Fluid container management system

Abstract

To provide a suitable fluid container management system. [Solution] A system and method for transporting a container (100) includes or employs a container loading interface (200), a container storage module (400), and a container distributor (300) configured to transport a container from the container loading interface to the container storage module. The container loading interface includes a movable support platform (202) that can move between an accessible position and an inaccessible position, and a container loading carrier (214). The container storage module includes a housing (402) and a container storage carrier (418). The container distributor includes a container gripper (320) configured to grasp a container onto the container loading carrier and transport the container to the container storage carrier in the container storage module.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefit of U.S. Provisional Application No. 63 / 094,647, filed October 21, 2020, which is hereby incorporated by reference in its entirety.

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

Background Art

[0003] Automated sample processing systems frequently require the replenishment of process fluids such as reagents and / or require that different process fluids be provided to the system to enable the system to perform different processes. In an automated system, stopping the operation of the system can have an adverse effect on efficiency and throughput. However, due to the enclosed nature of many such processing systems and the number of moving components within the system, it is a challenge to provide additional containers of process fluid to the system while the system is operating and without interrupting the operation of the system.

Summary of the Invention

Means for Solving the Problems

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

[0005] Embodiments described herein include a system for transporting containers, which includes a groove formed on the opposite side of the container. The system may include a container loading interface, a container storage module, and a container distributor configured to transport containers from the container loading interface to the container storage module. The container loading interface may include a movable support platform which may be movable between an accessible position and an inaccessible position, and a container loading carrier supported on the movable support platform. The container loading carrier may include a plurality of container pockets, each container pocket configured to receive a container inserted vertically into the container pocket when the movable support platform may be in an accessible position, and to allow the container to be removed laterally from the container pocket, and the container loading carrier may be configured to sequentially transport the container pockets to a container transport position toward a transport opening formed in the movable support platform when the movable support platform may be in an inaccessible position. The container storage module may include a housing having a container inlet / outlet opening formed within one side thereof; a movable barrier configured for movement between a first position that blocks the container inlet / outlet opening and a second position that allows a container to be moved laterally through the container inlet / outlet opening; and a container storage carrier disposed within the housing and including a plurality of container holding stations. Each container holding station may include a spring tab configured to elastically engage with a groove of a container to be held within the container holding station, to hold the container within the container holding station, to deflect it outward, and to allow the container to be inserted laterally into or removed laterally from the container holding station.The container distributor may include a container gripper configured to grip a container being transported into one of the container pockets of a container loader located at a container transfer position by engaging with a groove in the container; a gripper advance system configured to move the container gripper and remove the container laterally from the container pocket of the container loader in which the container can be held; and a distributor move system configured to move the container gripper and the container held therein from the container transfer position to an inlet / outlet opening of a container storage module. The gripper advance system may also be configured to move the container gripper and insert the container held therein into a container holding station of the container storage module through the inlet / outlet opening, and the gripper may be configured to release the container into the container holding station by engaging with and disengaging from the groove in the container.

[0006] In some embodiments, the movable support platform of the container loading interface may include a drawer that can move between an inaccessible position in which the movable support platform can be retracted into the facility and an accessible position in which the movable support platform can extend from the facility.

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

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

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

[0010] In some embodiments, the container pocket is located on the outer periphery of the loading carousel and is open on the outer periphery of the loading carousel, allowing the container to be pulled out of the pocket laterally relative to the loading carousel axis.

[0011] In some embodiments, each container pocket may include a relief formed on the opposite side of the open peripheral end of the container pocket, which provides a gap for the gripping mechanism to open and engage with or disengage from a groove of a container held within the container pocket.

[0012] In some embodiments, each container pocket may include a container positioning fastener configured to engage with a notch formed within the container to be positioned within the container pocket.

[0013] In some embodiments, the container loading interface may include a scanner configured to scan machine-readable information about each container being transported on a container loading carrier.

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

[0015] In some embodiments, the container loading interface may also include, or alternatively, a loading carrier motor coupled to a loading carousel, which causes the loading carousel to rotate electrically around the loading carousel axis.

[0016] In some embodiments, the loading and transporting motor may be coupled to the loading carousel by a drive belt.

[0017] In some embodiments, the container storage module may, in addition or alternatively, include pusher pins extending from a movable barrier, and the container distributor may include a door actuator arm configured to engage with the pusher pins, the door actuator arm being movable by a distributor moving system which may move the movable barrier of the container storage module from a first position to a second position.

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

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

[0020] In some embodiments, the storage carousel may also include, or alternatively, an upper clipping ring having a plurality of pairs of opposing spring tabs, and a lower clipping ring having a plurality of pairs of opposing spring tabs, where each pair of spring tabs of the upper clipping ring is aligned with the corresponding pair of spring tabs of the lower clipping ring, each defining a holding station.

[0021] In some embodiments, each spring tab may include a knuckle that is bent inward into a corresponding retaining station, and each knuckle may be seated in one of the grooves of a container located within the retaining station.

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

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

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

[0025] In some embodiments, the container gripper may additionally or alternatively include a first gripper element including a first hook mounted on a gripper element mounting bracket and positioned at a radially spaced position with respect to a first gripper rotation axis for pivotal movement about the first gripper rotation axis and configured to seat within one of the grooves of the container, and a second gripper element including a second hook mounted on the gripper element mounting bracket and positioned at a radially spaced position with respect to a second gripper rotation axis that may be parallel to the first gripper rotation axis for pivotal movement about the second gripper rotation axis and configured to seat within the opposite groove of the container. In some embodiments, the first hook and the second hook are bent towards each other, and the first gripper element and the second gripper element are coupled to each other for coordinated pivotal movement towards each other or away from each other about respective first and second gripper rotation axes. In some embodiments, the container gripper may be configured to grip the container by pivoting the first and second gripper elements towards each other until the respective first and second hooks are seated within one of the grooves of the container.

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

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

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

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

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

[0031] In some embodiments, the distributor moving system may also include, or alternatively, a distributor motor, which includes a distributor head frame mounted so as to be rotatable about a distributor rotation axis, a fixed sun gear arranged coaxially with the distributor axis, and a drive gear fixed to the distributor head frame and operably engaged with the fixed sun gear. In some embodiments, the gripper advance system may also include, or alternatively, a linear track supported on the distributor head frame and oriented radially with respect to the distributor axis, a linear bearing coupled to the linear track, on which a container gripper may be supported, a gripper advance motor mounted on the distributor head frame, and a drive belt operably coupled to the gripper advance motor and attached to the linear bearing.

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

[0033] Embodiments described herein include a method for transporting a container, which includes a groove formed on the opposite side of the container. The method includes the steps of: moving a movable support platform from an inaccessible position to an accessible position to provide user access to a container loader carrier supported on the movable support platform and including a plurality of container pockets; inserting a container vertically into each of the container pockets or more; moving the movable support platform from an accessible position to an inaccessible position; sequentially transporting the container pockets to a container transport position in a transport opening formed within the movable support platform using the container loader carrier; gripping the container being transported in one of the container pockets of the container loader carrier located at the container transport position by engaging with the groove of the container using a container gripper; moving the container gripper using a gripper advance system to remove the container laterally from the container pocket of the container loader carrier in which the container can be held; and the container The steps of moving a gripper and the container held thereby from a container transfer position to an inlet / outlet opening of a container storage module housing using a distributor moving system; engaging an actuator arm with a pusher pin extending from a movable barrier of the container storage module, and moving the actuator arm using the distributor moving system to move the movable barrier of the container storage module from a first position that blocks the container inlet / outlet opening to a second position that allows the container to be moved laterally through the container inlet / outlet opening; and moving a container gripper using a gripper advance system to insert the container held by the gripper through the inlet / outlet opening into one of a plurality of container holding stations of a container storage carrier arranged inside the housing, wherein each container holding station elastically engages with a groove for the container to be held within the container holding station, and holds the container within the container holding station and deflects it outward.The procedure may include a step of releasing the container into the container holding station by engaging and disengaging a gripper from a groove in the container, which may include a spring tab configured to allow the container to be laterally inserted into or removed from a container holding station.

[0034] In some embodiments, the step of moving the movable support platform may include the step of moving a drawer which may be movable between an inaccessible position where the movable support platform can be retracted into the equipment and an accessible position where the movable support platform can extend from the equipment.

[0035] In some embodiments, the container loading and transporting device may include a loading carousel supported on a movable support platform for rotation around a loading carousel axis, the container pockets may be arranged circumferentially around the loading carousel axis and open at their upper ends, and the step of transporting the container pockets sequentially may include the step of rotating the carousel around the carousel axis.

[0036] In some embodiments, the container pockets may be open on the outer periphery of the loading carousel, and the step of gripping a container being transported within one of the container pockets may include inserting a container gripper through the open periphery and engaging it with a groove in the container, and the step of removing a container laterally from a container pocket may include moving the container through the open periphery using a container gripper.

[0037] In some embodiments, the method may also include, or alternatively, the step of scanning machine-readable information relating to each container being transported on the container loader using a scanner.

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

[0039] In some embodiments, the method may also include, or alternatively, the step of monitoring the position of each container held in the pockets of the container loader using a home sensor to detect the home position of the container loader.

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

[0041] In some embodiments, the method may also include, or alternatively, an automated step of f) bringing the container and the container positioner into contact at a level sensing location and pushing the container to a reproducible vertical level sensing position.

[0042] In some embodiments, the method may also include, or alternatively, automated steps of: g) bringing the lower portion of a container to be positioned at a level sensing location into contact with a container positioning ramp located adjacent to a container storage and transporter; and h) bringing the upper portion of a container to be positioned at a level sensing location into contact with the container to be pushed downward so that the bottom portion of the container maintains contact with the container positioning ramp.

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

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

[0045] Embodiments described herein include a mechanism for gripping and transporting a container, the container may include parallel and perpendicularly oriented grooves formed on opposing sides of the container. The mechanism may include a chassis configured for rotation about a vertically oriented chassis rotation axis, and a gripper carriage supported on the chassis for rotation with respect to the chassis, and configured for radial movement relative to the chassis rotation axis. The gripper carriage may include a container gripper comprising a first gripper element, including a first hook, mounted on the gripper carriage and positioned radially spaced relative to the first gripper rotation axis, for pivotal movement about a first gripper rotation axis which may be parallel to the chassis rotation axis, and a second gripper element, including a second hook, mounted on the gripper carriage and positioned radially spaced relative to the second gripper rotation axis, for pivotal movement about a second gripper rotation axis which may be parallel to the first gripper rotation axis. The first and second hooks may be bent toward each other, and the first and second gripper elements are coupled to each other for coordinated pivotal movement toward or away from each other, about separate first and second gripper rotation axes. The container gripper may be configured to grip a container by pivoting the first and second gripper elements toward each other until each of the separate first and second hooks engages with one of the vertically oriented grooves of the container.

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

[0047] In some embodiments, the mechanism may also include, or alternatively, a gripper motor with a gripper actuator gear, a gripper drive gear mounted coaxially with a first gripper rotation axis and configured for rotation independent of the first gripper element, wherein the gripper actuator gear can engage with the gripper drive gear, and a drive pin extending from the first gripper element at a position spaced apart from the first gripper rotation axis, the drive pin extending into an opening formed within the gripper drive gear.

[0048] In some embodiments, the mechanism may also include, or alternatively, a spring connected to at least one of the first and second gripper elements, and the opening formed within the gripper drive gear may include an arc-shaped slot.

[0049] In some embodiments, the mechanism may also include, or alternatively, a linear track, a linear bearing coupled to the linear track, the gripper carriage being supported on the linear bearing, a gripper advance motor, and a drive belt coupled to the gripper advance motor and mounted on the linear bearing, such that the movement of the drive belt by the gripper advance motor causes the gripper carriage to move radially.

[0050] In some embodiments, the mechanism may also include, or alternatively, a fixed sun gear arranged coaxially with the chassis rotation axis, and a motor, which includes a drive gear fixed to the chassis and operably engaged with the fixed sun gear, such that the rotation of the drive gear by the motor causes the chassis to rotate about the chassis rotation axis.

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

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

[0053] In some embodiments, the mechanism may also include, or alternatively, a motor, a threaded rod operably coupled to the motor, and a bracket operably coupled to the threaded rod, wherein a movable grounding element may be attached to the bracket.

[0054] In some embodiments, the movable conveyor may be contained within a housing having a top wall across the conveyor, and a container access opening is formed through the top wall above the level sensing location, and is configured to allow a probe, or a conductive tip removably attached to the probe, to enter the container located at the level sensing location. The mechanism may also include, or alternatively, a shutter plate attached to the top wall and movable between a first position covering the container access opening and a second position exposing the container access opening. The shutter plate may be operably coupled to a motor, which may cause the motor to move a movable grounding element to approach or contact a portion of the container, resulting in the motorized movement of the shutter plate from the first position to the second position.

[0055] In some embodiments, the shutter plate may be pivotably mounted on the upper wall and may include a fan gear, which may include gear teeth that engage with a motor-driven gear along its arc-shaped edge.

[0056] In some embodiments, the mechanism may also include, or alternatively, a container positioner configured to contact a container positioned at a level sensing location and push the container to a reproducible vertical level sensing position.

[0057] In some embodiments, the container positioner may include a container positioning lamp configured to be in contact with the bottom portion of a container positioned at a level sensing location, and a container restraining arm configured to be in contact with the top portion of a container positioned at a level sensing location, and to push the container downward so that the bottom portion of the container maintains contact with the container positioning lamp.

[0058] In some embodiments, the movable conveyor may include a carousel that is rotatable about a vertically oriented carousel rotation axis and includes a plurality of container holding stations positioned at an angle and spaced apart about the carousel rotation axis. Each container holding station may include spring tabs that extend laterally with respect to the carousel rotation axis and are configured to elastically engage with grooves of containers to be held within the container holding station, thereby holding the containers within the container holding station, so that containers may be able to slide vertically between the spring tabs of the container holding station. The container positioning ramp may be positioned directly beneath a portion of the carousel and may be configured to be in contact with the bottom portion of the container held within the container holding station as the carousel moves the container to a level-sensing location, and the contact between the container and the container positioning ramp may cause the container within the container holding station to slide to a certain position with the bottom portion of the container in contact with the container positioning ramp, and the container holding arm may be configured to slide the container downward within the container holding station by contacting the top portion of the container so that the bottom portion of the container maintains contact with the container positioning ramp.

[0059] In some embodiments, the container restraining arm may be coupled to the movable grounding element such that, as the movable grounding element moves to approach or contact a portion of the container, the container restraining arm moves to contact the upper portion of the container so that the bottom portion of the container maintains contact with the container positioning ramp, thereby pushing the container downward.

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

[0061] In some embodiments, the container positioning ramp may be molded to conform to a portion of the path traversed by a container being moved through a level sensing location by a movable conveyor.

[0062] In some embodiments, the mechanism may, in addition or alternatively, include a first roller at the starting point of the inclined first end, and guide the bottom portion of the container on the inclined first end.

[0063] In some embodiments, the mechanism may, in addition or alternatively, include a second roller at the starting point of the inclined second end, guiding the bottom portion of the container on the inclined second end.

[0064] In some embodiments, the movable conveyor may be contained within a housing having an upper wall across the conveyor, and a container access opening is formed through the upper wall above the level sensing location, allowing a probe, or a conductive tip removably attached to the probe, to enter a container located at the level sensing location through the container access opening. The mechanism may also include, or alternatively, a motor; a threaded rod operably coupled to the motor; a drive block screwably coupled to the threaded rod; a bracket extending from the drive block; a shutter plate mounted on the upper wall and movable between a first position covering a container access opening and a second position exposing the container access opening; a container positioning ramp configured to be in contact with the bottom portion of a container positioned at a level sensing location; and a container restraining arm configured for movement between a first position not in contact with the container positioned at a level sensing location and a second position in contact with the upper portion of a container positioned at a level sensing location, pushing the container downward, such that the bottom portion of the container maintains contact with the container positioning ramp. The movable grounding element may be mounted on a bracket such that rotation of a threaded rod by a motor in a first direction moves the grounding element toward or into contact with a portion of the container, and rotation of the threaded rod by a motor in a second direction moves the grounding element toward or away from the container. The shutter plate may be operably coupled to the motor and provide motorized movement of the shutter plate from a first position to a second position as the motor moves the movable grounding element toward or into contact with a portion of the container, and provide motorized movement of the shutter plate from a second position to a first position as the motor moves the movable grounding element toward or away from the container.The driven block may contact the container holding arm, and the motor may move the movable grounding element so as to approach or contact part of the container, thereby moving the shutter plate from its first position to its second position, the container holding arm may move from its first position to its second position.

[0065] In some embodiments, the shutter plate may be pivotably mounted on the upper wall and may include a fan gear, which may include gear teeth that engage with a gear, driven coaxially by a motor to a threaded rod, along its arc-shaped edge.

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

[0067] Embodiments described herein include a method for performing volume level sensing of a fluid in a container supported on a movable conveyor. The method may include the automated steps of: a) moving the container to a level sensing location using the movable conveyor; b) moving a movable grounding element relative to the container until the grounding element is close to or in contact with part of the container; c) lowering a conductive probe, or a conductive tip detachably attached to the probe, into the container; d) detecting a signal or change in signal when the probe or conductive tip is in contact with the surface of the fluid in the container, the signal or change in signal may be based on the electrical capacitance between the probe or conductive tip and the movable grounding element which is close to or in contact with part of the container; and e) recording the vertical probe position in which the signal or change in signal can be detected.

[0068] In some embodiments, the method may also include, or alternatively, an automated step of f) bringing the container and the container positioner into contact at a level sensing location and pushing the container to a reproducible vertical level sensing position.

[0069] In some embodiments, step f) may include the automated steps of g) bringing the bottom portion of the container to be positioned at the level sensing location into contact with a container positioning ramp located adjacent to the movable conveyor, and h) bringing the top portion of the container to be positioned at the level sensing location into contact with the container to push the container downward so that the bottom portion of the container maintains contact with the container positioning ramp.

