公开(公告)号：US08119080B2

公开(公告)日：2012-02-21

申请号：US12503508

申请日：2009-07-15

申请人： Markus Wiggli ,  Fred Schinzel ,  Bronwen Forster

发明人： Markus Wiggli ,  Fred Schinzel ,  Bronwen Forster

IPC分类号： B01L3/02

CPC分类号： G01N35/1067 ,  Y10T436/2575

摘要： A liquid handling system has a robot manipulator for orienting pipette or dispenser tips in relation to sample containers situated in or on the system, pipette or dispenser tips, drives for moving the robot manipulator, and processors for controlling the movements and actions of the robot manipulator and/or of the pipette or dispenser tips. The system also includes at least two blocks situated on two arms of the robot manipulator, at least two of the pipette or dispenser tips being situated on each block and at an axial distance to one another. The axial distance essentially corresponds to the grid spacing of wells of a microplate. At least one of these blocks, for the alternating interlaced orientation of the pipette or dispenser tips of at least two blocks along a shared line, are individually movable at least in the X direction. A method allows the time-saving pipetting over of liquid samples between diverse sample containers, e.g., between sample tubes and microplates having 24, 96, 384, or 1536 wells.

摘要翻译： 液体处理系统具有机器人操纵器，用于相对于位于系统中或系统上的样品容器定位移液管或分配器尖端，移液管或分配器尖端，用于移动机器人操纵器的驱动器和用于控制机器人操纵器的运动和动作的处理器 和/或移液器或分配器尖端。 系统还包括位于机器人操纵器的两个臂上的至少两个块，移液管或分配器尖端中的至少两个位于每个块上且彼此以轴向距离。 轴向距离基本上对应于微板的孔的网格间距。 这些块中的至少一个，用于沿着共享线路的至少两个块的移液管或分配器尖端的交替交错取向可至少在X方向上移动。 一种方法允许在不同样品容器之间例如在具有24,96,384或1536个孔的样品管和微孔板之间的液体样品上的超时移液。

公开(公告)号：US06455002B1

公开(公告)日：2002-09-24

申请号：US09438792

申请日：1999-11-12

申请人： Ivan Jokes ,  Martin Rüdisser ,  Fred Schinzel

发明人： Ivan Jokes ,  Martin Rüdisser ,  Fred Schinzel

IPC分类号： G01N3502

CPC分类号： G01G15/00 ,  B04B2011/046 ,  G01N35/0099 ,  G01N35/02 ,  G01N2035/00217 ,  G01N2035/00495 ,  G01N2035/0406 ,  Y10T436/11 ,  Y10T436/111666 ,  Y10T436/113332 ,  Y10T436/114165

摘要： A workstation has a feed device (1) for sample tube racks (7), comprising a balance (17) in which the weight of individual sample tubes (6) is determined by a procedure in which the sample tube holder (7) is weighed in each case before and after removal of each sample tube (6) and the difference between the weights is determined. Removal is effected in each case by means of a gripper (23) of a transfer device (3) which then distributes the sample tubes (6) over sample tube buckets (22) in such a way that said buckets form pairs having approximately the same weights. With the aid of a receiving device (27) which is gripped by the gripper (23) and removed from a holder, the sample tube buckets (22) are picked up and introduced into a centrifuge (2). They are removed again after centrifuging and, after the receiving device (27) has been deposited in the holder, the individual sample tubes (6) are removed from the sample tube buckets (22) by the gripper and deposited on carriers (5) of a conveying device (4).

摘要翻译： 工作站具有用于样品管架（7）的进料装置（1），其包括天平（17），其中通过称重样品管保持器（7）的程序确定单个样品管（6）的重量 在每种情况下，在每个样品管（6）移除之前和之后，确定重量之间的差异。 通过传送装置（3）的夹持器（23）在每种情况下进行移除，该传送装置（3）然后将样品管（6）分配到样品管桶（22）上，使得所述桶形成具有大致相同的对 重量 借助于由夹持器（23）夹持并从保持器移除的接收装置（27），取出样品管桶（22）并将其引入离心机（2）中。 在离心后再次将其除去，并且在接收装置（27）已经沉积在保持器中之后，通过夹持器将各样品管（6）从样品管桶（22）中取出并且沉积在载体（5）上 输送装置（4）。

