Abstract: A robotic system for processing a plurality of products, the system including a plurality of units arranged to sequentially receive the products and each having a work station for effecting a specific operation on the products; and a robotic device associated with each unit and operable to sequentially obtain the products from a preceding unit, to transport the products to the work station of its associated unit and to transport the products from the associated work station to a position accessible to a robotic device of a succeeding unit.

Abstract: A dissolution testing system including a base; a plurality of vessels mounted on the base; an agitation mechanism for agitating a liquid content of the vessels; and a head supported above each of the vessels and operable to automatically inject a liquid media into the vessel.

Abstract: A processing system for processing a plurality of products, the system including a plurality of interchangeable units arranged to receive the products and each having a work station for effecting a specific operation, and a canopy covering said work station, the units being interconnected to form an enclosed chamber encompassing the work stations and covered by the interconnected canopies; an environmental control system for controlling environmental conditions within the chamber; and a transport system for transporting the products within the chamber and between the work stations.

Abstract: A processing system for processing a plurality of products, the system including a plurality of interchangeable units arranged to sequentially receive the products and each having a work station for effecting a specific operation on each of the products, the operation requiring a given time period; and wherein each work station accommodates simultaneously a predetermined number of the products, and the given time period and predetermined number associated with each unit are different than the given time periods and predetermined numbers of other said units. A transport system transports the products through the processing system so as to provide for each product a common occupancy time therein.

Abstract: A mechanical coupling including a drive shaft reciprocable on an axis; an actuator shaft mounted for reciprocating rectilinear motion on the axis; and a coupling mechanism for transmitting reciprocating motion of the drive shaft to the actuator shaft; the coupling mechanism including a pivot joint allowing relative pivotal movement between the drive shaft and the actuator shaft, and a translational joint allowing relative translational movement between the drive shaft and the actuator shaft in directions transverse to the axis, the translational joint having a flexible link connecting the pivot joint and the drive shaft.

Abstract: A liquid chromatography system including a liquid pump having a pumping chamber, an inlet port, an outlet port, and a purge port, all communicating with the pumping chamber; a separation column; an outlet valve connected between the outlet port and the separation column and adapted to control liquid flow therebetween; a source of mobile phase; an inlet valve connected between the inlet port and the source and adapted to control liquid flow therebetween; and a purge valve connected to the purge port.

Abstract: A liquid chromatography system including a liquid pump having a pumping chamber, an inlet port, an outlet port, and a purge port, all communicating with the pumping chamber; a separation column; an outlet valve connected between the outlet port and the separation column and adapted to control liquid flow therebetween; a source of mobile phase; an inlet valve connected between the inlet port and the source and adapted to control liquid flow therebetween; and a purge valve connected to the purge port.

Abstract: A centrifuge apparatus including a rotor; a drive coupled to the rotor; an inner ring adapted to pivotally support an annular array of inner containers having open upper ends; an inner coupling coupled between the rotor and the inner ring so as to cause rotation thereof and resultant centrifugal force induced inward pivotal movement of the upper ends into the centrifuge positions; an outer ring adapted to pivotally support an annular array of outer containers having open upper ends and displaced outwardly from the inner array in a direction transverse to the rotational axis of the rotor means; an outer coupling coupled between the rotor and the outer ring so as to cause rotation thereof and resultant centrifugal force induced inward pivotal movement of the upper ends of the outer containers into centrifuge positions; and an inner orientation mechanism for preventing movement of the upper ends of the inner containers into their centrifuge positions.

Abstract: A robot system having various work stations and control means which allows recognition of the identity, position and geometry of a plurality of the work stations and assures movement of a robot manipulator among the work stations without its colliding with them even if new work stations are substituted for original work stations or if work stations of substantially different geometry are moved from one position to another. In a particularly advantageous aspect of the invention, the control means of the robot system derives its operating and clearing procedures from information fed to it from intelligence, or code, that is specifically associated with each of the work stations. This arrangement allows rapid set up of a laboratory robot to perform any of a large number of combinations of events.

Abstract: A self-configuring robotic system and method are disclosed. The system employs a computer having a central processing unit and an operating system containing at least a nucleus, a sequence reprogrammer and task support services. A robotic device and at least one defined task performing device, which may be another robotic device, are used in the system. Each device has a corresponding module that is electrically connected to the device and provides all of the intelligence for the particular device. Each module also provides a control block flag and a starting offset for the computer. The modules are electrically connected to the computer through a plurality of physically separable electrical connections so that all of the intelligence for the devices is on the device side of the associated physically separable electrical connections.