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

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

[0072] In some embodiments, the container positioning ramp may, in addition or alternatively, include a first roller at the starting point of the inclined first end, guiding the bottom portion of the container on the inclined first end.

[0073] In some embodiments, the container positioning ramp may, in addition or alternatively, include a second roller at the starting point of the inclined second end, guiding the bottom portion of the container on the inclined second end.

[0074] In some embodiments, the movable conveyor may include a carousel that is rotatable about a vertically oriented carousel rotation axis and includes a plurality of container holding stations positioned at an angle and spaced apart about the carousel rotation axis. Each container holding station may include spring tabs that extend laterally with respect to the carousel rotation axis and are configured to elastically engage with grooves of containers held within the container holding station, so that containers may be able to slide vertically between the spring tabs of the container holding station, thereby holding the containers within the container holding station. The step of bringing the bottom portion of the container into contact with a container positioning ramp may slide the container within the container holding station to a reproducible vertical level sensing position, and the step of bringing the top portion of the container into contact with a container holding arm may slide the container downward within the container holding station so that the bottom portion of the container maintains contact with the container positioning ramp.

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

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

[0077] In some embodiments, the container positioning ramp may be molded to conform to a portion of the path traversed by a container being moved through a level sensing location by a movable conveyor.

[0078] Embodiments described herein include a mechanism for providing selective access to one of a plurality of containers within a substantially enclosed housing. The mechanism may include a movable conveyor located within the housing and configured to hold and transport the plurality of containers; a container access opening formed in the upper wall of the housing at a position on a path traversed by the plurality of containers transported on the movable conveyor such that the movement of the conveyor sequentially positions each of the plurality of containers directly below the container access opening; and a shutter plate pivotably mounted to the upper wall of the housing and pivotably between a first position that covers the container access opening, thereby preventing access to the container located directly below the container access opening through the container access opening, and a second position that exposes the container access opening, thereby allowing access to the container located directly below the container access opening through the container access opening.

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

[0080] In some embodiments, the shutter plate may include a fan gear, which has gear teeth that engage with a motor-driven gear along its arc-shaped edge, and is mounted for pivotal movement between a first position and a second position.

[0081] In some embodiments, the mechanism may also include, or alternatively, a container restraining arm configured for movement between a first position, which does not contact the container located directly below the container access opening, and a second position, which contacts the upper portion of the container located directly below the container access opening and holds the container in a fixed vertical position. A motor may be coupled to the container restraining arm, and as the motor moves the shutter plate from its first position to its second position, the container restraining arm may move from its first position to its second position.

[0082] In some embodiments, the mechanism may also include, or alternatively, a threaded rod operably coupled to a motor, and the motor-driven gear may be arranged coaxially with the threaded rod and a drive block screwably coupled to the threaded rod. The container holding arm may be configured for pivotal movement between a first position and a second position, and the container holding arm contacts the drive block so that as the motor-driven gear rotates a fan gear and moves the shutter plate from its first position to its second position, the threaded rod moves the drive block and moves the container holding arm from its first position to its second position.

[0083] In some embodiments, the mechanism may also include, or alternatively, a spring coupled to a container-holding arm, which biases the container-holding arm in its first position.

[0084] Embodiments described herein include a method for providing selective access to one of a plurality of containers within a substantially enclosed enclosure. The method may include the automated steps of a) transporting the plurality of containers within the enclosure on a movable conveyor; b) sequentially positioning each of the plurality of containers transported on the movable conveyor directly below a container access opening formed in the upper wall of the enclosure; and c) automatically pivoting a shutter plate, pivotably mounted on the upper wall of the enclosure, from a first position covering the container access opening to a second position exposing the container access opening.

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

[0086] In some embodiments, step d) may include bringing the container restraining arm into contact with the upper portion of the container, which is positioned directly below the container access opening.

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

[0088] In some embodiments, the container includes grooves formed on the opposite side of the container, and the container gripper may include a gripper element mounting bracket and a first gripper element including a first hook mounted on the gripper element mounting bracket for pivotal movement about a first gripper rotation axis, positioned radially spaced with respect to the first gripper rotation axis and configured to seat in one of the grooves of the container, and a second gripper element including a second hook mounted on the gripper element mounting bracket for pivotal movement about a second gripper rotation axis which may be parallel to the first gripper rotation axis, positioned radially spaced with respect to the second gripper rotation axis and configured to seat in the opposite groove of the container. The first and second hooks may be bent toward each other. The first and second gripper elements may be coupled to each other for coordinated pivotal movement about separate first and second gripper rotation axes, toward or away from each other. The container gripper may be configured to grip a container by pivoting first and second gripper elements toward each other until individual first and second hooks are seated in one of the grooves of the container. The first and second gripper elements engage between an upper and lower restraint bar that are vertically spaced apart when gripping a container.

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

[0090] In some embodiments, the container gripper may also include, or alternatively, a gripper motor with a gripper actuator gear, a gripper drive gear mounted coaxially with a first gripper rotation axis and configured for rotation independent of the first gripper element, wherein the gripper actuator gear can engage with the gripper drive gear, and a drive pin extending from the first gripper element at a position spaced apart from the first gripper rotation axis, the drive pin extending into an opening formed within the gripper drive gear.

[0091] In some embodiments, the container gripper may also include, or alternatively, a spring connected to at least one of the first and second gripper elements, and the opening formed within the gripper drive gear may include an arc-shaped slot.

[0092] In some embodiments, the system may also include, or alternatively, a gripper advance system comprising a linear track, a linear bearing coupled to the linear track, wherein the container gripper can be supported on the linear bearing, a gripper advance motor, and a drive belt coupled to the gripper advance motor and fixed to the linear bearing.

[0093] In some embodiments, the gripper may also include, or alternatively, a chassis configured for rotation about a vertically oriented chassis rotation axis. The gripper mounting bracket may be supported on the chassis for rotation with respect to it, and the first gripper rotation axis may be parallel to the chassis rotation axis, and the second gripper rotation axis may be parallel to the chassis rotation axis.

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

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

[0096] In some embodiments, the container includes grooves formed on the opposite side of the container, and the container gripper may include a gripper element mounting bracket and a first gripper element including a first hook mounted on the gripper element mounting bracket for pivotal movement about a first gripper rotation axis, positioned radially spaced with respect to the first gripper rotation axis and configured to seat in one of the grooves of the container, and a second gripper element including a second hook mounted on the gripper element mounting bracket for pivotal movement about a second gripper rotation axis parallel to the first gripper rotation axis, positioned radially spaced with respect to the second gripper rotation axis and configured to seat in the opposite groove of the container. The first and second hooks may be bent toward each other, and the first and second gripper elements are coupled to each other for coordinated pivotal movement toward or away from each other about the separate first and second gripper rotation axes. The container gripper may be configured to grip a container by pivoting first and second gripper elements toward each other until individual first and second hooks are seated in one of the grooves of the container. The first and second gripper elements engage between an upper and lower restraint bar that are vertically spaced apart when gripping a container.

[0097] In some embodiments, the first and second gripper elements may be coupled to each other for coordinated pivotal movement by a first gripper element coupling gear, which is attached to the first gripper element and arranged coaxially with the first gripper rotation axis, and a second gripper element coupling gear, which is attached to the second gripper element and arranged coaxially with the second gripper rotation axis. The first and second gripper element coupling gears may be engaged with each other such that rotation of either the first or second gripper element results in a corresponding coordinated rotation of the other gripper element in the opposite direction of rotation.

[0098] In some embodiments, the container gripper may be operated to hold or release a used container by a gripper motor with a gripper actuator gear, and a gripper drive gear mounted coaxially with a first gripper rotation axis and configured for rotation independent of the first gripper element, wherein the gripper actuator gear may be actuated to hold or release a used container by a gripper drive gear that can engage with the gripper drive gear, and a drive pin extending from the first gripper element at a position spaced apart from the first gripper rotation axis, the drive pin extending into an opening formed within the gripper drive gear.

[0099] In some embodiments, the container gripper may also include, or alternatively, a spring connected to at least one of the first and second gripper elements, and the opening formed within the gripper drive gear may include an arc-shaped slot.

[0100] In some embodiments, used containers may be moved horizontally into a retainer cage using a gripper advance system which may include a linear track, a linear bearing coupled to the linear track, a container gripper being supported on the linear bearing, a gripper advance motor, and a drive belt coupled to the gripper advance motor and fixed to the linear bearing.

[0101] In some embodiments, the gripper and the used container held therein may be moved horizontally within the retainer cage by a chassis configured for rotation about a vertically oriented chassis rotation axis. The gripper mounting bracket may be supported on the chassis for rotation with respect to it, and the first gripper rotation axis may be parallel to the chassis rotation axis, and the second gripper rotation axis may be parallel to the chassis rotation axis.

[0102] Embodiments described herein include a mechanism for positioning a fluid container supported on a movable conveyor in a predetermined location. The mechanism may include a container positioning ramp positioned adjacent to a portion of the movable conveyor and configured to be in contact with the bottom portion of the container supported on the movable conveyor as the movable conveyor moves the container to the predetermined location, and a container holding arm configured for selective movement of the container to be positioned in location. The container holding arm may be configured to contact the top portion of the container to be positioned in location, thereby pushing the container downward, so that the bottom portion of the container maintains contact with the container positioning ramp.

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

[0104] In some embodiments, the mechanism may, in addition or alternatively, include a roller at the starting point of the inclined first end, and guide the bottom portion of the container on the inclined first end.

[0105] In some embodiments, the mechanism may also include, or alternatively, a motor, a threaded rod operably coupled to the motor, and a drive block screwably coupled to the threaded rod. The drive block may contact a container holding arm as the motor moves the drive block, moving the container holding arm from a first position to a second position.

[0106] In some embodiments, the movable conveyor may be contained within a housing having a top wall across the conveyor, and a container access opening is formed above a predetermined location through the top wall, and is configured to allow a fluid transfer probe, or a tip removably attached to a fluid transfer probe, to enter a container located directly below the container access opening. The mechanism may also include, or alternatively, a shutter plate attached to the top wall and movable between a first position covering the container access opening and a second position exposing the container access opening. The shutter plate may be operably coupled to a motor, which may cause the motor to move a drive block, thereby moving the container holding arm from its first position to its second position, resulting in the motorized movement of the shutter plate from the first position to the second position.

[0107] In some embodiments, the movable conveyor may include a carousel that is rotatable about a vertically oriented carousel rotation axis and includes a plurality of container holding stations positioned at an angle and spaced apart about the carousel rotation axis. Each container holding station may include spring tabs that extend laterally with respect to the carousel rotation axis and are configured to elastically engage with grooves in the containers held within the container holding station, thereby holding the containers within the container holding station, so that the containers may be able to slide vertically between the spring tabs of the container holding station. Container positioning ramps may be positioned directly beneath a portion of the carousel and may be configured to be in contact with the bottom portions of the containers held within the container holding stations as the carousel moves the containers into place.

[0108] Contact between the container and the container positioning ramp can cause the container to slide to a certain position within the container holding station while the bottom of the container is in contact with the container positioning ramp. The container holding arm may be configured to contact the upper part of the container so that the bottom part of the container maintains contact with the container positioning ramp, thereby sliding the container downward within the container holding station.

[0109] Embodiments described herein include a mechanism for holding and moving a plurality of containers, each container including a vertically oriented groove formed on the opposite side of the container. The mechanism may include a carousel configured to be rotatable about a vertically oriented axis of rotation, and the carousel may include a plurality of container-holding pockets arranged circumferentially around the outer circumference of the carousel. Each container-holding pocket may be open on the outer circumference of the carousel, allowing the container to be pulled out of the pocket radially relative to the axis of rotation, and each container-holding pocket may include a retaining clip configured to engage with a groove formed on the container and to hold the container removable within the container pocket.

[0110] In some embodiments, each container holding pocket may include a relief formed on the opposite side of the open peripheral end of the container pocket, which provides a gap for the gripping mechanism to open and engage with or disengage from a groove of the container held within the container holding pocket.

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

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

[0113] In some embodiments, the mechanism may also include, or alternatively, machine-readable tags placed on the wall of each container pocket, and the scanner may be configured to detect the machine-readable tags when the container pocket is empty.

[0114] In some embodiments, the mechanism may also include, or alternatively, a motor coupled to the carousel, which causes the carousel to rotate electrically around the carousel axis.

[0115] In some embodiments, each container holding pocket may include a container positioning fastener configured to engage with a notch formed within the container to be positioned within the container holding pocket.

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

[0117] Embodiments described herein include a method for holding and transporting a plurality of containers, each container comprising a vertically oriented groove formed on the opposite side of the container. The method may include the steps of: transporting the containers into container holding pockets formed around the periphery of a carousel, which are rotatable about a vertically oriented axis of rotation; removably securing each container in its associated container holding pocket using a retaining clip that engages with a groove formed on the container; and laterally removing each container from its associated container holding pocket through the open outer periphery of the container holding pocket.

[0118] In some embodiments, each container holding pocket may include a relief formed on the opposite side of the open outer peripheral side of the container pocket, and the step of removing each container laterally from its associated container holding pocket may include engaging a container gripper with the groove of the container and accessing the groove of the container through the relief.

[0119] In some embodiments, the method may also include, or alternatively, the step of scanning machine-readable information relating to each container being transported within the container holding pockets on the carousel using a scanner.

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

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

[0122] In some embodiments, the motor may be coupled to the carousel, either in addition or as an alternative, to provide electric rotation of the carousel around the carousel axis.

[0123] In some embodiments, the method may also include, or alternatively, the step of engaging a container positioning fastener, which extends into a container holding pocket, with a notch formed within each container.

[0124] Embodiments described herein include a conveyor for a plurality of containers, each container including a groove formed on the opposite side of the container. The conveyor may include a carousel, which is rotatable about a vertically oriented carousel rotation axis and includes a plurality of container holding stations positioned at an angle and spaced apart about the carousel rotation axis. Each container holding station may include spring tabs that extend laterally with respect to the carousel rotation axis and are configured to elastically engage with grooves of containers held within the container holding station, so that containers may be able to slide vertically between spring tabs of the container holding station, thereby holding the containers within the container holding station. The conveyor may include container positioning ramps, which are positioned directly beneath a portion of the carousel and are configured to be in contact with the bottom portions of containers held within the container holding stations as the carousel moves the container holding stations across the container positioning ramps. Contact between the containers and the container positioning ramps may cause the containers within the container holding stations to slide to a certain position with the bottom portions of the containers in contact with the container positioning ramps. The conveyor may include a container holding arm configured for selective movement of a container in contact with a container positioning ramp, the container holding arm may be configured to contact the upper portion of the container so that the bottom portion of the container maintains contact with the container positioning ramp, and to slide the container downward within the container holding station.

[0125] In some embodiments, the carousel may include an upper clip ring having a plurality of pairs of opposing spring tabs, and a lower clip ring having a plurality of pairs of opposing spring tabs, wherein each pair of spring tabs in the upper clip ring may be aligned with the corresponding pair of spring tabs in the lower clip ring, defining each container holding station.

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

[0127] In some embodiments, each spring tab may include a knuckle that is bent inward toward the opposing spring tab of each pair of spring tabs, and each knuckle may be seated in one of the grooves of the container located within the holding station.

[0128] In some embodiments, the conveyor may also include, or alternatively, a motor, a threaded rod operably coupled to the motor, and a drive block screwably coupled to the threaded rod. The drive block may contact a container holding arm as the motor moves the drive block, moving the container holding arm from a first position where it does not contact the top of the container to a second position where it contacts the top of the container.

[0129] In some embodiments, the container restraining arm may be pivotably mounted within a mounting yoke, the first end of the restraining arm may be in contact with a drive block, and the second end of the restraining arm may contact the container when the first end is in contact with the drive block and the restraining arm is pivoted.

