Tube automatic storage system and method

Abstract

A tube automatic storage system for storing tubes, the system including a frame and a storage rack, connected to frame, with a storage array of tube storage cavities, each tube storage cavity having an opening sized and shaped so as to receive in the tube storage cavity, through the opening, a tube stored in the tube storage cavity in a stable repeatable position, where the opening is configured for insitu automatic pick of the tube with a robot gripper, from each tube storage cavity, and / or place of the tube in each tube storage cavity, wherein the stored tube rests on a tube support in the opening and where the storage rack has a configuration with the tube storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

Description

Atty. Docket No. 1181P017280-WO (PCT)TUBE AUTOMATIC STORAGE SYSTEM AND METHODCROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application is an international application which claims priority from and the benefit of the United States Provisional Patent Application No. 63 / 730,317, filed on December 10, 2024, the disclosure of which is incorporated by reference herein in its entirety.BACKGROUND1. Field

[0002] The present disclosure generally relates to sample storage and retrieval systems and, more particularly, to the transfer and storage of samples.2. Brief Description of Related Developments

[0003] Generally, life science companies tend to have a variety of tubes or containers for use within their function, and variation is due to several manufacturers of said tube. The tubes may vary in size, shape, and volume and be uncapped or have caps such as screw top caps. Conventionally, a sample storage and retrieval system provides for handling of sample being placed in a storage compartment, which can be, for example, a refrigerating device for maintaining integrity of samples (e.g., cold storage or ambient condition environments). For efficient handling purposes, the samples are not handled individually but placed in so-called racks and the racks are transported by the sample storage and retrieval system 1000 transport. When processing theAtty. Docket No. 1181P017280-WO (PCT) samples, the samples are removed from the storage in storage tubes, transferred to tubes, and held temporarily for a dispositive action (sample prep, microcentrifuge action, sample precipitate collection, etc.). However, the common shape of common tubes (i.e., tapered, conical container bottom) militate against storage of tubes in storage trays / racks of automated storage and retrieval systems as grip and handling of the tubes with automation results in inconsistent grip between automation and the tubes. Automated handling equipment may remove the tubes from the temporary holds for transport between the holder and e.g., a microcentrifuge. An automated storage and retrieval system with storage trays / racks for storing tubes (or storing samples contained in tubes) and automatic pick / place of tubes is desired.BRIEF DESCRIPTION OF THE DRAWINGS

[0004] The foregoing aspects and other features of the present disclosure are explained in the following description, taken in connection with the accompanying drawings, wherein:

[0005] FIG. 1 is an exemplary illustration of a tube automatic storage system in accordance with the present disclosure;

[0006] FIGS. 2A and 2B are exemplary illustrations of tubes in accordance with the present disclosure;Atty. Docket No. 1181P017280-WO (PCT)

[0007] FIGS. 3A-3B are exemplary illustration of portions of the tube automatic storage system of FIG. 1 in accordance with the present disclosure;

[0008] FIGS. 4A-4D are exemplary illustration of portions of the tube automatic storage system of FIG. 1 in accordance with the present disclosure;

[0009] FIG. 5 is an exemplary illustration of a portion of the tube automatic storage system of FIG. 1 in accordance with the present disclosure;

[0010] FIG. 6 is an exemplary illustration of a portion of the tube automatic storage system of FIG. 1 in accordance with the present disclosure;

[0011] FIG. 7 is an exemplary illustration of a portion of the tube automatic storage system of FIG. 1 in accordance with the present disclosure;

[0012] FIG. 8 is an exemplary illustration of a portion of the tube automatic storage system of FIG. 1 in accordance with the present disclosure;

[0013] FIG. 9 is an exemplary illustration of a portion of the tube automatic storage system of FIG. 1 in accordance with the present disclosure;

[0014] FIG. 10 is an exemplary illustration of a portion of the tube automatic storage system of FIG. 1 in accordance with the present disclosure;Atty. Docket No. 1181P017280-WO (PCT)

[0015] FIG. 11 is an exemplary illustration of a portion of the tube automatic storage system of FIG. 1 in accordance with the present disclosure;

[0016] FIG. 12 is an exemplary illustration of a portion of the tube automatic storage system of FIG. 1 in accordance with the present disclosure;

[0017] FIG. 13 is an exemplary illustration of a method of operation of the tube automatic storage system in accordance with the present disclosure; and

[0018] FIG. 14 is an exemplary illustration of a method of operation of the tube automatic storage system in accordance with the present disclosure.DETAILED DESCRIPTION

[0019] The following detailed description is meant to assist the understanding of one skilled in the art, and is not intended in any way to unduly limit claims connected or related to the present disclosure.

[0020] The following detailed description references various figures, where like reference numbers refer to like components and features across various figures, whether specific figures are referenced, or not.Atty. Docket No. 1181P017280-WO (PCT)

[0021] The word “each” as used herein refers to a single object (i.e., the object) in the case of a single object or each object in the case of multiple objects. The words “a,” “an,” and “the” as used herein are inclusive of “at least one” and “one or more” so as not to limit the noun being referred to as being in its “singular” form.

[0022] FIG. 1 is a schematic illustration of a tube automatic storage system 100 for storing tubes 150 adapted for processing samples in, e.g., a microcentrifuge station 1099 (it is noted that the term tube is used for descriptive purposes but may also be any container with similar configurations as a microcentrifuge tube, larger centrifuge tubes, blood sample tubes, or any container of any type suited for processing). The disclosed embodiment provides for storing of the tubes 150 in stable repeatable positions and insitu automatic pick / place of the tubes 150 in the tube automatic storage system 100 for dispositive actions (sample prep, microcentrifuge action, sample precipitate collection, etc.). Although the aspects of the disclosed embodiment will be described with reference to the drawings, it should be understood that the aspects of the disclosed embodiment can be embodied in many forms. In addition, any suitable size, shape or type of elements or materials could be used.

[0023] The tube automatic storage system 100 for transport of tubes 150 within, to or from, a sample storage and retrieval system 1000 is illustrated and described. The sample storage and retrieval system 1000 is disposed in communication with the microcentrifuge station 1099 coupled to each other by a transport system (e.g., robot picker 300 described below or any other suitable transport system of the sample storage and retrieval system 1000, or in combination with otherAtty. Docket No. 1181P017280-WO (PCT) automated or manual transports exterior the sample storage and retrieval system 1000). Alternatively, the sample storage and retrieval system 1000 may be integrated to the microcentrifuge station 1099. In any event, the tubes 150 centrifuged by the microcentrifuge station 1099 are the vessels stored in the sample storage and retrieval system 1000. Accordingly, the storage vessel, and desirably the sample therein, may go direct from storage (e.g., cold storage distinct from tube holding station for dispositive action) into the microcentrifuge and vice versa. The tube automatic storage system 100 includes any suitable frame 101, and a storage rack 120 and robot picker 300, connected to the frame 101. The storage rack 120 has a storage array of tube storage cavities 200 A- 200n (generally referred to as tube storage cavity / cavities 200n), each tube storage cavity 200n is sized and shaped so as to receive, in the tube storage cavity 200n, a respective tube 150. The tubes 150 are stored in the tube storage cavities 200n in stable repeatable positions. The tube storage cavities 200n have a configuration that provides for insitu automatic pick of the tube 150 with the robot picker 300, from each tube storage cavity 200n, and / or place of the tube 150 in each tube storage cavity 200n. As will be described herein, the stored tubes 150 are “suspended” and rest on a tube support 250 of the tube storage cavity 200n that are arranged in at least one of a standard density storage array configuration (SBS) (as set forth by the Society for Laboratory Automation and Screening (SLAS)) and a higher density storage array configuration (HD) having a higher storage density than the standard density storage. In one aspect, the tube automatic storage system 100 may be disposed for use in an environment having any suitable temperature and environmental condition, such as, ambient condition, room temperature, +4°C temperature environment, cold environment (e.g., between -20 to -80°C.)Atty. Docket No. 1181P017280-WO (PCT) and / or ultra-cold environment (e.g., below -80°C) and with labware stored at similar temperatures. It is noted that the tubes 150 described herein may be any suitable tubes having any suitable size, shape, and configuration.

