Container loading and unloading module for a biological sample incubation chamber

Abstract

A container loading and unloading module for a biological sample incubation chamber comprises an outer unit disposed on the outside of an incubation chamber and comprising: a loading conveyor; an unloading conveyor; a container loading tray; at least two container unloading trays, each having a receiving compartment disposed above the unloading conveyor, the receiving compartment being equipped with a means for the vertical movement of containers in the form of an elevator, stoppers for stopping a container on the conveyor, a container stacking means, and a means for moving a stack into an unloading tray; means for moving containers from the loading tray onto the loading conveyor; and a set of sensors, wherein the outer unit comprises a receiving box, the receiving compartments of which are formed by transverse partitions, the stoppers of the compartments are fastened to a platform of the elevator, and the loading and unloading conveyors are disposed at different heights so that an actuator of the means for moving a stack from a receiving compartment into an unloading tray can be accommodated below the loading conveyor. The technical result consists in reducing the overall dimensions of the module and increasing the efficiency of the incubation chamber.

Description

[0001] CONTAINER LOADING AND UNLOADING MODULE FOR BIOLOGICAL SAMPLE INCUBATION CHAMBER

[0002] Field of technology to which the invention relates

[0003] The invention relates to laboratory equipment for conducting microbiological studies, namely to devices that allow loading and unloading containers with biological samples into / from a biological sample incubation chamber. The claimed module for loading and unloading containers with biological samples can be used in automated microbiological laboratories and systems that allow incubation of microorganisms and cellular structures placed in containers, for example, in Petri dishes, with subsequent examination of the seeding results, including recording colony growth in real time, identifying the microbial agent in the sample, determining its resistance to antibacterial drugs, etc.

[0004] State of the art

[0005] Currently, there is an active development of the microbiological industry, one of the tasks of which is the introduction of automated systems and equipment for the incubation of microorganisms and cellular structures and the conduct of microbiological studies. With the growth in the number of microbiological studies, it is important to develop high-performance systems, increase the speed of research while simultaneously ensuring high quality of the result, eliminate errors caused by the human factor, and increase the overall efficiency of the laboratory service. One of the tasks of automating microbiological studies is associated with the development of modules and units of the incubation system that can completely or partially exclude medical personnel of the laboratory from the activities of delivering containers with biological samples to the incubation zone, as well as from it - to the unloading zone.

[0006] Modules for loading and unloading containers with biological samples are usually used together with incubation chambers in automated systems. The incubation chamber is an isolated box equipped with means for monitoring the parameters of the environment formed in the working volume of the chamber for the growth of microorganisms, equipped with cells for placing containers with samples, a unit for moving containers in the working volume of the incubation chamber in the form of a three-coordinate manipulator with a rotary grip for containers, and a unit for optical or digital visualization of samples during incubation, for example, for the presence of microbial growth. For low-performance systems, the module for loading and unloading containers with biological samples can be made in the form of two conveyors, one of which is used to feed containers for incubation, and the second one is used to issue containers after the incubation process is complete.In this case, the installation of containers on conveyors is carried out individually in manual mode. However, when increasing the loading volume of the incubation chamber to 300 containers or more, it is necessary to improve the module for loading and unloading containers with samples in order to ensure automatic servicing of the system in the flow mode of containers sent to the incubation chamber and unloaded from the chamber after completion of the incubation process of biological samples. Most of the known modules for loading and unloading containers from the state of the art, due to their design features, limit the productivity of the incubation system under conditions of increased container flow.

[0007] The prior art includes container loading and unloading modules used in automated modular microbiological systems, such as WASPLab (manufacturer - COPAN) and Kiestra ReadA (manufacturer - BD).

[0008] The container loading and unloading module of the WASPLab microbiological system by COPAN (official website of COPAN / / URL: https: / / www.copanusa.com / full-lab-automation-and-artificial-intelligence / wasplab / , access date: 07 / 28 / 2023) includes a conveyor for transporting plates to the incubation chamber, a module for unloading plates into removable containers after incubation for their further processing and testing by laboratory personnel. However, the used loading and unloading module does not provide a high-intensity level of service for incoming plates, which reduces the productivity of the sample incubation system when using a high-capacity incubator.

[0009] The current state of the art includes a module for loading and unloading containers with biological samples, used as part of the BD Kiestra™ ReadA™ microbiological laboratory (system) (US11041871 B2, publication date: 06 / 22 / 2021, and also presented on the official website of the copyright holder BD / / URL: https: / / www.bd.com / en-us / products-and-solutions / products / product-families / bd-kiestra-reada, access date: 07 / 28 / 2023), and is the closest analogue of the declared technical solution. This system contains a sample incubation chamber, which is equipped with a three-coordinate manipulator that moves containers in the working volume of the chamber, windows for loading and unloading containers with samples located on one of the walls of the chamber, shelves with cells - nests for placing containers, means for forming the required temperature regime and atmosphere in the working volume of the chamber.In the specified system, the loading / unloading module contains a unit located outside the working volume of the incubation chamber. The loading / unloading module contains loading trays and unloading trays for containers formed on the surface of the table, a conveyor (conveyor) for moving containers from the loading trays to the incubation chamber, a conveyor (conveyor) for moving containers from the incubation chamber to the unloading trays, wherein the conveyors (conveyors) are located at the same height and are made with the possibility of moving in opposite directions, are equipped with scanners made with the possibility of reading information placed on the containers, rotary flaps guiding the container from the loading conveyor to the incubation chamber input window and from the incubation chamber output window to the unloading conveyor, pneumatic means for moving containers in the vertical direction, made in the form of elevators.In the said system, the loading / unloading module also contains a block located in the working volume of the incubation chamber, which includes two conveyors that transfer containers to the working area of ​​the three-coordinate manipulator. One of the conveyors is intended for the container being loaded into the chamber, the second - for the container being unloaded from the incubation chamber.

[0010] In the known design of the container loading and unloading module, a rotary flap is placed between adjacent loading trays, made with the ability to rotate around a vertical axis at an angle of 45 degrees in opposite directions, alternately blocking the exit of containers to the loading conveyor from adjacent trays. However, this flap does not fully fix the stacks of containers in the loading tray when turning, as a result of which the stacks may scatter and the containers with samples may be damaged. In addition, the feeding of cups from the loading trays to the loading conveyor is carried out due to pushers moving progressively. The pushers are made in the form of plates with vertical pins, which are driven by pneumatic drives.The disadvantage of such an implementation is the constant speed of movement of the pushers, without the ability to change it to ensure smooth movement of the container, which increases the risk of its damage during movement from the loading tray to the loading conveyor. In addition, the unloading trays are made of compartments separated by partitions, fixed on the table with a gap relative to each other, which creates inconvenience during maintenance, does not ensure their mobility, and the presence of gaps increases the dimensions of the module. Stacks of containers are unloaded directly onto the table, which is why the lab technician has to take stacks one by one, as well as visually monitor the filling of the tray. In addition, the implementation of pneumatic elevator and pusher drives requires an additional supply of compressed air to the device, which imposes certain restrictions on the operation of the equipment associated with the need to maintain the purity of the surrounding air.The use of pneumatic drives complicates the ability to smoothly change the speed of movement of moving parts interacting with the container, i.e. smooth movement of the container where necessary, increasing the risk of damage to containers and incubated biological samples. In combination, the specified features of the prototype significantly complicate the process of loading and unloading containers, negatively affect the productivity and efficiency of automated microbiological systems with a high flow of incubated biological samples.

