Labware handling system and method for aligning labware

Abstract

To provide a labware aligning system used together with labware.SOLUTION: The system according to the present invention comprises a frame and a fixation system. The frame comprises a seat. The fixation system comprises a pusher and a pusher actuator. The pusher is movable relative to the frame between an open position and a closed position. The pusher actuator comprises an actuator linkage and a biasing mechanism. The actuator linkage is configured to move the pusher from the closed position toward the open position when the actuator linkage is displaced, and to allow the pusher to move toward the closed position when the actuator linkage is not displaced. The biasing mechanism is operative to urge the pusher toward the closed position when the actuator linkage is not displaced, thereby causing the pusher to align labware in the seat.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] This technology relates to laboratory equipment, and more particularly, to an apparatus and method for handling laboratory equipment thereof.

[0002] [Related Application] This application claims the benefit and priority of U.S. Provisional Patent Application No. 62 / 962,357 filed on January 17, 2020 and U.S. Provisional Patent Application No. 62 / 964,441 filed on January 22, 2020. The disclosures of these U.S. Provisional Patent Applications are hereby incorporated by reference in their entirety to form a part of this specification.

Background Art

[0003] Laboratory liquid handling systems are used to transfer and manipulate a predetermined amount of liquid. One or more liquid samples can be supplied into an experimental instrument container (e.g., a microwell plate or a sample tube holder) within the liquid handling system. The liquid handling system can be used to remove a portion of the sample from the experimental instrument (e.g., by suction) and / or add materials to the sample within the experimental instrument (e.g., by dispensing). One or more pipettors may be included for this purpose. In some cases, it may be desirable or necessary to move the experimental instrument or tool within the system. It may be desirable or necessary to move and place the experimental instrument by a robot and / or perform procedures on the experimental instrument by a robot and in some cases, automatically according to a program. It may be desirable or necessary to remove the pipette tip from the pipettor. Summary of the Invention

[0004] According to some embodiments, a labware alignment system for use with labware The labware aligning system comprises a frame and a fixation system. The frame includes a seat. The fastening system includes a pusher and a pusher actuator. The pusher is movable relative to the frame between an open position and a closed position. The pusher actuator includes an actuator linkage and a biasing mechanism. The actuator linkage moves the pusher to the closed position when the actuator linkage is displaced. When the actuator linkage is not displaced, the valve is moved from the open position to the open position. The biasing mechanism is configured to allow the pusher to move toward the closed position. When the actuator linkage is not displaced, it pushes the pusher toward the closed position, This functions to cause the pusher to align the labware within the seat.

[0005] In some embodiments, the biasing mechanism includes a spring.

[0006] In some embodiments, the frame includes a barrier adjacent the seat and facing the pusher. The labware is positioned in the seat and the pusher moves from the open position toward the closed position. When the actuator link mechanism allows this, the biasing mechanism pushes the pusher forward, Press the tool against the barrier.

[0007] According to some embodiments, the labware is positioned within the seat and the pusher is moved from the open position. When the actuator link mechanism allows movement towards the closed position, the pusher displaces the test instrument to align it with the seat part.

[0008] In some embodiments, the pusher has an inclined seat surface that faces inward in the lateral direction towards the seat part and upward away from the seat part.

[0009] According to some embodiments, the actuator link mechanism includes an engagement member and is configured to be displaced by an operator to move the pusher from the closed position towards the open position.

[0010] In some embodiments, the actuator link mechanism is configured to allow the pusher to move from the open position towards the closed position when the operator releases the engagement member.

[0011] In some embodiments, the engagement member is mechanically coupled to the pusher.

[0012] In some embodiments, the engagement member includes a lever member that redirects the movement of the operator in a first direction into a translational movement of the pusher in a second direction that is lateral to the first direction.

[0013] In some embodiments, the first direction is vertical and the second direction is horizontal.

[0014] According to some embodiments, the actuator link mechanism includes guide features that limit the movement of the pusher to linear translation along the pusher travel axis.

[0015] According to some embodiments, the experimental instrument alignment system further includes a detection system that functions to determine the position of the pusher.

[0016] In some embodiments, the detection system includes an optical emitter that generates an optical beam and an optical detector configured to receive the optical beam. The pusher prevents the optical beam from reaching the optical detector when the pusher is in the closed position. The pusher allows the optical beam to reach the optical detector when the pusher is displaced by the experimental instrument within the seat.

[0017] According to some embodiments, the experimental instrument is at least one of a chip box, a pipette tip box, a well plate, a microplate, and a rack configured to hold a plurality of fluid receiving portions.

[0018] A method is also disclosed, which includes a method of aligning an experimental instrument, including providing an experimental instrument alignment system including a frame and a fixing system. The frame includes a seat. The fixing system includes a pusher and a pusher actuator. The pusher is movable between an open position and a closed position relative to the frame. The pusher actuator includes a biasing mechanism that functions to push the pusher from the open position toward the closed position and an actuator link mechanism. The method includes mechanically displacing the actuator link mechanism to move the pusher from the closed position toward the open position, positioning the experimental instrument within the seat with the pusher in the open position, and releasing the actuator link mechanism to allow the biasing mechanism to move the pusher toward the closed position. ​ accommodate, and further include aligning the experimental instrument in the seat by the pusher accordingly.

[0019] According to some embodiments, the method includes providing a transport system operable to move the experimental instrument, the transport system comprising a carrier configured to releasably hold the experimental instrument, providing a transport system operable to move the experimental instrument, the transport system comprising a carrier configured to releasably hold the experimental instrument, and further including mechanically displacing an actuator link mechanism, which includes displacing an engagement member with both the carrier, and the method further includes removing the carrier from the experimental instrument, and releasing the actuator link mechanism includes pulling the carrier out of the actuator link mechanism.

[0020] According to some embodiments, a liquid handling system for use with an experimental instrument includes an alignment system and a liquid handler. The alignment system includes a frame and a fixation system. The frame includes a seat. The fixation system includes a pusher and a pusher actuator. The pusher is movable between an open position and a closed position relative to the frame. The pusher actuator includes an actuator link mechanism and a biasing mechanism. The actuator link mechanism is configured to move the pusher from the closed position to the open position when the actuator link mechanism is displaced, and to allow the pusher to move towards the closed position when the actuator link mechanism is not displaced. The biasing mechanism is configured to push the pusher towards the closed position when the actuator link mechanism is not displaced, thereby functioning to align the experimental instrument in the seat by the pusher. ​​​​​​​​​​​​​

[0021] In some embodiments, the liquid handling system moves labware. the transport system further operable to releasably hold the labware. a carrier configured to carry the actuator linkage; The pusher is displaced from the closed position toward the open position and the labware is placed in the seat. The device is configured to be mounted on a

[0022] According to some embodiments, a labware handling system for use with labware is provided. The system includes a transport system and an alignment system. The transport system moves the labware. The transport system is configured to releasably hold the labware. The alignment system includes a frame and a fixing system. The frame includes a seat. The fastening system includes a pusher and a pusher actuator. The pusher is movable relative to the frame between an open position and a closed position. The actuator includes an actuator linkage and a biasing mechanism. The actuator linkage is displaced by the carrier. The actuator link mechanism is displaced while the actuator is moved from the closed position toward the open position. The pusher is configured to allow movement of the pusher toward the closed position when the pusher is not engaged. The biasing mechanism urges the pusher toward the closed position when the actuator linkage is not displaced. This allows the pusher to align the labware within the seat. do.

[0023] According to some embodiments, the actuator link mechanism includes an engagement member that is displaced by the carrier when the carrier moves toward the seat to lower the experimental instrument into the seat.

[0024] In some embodiments, the actuator link mechanism is configured to allow the pusher to move from an open position to a closed position when the carrier moves away from the engagement member to release the engagement member.

[0025] In some embodiments, the engagement member is mechanically coupled to the pusher.

[0026] In some embodiments, the engagement member includes a lever member that redirects the movement of the carrier in a first direction into a translational movement of the pusher in a second direction that is transverse to the first direction.

[0027] In some embodiments, the first direction is vertical and the second direction is horizontal.

[0028] According to some embodiments, the carrier includes a gripper configured to hold the experimental instrument.

[0029] In some embodiments, the carrier includes a carrier arm, a support feature extending from the carrier arm, and a carrier actuator, the support feature being configured to engage the experimental instrument to support the experimental instrument, and the carrier actuator being operable to disengage the support feature from the experimental instrument to release the experimental instrument from the carrier into the seat.

[0030] According to some embodiments, the transport system includes a robotic arm, and the carrier is a robot It is an end effector on the robot arm.

[0031] According to some embodiments, the laboratory instrument handling system automatically programs to operate the transport system, lower the laboratory instrument into the seat, and remove the laboratory instrument from the seat and further includes a controller configured to take it out.

[0032] The accompanying drawings, which form a part of this specification, illustrate embodiments of the present technology.

Brief Description of the Drawings

[0033]

Figure 1

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Embodiments for Carrying Out the Invention

[0034] Hereinafter, with reference to the accompanying drawings showing exemplary embodiments of the present technology, the present technology will be described in more detail hereinafter. In the drawings, the relative sizes of regions or characteristic parts may be exaggerated for clarity. However, the present technology can be embodied in many different forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the scope of the present technology to those skilled in the art.