公开(公告)号：US06458324B1

公开(公告)日：2002-10-01

申请号：US09438871

申请日：1999-11-12

申请人： Fred Schinzel

发明人： Fred Schinzel

IPC分类号： G01N3502

CPC分类号： G01G15/00 ,  B04B2011/046 ,  G01N35/0099 ,  G01N35/02 ,  G01N2035/00217 ,  G01N2035/00495 ,  G01N2035/0406 ,  Y10T436/11 ,  Y10T436/111666 ,  Y10T436/113332 ,  Y10T436/114165

摘要： A workstation has a transfer device with a gripper which is suitable for gripping sample tubes by a gripper clamp and for moving them from a sample tube rack to a sample tube bucket, for example for centrifuging. The transfer device has a receiving device (23) which can be gripped on a cylindrical upper handling part (25) by the gripper and removed from a holder (24) in which it has been placed in a defined position. It has an intermediate part (33) with, on its lower end, four hooks (37) which are arranged at the apices of a rectangle and can engage eyes in the sample tube buckets. After use, the receiving device (23) is replaced in the holder (24).

摘要翻译： 工作站具有带有夹持器的传送装置，其适用于通过夹具夹持器夹持样品管并将其从样品管架移动到样品管桶，例如用于离心。 传送装置具有接收装置（23），该接收装置可通过夹持器夹持在圆柱形上部处理部分（25）上，并从已经放置在限定位置的保持器（24）中移除。 它具有中间部分（33），在其下端具有布置在矩形顶点的四个钩（37），并且可以将眼睛接合在样品管桶中。 使用后，在保持器（24）中更换接收装置（23）。

公开(公告)号：US20100179687A1

公开(公告)日：2010-07-15

申请号：US12503508

申请日：2009-07-15

申请人： Markus Wiggli ,  Fred Schinzel ,  Bronwen Forster

发明人： Markus Wiggli ,  Fred Schinzel ,  Bronwen Forster

IPC分类号： G06F17/00 ,  B01L3/02

CPC分类号： G01N35/1067 ,  Y10T436/2575

摘要： A liquid handling system has a robot manipulator for orienting pipette or dispenser tips in relation to sample containers situated in or on the system, pipette or dispenser tips, drives for moving the robot manipulator, and processors for controlling the movements and actions of the robot manipulator and/or of the pipette or dispenser tips. The system also includes at least two blocks situated on two arms of the robot manipulator, at least two of the pipette or dispenser tips being situated on each block and at an axial distance to one another. The axial distance essentially corresponds to the grid spacing of wells of a microplate. At least one of these blocks, for the alternating interlaced orientation of the pipette or dispenser tips of at least two blocks along a shared line, are individually movable at least in the X direction. A method allows the time-saving pipetting over of liquid samples between diverse sample containers, e.g., between sample tubes and microplates having 24, 96, 384, or 1536 wells.

摘要翻译： 液体处理系统具有机器人操纵器，用于相对于位于系统中或系统上的样品容器定位移液管或分配器尖端，移液管或分配器尖端，用于移动机器人操纵器的驱动器和用于控制机器人操纵器的运动和动作的处理器 和/或移液器或分配器尖端。 系统还包括位于机器人操纵器的两个臂上的至少两个块，移液管或分配器尖端中的至少两个位于每个块上且彼此以轴向距离。 轴向距离基本上对应于微板的孔的网格间距。 这些块中的至少一个，用于沿着共享线路的至少两个块的移液管或分配器尖端的交替交错取向可至少在X方向上移动。 一种方法允许在不同样品容器之间例如在具有24,96,384或1536个孔的样品管和微孔板之间的液体样品上的超时移液。