[0024] Referring to FIGS. 1 and 2A, each of the tubes 150 include a sample holder 151 and a cap 152, which may be constructed of any suitable materials. In one aspect, the sample holder 151 and cap 152 may be constructed of any suitable plastic, glass filled plastic composite or any other suitable material. The sample holder 151 and cap 152 may be constructed from the same material or different material from one another. The sample holder 151 may include at least one peripheral wall 151W extending longitudinally along a central or longitudinal axis (also referred to as axis of rotation) CX where the at least one peripheral wall 151W forms an opening 156 and an interior cavity 151C communicably connected to the opening 156. The interior cavity extending a distance Di in tubular form before tapering into conical form a distance D2 to the bottom 155. The tubes 150 may also include a skirt 157 to shield the sample holder 151. Here, the tube 150 is illustrated as having a cylindrical or test tube configuration but in other aspects, the tube 150 may have any suitable configuration with any suitable number of internal cavities and / or peripheral walls. The tube 150 further includes a step feature 199 available for grip to interface with the robot picker 300 as will be described further below. In one aspect, the step feature 199 is a tube collar of the tube 150 which includes an undersurface 199S engaged by the tube support 250, where the undersurface 199S is a bottom surface of the tube collar. In another aspect, the step feature 199 is any suitable feature of the tube 150, such as tabs or projections, O-rings. the cap 152, etc. of theAtty. Docket No. 1181P017280-WO (PCT) tube 150, which includes an undersurface engaged by the tube support 250, where the undersurface is a bottom surface of the feature. The cap 152 may have any suitable configuration for engaging the at least one peripheral wall 151W and closing the opening 156. In one aspect, the cap 152 may interface with the at least one peripheral wall 151W in any suitable manner such that the cap 152 is retained on the at least one peripheral wall 151W through a frictional engagement, a threaded engagement (e.g., male or female threading), a snap engagement, a magnetic engagement or in any other suitable manner. It should be understood that while the aspect in FIG. 2A is illustrated as a cap 152 that is threaded over the top of the at least one peripheral wall 151W (e.g. male tube interface / female cap interface), in other aspects, the tubes may have any suitable size (e.g., ,5mL, ImL, 2mL, etc.), shape, and configuration and the at least one peripheral wall may engage the cap 152 in any suitable manner, such as via the engagements noted above (see, e.g., examples such as those illustrated in FIG. 2B, where tube 150A is substantially similar to tube 150 however does not include a skirt, tube 150B is substantially similar to tube 150A but includes a longer tubular portion Di, tube 150C is substantially similar to tube 150B but includes a skirt, tube 150D is substantially similar to tube 150 however has a much longer tubular portion Di and a much shallower conical portion D2, and tube 150E is substantially similar to tube 150D but includes a skirt; where each tube ends with a conical bottom 155).

[0025] Referring to FIGS. 3A-3B, as noted above, the storage rack 120 includes a frame 120F having an upper surface plane 120P (FIG. 4A) and a bottom plane 120B (FIG. 5) with a storage array of tube storage cavities 200A-200n (generally referred to as tube storage cavity / cavitiesAtty. Docket No. 1181P017280-WO (PCT)200n) disposed within the frame 120F and extending between the upper surface plane 120P and bottom plane 120B. In one aspect, the tube storage cavities 200n are disposed so as to be arranged in, e.g., an orthogonal arrangement (FIG. 3B) (e.g. to provide an orthogonal array of tubes 150); while in other aspects, the tube storage cavities 200n are disposed and arranged in any other suitable arrangement (such as honeycombed). The arrangement of the tube storage cavities 200n may be in a standard density or a close packed higher density arrangement as previously described.

[0026] Each tube storage cavity 200 includes an upper opening 210, a bottom opening 220 (FIG. 5), a receptacle chamber 230 that communicates with the top and bottom openings 210. 220, and at least one tube support 250. The upper opening 210 intersects and opens the upper plane 120P of the frame 120F and is sized and shaped so as to receive the tube 150, in the tube storage cavity 200n, through the upper plane 120P into the upper opening 210. The upper opening 210 is configured for insitu automatic pick of the tube 150 with the robot picker 300, from each tube storage cavity 200n, and / or place of the tube 150 in each tube storage cavity 200n as will be described below. The upper opening 210 has an aperture 212 in the upper plane I 20P having a predetermined width W (FIG. 4B) through which the tubes 150 pass in order to enter / exit a respective receptacle chamber 230 of the tube storage cavity 200n. The upper opening 210 includes an edge 205 that bounds a top 231 of the receptacle chamber 230 and a bottom 211 of the upper opening 210. In one aspect, the edge 205 is chamfered to provide a ramped, slanted, or angled surface for guiding the tubes 150 from the upper opening 210 into the receptacle chamber 230.Atty. Docket No. 1181P017280-WO (PCT)

[0027] The receptacle chamber 230 of a respective tube storage cavity 200n is configured to communicate with the upper opening 210 and the bottom opening 220. The receptacle chamber 230 is configured so as to substantially surround and house the stored tube 150 therein. As noted above, the edge 205 of the tube storage cavity 200n bounds a top 231 of the receptacle chamber 230. The bottom opening 220 is disposed to surround a bottom 155 of the stored tube 150. In one aspect, the bottom opening 220 may include a counterbore 221 or countersink profile forming an increased clearance gap CG with the tube 150 relative to a gap between tube 150 and bore of the receptacle chamber 230 of the tube storage cavity 200n. The clearance gap CG allows “smooth” extraction of the tube 150 during pick as interference is substantially eliminated between disturbances or damage of the tube bottom 155 and perimeter wall of the bottom opening 220 (bottom damage may exist as tube is placed and removed at dispositive stations).

[0028] Referring to FIGS. 3A and 4B-4C, each tube storage cavity 200n includes at least one tube support 250. The at least one tube support 250 is disposed so as to be located above the edge 205 of the tube storage cavity 200n and around the aperture 212 of the upper opening 210. The at least one tube support 250 in the upper opening 210 is provided for at least the step feature 199 of the stored tubes 150 to rest on so as to “suspend”, lift, support, or raise the tubes 150 within the upper opening 210 of the storage rack 120. For example, the tube support 250 may have any suitable configuration but are illustrated as being castellated or crenellated projections including a distal end 250A with at least one chamfered / tapered surface 251 and a proximal end 250B, projecting from the frame 120F (above the edge 205) relative to a respective tube storage cavity 200n. AsAtty. Docket No. 1181P017280-WO (PCT) noted, the at least one tube support 250 is configured to “hold” the stored tube 150 disposed in the tube storage cavity 200n. The at least one tube support 250 provides a stable repeatable position for the tube 150 to be stored. In one aspect, the frame 120F and the one or more tube support 250 are formed as a one piece unitary member with the tube support 250 projecting from the edge 205 toward the upper surface plane 120P. In one aspect, the frame 120F and the tube support 250 are formed as at least two pieces, coupled together to form the storage rack 120, where the one or more tube support 250 couple to the frame 120F such as, snap on, screw on, friction insert, etc.

[0029] The at least one tube support 250 projects away from the edge 205 of the upper opening 210 toward the upper surface plane 120P and engagement between the step feature 199 (collar) and chamfer 251 with the tube 150 seated in stable repeatable position defines a standoff space between the step feature 199 on the tube 150 (disposed for engagement with the robot gripper 310) and the edge 205 of the upper opening 210. The chamfered surface 251 defines the tube seat surface (where the step feature 199 seats) and a ramp surface (which is sloped from a top 254 to a sidewall 253) of the at least one tube support 250 for guiding tube entry in and exit from the tube storage cavity 200n.

[0030] As will be described below, the upper opening 210 and edge chamfer 251 define a positional variance cone PT (FIG. 4D) within which the tubes 150 can be guided into the tube storage cavity 200n. The at least one tube support 250 disposed around the aperture 212 are spaced apart a distance D, which forms accessways 255 for robot grip fingers 311. The robot grip fingers 311 extend between the at least one tube support 250 into the accessways 255 to capture and releaseAtty. Docket No. 1181P017280-WO (PCT) the stored tube 150 in the tube storage cavity 200n. For example, as illustrated in FIG. 3B, a tube support 250 is disposed between each adjacent tube storage cavity 200n. Each tube storage cavity 200n is shown for exemplary purposes with four tube supports 250 equally spaced around the tube storage cavity 200n (each tube storage cavity 200n shares a common tube support 250 with an adjacent juxtaposed tube storage cavity 200n on the opposite sides of the common tube support 250). In alternative aspects, may be more or less (to provide grip with at least two fingers, where each finger has at least one point of contact for stable underpick, i.e., gripping from under and contacting the bottommost surface). For example, in one aspect, the robot picker 300 may have two fingers 311 each with two points of contact on the engaged tube. In other aspects, the robot picker 300 may have three fingers each with one point of contact on the engaged tube. A space S is formed in an area diagonal to the tube storage cavities 200n and between tube supports 250 of adjacent tube storage cavities 200n. This space S allows for the robot gripper fingers 311 access the accessways 255 to grab the tube 150 under the step feature (collar) 199 (“underpick”) (i.e., the robot finger is vertically extended along the Z-axis to access the space S then moved in the x-y directions to access the accessways 255 in order to underpick the tube 150 under the step feature 199). As noted above, the at least one tube support 250 defines the standoff space that forms a height gap G between the step feature 199 and edge 205 of the tube storage cavity 200n so that the robot gripper 310 has access to grip the tube 150 via engagement of the robot gripper 310 under the step feature 199 so that the robot gripper 310 underpicks the tube 150, at least in part.Atty. Docket No. 1181P017280-WO (PCT)

[0031] As described previously, the storage rack 120 has a configuration with the tube storage cavities 200n arranged in at least one of the standard density storage array configuration (SBS) and the higher density storage array configuration (HD). The standard density storage array (SBS) has openings of the tube storage cavities 200n arrayed in a SBS standard base size defining the standard density storage.