[0035] Terms such as "first," "second," etc. may be used herein to describe various components, parts, regions, layers, and / or sections. However, it will be understood that these components, parts, regions, layers, and / or sections should not be limited by these terms. These terms are used to distinguish one component, part, region from another, and do not denote any order or importance of the component, part, region layer, and / or section. 、layers, or sections are used only to distinguish one area, layer, or section from another . Thus, the first component, part, area, layer, or section discussed below may, without departing from the teachings of the present technology, be referred to by the term second component, part, area, layer, or section .

[0036] Spatially relative terms such as "beneath," "below," "lower," "above," "upper," etc. are used herein for ease of explanation to describe the relationship of one element or feature (which may be plural) of the figures to another element or feature . It is understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures . For example, if the device in the figure is inverted, an element described as "below" or "beneath" another element or feature will be oriented "above" the other element or feature. Therefore, the exemplary term "below" can encompass both the "above" orientation and the "below" orientation . The device can be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein will be interpreted accordingly . . . The device can be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein will be interpreted accordingly .

[0037] As used herein, unless otherwise expressly stated, the singular forms "a," "an," and "the" are intended to include the plural forms . As used herein ​​​, terms such as "comprises, includes" and / or "comprising, including" identify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It will be further understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. The term "automatically" means that the operation is performed substantially, and in some cases entirely, without human input or manual input and may be directed or executed in accordance with a program. The term "programmatically" refers to operations that are electronically directed and / or primarily executed by a computer program module, code, and / or instructions. The term "electronically" includes both wireless and wired connections between components. Referring to FIG. 1, an exemplary experimental instrument handling according to a particular embodiment of the present technology is shown. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present.

[0038] The term "automatically" means that the operation is performed substantially, and in some cases entirely, without human input or manual input and may be directed or executed in accordance with a program. The term "programmatically" refers to operations that are electronically directed and / or primarily executed by a computer program module, code, and / or instructions. The term "electronically" includes both wireless and wired connections between components.

[0039] The term "programmatically" refers to operations that are electronically directed and / or primarily executed by a computer program module, code, and / or instructions. The term "electronically" includes both wireless and wired connections between components. Referring to FIG. 1, an exemplary experimental instrument handling according to a particular embodiment of the present technology

[0040] The term "electronically" includes both wireless and wired connections between components. Referring to FIG. 1, an exemplary experimental instrument handling according to a particular embodiment of the present technology

[0041] Referring to FIG. 1, an exemplary experimental instrument handling according to a particular embodiment of the present technology System 101 is shown. The exemplary laboratory instrument handling system 101 forms part of a liquid handling system 10 (FIG. 1) according to an exemplary embodiment of the present technology but the disclosed methods, systems, and devices are not limited to liquid handling systems and / or applications, and the present disclosure is applicable to other systems and applications where it is desirable to align laboratory instruments . With respect to the embodiment of FIG. 1, the laboratory instrument handling system 101 transports and positions a laboratory instrument 50 within the system 10 . As will be discussed in more detail below, the illustrated exemplary laboratory instrument handling system 101 includes a laboratory instrument transport system 70 and a laboratory instrument alignment system or laboratory instrument holder 100 (hereinafter referred to as laboratory instrument holder 100) . In some embodiments, the laboratory instrument transport system 70 transports the laboratory instrument 50 and places the laboratory instrument 50 within the laboratory instrument holder 100 . In other embodiments or uses, the laboratory instrument transport system 70 is not provided or is not used to transport the laboratory instrument 50 and / or install the laboratory instrument 50 within the laboratory instrument holder 100

[0042] . Referring to FIG. 1, the exemplary system 10 includes a platform or deck 12, a frame 14, a controller 20, an analytical instrument 16, a liquid handler 30, a pipetting module 40, and a pipetting module positioner 49 . For purposes of discussion and as shown in FIGS. 1 and 6, in the work space, an X-axis and a Y-axis are defined that together with a vertically corresponding Z-axis define a horizontal plane . As will be discussed in more detail below, the illustrated exemplary laboratory instrument handling system 101 includes a laboratory instrument transport system 70 and a laboratory instrument alignment system or laboratory instrument holder 100 (hereinafter referred to as laboratory instrument holder 100) . In some embodiments, the laboratory instrument transport system 70 transports the laboratory instrument 50 and places the laboratory instrument 50 within the laboratory instrument holder 100 . In other embodiments or uses, the laboratory instrument transport system 70 is not provided or is not used to transport the laboratory instrument 50 and / or install the laboratory instrument 50 within the laboratory instrument holder 100

[0043] . Referring to FIG. 1, the exemplary system 10 includes a platform or deck 12, a frame 14, a controller 2, an analytical instrument 16, a liquid handler 30, a pipetting module 40, and a pipetting module positioner 49 . For purposes of discussion and as shown in FIGS. 1 and 6, in the work space, an X-axis and a Y-axis are defined that together with a vertically corresponding Z-axis define a horizontal plane . For purposes of discussion and as shown in FIGS. 1 and 6, in the work space, an X-axis and a Y-axis are defined that together with a vertically corresponding Z-axis define a horizontal plane

[0044] . For purposes of discussion and as shown in FIGS. 1 and 6, in the work space, an X-axis and a Y-axis are defined that together with a vertically corresponding Z-axis define a horizontal plane . For purposes of discussion and as shown in FIGS. 1 and 6, in the work space, an X-axis and a Y-axis are defined that together with a vertically corresponding Z-axis define a horizontal plane

[0045] In an exemplary embodiment, the laboratory instrument 50 is a container that is (with respect to the deck 12 ) transportable within the work area, but the present disclosure is not limited to the type of laboratory instrument. The exemplary laboratory instrument includes a tray, rack, carrier, or platter 52 (FIG. 3) and a plurality of target units or objects 60 (FIG. 3) mounted on the platter 52. In some embodiments, such as the exemplary embodiment, the object 60 is a pipette tip. However, the laboratory instrument can take other forms depending on the embodiment of the present technology. In some

[0046] embodiments, the laboratory instrument 50 is a container configured to hold one or more liquid samples operated by the system 10. The laboratory instrument 50 can include a plurality of receiving portions each configured to hold a respective liquid sample. The receiving portion can be an individual vial or other receptacle removably seated within the platter 52 instead of the pipette tip 60. As a further example, the laboratory instrument 50 can be or include a well plate or microplate including an integral recess or receiving portion for directly containing a liquid sample. However, it will be understood that the disclosed methods, systems, and devices are not limited to being used with a laboratory instrument that holds an object (e.g., a pipette tip) or a liquid sample. The laboratory instrument 50 can be or include a platter or rack of another configuration that holds a pipette tip, vial, or other suitable type of liquid container or receptacle. or can include such. As a further example, the laboratory instrument 50 can be or include a well plate or microplate including an integral recess or receiving portion for directly containing a liquid sample. However, it will be understood that the disclosed methods, systems, and devices are not limited to being used with a laboratory instrument that holds an object (e.g., a pipette tip) or a liquid sample. The laboratory instrument 50 can be or include a well plate or microplate including an integral recess or receiving portion for directly containing a liquid sample. However, it will be understood that the disclosed methods, systems, and devices are not limited to being used with a laboratory instrument that holds an object (e.g., a pipette tip) or a liquid sample. However, it will be understood that the disclosed methods, systems, and devices are not limited to being used with a laboratory instrument that holds an object (e.g., a pipette tip) or a liquid sample. It will be understood that the disclosed methods, systems, and devices are not limited to being used with a laboratory instrument that holds an object (e.g., a pipette tip) or a liquid sample.

[0047] The laboratory instrument 50 can be or include a platter or rack of another configuration that holds a pipette tip, vial, or other suitable type of liquid container or receptacle, or can include such.

[0048] ​​​The exemplary platter 52 of FIG. 3 includes carrier engagement features in the form of grooves 54 that extend horizontally along both sides of the platter 52. The exemplary platter 52 also includes a plurality of receiving portions or slots 57 that are each accessible from above the platter 52. In such a system, the pipette tip 60 can be removably attached inside each of the slots 57. In some embodiments, the slots 57 are arranged in a defined X-Y array. For example, the exemplary platter 52 includes an 8×12 array of slots 57 (a total of 96 slots). Regarding the embodiment of the present disclosure according to FIG. 1, the liquid handler 30 can be understood as any device capable of aspirating a desired amount of liquid from a container and / or dispensing it into the container. An example liquid handler 30 can include, for example, a syringe or pump fluidly connected to the pipetting module 40 by one or more lengths of tubing 30A. The exemplary liquid handler 30 can be controlled by the controller 20. The exemplary pipetting module 40 can include a housing or base 42 and a plurality of pipettors 44 attached to the base 42. The pipettors 44 can be arranged, for example, in a single row or in a defined X-Y array. The pipetting module positioner 49 can be provided in embodiments that move the pipetting module 40 around the perimeter of the deck 12. The pipetting module 40 can selectively lower and raise (extend and retract) the pipettors 44 relative to the base 42. For embodiments of the present disclosure according to FIG. 1, the liquid handler 30 can be understood as any device capable of aspirating a desired amount of liquid from a container and / or dispensing it into the container. An example liquid handler 30 can include, for example, a syringe or pump fluidly connected to the pipetting module 40 by one or more lengths of tubing 30A. The exemplary liquid handler 30 can be controlled by the controller 20. For embodiments of the present disclosure according to FIG. 1, the liquid handler 30 can be understood as any device capable of aspirating a desired amount of liquid from a container and / or dispensing it into the container. An example liquid handler 30 can include, for example, a syringe or pump fluidly connected to the pipetting module 40 by one or more lengths of tubing 30A. The exemplary liquid handler 30 can be controlled by the controller 20. For embodiments of the present disclosure according to FIG. 1, the liquid handler 30 can be understood as any device capable of aspirating a desired amount of liquid from a container and / or dispensing it into the container. An example liquid handler 30 can include, for example, a syringe or pump fluidly connected to the pipetting module 40 by one or more lengths of tubing 30A. The exemplary liquid handler 30 can be controlled by the controller 20.