[0130] Other features and characteristics of the subject matter of this disclosure, as well as the methods of operation, the function of combinations of structural elements and parts, and the economics of manufacture, will all become more apparent as we consider the following description and appended claims with reference to the accompanying drawings, which form part of this specification and in which similar reference numbers designate corresponding parts in various figures. The present invention provides, for example, the following: (Item 1) A system for transporting a container, the system includes a groove formed on the opposite side of the container, the system is A container loading interface, A movable support platform that can move between an accessible position and an inaccessible position, A container loader and carrier supported on the movable support platform, comprising a plurality of container pockets, each container pocket configured to receive a container inserted vertically into the container pocket when the movable support platform is in the accessible position, and to allow the container to be removed laterally from the container pocket, and the container loader and carrier configured to sequentially transport the container pockets to a container transport position toward a transport opening formed in the movable support platform when the movable support platform is in the inaccessible position, and A container loading interface equipped with, A container storage module, A housing comprising a housing having a container inlet / outlet opening formed on the side of the housing, A movable barrier configured for movement between a first position that blocks the container entrance / exit opening and a second position that allows the container to move laterally through the container entrance / exit opening, A container storage and transport device disposed within the housing and including a plurality of container holding stations, each container holding station including a spring tab configured to elastically engage with a groove of a container to be held within the container holding station, to hold the container within the container holding station, to deflect it outward, and to allow the container to be laterally inserted into or removed from the container holding station. A container storage module equipped with, A container distributor configured to transfer containers from the container loading interface to the container storage module, A container gripper configured to grip a container being transported into one of the container pockets of a container loader / carrier located at the container transport position by engaging with a groove in the container, A gripper advance system configured to move the container gripper and remove the container laterally from the container pocket of the container loading and carrying device in which the container is held, A distributor relocation system, configured to move the container gripper and the container held thereby from the container transfer position to the entrance / exit opening of the container storage module. Equipped with, The gripper advance system is configured to move the container gripper and insert the container held therein into the container holding station of the container storage and transporter through the inlet / outlet opening, and the gripper is configured to release the container into the container holding station by engaging with and disengaging from the groove of the container, and the container distributor and A system equipped with these features. (Item 2) The system according to item 1, wherein the movable support platform of the container loading interface comprises a drawer that is movable between the inaccessible position in which the movable support platform is retracted into the facility and the accessible position in which the movable support platform extends from the facility. (Item 3) The container loading and transporter comprises a loading carousel supported on the movable support platform for rotation about a loading carousel axis, and the container pockets are arranged circumferentially around the loading carousel axis, according to item 1 or 2. (Item 4) The loading interface further includes a home sensor for detecting the home rotation position of the loading carousel, as described in item 3. (Item 5) The system according to item 3 or 4, wherein each container pocket includes a retaining clip configured to engage with a groove formed on the container to removably retain the container within the container pocket. (Item 6) The system according to any one of items 3-5, wherein the container pocket is located on the outer circumference of the loading carousel, is open on the outer circumference of the loading carousel, and allows a container to be pulled out laterally from the pocket relative to the loading carousel axis. (Item 7) The system according to item 6, wherein each container pocket includes a relief, which is formed on the opposite side of the open peripheral end of the container pocket and provides a gap for a gripping mechanism to open and engage with or disengage from a groove of a container held within the container pocket. (Item 8) The system according to any one of items 1-7, wherein each container pocket includes a container positioning fastener configured to engage with a notch formed in a container positioned within the container pocket. (Item 9) The system according to any one of items 1-8, further comprising a scanner configured to scan machine-readable information relating to each container being transported on the container loader. (Item 10) The scanner is the system according to item 9, comprising a barcode scanner. (Item 11) The system according to any one of items 3-7, wherein the container loading interface further comprises a loading carrier motor coupled to the loading carousel, which causes the loading carousel to rotate electrically around the loading carousel axis. (Item 12) The loading carrier motor is coupled to the loading carousel by a drive belt, according to the system in item 11. (Item 13) The system according to any one of items 1-12, wherein the container storage module comprises a pusher pin extending from the movable barrier, the container distributor comprises a door actuator arm configured to engage with the pusher pin, the door actuator arm is movable by the distributor moving system, and moves the movable barrier of the container storage module from the first position to the second position. (Item 14) The container storage and transporter comprises a storage carousel supported within the housing for rotation about a storage carousel axis, and the container holding stations are arranged circumferentially around the storage carousel axis, according to any one of items 1-13. (Item 15) The container storage and transporter further includes a home sensor for detecting the home rotation position of the storage carousel, as described in item 14. (Item 16) The storage carousel comprises an upper clip ring having a plurality of pairs of opposing spring tabs and a lower clip ring having a plurality of pairs of opposing spring tabs, wherein each pair of spring tabs of the upper clip ring is aligned with the corresponding pair of spring tabs of the lower clip ring, defining each holding station, as described in item 14 or 15. (Item 17) The system according to any one of items 14-16, wherein each spring tab includes a knuckle that is bent inward into the corresponding retaining station, and each knuckle is seated in one of the grooves of the container located within the retaining station. (Item 18) The system according to item 16, wherein the upper clip ring is spaced apart from the lower clip ring such that each pair of spring tabs of the upper clip ring is spaced apart from the corresponding pair of spring tabs of the lower clip ring. (Item 19) The system according to any one of items 14-18, wherein the container storage module further comprises a storage carrier motor coupled to the storage carousel, which causes the storage carousel to rotate electrically around the storage carousel axis. (Item 20) The system according to item 19, wherein the storage carrier motor is coupled to the storage carousel by a spur gear mounted on the carousel and engages with a spur gear mounted on the output shaft of the storage carrier motor. (Item 21) The container gripper is A bracket equipped with a gripper element, A first gripper element, the first gripper element comprising a first hook, which is mounted on a gripper element mounting bracket for pivotal movement about a first gripper rotation axis, is positioned radially spaced with respect to the first gripper rotation axis, and is configured to seat in one of the grooves of the container, A second gripper element, the second gripper element including a second hook, which is mounted on the gripper element mounting bracket for pivotal movement about a second gripper rotation axis parallel to the first gripper rotation axis, and is positioned radially spaced with respect to the second gripper rotation axis and is configured to seat in the opposite groove of the container. Equipped with, The first hook and the second hook are bent toward each other, and the first gripper element and the second gripper element are coupled to each other for coordinated pivotal movement toward or away from each other about the individual first and second gripper rotation axes, and the container gripper is configured to grip a container by pivoting the first and second gripper elements toward each other until the individual first and second hooks are seated in one of the grooves of the container. A system described in any one of items 1-20. (Item 22) The first gripper element and the second gripper element are, A first gripper element coupling gear is attached to the first gripper element and arranged coaxially with the first gripper rotation axis, A second gripper element coupling gear is attached to the second gripper element and arranged coaxially with the second gripper rotation axis. By means of coordinating pivotal movement, the first gripper element coupling gear and the second gripper element coupling gear are coupled to each other, such that the rotation of either the first gripper element or the second gripper element results in a corresponding coordinated rotation of the other gripper element in the opposite direction of rotation. The system described in item 21. (Item 23) The container gripper further, A gripper motor with a gripper actuator gear, A gripper drive gear mounted coaxially with the first gripper rotation axis and configured for rotation independent of the first gripper element, wherein the gripper actuator gear engages with the gripper drive gear, A drive pin extending from the first gripper element at a position spaced apart from the first gripper rotation axis, wherein the drive pin extends into an opening formed within the gripper drive gear, and The system described in item 22, comprising: (Item 24) The container gripper further comprises a spring connected to at least one of the first gripper element and the second gripper element, and the opening formed in the gripper drive gear comprises an arc-shaped slot, according to item 23. (Item 25) The gripper advancement system is, Linear track and A linear bearing coupled to the linear track, wherein the container gripper is supported on the linear bearing, and Gripper forward motor and A drive belt coupled to the gripper advance motor and fixed to the linear bearing and A system comprising any one of items 1-24. (Item 26) The aforementioned distributor relocation system is A distributor head frame mounted so as to be rotatable about a distributor rotation axis, wherein the container gripper is supported on the distributor head frame, and A fixed sun gear arranged coaxially with the aforementioned distributor shaft, A distributor motor including a drive gear fixed to the distributor head frame and operably engaged with the fixed sun gear, A system comprising any one of items 1-25. (Item 27) The aforementioned distributor relocation system is A distributor head frame is mounted so as to be rotatable around the distributor's rotation axis, A fixed sun gear arranged coaxially with the aforementioned distributor shaft, A distributor motor including a drive gear fixed to the distributor head frame and operably engaged with the fixed sun gear, Equipped with, The gripper advancement system is, A linear track supported on the distributor head frame and oriented radially with respect to the distributor axis, A linear bearing coupled to the linear track, wherein the container gripper is supported on the linear bearing, and The gripper advance motor mounted on the aforementioned distributor head frame, A drive belt is operably coupled to the gripper advance motor and attached to the linear bearing. A system comprising any one of items 1-24. (Item 28) The container storage module further comprises at least one thermal control component for maintaining a desired temperature within the enclosure, the at least one thermal component being Thermoelectric module and heatsink and Fans A system comprising one or more of the features described in any one of items 1-27. (Item 29) A method for transporting a container, the method comprising a groove formed on the opposite side of the container, wherein the method is To move the movable support platform from an inaccessible position to an accessible position, and to provide user access to a container loading and carrying device supported on the movable support platform, which includes multiple container pockets, Inserting the container vertically into one or more of the container pockets, Moving the movable support platform from the accessible position to the inaccessible position, The container pockets are sequentially transported to the container transport position in the transport opening formed within the movable support platform using the container loading and transport device. By using a container gripper to engage with the groove of the container, the container being transported within one of the container pockets of the container loading and transporting device located at the container transport position is grasped. Using a gripper advancement system, the container gripper is moved, and the container is removed laterally from the container pocket of the container loading and carrying device in which the container is held. The container gripper and the container held therein are moved from the container transfer position to the entrance / exit opening of the housing of the container storage module using a distributor transfer system. A pusher pin extending from the movable barrier of the container storage module is engaged with an actuator arm, and the actuator arm is moved using the distributor moving system to move the movable barrier of the container storage module from a first position that blocks the container inlet / outlet opening to a second position that allows the container to be moved laterally through the container inlet / outlet opening. The gripper advancement system is used to move the container gripper and insert the container held by the gripper into one of a plurality of container holding stations of a container storage and transporter arranged within the housing, each container holding station including a spring tab configured to elastically engage with a groove of the container held within the container holding station, to hold the container within the container holding station, to deflect it outward, and to allow the container to be inserted laterally into or removed laterally from the container holding station. By engaging and disengaging the gripper from the groove of the container, the container is released into the container holding station. Methods that include... (Item 30) The method according to item 29, wherein moving the movable support platform includes moving a drawer that is movable between the inaccessible position in which the movable support platform is retracted into the equipment and the accessible position in which the movable support platform extends from the equipment. (Item 31) The container loading and transporter comprises a loading carousel supported on the movable support platform for rotation about a loading carousel axis, the container pockets being arranged circumferentially around the loading carousel axis and opening at their upper ends, and transporting the container pockets sequentially involves rotating the carousel about the carousel axis, according to item 29 or 30. (Item 32) The container pocket is positioned on the outer circumference of the loading carousel and is open on the outer circumference of the loading carousel. Gripping the container being transported within one of the container pockets includes inserting the container gripper through the open outer circumference and engaging it with the groove of the container, Removing the container laterally from the container pocket includes moving the container through the open outer perimeter using the container gripper. The method described in item 31. (Item 33) The method according to any one of items 29-32, further comprising scanning machine-readable information relating to each container being transported on the container loading and carrying device using a scanner. (Item 34) The method according to item 33, wherein the scanner comprises a barcode scanner. (Item 35) The method according to any one of items 29-34, further comprising using a home sensor to monitor the position of each container held in the pocket of the container loader in order to detect the home position of the container loader. (Item 36) a) Moving the container to the level sensing location inside the housing using the container storage and transport device, b) Moving the movable grounding element relative to the container until the grounding element approaches the container or comes into contact with a part of it, c) Lowering a conductive probe, or a conductive tip detachably attached to the probe, into the container through a container access opening in the housing, d) When the probe or conductive tip comes into contact with the surface of the fluid in the container, a signal or change in signal is detected, and the signal or change in signal is based on the electrical capacitance between the probe or conductive tip and the movable grounding element that is approaching or in contact with part of the container. e) Record the vertical probe position at which the signal or a change in the signal is detected. The method described in any one of items 29-35, further including automated steps. (Item 37) f) Bring the container and the container positioner into contact at the level sensing location, and push the container to a reproducible vertical level sensing position. The method described in item 36, further including automated steps. (Item 38) Step f) is g) Bringing into contact a container positioning lamp located adjacent to the container storage and transport device with the lower portion of the container located at the level sensing location, h) The bottom portion of the container maintains contact with the container positioning lamp, the upper portion of the container positioned at the level sensing location contacts the container and pushes the container downward. The method described in item 37, including the automated steps. (Item 39) Steps b) and h) are performed simultaneously, according to the method described in item 38. (Item 40) The method according to any one of items 36-39, further comprising the step of automatically moving a shutter plate attached to the housing from a first position covering the container access opening to a second position exposing the container access opening during step b). (Item 41) A mechanism for gripping and transporting a container, wherein the container includes parallel and perpendicularly oriented grooves formed on the opposing side of the container, and the mechanism is A chassis configured for rotation around a vertically oriented chassis rotation axis, A gripper carriage supported on the chassis for rotation with respect to the chassis rotation axis and configured for radial movement with respect to the chassis rotation axis, wherein the gripper carriage comprises a container gripper, and the container gripper is A first gripper element, which is mounted on the gripper carriage for pivotal movement about a first gripper rotation axis parallel to the chassis rotation axis, and includes a first hook located radially spaced from the first gripper rotation axis, A second gripper element, which is mounted on the gripper carriage for pivotal movement about a second gripper rotation axis parallel to the first gripper rotation axis, and includes a second hook located radially spaced from the second gripper rotation axis. Equipped with, The first hook and the second hook are bent toward each other, and the first gripper element and the second gripper element are coupled to each other for coordinated pivotal movement toward or away from each other about the individual first and second gripper rotation axes, and the container gripper is configured to grip the container by pivoting the first and second gripper elements toward each other until the individual first and second hooks each engage with one of the vertically oriented grooves of the container, and the gripper carriage and A mechanism that includes this feature. (Item 42) A mechanism for sensing the volume level of fluid in a fluid container supported on a movable conveyor, wherein the mechanism comprises: A conductive probe, wherein the conductive probe is configured for sensing a capacity level by detecting a signal or change in signal when the probe, or a conductive tip removably attached to the probe, comes into contact with the surface of the fluid in the container, and the signal or change in signal is based on the electrical capacitance between the probe or conductive tip and a grounded conductive structure adjacent to or in contact with the container, the conductive probe and A probe position sensor for monitoring the vertical position of the probe and recording the vertical probe position at which the signal or a detectable change in the signal is detected, A movable grounding element, the movable grounding element being configured for selective movement relative to a container, which is positioned by the movable transporter at a certain level sensing location relative to the probe until the grounding element approaches the container or comes into contact with a part of it, and A mechanism that includes this feature. (Item 43) A method for sensing the volume level of fluid in a container supported on a movable conveyor, wherein the method is: a) Moving the container to the level sensing location using the movable conveyor, b) Moving the movable grounding element relative to the container until the grounding element approaches the container or comes into contact with a part of it, c) Lowering a conductive probe, or a conductive tip detachably attached to the probe, into the container, d) When the probe or conductive tip comes into contact with the surface of the fluid in the container, a signal or change in signal is detected, and the signal or change in signal is based on the electrical capacitance between the probe or conductive tip and the movable grounding element that is approaching or in contact with part of the container. e) Record the vertical probe position where the signal or a change in the signal is detected. A method that includes automated steps. (Item 44) A mechanism for providing selective access to one of several containers within a substantially enclosed enclosure, wherein the mechanism is: A movable conveyor located within the aforementioned housing, configured to hold and transport the plurality of containers, The movement of the conveyor sequentially positions each of the multiple containers directly below the container access opening at a position along the path traversed by the multiple containers being transported on the movable conveyor, the container access opening formed in the upper wall of the housing, A shutter plate, wherein the shutter plate is pivotably mounted on the upper wall of the housing and is pivotable between a first position that covers the container access opening and thereby prevents access to the container located directly below the container access opening through the container access opening, and a second position that exposes the container access opening and thereby allows access to the container located directly below the container access opening through the container access opening. A mechanism that includes this feature. (Item 45) A method for providing selective access to one of several containers within a substantially enclosed enclosure, wherein the method is: e) Transporting multiple containers within the enclosure on a movable conveyor, f) Each of the multiple containers being transported sequentially on the movable conveyor is placed directly below the container access opening formed in the upper wall of the housing, g) Automatically pivoting a shutter plate, which is pivotally mounted on the upper wall of the housing, from a first position covering the container access opening to a second position exposing the container access opening. A method that includes automated steps. (Item 46) A system for disposing of used containers, comprising a retainer cage positioned across the waste opening, wherein the retainer cage is First and second sides oriented perpendicularly to each other, Upper and lower retainer bars extending laterally from a first side to a second side of the retainer cage, wherein the upper and lower retainer bars are spaced perpendicularly apart from each other and extend across a portion of the width of the retainer cage, leaving a gap between the second side and the end ends of the retainer bars, and the gap between the upper and lower retainer bars and the second side is configured to allow a container to be inserted through the gap, A container gripper, wherein the container gripper is configured to hold the container, insert the container through the gap between the first side and the second side, thereby positioning the gripper between the vertically spaced upper and lower retainer bars, and moving the container to a position behind the upper and lower retainer bars. A system equipped with these features. (Item 47) A method for disposing of used containers, wherein the method is The method involves moving a used container horizontally into a retainer cage positioned across a waste opening, using a container gripper to hold the used container, wherein the retainer cage comprises first and second sides oriented vertically opposite to each other, and upper and lower retainer bars extending laterally from the first side to the second side of the retainer cage, the upper and lower retainer bars being vertically spaced apart from each other, leaving a gap between the end ends of the upper and lower retainer bars and the second side, through which the container gripper extends across a portion of the width of the retainer cage to move the used container horizontally into the retainer cage. The container gripper extends through the gap between the vertically spaced upper and lower retainer bars, and moves the container gripper and the used container held by it horizontally within the retainer cage until the used container is positioned behind the upper and lower retainer bars. To release the used container from the container gripper so that the used container falls through the waste opening where the retaining cage is positioned over it. Methods that include... (Item 48) A mechanism for positioning a fluid container supported on a movable conveyor in a predetermined location, wherein the mechanism comprises: A container positioning ramp, which is positioned adjacent to a part of the movable conveyor, and is configured to be in contact with the bottom portion of the container supported on the movable conveyor when the movable conveyor moves the container to the predetermined location, A container holding arm configured for selective movement of the container positioned at the predetermined location, wherein the container holding arm is configured to contact the upper portion of the container positioned at the predetermined location and to push the container downward such that the bottom portion of the container maintains contact with the container positioning ramp. A mechanism that includes this feature. (Item 49) A mechanism for holding and moving a plurality of containers, wherein each container includes a vertically oriented groove formed on the opposite side of the container, the mechanism comprises a carousel configured to be rotatable about a vertically oriented axis of rotation, the carousel includes a plurality of container-holding pockets arranged circumferentially around the outer circumference of the carousel, each container-holding pocket opens on the outer circumference of the carousel, allowing a container to be pulled out of the pocket radially relative to the axis of rotation, and each container-holding pocket includes a retaining clip configured to engage with the groove formed on the container and to hold the container in a removable manner within the container pocket. (Item 50) A method for holding and transporting multiple containers, wherein each container includes a vertically oriented groove formed on the opposite side of the container, and the method is The container is transported into a container holding pocket formed around the periphery of a carousel configured to be rotatable about a vertically oriented axis of rotation, Each container is to be removably held in an associated container-holding pocket using a retaining clip that engages with the groove formed on the container, Each container is removed laterally from its associated container-holding pocket through the open outer peripheral side of the container-holding pocket. Methods that include... (Item 51) A conveyor for multiple containers, wherein each container includes a groove formed on the opposite side of the container, and the conveyor is, A carousel, wherein the carousel is rotatable about a vertically oriented carousel rotation axis and includes a plurality of container holding stations positioned at an angle and spaced apart about the carousel rotation axis, each container holding station including a spring tab that extends laterally with respect to the carousel rotation axis and is configured to elastically engage with grooves of containers to be held within the container holding station, thereby holding the containers within the container holding station, and the containers are capable of sliding vertically between the spring tabs of the container holding stations. A container positioning ramp, wherein the container positioning ramp is positioned directly beneath a portion of the carousel and is in contact with the bottom portion of a container held within the container holding station as the carousel moves the container holding station across the container positioning ramp, and the contact between the container and the container positioning ramp causes the container within the container holding station to slide to a certain position with its bottom in contact with the container positioning ramp. A container holding arm configured for selective movement of a container in contact with the container positioning ramp, wherein the container holding arm is configured to contact the upper portion of the container so that the bottom portion of the container maintains contact with the container positioning ramp, and to slide the container downward within the container holding station. A conveyor equipped with the following features. [Brief explanation of the drawing]

[0131] The accompanying drawings incorporated herein and forming part thereof illustrate various embodiments of the subject matter of this disclosure. In the drawings, similar reference numerals indicate the same or functionally similar elements.

