] a gripper motor with a gripper actuator gear;

[0370] a gripper drive gear mounted coaxially with the first gripper axis of rotation and configured for independent rotation from the first gripper element, the gripper actuator gear being engaged with the gripper drive gear;

[0371] 43. The mechanism of embodiment 42, further comprising a drive pin extending from the first gripper element at a position spaced from the first gripper rotation axis, the drive pin extending into an opening formed in the gripper drive gear.

[0372] Embodiment 44. The mechanism described in embodiment 43, further comprising a spring connected to at least one of the first gripper element and the second gripper element, and wherein the opening formed in the gripper drive gear comprises an arc-shaped slot.

[0373] EMBODIMENT 45.

[0374] A linear track;

[0375] a linear bearing coupled to the linear track, the gripper carriage being supported on the linear bearing;

[0376] A gripper advance motor;

[0377] 45. The mechanism of any one of embodiments 41-44, further comprising a drive belt coupled to the gripper advance motor and mounted on a linear bearing such that movement of the drive belt by the gripper advance motor moves the gripper carriage radially.

[0378] EMBODIMENT 46.

[0379] a fixed sun gear aligned coaxially with the chassis axis of rotation;

[0380] 46. ​​The mechanism of any one of embodiments 41-45, further comprising a motor including a drive gear fixed to the chassis and operably engaged with the fixed sun gear, such that rotation of the drive gear by the motor causes rotation of the chassis about the chassis rotation axis.

[0381] Embodiment 47. A mechanism for performing capacitive level sensing of a fluid in a fluid container supported on a movable carrier, the mechanism comprising:

[0382] a conductive probe configured for capacitive level sensing by detecting a signal or change in signal when the probe, or a conductive tip removably attached to the probe, contacts a surface of a fluid in a container, the signal or change in signal being based on electrical capacitance between the probe or conductive tip and a grounded conductive structure adjacent to or in contact with the container;

[0383] a probe position sensor for monitoring the vertical position of the probe and recording the vertical probe position where a signal or a detectable change in the signal is detected;

[0384] and a movable grounding element configured for selective movement relative to the container, the movable grounding element being positioned at a level sensing location relative to the probe by the movable carrier until the grounding element approaches or contacts a portion of the container.

[0385] Embodiment 48. The mechanism of embodiment 47, wherein a portion of the movable grounding element is molded to conform to a portion of the container.

[0386] 49.

[0387] A motor;

[0388] a threaded rod operably coupled to the motor;

[0389] 49. The mechanism of embodiment 47 or 48, further comprising a bracket operably coupled to the threaded rod, the movable grounding element being attached to the bracket.

[0390] Embodiment 50. The mechanism of embodiment 49, wherein the movable conveyor is contained within a housing having a top wall across the conveyor, and a container access opening is formed through the top wall above the level sensing location, and configured to allow a probe, or a conductive tip removably attached to the probe, to enter a container located at the level sensing location, and the mechanism further comprises a shutter plate attached to the top wall and movable between a first position covering the container access opening and a second position exposing the container access opening, the shutter plate being operably coupled to a motor that effects motorized movement of the shutter plate from the first position to the second position as the motor moves the movable grounding element toward or into contact with a portion of the container.

[0391] Embodiment 51. A mechanism as described in embodiment 50, in which the shutter plate is pivotally mounted to the upper wall and has a sector gear including gear teeth along its arcuate edge that engages with a gear driven by a motor.

[0392] Embodiment 52. A mechanism described in any one of embodiments 47-51, further comprising a container locator positioned at the level sensing location and configured to contact the container and push the container to a reproducible vertical level sensing position.

[0393] Embodiment 53. The container positioner includes:

[0394] a container positioning lamp configured to be contacted by a bottom portion of a container positioned at the level sensing location;

[0395] 53. The mechanism of embodiment 52, comprising: a container hold-down arm positioned at the level sensing location and configured to contact an upper portion of the container and push the container downward so that a bottom portion of the container maintains contact with the container positioning ramp.