[0049] Regarding the embodiment of the present disclosure according to FIG. 1, the liquid handler 30 can be understood as any device capable of aspirating a desired amount of liquid from a container and / or dispensing it into the container. An example liquid handler 30 can include, for example, a syringe or pump fluidly connected to the pipetting module 40 by one or more lengths of tubing 30A. The exemplary liquid handler 30 can be controlled by the controller 20. Regarding the embodiment of the present disclosure according to FIG. 1, the liquid handler 30 can be understood as any device capable of aspirating a desired amount of liquid from a container and / or dispensing it into the container. An example liquid handler 30 can include, for example, a syringe or pump fluidly connected to the pipetting module 40 by one or more lengths of tubing 30A. The exemplary liquid handler 30 can be controlled by the controller 20. Regarding the embodiment of the present disclosure according to FIG. 1, the liquid handler 30 can be understood as any device capable of aspirating a desired amount of liquid from a container and / or dispensing it into the container. An example liquid handler 30 can include, for example, a syringe or pump fluidly connected to the pipetting module 40 by one or more lengths of tubing 30A. The exemplary liquid handler 30 can be controlled by the controller 20. Regarding the embodiment of the present disclosure according to FIG. 1, the liquid handler 30 can be understood as any device capable of aspirating a desired amount of liquid from a container and / or dispensing it into the container. An example liquid handler 30 can include, for example, a syringe or pump fluidly connected to the pipetting module 40 by one or more lengths of tubing 30A. The exemplary liquid handler 30 can be controlled by the controller 20. Regarding the embodiment of the present disclosure according to FIG. 1, the liquid handler 30 can be understood as any device capable of aspirating a desired amount of liquid from a container and / or dispensing it into the container. An example liquid handler 30 can include, for example, a syringe or pump fluidly connected to the pipetting module 40 by one or more lengths of tubing 30A. The exemplary liquid handler 30 can be controlled by the controller 20.

[0050] The exemplary pipetting module 40 can include a housing or base 42 and a plurality of pipettors 44 attached to the base 42. The pipettors 44 can be arranged, for example, in a single row or in a defined X-Y array. The exemplary pipetting module 40 can include a housing or base 42 and a plurality of pipettors 44 attached to the base 42. The pipettors 44 can be arranged, for example, in a single row or in a defined X-Y array. The exemplary pipetting module 40 can include a housing or base 42 and a plurality of pipettors 44 attached to the base 42. The pipettors 44 can be arranged, for example, in a single row or in a defined X-Y array.

[0051] The pipetting module positioner 49 can be provided in embodiments that move the pipetting module 40 around the perimeter of the deck 12. The pipetting module 40 can selectively lower and raise (extend and retract) the pipettors 44 relative to the base 42. The pipetting module positioner 49 can be provided in embodiments that move the pipetting module 40 around the perimeter of the deck 12. The pipetting module 40 can selectively lower and raise (extend and retract) the pipettors 44 relative to the base 42. The pipetting module positioner 49 can be provided in embodiments that move the pipetting module 40 around the perimeter of the deck 12. The pipetting module 40 can selectively lower and raise (extend and retract) the pipettors 44 relative to the base 42. To cause and / or raise and lower the base 42 relative to the deck 12, one or more pipetter actuators 49A may be included. The pipetting module positioner 49 and (where applicable) the actuators 49A can be controlled by the controller 20.

[0052] Referring to FIG. 11 and continuing to refer to the exemplary embodiment of FIG. 1, it can be understood that each pipette 44 has a longitudinal axis T-T and a distal end 46. Similarly, each pipette 44 has an axially extending passage 48B that terminates at an opening 48A at the distal end 46. In use according to the system according to FIG. 1, each pipette 4 44 can be raised and lowered along the longitudinal axis T-T by the (where applicable) pipetter actuators 49A. In some embodiments, the axis T-T is substantially parallel to the vertical axis Z-Z. In some embodiments, one or more of the pipettes 44 are fluidly connected to the liquid handler 30 by a tube 30A.

[0053] Each pipette 44 may also include a pipette tip removal mechanism 4 7 (schematically shown in FIG. 11).

[0054] Continuing to refer to FIG. 11, each exemplary pipette tip 60 is tubular and has a proximal end 60B that faces the distal end 60A. Each pipette tip 60 includes a through passage 66 that extends completely through the pipette tip 60 and terminates at a terminal opening 64 at the distal end 60A. Each pipette tip 60 also includes a connecting base 62 on the proximal end 60B. Each pipette tip 60 is disposed in each of the slots 57 such that the connecting base 62 faces upward.​​ Sit inside.

[0055] The distal end 46 of the pipetter 44 and the connection base 62 are cooperatively adapted or configured to releasably or removably secure each pipette tip 60 to the respective distal end 46. In some embodiments, the pipetter 44 and the pipette tip connection base 62 are such that when the distal end 46 is axially inserted into the connection base 62, the connection base 62 grips the distal end 46 (e.g., by interference fit and / or by an O-ring (e.g., an elastomeric O-ring) attached on the distal end 46 or the connection base 62) or is configured to interlock with the distal end 46. In some embodiments, the gripping or interlocking is sufficient to hold the pipette tip 60 on the end 46 during operation as described in this specification, while also allowing the pipette tip 60 to be removed from the end 46 and removed when intentionally acted upon during the removal operation. In some embodiments, the pipette tip removal mechanism 47 is configured to selectively and forcibly push each pipette tip 60 out of the associated pipetter 44. Referring to FIG. 3, in some embodiments, the experimental instrument 50 is provided as a chip box or pipette tip box that includes a platter 52 and, for example, can be pre-installed with the pipette tips 60 inside by the manufacturer.

[0056] Referring to FIG. 3, in some embodiments, the experimental instrument 50 includes a chip box or pipette tip box that includes a platter 52 and, for example, can be pre-installed with the pipette tips 60 inside by the manufacturer.

[0057] The exemplary transport system 70 (FIG. 1) includes an articulated robotic transport arm 72 and a carrier 80 (provided as an end effector on the transport arm 72), and one or more transport arm actuators ​​​​It includes a pusher actuator 74. The transport arm actuator 74 is operable to move the carrier 80 around the deck 12, including raising and lowering the carrier 80. It is.

[0058] In some embodiments, the carrier 80 is a robotic gripper. The exemplary carrier 80 (FIG. 3) includes a carrier base 82 and a pair of opposing carrier fingers or arms 84 attached to the base 82. The exemplary carrier arm 84 projects from the carrier base 82 in a cantilevered manner and extends along the longitudinal axis A-A. The exemplary arms 84 are spaced apart about the axis A-A, defining an open space therebetween. Each arm 84 is provided with a support feature or tab 86 that projects laterally inwardly toward the opposing arm 84. In the exemplary embodiment, the support arms 84 and tabs 86 define a carrier seat 81, but such an example is provided for illustration purposes only and is not for limitation.

[0059] The exemplary carrier 80 further includes a carrier actuator 83 configured to selectively displace the arms 84 laterally toward each other (in the narrowing direction DG) and laterally away from each other (in the widening direction DR) along the lateral axis L-L. Thereby the carrier actuator 83 can be used to place the carrier 80 in an open position (FIG. 9) where the arms 84 are spread apart at a first distance, and, alternatively, in a closed position (FIG. 6) where the arms 84 are spread laterally at a second distance shorter than the first distance.

[0060] From the disclosure herein, the transport system 70 and the carrier 80 are shown herein It will be recognized that the configuration can be different from the configuration that exists. For example, the transport stem 70 can include, instead of or in addition to the transport arm 72, a rail and gantry mechanism).

[0061] The structure and functions of the liquid handler 30, the pipetting module 40, the pipetting module positioner 49, and the laboratory instrument transport system 70 are merely exemplary, and it will be recognized that these systems and components can be structured and operated differently according to the embodiments of the present technology. The exemplary laboratory instrument holder 100 includes a frame 110 that defines a laboratory instrument holder seat portion 102 and a fixing system 131, but the present disclosure is not limited to such embodiments. The laboratory instrument

[0062] holder 100 can further include a laboratory instrument presence / absence detection system 178 (FIG. 8).

[0063] The frame 110 of FIG. 3 includes a frame base 112 and three fixing parts 116A, 11

[0064] 6B and 116C. The exemplary frame 110 has a first or main axis M-M (FIG. 10), a second or lateral axis L-L, and a third or height axis H-H (FIG. 7). In some embodiments

[0065] the height axis H-H is substantially vertical, and the main axis M-M and the lateral axis L-L are substantially perpendicular to each other and perpendicular to the height direction H-H.

[0065] Returning to FIG. 10, the exemplary frame base 112 has a front end side portion 112A, an opposing rear end side portion 112B, a first lateral side 112C, and an opposing second lateral side 112D. The recess 118 includes a planar, horizontally oriented support surface 114 (FIG. 3) formed therein. (FIG. 4) is defined at one corner of the base 112. The support surface 114 is a substantially horizontal A base surface is defined.