[0032] As seen in FIGS. 4C, the at least one crenellation projection 250’, of the higher density storage array configuration (HD), is chamfered or tapered 251’ on opposing sides, forming the tube seat surface on opposing sides of each of the at least one crenellation projection, disposed so that a common crenellation projection 250 supports juxtaposed tubes 150 in adjacent juxtaposed tube storage cavities 200n on the opposite sides of the common crenellation projection 250’ (e.g., in HD configuration, juxtaposed cavities share one or more crenellation). The at least one crenellation projection, of the higher density storage array configuration (HD), is common to adjacent juxtaposed upper openings 210 of adjacent juxtaposed tube storage cavities 200n. Generally, there is a positional variance area (cone) PT (FIG. 4D) between juxtaposing tube storage cavities 200n, where a tube 150 placed outside of this tolerance may not be properly seated in the tube storage cavities 200n. As may be realized, the positional tolerance PT of the standard density rack is greater than the positional tolerance PT of the high density rack as the tubes 150 are more densely stored.

[0033] Referring now to FIGS. 8-12, a robot picker 300 is illustrated. The robot picker 300 is connected to the frame 101 and includes the robot gripper 310 actuated to automatically grip andAtty. Docket No. 1181P017280-WO (PCT) hold the tube 150 for transport with the robot picker 300. Generally, the robot picker 300 is configured to pick and place (e.g. insert and remove) tubes 150 from and to the storage rack 120. The upper opening 210 is configured for insitu automatic pick of the tube 150 with the robot gripper 310, from each tube storage cavity 200«, and / or place of the tube 150 in each tube storage cavity 200».

[0034] The robot gripper 310 is configured to move relative to the storage rack 120 with at least one degree of freedom (DOF). The robot picker 300 may include any suitable frame 301 and a robot gripper 310 movably connected to the frame 301, having a drive unit 302 and more than one robot grip finger 311. For example, the drive unit 302 may be in the form of a gantry, such as an automated rail assembly (but in other aspects may be any suitable robot such as an articulated arm, etc.), which provides lateral and / or vertical movement of the robot picker 300 along the assembly in at least one DOF (X, Y, Z-axes, and / or grip) for transporting the tubes 150 to and from the storage rack 120. For example, the robot picker 300 may include three rail subassemblies, where each of the rail subassemblies controls movement of the robot gripper 310 in a respective x, y and z direction (i.e., the robot gripper 310 moves in the x direction along one rail, and along the y direction along another rail, enabling the robot picker 300 to move above the storage rack 120 to various tube storage cavities 200« . The drive unit 302 includes a vertical rail / driver having one or more stepper or servo motors configured to raise and lower the robot gripper 310 along the Z-axis to a distance sufficient to reach the tube storage cavities 200 / 7. The motors of the drive unit 302 may include encoders to determine a location of the robot gripper 310 and for auto-teaching of theAtty. Docket No. 1181P017280-WO (PCT) robot picker locations of the tube storage cavities 200 / 7, where the robot picker learns location through manual input or semi-automatic or full automatic input with sensors, cameras, and other input devices to observe the environment. As noted above, each tube storage cavity 200n has a positional variance cone PT (FIG. 4D) within which the tubes 150 can be guided into the tube storage cavity 200n. The encoders are provided to position the robot picker 300 where the spaces S are on the storage rack 120 and the tolerance PT in order for the robot picker 300 to automatically pick and place tubes 150 without contacting the juxtaposed tube 150.

[0035] The tube automatic storage system 100 may include any suitable controller 170 for controlling the operations of the robot picker 300 and the overall operation of the tube automatic storage system 100 as described herein.

[0036] Still referring to FIGS. 8-12, and more particularly to FIGS. 9 and 10, the robot gripper 310 has more than one robot grip finger 311 to form a stable grip against the tube 150 gripped by the robot gripper 310. The more than one robot grip fingers 311 can be actuated to engage and secure the tube 150 by closing toward the center of the tube 150 and contacting various areas around the peripheral wall 151W and under the step feature 199 of the tube 150. The robot gripper 310 accesses each tube storage cavity 200n of the array and effects at least one of capture to pick and release to place the tube 150 in the tube storage cavity 200n with the storage rack 120 in, e.g., the standard density storage array configuration and with the storage rack in the higher storage density configuration. The pick and place is independent of a presence of an adjacent tube 150 in at least one of an adjacent tube storage cavity 200n. The more than one robot grip fingers 311 areAtty. Docket No. 1181P017280-WO (PCT) actuated between an open position and closed position to capture and release the tube 150. The robot grip fingers 311 are mounted in any suitable manner with any suitable fasteners such as with pins, fasteners, adhesives, clamps, magnets, quick-release mechanisms, screws, etc. The robot grip fingers 311 may be finished with a textured surface to increase friction between the tube 150 and the robot grip fingers 311 The surface may be texturized using any suitable method such as bead blasting, electrochemical (spark erosion), chemical erosion, etching or other types of texturizing methods. Each robot grip finger 311 is made from any suitable material (such as 304 stainless steel or similar) and has an interior face 312 and an exterior face 314. The interior face 312 may include a concaved surface so that the robot grip fingers 311 close around the tube 150 concentrically. The exterior face 314 has an exterior cam surface 315 arranged to cam adjacent stored tubes, so that with the robot gripper 310 in an open position and positioned to pick a target stored tube 150 interior the robot gripper 310, the cam surface 315 engages the adjacent stored tube and cams the adjacent stored tube in direction F (Fig. 12), away from the robot grip (the adjacent stored tube 150 being stored in a different tube cavity 200 / 1 outside the robot gripper 310). The cam surface 315 is located substantially opposite the projecting tab 313 and disposed so as to intervene between juxtaposed tubes with the robot gripper 310 positioned in pick / place position (FIG. 12 illustrates a finger with gripper positioned immediately above pick / place position, and FIG. 11 shows the finger 311 with grip in the pick / place position).

[0037] Each finger is sized and shaped so that in the closed position, each of the two or more fingers engage the tube and stably hold the tube with underpick engagement of a tube collar of theAtty. Docket No. 1181P017280-WO (PCT) engaged tube, the underpick engagement defining at least a at least one point contact engagement between each of the two or more fingers and engaged tube so that the gripper repeatedly and stably holds the engaged tube, with the at least one point contact engagement for each finger, at each tube capture with the robot gripper of the tube in each of the at least one storage cavity, and each tube capture is substantially decoupled of tube orientation, about an axis of rotation of the tube, relative to the gripper. Each robot grip finger 311 includes a projecting tab or step 313 located at the base of the robot grip fingers 311 that targets below the collar 199 or beneath the cap 152. The projecting tab 313 projects from the interior face 312 and defines an underpick surface that effects underpick engagement and at least one point contact with the tube collar 199 of the at least one point contact engagement between the fingers and engaged tube. The projecting tab 313 provides support when gripping the tube 150. The projecting tab 313 is orientated to project from the interior face 312 towards the tube 150 gripped by the robot gripper 310, the projecting tab 313 being configured so as to fit in a gap standoff space G (FIG. 3 A) between a step feature 199 of the stored tube 150 so that the robot gripper 310 picks the stored tube 150 via underpick of the stored tube 150. The one or more tube supports 250 are designed so that the robot grip fingers 311 fit within the space S (FIG. 3B) between the tube supports 250 to grab the tube 150 under the step feature 199 without need for lifting the tubes 150 from the proximal end of the tube (i.e., the bottom of the tube).

[0038] The gripper 310 may include an indicia reader to read indicia provided on the tube 150 in order to identify samples during pick. The gripper may include any other suitable sensorsAtty. Docket No. 1181P017280-WO (PCT) communicably coupled to the controller. For example, a camera to provide visual feedback of operation of the gripper pick / place of the tubes 150 in the storage rack 120.