[0396] Embodiment 54. A mobile transporter includes a carousel rotatable about a vertically oriented carousel axis of rotation and including a plurality of container holding stations arranged at angularly spaced positions about the carousel axis of rotation, each container holding station including a spring tab extending laterally relative to the carousel axis of rotation and configured to resiliently engage a groove of a container held in the container holding station to retain the container in the container holding station, and the container is capable of sliding vertically between the spring tabs of the container holding station;

[0397] a container positioning ramp disposed beneath a portion of the carousel and configured to be contacted by a bottom portion of a container held within the container holding station as the carousel moves the container to the level sensing location;

[0398] Contact between the container and the container positioning ramp slides the container into position within the container holding station with the bottom of the container contacting the container positioning ramp;

[0399] 54. The mechanism of embodiment 53, wherein the container hold-down arm is configured to contact an upper portion of the container and slide the container downward within the container holding station such that the bottom portion of the container maintains contact with the container positioning ramp.

[0400] Embodiment 55. The mechanism of embodiment 53 or 54, wherein the container hold-down arm is coupled to the movable grounding element such that when the movable grounding element moves toward or into contact with a portion of the container, the container hold-down arm is moved into contact with an upper portion of the container, pushing the container downward, such that the bottom portion of the container maintains contact with the container positioning ramp.

[0401] Embodiment 56. A mechanism described in any one of embodiments 53-55, wherein the container positioning ramp has an inclined first end, a level center portion, and an inclined second end, and the container is positioned on the level center portion when the container is positioned at the level sensing location.

[0402] Embodiment 57. A mechanism described in any one of embodiments 53-56, wherein the container positioning ramp is shaped to conform to a portion of a path traversed by a container moved by a movable conveyor through the level sensing location.

[0403] Embodiment 58. The mechanism described in embodiment 56 or 57, further comprising a first roller at the start of the tilted first end to guide the bottom portion of the container over the tilted first end.

[0404] Embodiment 59. The mechanism described in embodiment 58, further comprising a second roller at the start of the tilted second end to guide the bottom portion of the container over the tilted second end.

[0405] Embodiment 60. A movable carrier is contained within a housing having a top wall across the carrier, a container access opening is formed through the top wall above the level sensing location, and configured to allow a probe, or a conductive tip removably attached to the probe, to enter a container located at the level sensing location through the container access opening, and the mechanism comprises:

[0406] A motor;

[0407] a threaded rod operably coupled to the motor;

[0408] a follower block threadably coupled to the threaded rod;

[0409] a bracket extending from the follower block, the movable grounding element being attached to the bracket such that rotation of the threaded rod in a first direction by the motor moves the grounding element toward or into contact with a portion of the container, and rotation of the threaded rod in a second direction by the motor moves the grounding element toward or out of contact with the portion of the container; and

[0410] a shutter plate attached to the top wall and movable between a first position covering the container access opening and a second position exposing the container access opening, the shutter plate operatively coupled to a motor such that as the motor moves a moveable grounding element toward or into contact with a portion of the container, motorized movement of the shutter plate from the first position to the second position, and as the motor moves the moveable grounding element toward or out of contact with a portion of the container, motorized movement of the shutter plate from the second position to the first position;

[0411] a container positioning lamp configured to be contacted by a bottom portion of a container positioned at the level sensing location;

[0412] 49. The mechanism of claim 47 or 48, further comprising a container hold-down arm configured for movement between a first position not contacting a container positioned at the level sensing location and a second position contacting an upper portion of a container positioned at the level sensing location and pushing the container downward such that a bottom portion of the container maintains contact with the container positioning ramp, wherein the follower block contacts the container hold-down arm and the motor moves the moveable grounding element closer to or into contact with a portion of the container to move the shutter plate from its first position to its second position.

[0413] Embodiment 61. The mechanism described in embodiment 60, wherein the shutter plate is pivotally mounted to the upper wall and has along its arcuate edge a sector gear including gear teeth that engages with a gear driven coaxially by a motor to a threaded rod.

[0414] Embodiment 62. A mechanism as described in embodiment 60 or 61, wherein the container hold-down arm is configured for pivotal movement between its first position and its second position, and the mechanism further comprises a spring coupled to the container hold-down arm and biasing the container hold-down arm in its first position.