[0066] Stop 116A is located on rear side 112A near the corner between sides 112B and 112D. In this embodiment, stop 116B is located at the edge of stop 116A. The side portions 112A and 116B are perpendicular to each other and collectively define an angular seat portion 117. Stop 116C is located on the edge of side 112D near the corner between B and side 112D. The stop 116 is also located at the edge of the lateral side 112D and is axially spaced apart from the stop 116B. Stops 116A and 116B collectively form lateral side barriers. Other configurations of stops may be used, and this disclosure is provided for illustrative purposes. The present invention is not limited to the illustrated embodiments, which are not intended to be limiting.

[0067] Referring to FIG. 4, an exemplary fastening system 131 includes a pusher 130 and a mount assembly. The actuator includes a pusher linkage 150, a pusher actuator linkage 160, and a spring 156. The actuator linkage 160 and spring 156 cooperate to form a pusher actuator. do.

[0068] For purposes of this disclosure, a pusher is defined as a device that urges a component of laboratory equipment into a seat in a frame. should be understood as a mechanism that plays a role in and / or is able to do this. The example pusher 130 of Figures 4 and 5 is configured to support a planar, horizontally oriented support surface. It includes a body or base 132 having 132A. The exemplary pusher 130 has a support surface 132 that projects upward from A and has a seating surface 136, an integral stop, post, or support feature 134. The seating surface 136 (FIG. 5) includes a lower surface 136A and a chamfered or inclined upper surface 136B. As discussed below, the pusher 130 is slidably connected to the base 112 and moves inwardly DC and oppositely outwardly DO along a substantially horizontal sliding or pusher travel axis P-P. The pusher travel axis P-P is substantially parallel to the main axis M-M .

[0069] Referring to FIG. 5, the lower surface 136A of the pusher 130 is substantially planar and defines a lower pusher plane. The lower pusher plane extends substantially parallel to the vertical Z-Z (i.e., substantially perpendicular to the horizontal base plane of the support surface 114). The lower pusher plane forms an oblique angle A1 (FIG. 10) with the pusher travel axis P-P . .

[0070] The upper surface 136B of the exemplary pusher 130 is substantially planar and defines an upper pusher plane. The upper pusher plane extends at an oblique angle A2 (FIG. 5) with respect to the vertical Z-Z. The upper surface 136B forms an oblique angle A3 (FIG. 10) with the pusher travel axis P-P. The upper surface 136B of the seating surface 136 faces laterally inwardly toward the seat 102 and upwardly away from the seat 102 . . .

[0071] It will be recognized that the shape and structure of the pusher 130 are exemplary and that the pusher can have different configurations depending on other embodiments of the present technology .

[0072] ​​​​ The lever guide slot 140 (FIG. 4) is defined in the lateral side portion outside the exemplary pusher 130. The lever guide slot 140 extends substantially vertically.

[0073] The integral linear guide rail 142 (FIGS. 5 and 8) extends along the inner lateral side portion of the pusher 130. The guide rail 142 extends along a substantially horizontal axis.

[0074] The integral detection tab 144 (FIGS. 5 and 8) protrudes forward from the front end of the pusher 130.

[0075] The mount assembly 150 (FIG. 4) includes a fixed block 152 and a guide track 154. The fixed block 152 is fixed to the base 112, and the guide track 154 is fixed to the fixed block 152. The guide track 154 defines a guide groove 154A into which the guide rail 142 can be slidably received. The exemplary guide rail 142 and the pusher 130 thereby connected to the base 112 and slide along the pusher travel axis P-P. By the engagement between the guide track 154 and the guide rail 142 (FIGS. 5 and 8), the pusher 130 is restricted to linear movement along the pusher travel axis P-P. The spring 156 can serve as a biasing mechanism, which is merely an example of a biasing mechanism. For the exemplary embodiment, the spring 156 can be any suitable type of spring. In some embodiments, and as exemplified, the spring 156 is a wound coil spring.

[0076] One end 156A of the spring 156 is fixed to the pusher 130 (e.g., by a spring pin). The opposite end 156B of the spring 156 is fixed to the base 112 (e.g., The opposite end 156B of the spring 156 is fixed to the base 112 (e.g., by a spring pin). by a spring pin). (by an attachment feature or a fastener).

[0077] Referring to FIGS. 4 and 6 - 8, the pusher actuator link mechanism 160 includes an engagement member or lever member 170, a lever holder 162, a pivot pin 164, and a guide pin 1 66. The lever member 170 includes an upper leg 172, a lower leg 174, a pivot hole 17 3, and an engagement feature 176. The lever holder 162 is firmly attached on the base 112 . The lever member 170 is pivotally connected to the lever holder 162 by the pivot pin 164 for rotation about a horizontal pivot axis Q - Q (FIG. 6). The upper leg 172 is laterally offset from the pivot axis Q - Q.

[0078] The guide pin 166 is fixed to the lower leg 174 and extends inwardly in the lateral direction. The guide pin 166 is slidably seated within a guide slot 140 (FIGS. 7, 8) of the pusher 130, mechanically coupling the lever member 170 to the pusher 130.

[0079] The engagement feature 176 is located at the upper end of the upper leg 172. The engagement feature 176 includes an engagement surface on the top side and has an inner section 176A extending toward the base 112 and an outer section 176B extending away from the base 112.

[0080] Referring now to FIG. 8, the sensing system 178 includes an engagement member or light emitter 178A and a light sensor 178B, which can be spaced apart to define a slot 179 therebetween. As discussed below, when the pusher 130 slides inwardly toward the closed position, the sensing tab 1 44 is received within the slot 179, and when the pusher 130 slides outwardly toward the open position The detection tab 144 is removed from the slot 179.

[0081] Referring to FIG. 10, the exemplary seat portion 102 is bounded by the base 112, the stoppers 116A - 116 C, the lever holder 162, and the pusher 130. The seat portion 102 has a front end portion 102A near the front end portion 112A of the base, a rear end portion 102B near the rear end portion 112B of the base, a first lateral side portion 102C near the base side portion 112C, and a second lateral side portion 102D near the base lateral side portion 1 12D. The exemplary seat portion 102 also includes a top opening 102 E (FIG. 3).

[0082] Here, with regard to the method of the present technology, the exemplary operations of the system 10 and the experimental instrument handling system 101 and the use of the holder 100 will be described with reference to FIGS. 6 - 11. It is recognized that the following procedures are exemplary and can be changed according to the operator's wishes.

[0083] First, the experimental instrument holder 100 is empty, and no experimental instrument is disposed in the carrier seat portion 81. The spring 156 holds the pusher 130 in the closed position (as shown in FIGS. 2 and 3). The front end of the pusher 130 abuts against the edge of the recess 118 (FIG. 4). In some embodiments, when the pusher 130 is in the closed position, the spring 156 is in a tensioned state (i.e., stretched from the relaxed state), and thereby, the spring 156 applies a continuous load to pull the pusher 130 forward DR.

[0084] Continuing to refer to FIG. 1, the experimental instrument 50 can be disposed on the deck 12 or elsewhere. For example, the experimental instrument 50 can be placed in a location accessible by the transport system 70. It can be a chip box loaded on one or more other chip boxes. The transport system 70 operates to grip the experimental instrument 50, transport the experimental instrument 50 to the holder 100, lower the experimental instrument 50 into the holder 100, and release the experimental instrument 50. These operations can be executed by the controller 20.

[0085] More specifically, and as illustrated in FIGS. 2 and 3, the arm 84 of the carrier 80 is expanded in the direction DR by the carrier actuator 83 to an open position. In the open position, the arm 84 is separated by a predetermined distance. In the open position, the interval between the support tabs 86 is larger than the corresponding width of the experimental instrument 50.

[0086] As shown in FIG. 1 for the exemplary embodiment, the transport arm 72 is then driven by the transport arm actuator 74 to position the support tabs 86 in alignment with the experimental instrument groove 55 (FIGS. 7 and 8). And the carrier actuator 83 (FIG. 3) displaces the arm 84 inward to a gripping position. In the gripping position, the arm 84 is separated by a distance shorter than the first arm separation distance, and the support tabs 86 are received within the groove 55. The experimental instrument 50 is thereby gripped by the carrier 80. The support tabs 86 are positioned below a part of the experimental instrument 50, whereby the weight of the experimental instrument 50 is supported by the support tabs 86.

[0087] And the transport arm 72 in FIG. 1 is driven by the transport arm actuator 74 to move the carrier 80 and the gripped experimental instrument 50 above the seat portion 102, generally (but usually, ​Positioned in alignment with the seat portion 102 (not correct) (for example, as shown in FIG. 2) for positioning. For example, in some embodiments, the experimental instrument 50 is placed substantially centrally with respect to the boundaries 102A to 102D (FIG. 10) of the lateral side of the seat portion 102.