[0039] Referring now to at least FIGS. 1 and 13, a method 1300 of operation for picking / placing of the tube 150 is described. The method including providing a storage rack 120, connected to a frame 101, with a storage array of tube storage cavities 200n, each tube storage cavity 200n having an opening 210 sized and shaped for receiving in the tube storage cavity 200n, through the opening 210, a tube 150 stored in the tube storage cavity 200n in a stable repeatable position (FIG. 13, Block 1301). Automatically gripping and holding, with a robot picker 300 connected to the frame 101 with a robot gripper 310, the tube 150 for transporting with the robot picker 300 moving relative to the storage rack with at least one DOF (FIG. 13, Block 1302), wherein the opening 210 is configured for insitu automatic picking of the tube 150 with the robot gripper 310, from each tube storage cavity 200n, and / or placing of the tube 150 in each tube storage cavity 200n, the stored tube 150 resting on a tube support 250 in the opening 210 (FIG. 13, Block 1303). The storage rack 120 has a configuration with the tube storage cavities 200n arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage (FIG. 13, Block 1304).

[0040] Referring now to at least FIGS. 1 and 14, a method 1400 of operation for picking / placing of the tube 150 is described. The method including providing a frame having at least one storage cavity connected to the frame, the at least one storage cavity being sized and shaped for storing a tube therein (FIG. 14, Block 1401). The method 1400 further including providing a robot pickerAtty. Docket No. 1181P017280-WO (PCT) connected to the frame and having a robot gripper for stably holding the tube (FIG. 14, Block 1402). The robot gripper move relative to the frame and transports the tube to and from the at least one storage cavity, wherein the robot gripper has two or more fingers that grip the tube gripped by the gripper, at least one of which is actuated between an open position and closed position for capturing and releasing the tube. The two or more fingers engage the tube and stably hold the tube with via underpick engagement of a tube collar of the engaged tube (FIG. 14, Block 1403), the underpick engagement defining at least a one point contact engagement between the fingers and engaged tube so that the gripper repeatedly and stably holds the engaged tube, with the at least one point contact engagement, at each tube capture with the robot gripper of the tube in each of the at least one storage cavity, and each tube capture is substantially decoupled of tube orientation, about an axis of rotation of the tube, relative to the gripper.

[0041] The robot picker 300 includes the robot gripper 310 for gripping the tube 150. The drive unit 302 includes the vertical drive configured to raise and lower the robot grip fingers 311 of the robot gripper 310 along the Z-axis into a respective one of the spaces S surrounding the tube storage cavities 200 / 7. When the robot grip fingers 311 are in the space S, the robot grip fingers 31 l(i.e., the projecting tab 313) are pivoted in a direction of closure the robot grip fingers 311 move together toward the tube 150 and thus the robot grip fingers 311 grip the tube 150 under the step feature 199. In order to grip the tube 150 under the step feature 199, the projecting tab 313 is positioned beneath the step feature 199 and lifted in order to contact the undersurface 199S and seat the tube 150 on the robot grip fingers 311. For gripping the tube 150, the drive unit 302 is provided. The drive unit 302 drives the robot grip fingers 311 in a movement in the direction ofAtty. Docket No. 1181P017280-WO (PCT) closure and the concentric compression of the robot grip fingers 311 around the tube 150 enables the tube 150 to be stably gripped. For releasing the tube 150 the drive unit 302 is moves the robot grip fingers 311 in an opposite direction, of opening and the tube 150 is released. The projecting tab 313 provides further stability by acting as a seating support when gripping the tube 150.

[0042] In accordance with the aspects of the disclosed embodiment a tube automatic storage system for storing tubes is provided. The system including a frame, and a storage rack, connected to frame, with a storage array of tube storage cavities, each tube storage cavity having an opening sized and shaped so as to receive in the tube storage cavity, through the opening, a tube stored in the tube storage cavity in a stable repeatable position, wherein the opening is configured for insitu automatic pick of the tube with a robot gripper, from each tube storage cavity, and / or place of the tube in each tube storage cavity, wherein the stored tube rests on a tube support in the opening, and wherein the storage rack has a configuration with the tube storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

[0043] In accordance with the aspects of the disclosed embodiment the standard density storage array has openings of the tube storage cavities arrayed in a SB S base size defining the standard density storage.

[0044] In accordance with the aspects of the disclosed embodiment the tube support has a configuration that holds the stored tube in the stable repeatable position that defines a standoffAtty. Docket No. 1181P017280-WO (PCT) space between a step feature on the tube disposed for engagement with the robot gripper and an edge of the tube storage cavity.

[0045] In accordance with the aspects of the disclosed embodiment the standoff space forms a gap between the step feature and edge of the tube storage cavity so that the robot gripper grips the tube via engagement of the robot gripper under the step feature so that the robot gripper underpicks the tube, at least in part.

[0046] In accordance with the aspects of the disclosed embodiment the tube storage cavity has a receptacle chamber that communicates with the opening, the receptacle chamber being configured so as to substantially surround and house the stored tube therein, and the edge of the cavity bounds a top of the receptacle chamber and a bottom of the opening, wherein tube supports in the opening are located above the edge of the tube storage cavity and disposed around an aperture of the opening.

[0047] In accordance with the aspects of the disclosed embodiment the tube supports form a general castellated or crenellated shape with crenellations projecting from the edge and surrounding the aperture of the opening.

[0048] In accordance with the aspects of the disclosed embodiment at least one of the crenellation projections has as chamfered or tapered top end defining a ramp surface guiding tube entry in and exit from the tube storage cavity and a tube seat surface on which the tube rests supported by theAtty. Docket No. 1181P017280-WO (PCT) tube support in the stable repeatable position, wherein the tube seat surface engages an undersurface of the step feature.

[0049] In accordance with the aspects of the disclosed embodiment the step feature is a tube collar or cap of the tube and the undersurface engaged by the tube seat surface is a bottom surface of the tube collar or cap.

[0050] In accordance with the aspects of the disclosed embodiment the at least one crenellation projection, of the higher density storage array configuration, is chamfered or tapered on opposing sides, forming the tube seat surface on opposing sides of each of the at least one crenellation projection, disposed so that a common crenellation projection supports juxtaposed tubes in adjacent juxtaposed tube storage cavities on the opposite sides of the common crenellation projection.

[0051] In accordance with the aspects of the disclosed embodiment the at least one crenellation projection, of the higher density storage array configuration, is common to adjacent juxtaposed openings of adjacent juxtaposed tube storage cavities.

[0052] In accordance with the aspects of the disclosed embodiment the crenellation projections of a common opening form acces sways for robot gripper fingers extending between the crenellation projections of the crenellated shape to capture and release the stored tube in the tube storage cavity.

[0053] In accordance with the aspects of the disclosed embodiment the tube storage cavity has a bottom opening disposed to surround a bottom of the stored tube, the bottom opening having aAtty. Docket No. 1181P017280-WO (PCT) counterbore or countersink profile forming an increased clearance gap with the tube relative to a gap between tube and bore of the tube storage cavity.

[0054] In accordance with the aspects of the disclosed embodiment a tube automatic storage system for storing tubes is provided. The system including a frame, a storage rack, connected to frame, with a storage array of tube storage cavities, each tube storage cavity having an opening sized and shaped so as to receive in the tube storage cavity, through the opening, a tube stored in the tube storage cavity in a stable repeatable position, and a robot picker connected to the frame with a robot gripper actuated to automatically grip and hold the tube for transport with the robot picker that is configured to move relative to the storage rack with at least one DOF, wherein the opening is configured for insitu automatic pick of the tube with the robot gripper, from each tube storage cavity, and / or place of the tube in each tube storage cavity, wherein the stored tube rests on a tube support in the opening, and wherein the storage rack has a configuration with the tube storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

[0055] In accordance with the aspects of the disclosed embodiment the robot gripper has more than one fingers to form a stable grip against the tube gripped by the robot gripper, and each finger has an interior face with a step orientated to project from the interior face towards the tube gripped by the gripper, the step being configured so as to fit in a gap standoff space between a step feature of the stored tube so that the robot gripper picks the stored tube via underpick of the stored tube.Atty. Docket No. 1181P017280-WO (PCT)

[0056] In accordance with the aspects of the disclosed embodiment the finger has an exterior face with an exterior cam surface arranged to cam outwards, so that with the robot gripper in an open position and positioned to pick a target stored tube interior the robot gripper, the cam surface engages as to cam outwards, away from the robot gripper, another stored tube stored in a different tube storage cavity outside the robot gripper.

[0057] In accordance with the aspects of the disclosed embodiment the standard density storage array has openings of the tube storage cavities arrayed in a SB S standard base size defining the standard density storage.