[0011] The technical problem, the solution of which is provided by the implementation / use of the present invention, is the development of a compact module for loading and unloading containers for a high-performance incubation chamber, which eliminates the shortcomings of analogs and the prototype, is capable of providing the supply of containers from loading trays to the incubation chamber and the movement of containers from the incubation chamber to unloading trays in a stream mode with a minimal risk of damage to the containers and biological samples placed in them and minimal involvement of service personnel.

[0012] Disclosure of the essence of the invention

[0013] The technical result provided by the invention in solving the above-mentioned technical problem consists in reducing the overall dimensions of the container loading and unloading module and, at the same time, in increasing the convenience and speed of servicing containers in a flow mode during their loading and unloading into / from the incubation chamber, thereby contributing to an increase in the productivity of the incubation chamber, while reducing the risk of damage to containers with samples during loading and unloading, as well as errors caused by the human factor.

[0014] The technical result is achieved by using an improved module for loading and unloading containers into / from an incubation chamber, comprising an external unit - located on the outside of the incubation chamber, including a container loading conveyor into the incubation chamber, intended for moving containers from a loading tray into the incubation chamber, and a container unloading conveyor, intended for moving containers from the incubation chamber to an unloading tray; at least one container loading tray; at least two container unloading trays, each of which is provided with a receiving cell located above the unloading conveyor, wherein the receiving cell is provided with a means for vertically moving the container in the form of an elevator, stoppers designed with the possibility of stopping the container on the conveyor, a means for forming a stack of containers, a means for moving the formed stack of containers into the unloading tray;means for moving containers from the loading tray to the loading conveyor; a set of sensors.

[0015] Distinctive features of the container loading and unloading module are the implementation of an external block with a receiving box located above the container unloading conveyor, wherein the receiving cells in the box are formed by its transverse partitions, the stoppers of the receiving cell are fixed on the elevator platform, and the loading conveyor and the unloading conveyor are located at different levels in height, ensuring the possibility of placing the drive of the means for moving the formed stack of containers from the receiving cell to the unloading tray under the loading conveyor.

[0016] The container loading and unloading conveyors are designed to move in opposite directions, equipped with independent electric drives, stoppers for stopping the container on the conveyor in a given spatial position, and optical sensors for the presence of containers. The stoppers are made in the form of retractable pins driven by an electromagnetic drive. The conveyors are equipped with rotary flaps designed to change the trajectory of the container when the flaps are turned.

[0017] The loading tray and the container unloading tray are preferably located on the same working surface. The loading tray can be made removable or with the possibility of placing a removable portable cassette in it for receiving containers with samples and moving the formed stack of containers by means of moving from the receiving cell directly to the cassette, wherein the tray is equipped with a cassette presence sensor and a cassette filling sensor. The loading tray in one of the embodiments of the invention is provided with an end wall fixed on the side of the loading conveyor, wherein the end wall is located with an indent from the base with the formation of a gap for moving the lower container from the stack through it onto the conveyor. The loading tray can be equipped with optical sensors for the presence of containers, located on the side of the tray input and output.

[0018] The loading tray is equipped with a means for alternately issuing containers from the loading trays onto the loading conveyor, which may have different design options. In one version, this means is made in the form of a chain conveyor with two pairs of grippers, where one pair of grippers is intended for pushing the container onto the loading conveyor, and the second is for fixing the container from the next stack in order to prevent premature issuance onto the conveyor. In another embodiment, this means is made in the form of a pusher, which is a rectangular plate secured under the base of the loading tray with the possibility of reciprocating movement, and equipped with vertical pins located with the possibility of pushing the container out of the tray onto the loading conveyor, wherein the base of the container is provided with longitudinal grooves or slots in the projection of the movement of the pusher pins.In addition, the loading tray can be equipped with a rotating drum made in the form of a semi-cylinder with the ability to change position when turning by 180 degrees, wherein one of the positions of the drum, in which its outer convex surface is oriented toward the loading conveyor, is intended for receiving a stack of containers, and the other position of the drum - when turning by 180 degrees - performs the function of a dividing partition between the stack placed in it and the adjacent stack of containers (between adjacent stacks of containers).

[0019] The receiving cells of the receiving box containers may have different design options. The receiving cells are equipped with rotary flaps that allow the container to pass through when it is moved by the elevator into the receiving cell and block the reverse movement of the container. The rotary flaps of the receiving cell are plates fixed on the opposite walls of the receiving cell with the possibility of rotation around the horizontal axis of the plate at an angle of 90 degrees, while in the initial position - without a container - the flaps are located in a horizontal plane above the conveyor, and have a configuration that ensures the formation of a "window" the size of which is smaller than the diameter of the container and larger than the diameter of the elevator platform on which it is located, ensuring the movement of the container through the said window from the lower position to the upper one with the help of the elevator, while the flaps "open" when they are rotated from the horizontal position to the upper vertical position when exposed to the container walls,and after the container reaches a given height, at which the doors “close”, occupying their original horizontal position, thereby forming a support platform on which the container is placed when the elevator moves from the extreme upper position to the extreme lower position.

[0020] The receiving cell elevator is equipped with a container presence sensor located between the stoppers. The means for moving the formed stack of containers from the receiving cell to the unloading tray is a vertically located plate or gate with a profile close to the container profile, made with the possibility of reciprocating movement in the horizontal plane of the receiving cell.

[0021] The module for loading and unloading containers into / from the incubation chamber, along with the external unit located on the outside of the incubation chamber, may comprise an internal unit located in the working volume of the incubation chamber, configured to be coupled with the unit located on the outside of the incubation chamber through a window for loading and unloading containers. In one embodiment of the invention, the internal unit comprises two platforms for placing containers, or two conveyors located in the projection of the incubation chamber window, one of which is intended for the container being loaded into the chamber, the second - for the container being unloaded from the incubation chamber, wherein the platforms or conveyors are equipped with means for vertical movement of containers, made in the form of an elevator, and are connected to the corresponding conveyors for loading or unloading containers, located on the outside of the incubation chamber.

[0022] Preferably, all drives in the container loading and unloading module are electromechanical.

[0023] The reduction in the overall dimensions of the loading and unloading module is achieved by implementing a single unit for loading containers onto the loading conveyor and a unit for unloading containers from the unloading conveyor into the corresponding trays. The container loading and unloading units contain loading and unloading trays located on one working surface of the table, while the unloading trays are equipped with a box with receiving cells formed by transverse partitions. With this design of the container unloading unit, the transverse partition performs the function of a side wall for two adjacent cells of the unloading box, allows saving the area of ​​the working surface occupied by this unit, in contrast to the prototype, where the receiving cells of the unloading unit are independent boxes located at a certain distance from each other above the surface of the unloading conveyor.The two-level arrangement of the loading conveyor and the unloading conveyor reduces the area of ​​the working surface occupied by the loading and unloading unit. This arrangement of the conveyors allows the drives of the horizontal pushers of the unloading trays to be placed under the loading conveyor (as shown in Fig. 10).

[0024] The implementation of loading and unloading trays as removable or with the possibility of placing removable portable cassettes in them, together with the sensors used, placed on the structural elements of the loading and unloading module, including sensors for the presence and filling of cassettes, into which stacks of containers are unloaded and stacked, increases the speed and convenience of servicing the device during its operation, and does not require control of the container unloading process by the operator.