[0415] Embodiment 63. A method for performing capacitive level sensing of a fluid in a container supported on a mobile conveyor, the method comprising:

[0416] moving the container with a mobile conveyor to a level sensing location;

[0417] moving the movable grounding element relative to the container until the grounding element is proximate to or in contact with a portion of the container;

[0418] lowering a conductive probe, or a conductive tip that is removably attached to the probe, into the container;

[0419] detecting a signal or change in signal when the probe or conductive tip contacts a surface of the fluid in the container, the signal or change in signal being based on an electrical capacitance between the probe or conductive tip and a movable ground element approaching or in contact with a portion of the container;

[0420] The method includes the automated step of recording the vertical probe position where a signal or change in signal is detected.

[0421] 64.

[0422] 64. The method of embodiment 63, further comprising the automated step of contacting a container locator with the container at the level sensing location and urging the container to a repeatable vertical level sensing position.

[0423] Step f) of embodiment 65 comprises:

[0424] contacting a bottom portion of a container located at the level sensing location with a container locating ramp located adjacent to the movable transport;

[0425] 65. The method of embodiment 64, comprising the automated step of contacting an upper portion of the container positioned at the level sensing location and pushing the container downward so that the bottom portion of the container maintains contact with the container positioning lamp.

[0426] Embodiment 66. The method of embodiment 65, wherein steps b) and h) are performed simultaneously.

[0427] Embodiment 67. The method of embodiment 65 or 66, wherein the container positioning lamp has an inclined first end, a level center portion, and an inclined second end, and the container is positioned on the level center portion when the container is positioned at the level sensing location.

[0428] Embodiment 68. The method of embodiment 67, further comprising providing a first roller at a start of the tilted first end to guide the bottom portion of the container over the tilted first end.

[0429] Embodiment 69. The method of embodiment 68, further comprising providing a second roller at the beginning of the tilted second end to guide the bottom portion of the container over the tilted second end.

[0430] Embodiment 70. A mobile transporter includes a carousel rotatable about a vertically oriented carousel axis of rotation and including a plurality of container holding stations disposed at angularly spaced positions about the carousel axis of rotation, each container holding station including a spring tab extending laterally relative to the carousel axis of rotation and configured to resiliently engage a groove of a container held in the container holding station to retain the container in the container holding station, the container being capable of sliding vertically between the spring tabs of the container holding station;

[0431] The step of contacting the bottom portion of the container with the container positioning ramp includes sliding the container within the container holding station to a repeatable vertical level sensing position;

[0432] The method of any one of embodiments 65-69, wherein contact between the top portion of the container and the container hold-down arm causes the container to slide downward within the container holding station such that the bottom portion of the container maintains contact with the container positioning ramp.

[0433] Embodiment 71. The carrier is contained within a housing having a top wall across the carrier, and a container access opening is formed through the top wall and above the level sensing location, configured to allow a probe, or a conductive tip removably attached to the probe, to enter a container located at the level sensing location, and the method includes:

[0434] The method according to any one of embodiments 63-70, further comprising the step of automatically performing, during step b), a step of moving a shutter plate attached to the upper wall from a first position covering the container access opening to a second position exposing the container access opening.

[0435] Embodiment 72. The method of any one of embodiments 63-71, wherein a portion of the movable ground element is shaped to conform to a portion of the container.

[0436] Embodiment 73. The method of any one of embodiments 65-72, wherein the container positioning ramp is shaped to conform to a portion of a path traversed by a container moved by a movable conveyor through the level sensing location.

[0437] Embodiment 74. A mechanism for providing selective access to one of a plurality of containers within a substantially enclosed housing, the mechanism comprising:

[0438] a movable transporter within the housing and configured to hold and transport a plurality of containers;

[0439] a container access opening formed in the top wall of the enclosure at a location on a path traversed by a plurality of containers carried on a movable carrier such that movement of the carrier sequentially positions each of the plurality of containers directly beneath the container access opening;

[0440] The mechanism comprises a shutter plate pivotally mounted to the top wall of the housing and pivotable between a first position covering the container access opening, thereby preventing access through the container access opening to the container located directly below the container access opening, and a second position exposing the container access opening, thereby allowing access through the container access opening to the container located directly below the container access opening.