[0088] Then, the transport arm 72 is driven by the transport arm actuator 74 to lower the carrier 80 (in the direction D4 of FIG. 7) and the grasped experimental instrument 50 into the seat portion 102. When the carrier 80 descends, the left arm 84 contacts the inner section 176A of the lever arm engagement feature 176 in FIG. 4. When the arm drive unit 74 further moves the carrier 80 downward, the arm 84 applies a vertically downward force to the engagement feature 176. Due to this force, the lever member 170 is mechanically displaced and rotates in the direction D5 (FIG. 7) around the rotation axis Q-Q (FIG. 6). The rotation of the lever member 170 causes the guide pin 166 in FIG. 4 to be displaced rearward (in the direction DO of FIG. 7) or upward, whereby the guide pin 166 pushes the pusher 130 rearward in the direction DO and slides upward within the guide slot 140. The link mechanism 160 thereby redirects the movement of the carrier arm 84 in the first direction to the translational movement of the pusher 130 in a second direction that is lateral to the first direction. More specifically, the link mechanism 160 thereby redirects or converts the vertically downward translational movement of the carrier arm 84 into the horizontally outward translational movement of the pusher 130. In some embodiments, the pusher advancement axis P-P (FIG. 7) is substantially perpendicular to the axis of the downward movement of the arm 84. The displacement of the pusher 130 causes the spring 156 to stretch, and the return force of the spring 156 maintains a firm contact of the lever member 170 with the arm 84. [[ID=

[0089] The transport arm actuator 74 of the exemplary FIG. 1 moves the pusher 130 to the open position (FIGS. 6 to 8 ) until the displacement causes the experimental instrument 50 to come to rest on the support surface 114 (FIG. 3) of the base 112, lowering the carrier 80 into the seat portion 102.

[0090] The lever member 170, the arm 84, and the experimental instrument 50 in FIG. 6 are relatively configured and arranged so as to prevent contact between the experimental instrument 50 and the pusher 130. (Via the link mechanism 160 in FIGS. 4 and 6 to FIG. 8) The arm 84 displaces the pusher 130 outward before the experimental instrument 50 enters the volume occupied by the pusher 130 in the closed position, and holds the pusher 130 in this more open position until the experimental instrument 50 comes to rest on the support surface 114. That is, the link mechanism 170 positions and holds the pusher 130 so as to prevent contact or interference between the pusher 130 and the experimental instrument 50 caused by the experimental instrument 50 being lowered into the seat portion 102. In the open position of the pusher 130, the spring 156 is extended from the relaxed position from which it is stretched.

[0091] The pusher 130 moves from the closed position (FIG. 2, i.e., the ready position where the lever member 170 is upright) by a distance L2 (FIG. 7) to the open position (FIG. 7, i.e., the lowermost position of the carrier arm 84 on the lever member 170).

[0092] With the experimental instrument 50 placed on the support surface 114 (FIG. 3), the actuator 83 moves to return the arm 84 to the carrier open position and release it. At this time, the left arm 84 moves from the inner section 176A to the outer section 176B along the lever member engagement feature 176. member engagement feature 176. (Fig. 4) slides outward (in direction D6, Fig. 9). The support tab 86 thereby pulls out from the groove 55 and is positioned laterally on the side without the experimental instrument The vertical position of the left arm 84 remains the same when the position of the lever member 170 does not change, and the pusher 130 is maintained in the open position during this transition.

[0093] With the carrier arm 84 in the open position, the transport arm actuator 74 raises the carrier 80 so as to move vertically away from the seat portion 1 02 and the lever member 170. When the left carrier arm 84 is lifted, the engagement feature 176 is no longer displaced by the left carrier arm 84 and is allowed to move upward. As a result, the lever member 1 70 rotates in the direction opposite to direction D5. This release of the lever member 170 allows the spring 1 56 to slide the pusher 130 in the closing direction DC (Fig. 10) toward the closed position.

[0094] The restoring force of the spring 156 is applied to the experimental instrument 50 by the pusher 130. As the pusher 1 30 moves toward the closed position, the pusher 130 engages with the corner near the experimental instrument 50. As the pusher 130 continues to move toward the closed position, the force of the spring 156 causes the pusher 130 to align the experimental instrument 50 within the seat portion 102. More specifically, the experimental instrument is displaced and aligned with the seat portion 102 by the pusher 130 to which the spring load is applied.

[0095] The pusher 130 is displaced in the direction DC, but the biased lower surface 136A directs the force applied to the experimental instrument 50 forward (in direction DF1, Fig. 10) and laterally (in direction D toward the corner seat portion 117. Disperse it to both (F2). The corners and sides of the experimental instrument 50 farthest from the pusher 130 are , and thus are pushed up against the stoppers 116A to 116C and a load is applied .

[0096] As shown in FIG. 11, the exemplary pusher 130 travels a distance L3 in the direction DC until it reaches a fixed position, where the pusher 130 is prevented from further advancing by the experimental instrument 50. At the fixed position (FIGS. 10 and 11), the lever member 170 is partially returned to an upright ready position. The return travel distance L3 is shorter than the open travel distance L2 (FIG. 7). The distance between the pusher 130 and the rear end portion 102B of the seat (FIG. 10) at the fixed position is shorter than the distance between the pusher 130 and the rear end portion 102B of the seat at the open position, but longer than the distance between the pusher 130 and the rear end portion 102B of the seat at the closed position.

[0097] The pusher 130 loaded by the spring sandwiches the experimental instrument 50 between the pusher 130 and the stoppers 116A to 116C. Thereby, the experimental instrument 50 is forcibly aligned, positioned, and superposed with respect to the holder 100 and the seat portion 102. The experimental instrument 50 is captured between the lower surface 136A of the pusher 130 (FIG. 10) and the stoppers 116A to 116C. In some embodiments, the spring 156 is maintained in an extended state at the fixed position so as to continue applying a load to the experimental instrument 50 through the pusher 130, whereby the experimental instrument is fixed in an appropriate position within the seat portion 102.

[0098] Then, the experimental instrument 50 is operated by the system 10 while being fixed within the holder 100. It can be done. In some embodiments, system 10 uses pipetting module 40 to perform operations with the laboratory instrument fixed within seat 102.

[0099] In some embodiments, pipetting module 40 is used to perform a pipette tip insertion operation with the laboratory instrument 50 fixed within seat 1 02. For example , in some embodiments, as shown in FIG. 11, pipetting module positioning device 49 moves pipetting module 40 to vertically align or overlay with laboratory instrument 50. Then, pipetter actuator 49A lowers pipetter distal end 46 to each of the connection bases 62 of pipette tip 60. Pipette tip 60 is thereby fixed to pipetter distal end 46. Then, pipetter actuator 49A raises pipetter 44 and removes the fixed pipette tip 60 from slot 57 . In FIG. 11, the leftmost pipetter 44-1 is shown in the raised state after being inserted into pipette tip 60, and pipette tip 60 is installed on the distal end 46 of pipetter 44-1 and is ready for use. The next adjacent pipetter 44-2 is shown in the lowered state into pipette tip 60 still seated within slot 57 , and the remaining pipetters 44 are shown in the raised position without recovering pipette tip 60 .

[0100] The pipetter 44 with pipette tip 60 installed can then be used to perform further operations. Such further operations can be, for example, as described below, Using the kid handler 30, it may include sucking and / or discharging liquid through the pipette tip 60. This may be included.

[0101] The exemplary removal mechanism 47 of FIG. 11 can then be used to remove the pipette tip 60 from the pipettor 44. For example, the pipetting module positioner 4 9 (FIG. 1) can move the pipetting module 40 again as shown in FIG. 11 to vertically align or stack it with the experimental instrument 50. With the pipetting module 40 thus aligned, the removal mechanism 47 can push the pipette tip 60 out of the pipettor 44 and place it into each of the slots 57 This can be done. This can be done. .

[0102] In a further embodiment, the experimental instrument 50 can be provided with empty slots 57 (i.e., slots 57 in which the pipette tip 60 is not disposed), and the experimental instrument 50 can be installed in the holder seat portion 102 as described herein. Then, the pipetting module positioner 49 and the removal mechanism 47 can be used to lower the pipette tip 60 (originally installed on the pipettor 44) into the slot 57 . For example, the experimental instrument 50 can be an empty tray used to collect the used pipette tips 60 to be discarded. This can be done.

[0103] If it is desired to remove the experimental instrument 50 from the holder 100 later, the carrier 80 can be positioned by the transport arm actuator 74 (FIG. 1) generally (e.g., as shown in FIG. 2) above the seat portion 102 and aligned with the seat portion 102. This can be done. This can be done. If the carrier arm 84 is not yet in the open position, the carrier actuator 83 (Fig. 3) places the arm 84 in the open position. Then, the transport arm 72 is driven by the transport actuator 7 4 to lower the carrier 80 towards the seat part 102 (in the direction D4). When the carrier 80 is lowered, the left arm 84 contacts the outer section 176B (Fig. 6) of the lever arm engagement feature 176. When the transport arm actuator 74 further moves the carrier downward the arm 84 applies a downward vertical force to the engagement feature 176. In the embodiment shown, this force causes the lever member 170 to rotate in the direction D5 around the rotation axis Q-Q as described above, and pushes the pusher 130 in the opening direction DO against the return force of the spring 156. In such an embodiment, the experimental instrument 50 is thereby released (i.e., it is no longer sandwiched between the pusher 130 and the stop portions 116A - 116C). The transport arm actuator 74 lowers the carrier 80 into the seat until the pusher 130 is displaced to the fully open position (Fig. 7) and the carrier support tab 86 is aligned with the experimental instrument groove 55. ) Then, the actuator 83 displaces the arm 84 inward towards the gripping position. At this time, the left arm 84 slides inward (in the direction DG, Fig. 3) from the outer section 176B along the surface of the lever member of the engagement feature 176 to the inner section 176A. The support tab 86 is inserted into the experimental instrument groove 55 thereby, and the experimental instrument 50 is thereby gripped by the carrier 80. The vertical position of the left arm 84 remains the same during this transition so that the position of the lever member 170 does not change and the pusher 130 is maintained in the open position.