[0025] The module design is characterized by increased operational reliability, achieved, among other things, by eliminating the mechanisms for moving the stoppers in the unloading unit. In the claimed solution, the stoppers are located on the elevator platform, which made it possible to move them using one drive. Thus, for each unloading tray (and there can be 4 or more of them), one drive less is used, in contrast to the device selected as a prototype. In addition, the increased operational reliability of the claimed module is associated with the use of electric drives for all moving parts of the device, in contrast to the pneumatic ones used in the prototype.

[0026] Thus, the claimed device is reliable, ergonomic, easy to use and maintain, reduces the likelihood of operator or laboratory technician errors that can lead to loss or damage of samples. Such errors can potentially negatively affect the quality of diagnostics and the effectiveness of patient treatment.

[0027] The declared system has a modular design, can be easily integrated into an automated laboratory environment and be part of a complex (system) of interconnected modules for automating most microbiological research processes.

[0028] Brief description of the drawings

[0029] The invention is explained with illustrative material.

[0030] Figure 1 schematically shows an automated microbiological laboratory containing a system for incubation and formation of digital images of biological samples with the declared module for loading and unloading containers. The system also includes an incubation chamber with a module for moving containers in the working volume of the chamber (three-coordinate manipulator) and a module for forming a digital image of samples (photography module), a sample identification module (scanning module), a module for seeding biomaterial into containers, a conveyor system, a laboratory assistant's workplace with a PC for conducting studies of biological samples, for example, for resistance to antibiotics, etc.

[0031] Figure 2 shows an image of an incubation chamber with an external block of the module for loading and unloading containers with samples, a general view from the front wall of the chamber, in which the window for loading and unloading containers is located; the external configuration of the incubation chamber and the relative position of the incubation chamber and the external block of the module for loading and unloading containers with samples (the module block located outside the incubation chamber), their design variant and the docking area are shown;

[0032] Figure 3 shows the incubation chamber - a view from the inside, from the side wall; the internal structure of the incubation chamber is shown, including the built-in elements of the module for loading and unloading containers with samples (the internal block of the module located in the incubation chamber, including platforms for placing containers) and the module for moving containers in the working volume of the chamber (three-coordinate manipulators);

[0033] Figure 4 shows the design solution of the modules located in the incubation chamber, a general view from the front wall with the walls of the chamber conventionally designated; individual design elements of the module for loading and unloading containers with samples of the internal block, conveyors for loading and unloading containers of the external block are shown; the relative position of the conveyors for loading and unloading containers relative to the module for forming a digital image of samples (photography module) and the module for moving containers in the working volume of the chamber (three-coordinate manipulators) located in the incubation chamber are shown;

[0034] Figure 5 shows the relative position of the container loading and unloading conveyors relative to other blocks and modules of the incubation chamber from the side of its rear wall (the walls of the incubation chamber are not shown in the drawing); the structural connection of the elements is reflected, as well as the diagram of the movement of the container with the sample from the loading conveyor of the external loading and unloading block to the loading conveyor of the internal loading and unloading block of the containers of the declared module;

[0035] Figures 6 and 7 show an incubation chamber with a module for loading and unloading containers - a top view; possible options for placing the conveyors of the external block of the module for loading and unloading containers with samples relative to the incubation chamber and the order of moving the containers with samples, including the direction of movement of the containers with samples along the conveyor for loading containers into the incubation chamber and along the conveyor for unloading containers from the incubation chamber, the trajectory of movement of the 3-coordinate manipulator in the working volume of the chamber in the horizontal plane of the chamber are shown.

[0036] Figure 8 shows a detailed view of the external block of the module for loading and unloading containers with samples in the area of ​​connection with the incubation chamber, a general view from the side of the placement of conveyors; a conveyor for loading containers into the incubation chamber, a gateway containing a flap with a drive, a rotary flap guiding the container from the conveyor to the gateway are shown.

[0037] Figure 9 shows a general view of the external block of the container loading and unloading module; it shows a diagram of the placement of loading trays and unloading trays on the table, the unloading box and loading and unloading conveyors.

[0038] Figures 10 and 11 show a general view of the system of trays for loading and trays for unloading containers of the external unit of the module for loading and unloading containers with samples, views from the back and front, respectively.

[0039] Figures 12 and 13 show an image of a container loading tray, a general view from the tray input side, from the tray output side (from the loading conveyor side), respectively.

[0040] Figures 14 and 15 show a side view of a container loading tray showing two positions of the means for ejecting a container from the tray onto a loading conveyor.

[0041] Figure 16 shows a general view of the plate of the means for pushing a container from the loading tray onto the loading conveyor, placed under the base of the container loading tray.

[0042] Figure 17 shows a detailed view of the chain conveyor (an embodiment of the container ejection means) of the loading tray, the external block of the module for loading and unloading containers with samples; the chain conveyor ensures the alternate feeding of containers from the stack to the loading conveyor. A fragment of the chain conveyor of the loading tray is also shown in Fig. 1.

[0043] Figures 18 and 19 show a variant of the embodiment of a rotary drum placed at the exit from the loading tray when receiving a stack of containers with the inner surface of the drum located in the direction of the entrance of the loading tray, and with the inner surface of the drum located in the direction of the loading conveyor, respectively.

[0044] Figures 20 and 21 show the connection unit of the loading tray with the loading conveyor, demonstrating the scheme for moving containers from the tray to the conveyor.

[0045] Figure 22 shows a detailing of the unit for moving containers from the unloading conveyor to the unloading trays, namely, the external unit of the module for loading and unloading containers with samples. Shown are the container unloading conveyor, the unloading box consisting of cells (or compartments), the means for vertically moving containers (elevators) located under each of the cells of the unloading box. The number of cells of the unloading box corresponds to the number of unloading trays. A general view of the said unit from the side of the unloading trays is shown.

[0046] Figure 23 shows a section of figure 22, demonstrating the placement of the unloading box in relation to the loading and unloading conveyors, as well as the placement of the horizontal pusher in the corresponding cell of the unloading box. The section of figure 22 is shown along a plane passing through the vertical axis of one of the cells of the unloading box and perpendicular to the direction of movement of the containers along the conveyor.

[0047] Figure 24 shows a means for moving a container in a vertical direction (elevator), intended for placement under the corresponding compartment of the unloading box.

[0048] Figures 25 - 27 show a diagram of the movement of containers along the unloading conveyor into one of the cells of the unloading box and then into the unloading tray.

[0049] Figure 28 shows a variant of the implementation of container loading and unloading conveyors with built-in container presence sensors and stoppers.

[0050] The following blocks and modules of the claimed system are designated by positions on the drawings: 1 - incubation chamber, 2 - module for loading and unloading containers with samples, 3 - sample identification module (scanning module), 4 - module for forming a digital image of samples (photography module), 5 - module for moving containers in the working volume of the chamber, 6 - control unit, 7 - 3-axis manipulator, 8 - container with a biological sample, 9 - window for loading and unloading containers, 10 - upper window of the incubation chamber for communication with module 4, 11 - lower window of the incubation chamber for communication with module 4, 12 - airlock, 13 - airlock drive, 14 - airlock flap.

[0051] The module for loading and unloading containers with samples contains: 15 the first (external) block of module 2, outside the incubation chamber, 16 the second (internal) block of module 2, located in the working volume of the incubation chamber.