[0441] Embodiment 75. The mechanism described in embodiment 74, further comprising a motor operably coupled to the shutter plate and providing motorized movement of the shutter plate from the first position to the second position.

[0442] Embodiment 76. The mechanism described in embodiment 75, wherein the shutter plate is mounted for pivotal movement between a first position and a second position and comprises a sector gear including gear teeth along its arcuate edge that engages with a gear driven by a motor.

[0443] Embodiment 77. The mechanism described in embodiment 76, further comprising a container hold-down arm configured for movement between a first position that does not contact a container positioned directly below the container access opening and a second position that contacts an upper portion of the container positioned directly below the container access opening and holds the container in a fixed vertical position, a motor coupled to the container hold-down arm and moving the container hold-down arm from its first position to its second position as the motor moves the shutter plate from its first position to its second position.

[0444] 78.

[0445] a threaded rod operably coupled to a motor, the gear driven by the motor being coaxially aligned with the threaded rod;

[0446] 78. The mechanism of embodiment 77, further comprising a follower block threadably coupled to the threaded rod, wherein the container hold-down arm is configured for pivotal movement between its first position and its second position, the container hold-down arm contacting the follower block such that as a gear driven by a motor rotates the sector gear and moves the shutter plate from its first position to its second position, the threaded rod moves the follower block, causing the container hold-down arm to move from its first position to its second position.

[0447] Embodiment 79. The mechanism described in embodiment 78, further comprising a spring coupled to the container hold-down arm and biasing the container hold-down arm in its first position.

[0448] Embodiment 80. A method for providing selective access to one of a plurality of containers in a substantially enclosed housing, the method comprising: a) transporting a plurality of containers within an enclosure on a movable carrier; b) sequentially positioning each of the plurality of containers carried on the movable carrier beneath a container access opening formed in a top wall of the enclosure; and c) automatically pivoting a shutter plate, pivotally mounted to the top wall of the housing, from a first position covering the container access opening to a second position exposing the container access opening.

[0449] The method of embodiment 80, further comprising the step of: d) automatically contacting an upper portion of the container that is positioned directly below the container access opening during step c) to hold the container in a fixed vertical position.

[0450] Embodiment 82. The method of embodiment 81, wherein step d) includes contacting a container hold-down arm with an upper portion of the container that is positioned directly below the container access opening.

[0451] Embodiment 83. A system for disposing of used containers comprising a retainer cage disposed across a waste opening, the retainer cage comprising:

[0452] first and second sides oriented perpendicularly in opposition;

[0453] upper and lower retainer bars extending laterally from a first side to a second side of the retainer cage, the upper and lower retainer bars being vertically spaced from one another and extending across a portion of the width of the retainer cage to leave a gap between the second side and a terminal end of the retainer bars, the gap between the upper and lower retainer bars and the second side being configured to allow a container to be inserted through the gap;

[0454] and a container gripper configured to hold the container and insert the container through the gap to a position between the first side and the second side, whereby the gripper is positioned between vertically spaced upper and lower retainer bars and the container is positioned behind the upper and lower retainer bars.

[0455] Embodiment 84. The container includes grooves formed on opposing sides of the container, and the container gripper is

[0456] a gripper element mounting bracket;

[0457] a first gripper element mounted to the gripper element mounting bracket for pivotal movement about the first gripper axis of rotation, the first gripper element including a first hook located at a radially spaced position relative to the first gripper axis of rotation and configured to seat within a first of the grooves of the container;

[0458] a second gripper element mounted to the gripper element mounting bracket for pivotal movement about a second gripper axis of rotation that is parallel to the first gripper axis of rotation and including a second hook located at a radially spaced position relative to the second gripper axis of rotation and configured to seat within a second of the grooves, the second of the grooves being opposite the first of the container grooves;

[0459] The system of embodiment 83, wherein the first hook and the second hook are bent toward each other, the first gripper element and the second gripper element are coupled to each other for coordinated pivotal movement toward or away from each other about respective first and second gripper rotation axes, and the container gripper is configured to grip a container by pivoting the first and second gripper elements toward each other until the respective first and second hooks are seated within one of the grooves of the container, and the first and second gripper elements fit between vertically spaced upper and lower retainer bars when gripping the container.