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

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

[0134] [Figure 3] Figure 3 is a top perspective view of a fluid container that can be managed within a fluid container management system.

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

[0136] [Figure 5] Figure 5 is a lateral cross-sectional view of the container along line 5-5 in Figure 3.

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

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

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

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

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

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

[0143] [Figure 12] Figure 12 is a bottom perspective view of the container distributor, showing a partial cross-section.

[0144] [Figure 13] Figure 13 is a top plan view of the gripper of a container distributor, in which one gripper finger is depicted as transparent.

[0145] [Figure 14] Figure 14 is a top perspective view of a gripper, in which one gripper finger is depicted as transparent.

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

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

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

[0149] [Figure 18] Figure 18 is an upper right perspective view of the container storage module, with the casing omitted.

[0150] [Figure 19] Figure 19 is a cross-sectional perspective view along line 19-19 in Figure 16.

[0151] [Figure 20] Figure 20 is a partial right-side internal perspective view of the container storage module.

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

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

[0154] [Figure 23] Figure 23 is a partial perspective internal view of a container holding station, showing all or part of the container storage and transporter, a multifunction motor, a drive block and bracket coupled to the multifunction motor, a container holding arm operated by the drive block, and a container positioning ramp.

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

[0156] [Figure 25] Figure 25 is a top perspective view of the waste disposal module. [Modes for carrying out the invention]

[0157] Detailed explanation While aspects of the subject matter of this disclosure can be embodied in various forms, the following description and accompanying drawings are intended to disclose only some of these forms as specific embodiments of the subject matter. Therefore, the subject matter of this disclosure is not intended to be limited to the forms or embodiments described and illustrated in this manner.

[0158] Unless otherwise defined, all technical terms, notations, and other technical terms or usages used herein have the same meaning as those generally understood by those skilled in the art, to which this disclosure belongs. All patents, patent applications, published patent applications, and other publications referenced herein are incorporated by reference as a whole. If any definition set forth in this section is in contrast to or otherwise contradicts any definition set forth in any patent, application, published application, or other publication incorporated by reference herein, the definition set forth in this section shall prevail over the definition incorporated by reference herein. definition

[0159] Unless otherwise indicated or the context suggests, “a” or “an” as used herein means “at least one” or “one or more.”

[0160] This description may use various terms to describe the relative spatial arrangement and / or orientation or direction when describing the position and / or orientation of components, devices, locations, features, or parts thereof, or the direction of movement, force, or other dynamic action. Unless otherwise specified or determined by the context of the description, such terms, including but not limited to, top, bottom, above, below, above, upper side, lower side, left of, right of, front of, behind, next to, adjacent to, between, horizontal, vertical, diagonal, longitudinal, transverse, radial, axial, clockwise, counterclockwise, etc., are used in the drawings for convenience when referring to such components, devices, locations, features, or parts thereof, or movement, force, or other dynamic action, and are not intended to be limiting.

[0161] Unless otherwise indicated or the context suggests, terms used herein to describe the physical and / or spatial relationship between a first component, structure, or part thereof and a second component, structure, or part thereof, such as attached, connected, fixed, joined, linked, combined, or similar terms or variations thereof, shall encompass both direct relationships, where the first component, structure, or part thereof is in direct contact with the second component, structure, or part thereof, and indirect relationships, where one or more intervening components, structures, or parts thereof exist between the first component, structure, or part thereof and the second component, structure, or part thereof.

[0162] Unless otherwise stated, any specific dimensions described herein represent, and are not intended to limit, exemplary implementations of the device embodying aspects of this disclosure.

[0163] To the extent used herein, the term “adjacent” means being in the vicinity or adjacent to each other. Adjacent objects can be separated from each other, or can actually or directly come into contact with each other. In some cases, adjacent objects can be joined to each other, or can form a single unit with each other.

[0164] To the extent used herein, the terms “substantially” and “substantial” refer to a vast degree or range. For example, when used in conjunction with events, situations, characteristics, or properties, the terms may refer to instances in which the event, situation, characteristic, or property occurs precisely, and instances in which the event, situation, characteristic, or property occurs near an approximation, such as when considering the typical tolerance levels or variability of the embodiments described herein.

[0165] To the extent used herein, “molecular assay” refers to a procedure for specifically detecting and / or quantifying a target molecule, such as a target nucleic acid. A sample containing or suspected to contain a target molecule is brought into contact with one or more reagents, each containing at least one reagent specific to the target molecule, and exposed to conditions permitted to generate a detectable signal indicating the presence or absence of the target molecule. For example, if the molecular assay is a polymerase chain reaction (PCR), the reagents may include a target-specific primer, and the generation of a detectable signal may be accomplished by providing a labeled probe that hybridizes an amplicon produced by the primer, at least partially, in the presence of the target. Alternatively, the reagents may include insertion dyes for detecting the formation of double-stranded nucleic acids.

[0166] To the extent used herein, “reagent” refers to any substance or combination thereof involved in a molecular assay, other than the sample material and product of the assay. Exemplary reagents include nucleotides, enzymes, amplification oligomers, probes, and salts.

[0167] To the extent used herein, “assay” refers to a procedure for detecting and / or quantifying a target molecule or analyte in a sample. A sample containing or suspected to contain a target molecule is brought into contact with one or more reagents and exposed to conditions permitted to generate a detectable signal indicating whether the target molecule is present in the sample or the amount of the target molecule in the sample.

[0168] As used herein, “Sample” means any substance suspected of containing the organism, virus, or cell of interest, or, alternatively, the analyte derived from any substance suspected of containing the organism, virus, or cell of interest, or the analyte of interest. The substance may be, for example, an unprocessed clinical sample such as a blood or genitourinary tract sample, a buffer medium containing the sample, a medium containing the sample and a solvent for releasing the analyte belonging to the organism, virus, or cell, or a medium containing the analyte derived from the organism, virus, or cell, or being isolated and / or purified (“extracted”) within a receptacle or on a material or device. For this reason, the term “Sample” will be understood to mean the sample in its raw form or to any stage of processing for releasing, isolating, and purifying (“extracted”) the analyte derived from the organism, virus, or cell. Therefore, the reference to “sample” may refer to any substance suspected to contain the analyte derived from an organism, virus, or cell at different stages of processing, and is not limited to the initial form of the substance.

[0169] "Nucleic acids" and "polynucleotides" refer to polymers containing nucleosides or nucleoside analogs, which together have nitrogen-containing heterocyclic bases or base analogs, forming polynucleotides. The nucleic acid "backbone" may include various bonds, including sugar-phosphate diester bonds, peptide-nucleic acid bonds ("peptide nucleic acids" or PNA; International Publication No. WO95 / 32305), phosphorothioate bonds, methylphosphonic acid bonds, or one or more of these combinations. The sugar portion of a nucleic acid may be ribose, deoxyribose, or analogs, with substitutions, e.g., 2'-methoxy or 2'-halide substitutions. Nitrogen-containing bases include conventional bases (A, G, C, T, U), their analogs (e.g., inosine or others; The Biochemistry of the Nucleic Acids 5-36, Adams et al., ed., 11th See ed., 1992), derivatives of purines or pyrimidines (e.g., N 4 -methylguanine, N 6 -Methyladenine, deaza- or aza-purine, deaza- or aza-pyrimidine, pyrimidine base with substituent (e.g., 5-methylcytosine) at position 5 or 6, purine base with substituent at position 2, 6 or 8, 2-amino-6-methylaminopurine, O 6 -methylguanine, 4-thiopyrimidine, 4-aminopyrimidine, 4-dimethylhydrazinepyrimidine, and O 4Nucleic acids can be alkylpyrimidines (US Patent No. 5,378,825 and International Publication No. WO93 / 13121). Nucleic acids may contain one or more "debased" residues, and the backbone may not contain nitrogen-containing bases due to the polymer's position (US Patent No. 5,585,481). Nucleic acids may consist only of conventional RNA or DNA sugars, bases, and bonds, or may contain both conventional components and substitutions (e.g., polymers containing both conventional bases with 2' methoxy bonds, or conventional bases and one or more base analogs). Nucleic acids may contain "locked nucleic acids" (LNAs), analogs containing one or more LNA nucleotide monomers with a bicyclic furanose unit locked within an RNA-mimicking sugar conformation, which enhances hybridization affinity toward complementary RNA and DNA sequences (Vester and Wengel, 2004, Biochemistry 43(42):13233-41). Embodiments of oligomers that may affect the stability of the hybridization complex include PNA oligomers, oligomers containing 2'-methoxy or 2'-fluorosubstituted RNA, or oligomers containing charged bonds (e.g., thiophosphate) or neutral groups (e.g., methylphosphonic acid), which affect the overall charge, charge density, or stereoassembly of the hybridization complex. Methylated cytosines, such as 5-methylcytosine, may be used in combination with any of the aforementioned backbones / sugars / bonds, including RNA or DNA backbones (or mixtures thereof), unless otherwise indicated. RNA and DNA equivalents may have different sugar moieties (i.e., ribose vs. deoxyribose) and may differ by the presence of uracil in RNA and thymine in DNA. Differences between RNA and DNA equivalents do not contribute to differences in homology, as the equivalents have a similar degree of complementarity to a particular sequence. When referring to a range of lengths for oligonucleotides, amplicons, or other nucleic acids, please understand that the range includes all integers (for example, the length of 19 to 25 consecutive nucleotides includes 19, 20, 21, 22, 23, 24, and 25).

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

[0171] In periodic amplification methods that detect amplicons in real time, the term “threshold cycle” (Ct) is a measure of the time of signal appearance associated with the amplification of the target, which may be, for example, about 10 times the standard deviation of the normalized reporter signal. Once the amplification reaches the “threshold cycle,” it is generally assumed that a positive amplification product of the sequence exists to which a probe binds. Probe binding generally provides substantial information about the identification of the product (for example, in the case of one or more allele-specific probes, it is an amplicon from a specific target sequence of an allele of a gene or an element of a certain class). The amplification product can, in addition, be further characterized through methods known to those skilled in the art, such as gel electrophoresis, nucleic acid sequencing, and other such analytical procedures.

[0172] "Oligomers" or "oligonucleotides" generally refer to nucleic acids with fewer than 1,000 nucleotides (nts), including those within a size range having a lower limit of about 2 to 5 nts and an upper limit of about 500 to 900 nts. Some specific embodiments are oligomers within a size range with a lower limit of about 5 to 15, 16, 17, 18, 19, or 20 nts and an upper limit of about 50 to 600 nts, while other specific embodiments are oligomers within a size range with a lower limit of about 10 to 20 nts and an upper limit of about 22 to 100 nts. Oligomers can be purified from naturally occurring sources, but they can also be synthesized by using any well-known enzyme or chemical method. Oligomers may be referred to by functional names (e.g., capture probe, primer, or promoter-primer), but those skilled in the art will understand that such terms refer to oligomers. Oligomers can form secondary and tertiary structures by self-hybridization or by hybridization to other polynucleotides. Such structures may include, but are not limited to, double-stranded, hairpin, cruciate, bent, and triple-stranded structures. Oligomers may be generated in any manner, including chemosynthesis, DNA replication, reverse transcription, PCR, or a combination thereof. In some embodiments, oligomers that form invasive cleavage structures are generated within a reaction (e.g., by the elongation of a primer in an enzyme elongation reaction).

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

[0174] An "amplifying oligonucleotide" or "amplifying oligomer" refers to an oligonucleotide that hybridizes to a target nucleic acid or its complement and participates in a nucleic acid amplification reaction, for example, acting as a primer and / or promoter-primer. A particular amplified oligomer contains at least 10 consecutive bases, optionally at least 11, 12, 13, 14, 15, 16, 17, 18, 19, or 20 consecutive bases that are complementary to a region of the target nucleic acid sequence or its complementary strand. The consecutive bases may be at least 80%, at least 90%, or completely complementary to the target sequence to which the amplified oligomer binds. In some embodiments, the amplified oligomer comprises an intervening linker or a non-complementary sequence between two compartments of a complementary sequence, for example, the two complementary compartments of the oligomer collectively comprise at least 10 complementary bases, optionally at least 11, 12, 13, 14, 15, 16, 17, 18, 19, or 20 complementary bases. Those skilled in the art will understand that the enumerated range includes all integers and rational numbers within the range (e.g., 92% or 98.377%). A particular amplified oligomer may have a base length of 10 to 60 and optionally include modified nucleotides.

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

[0176] "Detection oligomer" or "detection probe" refers to an oligomer that interacts with a target nucleic acid to form a detectable complex, as used herein. The target sequence of a probe generally refers to a specific sequence within a larger sequence (e.g., a gene, amplicon, locus, etc.) to which the probe specifically hybridizes. A detection oligomer may include both target-specific and non-target complementary sequences. Such non-target complementary sequences may include sequences that would give a desired secondary or tertiary structure, such as a flap or hairpin structure, which can be used to facilitate detection and / or amplification (e.g., U.S. Patents 5,118,801, 5,312,728, 6,835,542, 6,849,412, 5,846,717, 5,985,557, 5,994,069, 6,001,567, 6,913,881, 6,090,543, and 7,482,127, International Publications WO97 / 27214 and WO98 / 42873, Lyamichev et al., Nat. Biotech., 17:292(1999), and Hall et al., PNAS, USA). 97:8272(2000)). Probes of defined sequences can be produced by techniques known to those skilled in the art, such as by chemical synthesis and by in vitro or in vivo expression from recombined nucleic acid molecules.

[0177] "Label" or "detectable label" refers to a portion or compound that is detected or leads to a detectable signal, as used herein. The label may be directly or indirectly bound to the probe, or, for example, an insertion dye (e.g., SYBR®). It may also be Green. Direct bonding can use covalent or non-covalent interactions (e.g., hydrogen bonding, hydrophobic or ionic interactions, and chelation or coordination complex formation), while indirect bonding can use a crosslinking moiety or linker (e.g., via an antibody or additional oligonucleotide). Any detectable moiety can be used, such as radionuclides, ligands such as biotin or avidin, enzymes, enzyme substrates, reactive groups, chromophores such as dyes or particles (e.g., latex or metal beads) that impart detectable color, luminescent compounds (e.g., bioluminescent, phosphorescent, or chemiluminescent compounds), and fluorescent compounds (i.e., fluorescent dyes). Embodiments of fluorescent dyes include those that absorb light in the range of 495–690 nm (e.g., having a peak absorption wavelength) and emit light in the range of 520–710 nm (e.g., having a peak emission wavelength), including those known as FAM®, TET®, HEX®, CALFLUOR® (orange or red), CY®, and QUASAR® compounds. Fluorescent dyes can be used in combination with quenching molecules that absorb light and reduce background fluorescence when approaching the fluorescent dye. Such quenchers are well known in the art and include, for example, BLACK HOLE QUENCHER® (or BHQ®), Blackberry Quencher® (or BBQ-650®), Eclipse®, or TAMRA TMThe compounds are included. Certain embodiments include "isoisoisosomatically detectable labels" that are detectable within the same system, exhibiting a detectable change compared to an unbound labeled probe, allowing a bound labeled probe in a mixture to be detected without physically removing the hybridized label from the unhybridized labeled probe (e.g., U.S. Patents 5,283,174, 5,656,207, and 5,658,737). Exemplary isoisoisosomatically detectable labels include chemiluminescent compounds, including acridinium ester ("AE") compounds such as standard AE or AE derivatives, which are well known (U.S. Patents 5,656,207, 5,658,737, and 5,639,604). Methods for synthesizing labels, attaching them to nucleic acids, and detecting signals from the labels are well known (e.g., Sambrook et al., Molecular Cloning, A Laboratory Manual, 2nd ed. (Cold Spring Harbor Laboratory Press, Cold Spring Harbor, NY, 1989) at Chapt. 10, and U.S. Patents Nos. 5,658,737, 5,656,207, 5,547,842, 5,283,174, 5,585,481, 5,639,604, and 4,581,333, and European Patent No. 0747706). Other detectably labeled probes include FRET cassettes, TaqMan® probes, and probes that undergo conformational changes in the presence of targeted nucleic acids, such as molecular torches and molecular beacons. The FRET cassette is described in U.S. Patent Application Publication No. 2005 / 0186588 and U.S. Patent No. 9,096,893. The TaqMan® probe includes donor and receptor labeling, and fluorescence is detected in response to enzymatic degradation of the probe during amplification to release the fluorescent dye from the presence of a quencher. The chemicals for performing the TaqMan assay are described in PCT Application No. PCT / US2018 / 024021, filed March 23, 2018 and U.S. Patent No. 5,723,591.Molecular torches and beacons exist in open and closed configurations. The closed configuration quenches the fluorescent dye, while the open configuration separates the fluorescent dye from the quencher, allowing for a change in the detectable fluorescence signal. Hybridization to a target opens the otherwise closed probe. Molecular torches are described in U.S. Patent No. 6,361,945, and molecular beacons are described in U.S. Patent No. 6,150,097.