[0052] The external unit 15 comprises: 17 - a conveyor for loading containers into the incubation chamber, 18 - a conveyor for unloading containers from the incubation chamber, 19 - a conveyor base, 20 - a conveyor drive, 21 - a conveyor drive cable, 22 - a stopper for fixing a container on the conveyor, 23 - a container loading tray, 24 - a container unloading tray, 25 - a rotary flap, 26 - a side wall of the loading tray, 27 - an end wall of the loading tray, 28 - a slot in the end wall of the loading tray for passing containers onto the loading conveyor, 29 - a base or support platform of the loading tray, 30 - a cover of the loading trays, 31 - a means for moving a container in the container loading tray, 32 - a pusher plate, 33 - pusher pins, 34 - slots or grooves in the base of the loading tray for moving the pusher pins along them, 35 - pusher lever for connection to the electric drive, 36 - chain conveyor, 37 - chain conveyor grip, 38 - rotary drum of the loading tray,39 - a platform connecting the loading tray with the loading conveyor, which is a continuation of the supporting platform of the loading tray, 40 - a guide pin, 41 - a box for unloading containers from the conveyor into trays 24, 42 - cassettes for unloading containers, 43 - a stopper of the unloading box cell, 44 - a means for vertically moving a container in the unloading box cell (an unloading elevator), 45 - rotary flaps of the unloading box cell, 46 - an axis of the rotary flaps, 47 - a horizontal pusher, 48 - a drive of the horizontal pusher, 49 - a drive of the unloading box elevator, 50 - a base of the unloading box cell, 51 - side walls of the unloading box cell.

[0053] The internal block 16 of the container loading / unloading module contains: 52 - a conveyor for loading containers of the incubation chamber, 53 - a conveyor for unloading containers of the incubation chamber, 54 - a means for vertical movement of containers (elevator) of the incubation chamber, 55 - a scanner, 56 - a means for rotating the container on the elevator.

[0054] Module 4 for forming a digital image of biological samples (photography module) contains: 57 - upper photography module, 58 - lower photography module, 59 - container movement unit (movement unit), 60 - digital image formation unit (digital optical block).

[0055] The set of sensors contains: 61 - optical sensor of the presence of a container on the conveyor, 62 - sensor of the filling of the stack and tray, 63 - inductive sensor of the presence of a cassette on the table, 64 - sensors of the final position of the elevator (the position of the cup level when moving in the vertical direction in the cell of the container unloading box).

[0056] Implementation of the invention

[0057] A more detailed description of the claimed invention is provided below.

[0058] The following terms, definitions and abbreviations are used in this description.

[0059] “A system for incubating and forming digital images of biological samples” when describing the claimed invention may have an abbreviated name - a system, an incubation system, an incubation system, an automated system.

[0060] "Container" - a container in which it is possible to place a test sample, including by means of manual and / or automatic inoculation. The container in which the sample can be placed usually contains a substrate or a medium with nutrients for the growth of target microorganisms. According to the present invention, such containers as Petri dishes (hereinafter also referred to as dishes) containing seeded medium, test tubes with broth and slides with biological samples, etc. can be used in an automated system for conducting studies.

[0061] "Biological sample" (hereinafter also referred to as sample) - a sample of fluid and (or) tissue of the human body, as well as any other material sample potentially containing microbiological objects, taken for laboratory testing.

[0062] The term “zone” in the description of the claimed invention denotes a specific area of ​​space in which the prescribed function of a device, module, block, or their parts or individual structural elements is implemented, which may have material or conditional boundaries.

[0063] The "red zone" is an area of ​​space in the incubation chamber in which a collision (impact) of manipulators is possible.

[0064] "Working volume of the incubation chamber" or "Working area of ​​the incubation chamber" - the volume in the incubation chamber in which the incubation of samples and the direct operation of the devices, modules and their parts located in it takes place.

[0065] The proposed module for loading and unloading containers can be built into an incubation system or into the structure of a microbiological laboratory (Fig. 1), which, in addition to the incubation chamber, can also contain modules and / or units for automatic seeding of biomaterial into containers, such as Petri dishes, with the function of loading containers into cassettes, labeling containers; preparing samples for microfluidic tests; selecting colonies; determining antibiotic resistance, etc.

[0066] The system for incubation and formation of digital images of biological samples (Fig. 1), which is used as an example to demonstrate the operation of the claimed module, contains:

[0067] - chamber 1 for incubation of samples placed in containers (hereinafter also referred to as the incubation chamber, chamber),

[0068] - module 2 for loading and unloading containers with samples,

[0069] - module 3 for sample identification using sensors and scanners to control the location and identification of a specific Petri dish (hereinafter also referred to as the identification module, scanning module),

[0070] - two modules 4 for forming digital images of samples (hereinafter also referred to as the photography module),

[0071] - module 5 for moving containers in the working volume of the chamber, including two 3-coordinate manipulators 7 for moving containers 8 with samples into the photography module 4 and loading them back into the incubation chamber 1,

[0072] - control unit 6 with the function of controlling the movements of 3-coordinate manipulators 7 (hereinafter also referred to as the control unit).

[0073] Below is a detailed description of the design solution for the container loading and unloading module and a demonstration of the system's operation using Petri dishes as containers as an example.

[0074] Incubation chamber 1 (Fig. 2-4) is a cabinet-type body. The chamber may contain a metal frame lined on the outer and inner sides. In the working volume of the chamber there are shelves with cells (nests) for placing Petri dishes with biological samples. The chamber contains engineering systems for creating optimal conditions for the growth of microorganisms in its working volume, including means for forming the required incubation mode (means for heating, humidification, maintaining the concentration of CO2 and air circulation) of the working volume. The incubation chamber may be equipped with sensors for monitoring temperature, humidity, composition of the environment, and means for maintaining the required parameters in automatic mode.

[0075] In one embodiment of the invention, the chamber 1 is made in the form of a housing having a front, rear, side walls, a roof and a bottom (Fig. 2). The chamber is provided with a door for servicing it, as well as at least one window 9 for loading and unloading containers with biological samples and two windows - upper 10 and lower 11, for communication with two modules 4 for forming a digital image of samples (photography modules). In this case, the window for loading and unloading containers 9 is made in the front wall of the chamber 1, preferably in its middle part, and the door of the chamber 1 is on the side of its rear wall. In one embodiment of the invention, the rear wall can be made in the form of a door. In this case, the door and the front wall can have a convex profile of the outer surface, as shown in Fig. 2. The convex shape of the front wall of the chamber allows for hidden installation of the elements of the loading-unloading module.The window for loading and unloading containers 9 is provided with a gateway 12, designed to limit the leakage of the medium from the incubation chamber. The gateway 12 opens during the loading of the container into the incubation chamber or unloading from it upon a signal from the corresponding sensor located on the loading conveyor 17 on the outside of the chamber or on the unloading conveyor on the inside of the chamber and connected to the control unit 6. The control unit 6, after receiving the signal from the sensor, sends a signal to the gateway drive - a signal to open or close the gateway. Thus, the gateway opens automatically, and the container with the sample moves from the external conveyor to the internal device of the loading and unloading module 2. Software can be used to track the movement of the sample in the working volume of the chamber 1 in real time. In this case, the container with the sample is provided with a machine-readable label (for example, a bar code, an RFID tag, etc.), and the chamber 1 (at least at the container entry point, the container exit point and the photographing modules 4) is provided with corresponding reading devices for this mark. After unloading the containers from the incubation chamber onto the conveyor, the samples can be sent for disposal, can be transferred to a special tray for manual extraction by the operator or can be automatically moved to the next module or device. In one embodiment of the incubation chamber 1, separate windows with their own airlocks can be used for loading and unloading the containers, or the airlock can be made of two parts moving independently of each other.

