Method of handling laboratory sample containers and apparatus for handling laboratory sample containers
A method of handling laboratory sample containers is disclosed. The method comprises moving a laboratory sample container to a target position. The target position is a position at which the laboratory sample container is inserted into a corresponding orifice of a laboratory sample container rack provided that the laboratory sample container rack is placed at an intended position. The laboratory sample container is prevented from moving vertically due to gravity if correctly inserted into the corresponding orifice of the laboratory sample container rack. The method also comprises releasing the laboratory sample container in a vertical direction such that the laboratory sample container can move in the vertical direction due to gravity, determining if the laboratory sample container moves in the vertical direction, and performing an error procedure if it is determined that the laboratory sample container moves in the vertical direction.
1 . A method of determining an incorrect placement of a laboratory sample container, the method comprising:
gripping the laboratory sample container with gripping fingers of a gripping device;
moving, with an electric motor that is configured to operate in a torque mode that provides an adjustable torque and in a velocity mode that provides an adjustable velocity, the laboratory sample container using the velocity mode to a position intended to be in alignment with an orifice that is defined in a laboratory sample container rack;
releasing, using the electric motor in the torque mode, the laboratory sample container in a vertical direction (z) for a duration between 10 ms and 200 ms while maintaining a grip on the laboratory sample container with the gripping fingers;
detecting for the presence of a free fall movement of the laboratory sample container in the vertical direction (z); and
generating an error upon determination that the laboratory sample container moved in the vertical direction (z) during the duration, the determination corresponding to indicia that the laboratory sample container rack is not placed at a target position (TP) that is defined as coinciding with a placement of the laboratory sample container within the orifice such that movement of the laboratory sample container in the vertical direction (z) is avoided.
2 . The method according to claim 1 , wherein the error is an error message indicating that the laboratory sample container rack is not placed at the intended position.
3 . The method according to claim 1 , wherein the moving of the laboratory sample container is performed using the velocity mode.
4 . The method according to claim 1 , wherein the releasing of the laboratory sample container is performed using the torque mode.