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

[0179] The terms “lyophilization,” “lyophilized,” and “freeze-dried” refer, as used herein, to a process by which a material to be dried is first frozen, and then the ice or frozen solvent is removed by sublimation in a vacuum environment. “Lyophilized material” refers to a lyophilized material. “Lyophilized reagent” is a lyophilized material comprising at least one reagent. System Overview

[0180] A fluid container management system is described herein that facilitates the manual introduction of fluid containers (e.g., containers such as vials containing reagents or other process fluids) into a processing facility, the subsequent automated transfer of containers from a container loading interface to a container storage module, storage of containers (e.g., in a temperature-controlled environment), automated transfer of a controlled amount of contents from each container, monitoring of the amount of fluid contained in each container, and automated disposal of containers when they are empty or otherwise no longer have further use. The processing facility into which the system may be incorporated may be an analyzer for performing biological, chemical, biochemical, or other multi-step analytical processes, such as the molecular analyzer 10 shown in Figure 1 for performing nucleic acid-based amplification reactions. Exemplary processing facilities include analyzers described in U.S. Patents 8,731,712 and 9,732,374 and International Publication No. WO2019 / 014239A1, and the Panther Fusion® system available from Hologic, Inc. (Marlborough, MA).

[0181] The main components or modules of the fluid container management system are schematically shown in Figure 2. Generally, the system includes a container loading interface 200, a container distributor 300, a container storage module 400, and a container waste module 550. Although the container loading interface 200, container distributor 300, container storage module 400, and container waste module 550 are described as part of the fluid container management system, modules 200, 300, 400, and 500 can each operate independently, or two or more modules, but less than all of them, may operate together.

[0182] The loading interface 200 generally includes a container loader / carrier 214 supported on a movable support platform 202. The support platform 202 is movable between an accessible position where the container loader / carrier 214 is accessible to the user, for example, in a drawer-like manner as shown by the solid line in Figure 2, and an inaccessible position where the container loader / carrier 214 is located within a support frame 204 in the processing facility 10 and is not accessible to the user, as shown by the dashed line in Figure 2. A transport opening 220 formed within the support frame 204 allows containers to be removed from the container loader / carrier 214 and the loading interface 200. An optional scanner 230 is configured to scan machine-readable identification information (e.g., a barcode (1D or 2D) or an RFID tag) on ​​each container 100 being transported on the container loader / carrier 214.

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

[0184] The container distributor 300 includes a distributor head 304 with a mechanism for gripping individual containers being transported on the container loading carrier 214 through the transport opening 220. The distributor head 304 is configured to remove a container 100 from the container loading carrier 214, hold the removed container 100, and transport it to the container inlet / outlet opening 406 of the container storage module 400 (for example, by rotation of the distributor head 304 around a pivot axis Θ), open a door or other barrier covering the inlet / outlet opening 406, and insert the container 100 into the housing 402 and onto the container storage carrier 418. The distributor head 304 is further configured to open a door or other barrier covering the inlet / outlet opening 406, remove the container 100 from the container storage carrier 418 through the inlet / outlet opening 406 of the container storage module 400, transfer the container 100 to the waste disposal module 550, and dispose of the container 100 inside the waste disposal module 550.

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

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

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

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

[0189] The first wall compartment 132 may include a matching notch 136 formed therein and extending upward from the bottom edge 134 of the first wall compartment 132. The container 100 may be transported in a recessed pocket of a rack, shelf, conveyor, carousel, etc. (e.g., a container loading carrier 214 or a container storage carrier 418), and prongs or other inwardly extending portions may be provided in the recessed pocket, extending into and engaging with the matching notch 136 of the container 100 placed in the pocket, thereby pushing the container 100 in a particular desired orientation within the pocket and restricting the container 100 from rotating or moving otherwise within the pocket.

[0190] The skirt 130 may further include a second wall compartment 138 having a bottom edge 142. The second wall compartment 138 includes a marking panel 140 on which a marking 141 may be attached, on which identification or other informational markings related to the container 100 and / or its contents may be imprinted, and which may include machine-readable markings such as barcodes or radio frequency ID tags ("RFID"). The bottom edge 142 of the second wall compartment 138 may be continuous with the bottom edge 134 of the first wall compartment 132.

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

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

[0193] Referring to Figure 3, the lid 120 generally includes a cover wall 122 in which a lid opening 124 is formed, which is aligned with the container 110. A partition wall 126 may be positioned between the lid 120 and the base 102 below the lid opening 124. The partition wall 126 may include a number of gaps 128 formed through part of the partition wall 126, allowing rigid instruments such as a mounting shaft for a pipette (not shown) to pass through the partition wall 126 into the container 110.

[0194] Additional features that may be incorporated into container 100 are described in U.S. Provisional Application No. 62 / 994,552. Container loading interface

[0195] Additional features that may be included within the container loading interface 200 are shown in Figure 6-8. The movable support platform 202 may include a drawer, which includes a drawer front panel 206 and a drawer frame 210 supported on a linear track 212 (e.g., linear bearings) within a support frame 204 located within the equipment 10. The movable support platform 202 does not necessarily have to include a drawer, but for convenience, reference number 202 will generally be used to refer to the movable support platform, or more specifically, the drawer.

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

[0197] As shown in Figure 7, in the form of a carousel, the container loader 214 may be supported by or within a drawer 202 for rotation about a carousel axis that is vertically oriented at the center. The container loader 214 does not necessarily have to be a carousel, but for convenience, reference number 214 will be used to refer generally to a container loader, or more specifically, a carousel. The loading carousel 214 may include a plurality of container pockets 216 formed around the periphery of the carousel. Each container pocket 216 may be configured to receive and hold a single container 100. The container pockets 216 are open at the top, allowing containers 100 to be inserted vertically into each container pocket 216 from above the carrier 214, and are also open on their outer periphery (outer periphery of the loading carousel 214), allowing containers 100 to be removed from the container pockets 216 laterally (for example, radially with respect to the carousel rotation axis) through the transport opening 220. In one embodiment, as shown in Figure 6, the container loading carrier 214 may include markings 213, such as alphanumeric characters, to uniquely identify each of the container pockets 216.

[0198] In one embodiment, as shown in Figure 8, a retaining clip 236 may be provided on the opposite side of the container pocket 216 to retain the container 100 within the container pocket 216. The retaining clip 236 may be an elastic spring-like member that engages with grooves 144, 146 of the container 100, which is held within the container pocket 216, and deflects outward, allowing the container 100 to be removed laterally from the container pocket 216. Each retaining clip 236 may include a chamfered upper surface that engages with the bottom edge of the skirt 130 as the container is inserted vertically into the container pocket 216, moving the clip laterally outward and allowing the container to be inserted into the container pocket 216. As container 100 is pulled laterally from container pocket 216, a portion of the first wall section 132 on the side of the skirt 130, which forms part of grooves 144, 146, comes into contact with the retaining clip 236, which disperses the retaining clip 236 away from each other, allowing container 100 to be removed from container pocket 216.

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

[0200] Each container pocket 216 of the loading carousel 214 is open toward the outer periphery of the loading carousel 214, and the container 100 is positioned within the container pocket 216 of the carousel with the grooves 144, 146 of the container 100 located at or near the outer periphery of the loading carousel 214. Thus, the side of the container 100 where the grooves 144, 146 are located is exposed at the outer periphery of the loading carousel 214, and a gripper mechanism for gripping the container 100 using cooperating fingers or jaws (opposable grippers or gripping elements) that engage the opposing grooves 144, 146 can access the grooves from a position radially located outside the loading carousel 214. As shown in FIG. 8, reliefs 218 are provided on both sides of the opening to each container pocket 216, and the gripping mechanism may provide a gap for opening and engaging or disengaging from the grooves 144, 146 of the container 100.

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

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

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

[0204] The container gripper 320 of the distributor head 306 is configured to grip and hold the container 100 in an upright orientation, as shown in Figure 9-14. The gripper 320 includes an opposing gripper or gripping element, which includes a first gripper finger, i.e., a gripper or gripping element 322, and a second gripper finger, i.e., a gripper or gripping element 334. The first gripper finger 322 includes a first hook 332 at the end of the first gripper finger 322 that engages with a groove 144 of the container 100, and the second gripper finger 334 includes a second hook 340 at the end of the second gripper finger 334 that engages with a groove 146 of the container 100.

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

[0206] The first hook 332 of the first gripper finger 322 is bent laterally or transversely with respect to the longitudinal direction of the first gripper finger 322 (i.e., the direction between the first end of the first gripper finger, which is pivotably mounted on the first pivot mounting portion 323, and the second end of the first gripper finger, where the first hook 332 is located). Similarly, the second hook 340 of the second gripper finger 334 is bent laterally or transversely with respect to the longitudinal direction of the second gripper finger 334 (i.e., the direction between the first end of the second gripper finger, which is pivotably mounted on 335, and the second end of the second gripper finger, where the second hook 340 is located). The first hook 332 and the second hook 340 are bent in opposite directions, inward toward each other. In one embodiment, the lateral range of the first hook 332 and the second hook 340 are at least equal to the respective depths of the grooves 144 and 146, such that the tip of each hook sits within the individual groove bottom 156 or 158 of the groove 144 or 146, respectively. The V-shape of each groove 144 and 146 will wedge the corresponding first and second hooks 332 and 340 into the individual grooves, thereby enabling the gripper 320 to firmly grip the container 100. The first and second hooks 332 and 340 may each have a V-shaped distal edge conforming to the V-shape of the corresponding groove 144 and 146, further enhancing the wedge effect between the hook and the groove.

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

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

[0209] The gripper spring 344 is attached at a first end to the first gripper finger 322 in the spring anchor 324 (see Figure 11), extends through a spring opening 336 (see Figure 9) formed within the second gripper finger 334, and is attached at the opposite end to the spring bracket 346. The gripper spring 344 acts to bias the gripper fingers 322 and 334 toward each other. That is, the tension in the gripper spring 344 pulls the first gripper finger 322 toward the spring bracket 346 (and toward the first gripper finger 334). On the other hand, the engagement between the first finger coupling gear 330 and the second finger coupling gear 338 rotates the second gripper finger 334 toward the first gripper finger 322 in the opposite direction.

[0210] To expand the gripper 320 by moving (or spreading) the first and second gripper fingers 322 and 334 away from each other, the first gripper finger 322 is moved outward (counterclockwise, as shown in Figures 10, 13, and 14) around the first pivot mounting portion 323 in response to the biasing force of the gripper spring 344. In one embodiment, the motorized rotation of the first gripper finger 322 in response to the biasing force of the spring 334 is provided by a gripper motor 348, which has a gripper actuator gear such as a worm gear 352 that engages with a gripper drive gear 356 (e.g., a spur gear) mounted on its output shaft, coaxially mounted with the finger coupling gear 330 and the first pivot mounting portion 323. A coupling 354 connects the output shaft of the gripper motor 348 to the shaft of the worm gear 352, allowing for some misalignment between the motor shaft and the worm gear shaft. The gripper drive gear or gripper element drive gear 356 is not fixed to the finger coupling gear 330 or the first gripper finger 322, but is configured to rotate independently of the finger coupling gear 330 and the first gripper finger 322. As shown in Figures 11, 13, and 14, the drive pin 326 extends downward from the first gripper finger 322 through an arc-shaped slot 358 formed within the gripper drive gear 356, having a radial width slightly larger than the diameter of the drive pin 326 and a circumferential length several times the diameter of the drive pin 326. As the gripper motor 348 and worm gear 352 rotate the gripper drive gear 356 counterclockwise, the biasing force of the gripper spring 344 pulls the first gripper finger 322 clockwise, causing the drive pin 326 to contact the end of the slot 358 closest to the second gripper finger 334. The sustained rotation of the worm gear 352 and gripper drive gear 356 in the counterclockwise (diffusive) direction applies a counterclockwise torque to the first gripper finger 322, causing the first gripper finger 322 to rotate counterclockwise.In one embodiment, the gripper motor 348 will rotate a predetermined number of steps to move the first gripper finger 322 by a desired amount from the detected closed position. As described above, the mutual engagement between the first finger coupling gear 330 and the second finger coupling gear 338 will rotate the second gripper finger 334 in opposite directions (i.e., clockwise) around the second pivot mounting portion 335 away from the first gripper finger 322.

[0211] To close the first and second gripper fingers 322, 334, the gripper motor 348 reverses the rotation of the worm gear 352, thereby rotating the gripper drive gear 356 clockwise and keeping the drive pin 326 in contact with the end of the slot 358 closest to the second gripper finger 334. The gripper spring 344 allows the first gripper finger 322 to be pulled clockwise around the first pivot mounting portion 323.

[0212] As the first gripper finger 322 moves clockwise, the second gripper finger 334 moves correspondingly counterclockwise around the second pivot mounting portion 335, due to the mutual engagement of the first finger coupling gear 330 and the second finger coupling gear 338. When the container 100 is positioned between the inwardly facing hooks 332 and 340 of the first and second gripper fingers 322 and 334, respectively, further movement of the mutually directed gripper fingers 322 and 334 will be prevented after the hooks 332 and 340 engage with the grooves 144 and 146 of the container 100. A container presence tab 328, extending below the first gripper finger 322, is positioned and encounters the container presence sensor 316 (for example, by splitting the beam between the emitter and receiver of a slotted optical sensor), thereby generating a signal to a system controller (not shown) indicating that the first gripper finger 322 is in a position corresponding to the presence of the container 100 between the first and second gripper fingers 322 and 334. After the hooks 332, 340 engage with the grooves 144, 146, the gripper motor 348 may continue to rotate the worm gear 352 and the gripper drive gear 356. However, further closing rotational movement of the gripper fingers 322, 334 is prevented by the container 100 gripped between them, so the drive pin 326 moves away from the end of the slot closest to the second gripper finger 344 in the slot 358, thereby disengaging the drive gear 356 from the drive pin 326 and the first gripper finger 322. Thus, the gripper drive gear 356 is made capable of further rotation in a clockwise direction after the gripper fingers 322, 334 have made contact with the container 100, without applying any rotational torque to the first gripper finger 322, thereby avoiding damage to components such as the gripper 320, gripper drive gear 356, worm gear 352, and / or gripper motor 348 that could be caused by the sustained application of torque after further movement of the gripper fingers 322, 334 has been blocked.The gripper motor 348 may continue to rotate until a motor stop tab 360, fixed to and rotatable with the gripper drive gear 356, engages with a motor stop sensor 318 (for example, by interrupting the beam between the emitter and receiver of a slotted optical sensor), causing a signal to be generated to the system controller, stopping the gripper motor 348 (i.e., by indicating the closed position of the gripper fingers 322). The motor stop tab 360 extends radially outward from the gripper drive gear 356 and downward at its distal end. The arc length of the slot 358 is preferably sufficient to allow the gripper drive gear 356 to rotate after the gripper fingers 322, 334 have made contact with the container 100 and before the drive pin 326 has made contact with the opposite end of the slot 358, until the motor stop tab 360 engages with the motor stop sensor 318.

[0213] If the container 100 is not positioned between the first and second gripper fingers 322 and 334 as the gripper motor 348 reverses the rotation of the worm gear 352 and the gripper spring 344 pulls the first gripper finger 322 clockwise around the first pivot mounting part 323 (and the second finger coupling gear 338 rotates counterclockwise in a corresponding direction), the first and second gripper fingers 322 and 334 will continue to move toward each other until the individual positive stop parts 325 and 337 of the gripper fingers 322 and 334 come into contact with each other and prevent further movement of the fingers (see Figure 10). In the alternative embodiments shown in Figures 13 and 14, the positive stop units 325 and 337 are replaced by a spring plunger 394, which includes an axially movable spring-biased tip that is fixed to one of the gripper fingers (the first gripper finger 322 in the illustrated embodiment) and contacts the other gripper finger (the second gripper finger 334 in the illustrated embodiment), preventing relative movement of the opposing gripper fingers 322 and 334 while absorbing the impact associated with the contact.

[0214] Further movement of the first and second gripper fingers 322, 334 toward each other is prevented, and the sustained reverse rotation of the worm gear 352 causes the gripper drive gear 356 to sustained rotation as the drive pin 326 moves within the slot 358 so that the drive gear 356 is disengaged from the drive pin 326 and the first gripper fingers 322. Therefore, further reverse rotation of the worm gear 352 and the gripper drive gear 356 does not apply further rotational torque to the first gripper fingers 322, thereby avoiding damage to components such as the gripper 320, gripper drive gear 356, worm gear 352, and / or gripper motor 348 that could be caused by sustained torque application after further movement of the gripper fingers 322, 334 has been interrupted.

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

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

[0217] In one embodiment, each gripper finger 322, 334 may optionally include a conductive plate 378 (e.g., a metal plate) fixed to its outside (i.e., the side of the gripper finger not facing the other gripper finger). The purpose of the conductive plate is to self-teach the proper positioning of the gripper 320 and the distributor head 304, as described below. Container storage module

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

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

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

[0221] Referring to Figures 18 and 20, in which the housing 402 is omitted from the drawings, allowing visibility of the internal components of the storage module 400, and Figure 19, which is a cross-section of the storage module, a container storage carrier 418 is provided within the storage module 400 to receive and transport a plurality of fluid containers 100. In the illustrated embodiment, the container storage carrier 418 is a storage carousel having a plurality of holding stations 420 that are rotatable about a centrally vertically oriented storage carousel axis and arranged about its outer circumference. Each holding station 420 of the storage carousel 418 may be equipped with an elastic spring clip for removably holding a fluid container 100 within the holding station 420.