[0076] In addition to the first window - the window for loading and unloading containers 9 - on the front wall there are also windows (upper 10 and lower 11) for communication with the corresponding modules for forming a digital image of the samples. The movement of the cups in the working volume of the chamber 1 is carried out using a corresponding three-coordinate manipulator 7, servicing its own photography module and the common loading / unloading area. In various embodiments of the invention, the incubation chamber body may have separate compartments for accommodating the upper and lower photography modules.

[0077] The arrangement of shelves with cells can be implemented in various ways. Each cell is adapted to receive and hold a container with a sample in it during the incubation process. It is preferable to arrange the shelves around the circumference of the incubation chamber to provide access of the three-coordinate manipulator 7 to its cells. The incubation chamber 1 can include a different number of cells depending on the tasks of the microbiological laboratory, for example, from 600 to 720 cells. Each cell is characterized by the coordinates of its spatial location.

[0078] The module for loading and unloading containers with samples 2 (Fig. 2) in one embodiment of the invention may contain two units, one of which is located in the incubation chamber - internal unit 16, the second - outside the working volume of the incubation chamber - external unit 15. An embodiment of module 2 with one external unit 15 is possible.

[0079] The external block 15 contains two conveyors (transporters) 17 and 18, located on bases 19. Bases 19 can be rigidly connected to the body of the incubation chamber 1. The external block 15 also contains a unit for loading containers from loading trays 23 onto loading conveyor 17, a unit for unloading containers from unloading conveyor 18 into unloading trays 24. The loading trays and unloading trays can be mounted on one table, as shown in Figs. 7 and 9, or on separate tables, as shown in Fig. 6. Two possible options for placing the block 15 of the container loading and unloading module 2 relative to the incubation chamber 1 are shown in Figs. 7 and 8. Conveyors 17 and 18 can be located at the same or different height levels. It is preferable to perform them at different height levels (two-level placement of the loading conveyor and the unloading conveyor), allowing the actuators for the horizontal movement of the pushers 47 of the unloading trays to be placed under the loading conveyor.

[0080] Conveyors (transporters) 17 and 18 are designed to move containers in one direction or in opposite directions and are equipped with independent electric drives 20 (Fig. 22). One of the conveyors (transporters) - 17, transports containers with samples from loading trays 23 to the airlock 12 of the incubation chamber 1, and the second - 18, from the airlock 12 to the unloading trays 24. It is preferable to design conveyors that move containers in opposite directions, which allows for a more compact arrangement of equipment within the laboratory, for example, by combining the loading and unloading system into one block. Conveyors can have different designs. In one embodiment, the conveyor can be of a belt design and contain a supporting belt part.In an alternative embodiment, a polymer cable of circular cross-section can be used as a supporting element, moving along a fixed base 19, which is a conveyor track, using rollers connected to their drives 20. Using a cable is more preferable than a belt, since the conveyor track between the cables (smaller than the diameter of the cup) can be used to accommodate elevators, stoppers, cup presence sensors, or other structural elements and units, including elements for controlling the process of moving containers along the conveyor.

[0081] On the conveyor track along its length of the conveyors 17 and 18, optical sensors for the presence of containers 61 and stoppers 22 for fixing the container in a given spatial position, driven by electromagnets (Fig. 28) can be located. The stoppers 22 can be implemented in the form of retractable pins that move in the vertical direction from the extreme lower position - at the level of or below the surface of the conveyor track - to the extreme upper position when power is supplied to the electromagnets, and return to the original position when power is removed under the action of a spring. The stoppers 22 are located on the conveyor in pairs, while the stoppers of each pair are located in such a way that the distance between them is approximately equal to 0.75 of the diameter of the container to ensure its reliable stopping. In front of the gateway 12 of the loading conveyor 17 and after the gateway 12 of the unloading conveyor 18, on the outside of the chamber 1, rotary flaps 25 are located (as shown in Fig.4, 5 and 8), ensuring the movement of the container from the loading conveyor 17 to the gateway 12 or from the gateway 12 to the unloading conveyor 18 with a change in the trajectory of the container, for example, by turning by 90 degrees.

[0082] The containers are fed to the loading conveyor 17 from the loading unit containing loading trays 23 (Figs. 9 - 22), the number of which may vary depending on the capacity of the incubation chamber - from two or more. The loading trays 23 can be made removable or non-removable, in the form of a container or a body having at least two parallel side walls 26 fixed to the base. In one of the embodiments of the loading trays, they are additionally provided with an end wall 27 on the side of the connection with the conveyor 17 for loading the containers into the incubation chamber 1, wherein the end wall 27 is provided with a slit 28 or is located with an indent from the base 29 of the loading tray 23 to ensure movement of the lower container from the stack onto the conveyor. The slit can be made 3-4 mm higher than the height of the container (for example, a Petri dish).The base 29 of the loading tray may be the supporting surface of the table, and the side walls of the loading tray may be rigidly fixed to the surface of the table. It is possible to make the loading trays in the form of separate removable and movable containers installed on the table to which the loading conveyor is connected. The loading trays 23 are configured to fit the dimensions of the containers used. When using, for example, Petri dishes as containers, the loading trays are designed with the possibility of placing Petri dishes in them in one row horizontally and at least two rows vertically, wherein the side walls for the Petri dishes act as guides. In a specific embodiment (Fig. 20), the loading trays 23 have a rectangular configuration and dimensions that ensure the placement of one Petri dish in them in width, at least 10 dishes in height and up to 5 stacks of dishes in length.The trays are preferably equipped with optical sensors of the presence of containers 62 for determining the priorities of feeding containers to the conveyor depending on the algorithm of using the incubation system. In one of the embodiments of the trays 23, such sensors are located on the side of the input to the tray, as shown in Fig. 12, as well as on the side of the output from the tray. On the output side, the trays 23 are equipped with a removable protective cover 30.

[0083] The loading unit is also provided with a means 31 for moving the container from the loading tray 23 to the loading conveyor 17, which may have various implementation options.

[0084] In the first embodiment, this means 31 is made in the form of a pusher, which is a rectangular plate 32, equipped with vertical pins 33 (Fig. 16). The pins are located so that the distance between them is approximately equal to 0.75 of the container diameter. The plate 32 is fixed under the base 29 of the loading tray 23 with the possibility of reciprocating movement (Figs. 14, 15). In this case, the base is equipped with longitudinal grooves or slots 34 in the projection of the movement of the pins 33 of the pusher. The length of the longitudinal grooves is determined by the length or diameter of the container (Petri dish). The pushers are driven by electric drives with a belt transmission connected to the lever 35. The pins 33 move along the longitudinal grooves 34 in the support platform (base 29) of the trays 23. In this case, the pushers move along guides having profile grooves.The shape of these grooves sets a certain trajectory of movement of the pins - at the beginning of the movement, the pins 33 in the initial position are below the level of the support platform in the projection behind the container, located at the exit from the loading tray, then the pins 33 rise through the slots to a height no more than the height of the container loaded with the sample, after which they move in the direction of the loading conveyor, pushing the container from the loading tray onto the conveyor. At the end point of their trajectory of movement, the pins are located behind the support platform (base) of the loading tray. This position of the pusher pins is shown in Fig. 14. After which the pusher takes a position in which its pins are located below the level of the support platform of the loading tray (this position of the pins is shown in Fig. 15), then by moving the pusher in the opposite direction - to the entrance of the tray - the pins return to the initial position, ready for pushing the next container from the loading tray onto the loading conveyor.The return trajectory of the movement of the pins 33 passes completely below the level of the platform, which is ensured by the shape of the longitudinal grooves in the base of the loading tray. In another embodiment, the means 31 for moving the container from the loading tray 23 to the loading conveyor 17 is made in the form of a chain conveyor 36, as shown in Fig. 17, 10, in which the traction force is created by two parallel chains. For the alternate delivery of containers to the loading conveyor 17, the chain conveyor 36 of the loading tray 23 is provided with two pairs of grippers 37, secured to the chains and configured to interact with the containers (Petri dishes) during movement. In this case, one pair of grippers pushes the container onto the loading conveyor 17, for example, through a gap 28 in the end wall 27, and the second one fixes the container from the next stack from premature delivery onto the conveyor.