[0460] Embodiment 85. The first gripper element and the second gripper element are

[0461] a first gripper element coupling gear attached to the first gripper element and aligned coaxially with the first gripper rotation axis;

[0462] and a second gripper element coupling gear attached to the second gripper element and arranged coaxially with the second gripper rotation axis, the second gripper element coupling gear being coupled to the second gripper element coupling gear for coordinated pivotal movement;

[0463] The system of embodiment 84, wherein the first gripper element coupling gear and the second gripper element coupling gear are interengaged such that rotation of either the first gripper element or the second gripper element results in corresponding coordinated rotation of the other gripper element in the opposite rotational direction.

[0464] Embodiment 86. The container gripper includes:

[0465] a gripper motor with a gripper actuator gear;

[0466] a gripper drive gear mounted coaxially with the first gripper axis of rotation and configured for independent rotation from the first gripper element, the gripper actuator gear being engaged with the gripper drive gear;

[0467] The system of embodiment 84, further comprising a drive pin extending from the first gripper element at a position spaced apart from the first gripper rotation axis, the drive pin extending into an opening formed in the gripper drive gear.

[0468] Embodiment 87. The system described in embodiment 86, wherein the container gripper further comprises a spring connected to at least one of the first gripper element and the second gripper element, and the opening formed in the gripper drive gear comprises an arc-shaped slot.

[0469] Embodiment 88. Further comprising a gripper advancement system, the gripper advancement system comprising:

[0470] A linear track;

[0471] a linear bearing coupled to the linear track, the container gripper being supported on the linear bearing;

[0472] A gripper advance motor;

[0473] A system as described in any one of embodiments 83-87, comprising a drive belt coupled to the gripper advance motor and fixed to the linear bearing.

[0474] Embodiment 89. The system described in embodiment 84, further comprising a chassis, the gripper configured for rotation about a vertically oriented chassis rotation axis, the gripper mounting bracket supported on the chassis for rotation therewith, the first gripper rotation axis being parallel to the chassis rotation axis, and the second gripper rotation axis being parallel to the chassis rotation axis.

[0475] Embodiment 90. A method for disposing of a used container, the method comprising:

[0476] using a container gripper to hold the used container to move the used container horizontally into a retainer cage positioned across the waste opening, the retainer cage having opposite vertically oriented first and second sides and upper and lower retainer bars extending laterally from the first side towards the second side of the retainer cage, the upper and lower retainer bars being vertically spaced from one another leaving a gap between the terminal ends of the upper and lower retainer bars and the second side, the gap extending across a portion of the width of the retainer cage through which the container gripper moves the used container horizontally into the retainer cage;

[0477] the container gripper and the used container held thereby are moved horizontally within the retainer cage until the container gripper extends through a gap between vertically spaced upper and lower retainer bars and the used container is positioned behind the upper and lower retainer bars;

[0478] and releasing the used container from the container gripper such that the used container falls through a waste opening over which the retainer cage is disposed.

[0479] Embodiment 91. The method of embodiment 90, further comprising the step of horizontally moving the container gripper out of the gap between the vertically spaced upper and lower retainer bars.

[0480] Embodiment 92. The container includes grooves formed on opposing sides of the container, and the container gripper is

[0481] a gripper element mounting bracket;

[0482] a first gripper element mounted to the gripper element mounting bracket for pivotal movement about the first gripper axis of rotation, the first gripper element including a first hook located at a radially spaced position relative to the first gripper axis of rotation and configured to seat within one of the grooves of the container;

[0483] a second gripper element mounted to the gripper element mounting bracket for pivotal movement about a second gripper axis of rotation parallel to the first gripper axis of rotation, the second gripper element including a second hook located at a radially spaced position relative to the second gripper axis of rotation and configured to seat in an opposed groove of the container;

[0484] The method of embodiment 90 or 91, wherein the first hook and the second hook are bent toward each other, the first gripper element and the second gripper element are coupled to each other for coordinated pivotal movement toward or away from each other about respective first and second gripper rotation axes, and the container gripper is configured to grip a container by pivoting the first and second gripper elements toward each other until each of the respective first and second hooks is seated within one of the grooves of the container, and each of the first and second gripper elements fits between vertically spaced upper and lower retainer bars when gripping the container.