公开(公告)号：US20070264725A1

公开(公告)日：2007-11-15

申请号：US11630181

申请日：2005-05-30

申请人： Markus Wiggli ,  Fred Schinzel ,  Bronwen Forster

发明人： Markus Wiggli ,  Fred Schinzel ,  Bronwen Forster

IPC分类号： G01N1/10 ,  B01L3/02

CPC分类号： G01N35/1067 ,  Y10T436/2575

摘要： Devices (1) and methods are disclosed for situating pipette or dispenser tips (2) in a system (3) for manipulating liquid samples (4). A device (1) according to the present invention comprises: a robot manipulator (5) for orienting pipette or dispenser tips (2) in relation to sample containers (6) situated in or on the system (3); pipette or dispenser tips (2); drives for moving the robot manipulator (5); and processors for controlling the movements and actions of the robot manipulator (5) and/or of the pipette or dispenser tips (2). The device (1) according to the present invention is characterized in that it comprises at least two blocks (8, 9) situated on an arm (7) of the robot manipulator (5), on each of which at least two pipette or dispenser tips (2) are situated at an axial distance (10) to one another. The axial distance (10) essentially corresponds to the grid spacing of wells (19) of a microplate (18). At least one of these blocks (8,−9)—for the alternating interlaced orientation of the pipette or dispenser tips (2) of the two blocks (8,−9) along a shared line (12)—is implemented as individually movable in the X direction and in the Y direction. The method according to the present invention allows the time-saving pipetting over of liquid samples (4) between diverse sample containers, e.g., between sample tubes and microplates (18) having 24, 96, 384, or 1536 wells.

摘要翻译： 公开了用于将移液管或分配器尖端（2）置于系统（3）中以操纵液体样品（4）的装置（1）和方法。 根据本发明的装置（1）包括：机器人操纵器（5），用于相对于位于系统（3）中或系统（3）上的样品容器（6）定向移液管或分配器尖端（2）; 移液器或分配头（2）; 用于移动机器人操纵器（5）的驱动器; 以及用于控制机器人操纵器（5）和/或移液管或分配器尖端（2）的运动和动作的处理器。 根据本发明的装置（1）的特征在于它包括位于机器人操纵器（5）的臂（7）上的至少两个块（8,9），其中每个块至少两个移液器或分配器 尖端（2）彼此轴向距离（10）。 轴向距离（10）基本上对应于微板（18）的孔（19）的网格间距。 这些块（8,9）中的至少一个用于沿着共享线（12）的两个块（8,9）的移液管或分配器尖端（2）的交替交错取向被实现为可单独移动 在X方向和Y方向上。 根据本发明的方法允许在不同的样品容器之间，例如在具有24,96,384或1536个孔的样品管和微孔板（18）之间的液体样品（4）上进行省时的移液。

公开(公告)号：US06264419B1

公开(公告)日：2001-07-24

申请号：US09415554

申请日：1999-10-08

申请人： Fred Schinzel

发明人： Fred Schinzel

IPC分类号： B25J504

CPC分类号： B25J15/0253 ,  B25J9/023 ,  B25J9/026 ,  B25J9/102

摘要： A gripper housing (16) of a gripper (14) is suspended from two rotatable sliding bars the ends of which are connected to sleeves (50, 51). One of these is provided with a turning wheel (47) meshing with a turning pinion (48) nonrotatably connected with a tong housing (17) rotatably supported on the gripper housing (16). The other is provided with a gripper wheel (33) meshing with a gripper pinion (34) which is connected with gear wheels (38a, 38b) in the tong housing (17) via a gripper bolt (37) passing coaxially through the turning pinion (48). The gear wheels (38a, 38b) mesh with gear racks (52b) on sliders (39a, 39b) which are displaceably supported in the tong housing (17) and have gripping fingers (40a, 40b). By rotation of the first sliding bar, the sliders (39a, 39b) with the gripping fingers (40a, 40b) can be displaced relative to each other via the gripper wheel (33), gripper pinion (34), gripper bolt (37), and gear wheels (38a, 38b), while by rotation of the second sliding bar the tong housing (17) can be rotated via the turning wheel (47) and the turning pinion (48).