[0085] A variant of the implementation of the loading unit is possible, containing loading trays 23, equipped with rotary drums 38, having a height equal to the height of the tray (Fig. 18, 19). Rotary drums 31 are thin-walled semi-cylinders, placed at the exit from the loading tray with the possibility of turning towards the entrance of the tray either by the inner or outer side. In this case, in the preferred embodiment of this device, drum 31 has a diameter corresponding to the diameter of the container - Petri dish, thereby performing the function of a limiter for a stack of Petri dishes before moving them to the loading conveyor. Such a position of the drum is shown in Fig. 18, where its inner surface faces the entrance to the loading tray, and the outer one "looks" at the loading conveyor. In this position, a stack of containers is fed into the tray (for example, manually by the operator), after which the drum rotates 180 degrees, preventing the next stack from entering the area of ​​action of the pushers.Then, on the signal from the container presence sensor in front of the outlet slot 28 of the tray 23, the container movement means 31 - the chain conveyor or pusher, with pins 33 or grippers 37, alternately lifts and pushes the containers out of the stack onto the inclined platform 39 connecting the loading tray with the loading conveyor (Fig. 21). When the drum rotates around its axis by 180 degrees clockwise or counterclockwise, its inner surface "looks" at the loading conveyor, and the outer surface faces the entrance to the loading tray. This position of the drum prevents the next stack of containers from reaching the slot of the loading tray until all the cups from the previous stack of containers have been issued one by one onto the loading conveyor. The drums are driven by electric drives with a belt transmission.

[0086] The platform 39 connecting the loading tray with the loading conveyor is located above the container unloading conveyor and can be provided with a guide pin 40 for the container when it is moved onto the conveyor. The pin 40 is located perpendicularly relative to the loading conveyor and above it with the possibility of moving the container along the conveyor under the pin. The pin 40 from the extreme - first, loading tray performs the function of a limiter of movement beyond the loading conveyor. In this case, the second guide pin 40 from the adjacent - second - loading tray performs the role of a "vibration damper" for the container when it is pushed out of the first loading tray onto the conveyor. The diagram of the movement of the container from the loading tray to the loading conveyor is shown in Fig. 21.

[0087] After unloading the container from the incubation chamber 1, the container moves along the unloading conveyor 18 to the unloading box 41 (Fig. 22), which consists of cells or sections connected to the container unloading trays 24. The cells are the receiving part of the container unloading tray. The container unloading trays can have a configuration similar to the container loading trays 23, a cassette 42 can be installed in each tray, providing convenience when carrying a batch of containers. Each cell contains a base 50 located above the unloading conveyor 18, side walls 51 and a roof, and is equipped with a means for vertical movement of the container - an elevator 44 (Fig. 22, 24), wherein the base of the cell is made with an opening for free movement of the elevator with the container through it in the vertical direction. Elevator 44 (Fig. 22, 24) is equipped with platforms for placing containers, and in its initial position is located no higher than the level of the unloading conveyor.Each cell is also provided with stoppers 43 (Fig. 24), made similar to stoppers 22 and placed in the initial position under conveyor 18 or at its level. Stoppers 43 in one of the embodiments of the invention can be fixed on the platform of elevator 44, as shown in Fig. 24. The cells are provided with optical sensors 61 for the presence of a container on conveyor 18, rotary flaps 45 fixed on the side walls of the cells, allowing the container to pass when elevator 44 moves upward and blocking the reverse movement of the container, a horizontal pusher 47 for stacking stacks of containers in tray 24. The unloading tray contains optical sensors 62 for filling the stack and tray.

[0088] The elevator 44 may have various design implementations. In one embodiment, the elevator 44 comprises a bracket on which a platform for placing a container is placed, equipped with a sensor for the presence of a container on the elevator, guides (vertically oriented), a lifting mechanism in the form of a stepper motor equipped with a belt transmission for moving the bracket along the guides, sensors 64 for the upper and lower position of the container on the elevator (limit switches), with the help of which the control and management of the movement of the container in the vertical direction in the cell of the container unloading box is carried out.In another embodiment, the means for moving containers in the vertical direction (elevator) comprises a bracket equipped with a rotary table for placing a container with a container presence sensor, guides (vertically oriented), a lifting mechanism in the form of a stepper electric motor equipped with a belt drive for moving the bracket along the guides, a mechanism for rotating the rotary table, made in the form of a stepper electric motor placed in its cylindrical housing, which is secured to the bracket under the rotary table, sensors for the upper and lower position of the container on the elevator (limit switches), as well as a sensor for the extended position of stoppers combined with the elevator table (if any).

[0089] When moving along the unloading conveyor, the container, having reached the extended stoppers 46, stops, since the distance between the stoppers is less than the size of the container. The container presence sensor 61 located between the stoppers generates a signal to stop the conveyor and lift the container by the elevator into a stack formed in the cell of the box 41 for unloading containers. The rotary flaps 45 of the cell of the unloading box 41 are plates fixed on the opposite side walls 51 of the cell of the box 41 with the possibility of rotation around the horizontal axis 46 of the plate by an angle of 90 degrees, while in the initial position (without a container) the flaps are located in a horizontal plane above the conveyor, for example, on the base 50, and have a configuration that ensures the formation of a window, the size of which is less than the diameter of the container, while larger than the diameter of the elevator platform on which it is located.In a preferred embodiment of the invention, part of the rotary flaps overlap part of the opening of the base 50 of the cell, ensuring a concentric arrangement of the opening of the base 50 and the window formed by the flaps 45. Such an embodiment of the rotary flaps 45 ensures movement of the container through the said window from the extreme lower position to the extreme upper position using the elevator 44, wherein the flaps "open" when they are rotated from the horizontal position to the upper vertical position when exposed to the container walls. After the container reaches a given height - the extreme upper position - the flaps "close", occupying the initial horizontal position, thereby forming a support platform on which the container is placed when the elevator moves from the extreme upper position to the extreme lower position. Thus, the container is raised by the elevator above the flaps and can no longer fall below the flaps.The stack of containers is formed by alternate vertical movement of containers, where each subsequent container is “built into” the stack from below with simultaneous upward movement of the containers already placed on the flaps. Thus, the stack is formed by one container. The horizontal pusher 47 (Fig. 23) is a gate with a profile close to the profile of the container, moving progressively in a horizontal plane along guides located along the side walls of the box cell, and pushing the stack of containers out of the box cell into the corresponding unloading tray. Cassettes 42 for receiving used containers can be installed in the trays 24. The trays can be equipped with inductive sensors 63 for the presence of cassettes 42. The elevator 44 and the horizontal pusher 47 have their own electric drives 48 and 49 and end position sensors 64. The use of one or another tray is determined by the operating algorithms of the incubation system.