[0485] Embodiment 93. The first gripper element and the second gripper element are

[0486] a first gripper element coupling gear attached to the first gripper element and aligned coaxially with the first gripper rotation axis;

[0487] and a second gripper element coupling gear attached to the second gripper element and arranged coaxially with the second gripper rotation axis, the second gripper element coupling gear being coupled to the second gripper element coupling gear for coordinated pivotal movement;

[0488] 93. The method of embodiment 92, wherein the first gripper element coupling gear and the second gripper element coupling gear are interengaged such that rotation of either the first gripper element or the second gripper element results in a corresponding coordinated rotation of the other gripper element in the opposite rotational direction.

[0489] Embodiment 94. The container gripper includes:

[0490] a gripper motor with a gripper actuator gear;

[0491] a gripper drive gear mounted coaxially with the first gripper axis of rotation and configured for independent rotation from the first gripper element, the gripper actuator gear being engaged with the gripper drive gear;

[0492] 94. The method of embodiment 93, wherein a drive pin extending from the first gripper element at a position spaced from the first gripper rotation axis and extending into an opening formed in the gripper drive gear is actuated to hold the used container or release the used container.

[0493] Embodiment 95. The method of embodiment 94, wherein the container gripper further comprises a spring connected to at least one of the first gripper element and the second gripper element, and the opening formed in the gripper drive gear comprises an arc-shaped slot.

[0494] 96. The used container is

[0495] A linear track;

[0496] a linear bearing coupled to the linear track, the container gripper being supported on the linear bearing;

[0497] A gripper advance motor;

[0498] The method according to any one of embodiments 90-95, wherein the retainer cage is moved horizontally using a gripper advancement system comprising a gripper advancement motor and a drive belt fixed to a linear bearing.

[0499] Embodiment 97. The method of embodiment 91, wherein the gripper and used container held thereby are moved horizontally within the retainer cage by a chassis configured for rotation about a vertically oriented chassis rotation axis, a gripper mounting bracket is supported on the chassis for rotation therewith, a first gripper rotation axis being parallel to the chassis rotation axis, and a second gripper rotation axis being parallel to the chassis rotation axis.

[0500] Embodiment 98. A mechanism for positioning a fluid container supported on a mobile carrier at a predetermined location, the mechanism comprising:

[0501] a container positioning ramp located adjacent a portion of the moveable transporter and configured to be contacted by a bottom portion of a container supported on the moveable transporter when the moveable transporter moves the container into position;

[0502] and a container hold-down arm configured for selective movement relative to a container positioned at a predetermined location, the container hold-down arm configured to contact an upper portion of a container positioned at a predetermined location and urge the container downwardly such that a bottom portion of the container maintains contact with the container positioning ramp.

[0503] Embodiment 99. The mechanism described in embodiment 98, wherein the container positioning ramp has an inclined first end, a level center portion, and an inclined second end, and the container is positioned on the level center portion when the container is positioned at the level sensing location.

[0504] Embodiment 100. The mechanism described in embodiment 99, further comprising a roller at the start of the tilted first end to guide the bottom portion of the container over the tilted first end.

[0505] EMBODIMENT 101.

[0506] A motor;

[0507] a threaded rod operably coupled to the motor;

[0508] a follower block threadably coupled to the threaded rod;

[0509] A mechanism as described in any one of embodiments 98-100, wherein the follower block contacts the container hold-down arm as the motor moves the follower block, causing the container hold-down arm to move from its first position to its second position.