[0104] Then, the actuator 83 displaces the arm 84 inward towards the gripping position. At this time, the left arm 84 slides inward (in the direction DG, Fig. 3) from the outer section 176B along the surface of the lever member of the engagement feature 176 to the inner section 176A. The support tab 86 is inserted into the experimental instrument groove 55 thereby, and the experimental instrument 50 is thereby gripped by the carrier 80. The vertical position of the left arm 84 remains the same during this transition so that the position of the lever member 170 does not change and the pusher 130 is maintained in the open position. inserted into the experimental instrument groove 55 thereby, and the experimental instrument 50 is thereby gripped by the carrier 80. The vertical position of the left arm 84 remains the same during this transition so that the position of the lever member 170 does not change and the pusher 130 is maintained in the open position. ​​​​It is maintained.

[0105] With the carrier arm 84 gripping the experimental instrument 50 and the pusher 130 in the open position, the transport arm actuator 74 raises the carrier 80 (and the experimental instrument 50) so as to move vertically away from the seat portion 102 and the lever member 170. When the left carrier arm 84 is lifted, the engagement feature 176 is allowed to move upward, and the lever member 170 rotates in a direction opposite to the direction D5 (FIG. 7). As a result, the spring 156 is allowed to push the pusher 13 0 forward and slide it in the closing direction DC (FIG. 10). Since the experimental instrument 50 has been removed from the seat portion, in the exemplary embodiment, the pusher 130 is allowed to return to the fully closed position (FIG. 2). Then, the experimental instrument 50 can be transported by the carrier 80 to another location. The optical sensor 178B (FIG. 8) of the detection system 178 can be monitored by the controller 20 (FIG. 1), and the output of the optical sensor is used by the controller 20 to determine whether the holder 1 00 (FIG. 1) is filled (i.e., whether there is an experimental instrument or not).

[0106] For example, the optical emitter 178A (FIG. 8) forms an optical barrier across the slot 179 by directing an optical beam toward the optical sensor 178B. When the pusher 130 is in the closed position (FIG. 10), the detection tab 144 is disposed within the slot 179, blocking the light from the optical emitter 178A to the optical sensor 178B, thereby indicating to the controller 20 that the seat portion is empty. When the experimental instrument 50 is fixed within the seat portion 102, the width of the experimental instrument 50 holds the pusher 130 in a fixed position where the detection tab 144 is pulled out of the slot 179. ​​​​​​This occurs. In this case, the detection tab 144 does not block the light from the light emitter 178A to the light sensor 178B, thereby indicating to the controller 20 that the seat portion is filled.

[0107] Accordingly, it will be understood that the pusher actuator link mechanism 160 is configured to move the pusher 130 from the closed position (FIGS. 2 and 3) to the open position (FIG. 7) when the pusher actuator link mechanism 160 is displaced by an operator (e.g., by the carrier 80 or manually). Also, the pusher actuator link mechanism 160 is configured to allow the pusher 130 to move back from the open position to the closed position when the pusher actuator link mechanism 160 is no longer displaced by the operator. The spring 156 pushes the pusher 130 towards the closed position when the pusher actuator link mechanism 160 is not displaced by the operator, and thereby functions to align the experimental instrument 50 within the seat portion 102. When the experimental instrument 50 is positioned within the seat portion 102 and the pusher actuator link mechanism 160 allows the pusher 130 to move from the open position towards the closed position, the pusher 130 displaces the experimental instrument so as to be aligned with the seat portion 102 (e.g., as shown in FIG. 10).

[0108] Referring to FIG. 12, in a further embodiment, the experimental instrument 50 can be replaced with an alternative experimental instrument 50'. The experimental instrument 50' can be configured and used in the same manner as the experimental instrument 50, except for the following points.

[0109] ​​​​​​​​​​​​​​​Labware 50' is mounted on platter 52, which has slot 57' corresponding to slot 57. The labware 50' includes a corresponding platter 52'. a vial or other container or receptacle configured to hold one or more liquid samples The vials 68 also include slots 57 instead of pipette tips 60. Each vial 68 has an upwardly facing proximal end 68A. It has a recessed opening.

[0110] A pipette tip 60 can be attached to the pipetter 44. The module positioner 49 (FIG. 1) is shown in FIG. 12. The module 40 is moved to vertically align or overlap with the laboratory equipment 50'. The pipettor actuator 49A (FIG. 1) can then move the pipettor tip 6 0 is lowered into each of the vials 68.

[0111] In some embodiments, the system 10 then inserts a pipettor 44 into the pipettor 44. In some embodiments, the system 10 aspirates the liquid from the vial 68. The liquid is dispensed from the inserted pipetter 44 into the vial 68 .

[0112] Aspiration and / or dispensing can be achieved using liquid handler 30. For example, For example, in some embodiments, the liquid handler 30 generates a vacuum to draw a predetermined amount of liquid. Liquid is aspirated from each vial 68 into the corresponding pipettor 44. The aspirated liquid is then It can be transferred through tubing 30A to another device such as instrument 16, or thereafter by a pipettor. It can be ejected from 44. In some embodiments, a predetermined amount of liquid is the liquid Supplied from the handler 30 through the tube 30A to the pipettor 44, and ejected from the pipettor 44 into the vial 68.

[0113] As a further example, the laboratory instrument 50' can be or can include a well plate or a microplate including an integral recess or receptacle for containing a liquid sample. In this case, the liquid sample is ejected directly into the slot 57' that does not contain a separate vial or is aspirated directly from the slot 57'. or can include it. In this case, the liquid sample is ejected directly into the slot 57' that does not contain a separate vial or is aspirated directly from the slot 57'. or can include it. In this case, the liquid sample is ejected directly into the slot 57' that does not contain a separate vial or is aspirated directly from the slot 57'. or can include it. In this case, the liquid sample is ejected directly into the slot 57' that does not contain a separate vial or is aspirated directly from the slot 57'.

[0114] The above examples are not exhaustive, and the system 10 can perform any suitable operation on the fixed laboratory instruments 50, 50' or other suitable laboratory instruments.

[0115] The operations described herein can be performed by or through the controller 20. The actuators 49, 49A, 74, 83 and other devices of the system 10 can be electronically controlled. According to some embodiments, the controller 20 can execute some of the described steps and, in some embodiments, all of them according to a program. According to some embodiments, the operations of the actuators 49, 49A, 74, 83 are executed completely automatically according to a program by the controller 20. The controller 20 can be provided with an HMI 22 for receiving user commands and, in some embodiments, all of them according to a program. According to some embodiments, the operations of the actuators 49, 49A, 74, 83 are executed completely automatically according to a program by the controller 20. The controller 20 can be provided with an HMI 22 for receiving user commands 74, 83 are executed completely automatically according to a program by the controller 20. The controller 20 can be provided with an HMI 22 for receiving user commands and, in some embodiments, all of them according to a program. According to some embodiments, the operations of the actuators 49, 49A, 74, 83 are executed completely automatically according to a program by the controller 20. The controller 20 can be provided with an HMI 22 for receiving user commands

[0116] In some embodiments, the controller 20 automatically follows a program to calibrate The step of gripping the experimental instruments 50, 50' using the carrier 80, and the experimental instruments 50, 50' within the carrier 80 are transported to the holder 100, and the experimental instruments 50, 50' are placed in the seat portion 102 (including opening the pusher 130 via the link mechanism 160 as described above). Steps are executed.

[0117] In some embodiments, the controller 20 automatically positions the pipetting module 40 above the experimental instruments 50, 50' installed within the holder 100 according to the program, and inserts the pipetter 44 into the pipette tip 60 or the vial 68. Steps are executed. In some embodiments, the controller 20 automatically sucks liquid from the vial 68 or discharges liquid into the vial 68 as described above according to the program. Steps are also executed. In some embodiments, the controller 20 automatically inserts the carrier 80 into the seat portion 102 (including opening the pusher 130 via the link mechanism 160 as described above) according to the program, grips the experimental instruments 50, 50' using the carrier 80 within the seat portion 102, lifts the experimental instruments 50, 50' and removes them from the holder 100,

[0118] and transports the experimental instruments 50, 50' within the carrier 80 in a direction away from the holder 100. Steps are executed. In some embodiments, the experimental instruments 50, 50' are not placed in the holder 100 and / or removed from the holder 100 manually, but rather by using the carrier 80 or another robotic mechanism. This can be achieved using either of two techniques.

[0119] In some embodiments, the experimental instruments 50, 50' are not placed in the holder 100 and / or removed from the holder 100 manually, but rather by using the carrier 80 or another robotic mechanism. This can be achieved using either of two techniques. ​​​​ This is the case for the experimental instrument 50, which is mentioned below, but this consideration also applies equally to other experimental instruments (e.g., experimental instrument 5 0’).