[0058] In accordance with the aspects of the disclosed embodiment the tube support has a configuration that holds the stored tube in the stable repeatable position that defines a standoff space between a step feature on the tube disposed for engagement with the robot gripper and an edge of the tube storage cavity.

[0059] In accordance with the aspects of the disclosed embodiment the standoff space forms a gap between the step feature and edge of the tube storage cavity so that the robot gripper grips the tube via engagement of the robot gripper under the step feature so that the robot gripper underpicks the tube, at least in part.

[0060] In accordance with the aspects of the disclosed embodiment the tube storage cavity has a receptacle chamber that communicates with the opening, the receptacle chamber being configured so as to substantially surround and house the stored tube therein, and the edge of the cavity boundsAtty. Docket No. 1181P017280-WO (PCT) a top of the receptacle chamber and a bottom of the opening, wherein tube supports in the opening are located above the edge of the tube storage cavity and disposed around an aperture of the opening.

[0061] In accordance with the aspects of the disclosed embodiment the tube supports form a general castellated or crenellated shape with crenellations projecting from the edge and surrounding the aperture of the opening.

[0062] In accordance with the aspects of the disclosed embodiment at least one of the crenellation projections has as chamfered or tapered top end defining a ramp surface guiding tube entry in and exit from the tube storage cavity and a tube seat surface on which the tube rests supported by the tube support in the stable repeatable position, wherein the tube seat surface engages an undersurface of the step feature.

[0063] In accordance with the aspects of the disclosed embodiment the step feature is a tube collar or cap of the tube and the undersurface engaged by the tube seat surface is a bottom surface of the tube collar or cap.

[0064] In accordance with the aspects of the disclosed embodiment the at least one crenellation projection, of the higher density storage array configuration, is chamfered or tapered on opposing sides, forming the tube seat surface on opposing sides of each of the at least one crenellation projection, disposed so that a common crenellation projection supports juxtaposed tubes inAtty. Docket No. 1181P017280-WO (PCT) adjacent juxtaposed tube storage cavities on the opposite sides of the common crenellation projection.

[0065] In accordance with the aspects of the disclosed embodiment the at least one crenellation projection, of the higher density storage array configuration, is common to adjacent juxtaposed openings of adjacent juxtaposed tube storage cavities.

[0066] In accordance with the aspects of the disclosed embodiment the crenellation projections of a common opening form acces sways for robot gripper fingers extending between the crenellation projections of the crenellated shape to capture and release the stored tube in the tube storage cavity.

[0067] In accordance with the aspects of the disclosed embodiment the tube storage cavity has a bottom opening disposed to surround a bottom of the stored tube, the bottom opening having a counterbore or countersink profile forming an increased clearance gap with the tube relative to a gap between tube and bore of the tube storage cavity.

[0068] In accordance with the aspects of the disclosed embodiment a method for storing tubes in a tube automatic storage system is provided. The method including providing a frame of the tube automatic storage system, and providing a storage rack, connected to frame, with a storage array of tube storage cavities, each tube storage cavity having an opening sized and shaped for receiving in the tube storage cavity, through the opening, a tube stored in the tube storage cavity in a stable repeatable position, and effecting insitu automatic picking of the tube with a robot gripper, from each tube storage cavity, and / or placing of the tube in each tube storage cavity, wherein the storedAtty. Docket No. 1181P017280-WO (PCT) tube rests on a tube support in the opening, wherein the storage rack has a configuration with the tube storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

[0069] In accordance with the aspects of the disclosed embodiment the standard density storage array has openings of the tube storage cavities arrayed in a SB S standard base size defining the standard density storage.

[0070] In accordance with the aspects of the disclosed embodiment further including holding the stored tube in the stable repeatable position with the tube support having a configuration that defines a standoff space between a step feature on the tube disposed for engagement with the robot gripper and an edge of the tube storage cavity.

[0071] In accordance with the aspects of the disclosed embodiment the standoff space forms a gap between the step feature and edge of the tube storage cavity the method further including gripping, with the robot gripper, the tube via engagement of the robot gripper under the step feature so that the robot gripper underpicks the tube, at least in part.

[0072] In accordance with the aspects of the disclosed embodiment the tube storage cavity has a receptacle chamber communicating with the opening, the receptacle chamber substantially surrounding and housing the stored tube therein, and the edge of the cavity bounding a top of theAtty. Docket No. 1181P017280-WO (PCT) receptacle chamber and a bottom of the opening, wherein tube supports in the opening are located above the edge of the tube storage cavity and disposed around an aperture of the opening.

[0073] In accordance with the aspects of the disclosed embodiment the tube supports form a general castellated or crenellated shape with crenellations projecting from the edge and surrounding the aperture of the opening.

[0074] In accordance with the aspects of the disclosed embodiment at least one of the crenellation projections has as chamfered or tapered top end defining a ramp surface for guiding tube entry in and exit from the tube storage cavity and a tube seat surface, the tube resting supported by the tube support in the stable repeatable position, wherein the tube seat surface engages an undersurface of the step feature.

[0075] In accordance with the aspects of the disclosed embodiment the step feature is a tube collar or cap of the tube and the undersurface engaged by the tube seat surface is a bottom surface of the tube collar or cap.

[0076] In accordance with the aspects of the disclosed embodiment the at least one crenellation projection, of the higher density storage array configuration, is chamfered or tapered on opposing sides, forming the tube seat surface on opposing sides of each of the at least one crenellation projection, disposed with a common crenellation projection supporting juxtaposed tubes in adjacent juxtaposed tube storage cavities on the opposite sides of the common crenellation projection.Atty. Docket No. 1181P017280-WO (PCT)

[0077] In accordance with the aspects of the disclosed embodiment the at least one crenellation projection, of the higher density storage array configuration, is common to adjacent juxtaposed openings of adjacent juxtaposed tube storage cavities.

[0078] In accordance with the aspects of the disclosed embodiment the crenellation projections of a common opening form acces sways for robot gripper fingers extending between the crenellation projections of the crenellated shape for capturing and releasing the stored tube in the tube storage cavity.

[0079] In accordance with the aspects of the disclosed embodiment the tube storage cavity has a bottom opening disposed for surrounding a bottom of the stored tube, the bottom opening having a counterbore or countersink profile forming an increased clearance gap with the tube relative to a gap between tube and bore of the tube storage cavity.

[0080] In accordance with the aspects of the disclosed embodiment a method for storing tubes in a tube automatic storage system is provided. The method including providing a frame of the tube automatic storage system, providing a storage rack, connected to frame, with a storage array of tube storage cavities, each tube storage cavity having an opening sized and shaped for receiving in the tube storage cavity, through the opening, a tube stored in the tube storage cavity in a stable repeatable position, and automatically gripping and holding, with a robot picker connected to the frame with a robot gripper, the tube for transporting with the robot picker moving relative to the storage rack with at least one DOF, wherein the opening is configured for insitu automatic picking of the tube with the robot gripper, from each tube storage cavity, and / or placing of the tube in eachAtty. Docket No. 1181P017280-WO (PCT) tube storage cavity, the stored tube resting on a tube support in the opening, and wherein the storage rack has a configuration with the tube storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

[0081] In accordance with the aspects of the disclosed embodiment the robot gripper has more than one fingers forming a stable grip against the tube gripped by the robot gripper, and each finger has an interior face with a step orientated to project from the interior face towards the tube gripped by the gripper, the step being configured so as to fit in a gap standoff space between a step feature of the stored tube so that the robot gripper picks the stored tube via underpick of the stored tube.

[0082] In accordance with the aspects of the disclosed embodiment the finger has an exterior face with an exterior cam surface arranged to cam outwards, so that with the robot gripper in an open position and positioned to pick a target stored tube interior the robot gripper, the cam surface engages as to cam outwards, away from the robot gripper, another stored tube stored in a different tube storage cavity outside the robot gripper.

[0083] In accordance with the aspects of the disclosed embodiment the standard density storage array has openings of the tube storage cavities arrayed in a SB S standard base size defining the standard density storage.

[0084] In accordance with the aspects of the disclosed embodiment further including holding the stored tube in the stable repeatable position with the tube support having a configuration thatAtty. Docket No. 1181P017280-WO (PCT) defines a standoff space between a step feature on the tube disposed for engagement with the robot gripper and an edge of the tube storage cavity.

[0085] In accordance with the aspects of the disclosed embodiment the standoff space forms a gap between the step feature and edge of the tube storage cavity the method further including gripping, with the robot gripper, the tube via engagement of the robot gripper under the step feature so that the robot gripper underpicks the tube, at least in part.

