Abstract: A sampling system and method especially adapted for blood is provided wherein a plurality of sample tubes are positioned for ready access on a support wheel. The blood is processed by robotics under the control of a microprocessor that includes indexing of the wheel, identifying the container and indicating the condition of the blood. Signals indicating the index position of the wheel, fibrin or protein string in the serum of the blood, as well as other properties of the blood can be obtained in the processing system, the information maintained matched to the sample and analyzed, and data generated and stored without human intervention. To obtain the serum separation, the support wheel is placed in a centrifuge before the processing steps. The sample tubes are removably positioned between adjacent radial arms on the wheel and are pivotal in a pendulum fashion to allow the centrifuge operation. The wheel can be robotically picked up and moved to and from the centrifuge or storage positions.

Abstract: A robot arm has a tool connected thereto through a coupling apparatus including an inner assembly attached to the robot arm and an outer assembly attached to the tool. When the inner assembly has its outer surface mating with an inner surface of the outer assembly, a piston in the inner assembly is pneumatically moved to lock the inner and outer assemblies to each other. The piston movement causes radial movement of balls, which are mounted in a retainer of the inner assembly, away from the piston so that the balls will be retained beneath a cam locking ring of the outer assembly whereby the inner and outer assemblies remain locked when the pneumatic pressure is removed. The outer surface of the outer assembly has a mounting plate for attachment to the tool to be connected to the robot arm.