[0120] According to the first technique, the operator (i.e., the human user) presses the upper leg portion 172 of the lever member 170 downward (direction D4, FIG. 7) and / or laterally (direction D5, FIG. 7), thereby pushing the pusher 130 forward to the open position. The operator uses the operator's finger or hand to manually push or displace the lever member 170 directly or indirectly, for example, by using a handheld instrument. Then, while the operator or user maintains the lever member 170 in the open position, the experimental instrument 50 is placed on the base support surface 114 within the seat portion 102. Once the experimental instrument 50 is placed or positioned within the seat portion 102, the operator manually releases the lever member 17 0, whereby the pusher 130 (while being under the force of the spring 156) retracts, and the experimental instrument 50 can be securely positioned within the seat portion in the same manner as described herein.

[0121] According to another technique, the human operator manually places or presses the experimental instrument 50 into the seat portion 102 without pressing the lever member 170. In this case, the corner of the experimental instrument 50 contacts the inclined surface 136B (FIG. 5) of the pusher 130. The load from the vertically downward experimental instrument 50 is redirected by the inclined surface 136B, and the pusher 130 is pushed forward to slide outward (direction DO) against the return force of the spring 156 until the experimental instrument 50 moves away from the lower edge of the inclined surface 136. When the experimental instrument 50 seats on the support surface 114 and is released by the operator, ​​​​​​​​​When released, the pusher 130 (in the state of receiving the force of the spring 156) positions the test instrument 50 securely within the seat portion in the same manner as described above. The test instrument 50 can be removed by simply lifting the test instrument by hand and taking it out of the seat portion 102, thereby allowing the pusher 130 to return to the closed position. If desired, the lever member 170 (FIG. 7) can be pushed by hand to advance the pusher 130 away from the test instrument 50 before lifting the test instrument 50 to facilitate removal.

[0122] In a system including a transport system such as the transport system 70, the test instrument can be loaded onto the holder 100 and / or removed from the holder 100 by both a robot and a hand. According to a further embodiment, the holder 100 can be used in a system, apparatus, or procedure that does not include or employ a transport system or carrier. In this case, the test instrument can be installed on or removed from the holder by hand alone. In an embodiment, the holder 100 and the kinematic spring load fixing mechanism 131 can provide several benefits and advantages. For example, the holder 100 enables accurate placement and positioning of the test instrument. Accurate positioning of the test instrument is important, and even crucial, for continuous operations such as the removal of a pipette tip 60 using an automatically positioned pipetter 44 or pipetting from the receiving portion 68. High positioning accuracy

[0123]

[0124]

[0125] ​​​​​​​​​​​​​​This allows accurate alignment of the pipettor 44 with the pipette tip 60 or the receiver 68. Such precise alignment may be required for the pipettor to be able to perform the desired action from the holder 100. It also allows for accurate transfer back to the carrier when removal of the test instrument is desired.

[0126] By pushing the pusher 130 away from the seat 102, the holder 100 Increased tolerance for initial placement of the fixture within seat 102. Nevertheless, the disclosed As a result of the positioning system and method, the lab implement is then positioned within seat 102. In an embodiment, the labware is placed in a holder and then precisely aligned. When transferring the carrier into or out of the holder 100, no external force is applied. When the experimental instrument 80 moves outward, it is locked in the holder 100. The risk of tilting or tipping of the pusher 130 can also be reduced or eliminated. By displacing the lab equipment far outward, the space between the lab equipment and the seat 102 at the time of initial placement is Imprecise or rough alignment of the

[0127] The spring-loaded locking mechanism allows for easy locking within a given holder 100 without requiring adjustment by the operator. This allows for the insertion and effective fixation of laboratory instruments of different sizes.

[0128] The spring-loaded locking mechanism 131 is passive and not electronic in operation. 131 is a separate active actuator, sensor, for opening and closing the positioning mechanism. As a result, the operation of the holder actuator is The movement or timing of the movement must be coordinated with the movement of the carrier 80 or the laboratory equipment 50, 50'. There is no need. The holder 100 can be made independent of the accurate positioning of the carrier by a robot or manually by an operator or the accurate operation of the holder 100. The fixing mechanism 13 1 does not require the robot, the end effector of the robot, or the typical movement path of the robot to be changed to operate. When loading the holder 100 using a robot carrier, the fixing mechanism 1 31 operates without loading the experimental instruments 50, 50' until the experimental instruments are released by the carrier. Since no spring force is applied to the experimental instruments while they are being held, the carrier gripping force is not restricted. Therefore, the carrier can hold the experimental instruments with a small or limited gripping force. The fixing mechanism 131 can be designed to use an amount of spring force against the pusher to optimize the fixing without concern of impairing the carrier's grip on the experimental instruments.

[0129] The experimental instrument holder 100 can accommodate experimental instruments gripped in the middle section or in the vicinity thereof. When loading the holder 100 using a robot carrier, the fixing mechanism 1 31 operates without loading the experimental instruments 50, 50' until the experimental instruments are released by the carrier. Since no spring force is applied to the experimental instruments while they are being held, the carrier gripping force is not restricted. Therefore, the carrier can hold the experimental instruments with a small or limited gripping force. The fixing mechanism 131 can be designed to use an amount of spring force against the pusher to optimize the fixing without concern of impairing the carrier's grip on the experimental instruments. By accurately, consistently, and repeatably positioning the experimental instruments within the holder 100, a proper alignment of the X - Y directions of the holder 100, the experimental instruments 50, 50', and the pipettor 44 can be ensured. The system and holder according to the embodiments of the present technology can be used, for example, in biochemistry, chemical processing, liquid handling, and analysis of samples in a laboratory. The analysis instrument 16 can be any suitable device or instrument.

[0130] By accurately, consistently, and repeatably positioning the experimental instruments within the holder 100, a proper alignment of the X - Y directions of the holder 100, the experimental instruments 50, 50', and the pipettor 44 can be ensured. The system and holder according to the embodiments of the present technology can be used, for example, in biochemistry, chemical processing,

[0131] liquid handling, and analysis of samples in a laboratory. The analysis instrument 16 can be any suitable device or instrument. 16 can be any suitable device or instrument.

[0132] Embodiments of the controller 20 logic can take the form of all-software embodiments, or can take the form of embodiments combining software aspects and hardware aspects, all of which are generally referred to as "circuits" or "modules". In some embodiments, the circuit includes both software and hardware, and the software is configured to operate with specific hardware having known physical attributes and / or configurations. Furthermore, the controller logic can take the form of a computer program product on a computer-usable storage medium having computer-usable program code embodied therein. Any suitable computer-readable medium can be utilized, including a hard disk, CD-ROM, optical storage device, a transmission medium such as the Internet or an intranet supporting transmission medium, or other storage devices.

[0133] FIG. 13 is a schematic diagram of a circuit or data processing system 202 that can be used in the controller 20. The circuit and / or data processing system can be incorporated into a digital signal processor 210 in any suitable device or devices. The processor 210 communicates with the HMI 22 and the memory 212 via an address / data bus 211. The processor 210 can be any commercially available or custom-specification microprocessor. The memory 212 represents the entire system of memory devices containing the software and data used to implement the functions of the data processing system. The memory 212 includes, but is not limited to, cache, ROM, PROM, EPROM, E PROM, etc. Devices of types such as EPROM, flash memory, SRAM, and DRAM may be included .

[0134] FIG. 13 shows that memory 212 may contain several categories of software and data used in a data processing system, such as operating system 214, application program 216, input / output (I / O) device driver 218, and data 220. This is shown.

[0135] Data 220 may include device-specific data. FIG. 13 also shows that data 220 may include instrument data 222, instrument holder data 224, pipetting module data 226, and procedure data 228.

[0136] Instrument data 222 may include data regarding the characteristics of instruments 50, 50’or data representing these characteristics. This data may include, for example, unique identifiers ( e.g., serial numbers) and / or names of instruments 50, 50’, unique identifiers and / or names of pipette tips 60, unique identifiers and / or names of each vial 68, and / or descriptions of single or multiple analytes contained within instruments 50, 50’ , or each vial 68, or slots / receiving parts 57. Instrument data 222 may include the dimensions of instruments 50, 50’, pipette tips 60, vials 68, and / or slots or receiving parts 57. Instrument data 222 may include location data representing the spatial or geometric layout or position of slots 57, pipette tips 60, or vials 68 relative to the outer boundaries of instruments 50, 50’ .

[0137] ​​​The experimental instrument holder data 224 may include identification of the location of the seat portion 102 relative to the deck 12 or another reference structure of the system 10.

[0138] The pipetting module data 226 may include pipettor location data representing the spatial or geometric layout or position of the pipettor 44 relative to the base 42.

[0139] The procedure data 228 may include data representing a protocol or sequence of steps for performing the procedures described herein. The sequence of steps may include all or some of the above steps executed by the controller 20. The sequence of steps may include, for example, an analysis sequence.

[0140] FIG. 13 also shows that the application program 216 may include a carrier positioning control module 230 (for controlling the actuators 74, 83), a pipettor positioning control module 234 (for controlling the actuators 49, 49A), a liquid handler control module 236 for controlling the liquid handler 30, and an analytical instrument control module 238 for controlling the operation of the analytical instrument 16.