[0086] In accordance with the aspects of the disclosed embodiment the tube storage cavity has a receptacle chamber communicating with the opening, the receptacle chamber substantially surrounding and housing the stored tube therein, and the edge of the cavity bounding a top of the receptacle chamber and a bottom of the opening, wherein tube supports in the opening are located above the edge of the tube storage cavity and disposed around an aperture of the opening.

[0087] In accordance with the aspects of the disclosed embodiment the tube supports form a general castellated or crenellated shape with crenellations projecting from the edge and surrounding the aperture of the opening.

[0088] In accordance with the aspects of the disclosed embodiment at least one of the crenellation projections has as chamfered or tapered top end defining a ramp surface for guiding tube entry in and exit from the tube storage cavity and a tube seat surface, the tube resting supported by the tube support in the stable repeatable position, wherein the tube seat surface engages an undersurface of the step feature.Atty. Docket No. 1181P017280-WO (PCT)

[0089] In accordance with the aspects of the disclosed embodiment the step feature is a tube collar or cap of the tube and the undersurface engaged by the tube seat surface is a bottom surface of the tube collar or cap.

[0090] In accordance with the aspects of the disclosed embodiment the at least one crenellation projection, of the higher density storage array configuration, is chamfered or tapered on opposing sides, forming the tube seat surface on opposing sides of each of the at least one crenellation projection, disposed with a common crenellation projection supporting juxtaposed tubes in adjacent juxtaposed tube storage cavities on the opposite sides of the common crenellation projection.

[0091] In accordance with the aspects of the disclosed embodiment the at least one crenellation projection, of the higher density storage array configuration, is common to adjacent juxtaposed openings of adjacent juxtaposed tube storage cavities.

[0092] In accordance with the aspects of the disclosed embodiment the crenellation projections of a common opening form acces sways for robot gripper fingers extending between the crenellation projections of the crenellated shape for capturing and releasing the stored tube in the tube storage cavity.

[0093] In accordance with the aspects of the disclosed embodiment the tube storage cavity has a bottom opening disposed for surrounding a bottom of the stored tube, the bottom opening havingAtty. Docket No. 1181P017280-WO (PCT) a counterbore or countersink profile forming an increased clearance gap with the tube relative to a gap between tube and bore of the tube storage cavity.

[0094] In accordance with the aspects of the disclosed embodiment a tube automatic storage system for storing tubes is provided. The system including a frame having at least one storage cavity connected to the frame, the at least one storage cavity being sized and shaped to store a tube therein, and a robot picker connected to the frame and having a robot gripper configured to, stably hold the tube and, move relative to the frame and transport the tube to and from the at least one storage cavity, wherein the robot gripper has two or more fingers that grip the tube gripped by the gripper, at least one of which is actuated between an open position and closed position to capture and release the tube, and wherein each finger is sized and shaped so that in the closed position, each of the two or more fingers engage the tube and stably hold the tube with underpick engagement of a tube collar of the engaged tube, the underpick engagement defining at least a one point contact engagement between each of the two or more fingers and engaged tube so that the gripper repeatedly and stably holds the engaged tube, with the at least one point contact engagement for each finger, at each tube capture with the robot gripper of the tube in each of the at least one storage cavity, and each tube capture is substantially decoupled of tube orientation, about an axis of rotation of the tube, relative to the gripper.

[0095] In accordance with the aspects of the disclosed embodiment further including a storage rack that forms the at least one storage cavity, the at least one storage cavity being disposed in anAtty. Docket No. 1181P017280-WO (PCT) array of storage cavities distributed on the storage rack, and the storage rack is connected to the frame.

[0096] In accordance with the aspects of the disclosed embodiment the storage rack has a configuration with the array of storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

[0097] In accordance with the aspects of the disclosed embodiment each finger has an interior face, facing a close direction of the robot gripper, and a projecting tab projecting from the interior face and defining an underpick surface that effects underpick engagement and at least one point contact with the tube collar of the one point contact engagement between the fingers and engaged tube.

[0098] In accordance with the aspects of the disclosed embodiment each finger is arranged so that the robot gripper accesses each storage cavity of the array and effect at least one of capture to pick and release to place the tube in the cavity with the storage rack in the standard density storage array configuration and with the storage rack in the higher storage density configuration, and independent of a presence of an adjacent tube in at least one of an adjacent storage cavity to the storage cavity.Atty. Docket No. 1181P017280-WO (PCT)

[0099] In accordance with the aspects of the disclosed embodiment each finger has a cam surface, substantially opposite the projecting tab disposed to bias the adjacent tube away from the tube being picked and placed in the storage cavity.

[0100] In accordance with the aspects of the disclosed embodiment a method for storing tubes in a tube automatic storage system is provided. The method including providing a frame having at least one storage cavity connected to the frame, the at least one storage cavity being sized and shaped for storing a tube therein, and providing a robot picker connected to the frame and having a robot gripper for stably holding the tube and, moving relative to the frame and transporting the tube to and from the at least one storage cavity, wherein the robot gripper has two or more fingers that grip the tube gripped by the gripper, at least one of which is actuated between an open position and closed position for capturing and releasing the tube, and engaging the tube and stably holding the tube with each of the two or more fingers via underpick engagement of a tube collar of the engaged tube, the underpick engagement defining at least a one point contact engagement between each of the two or more fingers and engaged tube so that the gripper repeatedly and stably holds the engaged tube, with the at least one point contact engagement for each finger, at each tube capture with the robot gripper of the tube in each of the at least one storage cavity, and each tube capture is substantially decoupled of tube orientation, about an axis of rotation of the tube, relative to the gripper.Atty. Docket No. 1181P017280-WO (PCT)

[0101] In accordance with the aspects of the disclosed embodiment a storage rack forms the at least one storage cavity, the at least one storage cavity being disposed in an array of storage cavities distributed on the storage rack, and the storage rack is connected to the frame.

[0102] In accordance with the aspects of the disclosed embodiment the storage rack has a configuration with the array of storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

[0103] In accordance with the aspects of the disclosed embodiment each finger has an interior face, facing a close direction of the robot gripper, and a projecting tab projecting from the interior face and defining an underpick surface that effects underpick engagement and at least one point contact with the tube collar of the one point contact engagement between the fingers and engaged tube.

[0104] In accordance with the aspects of the disclosed embodiment each finger is arranged so that the robot gripper accesses each storage cavity of the array and effect at least one of capture to pick and release to place the tube in the cavity with the storage rack in the standard density storage array configuration and with the storage rack in the higher storage density configuration, and independent of a presence of an adjacent tube in at least one of an adjacent storage cavity to the storage cavity.Atty. Docket No. 1181P017280-WO (PCT)

[0105] In accordance with the aspects of the disclosed embodiment each finger has a cam surface, substantially opposite the projecting tab disposed to bias the adjacent tube away from the tube being picked and placed in the storage cavity.

[0106] It should be understood that the foregoing description is only illustrative of the present disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the present disclosure. Accordingly, the present disclosure is intended to embrace all such alternatives, modifications and variances that fall within the scope of any claims appended hereto. Further, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that a combination of these features cannot be advantageously used, such a combination remaining within the scope of the present disclosure.

[0107] What is claimed is:

Claims

Atty. Docket No. 1181P017280-WO (PCT)CLAIMS1. A tube automatic storage system for storing tubes, the system comprising: a frame; and a storage rack, connected to frame, with a storage array of tube storage cavities, each tube storage cavity having an opening sized and shaped so as to receive in the tube storage cavity, through the opening, a tube stored in the tube storage cavity in a stable repeatable position, wherein the opening is configured for insitu automatic pick of the tube with a robot gripper, from each tube storage cavity, and / or place of the tube in each tube storage cavity, wherein the stored tube rests on a tube support in the opening; and wherein the storage rack has a configuration with the tube storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

2. The system of claim 1, wherein the standard density storage array has openings of the tube storage cavities arrayed in a SBS base size defining the standard density storage.

3. The system of claim 1, wherein the tube support has a configuration that holds the stored tube in the stable repeatable position that defines a standoff between a step feature on the tube disposed for engagement with the robot gripper and an edge of the tube storage cavity.Atty. Docket No. 1181P017280-WO (PCT)4. The system of claim 3, wherein the standoff forms a gap between the step feature and edge of the tube storage cavity so that the robot gripper grips the tube via engagement of the robot gripper under the step feature so that the robot gripper underpicks the tube, at least in part.

5. The system of claim 3, wherein the tube storage cavity has a receptacle chamber that communicates with the opening, the receptacle chamber being configured so as to substantially surround and house the stored tube therein, and the edge of the cavity bounds a top of the receptacle chamber and a bottom of the opening, wherein tube supports in the opening are located above the edge of the tube storage cavity and disposed around an aperture of the opening.