[0510] Embodiment 102. A movable carrier is contained within a housing having a top wall across the carrier, a container access opening is formed through the top wall above a predetermined location, and configured to allow a fluid transfer probe, or a tip removably attached to the fluid transfer probe, to enter a container located directly below the container access opening, and the mechanism comprises:

[0511] The mechanism of embodiment 101 further comprises a shutter plate attached to the upper wall and movable between a first position covering the container access opening and a second position exposing the container access opening, the shutter plate being operably coupled to a motor which effects motorized movement of the shutter plate from the first position to the second position as the motor moves the follower block and moves the container hold-down arm from its first position to its second position.

[0512] Embodiment 103. A mobile transporter comprises a carousel rotatable about a vertically oriented carousel axis of rotation and including a plurality of container holding stations disposed at angularly spaced positions about the carousel axis of rotation, each container holding station including a spring tab extending laterally relative to the carousel axis of rotation and configured to resiliently engage a groove of a container held in the container holding station to retain the container in the container holding station, the container being capable of sliding vertically between the spring tabs of the container holding station;

[0513] a container positioning ramp disposed beneath a portion of the carousel and configured to be contacted by a bottom portion of a container held within the container holding station as the carousel moves the container into position;

[0514] Contact between the container and the container positioning ramp slides the container into position within the container holding station with the bottom of the container contacting the container positioning ramp;

[0515] The mechanism described in any one of embodiments 98-102, wherein the container hold-down arm is configured to contact an upper portion of the container and slide the container downward within the container holding station so that the bottom portion of the container maintains contact with the container positioning ramp.

[0516] Embodiment 104. A mechanism for holding and moving a plurality of containers, each container including a vertically oriented groove formed on an opposing side of the container, the mechanism comprising a carousel configured to be rotatable about a vertically oriented axis of rotation, the carousel including a plurality of container retaining pockets arranged circumferentially around an outer periphery of the carousel, each container retaining pocket opening at the outer periphery of the carousel to allow a container to be pulled out of the pocket in a radial direction relative to the axis of rotation, and each container retaining pocket including a retaining clip configured to engage a groove formed on the container and removably retain the container within the container pocket.

[0517] Embodiment 105. The mechanism of embodiment 104, wherein each container-holding pocket includes reliefs formed on opposing sides of the open peripheral edge of the container pocket that provide clearance for the gripping mechanism to open and engage or disengage from grooves of a container held in the container-holding pocket.

[0518] Embodiment 106. The mechanism described in embodiment 104 or 105, further comprising a scanner configured to scan machine-readable information regarding each container transported within a container-holding pocket on the carousel.

[0519] Embodiment 107. The mechanism described in embodiment 106, wherein the scanner comprises a barcode scanner.

[0520] Embodiment 108. The mechanism described in embodiment 106 or 107, further comprising a machine-readable tag disposed on a wall of each container pocket, the scanner being configured to detect the machine-readable tag when the container pocket is empty.

[0521] Embodiment 109. A mechanism described in any one of embodiments 104-108, further comprising a motor coupled to the carousel and providing motorized rotation of the carousel about the carousel axis.

[0522] Embodiment 110. A mechanism described in any one of embodiments 104-109, wherein each container holding pocket includes a container positioning stop configured to engage a notch formed in a container positioned in the container holding pocket.

[0523] Embodiment 111. A mechanism described in any one of embodiments 104-110, further comprising a home sensor for detecting a home rotation position of the carousel.

[0524] Embodiment 112. A method for holding and transporting a plurality of containers, each container including vertically oriented grooves formed on opposite sides of the container, the method comprising:

[0525] conveying the containers into container-holding pockets formed about a periphery of a carousel configured to be rotatable about a vertically oriented axis of rotation;

[0526] removably retaining each container within an associated container-retaining pocket with a retaining clip that engages a groove formed on the container;

[0527] and c) laterally removing each container from its associated container-retaining pocket through the open outer peripheral side of the container-retaining pocket.

[0528] Embodiment 113. The method of embodiment 112, wherein each container retaining pocket includes a recess formed on an opposite side of the open outer peripheral side of the container pocket, and the step of laterally removing each container from its associated container retaining pocket includes the step of engaging a groove on the container with a container gripper that accesses the groove on the container through the recess.