[0090] Block 16, located in the incubation chamber, contains two platforms for placing containers or two conveyors - loading and unloading containers, located in the projection of the incubation chamber window 9 (Fig. 8), one of which is intended for the loaded container, the second - for placing the unloaded container of the incubation chamber, wherein each of the platforms is equipped with a means for vertical movement of containers (elevators), which can be made by analogy with the elevators of the unloading box (Fig. 24) with electric drives and a screw transmission in the scanning zone, a means for rotating the container in the field of view of the scanner for its identification. The container from the external block 15 moves into the incubation chamber along the conveyor through the window 9 of chamber 1, equipped with an airlock 12 having 2 independent flaps 14, driven by their own electric drives 13 and opening in response to signals from sensors 61 of the presence (availability) of the container in front of the airlock 12.In the incubation chamber 1, from the airlock 12 to the elevator 54 intended for loading, and from the elevator 54 intended for unloading, to the airlock 12, the container is transported by independent conveyors (transporters) 52 and 53, moving in opposite directions and driven by independent electric drives. On the inside of the airlock 12, a platform is fixed for mounting scanners 55 (Fig. 8), which are part of the sample identification module (scanning module 3).

[0091] The sample identification module (scanning module) 3 may have various design implementations and in one of the embodiments includes at least two barcode scanners 55 located on the inside of the gateway 12 of the incubation chamber 1, fixed on a bracket or platform connected to the base of the internal conveyor from the gateway to the elevator in the incubation chamber, and means for illuminating the scanned area fixed on the bracket or platform. The means for illuminating may be made in the form of LED lamps. Each container with the sample is pre-marked, for example, using a barcode. The scanner 55 is located with the possibility of identifying the container with the sample during loading and unloading by reading and decoding this code. In an alternative embodiment, the incubation system may be equipped with a radio tag reading system (RFID or NFC).

[0092] The module for generating digital images of samples (photography module) 4 (Figs. 3 - 5) can have different design implementation and in one of the embodiments includes a container movement unit 59 and a digital image formation unit 60 (digital optical unit). In this case, the container movement unit 59 in this module can be placed in the working volume of the incubation chamber, and the digital optical unit 60 - in a separate section of the incubation chamber or a separate housing, which is adjacent to the incubation chamber 1 from the outside and communicates with the working volume of the incubation chamber through a corresponding window (upper window 10 and lower window 11 for communication with module 4). Thus, the container with the sample can be moved from the working volume of the chamber 1 with the help of unit 59 into the digital optical unit 60. Containers for samples are fed into the digital optical unit 60 through the mentioned window 10 or 11.The digital optical unit comprises a digital camera, two light sources or lamps arranged with the ability to provide uniform illumination of the biological sample placed in the container. The lamps are made with diffusers of cylindrical, conical, parabolic or spherical shape, which allows directing light onto the container with the sample and the digital camera installed in the upper part of the digital unit housing. The camera can be focused either manually or using a separate electric drive. The module for moving containers in the working volume of the incubation chamber 5 (Fig. 4, 5) can have different design implementations and in one of the embodiments includes two 3-coordinate manipulators 7, which are located in the chamber one above the other with the ability to service its own zone with each manipulator - the upper and lower, respectively.In this case, the upper manipulator ensures the movement of containers between the container loading and unloading window 10, the upper photography module and the corresponding (upper) cells of the incubation chamber. The lower manipulator ensures the movement of containers between the container loading and unloading window 11, the lower photography module and the corresponding (lower) cells of the incubation chamber. The movement of the manipulators in module 5 can be implemented independently of each other in accordance with the control programs. The manipulator gripper has a head, shaped jaws (clamps) with pads repeating the shape of the outer surface of the container, while the gripper head is made with the possibility of rotation around the horizontal axis to ensure a change in the position of the container when taking from the shelf / installing on the shelf (turning over the container).This allows samples placed in containers to be photographed in their normal position and stored with the lid down to minimize condensation getting on the sample.

[0093] Since the manipulators mechanically have the ability to move to the same point in space (in the working volume) of the incubation chamber, a set of software and hardware measures to eliminate their collision in the "red zone" is implemented in the incubation system. For this purpose, sensors for continuous control of the position of the capture coordinates of each manipulator, located on the vertical axis of the servo drive, generate a continuous signal received in the control software. After this, the control unit calculates and forms the coordinates to which the second (other) manipulator can move, and transmits the corresponding signal to the first manipulator for it to execute a command to move it to an acceptable (safe) place in the working volume of the chamber or to stop to avoid a collision.For example, when one of the manipulators is in the container loading window area, a permitting signal is generated for the second manipulator to move to the digital image formation module area, while a prohibiting signal is generated for moving to the loading window area. In addition, the vertical axis servo drive of each manipulator has an inductive sensor for the presence of a moving part in the danger zone ("red zone"). The signal from the said sensors from each manipulator is also transmitted to the protection unit of control unit 6, which generates a signal to stop the servo drive upon the operation of these sensors.

[0094] The system control unit 6 (Fig. 1) is a hardware and software complex, includes a local storage for software required to control system elements, and an independent local storage for photographs. The control unit may contain a microprocessor and a set of control boards or microcontrollers that control the system functions and ensure operation according to a specified algorithm of the incubation chamber, the module for loading and unloading containers with samples, the sample identification module (scanners), modules for forming a digital image (photography modules) of samples, manipulators of the module for moving containers in the working volume of the chamber. The control unit consists of power supplies, voltage converters, circuit breakers, stepper motor control boards, DC motor control boards, control boards for lamps, heaters and other equipment of the incubation chamber.The elements of the system control unit are located under the front panels of the incubation chamber or loading / unloading unit. The control unit elements can be arranged on special panels (shields) or DIN rails. The control unit elements are isolated from the internal volume of the incubation chamber by the walls of the incubation chamber body, and from external influences - by the front panels.

[0095] The system for incubation and digital imaging of biological samples operates as follows.

[0096] From loading trays 23, containers are moved one by one to conveyor belt 17. Containers fed through the priority loading tray generate a signal on the priority container presence sensor, after which the incubation system software ensures the priority transportation of the container to incubation chamber 1.

[0097] The container, leaving the conveyor belt 17, is fed through the gateway 12 into the incubation chamber 1, where the barcode scanner 55 reads the barcode on the receiving elevator 54 to identify the container and compares its number with the incubation program in the incubation system database. After identifying the container, the three-coordinate manipulator grasps the container and moves it to the corresponding cell of the incubation chamber specified by the control program. The movement is performed along three coordinates using the vertical axis servo drive, the rotary table and the horizontal axis drive of the three-coordinate manipulator. During incubation, it is necessary to periodically obtain photographs of the container contents, for which the three-coordinate manipulator moves the container to the corresponding - upper 57 or lower 58 - photography module 4.While the container with the sample is being photographed, the receiving elevator accepts the next container, after the photographing cycle for the previous container is completed, the rotary disk of the photography module swaps the container, and the new container is moved to the basket of the photography module, and the container that has left the photography module 4 is transported by a three-coordinate manipulator to the next position in accordance with the specified program for studying biological samples. After the sample incubation cycle is completed, the container is transported by the manipulator to the unloading elevator 54, identified by the barcode scanner 55, and, having passed through the gateway 12, leaves the incubation chamber 1, moves to the unloading conveyor belt 18 and is fed to one of the issuing (unloading) trays 24, after which it can be disposed of or sent for additional study.