摘要翻译： 夹持器（14）的夹持器壳体（16）从两个可旋转的滑动杆悬挂，其两端连接到套筒（50,51）上。 其中一个设置有转动轮（47），该转向轮与转动小齿轮（48）啮合，转动小齿轮（48）不可转动地连接在可旋转地支撑在夹持器壳体（16）上的钳口壳体（17）上。 另一个设置有与夹持小齿轮（34）啮合的夹纱轮（33），其通过夹持螺栓（37）与夹钳壳体（17）中的齿轮（38a，38b）相连，所述夹持螺栓（37）同轴地穿过转向小齿轮 （48）。 齿轮（38a，38b）与滑动件（39a，39b）上的齿条（52b）啮合，它们可移动地支撑在钳壳体（17）中并具有夹紧指（40a，40b）。 通过第一滑动杆的旋转，具有夹持指（40a，40b）的滑块（39a，39b）能够经由夹爪轮33，夹爪小齿轮34，夹具螺栓37相对于彼此移位。 和齿轮（38a，38b），同时通过第二滑动杆的旋转，钳口壳体（17）可以经由转向轮（47）和转动小齿轮（48）旋转。

公开(公告)号：US20050053454A1

公开(公告)日：2005-03-10

申请号：US10886887

申请日：2004-07-08

申请人： Markus Wiggli ,  Hanspeter Romer ,  Peter Muerset ,  Gregor Batliner ,  Fred Schinzel ,  Alois Oberholzer

发明人： Markus Wiggli ,  Hanspeter Romer ,  Peter Muerset ,  Gregor Batliner ,  Fred Schinzel ,  Alois Oberholzer

IPC分类号： G01N35/02 ,  G01N35/00 ,  G01N35/04 ,  B66C23/00

CPC分类号： G01N35/04 ,  G01N35/00732 ,  G01N35/0099 ,  G01N2035/041 ,  G01N2035/0415 ,  G01N2035/0417 ,  G01N2035/0424 ,  G01N2035/0425

摘要： A device for transferring and characterizing objects positions the object on a horizontal work field. The device includes at least one rail extending parallel to the X direction and a displacement unit, movable back and forth in the X direction, having a motorized gripping mechanism for grasping an object. A processor for controlling movements of the displacement unit and actions of the gripping mechanism is distinguished in that the displacement unit includes a carrying device, movable together therewith along the rail, for transferring objects in the X direction. The carrying device is a plate for carrying objects moved onto this carrying plate using the gripping mechanism. According to a method of the invention, objects are moved onto the plate of the carrying device, transferred in the X direction, and deposited again at a second position.

摘要翻译： 用于传输和表征对象的设备将对象放置在水平工作字段上。 该装置包括平行于X方向延伸的至少一个轨道和可在X方向前后移动的位移单元，具有用于抓握物体的机动夹持机构。 用于控制位移单元的移动的处理器和夹持机构的动作的区别在于，位移单元包括沿着轨道一起可移动的运送装置，用于沿X方向传送物体。 携带装置是用于使用夹持机构携带移动到该承载板上的物体的板。 根据本发明的方法，将物体移动到携带装置的板上，在X方向上传送，并再次沉积在第二位置。

公开(公告)号：US07575937B2

公开(公告)日：2009-08-18

申请号：US11630181

申请日：2005-05-30

申请人： Markus Wiggli ,  Fred Schinzel ,  Bronwen Forster

发明人： Markus Wiggli ,  Fred Schinzel ,  Bronwen Forster

IPC分类号： G01N35/10

CPC分类号： G01N35/1067 ,  Y10T436/2575

摘要： A device and method for situating pipette or dispenser tips in a system for manipulating liquid samples, has a robot manipulator for orienting the tips relative to sample containers, drives for moving the robot manipulator and processors for controlling movements and actions of the robot manipulator and/or the tips. At least two tips are situated at an axial distance from each another, on at least two blocks on an arm of the robot manipulator. The axial distance corresponds to a grid spacing of wells of a microplate. At least one of the blocks is individually movable in an X direction and in a Y direction. The method allows time-saving pipetting over of liquid samples between diverse sample containers, such as between sample tubes and microplates having 24, 96, 384, or 1536 wells.