[0141] As will be appreciated by those skilled in the art, the operating system 214 can be any operating system suitable for use with the data processing system. The I / O device driver 218 is typically software accessed by the application program 216 through the operating system 214 to communicate with devices such as I / O data ports, data storage, and certain memory components. ​​​​​​​​​​​​​ -ting is included. The application program 216 illustrates programs that implement various functions of the data processing system and may include at least one application that supports the operations according to the embodiments of the present technology. Finally, the data 220 represents static and dynamic data used by the application program 216, the operating system 214, the I / O device driver 218, and other software programs that may be present in the memory 212. As understood by those skilled in the art, other configurations can be utilized while benefiting from the teachings of the present technology. For example, one or more modules can be incorporated into the operating system, I / O device driver, or other such logical divisions of the data processing system. Therefore, the present technology should not be construed as being limited to the configuration of FIG. 13, but is intended to encompass any configuration capable of performing the operations described herein. Further, one or more of the modules can communicate with other components, such as the controller 20, or can be wholly or partially incorporated into the controller 20.

[0142] As understood by those skilled in the art, other configurations can be utilized while benefiting from the teachings of the present technology. For example, one or more modules can be incorporated into the operating system, I / O device driver, or other such logical divisions of the data processing system. Therefore, the present technology should not be construed as being limited to the configuration of FIG. 13, but is intended to encompass any configuration capable of performing the operations described herein. Further, one or more of the modules can communicate with other components, such as the controller 20, or can be wholly or partially incorporated into the controller 20.

[0143] Considering the benefits of the present disclosure, those skilled in the art can make many modifications and changes without departing from the spirit and scope of the present invention. Therefore, it should be understood that the illustrated embodiments are described only for purposes of illustration and should not be construed as limiting the present invention as defined by the claims. Therefore, the claims cover not only combinations of elements literally recited, but also those that perform substantially the same function in substantially the same way to achieve substantially the same result. ​ It shall be construed as also including all equivalent elements for obtaining the same result. Therefore, it should be understood that the claims further include what has been specifically illustrated and described above, conceptual equivalents, and those incorporating the basic concept of the present invention.

Claims

1. A frame including a seat portion, A fixing system, An experimental apparatus alignment system for use with an experimental apparatus, comprising: The fixing system includes: A pusher movable between an open position and a closed position relative to the frame, A pusher actuator, And is configured to: The pusher actuator is An actuator link mechanism that, when displaced, moves the pusher from the closed position toward the open position, and allows the pusher to move toward the closed position when the actuator link mechanism is not displaced. An actuator link mechanism configured as such, And a biasing mechanism that biases the pusher toward the closed position when the actuator link mechanism is not displaced, thereby aligning the experimental apparatus with the pusher within the seat portion. An experimental apparatus alignment system for use with an experimental apparatus, comprising:

2. The experimental apparatus alignment system according to claim 1, wherein the biasing mechanism includes a spring.

3. The frame includes a barrier adjacent to the seat portion and facing the pusher, When the experimental apparatus is positioned within the seat portion and the actuator link mechanism allows the pusher to move from the open position toward the closed position, the biasing mechanism advances the pusher to press the experimental apparatus against the barrier. The experimental apparatus alignment system according to claim 1.

4. When the experimental apparatus is positioned within the seat portion and the actuator link mechanism allows the pusher to move from the open position toward the closed position, the pusher is displaced to align the experimental apparatus with the seat portion. The experimental apparatus alignment system according to claim 1.

5. The pusher according to claim 1, comprising an inclined seat surface facing inward in the lateral direction toward the seat portion and upward away from the seat portion. The experimental apparatus alignment system according to claim 1.

6. The actuator link mechanism according to claim 1, comprising an engagement member, and is configured to be displaced by an operator to displace the actuator link mechanism and move the pusher from the closed position toward the open position. The experimental apparatus alignment system according to claim 1.

7. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The actuator link mechanism is configured to allow the pusher to move from the open position toward the closed position when the operator releases the engagement member. The experimental instrument alignment system according to claim 6.

8. The engagement member is mechanically coupled to the pusher. The experimental instrument alignment system according to claim 6.

9. The engagement member includes a lever member, and the movement of the engagement member in a first direction by the operator is redirected to a translational movement of the pusher in a second direction that is transverse to the first direction. The experimental instrument alignment system according to claim 8.

10. The first direction is vertical, and the second direction is horizontal. The experimental instrument alignment system according to claim 9.

11. The actuator link mechanism includes a guide feature that restricts the movement of the pusher to linear translation along the pusher travel axis. The experimental instrument alignment system according to claim 1.

12. The experimental instrument alignment system according to claim 1 further includes a detection system that functions to determine the position of the pusher.

13. The detection system includes: an optical emitter that generates an optical beam; and an optical detector configured to receive the optical beam, wherein the pusher prevents the optical beam from reaching the optical detector when the pusher is in the closed position, and the pusher allows the optical beam to reach the optical detector when the pusher is displaced by the experimental instrument within the seat. The experimental instrument alignment system according to claim 12.

14. The experimental instrument is at least one of a chip box, a pipette tip box, a well plate, a micro well plate, and a rack configured to hold a plurality of fluid receiving portions. The experimental instrument alignment system according to claim 1.

15. A step of providing an experimental instrument alignment system, where the experimental instrument alignment system includes: a frame having a seat; and a fixing system, where the fixing system includes: a pusher movable between an open position and a closed position relative to the frame; and a pusher actuator, where the pusher actuator includes: a biasing mechanism that functions to push the pusher from the open position toward the closed position; and an actuator link mechanism ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ providing an experimental instrument alignment system comprising; mechanically displacing the actuator link mechanism to move the pusher from the closed position to the open position in the actuator link mechanism; positioning the experimental instrument within the seat while the pusher is in the open position; releasing the actuator link mechanism to allow the biasing mechanism to move the pusher towards the closed position, thereby aligning the experimental instrument with the pusher within the seat; and a method of aligning an experimental instrument. The method further comprises providing a transport system operable to move the experimental instrument, the transport system comprising a carrier configured to releasably hold the experimental instrument. Mechanically displacing the actuator link mechanism includes displacing an engagement member together with the carrier. The method further comprises removing the carrier from the experimental instrument. Releasing the actuator link mechanism includes withdrawing the carrier from the actuator link mechanism. An experimental instrument alignment system, comprising: a frame having a seat; a fixing system; wherein the fixing system includes a pusher movable between an open position and a closed position relative to the frame, and a pusher actuator; the pusher actuator includes an actuator link mechanism configured to move the pusher from the closed position to the open position when the actuator link mechanism is displaced, and to allow the pusher to move towards the closed position when the actuator link mechanism is not displaced; and a biasing mechanism configured to urge the pusher towards the closed position when the actuator link mechanism is not displaced, thereby aligning the experimental instrument with the pusher within the seat. A liquid handling system for use with an experimental instrument, comprising: an alignment system; and a liquid handler. The alignment system includes: a frame having a seat; a fixing system; wherein the fixing system includes a pusher movable between an open position and a closed position relative to the frame, and a pusher actuator; the pusher actuator includes an actuator link mechanism configured to move the pusher from the closed position to the open position when the actuator link mechanism is displaced, and to allow the pusher to move towards the closed position when the actuator link mechanism is not displaced; and a biasing mechanism configured to urge the pusher towards the closed position when the actuator link mechanism is not displaced, thereby aligning the experimental instrument with the pusher within the seat. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ further comprising a transport system operable to move the experimental instrument, the transport system comprising a carrier configured to releasably hold the experimental instrument, and the transport system being configured to displace the actuator link mechanism to move the pusher from the closed position toward the open position and place the experimental instrument in the seat, A liquid handling system according to claim 17.

19. A transport system operable to move the experimental instrument, the transport system comprising a carrier configured to releasably hold the experimental instrument, a positioning system, An experimental instrument handling system for use with an experimental instrument, comprising: the positioning system comprising: a frame having a seat, a fixing system, the fixing system comprising: a pusher movable between an open position and a closed position relative to the frame, a pusher actuator, the pusher actuator being: an actuator link mechanism configured to move the pusher from the closed position toward the open position when the actuator link mechanism is displaced by the carrier, and to allow the pusher to move toward the closed position when the actuator link mechanism is not displaced, a biasing mechanism configured to push the pusher toward the closed position when the actuator link mechanism is not displaced, thereby aligning the experimental instrument with the pusher within the seat, An experimental instrument handling system.

20. The actuator link mechanism according to claim 19, further comprising an engagement member displaceable by the carrier when the carrier moves toward the seat to lower the experimental instrument into the seat.

21. The actuator link mechanism according to claim 20, configured to allow the pusher to move from the open position toward the closed position when the carrier moves away from the engagement member to release the engagement member.

22. The engagement member is mechanically coupled to the pusher, according to claim 20.

23. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The engaging member includes a lever member that redirects the movement of the carrier in the first direction to a translational movement of the pusher in a second direction that is transverse to the first direction. The experimental instrument handling system according to claim 22. **Claim 24** The experimental instrument handling system according to claim 23, wherein the first direction is vertical and the second direction is horizontal. **Claim 25** The experimental instrument handling system according to claim 19, wherein the carrier includes a gripper configured to hold the experimental instrument. **Claim 26** The carrier includes a carrier arm, a support feature extending from the carrier arm, and a carrier actuator. The support feature is configured to engage the experimental instrument and support the experimental instrument. The carrier actuator is operable to disengage the support feature from the experimental instrument and release the experimental instrument from the carrier into the seat. The experimental instrument handling system according to claim 19. **Claim 27** The handling system includes a robot arm, and the carrier is an end effector on the robot arm. The experimental instrument handling system according to claim 19. **Claim 28** The experimental instrument handling system according to claim 19, further comprising a controller configured to automatically operate the handling system according to a program to lower the experimental instrument into the seat and remove the experimental instrument from the seat. ​ ​

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