Method and a device for handling sample containers
The invention relates to a method for automatically handling a sample container ( 100 ), wherein at least one sample container ( 100 ) is taken up in a container carrier ( 30 ) in a handling device ( 95 ) and a lid ( 101 ) is gripped by a gripper head ( 50 ) with a predetermined gripping force and the lid ( 101 ) is removed by a combined movement out of a translational and rotational movement from the sample container ( 100 ). Using an optical capturing device, the lid ( 101 ) as well as the sample container ( 100 ) are analyzed and are assigned to a lid and sample container type, and that, furthermore, a required torque is assigned to each lid and/or sample container type as required for removing the lid ( 101 ), and that, starting from the required torque, the gripping force of the gripper head ( 50 ) is adjusted.
1. Method for automatically handling a sample container, comprising the steps of:
putting at least one sample container in a carrier unit of a container carrier in a handling device, said sample container includes a lid;
gripping said sample container, using a lifting gripper, from a starting point in said carrier unit and lifting said sample container out of said carrier;
subsequently, gripping a lid with a gripper head;
subsequently releasing said grip of said lifting gripper on said sample container;
subsequently, using said gripper head, rotating said sample container at least 360° while said sample container is gripped by said gripper head;
after said rotation, again gripping said sample container with said lifting gripper;
subsequently, removing said lid from said sample container with a combined translational and rotational movement; and,
bringing said sample container again to said starting position in said carrier unit after removal of said lid.
2. Method according to claim 1 , further comprising the steps of:
by means of an optical capturing device, said lid as well as said sample container are analyzed and are assigned to a lid and sample container type;
a torque required for removing said lid is assigned to each lid and/or sample container type; and,
starting from said assigned torque required, a gripping force of said gripper head is adjusted.
3. Method according to claim 1 , further comprising the step of:
an optical capturing device determines whether said lid of said sample container is already removed.
4. Method according to claim 1 , further comprising the step of:
a code applied to said sample container is detected by an optical capturing device during rotation of said sample container.
5. Method according to claim 1 , further comprising the steps of:
a position code optical capturing device for determining said position of said code applied to said sample container, and,
said sample container is rotated beyond 360° until said code is at a defined position.
6. Method according to claim 1 , further comprising the step of:
controlling the position of said sample container in the carrier unit using an optical capturing device.
7. Method according to claim 1 , wherein said lid is colored, further comprising the step of:
said color of said lid is determined by an optical capturing device; and,
said lid color is correlated to a lid type related to a processing specification of said sample container.
8. Method according to claim 1 , wherein said translational movement is a vertical movement.
9. Method according to claim 1 , further comprising the step of putting a plurality of sample containers in said carrier unit.