Abstract: A means for automatically replacing tool means on a robot arm comprising a novel automatically releasable tool means, comprising electrical control conduits communicating with said robot and, in proper circumstance, with a tool rack to signal its position and condition on said rack.

Abstract: A compact robot of the 3-axis type comprising a base-mounted motor control system with means to sense the position of a robot arm through a servo-system comprising position-sensing potentiometers mounted in the motor control system and a feed-back control system to co-ordinate the vertical and horizontal movement of a robot arm.

Abstract: A robot system comprising readily interchangeable hands. Usually the system will be controlled by a computer which will communicate with servo motors in each hand through an analog pulse width generator on the robot. The computer controller will also be able to utilize robot-associated circuitry to obtain information directly from each hand.

Abstract: A pump for precise, smooth delivery of liquid, particularly in liquid chromatography systems, featuring two liquid displacement elements mounted for reciprocating movement in chambers connected in series with two check valves, one displacement element serving to accumulate some of the liquid delivered by the first element and to deliver the accumulated liquid while the first element is refilling. Also disclosed is a fluid storage device for smoothing pulses from the pump comprising a flattened tube wound into a helix and placed within an annulus formed by an inner and an outer cylindrical wall. These cylindrical walls maintain the flattened tubing from expanding beyond its elastic strain limit.

Abstract: A pump for precise, smooth delivery of liquid, particularly in liquid chromatography systems, featuring two liquid displacement elements mounted for reciprocating movement in chambers connected in series with two check valves, one displacement element serving to accumulate some of the liquid delivered by the first element and to deliver the accumulated liquid while the first element is refilling.

Abstract: A pneumatic valve apparatus comprises a cylindrical structure having opposite, outwardly facing faces. A plurality of two-position valves are located in the structure at regular angular intervals at positions about the axis of the cylindrical structure. The valves are subject to mechanical actuation by axial displacement. A spindle co-axial with the axis has a passageway for the flow of air toward each axial end of the spindle. A pair of pawls are carried by the spindle, one on each side of the faces, for limited axial displacement and rotatable with respect to the cylindrical structure about the axis. The pawls are angularly displaced from each other so that when one pawl is aligned with a valve, the other pawl is angularly and axially misaligned. Resilient means (spring 6) urge the pawls axially away from the faces.

Abstract: The bubble sensor is embodied in a liquid chromatographic system. In the exemplified system a sample conduit or loop which is already filled with liquid eluent communicates with the bore of a needle. The opening of the needle bore is immersed in a liquid sample so that the sample may be backfilled into the sample loop by the withdrawal of the syringe which communicates with the sample loop. After the liquid sample has been drawn into the sample conduit, the needle is lifted from the sample source and moved toward a final position in which the sample conduit will be placed in parallel with a primary conduit, so that the pump which pumps the liquid eluent will drive the sample from the opening toward the chromatrographic column. As the needle is being raised toward this position, it is stopped at an intermediate position in which the orifice is sealed. In this condition, the liquid sample is within the sample conduit which is part of a closed space between the orifice and the syringe.

Abstract: A compact pumping system especially useful in liquid chromatography wherein comprising a liquid path which is fully flushed in each stroke of a pump, a pump which provides substantially pulse-free flow, a pressure-sensor integrated into said flow path and operably connected to the control circuit of a bifilar stepping motor. This circuit is so designed that the driving current applied to the motor is only that required to pump the liquid. The avoiding of heat associated with a greater current is particularly important in forming a compact package of motor and pump for use in liquid chromatography.

Abstract: A compact pumping system especially useful in liquid chromatography wherein comprising a liquid path which is fully flushed on each stroke of a pump, a pump which provides substantially pulse-free flow, a pressure-sensor integrated into said flow path and operably connected to the control circuit of a bifilar stepping motor. This circuit is so designed that the driving current applied to the motor is only that required to pump the liquid. The avoiding of heat associated with a greater current is particularly important in forming a compact package of motor and pump for use in liquid chromatography.

Abstract: A compact robot of the 3-axis type comprising a base-mounted motor control system with means to sense the position of a robot arm through a servo-system comprising position-sensing potentiometers mounted in the motor control system and a feed-back control system to co-ordinate the vertical and horizontal movement of a robot arm.