6. The system of claim 5, wherein the tube supports form a general castellated or crenellated shape with crenellations projecting from the edge and surrounding the aperture of the opening.

7. The system of claim 6, wherein at least one of the crenellation projections has as chamfered or tapered top end defining a ramp surface guiding tube entry in and exit from the tube storage cavity and a tube seat surface on which the tube rests supported by the tube support in the stable repeatable position, wherein the tube seat surface engages an undersurface of the step feature.

8. The system of claim 7, wherein the step feature is a tube collar or cap of the tube and the undersurface engaged by the tube seat surface is a bottom surface of the tube collar or cap.

9. The system of claim 7, wherein the at least one crenellation projection, of the higher density storage array configuration, is chamfered or tapered on opposing sides, forming the tube seat surface on opposing sides of each of the at least one crenellation projection, disposed so that aAtty. Docket No. 1181P017280-WO (PCT) common crenellation projection supports juxtaposed tubes in adjacent juxtaposed tube storage cavities on the opposite sides of the common crenellation projection.

10. The system of claim 7. wherein the at least one crenellation projection, of the higher density storage array configuration, is common to adjacent juxtaposed openings of adjacent juxtaposed tube storage cavities.

11. The system of claim 7, wherein the crenellation projections of a common opening form acces sways for robot gripper fingers extending between the crenellation projections of the crenellated shape to capture and release the stored tube in the tube storage cavity.

12. The system of claim 1, wherein the tube storage cavity has a bottom opening disposed to surround a bottom of the stored tube, the bottom opening having a counterbore or countersink profile forming an increased clearance gap with the tube relative to a gap between tube and bore of the tube storage cavity.

13. A tube automatic storage system for storing tubes, the system comprising: a frame; a storage rack, connected to frame, with a storage array of tube storage cavities, each tube storage cavity having an opening sized and shaped so as to receive in the tube storage cavity, through the opening, a tube stored in the tube storage cavity in a stable repeatable position; andAtty. Docket No. 1181P017280-WO (PCT) a robot picker connected to the frame with a robot gripper actuated to automatically grip and hold the tube for transport with the robot picker that is configured to move relative to the storage rack with at least one DOF; wherein the opening is configured for insitu automatic pick of the tube with the robot gripper, from each tube storage cavity, and / or place of the tube in each tube storage cavity, wherein the stored tube rests on a tube support in the opening; and wherein the storage rack has a configuration with the tube storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

14. The system of claim 13, wherein the robot gripper has more than one fingers to form a stable grip against the tube gripped by the robot gripper, and each finger has an interior face with a step orientated to project from the interior face towards the tube gripped by the gripper, the step being configured so as to fit in a gap standoff between a step feature of the stored tube so that the robot gripper picks the stored tube via underpick of the stored tube.

15. The system of claim 14, wherein the finger has an exterior face with an exterior cam surface arranged to cam outwards, so that with the robot gripper in an open position and positioned to pick a target stored tube interior the robot gripper, the cam surface engages as to cam outwards, away from the robot gripper, another stored tube stored in a different tube storage cavity outside the robot gripper.Atty. Docket No. 1181P017280-WO (PCT)16. The system of claim 13, wherein the standard density storage array has openings of the tube storage cavities arrayed in a SB S base size defining the standard density storage.

17. The system of claim 13. wherein the tube support has a configuration that holds the stored tube in the stable repeatable position that defines a standoff between a step feature on the tube disposed for engagement with the robot gripper and an edge of the tube storage cavity.

18. The system of claim 17, wherein the standoff forms a gap between the step feature and edge of the tube storage cavity so that the robot gripper grips the tube via engagement of the robot gripper under the step feature so that the robot gripper underpicks the tube, at least in part.

19. The system of claim 17, wherein the tube storage cavity has a receptacle chamber that communicates with the opening, the receptacle chamber being configured so as to substantially surround and house the stored tube therein, and the edge of the cavity bounds a top of the receptacle chamber and a bottom of the opening, wherein tube supports in the opening are located above the edge of the tube storage cavity and disposed around an aperture of the opening.

20. The system of claim 19, wherein the tube supports form a general castellated or crenellated shape with crenellations projecting from the edge and surrounding the aperture of the opening.

21. The system of claim 20, wherein at least one of the crenellation projections has as chamfered or tapered top end defining a ramp surface guiding tube entry in and exit from the tube storage cavity and a tube seat surface on which the tube rests supported by the tube support in theAtty. Docket No. 1181P017280-WO (PCT) stable repeatable position, wherein the tube seat surface engages an undersurface of the step feature.

22. The system of claim 21, wherein the step feature is a tube collar or cap of the tube and the undersurface engaged by the tube seat surface is a bottom surface of the tube collar or cap.

23. The system of claim 21, wherein the at least one crenellation projection, of the higher density storage array configuration, is chamfered or tapered on opposing sides, forming the tube seat surface on opposing sides of each of the at least one crenellation projection, disposed so that a common crenellation projection supports juxtaposed tubes in adjacent juxtaposed tube storage cavities on the opposite sides of the common crenellation projection.

24. The system of claim 21, wherein the at least one crenellation projection, of the higher density storage array configuration, is common to adjacent juxtaposed openings of adjacent juxtaposed tube storage cavities.

25. The system of claim 21, wherein the crenellation projections of a common opening form accessways for robot gripper fingers extending between the crenellation projections of the crenellated shape to capture and release the stored tube in the tube storage cavity.

26. The system of claim 13, wherein the tube storage cavity has a bottom opening disposed to surround a bottom of the stored tube, the bottom opening having a counterbore or countersink profile forming an increased clearance gap with the tube relative to a gap between tube and bore of the tube storage cavity.Atty. Docket No. 1181P017280-WO (PCT)27. A method for storing tubes in a tube automatic storage system, the method comprising: providing a frame of the tube automatic storage system; providing a storage rack, connected to frame, with a storage array of tube storage cavities, each tube storage cavity having an opening sized and shaped for receiving in the tube storage cavity, through the opening, a tube stored in the tube storage cavity in a stable repeatable position; and effecting insitu automatic picking of the tube with a robot gripper, from each tube storage cavity, and / or placing of the tube in each tube storage cavity, wherein the stored tube rests on a tube support in the opening; wherein the storage rack has a configuration with the tube storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

28. The method of claim 27, wherein the standard density storage array has openings of the tube storage cavities arrayed in a SB S well configuration defining the standard density storage.Atty. Docket No. 1181P017280-WO (PCT)29. The method of claim 27, further comprising holding the stored tube in the stable repeatable position with the tube support having a configuration that defines a standoff between a step feature on the tube disposed for engagement with the robot gripper and an edge of the tube storage cavity.

30. The method of claim 29, wherein the standoff forms a gap between the step feature and edge of the tube storage cavity the method further comprising gripping, with the robot gripper, the tube via engagement of the robot gripper under the step feature so that the robot gripper underpicks the tube, at least in part.

31. The method of claim 29, wherein the tube storage cavity has a receptacle chamber communicating with the opening, the receptacle chamber substantially surrounding and housing the stored tube therein, and the edge of the cavity bounding a top of the receptacle chamber and a bottom of the opening, wherein tube supports in the opening are located above the edge of the tube storage cavity and disposed around an aperture of the opening.

32. The method of claim 31 , wherein the tube supports form a general castellated or crenellated shape with crenellations projecting from the edge and surrounding the aperture of the opening.

33. The method of claim 32, wherein at least one of the crenellation projections has as chamfered or tapered top end defining a ramp surface for guiding tube entry in and exit from the tube storage cavity and a tube seat surface, the tube resting supported by the tube support in the stable repeatable position, wherein the tube seat surface engages an undersurface of the step feature.Atty. Docket No. 1181P017280-WO (PCT)34. The method of claim 33, wherein the step feature is a tube collar or cap of the tube and the undersurface engaged by the tube seat surface is a bottom surface of the tube collar or cap.

35. The method of claim 33. wherein the at least one crenellation projection, of the higher density storage array configuration, is chamfered or tapered on opposing sides, forming the tube seat surface on opposing sides of each of the at least one crenellation projection, disposed with a common crenellation projection supporting juxtaposed tubes in adjacent juxtaposed tube storage cavities on the opposite sides of the common crenellation projection.

36. The method of claim 33, wherein the at least one crenellation projection, of the higher density storage array configuration, is common to adjacent juxtaposed openings of adjacent juxtaposed tube storage cavities.

37. The method of claim 33, wherein the crenellation projections of a common opening form accessways for robot gripper fingers extending between the crenellation projections of the crenellated shape for capturing and releasing the stored tube in the tube storage cavity.