[0222] In one embodiment, as shown in Figures 21 and 22, the retractable carousel 418 may include an upper clip ring 422 containing a plurality of pairs of opposing spring tabs 423a, 423b and a lower clip ring 426 containing a plurality of pairs of opposing spring tabs 427a, 427b. In one embodiment, the upper spring tabs 423a, 423b and the lower spring tabs 427a, 427b extend radially outward with respect to the retractable carousel axis. The spring tabs 423a, 423b each include inwardly bent knuckles 424a, 424b, and the spring tabs 427a, 427b each include inwardly bent knuckles 428a, 428a. The upper clip ring 422 and the lower clip ring 426 are configured such that each pair of spring tabs 423a, 423b of the upper clip ring 422 aligns with the corresponding pair of spring tabs 427a, 427b of the lower clip ring 426, respectively, defining a holding station 420. The container 100 is held within the holding station 420 with the bent knuckles 424a, 424b of the upper clip ring 422 and the bent knuckles 428a, 428b of the lower clip ring 426 engaged (e.g., seated) within grooves 144, 146 of the container 100. The upper and lower knuckles 424a, 428a engage with groove 144 near the top and bottom of the groove, respectively, and the upper and lower knuckles 424b, 428b engage with groove 146 near the top and bottom of the groove, respectively. The spring tabs 423a, 423b of the upper clip ring 422 and the spring tabs 427a, 427b of the lower clip ring 426 are elastically flexible and deflect away from each other when the container 100 is pushed into the holding station 420. The deflected spring tabs 423a, 423b and 427a, 427b generate a force that pushes the knuckles 424a, 424b, 428a, 428a into the grooves 144, 146, and holds the container 100 in place within the holding station 420.

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

[0224] When the container 100 is first inserted into the container holding station 420, the sides of the skirt 130 opposite the marker panel 140 come into contact with the first inclined portions 425c and 425e of the knuckles 424a and 424b, respectively, which causes the spring tabs 423a and 423b to spread apart from each other. As the container is pushed into the container holding station 420, the peaks 425a and 425b slide along the opposite side of the first wall section 132 of the skirt 130 until the peaks 425a and 425b align with the valley bottoms 156 and 158 of the grooves 144 and 146, and the elasticity of the spring tabs 423a and 423b causes the spring tabs to move towards their non-deflected position, seating the knuckles 424a and 424b in the grooves 144 and 146. The spring tabs 423a and 423b are configured such that when the knuckles 424a and 424b are seated in grooves 144 and 146, they are still slightly deflected, generating a compressive force on the container 100 from the elasticity of the spring tabs 423a and 423b. When the container 100 is pulled out from the container holding station 420, the portions of the first wall section 132 on the side of the skirt 130, which form part of grooves 144 and 146, come into contact with the second inclined portions 425d and 425f of the knuckles 424a and 424b, respectively, which disperses the spring tabs 423a and 423b away from each other again, lifting the knuckles 424a and 424b out of grooves 144 and 146, allowing the container 100 to be removed from the holding station 420. This description of inserting and removing the container 100 into and out of the spring tabs 423a, 423b of the upper clip ring 422 also applies to inserting and removing the container 100 into and out of the spring tabs 427a, 427b of the lower clip ring 426, which occurs when the container is pushed into and removed from the holding station 420.

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

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

[0227] As shown in Figure 21, the housing 402 may include an insulating material 403, which may consist of a spongy material such as styrofoam or a similar insulating material.

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

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

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

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

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

[0233] Optionally, temperature control within the housing 402 of the container storage module 400 may be implemented by various thermal control components. Such thermal control components may include one or more thermal devices, such as one or more Peltier devices (thermoelectric modules) 440, positioned directly beneath the container storage carrier 418, as shown in Figures 19 and 20. To maintain a temperature within the housing 402 of the storage control module 400 that is lower than the ambient temperature, the Peltier devices 440 may be arranged such that the upper surface of the Peltier devices 440 facing the container storage carrier 418 is a low-temperature surface, and the bottom surface of the Peltier devices 440 is a high-temperature surface. A low-temperature side heat dissipator, such as a heat sink 448 with a plurality of parallel heat fins 450, may be provided on top of the Peltier devices 440, and a high-temperature side heat dissipator, such as a heat sink 442 with a plurality of parallel fins 444, may be positioned on the bottom side of the Peltier devices 440.

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

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

[0236] Referring to Figures 17 and 20, a movable barrier for selectively covering the container access opening 408 may include a pivoted shutter plate 412. The shutter plate 412 may include a fan gear, including gear teeth 416, along its arc-shaped edge, and be pivotably mounted on an upper support panel 404 at a pivot point (e.g., a screw, bolt, rod, shaft, or pin) 414. A multifunction motor 460, which may be mounted on the upper support panel 404 and may include a rotary encoder 461, includes a spur gear 462 mounted on its output shaft, which engages with the gear teeth 416 of the shutter plate 412 (see also Figures 23 and 24). The rotation of the spur gear 462 pivots the shutter plate 412 around the pivot point 414, depending on the direction of rotation of the spur gear 462, between a first position that covers the container access opening 408 and a second position that decovers or exposes the container access opening 408.

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

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

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

[0240] Accordingly, the container storage module 400 includes a container positioner configured to contact the container 100, which is positioned directly below the access opening 408 (i.e., at the level sensing location relative to the pipette), and push the container to a repeatable vertical reference point or level sensing position. As shown in Figures 20, 23, and 24, in one embodiment the container positioner includes a container positioning ramp 486 mounted directly below the storage carousel 418 and directly below the container access opening 408. The container positioning ramp 486 includes an inclined first end 488 with a roller 490, a level center portion 492, and an inclined second end 494 with a roller 496. As the storage carousel 418 rotates clockwise, positioning the container 100 directly below the container access opening 408, the container 100 will first encounter the inclined first end 488 and the roller 490 at the starting point of the inclined first end 488. The inclined first end 488 is inclined upward toward the level center portion 492 to accommodate slight variations in the vertical position of the container 100 within the holding station 420 (i.e., if the bottom edge of the skirt 130 of the container 100 is initially below the level center portion 492). The roller 490 helps ensure a smooth transition as the container 100 passes over the inclined first end 488, preventing the container 100 from contacting the end of the container positioning ramp 486. Assuming that the bottom edge of the skirt 130 of container 100 is initially below the level center portion 492, as the storage carousel 418 continues to rotate, the bottom edge of the skirt 130 slides from the inclined first end 488 onto the level center portion 492 so that the bottom edge 134 of the skirt 130 of container 100 contacts the level center portion 492, providing a fixed, known, and repeatable vertical position of container 100 for capacity level sensing or for any other purpose for which it is necessary or desirable for container 100 to be positioned at a repeatable vertical reference point position.In other words, if the container 100 is in the holding station 420 such that the bottom edge of the container 100 is below the level of the level center portion 492, the inclined first end 488 will push the container 100 upward within the holding station 420 until the bottom edge of the container 100 is at the level of the level center portion 492.

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

[0242] The shape of the container positioning ramp 486, that is, the shape defined by the inclined first end 488, the level center portion 492, and the inclined second end 494, may generally conform to the path traversed by the container 100, which is moved by the storage carousel 418. The shape of the container positioning ramp 486 may be curved to correspond to the curvature of the circumference of the container path, or each section 488, 492, and 494 may be straight, and the first end 488 and the second end 494 may be angled with respect to the center portion 492 (e.g., obtuse angle) to approximate the curvature of the circumference of the container path. The axes of rotation of the rollers 490 and 496 may generally be radially aligned with respect to the axis of rotation of the storage carousel 418.

[0243] Referring to Figures 20 and 24, in one embodiment, the multifunction motor 460 may include an output shaft having a threaded rod 464 directly below the spur gear 462. The rod 464 is operably engaged with the threaded drive block 466 such that rotation of the rod 464 by the motor 460 causes the drive block 466 to rise or fall.

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

[0245] In the form of a conductive cap 470, which may be made of a conductive material such as aluminum, a movable grounding element is attached to a mounting rod 472, for example, a threaded bolt or screw, which engages with a threaded hole in the cap 470 and extends through an enlarged hole 469 formed in the bracket 468, allowing the cap 470 to move perpendicularly to the bracket 468. A spring 474 surrounds the mounting rod 472 and is positioned between the bracket 468 and the conductive cap 470, biasing the cap 470 away from the bracket 468. The conductive cap 470 extends into a vertical through-hole 493 formed in the level center portion 492 of the container positioning ramp 486 (see Figure 24). A cylindrical conductive cap guide 498 extending directly below the container positioning ramp 486 may be provided to receive and guide the cap 470.

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

[0247] Referring to Figures 18, 20, and 23, in one embodiment the container positioner further includes a container restraining arm 478, which is pivotally mounted within a mounting yoke 480 attached to an upper support panel 404. A spring 482 between one end of the restraining arm 478 and the upper support panel 404 pushes the opposite end of the restraining arm 478 against a stop element 484 so as not to interfere with the movement of the container 100 below the restraining arm 478, thereby positioning the restraining arm 478 in a standby position.

[0248] A second spring 467 is positioned between the drive block 466 and the restraining arm 478. As shown in Figure 23, as the drive block 466 is raised to lift the conductive cap 470 into contact with the bottom wall 116 of the container 110 of the container 100, the drive block 466 also pushes the spring 467 upward, which in turn presses against the end of the restraining arm 478, thereby pivoting the opposite end of the restraining arm 478 downward into contact with the top of the container 100. Therefore, when the container 100 is positioned within the clip of the holding station 420 of the storage carousel 418 above the upper surface of the level center portion 482 of the container positioning ramp 486, pivoting the restraining arm 478 will push the container 100 downward relative to the level center portion 492, while the conductive cap 470 is raised by the drive block 466 and bracket 468 to contact the bottom wall 116 of the container 110, ensuring that the container 100 is in a fixed vertical reference point position for volume level sensing. As described above, the spring 474 allows some vertical play between the conductive cap 470 and the bracket 468 so that no excessive upward force is applied to the container 100 and no excessive upward force is applied to the restraining arm 478. Similarly, the spring 467 between the drive block 466 and the restraining arm 478 ensures that no excessive downward force is applied to the container 100.

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

[0250] In an alternative embodiment in which the sensing of the fluid volume level inside the container 100 is not performed within the container storage module, the container storage module may include only a shutter plate 412 and a container restraining arm 478, both of which are coupled to a multifunction motor 460. In such an embodiment, the container restraining arm 478 performs only the restraining function described above and prevents the probe tip 600 from lifting the container 100 as the probe tip rises due to friction between the probe tip 600 and the bulkhead 126 of the container 100.

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

[0252] Container 100, held within the container storage module 400, will need to be removed from the container storage module 400 and disposed of after it has been emptied or otherwise rendered unusable (for example, the contents are expired or there are insufficient contents remaining in the container for further processing). Container 100 can be removed from the storage module 400 by using the actuator arm 308 of the distributor head 304 to push the pusher pin 411 of the barrier 410, aligning the cutout 413 formed within the barrier 410 with the opening 406, thereby opening the movable barrier 410 for the inlet / outlet opening 406; then extending the gripper 320 into the storage module 400 to grasp the container 100 as described above and remove it from the container storage carrier 418.

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

[0254] To dispose of container 100 into the waste disposal module 550, the distributor head 304 of the distributor 300 is rotated to a position aligned with the open side of the retainer cage 554 (i.e., the side of the cage 554 lacking the upper retainer bar 556 and the lower retainer bar 558). The gripper 320 is then extended by advancing the gripper carriage 305 radially "R" to position the container 100, which is held by it, within the cage 554, past the upper retainer bar 556 and the lower retainer bar 558. The distributor head chassis 306 is then rotated (counterclockwise in the illustrated embodiment) to position container 100 behind the upper retainer bar 556 and the lower retainer bar 558, with the gripper 320 extending into the gap between the upper and lower retainer bars 556 and 558. The gripper fingers 322, 334 then release the container 100 so that it falls through the opening 552 into the waste receptacle. The retainer cage 554 is configured to ensure that once the container 100 is released, it does not tilt laterally, forward, or backward, but instead falls downward through the opening 552, directed by the waste chute into the waste receptacle. In Figure 25, the container 100 is shown within the retainer cage 554, suspended above the opening 552. This illustrates, for illustrative purposes, how the container 100 is positioned within the retainer cage 554 when released by the gripper 320. Not held by the gripper 320 and positioned above the opening 552, the container 100 would fall downward through the opening 552 and would not remain suspended, as shown in Figure 25. After releasing container 100, gripper 320 can be pulled out from between retainer bars 556 and 558 and then moved to another position. Hardware and software

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

[0256] Embodiment 1. A system for transporting containers, comprising a groove formed on the opposite side of the container, wherein the system is

[0257] A container loading interface,

[0258] The container loading interface includes a movable support platform that can move between accessible and inaccessible positions,

[0259] A container loading interface comprising a container loading carrier supported on a movable support platform, the container loading carrier comprising a plurality of container pockets, each container pocket configured to receive a container inserted vertically into the container pocket when the movable support platform is in an accessible position and to allow the container to be removed laterally from the container pocket, and the container loading carrier configured to sequentially transport the container pockets to a container transport position toward a transport opening formed in the movable support platform when the movable support platform is in an inaccessible position,

[0260] A container storage module,

[0261] A housing comprising a container inlet / outlet opening formed within one of its sides,

[0262] A movable barrier configured for movement between a first position that blocks the container entrance / exit opening and a second position that allows the container to move laterally through the container entrance / exit opening,

[0263] A container storage module comprising a container storage carrier disposed within a housing and including a plurality of container holding stations, each container holding station including a spring tab configured to elastically engage with a groove of a container held within the container holding station, to hold the container within the container holding station, to deflect outward, and to allow the container to be laterally inserted into or removed from the container holding station;

[0264] A container distributor configured to transfer containers from a container loading interface to a container storage module,

[0265] A container gripper is configured to grip a container being transported into one of the container pockets of a container loader / carrier located in a container transport position by engaging with a groove in the container,

[0266] A gripper advance system configured to move the container gripper and remove the container laterally from the container pocket of a container loader / carrier in which the container is held,

[0267] The system includes a container gripper and a distributor moving system configured to move the container held therefrom the container transfer position to the entrance / exit opening of the container storage module,

[0268] A system comprising a container dispenser, wherein the gripper advancement system is configured to move a container gripper and thereby insert the container it holds into a container holding station of a container storage carrier through an inlet / outlet opening, and the gripper is configured to release the container into the container holding station by engaging with and disengaging from the groove of the container.

[0269] Embodiment 2. The system according to Embodiment 1, wherein the movable support platform of the container loading interface includes a drawer that is movable between an inaccessible position in which the movable support platform is retracted into the equipment and an accessible position in which the movable support platform extends from the equipment.

[0270] Embodiment 3. The container loading and carrying system according to Embodiment 1 or 2, comprising a loading carousel supported on a movable support platform for rotation about a loading carousel axis, and container pockets arranged circumferentially around the loading carousel axis.

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

[0272] Embodiment 5. The system according to Embodiment 3 or 4, wherein each container pocket includes a retaining clip configured to engage with a groove formed on the container to removably hold the container within the container pocket.

[0273] Embodiment 6. The system according to any one of Embodiments 3-5, wherein the container pocket is located on the outer circumference of the loading carousel, is open on the outer circumference of the loading carousel, and allows the container to be pulled out laterally from the pocket relative to the loading carousel axis.

[0274] Embodiment 7. The system according to Embodiment 6, wherein each container pocket includes a relief formed on the opposite side of the open peripheral end of the container pocket, which provides a gap for a gripping mechanism to open and engage with or disengage from a groove of a container held within the container pocket.

[0275] Embodiment 8. The system according to any one of Embodiments 1-7, wherein each container pocket includes a container positioning fastener configured to engage with a notch formed in a container positioned within the container pocket.

[0276] Embodiment 9. The system according to any one of Embodiments 1-8, further comprising a scanner configured to scan machine-readable information relating to each container being transported on a container loader.

[0277] Embodiment 10. The system according to Embodiment 9, wherein the scanner is a barcode scanner.

[0278] Embodiment 11. The system according to any one of Embodiments 3-7, wherein the container loading interface further comprises a loading carrier motor that is coupled to a loading carousel and causes the loading carousel to rotate electrically around the loading carousel axis.

[0279] Embodiment 12. The system according to Embodiment 11, wherein the loading and transporting motor is coupled to the loading carousel by a drive belt.

[0280] Embodiment 13. The system according to any one of Embodiments 1-12, wherein the container storage module comprises a pusher pin extending from a movable barrier, and the container distributor comprises a door actuator arm configured to engage with the pusher pin, the door actuator arm being movable by a distributor moving system to move the movable barrier of the container storage module from a first position to a second position.

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

[0282] Embodiment 15. The container storage and transport system according to Embodiment 14, further comprising a home sensor for detecting the home rotation position of the storage carousel.

[0283] Embodiment 16. The storage carousel comprises an upper clip ring including a plurality of pairs of opposing spring tabs and a lower clip ring including a plurality of pairs of opposing spring tabs, wherein each pair of spring tabs of the upper clip ring is aligned with the corresponding pair of spring tabs of the lower clip ring, each defining a holding station, as described in Embodiment 14 or 15.

[0284] Embodiment 17. The system according to any one of Embodiments 14-16, wherein each spring tab includes a knuckle that is bent inward into a corresponding retaining station, and each knuckle is seated in one of the grooves of a container located within the retaining station.

[0285] Embodiment 18. The system according to Embodiment 16, wherein the upper clip ring is spaced apart from the lower clip ring such that each pair of spring tabs of the upper clip ring is spaced apart from the corresponding pair of spring tabs of the lower clip ring.

[0286] Embodiment 19. The system according to any one of Embodiments 14-18, wherein the container storage module further comprises a storage carrier motor that is coupled to a storage carousel and causes the storage carousel to rotate electrically around the storage carousel axis.

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

[0288] Embodiment 21. The container gripper is

[0289] A bracket equipped with a gripper element,

[0290] A first gripper element, including a first hook, is mounted on a gripper element mounting bracket for pivotal movement around a first gripper rotation axis, positioned radially apart from the first gripper rotation axis, and configured to seat within one of the grooves of the container.

[0291] A second gripper element, including a second hook, is mounted on a gripper element mounting bracket and configured to be positioned radially spaced with respect to the second gripper axis and seated in the opposite groove of the container, for pivotal movement about a second gripper axis parallel to the first gripper axis of rotation,

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

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

[0294] A first gripper element coupling gear, which is attached to the first gripper element and arranged coaxially with the first gripper rotation axis,

[0295] A second gripper element coupling gear, attached to the second gripper element and arranged coaxially with the second gripper rotation axis, is coupled to each other for coordinated pivotal movement.