[0098] An example of a specific implementation of the invention.

[0099] A model of the system was manufactured, in which the incubation chamber had dimensions providing a capacity of up to 720 Petri dishes. Two three-coordinate manipulators were mounted in a mirror image in the chamber, as shown in Fig. 5, one of which was fixed on the roof of the chamber, the second - on the bottom of the chamber. Each manipulator is equipped with a gripper and a 3-coordinate drive. In the middle part of the front wall of the chamber, a window for loading and unloading containers with elevators consisting of stepper electric motors and screw gears and barcode scanners for identifying containers was made. A photography module equipped with a Daheng Imaging digital camera with a resolution of 25 MP was installed in the model. An external block of the module for loading and unloading containers with samples was installed outside the incubation chamber, made as shown in Figs. 9 - 24, containing a loading conveyor, an unloading conveyor, two loading trays and four unloading trays for containers.The results of the tests of the declared system demonstrated a higher speed of servicing containers in a stream mode during their loading and unloading into / from the incubation chamber, thereby contributing to an increase in the productivity of the incubation chamber: the frequency of issuing containers from the loading module is up to 6 pcs. / min compared to 3-4 pcs. / min for the prototype; the time of transportation and stacking of the container in the most remote cell of the unloading box is no more than 10 seconds (comparable to the prototype). Test trials of the loading and unloading module demonstrated the ease of its maintenance. During the test trials, no damage to the containers with samples was observed during loading and unloading.

Claims

CLAUSE OF THE INVENTION 1. A module for loading and unloading containers for an incubation chamber for biological samples, comprising an external unit located on the outside of the incubation chamber, including a container loading conveyor into the incubation chamber, designed to move containers from a loading tray into the incubation chamber, and a container unloading conveyor, designed to move containers from the incubation chamber to an unloading tray; at least one container loading tray; at least two container unloading trays, each of which is provided with a receiving cell located above the unloading conveyor, wherein the receiving cell is provided with a means for vertically moving the container in the form of an elevator, stoppers configured to stop the container on the conveyor, a means for forming a stack of containers, a means for moving the formed stack of containers to the unloading tray; means for moving containers from the loading tray to the loading conveyor;a set of sensors, characterized in that the external unit is equipped with a receiving box located above the container unloading conveyor, wherein the receiving cells in the box are formed by its transverse partitions, the stoppers of the receiving cell are fixed on the elevator platform, and the loading conveyor and the unloading conveyor are located at different levels in height, ensuring the possibility of placing the drive of the means for moving the formed stack of containers from the receiving cell to the unloading tray under the loading conveyor.

2. The module according to item 1, characterized in that the loading trays and unloading trays of containers are located on the same working surface.

3. The module according to item 1, characterized in that the loading and unloading conveyors are designed with the ability to move in opposite directions, are equipped with independent electric drives, stoppers for stopping the container on the conveyor in a given spatial position, and optical sensors for the presence of containers.

4. The module according to item 1, characterized in that the stoppers are made in the form of retractable pins driven by an electromagnetic drive.

5. The module according to item 1, characterized in that the elevator of the receiving cell is equipped with a container presence sensor located between the stoppers.

6. The module according to item 1, characterized in that the conveyors are equipped with rotary flaps designed with the possibility of changing the trajectory of movement of the container when the flaps are rotated.

7. The module according to item 1, characterized in that the loading trays are removable or are designed with the possibility of placing removable portable cassettes in them for receiving containers with samples and moving the formed stack of containers by means of movement from the receiving cell directly into the cassettes, wherein the trays are equipped with cassette presence sensors and cassette filling sensors.

8. The module according to item 1, characterized in that the loading trays are provided with an end wall secured on the side of the loading conveyor, wherein the end wall is located with an indentation from the base to form a gap for moving the lower container from the stack through it onto the conveyor.

9. The module according to item 1, characterized in that the loading trays are equipped with optical sensors for the presence of containers, located on the input and output sides of the tray.

10. The module according to item 1, characterized in that the loading trays are equipped with a means for alternately dispensing containers from the loading trays onto the loading conveyor, made in the form of a chain conveyor with two pairs of grippers, where one pair of grippers is intended for pushing the container onto the loading conveyor, and the second is for fixing the container from the next stack from premature dispensing onto the conveyor.

11. The module according to item 1, characterized in that the loading trays are equipped with a means for alternately dispensing containers from the loading trays onto the loading conveyor, made in the form of a pusher, which is a rectangular plate secured under the base of the loading tray with the possibility of reciprocating movement, and equipped with vertical pins located with the possibility of pushing the container out of the tray onto the loading conveyor, wherein the base of the container is equipped with longitudinal grooves or slots in the projection of the movement of the pusher pins.

12. The module according to item 1, characterized in that the loading tray is equipped with a rotating drum made in the form of a semi-cylinder with the ability to change position when turning 180 degrees, wherein one of the positions of the drum, in which its outer convex surface is oriented toward the loading conveyor, is intended for receiving a stack of containers, and the other position of the drum - when turning 180 degrees, serves as a dividing partition between the stack of containers placed in it and the adjacent stack.

13. The module according to item 1, characterized in that the receiving cells of the containers are equipped with rotary flaps that allow the container to pass through when it is moved by the elevator into the receiving cell and block the reverse movement of the container.

14. The module according to claim 13, characterized in that the rotary flaps of the receiving cell are plates fixed on opposite walls of the receiving cell with the ability to rotate around the horizontal axis of the plate at an angle of 90 degrees, while in the initial position - without a container, the flaps are located in a horizontal plane above the conveyor, and have a configuration that ensures the formation of a "window" the size of which is smaller than the diameter of the container, while larger than the diameter of the elevator platform on which it is located, ensuring the movement of the container through the said window from the lower position to the upper one with the help of the elevator, while the flaps "open" when they are rotated from the horizontal position to the upper vertical position when exposed to the walls of the container, and after the container reaches a given height, at which the flaps "close", occupying the initial horizontal position, thereby forming a support platform,on which the container is placed when the elevator moves from the highest position to the lowest position.

15. The module according to item 1, characterized in that the means for moving the formed stack of containers from the receiving cell to the unloading tray is a vertically located plate or gate with a profile close to the profile of the container, designed with the possibility of reciprocating movement in the horizontal plane of the receiving cell.

16. The module according to item 1, characterized in that the drives of the container loading and unloading module are electromechanical.

17. The module according to item 1, characterized in that it additionally contains an internal unit located in the working volume of the incubation chamber, designed with the possibility of coupling with a unit located on the outside of the incubation chamber through a window for loading and unloading containers.

18. The module according to item 17, characterized in that the internal block contains two platforms for placing containers, or two conveyors located in the projection of the incubation chamber window, one of which is intended for the container loaded into the chamber, the second - for the unloaded container from the incubation chamber, wherein the platforms or conveyors are equipped with means for vertical movement of containers, made in the form of an elevator, and are connected to the corresponding conveyors for loading or unloading containers, located on the outside of the incubation chamber.

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