38. The method of claim 27, wherein the tube storage cavity has a bottom opening disposed for surrounding a bottom of the stored tube, the bottom opening having a counterbore or countersink profile forming an increased clearance gap with the tube relative to a gap between tube and bore of the tube storage cavity.

39. A method for storing tubes in a tube automatic storage system, the method comprising:Atty. Docket No. 1181P017280-WO (PCT) providing a frame of the tube automatic storage system; providing a storage rack, connected to frame, with a storage array of tube storage cavities, each tube storage cavity having an opening sized and shaped for receiving in the tube storage cavity, through the opening, a tube stored in the tube storage cavity in a stable repeatable position; and automatically gripping and holding, with a robot picker connected to the frame with a robot gripper, the tube for transporting with the robot picker moving relative to the storage rack with at least one DOF; wherein the opening is configured for insitu automatic picking of the tube with the robot gripper, from each tube storage cavity, and / or placing of the tube in each tube storage cavity, the stored tube resting on a tube support in the opening; and wherein the storage rack has a configuration with the tube storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

40. The method of claim 39, wherein the robot gripper has more than one fingers forming a stable grip against the tube gripped by the robot gripper, and each finger has an interior face with a step orientated to project from the interior face towards the tube gripped by the gripper, the step being configured so as to fit in a gap standoff between a step feature of the stored tube so that the robot gripper picks the stored tube via underpick of the stored tube.Atty. Docket No. 1181P017280-WO (PCT)41. The method of claim 40, wherein the finger has an exterior face with an exterior cam surface arranged to cam outwards, so that with the robot gripper in an open position and positioned to pick a target stored tube interior the robot gripper, the cam surface engages as to cam outwards, away from the robot gripper, another stored tube stored in a different tube storage cavity outside the robot gripper.

42. The method of claim 39, wherein the standard density storage array has openings of the tube storage cavities arrayed in a SB S well configuration defining the standard density storage.

43. The method of claim 39, further comprising holding the stored tube in the stable repeatable position with the tube support having a configuration that defines a standoff between a step feature on the tube disposed for engagement with the robot gripper and an edge of the tube storage cavity.

44. The method of claim 43, wherein the standoff forms a gap between the step feature and edge of the tube storage cavity the method further comprising gripping, with the robot gripper, the tube via engagement of the robot gripper under the step feature so that the robot gripper underpicks the tube, at least in part.

45. The method of claim 43, wherein the tube storage cavity has a receptacle chamber communicating with the opening, the receptacle chamber substantially surrounding and housing the stored tube therein, and the edge of the cavity bounding a top of the receptacle chamber and a bottom of the opening, wherein tube supports in the opening are located above the edge of the tube storage cavity and disposed around an aperture of the opening.Atty. Docket No. 1181P017280-WO (PCT)46. The method of claim 45, wherein the tube supports form a general castellated or crenellated shape with crenellations projecting from the edge and surrounding the aperture of the opening.

47. The method of claim 46, wherein at least one of the crenellation projections has as chamfered or tapered top end defining a ramp surface for guiding tube entry in and exit from the tube storage cavity and a tube seat surface, the tube resting supported by the tube support in the stable repeatable position, wherein the tube seat surface engages an undersurface of the step feature.

48. The method of claim 47, wherein the step feature is a tube collar or cap of the tube and the undersurface engaged by the tube seat surface is a bottom surface of the tube collar or cap.

49. The method of claim 47, wherein the at least one crenellation projection, of the higher density storage array configuration, is chamfered or tapered on opposing sides, forming the tube seat surface on opposing sides of each of the at least one crenellation projection, disposed with a common crenellation projection supporting juxtaposed tubes in adjacent juxtaposed tube storage cavities on the opposite sides of the common crenellation projection.

50. The method of claim 47. wherein the at least one crenellation projection, of the higher density storage array configuration, is common to adjacent juxtaposed openings of adjacent juxtaposed tube storage cavities.Atty. Docket No. 1181P017280-WO (PCT)51. The method of claim 47, wherein the crenellation projections of a common opening form acces sways for robot gripper fingers extending between the crenellation projections of the crenellated shape for capturing and releasing the stored tube in the tube storage cavity.

52. The method of claim 39, wherein the tube storage cavity has a bottom opening disposed for surrounding a bottom of the stored tube, the bottom opening having a counterbore or countersink profile forming an increased clearance gap with the tube relative to a gap between tube and bore of the tube storage cavity.

53. A tube automatic storage system for storing tubes, the system comprising: a frame having at least one storage cavity connected to the frame, the at least one storage cavity being sized and shaped to store a tube therein; and a robot picker connected to the frame and having a robot gripper configured to, stably hold the tube and, move relative to the frame and transport the tube to and from the at least one storage cavity; wherein the robot gripper has two or more fingers that grip the tube gripped by the gripper, at least one of which is actuated between an open position and closed position to capture and release the tube; and wherein each finger is sized and shaped so that in the closed position, each of the two or more fingers engage the tube and stably hold the tube with underpick engagement of a tube collar of theAtty. Docket No. 1181P017280-WO (PCT) engaged tube, the underpick engagement defining at least a one point contact engagement between each of the two or more fingers and engaged tube so that the gripper repeatedly and stably holds the engaged tube, with the at least a one point contact engagement for each finger, at each tube capture with the robot gripper of the tube in each of the at least one storage cavity, and each tube capture is substantially decoupled of tube orientation, about an axis of rotation of the tube, relative to the gripper.

54. The system of claim 53, further comprising a storage rack that forms the at least one storage cavity, the at least one storage cavity being disposed in an array of storage cavities distributed on the storage rack, and the storage rack is connected to the frame.

55. The system of claim 54, wherein the storage rack has a configuration with the array of storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

56. The system of claim 55, wherein each finger is arranged so that the robot gripper accesses each storage cavity of the array and effect at least one of capture to pick and release to place the tube in the cavity with the storage rack in the standard density storage array configuration and with the storage rack in the higher storage density configuration, and independent of a presence of an adjacent tube in at least one of an adjacent storage cavity to the storage cavity.Atty. Docket No. 1181P017280-WO (PCT)57. The system of claim 56, wherein each finger has a cam surface, substantially opposite the projecting tab disposed to bias the adjacent tube away from the tube being picked and placed in the storage cavity.

58. The system of claim 53, wherein each finger has an interior face, facing a close direction of the robot gripper, and a projecting tab projecting from the interior face and defining an underpick surface that effects underpick engagement and at least one point contact with the tube collar of the one point contact engagement between each of the two or more finger and engaged tube.

59. A method for storing tubes in a tube automatic storage system, the method comprising: providing a frame having at least one storage cavity connected to the frame, the at least one storage cavity being sized and shaped for storing a tube therein; and providing a robot picker connected to the frame and having a robot gripper for stably holding the tube and, moving relative to the frame and transporting the tube to and from the at least one storage cavity, wherein the robot gripper has two or more fingers that grip the tube gripped by the gripper, at least one of which is actuated between an open position and closed position for capturing and releasing the tube; and engaging the tube and stably holding the tube with each of the two or more fingers via underpick engagement of a tube collar of the engaged tube, the underpick engagement defining at least a one point contact engagement between each of the two or more fingers and engaged tube so that theAtty. Docket No. 1181P017280-WO (PCT) gripper repeatedly and stably holds the engaged tube, with the at least a one point contact engagement for each finger, at each tube capture with the robot gripper of the tube in each of the at least one storage cavity, and each tube capture is substantially decoupled of tube orientation, about an axis of rotation of the tube, relative to the gripper.

60. The method of claim 59, wherein a storage rack forms the at least one storage cavity, the at least one storage cavity being disposed in an array of storage cavities distributed on the storage rack, and the storage rack is connected to the frame.

61. The method of claim 60, wherein the storage rack has a configuration with the array of storage cavities arranged in at least one of a standard density storage array configuration and a higher density storage array configuration having a higher storage density than the standard density storage.

62. The method of claim 61, wherein each finger is arranged so that the robot gripper accesses each storage cavity of the array and effect at least one of capture to pick and release to place the tube in the cavity with the storage rack in the standard density storage array configuration and with the storage rack in the higher storage density configuration, and independent of a presence of an adjacent tube in at least one of an adjacent storage cavity to the storage cavity.

63. The method of claim 62, wherein each finger has a cam surface, substantially opposite the projecting tab disposed to bias the adjacent tube away from the tube being picked and placed in the storage cavity.Atty. Docket No. 1181P017280-WO (PCT)64. The method of claim 59, wherein each finger has an interior face, facing a close direction of the robot gripper, and a projecting tab projecting from the interior face and defining an underpick surface that effects underpick engagement and at least one point contact with the tube collar of the one point contact engagement between the fingers and engaged tube.

Images