[0296] The system according to Embodiment 21, wherein the first gripper element coupling gear and the second gripper element coupling gear are engaged with each other such that the rotation of either the first gripper element or the second gripper element results in a corresponding coordinated rotation of the other gripper element in the opposite direction of rotation.

[0297] Embodiment 23. The container gripper is

[0298] A gripper motor with a gripper actuator gear,

[0299] A gripper drive gear is mounted coaxially with the first gripper rotation axis and configured for rotation independent of the first gripper element, wherein the gripper actuator gear engages with the gripper drive gear,

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

[0301] Embodiment 24. The container gripper further comprises a spring connected to at least one of the first gripper element and the second gripper element, and an opening formed within the gripper drive gear comprises an arc-shaped slot. The system as described in Embodiment 23.

[0302] Embodiment 25. The gripper advancement system is

[0303] Linear track and

[0304] A linear bearing coupled to a linear track, wherein the container gripper is supported on the linear bearing, and the linear bearing and

[0305] Gripper forward motor and

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

[0307] Embodiment 26. The distributor mobile system is

[0308] A distributor head frame is mounted so as to be rotatable about the distributor rotation axis, and a container gripper is supported on the distributor head frame, and the distributor head frame and

[0309] A fixed sun gear, arranged coaxially with the distributor shaft,

[0310] The system according to any one of embodiments 1-25, comprising a distributor motor, which includes a drive gear fixed to a distributor head frame and operably engaged with a fixed sun gear.

[0311] Embodiment 27.

[0312] The distributor relocation system is

[0313] A distributor head frame is mounted so as to be rotatable around the distributor's rotation axis,

[0314] A fixed sun gear, arranged coaxially with the distributor shaft,

[0315] The distributor motor includes a drive gear fixed to the distributor head frame and operably engaged with a fixed sun gear,

[0316] The gripper forward system is

[0317] A linear track supported on the distributor head frame and oriented radially with respect to the distributor axis,

[0318] A linear bearing coupled to a linear track, wherein the container gripper is supported on the linear bearing, and the linear bearing and

[0319] The gripper forward motor is mounted on the distributor head frame,

[0320] The system according to any one of embodiments 1-24, comprising a drive belt operably coupled to a gripper advance motor and mounted on a linear bearing.

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

[0322] Thermoelectric module,

[0323] heatsink, and

[0324] The system according to any one of embodiments 1-27, comprising one or more fans.

[0325] Embodiment 29. A method for transporting a container, comprising a groove formed on the opposite side of the container, wherein the method is

[0326] The steps include moving a movable support platform from an inaccessible position to an accessible position, providing user access to a container loading and carrying device supported on the movable support platform and including multiple container pockets,

[0327] The steps include inserting the container vertically into one of the container pockets or into each of those above it,

[0328] A step of moving the movable support platform from an accessible position to an inaccessible position,

[0329] The process involves sequentially transporting the container pockets to the container transfer position in the transfer opening formed within the movable support platform using a container loading and transporter,

[0330] The process involves gripping a container using a container gripper, engaging it with the grooves of the container, and transporting the container within one of the container pockets of a container loader / carrier located in the container transport position,

[0331] Using a gripper advance system, the container gripper is moved to remove the container laterally from the container pocket of the container loader / carrier in which the container is held,

[0332] The steps include moving the container gripper and the container held therein from the container transfer position to the entrance / exit opening of the container storage module housing using a distributor transfer system,

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

[0334] A step of moving a container gripper using a gripper advancement system and inserting the container held by the gripper into one of a plurality of container holding stations of a container storage and transporter located within a housing, through an inlet / outlet opening, wherein each container holding station includes a spring tab configured to elastically engage with a groove of the container held within the container holding station, to hold the container within the container holding station, to deflect outward, and to allow the container to be laterally inserted into or removed from the container holding station;

[0335] A method comprising the step of releasing a container into a container holding station by engaging and disengaging a gripper from a groove in the container.

[0336] Embodiment 30. The method according to Embodiment 29, wherein the step of moving the movable support platform includes the step of moving a drawer that is movable between an inaccessible position in which the movable support platform is retracted into the equipment and an accessible position in which the movable support platform extends from the equipment.

[0337] Embodiment 31. The method according to Embodiment 29 or 30, comprising a loading carousel supported on a movable support platform for rotation about a loading carousel axis, wherein the container pockets are arranged circumferentially around the loading carousel axis and open at their upper ends, and the step of sequentially transporting the container pockets includes the step of rotating the carousel about a carousel axis.

[0338] Embodiment 32. The container pocket is located on the outer periphery of the loading carousel and is open on the outer periphery of the loading carousel.

[0339] The step of grasping the container being transported within one of the container pockets is,

[0340] The steps include inserting the container gripper through the open outer circumference and engaging it with the groove of the container,

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

[0342] Embodiment 33. The method according to any one of Embodiments 29-32, further comprising the step of scanning machine-readable information relating to each container being transported on a container loading and carrying device using a scanner.

[0343] Embodiment 34. The method according to Embodiment 33, wherein the scanner is a barcode scanner.

[0344] Embodiment 35. The method according to any one of Embodiments 29-34, further comprising the step of monitoring the position of each container held in the pockets of the container loader using a home sensor to detect the home position of the container loader.

[0345] Embodiment 36.

[0346] The steps include moving the container to a level sensing location inside the enclosure using a container storage and transport device,

[0347] The steps include moving the movable grounding element relative to the container until the grounding element approaches the container or comes into contact with a part of it,

[0348] The steps include lowering a conductive probe, or a conductive tip detachably attached to the probe, into the container through a container access opening in the housing,

[0349] Steps include detecting a signal or change in signal when a probe or conductive tip comes into contact with the surface of the fluid inside the container, wherein the signal or change in signal is based on the electrical capacitance between the probe or conductive tip and a movable grounding element that is approaching or in contact with part of the container,

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

[0351] Embodiment 37.

[0352] The method according to embodiment 36, further comprising an automated step of bringing the container and the container positioner into contact at a level sensing location and pushing the container to a reproducible vertical level sensing position.

[0353] Embodiment 38. Step f) is,

[0354] A step of bringing the lower part of the container positioned at the level sensing location into contact with a container positioning lamp located adjacent to the container storage and transport device,

[0355] The method according to embodiment 37, comprising the automated step of pressing the container downwards by contacting the upper part of the container, which is positioned at a level sensing location, so that the bottom part of the container maintains contact with the container positioning lamp.

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

[0357] Embodiment 40.

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

[0359] Embodiment 41. A mechanism for gripping and transporting a container, wherein the container includes parallel and perpendicularly oriented grooves formed on the opposing side of the container, and the mechanism is

[0360] A chassis configured for rotation around a vertically oriented chassis rotation axis,

[0361] It comprises a gripper carriage supported on the chassis for rotation and configured for radial movement relative to the chassis rotation axis, the gripper carriage comprises a container gripper, and the container gripper is

[0362] A first gripper element, including a first hook, is mounted on a gripper carriage and positioned radially spaced relative to the first gripper rotation axis, for pivotal movement around a first gripper rotation axis parallel to the chassis rotation axis.

[0363] A mechanism comprising a first gripper axis and a second gripper element, including a second hook mounted on a gripper carriage and positioned radially spaced with respect to the second gripper axis, for pivotal movement about a second gripper axis parallel to the first gripper axis, wherein the first hook and the second hook are bent toward each other, and the first gripper element and the second gripper element are coupled to each other for coordinated pivotal movement about the separate first and second gripper axes toward and away from each other, and the container gripper is configured to grip a container by pivoting the first and second gripper elements toward each other until the separate first and second hooks each engage with one of the vertically oriented grooves of the container.

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

[0365] A first gripper element coupling gear, which is attached to the first gripper element and arranged coaxially with the first gripper rotation axis,

[0366] A second gripper element coupling gear, attached to the second gripper element and arranged coaxially with the second gripper rotation axis, is coupled to each other for coordinated pivotal movement.

[0367] The mechanism according to Embodiment 41, wherein the first gripper element coupling gear and the second gripper element coupling gear are engaged with each other such that the rotation of either the first gripper element or the second gripper element results in a corresponding coordinated rotation of the other gripper element in the opposite direction of rotation.

[0368] Embodiment 43.

[0369] A gripper motor with a gripper actuator gear,

[0370] A gripper drive gear is mounted coaxially with the first gripper rotation axis and configured for rotation independent of the first gripper element, wherein the gripper actuator gear engages with the gripper drive gear,

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

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

[0373] Embodiment 45.

[0374] Linear track and

[0375] A linear bearing coupled to a linear track, wherein the gripper carriage is supported on the linear bearing, and

[0376] Gripper forward motor and

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

[0378] Embodiment 46.

[0379] A fixed sun gear, arranged coaxially with the chassis rotation axis,

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

[0381] Embodiment 47. A mechanism for sensing the volume level of fluid in a fluid container supported on a movable conveyor, wherein the mechanism comprises:

[0382] A conductive probe configured for capacity level sensing by detecting a signal or change in signal when a conductive tip, or a conductive tip removably attached to the probe, comes into contact with the surface of a fluid in a container, wherein the signal or change in signal is based on the electrical capacitance between the probe or conductive tip and a grounded conductive structure adjacent to or in contact with the container.

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

[0384] A mechanism comprising a movable grounding element configured for selective movement relative to a container, wherein the grounding element is positioned by a movable conveyor at a certain level sensing location relative to a probe until the grounding element approaches the container or comes into contact with a part of it.

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

[0386] Embodiment 49.

[0387] Motor and,

[0388] A threaded rod that is operably coupled to the motor,

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

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

[0391] Embodiment 51. The mechanism according to Embodiment 50, wherein the shutter plate is pivotably mounted on the upper wall and comprises a fan gear including gear teeth that engage with a motor-driven gear along its arc-shaped edge.

[0392] Embodiment 52. The mechanism according to any one of Embodiments 47-51, further comprising a container positioner configured to contact a container positioned at a level sensing location and to push the container to a reproducible vertical level sensing position.

[0393] Embodiment 53. The container positioner is

[0394] A container positioning lamp is configured to be in contact with the bottom portion of a container positioned at a level sensing location,

[0395] The mechanism according to embodiment 52, further comprising a container restraining arm configured to press the container downward so as to contact the upper portion of the container and maintain contact between the bottom portion of the container and the container positioning lamp, positioned at a level sensing location.

[0396] Embodiment 54. The movable conveyor comprises a carousel rotatable about a vertically oriented carousel rotation axis and including a plurality of container holding stations positioned at an angle and spaced apart about the carousel rotation axis, each container holding station including a spring tab that extends laterally with respect to the carousel rotation axis and is configured to elastically engage with grooves of containers held within the container holding station, thereby holding the containers within the container holding station, the containers being able to slide vertically between the spring tabs of the container holding stations.

[0397] The container positioning ramp is positioned directly beneath a portion of the carousel and is configured to be in contact with the bottom portion of the container held within the container holding station as the carousel moves the container to a level-sensing location.

[0398] Contact between the container and the container positioning ramp causes the container to slide to a certain position within the container holding station while the bottom of the container is in contact with the container positioning ramp.

[0399] The mechanism according to embodiment 53, wherein the container holding arm is configured to contact the upper portion of the container so that the bottom portion of the container maintains contact with the container positioning ramp, thereby sliding the container downward within the container holding station.

[0400] Embodiment 55. The mechanism according to Embodiment 53 or 54, wherein the container restraining arm is coupled to the movable grounding element so as the movable grounding element moves to approach or contact a portion of the container, the container restraining arm moves to contact the upper portion of the container so that the bottom portion of the container maintains contact with the container positioning ramp, thereby pushing the container downward.

[0401] Embodiment 56. The container positioning ramp comprises an inclined first end, a level center portion, and an inclined second end, and the container is positioned on the level center portion when the container is positioned at the level sensing location, according to any one of Embodiments 53-55.

[0402] Embodiment 57. The mechanism according to any one of Embodiments 53-56, wherein the container positioning ramp is molded to conform to a portion of the path traversed by a container being moved through a level sensing location by a movable conveyor.

[0403] Embodiment 58. The mechanism according to Embodiment 56 or 57, further comprising a first roller at the starting point of the inclined first end, for guiding the bottom portion of the container on the inclined first end.

[0404] Embodiment 59. The mechanism according to Embodiment 58, further comprising a second roller at the starting point of the inclined second end, which guides the bottom portion of the container on the inclined second end.

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

[0406] Motor and,

[0407] A threaded rod that is operably coupled to the motor,

[0408] A driven block that is screw-connected to a threaded rod,

[0409] A bracket extending from a drive block, wherein a movable grounding element is attached to the bracket such that rotation of a threaded rod by a motor in a first direction moves the grounding element toward or into contact with a part of the container, and rotation of the threaded rod by a motor in a second direction moves the grounding element toward or away from the container so as not to come into contact with a part of it.

[0410] A shutter plate mounted on the upper wall and movable between a first position covering a container access opening and a second position exposing the container access opening, wherein the shutter plate is operably coupled to a motor, which causes the motor to move a movable grounding element toward or into contact with a part of the container, resulting in the motor to cause the shutter plate to move from the first position to the second position, and which causes the motor to move the movable grounding element toward or away from the container, resulting in the shutter plate to move from the second position to the first position,

[0411] A container positioning lamp is configured to be in contact with the bottom portion of a container positioned at a level sensing location,

[0412] A container restraining arm configured for movement between a first position in which it does not contact a container positioned at a level sensing location and a second position in which it contacts the upper portion of a container positioned at a level sensing location, such that the bottom portion of the container maintains contact with a container positioning lamp, thereby pushing the container downward, further comprising a driven block in contact with the container restraining arm, and a motor moving a movable grounding element so as it approaches or contacts a portion of the container, and moves the shutter plate from the first position to the second position, the container restraining arm moves from the first position to the second position, the mechanism according to claim 47 or 48.

[0413] Embodiment 61. The mechanism according to Embodiment 60, wherein the shutter plate is pivotably mounted on the upper wall and comprises a fan gear including gear teeth that engages with a threaded rod driven coaxially by a motor along its arc-shaped edge.

[0414] Embodiment 62. The mechanism according to Embodiment 60 or 61, wherein the container holding arm is configured for pivotal movement between a first position and a second position, and the mechanism further comprises a spring coupled to the container holding arm and biasing the container holding arm in its first position.

[0415] Embodiment 63. A method for sensing the volume level of fluid in a container supported on a movable conveyor, wherein the method is

[0416] The steps include moving the container to the level sensing location using a mobile conveyor,

[0417] The steps include moving the movable grounding element relative to the container until the grounding element approaches the container or comes into contact with a part of it,

[0418] A step of lowering a conductive probe, or a conductive tip that can be detachably attached to a probe, into a container,

[0419] Steps include detecting a signal or change in signal when a probe or conductive tip comes into contact with the surface of the fluid inside the container, wherein the signal or change in signal is based on the electrical capacitance between the probe or conductive tip and a movable grounding element that is approaching or in contact with part of the container,

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

[0421] Embodiment 64.

[0422] The method according to embodiment 63, further comprising an automated step of bringing the container and the container positioner into contact at a level sensing location and pushing the container to a reproducible vertical level sensing position.

[0423] Embodiment 65. Step f) is,

[0424] A step of bringing into contact a container positioning lamp located adjacent to a movable conveyor with the bottom portion of the container positioned at the level sensing location,

[0425] The method according to embodiment 64, comprising the automated step of pressing the container downwards by contacting the upper portion of the container, which is positioned at a level sensing location, so that the bottom portion of the container maintains contact with the container positioning ramp.

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

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

[0428] Embodiment 68. The method according to Embodiment 67, further comprising a first roller at the starting point of the inclined first end, which guides the bottom portion of the container on the inclined first end.

[0429] Embodiment 69. The method according to Embodiment 68, further comprising a second roller at the starting point of the inclined second end, which guides the bottom portion of the container on the inclined second end.

[0430] Embodiment 70. The movable conveyor comprises a carousel rotatable about a vertically oriented carousel rotation axis and including a plurality of container holding stations positioned at an angle and spaced apart about the carousel rotation axis, each container holding station including a spring tab that extends laterally with respect to the carousel rotation axis and is configured to elastically engage with grooves of containers held within the container holding station, thereby holding the containers within the container holding station, the containers being able to slide vertically between the spring tabs of the container holding stations.

[0431] The step of bringing the bottom of the container into contact with the container positioning lamp slides the container within the container holding station to a reproducible vertical level sensing position.

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

[0433] Embodiment 71. The conveyor is contained within a housing having an upper wall extending across the conveyor, and a container access opening is formed through the upper wall above the level sensing location, and is configured to allow a probe, or a conductive tip detachably attached to the probe, to enter the container located at the level sensing location, and this method is

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

[0435] Embodiment 72. The method according to any one of Embodiments 63-71, wherein a portion of the movable grounding element is molded to conform with a portion of the container.

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

[0437] Embodiment 74. A mechanism for providing selective access to one of several containers within a substantially enclosed enclosure, wherein the mechanism comprises:

[0438] A movable conveyor, located inside a housing, configured to hold and transport multiple containers,

[0439] The movement of the conveyor sequentially positions each of the multiple containers directly beneath the container access opening at a certain point along the path traversed by the multiple containers being transported on the movable conveyor, where a container access opening is formed within the upper wall of the housing.

[0440] A mechanism comprising a shutter plate pivotably mounted on the upper wall of a housing, and pivotably positioned between a first position that covers a container access opening, thereby preventing access to a container located directly below the container access opening through the container access opening, and a second position that exposes the container access opening, thereby allowing access to a container located directly below the container access opening through the container access opening.

[0441] Embodiment 75. The mechanism according to Embodiment 74, further comprising a motor operably coupled to a shutter plate, which provides an electric movement of the shutter plate from a first position to a second position.

[0442] Embodiment 76. The mechanism according to Embodiment 75, wherein the shutter plate is mounted for pivotal movement between a first position and a second position and comprises a fan gear including gear teeth that engage with a motor-driven gear along its arc-shaped edge.