摘要翻译： 用于将移液管或分配器尖端定位在用于操纵液体样品的系统中的装置和方法具有用于相对于样本容器定向尖端的机器人操纵器，用于移动机器人操纵器的驱动器和用于控制机器人操纵器的运动和动作的驱动器和/ 或提示。 至少两个尖端位于机器人操纵器的臂上的至少两个块上彼此轴向距离处。 轴向距离对应于微板的孔的网格间距。 至少一个块可以在X方向和Y方向上单独移动。 该方法允许在不同样品容器之间的液体样品上进行移液，例如在样品管和具有24,96,384或1536孔的微孔板之间。

公开(公告)号：US07264432B2

公开(公告)日：2007-09-04

申请号：US10886887

申请日：2004-07-08

申请人： Markus Wiggli ,  Hanspeter Romer ,  Peter Muerset ,  Gregor Batliner ,  Fred Schinzel ,  Alois Oberholzer

发明人： Markus Wiggli ,  Hanspeter Romer ,  Peter Muerset ,  Gregor Batliner ,  Fred Schinzel ,  Alois Oberholzer

IPC分类号： B65H5/00

CPC分类号： G01N35/04 ,  G01N35/00732 ,  G01N35/0099 ,  G01N2035/041 ,  G01N2035/0415 ,  G01N2035/0417 ,  G01N2035/0424 ,  G01N2035/0425

摘要： A device for transferring and characterizing objects positions the object on a horizontal work field. The device includes at least one rail extending parallel to the X direction and a displacement unit, movable back and forth in the X direction, having a motorized gripping mechanism for grasping an object. A processor for controlling movements of the displacement unit and actions of the gripping mechanism is distinguished in that the displacement unit includes a carrying device, movable together therewith along the rail, for transferring objects in the X direction. The carrying device is a plate for carrying objects moved onto this carrying plate using the gripping mechanism. According to a method of the invention, objects are moved onto the plate of the carrying device, transferred in the X direction, and deposited again at a second position.

摘要翻译： 用于传输和表征对象的设备将对象放置在水平工作字段上。 该装置包括平行于X方向延伸的至少一个轨道和可在X方向前后移动的位移单元，具有用于抓握物体的机动夹持机构。 用于控制位移单元的移动的处理器和夹持机构的动作的区别在于，位移单元包括沿着轨道一起可移动的运送装置，用于沿X方向传送物体。 携带装置是用于使用夹持机构携带移动到该承载板上的物体的板。 根据本发明的方法，将物体移动到携带装置的板上，在X方向上传送，并再次沉积在第二位置。

公开(公告)号：US06705962B2

公开(公告)日：2004-03-16

申请号：US10050457

申请日：2002-01-16

申请人： Fred Schinzel

发明人： Fred Schinzel

IPC分类号： F16H718

CPC分类号： F16H19/06 ,  B23Q5/385 ,  F16H2019/0613 ,  Y10T74/18832 ,  Y10T74/1884

摘要： A drive unit of a carriage has a drive wheel and a deflector, offset parallel to a racks both of which are implemented as gearwheels, around which a closed elastic toothed belt with teeth on both sides is guided, whose inner teeth engage with the wheels described and whose outer teeth engage with the rack. A pressure block relocatable relative to the rack is positioned between the wheels, which exercises an elastic force on the part of the toothed belt facing the rack by means of a pressure surface under the influence of the part facing away from the rack, which presses the first part mentioned against the rack. In this way, a snug engagement with the rack and low-noise and uniform movement of the carriage are always ensured. A pressure wheel implemented as a pinion and engaging with the inner teeth of the toothed belt can also be used instead of the pressure block.

摘要翻译： 滑架的驱动单元具有驱动轮和偏转器，偏移平行于两个齿轮构成的齿条，两个齿轮都被实现为齿轮，两侧的齿的封闭的弹性齿形带被引导，其内齿与所述的轮啮合 并且其外齿与齿条啮合。 相对于齿条可重新定位的压力块位于轮之间，轮之间通过压力表面在面向齿条的齿形皮带部分上作用弹性力，该压力表面在远离齿条的部分的影响下， 第一部分提到了机架。 以这种方式，始终确保与支架的紧密接合和滑架的低噪声和均匀的运动。 作为小齿轮实现并与齿形带的内齿接合的压力轮也可以代替压力块。