[0529] Embodiment 114. The method of embodiment 112 or 113, further comprising the step of scanning, with a scanner, machine-readable information regarding each container carried within a container-holding pocket on the carousel.

[0530] Embodiment 115. The method of embodiment 114, wherein the scanner comprises a barcode scanner.

[0531] Embodiment 116. The method of embodiment 114 or 115, further comprising the step of scanning a machine-readable tag disposed on a wall of the container pocket with a scanner when the container pocket is empty.

[0532] Embodiment 117. The method of any one of embodiments 112-116, further comprising a motor coupled to the carousel and providing motorized rotation of the carousel about the carousel axis.

[0533] Embodiment 118. The method of any one of embodiments 112-117, further comprising the step of engaging a container positioning stop formed in each container with a notch that extends into the container retaining pocket.

[0534] Embodiment 119. A carrier for a plurality of containers, each container including a groove formed on an opposing side of the container, the carrier comprising:

[0535] a carousel rotatable about a vertically oriented carousel axis of rotation and including a plurality of container holding stations disposed at angularly spaced positions about the carousel axis of rotation, each container holding station including a spring tab extending laterally relative to the carousel axis of rotation and configured to resiliently engage a groove in a container held in the container holding station to retain the container in the container holding station, the container being capable of sliding vertically between the spring tabs of the container holding station;

[0536] a container positioning ramp disposed beneath a portion of the carousel and configured to be contacted by a bottom portion of a container held in the container holding station as the carousel moves the container holding station across the container positioning ramp, where contact between the container and the container positioning ramp causes the container in the container holding station to slide into position with the bottom of the container contacting the container positioning ramp;

[0537] a container hold-down arm configured for selective movement relative to a container contacting the container positioning ramp, the container hold-down arm configured to contact an upper portion of the container and slide the container downwardly within the container holding station such that a bottom portion of the container maintains contact with the container positioning ramp.

[0538] Embodiment 120. A transporter as described in embodiment 119, wherein the carousel comprises an upper clip ring including a plurality of pairs of oppositely facing spring tabs and a lower clip ring including a plurality of pairs of oppositely facing spring tabs, each pair of spring tabs of the upper clip ring being aligned with a corresponding pair of spring tabs of the lower clip ring to define each container holding station.

[0539] Embodiment 121. A conveyor as described in embodiment 120, wherein the upper clip ring is spaced from the lower clip ring such that each pair of spring tabs on the upper clip ring is spaced from a corresponding pair of spring tabs on the lower clip ring.

[0540] Embodiment 122. A conveyor as described in any one of embodiments 119-121, wherein each spring tab includes a knuckle bent inward toward the oppositely facing spring tab of each pair of spring tabs, and each knuckle seats in one of the grooves of a container disposed within the holding station.

[0541] EMBODIMENT 123.

[0542] A motor;

[0543] a threaded rod operably coupled to the motor;

[0544] a follower block threadably coupled to the threaded rod;

[0545] A conveyor as described in any one of embodiments 119-122, wherein the follower block contacts the container hold-down arm as the motor moves the follower block, moving the container hold-down arm from a first position not contacting the top of the container to a second position in which the container hold-down arm contacts the top of the container.

[0546] Embodiment 124. A transporter as described in embodiment 123, wherein the container hold-down arm is pivotally mounted within the mounting yoke, a first end of the hold-down arm is contacted by a follower block, and a second end of the hold-down arm is contacted by the follower block, and contacts the container when the hold-down arm is pivoted.

[0547] While the subject matter of the present disclosure has been described and illustrated in some detail with reference to certain illustrative embodiments, including various combinations and subcombinations of features, those skilled in the art will readily appreciate other embodiments and variations and modifications thereof that are encompassed within the scope of the present disclosure. Moreover, the description of such embodiments, combinations, and subcombinations is not intended to convey that the claimed subject matter requires any features or combinations of features other than those expressly recited in the claims. Thus, the scope of the present disclosure is intended to include all modifications and variations that are encompassed within the scope of the following appended claims.

Claims

[Claim 1] The invention described in this specification.

Images