[0443] Embodiment 77. The mechanism according to Embodiment 76, further comprising a container restraining arm configured for movement between a first position in which the container is not in contact with the container located directly below the container access opening and a second position in which the container is in contact with the upper portion of the container located directly below the container access opening and holds the container in a fixed vertical position, wherein a motor is coupled to the container restraining arm and moves the container restraining arm from the first position to the second position as the motor moves the shutter plate from the first position to the second position.

[0444] Embodiment 78.

[0445] A threaded rod operably coupled to a motor, and a gear driven by the motor, arranged coaxially with the threaded rod,

[0446] The mechanism according to Embodiment 77, further comprising a drive block screwably coupled to a threaded rod, wherein a container holding arm is configured for pivotal movement between a first position and a second position, and the container holding arm contacts the drive block so as a motor-driven gear rotates a fan gear and moves a shutter plate from its first position to its second position, the threaded rod moves the drive block and moves the container holding arm from its first position to its second position.

[0447] Embodiment 79. The mechanism according to Embodiment 78, further comprising a spring coupled to a container holding arm and biasing the container holding arm in its first position.

[0448] Embodiment 80. A method for providing selective access to one of several containers within a substantially enclosed enclosure, wherein the method is a) A step of transporting multiple containers inside the enclosure on a movable conveyor, b) The step of sequentially positioning each of the multiple containers being transported on the movable conveyor directly below the container access opening formed in the upper wall of the housing, c) A method comprising the automated step of automatically pivoting a shutter plate, which is pivotably mounted on the upper wall of a housing, from a first position covering a container access opening to a second position exposing a container access opening.

[0449] Embodiment 81.d) The method of Embodiment 80, further comprising the step of automatically contacting the upper portion of the container, which is positioned directly below the container access opening, during step c), and holding the container in a fixed vertical position.

[0450] Embodiment 82. The method according to Embodiment 81, wherein step d) includes bringing the upper portion of the container, positioned directly below the container access opening, into contact with the container retaining arm.

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

[0452] The first and second sides are oriented perpendicularly to each other,

[0453] Upper and lower restraint bars extending laterally from a first side to a second side of a restraint cage, wherein the upper and lower restraint bars are spaced perpendicularly apart from each other and extend across a portion of the width of the restraint cage, leaving a gap between the second side and the end ends of the restraint bars, and the gap between the upper and lower restraint bars and the second side is configured to allow a container to be inserted through the gap,

[0454] A container gripper comprising a container gripper configured to hold a container and to insert the container through a gap between a first side and a second side, thereby moving the gripper to a position where it is positioned between a vertically spaced upper and lower retainer bar, and the container is positioned behind the upper and lower retainer bars.

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

[0456] A bracket equipped with a gripper element,

[0457] A first gripper element, including a first hook, is mounted on a gripper element mounting bracket for pivotal movement around a first gripper rotation axis, positioned radially apart from the first gripper rotation axis, and configured to seat within a first groove of the container.

[0458] The second gripper element includes a second hook, mounted on a gripper element mounting bracket for pivotal movement about a second gripper rotation axis parallel to the first gripper rotation axis, and configured to be seated in a second groove, the second groove being opposite to the first groove of the container, the second gripper element being mounted on a gripper element mounting bracket and positioned radially apart from the second gripper rotation axis configured to be seated in a second groove, the second gripper element being mounted on a gripper element mounting bracket and positioned radially apart from the second gripper rotation axis, the second gripper element being mounted on a gripper element mounting bracket and positioned radially apart from the first groove of the container,

[0459] The system according to Embodiment 83, wherein the first hook and the second hook are bent toward each other, the first gripper element and the second gripper element are coupled toward each other or toward each other for coordinated pivotal movement about individual first and second gripper rotation axes, the container gripper is configured to grip a container by pivoting the first and second gripper elements toward each other until the individual first and second hooks are seated in one of the grooves of the container, and the first and second gripper elements fit between an upper and lower restraint bar that are vertically spaced apart when gripping a container.

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

[0461] A first gripper element coupling gear, which is attached to the first gripper element and arranged coaxially with the first gripper rotation axis,

[0462] A second gripper element coupling gear, attached to the second gripper element and arranged coaxially with the second gripper rotation axis, is coupled to each other for coordinated pivotal movement.

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

[0464] Embodiment 86. The container gripper is

[0465] A gripper motor with a gripper actuator gear,

[0466] A gripper drive gear is mounted coaxially with the first gripper rotation axis and configured for rotation independent of the first gripper element, wherein the gripper actuator gear engages with the gripper drive gear,

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

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

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

[0470] Linear track and

[0471] A linear bearing coupled to a linear track, wherein the container gripper is supported on the linear bearing, and the linear bearing and

[0472] Gripper forward motor and

[0473] The system according to any one of embodiments 83-87, comprising a drive belt coupled to a gripper advance motor and fixed to a linear bearing.

[0474] Embodiment 89. The system according to Embodiment 84, further comprising a chassis configured for rotation about a chassis rotation axis oriented vertically, wherein a gripper mounting bracket is supported on the chassis for rotation with respect to it, and a first gripper rotation axis is parallel to the chassis rotation axis, and a second gripper rotation axis is parallel to the chassis rotation axis.

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

[0476] A step of moving a used container horizontally into a retainer cage positioned across a waste opening, using a container gripper to hold the used container, wherein the retainer cage comprises first and second sides oriented vertically opposite to each other, and upper and lower retainer bars extending laterally from the first side to the second side of the retainer cage, the upper and lower retainer bars being vertically spaced apart from each other, leaving a gap between the end ends of the upper and lower retainer bars and the second side, through which the container gripper extends across a portion of the width of the retainer cage to move the used container horizontally into the retainer cage,

[0477] The container gripper and the used container held thereby are moved horizontally within the retainer cage, with the container gripper extending through the gap between the vertically spaced upper and lower retainer bars, and the used container positioned behind the upper and lower retainer bars.

[0478] A method comprising the steps of releasing a used container from a container gripper so that the used container falls through a waste opening over which a retainer cage is positioned.

[0479] Embodiment 91. The method according to Embodiment 90, further comprising the step of moving a container gripper horizontally out of the gap between an upper and lower retainer bar that are vertically separated.

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

[0481] A bracket equipped with a gripper element,

[0482] A first gripper element, including a first hook, is mounted on a gripper element mounting bracket for pivotal movement around a first gripper rotation axis, positioned radially apart from the first gripper rotation axis, and configured to seat within one of the grooves of the container.

[0483] A second gripper element, including a second hook, is mounted on a gripper element mounting bracket and configured to be positioned radially spaced with respect to the second gripper axis and seated in the opposite groove of the container, for pivotal movement around a second gripper axis parallel to the first gripper axis of rotation,

[0484] The method according to embodiment 90 or 91, wherein the first hook and the second hook are bent toward each other, and the first gripper element and the second gripper element are coupled toward each other or toward each other for coordinated pivotal movement about separate first and second gripper rotation axes, and the container gripper is configured to grip a container by pivoting the first and second gripper elements toward each other until each of the separate first and second hooks is seated in one of the grooves of the container, and each of the first and second gripper elements fits between an upper and lower restraint bar that are vertically spaced apart when gripping a container.

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

[0486] A first gripper element coupling gear, which is attached to the first gripper element and arranged coaxially with the first gripper rotation axis,

[0487] A second gripper element coupling gear, attached to the second gripper element and arranged coaxially with the second gripper rotation axis, is coupled to each other for coordinated pivotal movement.

[0488] The method according to Embodiment 92, wherein the first gripper element coupling gear and the second gripper element coupling gear are engaged with each other such that the rotation of either the first gripper element or the second gripper element results in a corresponding coordinated rotation of the other gripper element in the opposite direction of rotation.

[0489] Embodiment 94. The container gripper is

[0490] A gripper motor with a gripper actuator gear,

[0491] A gripper drive gear is mounted coaxially with the first gripper rotation axis and configured for rotation independent of the first gripper element, wherein the gripper actuator gear engages with the gripper drive gear,

[0492] The method according to Embodiment 93, wherein a drive pin extending from a first gripper element at a position spaced apart from the first gripper rotation axis, and a drive pin extending into an opening formed in a gripper drive gear, are actuated to hold or release a spent container.

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

[0494] Embodiment 96. Used containers are

[0495] Linear track and

[0496] A linear bearing coupled to a linear track, wherein the container gripper is supported on the linear bearing, and the linear bearing and

[0497] Gripper forward motor and

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

[0499] Embodiment 97. The method according to Embodiment 91, wherein the gripper and the used container held therein are moved horizontally within a retainer cage by a chassis configured for rotation about a chassis rotation axis that is vertically oriented, and the gripper mounting bracket is supported on the chassis for rotation with respect to it, and the first gripper rotation axis is parallel to the chassis rotation axis and the second gripper rotation axis is parallel to the chassis rotation axis.

[0500] Embodiment 98. A mechanism for positioning a fluid container supported on a movable conveyor in a predetermined location, the mechanism comprising:

[0501] A container positioning ramp is located adjacent to a portion of the movable conveyor and is configured to be in contact with the bottom portion of the container supported on the movable conveyor when the movable conveyor moves the container to a predetermined location.

[0502] A mechanism comprising a container holding arm configured for selective movement of a container to be positioned in a predetermined location, wherein the container holding arm is configured to contact the upper portion of the container to be positioned in a predetermined location, such that the bottom portion of the container maintains contact with a container positioning ramp, and to push the container downward.

[0503] Embodiment 99. The container positioning ramp comprises an inclined first end, a level center portion, and an inclined second end, wherein the container is positioned on the level center portion when the container is positioned at the level sensing location, according to Embodiment 98.

[0504] Embodiment 100. The mechanism according to Embodiment 99, further comprising a roller at the starting point of the inclined first end, which guides the bottom portion of the container on the inclined first end.

[0505] Embodiment 101.

[0506] Motor and,

[0507] A threaded rod that is operably coupled to the motor,

[0508] It further comprises a drive block that is screwably coupled to a threaded rod,

[0509] The mechanism according to any one of embodiments 98-100, wherein the drive block contacts the container holding arm as the motor moves the drive block, moving the container holding arm from its first position to its second position.

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

[0511] The mechanism according to Embodiment 101, further comprising a shutter plate mounted on the upper wall and movable between a first position covering a container access opening and a second position exposing the container access opening, wherein the shutter plate is operably coupled to a motor, and the motor causes the motor to move a drive block, thereby moving a container restraining arm from its first position to its second position, resulting in the motorized movement of the shutter plate from the first position to its second position.

[0512] Embodiment 103. The movable conveyor comprises a carousel rotatable about a vertically oriented carousel rotation axis and including a plurality of container holding stations positioned at an angle and spaced apart about the carousel rotation axis, each container holding station including a spring tab that extends laterally with respect to the carousel rotation axis and is configured to elastically engage with grooves of containers held within the container holding station, thereby holding the containers within the container holding station, the containers being able to slide vertically between the spring tabs of the container holding stations.

[0513] The container positioning ramp is positioned directly beneath a portion of the carousel and is configured to be in contact with the bottom portion of the container held within the container holding station as the carousel moves the container to its designated position.

[0514] Contact between the container and the container positioning ramp causes the container to slide to a certain position within the container holding station while the bottom of the container is in contact with the container positioning ramp.

[0515] The mechanism according to any one of embodiments 98-102, wherein the container holding arm is configured to contact the upper portion of the container so that the bottom portion of the container maintains contact with the container positioning ramp, thereby sliding the container downward within the container holding station.

[0516] Embodiment 104. A mechanism for holding and moving a plurality of containers, each container comprising a carousel configured to be rotatable about a vertically oriented axis of rotation, wherein each container comprises a plurality of container-holding pockets arranged circumferentially around the outer circumference of the carousel, each container-holding pocket opening on the outer circumference of the carousel to allow a container to be pulled out of the pocket radially relative to the axis of rotation, and each container-holding pocket comprising a retaining clip configured to engage with a groove formed on the container and to hold the container in a removable manner within the container pocket.

[0517] Embodiment 105. The mechanism according to Embodiment 104, wherein each container holding pocket is formed on the opposite side of the open peripheral end of the container pocket, and includes a relief that provides a gap for the gripping mechanism to open and engage with or disengage from a groove of a container held within the container holding pocket.

[0518] Embodiment 106. The mechanism according to Embodiment 104 or 105, further comprising a scanner configured to scan machine-readable information relating to each container being transported in a container holding pocket on a carousel.

[0519] Embodiment 107. The mechanism according to Embodiment 106, wherein the scanner comprises a barcode scanner.

[0520] Embodiment 108. The mechanism according to Embodiment 106 or 107, further comprising machine-readable tags positioned on the wall of each container pocket, wherein a scanner is configured to detect the machine-readable tags when the container pocket is empty.

[0521] Embodiment 109. The mechanism according to any one of Embodiments 104-108, further comprising a motor coupled to a carousel, which provides electric rotation of the carousel around a carousel axis.

[0522] Embodiment 110. The mechanism according to any one of Embodiments 104-109, wherein each container holding pocket includes a container positioning fastener configured to engage with a notch formed in a container positioned within the container holding pocket.

[0523] Embodiment 111. The mechanism according to any one of Embodiments 104-110, further comprising a home sensor for detecting the home rotation position of the carousel.

[0524] Embodiment 112. A method for holding and transporting a plurality of containers, wherein each container includes a vertically oriented groove formed on the opposite side of the container, and the method is

[0525] The steps include transporting the container into a container-holding pocket formed around the periphery of a carousel configured to be rotatable about a vertically oriented axis of rotation,

[0526] The steps include: using retaining clips that engage with grooves formed on the container to removably secure each container within an associated container-holding pocket;

[0527] A method comprising the step of removing each container laterally from its associated container holding pocket through the open outer peripheral side of the container holding pocket.

[0528] Embodiment 113. The method according to Embodiment 112, wherein each container holding pocket includes a relief formed on the opposite side of the open outer peripheral side of the container pocket, and the step of removing each container laterally from its associated container holding pocket includes engaging a container gripper with the groove of the container and accessing the groove of the container through the relief.

[0529] Embodiment 114. The method according to Embodiment 112 or 113, further comprising the step of scanning machine-readable information relating to each container being transported in a container holding pocket on a carousel using a scanner.

[0530] Embodiment 115. The method according to Embodiment 114, wherein the scanner is a barcode scanner.

[0531] Embodiment 116. The method according to Embodiment 114 or 115, further comprising the step of scanning a machine-readable tag, which is placed on the wall of a container pocket, using a scanner when the container pocket is empty.

[0532] Embodiment 117. The method according to any one of Embodiments 112-116, further comprising a motor coupled to a carousel and providing electric rotation of the carousel around a carousel axis.

[0533] Embodiment 118. The method according to any one of Embodiments 112-117, further comprising the step of engaging a notch formed in each container with a container positioning fastener extending into a container holding pocket.

[0534] Embodiment 119. A conveyor for multiple containers, wherein each container includes a groove formed on the opposite side of the container, and the conveyor is

[0535] A carousel comprising a plurality of container holding stations rotatable about a vertically oriented carousel rotation axis and positioned at an angle and spaced apart about the carousel rotation axis, wherein each container holding station includes a spring tab extending laterally with respect to the carousel rotation axis and configured to elastically engage with grooves of containers held within the container holding station, thereby holding the containers within the container holding station, and the containers are capable of sliding vertically between the spring tabs of the container holding stations,

[0536] A container positioning ramp is positioned directly beneath a portion of the carousel and configured to be in contact with the bottom portion of a container held within a container holding station as the carousel moves the container holding station across the container positioning ramp, wherein the contact between the container and the container positioning ramp causes the container within the container holding station to slide to a certain position with its bottom in contact with the container positioning ramp.

[0537] A conveyor comprising a container holding arm configured for selective movement of a container in contact with a container positioning ramp, the container holding arm being configured to contact the upper portion of the container so that the bottom portion of the container maintains contact with the container positioning ramp, and to slide the container downward within a container holding station.

[0538] Embodiment 120. The conveyor according to Embodiment 119, comprising an upper clip ring including a plurality of pairs of opposing spring tabs and a lower clip ring including a plurality of pairs of opposing spring tabs, wherein each pair of spring tabs of the upper clip ring is aligned with the corresponding pair of spring tabs of the lower clip ring, defining each container holding station.

[0539] Embodiment 121. The conveyor according to Embodiment 120, wherein the upper clip ring is spaced apart from the lower clip ring such that each pair of spring tabs of the upper clip ring is spaced apart from the corresponding pair of spring tabs of the lower clip ring.

[0540] Embodiment 122. A conveyor according to any one of Embodiments 119-121, wherein each spring tab includes a knuckle, each knuckle is bent inward toward the opposing spring tab of each pair of spring tabs, and each knuckle is seated in one of the grooves of a container located within a holding station.

[0541] Embodiment 123.

[0542] Motor and,

[0543] A threaded rod that is operably coupled to the motor,

[0544] It further comprises a drive block that is screwably coupled to a threaded rod,

[0545] The conveyor according to any one of embodiments 119-122, wherein the drive block contacts the container holding arm as the motor moves the drive block, moving the container holding arm from a first position where it does not contact the top of the container to a second position where it contacts the top of the container.

[0546] Embodiment 124. The conveyor according to Embodiment 123, wherein the container holding arm is pivotably mounted within the mounting yoke, the first end of the holding arm is in contact with a drive block, and the second end of the holding arm is in contact with the container when the holding arm is pivoted, the first end of which is in contact with the drive block.

[0547] While the subject matter of this disclosure is described and illustrated in considerable detail with reference to an illustrative embodiment, including various combinations and sub-combinations of features, those skilled in the art will readily understand other embodiments and their variations and modifications that fall within the scope of this disclosure. Furthermore, the description of such embodiments, combinations, and sub-combinations is not intended to convey that the claimed subject matter requires features or combinations of features other than those expressly enumerated in the claims. Thus, the scope of this disclosure is intended to include all modifications and variations that fall within the scope of the following appended claims.

Claims

[Claim 1] A fluid container management system as shown in the drawing, etc.

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